Patent Application
20210302934
Embodiments of the present invention generally relate to systems and methods for welding, and more specifically to a power supply with the data logging and feedback features capable of consolidating and utilizing welding and heating data into a weld record. Welding systems may rely on a heater system to pre-heat the workpiece to be welded or apply post-heat to workpiece after a weld has been completed. For example, induction heaters are commonly used for pre-heating welding workpieces. These heaters operate as a stand-alone system, requiring their own controller, power source, monitoring, feedback, etc. Lack of coordination between the welder and heater can result in poor quality and inefficient welds and inconsistent data records associated with a weld.
In view of the foregoing problems and shortcomings of existing welding apparatus, the present application describes a system and method to overcome these shortcomings.
Embodiments of the present invention include systems, architectures, processes, and methods for enhancing various aspects of welding via the internet-of-things (interconnections, via the Internet, of computer devices embedded in objects, allowing data to be communicated between the objects).
According to an exemplary embodiment, a welding apparatus is provided. The welding apparatus comprises a heater configured to heat a first workpiece; a welder configured to weld the first workpiece; a controller in communication with the heater and the welder and configured to: monitor the welder to capture weld data associated with a weld at the first workpiece; monitor the heater to capture heat treatment data associated with one or more heat treatments at the first workpiece; and, generate a consolidated weld record based on the weld data and the heat treatment data.
The descriptions of the invention do not limit the words used in the claims in any way or the scope of the claims or invention. The words used in the claims have all of their full ordinary meanings
In the accompanying drawings, which are incorporated in and constitute a part of the specification, embodiments of the invention are illustrated, which, together with a general description of the invention given above, and the detailed description given below, serve to exemplify embodiments of this invention. It will be appreciated that illustrated element boundaries (e.g., boxes, groups of boxes, or other shapes) in the figures represent one embodiment of boundaries. In some embodiments, one element may be designed as multiple elements or that multiple elements may be designed as one element. In some embodiments, an element shown as an internal component of another element may be implemented as an external component and vice versa. Furthermore, elements may not be drawn to scale.
The following includes definitions of exemplary terms used throughout the disclosure. Both singular and plural forms of all terms fall within each meaning:
“Component,” as used herein can be defined as a portion of hardware, a portion of software, or a combination thereof. A portion of hardware can include at least a processor and a portion of memory, wherein the memory includes an instruction to execute.
“Logic,” synonymous with “circuit” as used herein, includes but is not limited to hardware, firmware, software and/or combinations of each to perform a function(s) or an action(s). For example, based on a desired application or needs, logic may include a software controlled microprocessor, discrete logic such as an application specific integrated circuit (ASIC), or other programmed logic device and/or controller. Logic may also be fully embodied as software.
“Software”, as used herein, includes but is not limited to one or more computer readable and/or executable instructions that cause a computer, logic, or other electronic device to perform functions, actions, and/or behave in a desired manner. The instructions may be embodied in various forms such as routines, algorithms, modules or programs including separate applications or code from dynamically linked libraries. Software may also be implemented in various forms such as a stand-alone program, a function call, a servlet, an applet, instructions stored in a memory, part of an operating system or other type of executable instructions. It will be appreciated by one of ordinary skill in the art that the form of software is dependent on, for example, requirements of a desired application, the environment it runs on, and/or the desires of a designer/programmer or the like.
Embodiments of systems, architectures, processes, and methods for welding are disclosed herein. The examples and figures herein are illustrative only and are not meant to limit the subject invention, which is measured by the scope and spirit of the claims. The showings are for the purpose of illustrating exemplary embodiments of the subject invention only and not for the purpose of limiting same.
With reference to
In the depicted embodiment, the frame 12 includes a plurality of side walls and doors to enclose the robot 14 and the welding tables 16 and 18. Even though a substantially rectangular configuration in plan view is shown, the frame 12, and the cell 10, can take numerous configurations. A front access door 26 mounts to the frame 12 to provide access to the interior of the frame 12. The front access door 26 can take a bi-fold configuration where the door includes two hinge sets: a first hinge set attaching the door 26 to the frame 12 and a second hinge set attaching one panel of the door to another panel. Nevertheless, the front access door 26 can take other configurations such as a sliding door or a swinging door. Similarly, a rear access door 28 also mounts to the frame 12. The rear access door 28 in the depicted embodiment also takes a bi-fold configuration; however, the rear access door can take other configurations such as those discussed with reference to the front access door 26. Windows 32 can be provided on either door (only depicted on front door 26). The windows can include a tinted safety screen, which is known in the art.
A control panel 40 is provided on the frame 12 adjacent the front door 26. Control knobs and/or switches provided on the control panel 40 communicate with controls housed in a controls enclosure 42 that is also mounted to the frame 12. The controls on the control panel 40 can be used to control operations performed in the cell 10 in a similar manner to controls used with known welding cell units.
In one embodiment, the robot 14 mounts on a pedestal that mounts on a support. In other embodiments, other automated movement devices may be used to control movement of the welding device. The robot 14 in the depicted embodiment is centered with respect to the welding tables 16 and 18 and includes eleven exemplary axes of movement. If desired, the pedestal can rotate with respect to the support similar to a turret. Accordingly, a drive mechanism, e.g. a motor and transmission (not shown), can be housed in the pedestal and/or the support for rotating the robot 14.
In one embodiment, a welding torch or gun 60 (or “welder”) of the welding device attaches to a distal end of the robot arm 14. The welding gun 60 can be similar to those that are known in the art and suitable for any type of welding, cutting, or similar processes, including, for example, shielded metal arc welding (SMAW), gas metal arc welding (GMAW, MIG), flux-cored arc welding (FCAW), gas tungsten arc welding (GTAW, TIG). A flexible tube or conduit 62 attaches to the welding gun 60, which can contain power, shielding gas, and/or consumable wire. For example, depending on the type of welding, consumable welding electrode wire 64, which can be stored in a container 66, may be delivered to the welding gun 60 through the conduit 62. A wire feeder 68 can be attached to the frame 12 to facilitate the delivery of welding wire 64 to the welding gun 60. Even though the robot 14 is shown mounted to a base or lower portion of the frame 12, if desired, the robot 14 can mount to an upper structure of the frame and depend downwardly into the cell 10.
In this embodiment, a power source 72 for the welding operation mounts to and rests on a platform 74 that is connected to and can be a part of the frame 12. The power source or power supply 72 supplies power to the welding gun 60 and the heaters 17, 19, as discussed in more detail below. In certain embodiments, welding gun 60 may have a dedicated power source 72, and heaters 17, 19, may have another dedicated power source 72.
A robot controller 76, which controls the robot 14, also rests and mounts on the platform 74. The robot controller 76 typically accompanies the robot 14. A cell base can include various attachment points 80 and channels 82. Although shown as a stationary cell within a frame, other embodiments can include a robot and the associated welding equipment as part of a moving assembly line, a portable cell, etc.
In one embodiment, a welding/heater controller may also be included into the cell 10, for example, as a stand-alone device/component or as part of the controls enclosure 42, power source 72, robot controller 76, etc. A system controller may also comprise one or more of the controllers. Any or all of these controllers and control systems may be combined to various degrees into shared systems or enclosures.
With reference to
Welding system 300 may further comprise welding cable 320, welder 322, workpiece connector 324, heater cable 330, heater 332 (e.g., including a heating coil or wire), spool of wire 360, wire feeder 370, welding wire 380, and workpiece 340.
In an embodiment utilizing welding wire as a consumable, wire 380 may be fed into welder 322 from spool 360 via wire feeder 370. In accordance with another embodiment of the present invention, welding system 300 does not include spool of wire 360, wire feeder 370, or wire 380 but, instead, includes a welding gun comprising a consumable electrode such as those used in, for example, stick welding. In accordance with various embodiments of the present invention, welder 322 may include at least one of a welding torch, a welding gun, and a welding consumable.
The welder circuit path runs from power supply 310 through welding cable 320 to welder 322, through workpiece 340 and/or to workpiece connector 324, and back through welding cable 320 to the power supply 310. During operation, electrical current runs through the welder circuit path as a voltage is applied to the terminals or electrodes of the welder circuit path. In accordance with an exemplary embodiment, welding cable 320 comprises a coaxial cable assembly. In accordance with another embodiment, welding cable 320 comprises a first cable length running from power supply 310 to welder 322, and a second cable length running from workpiece connector 324 to power supply 310.
The heater circuit path runs from power supply 310 through heater cable 330 to heater 332 and back through heater cable 330 to the power supply 310. During operation, electrical current runs through the heater circuit path as a voltage is applied to the terminals of the heater circuit path. Various types of heater cables 330 suitable for the application, (e.g., in accordance with the voltage, current level, frequency, temperature, etc.) may be used.
Welding system 300 includes controller 312. Controller 312 is configured to control the power circuits 305 (welder and heater circuit paths). The controller 312 may also control other aspects of the welding system 300, as described above. For example, controller 312 can interact with at least the power supply 310, a portion of welder circuit path, a portion of the heater circuit path, the wire feeder 370, or a combination thereof. In some embodiments, controller 312 can automatically adjust one or more elements of welding system 300 based on a welding sequence, wherein the welding sequence is utilized to configure welding system 300 (or an element thereof) without operator intervention in order to perform welding procedures with respective settings or configurations for each welding procedure. In some embodiments, the controller 312 may include or communicate with a welding job sequencer component.
In some embodiments, controller 312 is configured to capture and/or record data (for example, in the form of one or more datapoints) related to heater 332 and/or welder 322 (e.g. preheat temperature, weld temperature, weld time, post-weld temperature, etc.). As referred to herein, datapoints associated with the welder may be referred to as “weld data” and datapoints associated with the heater may be referred to as “heat treatment data.” Datapoints may be stored in storage 311 along with various other welding configurations, parameters, settings, targets, etc. In some embodiments, datapoints may be monitored and measured by one or more sensors or data collection devices (e.g. video camera, image capture, thermal image device, heat sensing camera, temperature sensor, among others) at heater 332 and/or welder 322. In certain embodiments, the datapoints may be used to evaluate the quality of a weld using a weld score, wherein a higher weld score indicates a higher quality weld, including in view of various targets, ranges, limits, etc. A quality weld may be further assessed based on several factors, for example, accuracy, time to completion, weld strength, material usage, etc. In certain embodiments, controller 312 may be configured to generate a consolidated weld record, e.g. weld routine and/or heating routine using the datapoints. In some embodiments, datapoints may be comprised of feedback data, for example welder feedback (current, voltage, position, speed, etc.) and/or heater feedback (temperature, current, voltage, etc.).
In certain embodiments, feedback data may be utilized by controller 312 to generate one or more additional datapoints which can be included in and/or modify a consolidated weld record and/or weld score. In some embodiments, feedback may be utilized by controller 312 to modify aspects of an ongoing weld or a current or future weld routine. For example, controller 312 may receive heater feedback data from heater 332 and modify voltage delivered to welder 322 in based on the heater feedback. In addition to the above example, it is appreciated that various other parameters associated with welding and/or heating may be modified by controller 312 based on receive feedback from heater 332 and/or welder 322. It will be appreciated that feedback received from the heater 332 and/or welder 322 may be used by controller 312 to modify a weld routine according to achieve a target a weld score or a weld score within a target weld score range.
In one embodiment, controller 312 is a computer operable to execute the disclosed methodologies and processes. In order to provide additional context for various aspects of the present invention, the following discussion is intended to provide a brief, general description of a suitable computing environment in which the various aspects of the present invention may be implemented. While the invention has been described above in the general context of computer-executable instructions that may run on one or more computers, those skilled in the art will recognize that the invention also may be implemented in combination with other program modules and/or as a combination of hardware and/or software. Generally, program modules include routines, programs, components, data structures, etc., that perform particular tasks.
Moreover, those skilled in the art will appreciate that the inventive methods may be practiced with other computer system configurations, including single-processor or multiprocessor computer systems, minicomputers, mainframe computers, as well as personal computers, hand-held computing devices, microprocessor-based or programmable consumer electronics, and the like, each of which may be operatively coupled to one or more associated devices. The illustrated aspects of the invention may also be practiced in distributed computing environments where certain tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices, for example, storage 311. For instance, a remote database, a local database, a cloud-computing platform, a cloud database, or a combination thereof can be utilized with controller 312.
Controller 312 can utilize various computing environments for implementing aspects of the invention, including, for example, a computer, wherein the computer includes a processing unit, a system memory and a system bus. The system bus couples system components including, but not limited to the system memory to the processing unit. The processing unit may be any of various commercially available processors. Dual microprocessors and other multi-processor architectures also can be employed as the processing unit. The system bus can be any of several types of bus structure including a memory bus or memory controller, a peripheral bus and a local bus using any of a variety of commercially available bus architectures. The system memory can include read only memory (ROM) and random access memory (RAM).
Controller 312 can include at least some form of computer readable media. Computer readable media can be any available media that can be accessed by the computer. By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by controller 312. A number of program modules may be stored in the drives and RAM, including an operating system, one or more application programs, other program modules, and program data.
The controller 312 can operate in a networked environment using logical and/or physical connections to one or more remote computers. The remote computer(s) can be a workstation, a server computer, a router, a personal computer, microprocessor based entertainment appliance, a peer device or other common network node, and typically includes many or all of the elements described relative to the computer. The logical connections depicted include a local area network (LAN) and a wide area network (WAN). Such networking environments are commonplace in offices, enterprise-wide computer networks, intranets and the Internet.
With reference to
In certain embodiments, controller 412 may be configured to monitor the welder and/or heater to capture, for example, pre-heat data associated with a pre-heat treatment at a workpiece, weld data associated with a weld at a workpiece, post-weld heat treatment data associated with a post-weld heat treatment at a workpiece, etc. In certain embodiments, temperature data collection may be referred to as thermal logging. Controller 412 may be further configured to utilize the captured data to generate a consolidated weld record based on weld data and/or heat treatment data. In certain embodiments, controller 412 may utilize the captured data to generate/modify a weld score. The consolidated weld record and/or weld score may be stored in a storage, for example, storage 411. In certain embodiments, the consolidated weld record and/or weld score are generated by the controller 412 in real-time or near real-time. In some embodiments, controller 412 may be associated with a weld score component configured to generate a weld score based on captured data from the welder and/or heater.
In some embodiments, controller 412 may be in communication with testing module T. Testing module T may comprise one or more tools for conducting nondestructive examination (NDE) of a workpiece before, during, and/or after preheat, welding, or postheat treatment to determine weld quality or assess material characteristics. In certain embodiments, testing module T may conduct testing after each completed weld in a weld sequence. For example, testing module T may comprise one or more vision systems (e.g. video cameras, thermal imaging, etc.) configured to monitor the workpiece and detect possible defects in the material at or in proximity to the weld joint. Before beginning a welding sequence, testing module T may use vision systems to see if the materials meet specifications for quality, type, size, cleanliness, freedom from defects, etc. For example, grease, paint, oil, oxide film or heavy scale may be identified and removed from the workpiece. The may be checked for flatness, straightness and dimensional accuracy. Likewise, alignment, fit-up and joint preparation may be examined by the vision system. In some embodiments, process and procedure variables may be verified by the vision system, including electrode size and type, equipment settings and provisions for preheat or postheat. During a weld, vision systems associated with testing module T may monitor a weld bead and the end crater may reveal problems such as cracks, inadequate penetration, and gas or slag inclusions. Among the weld defects that can be recognized visually are cracking, surface slag inclusions, surface porosity, undercut, etc.
Additional types of testing tools may be associated with testing module T. For example, radiographic or ultrasonic tools may be utilized by testing module T to conduct testing beyond what is recognizable on the surface of the material. In some embodiments, testing module T comprises radiographic tools (e.g. x-rays or gamma rays) capable of detecting material discontinuity underneath the surface. Imagining using radiographic tools can be used to assess material strength and diagnose internal structural issues with a weld. In some embodiments, a radiographic image may be compared to an optimal radiographic image to determine if defects exist in the weld. In some embodiments, testing module T may comprise ultrasonic tools whereby high-frequency ultrasonic acoustic vibrations may be used to penetrate a material's thickness and determine certain qualities of the material. Ultrasonic tools may be useful when imaging testing fails to discover flaws or discontinuities within a material, however, it is appreciated that ultrasonic tools can detect discontinuities both on and below the weld surface. Other types of testing contemplated include, but are not limited to, Magnetic Particle Inspection and Liquid Penetrant Inspection. Testing data generated by testing module T may be transmitted to controller 412 and/or stored at a storage (e.g. storage 411). In some embodiments, controller 412 may be configured to combine testing data received form testing module T with data in a consolidated weld record.
Using the tools associated with testing module T, controller 412 may generate a material property score associated with the workpiece and/or weld. A material property score may comprise various factors relating to the strength and quality of a weld. One or more of these factors may be, for example, tensile strength, toughness (opposite of brittle—impact absorption energy), and susceptibility to fatigue and cracking (e.g. analysis of the bead profile and notches that have stress risers). In some embodiments, a material property score is expressed as strength measured in kilopounds per square inch (KSI). If a material property score is below a predetermined threshold, controller 412 may be configured to generate and transmit an alert to notify an operator. In some embodiments, the material property score may modify a weld score. Observed material property scores and/or weld scores may be stored in a storage (e.g. storage 411) and recalled by controller 412 for comparison purposes. In such an embodiment, historical material property scores may be used as a baseline to determine an acceptable weld score that will result in a quality weld, i.e. a weld with an acceptable strength. In some embodiments, a material property score may be associated with a workpiece in order to predict future faults. For example, even if a weld sequence is completed with a satisfactory weld score and/or material property score, when added to a larger component system with different score parameters, the associated material property score may be used to determine or predict a likely fault area in the larger system based on an analysis of the material property scores of the component parts.
A consolidated weld record, weld score, and/or material property score may be utilized by controller 412 to modify certain aspects of a future or ongoing weld (e.g. pre-heat heat treatment, weld, and/or post-weld heat treatment). For example, controller 412 may capture pre-heat data that indicates conditions which necessitate a modification of one or more parameters associated with a subsequent scheduled weld or post-weld heat treatment. Controller 412 can use the consolidated weld record generated in part from the captured pre-heat data to optimize conditions for subsequent welding and/or heating procedures. In some embodiments, controller 412 is configured to identify an abnormality in an ongoing or scheduled heating and/or welding procedure and generate a notification or alert associated with the abnormality. In certain embodiments, controller 412 may determine that there is an abnormality based on a weld score. In other embodiments, an abnormality may be recognized by a material property score or a combination of material property score and weld score. When an abnormality is discovered, a notification may identify what the abnormality is and what corrective measures the controller 412 is going to perform to mitigate or resolve the abnormality. The notification or alert may be displayed so that a technician performing/overseeing the heating and/or welding procedure knows that a change in the scheduled welding/heating procedures has been initiated. In some embodiments, the notification may alert a technician to manually intervene in the welding/heating procedure. In some embodiments weld scores may be generated for each weld or task associated with a welding routine. For example, if a welding project or routine requires a plurality of welds (and/or heat treatments) at different locations of a workpiece, a weld score may be generated for each weld and/or location. In certain embodiments, controller 412 is configured to generate a project weld score based on the aggregate of each weld score in a welding project. It will be appreciated that some welds or weld scores may be weighted based on their importance to the project when generating a project weld score. For example, a critical weld location weld score, for example, on a load bearing joint, may be weighted more than a non-load bearing location. In certain embodiments, controller 412 may be configured to incorporate project weld scores (and associated weld scores) into a consolidated weld record. Similarly, material property scores may be generated for each weld and/or location and aggregated to form a project material property score.
It is appreciated that the data generated and/or collected by the exemplary welding and heating system 400 may be further analyzed, for example, by controller 412, to generate additional data useful to the welding process. For example, material property scores and/or weld scores may be logged according to the various materials, weld sequences, target applications, etc. associated with a given project. These parameters may then be used to construct data simulations to identify optimal parameters for weld quality or target material properties. In certain embodiments, a welding sequence may apply “optimal” parameters for a target application. In other embodiments, a recommended welding sequence may be generated based on a target material property score and/or weld score.
Power supply 410 is configured to provide welding power or waveforms via an output path/circuit or welding lines 444 for welding via a welder circuit 442. In this embodiment, one welding line 444 is connected to an exemplary welder 470 with a welding torch (comprising an electrode E), which may be any gun or torch of a welding device suitable for any of the exemplary welding processes mentioned above. In some embodiments, the welding torch may be attached to an automated or partially-automated movement device, such as a robot or mechanized guide assembly. In some embodiments, a semi-automatic welding process may be used. The other welding line 444 is connected to the workpiece W to complete the welder circuit, as is known in the art. As shown in
Power supply 410 may also be configured to regulate power to heating lines 454 via a heater circuit 452. In certain embodiments heater circuit 452 may be configured to perform modification or regulation of its input power before transmission to heater 480 via heating lines 454, including, for example converting to/from AC or DC power, modifying voltage, signal shape, frequency, amperage, etc. Heater circuit 452 may include various power components, including, for example, capacitors, bridge circuits, diodes, smoothing circuits, damping circuits, transformers, rectifiers, etc. Heating lines 454 may be connected to a heating element H associated with heater 480.
In certain embodiments, heating element H may comprise various types of devices capable of generating heat from an electrical input, including, for example, an inductive coil, a resistive wire, etc., which may be used to heat workpiece W. In some embodiments, heater 480 may comprise a heating jacket operable to conform to workpiece W. Heater 480 may be placed adjacent to the workpiece W to heat the workpiece or a portion of the workpiece. In some embodiments, the heater 480 is operable to provide heat (e.g. at workpiece W) to reach or maintain a specific temperature, for example, according to a welding routine 440 and/or heating routine 450 (including, for example, pre-heat, interpass, post-heat, etc.). In certain embodiments, additional heater systems comprising at least heating lines 454, heating element H, and heater 480, may be connected to the heater circuit 452. It will be appreciated that additional heater systems may be powered by power supply 410 to heat workpiece W and/or other workpieces (not shown).
In some embodiments controller 412 may receive heater feedback information from heater feedback 482. Heater feedback information may comprise temperature, current, voltage, etc. In certain embodiments, heater feedback information may be obtained from one or more sensors (e.g. temperature sensor(s)) located in proximity to heater 480. In some embodiments, welder and/or heater feedback information may be obtained from common sensors or measurement devices proximate to the electrode E and/or workpiece W. Controller 412 may be configured to control power supply 410 to perform welding and/or heating at workpiece W. In some embodiments, welding may be performed according to a welding routine 440 and heating may be performed according to a heating routine 450. In certain embodiments, heating and/or welding may be performed according to a welding sequence. In certain embodiments, welder circuit 442 and heater circuit 452 may be embodied in a combined circuit operable to regulate power at welder 470 and/or heater 480 via respective welding line(s) 444 and heating line(s) 454.
Power supply 410 may be used to perform various heating procedures associated with one or more welds. Generally, these heating procedures may include one or more heating phases associated with heating modes, including, for example, preheating, interpass heating, and post-weld heating. Heating procedures may vary according to material thickness, material type, and application of the finished workpiece. In some embodiments, accurate control of the heating or heat/temperature control involving one or more heating phases may be critical when dealing with exotic materials or materials having an extreme thickness (e.g. very thin or very thick).
In some embodiments, controller 412 may be configured to control power supply 410 to perform preheating at workpiece W. In some embodiments, controller 412 may perform preheating while in a preheat mode. Preheating involves heating the base metal of a workpiece, either in its entirety or just the region surrounding the weld location, to a specific desired temperature, called the preheat temperature, prior to welding. This temperature may be required to perform a quality weld, including, for example, to achieve proper penetration, achieve less excursion, or improve the strength or quality of a critical weld. For example, preheating may heat a workpiece from an initial temperature up to 350-400° F.
Heating may be continued during the welding process, but frequently the heat from welding is sufficient to maintain the desired temperature without a continuation of the external heat source. In many embodiments, the interpass temperature, defined as the base metal temperature between the first and last welding passes, cannot fall below the preheat temperature or is maintained at a different temperature. For example, the interpass temperature may be approximately 400-500° F.
Power supply 410 may regulate the preheat temperature, maintain interpass temperature, and/or perform post-weld heating or heat treatment (e.g., for annealing heat treatments). For example, a weld may have to be heated and/or cooled at a controlled rate to maintain weld quality.
In some embodiments, pre-heat, interpass, and/or post-heat temperatures are dictated by welding standards, such as, for example, ASME B31.1 for power piping, ASME B31.3 for process piping, etc. Welding standards may require post-weld heating be performed to relieve stress associated with the weld, for example, a two hour or an eight hour post-weld heat treatment (PWHT). In certain embodiments, post-weld heating may range from 700°−1400° F. Welding standards may further require the various heating phases to conform to predetermined thermal curves. For example, in some embodiments, a PWHT may heat a workpiece to a maximum temperature (e.g. 1400° F.) and gradually cool the workpiece by slowly modifying the temperature at a heater associated with the workpiece.
In certain embodiments, controller 412 may receive feedback information from welder feedback 482 and/or heater feedback 472. In certain embodiments, controller 412 may be configured to dynamically control welder 470 and/or heater 480 based on feedback information, for example, welder feedback 472 and heater feedback 482. For example, controller 412 may regulate power supplied to welder 470 to maintain a quality weld as identified by welder feedback 472. As another example, controller 412 may regulate power supplied to heater 480 to maintain a constant temperature identified by heater feedback 482. In certain embodiments, the controller 412 may wait until a target temperature is reached before proceeding from a heating step in a welding sequence to a welding step, based on heater feedback 482. In some embodiments, controller 412 may control heating during and/or after welding steps. It will be further appreciated that the controller 412 may utilize various combinations of feedback from welder feedback 472 and/or heater feedback 482 to dynamically regulate power to the welder 470 and/or heater 480. For example, controller 412 may stop power to welder 470 based on heater feedback 482 if such feedback indicates that the temperature at workpiece W has fallen below a threshold to maintain a stable or quality weld. In response to this feedback, controller 412 may activate heater 480 to heat workpiece W to a sufficient temperature, at which time controller 412 may activate welder 470 to continue a weld.
In complex applications, welding may require rigorous preheat/interpass temperature programs and/or post weld heat cycles. For example, in power generation and petrochemical applications, conformance to welding standards is critical in order to ensure safe and effective operation of welded materials. These applications may require more difficult weld joint details (e.g. compound bevels, thicker walls, etc.) resulting in more difficult machining, fit up, and/or welding. With added complexity associated with these applications, manual and/or mechanized welding using a controller (e.g. controller 412) enables the welder to more precisely conform to the specifications required by appropriate standards. For example, in a power and process piping application, a qualification weld on ASTM 335 Grade P22 pipe measuring 18″ (46 cm)×0.939″ (24 mm) wall is associated with strict heating and welding requirements. ASTM A335 Grade P11 and Grade P22 are common base materials used in power and process piping applications at elevated temperatures for creep-resistance in refineries. Fabricating piping systems using SA-335 Grade P11 or P22 power piping material is governed by Power Piping Code (ASME B31.1). This code covers external piping for power boilers and high temperature, high pressure water boilers in which steam or vapor is generated at a pressure of more than 15 psig (100 kPa gage) and high temperature water is generated as pressures exceeding 160 psig (1103 kPa gage) and/or temperatures exceeding 250° F. (120° C.). These operating pressures and temperatures dictate the use of thick wall pipe in most power generation or petrochemical applications. During power station and refinery shutdowns, repair work is often required because of creep damage in the Type IV zone of a welded joint, particularly in power plants. Over its lifetime, a welded joint may experience several thermal cycles as a result of repairs or new fabrication in close proximity.
An exemplary multi-pass welding procedure in accordance with the above applications is shown in Table 1.
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After completion of a weld procedure, for example, as listed in Table 1, certain PWHT procedures may be applied. For example, a multi-hour (e.g. 2-hour, 8-hour, etc.) immediate stress relief done directly after welding. Power generation and petrochemical applications typically involve higher temperatures so it is desired that resistance to creep and retention of tensile strength above minimum specification is desired.
With reference to
Weld score component 510 may be used to maintain quality control during various welding procedures. For example, a certain threshold weld score (and/or range of weld scores) can be set by a user as an exemplary satisfactory weld. If a heating and/or welding procedure is complete but under the preset satisfactory weld score, the weld score component 510 can generate and transmit an alert that the weld is not of satisfactory quality. In certain embodiments, weld score component 510 can transmit weld score data to controller 412 which then may make adjustments to welding work cell 502, welder 504, and/or heater 506 to complete a welding procedure according to a satisfactory weld score. Throughout a heating/welding procedure a weld score may be generated based on a projected weld score as determined by weld score component 510. If a projected weld score is determined by the weld score component 510 to be unsatisfactory, weld score component may communicate with controller 412 to make adjustments at the welding work cell 502, welder 504, and/or heater 506. In some embodiments, weld score component 510 is comprised within controller 412.
With reference to
At step 610, power is received from a power source. A power source may be any power supply, for example, power supply 310, power supply 410, etc. At step 620, the heater is monitored (e.g. by controller 412) to capture heat treatment data associated with one or more heat treatments at a workpiece. At step 625, a consolidated weld record is generated using the heat treatment data captured at step 620. At step 630, it is determined if the heat treatment data requires a change in one or more welding parameters (e.g. voltage, current, frequency, waveform, etc.). If it is determined that change in parameter is needed, settings at the heater are changed at step 632. At step 634, the consolidated weld record is updated and the method 600 returns to step 620 to monitor the heater. At step 640, it is determined if the workpiece is ready to weld (e.g. a target pre-heat temperature at the workpiece has been reached). If the workpiece is not ready to weld, the method 600 returns to step 620 to monitor the heater. If it is determined that the workpiece is ready to weld, the welder and heater are monitored at step 650. In some embodiments, power may be regulated at the heater at once welding has begun in order to maintain an interpass temperature sufficient to continue a weld. In certain embodiments, it is appreciated that additional or alternative welding parameters may be modified in order to maintain interpass temperature. It will be appreciated that heater control and feedback may continue in parallel with welding and welding feedback. At step 660, it is determined if the welder and/or heater data requires a change in one or more welding parameters. If a change is required, settings at the heater and/or welder are changed at step 662. At step 664, the consolidated weld record is updated with weld data and/or heat treatment data and the method 600 returns to step 650 to monitor the welder and/or heater to verify and maintain the desired temperature (which may include, for example, changes in welding waveforms). If the welder/heater data does not indicate that a change in one or more welding parameters is needed, the method proceeds to step 670, where it is determined if the weld is complete (e.g. based on a weld sequence). In certain embodiments, step 670 may receive feedback from the heater and the welder. If the weld is not complete, the method returns to step 650 to monitor the welder and/or heater (e.g. to maintain or return to an interpass temperature). If the weld is complete, at step 680 it is determined if post-heat procedures (e.g. annealing heat treatments) are needed or should be continued. In certain embodiments, appropriate post-heat procedures are determined based on the data collected at steps 620 and/or 650. In some embodiments, appropriate post-heat procedures are determined based on a target weld score and/or material property score. In other embodiments, appropriate post-heat procedures are determined based on a target thermal cycle temperature curve (e.g. as shown in
With reference to
At step 710, power is received from a power source. A power source may be any power supply, for example, power supply 310, power supply 410, etc. At step 720, the heater is monitored (e.g. by controller 412) to capture heat treatment data associated with one or more heat treatments at a workpiece. At step 725, a consolidated weld record is generated using the heat treatment data captured at step 720. At step 730, it is determined if the heat treatment data requires a change in one or more welding parameters. If it is determined that change is needed, settings at the heater are changed at step 732. At step 734, the consolidated weld record is updated and the method 700 returns to step 720 to monitor the heater. At step 740, it is determined if the workpiece is ready to weld (e.g. a target pre-heat temperature at the workpiece has been reached). If the workpiece is not ready to weld, the method 700 returns to step 720 to monitor the heater. If it is determined that the workpiece is ready to weld, the welder and heater are monitored at step 750. In some embodiments, power may be regulated at the heater at once welding has begun in order to maintain an interpass temperature sufficient to continue a weld. In certain embodiments, it is appreciated that additional or alternative welding parameters may be modified in order to maintain interpass temperature. It will be appreciated that heater control and feedback may continue in parallel with welding and welding feedback. At step 760, it is determined if the welder and/or heater data requires a change in one or more welding parameters. If a change is required, settings at the heater and/or welder are changed at step 762. At step 764, the consolidated weld record is updated with weld data and/or heat treatment data and the method 700 returns to step 750 to monitor the welder and/or heater to verify and maintain the desired temperature (which may include, for example, changes in welding waveforms). If the welder/heater data does not indicate that a change in one or more welding parameters is needed, the method proceeds to step 770, where it is determined if the weld is complete (e.g. based on a weld sequence). It is appreciated that in some embodiments, additional steps, for example, application of one or more post-weld heat treatments, may be required before a weld is determined to be complete. In certain embodiments, step 770 may receive feedback from the heater and the welder. If the weld is not complete, the method returns to step 750 to monitor the welder and/or heater (e.g. to maintain or return to an interpass temperature). If the weld is complete, at step 780 a weld score is determined. The weld score is determined to be satisfactory at step 790 (e.g. above a satisfactory threshold and/or within a satisfactory range). If the weld score is not satisfactory, the method returns to step 764 to update the consolidated weld record, and then continues to step 750 to again monitor the welder and/or heater. If the weld score is satisfactory, the method ends. While method 700 is shown to generate a weld score after a weld has been completed, it is appreciated that in certain embodiments, the weld score is determined in real-time or near real-time throughout a heating/welding procedure.
With reference to
If preheat treatment is needed, heat as required by the appropriate preheat treatment is applied at step 806. At step 807, it is determined if welding may begin. If conditions are appropriate, welding begins at step 812. If welding conditions are not appropriate, at step 808, it is determined if heat treatment data received during application of the heat treatment data indicates that the heat required by the heat treatment is sufficient. For example, if the welding environment is colder than usual, the prescribed heat treatment may be insufficient to complete the treatment and raise the workpiece to an appropriate temperature. If such feedback is received (e.g. from one or more temperature sensors) welding parameters may be changed (a power increase, for example) at step 810. If power (or other welding parameter) has been changed in order to complete the preheat treatment, the consolidated weld record is updated at step 810. Once the preheat treatment loop 806, 807, 808, and 810 has completed the preheat treatment, welding may begin at step 812. In some embodiments, at step 808, heat treatment data does not indicate that a change is required. Accordingly, if no change is required, the method returns to step 806 to continue applying heat as appropriate according to the preheat treatment.
At step 814 weld data (feedback) is used to determine if a change in one or more welding parameters is needed to complete the weld. If yes, a change to the appropriate parameter is performed and the consolidated weld record is updated at step 816. Once welding is complete a weld score and/or material property score may be generated at step 818. At step 820 it is determined if the target score from step 802 has been achieved. In certain embodiments, the target score may be satisfied if the observed score falls within a predefined range of acceptable scores. In other embodiments, the target score may be achieved if the average of a plurality of observed target scores meet or exceed the target score. If the target score is not achieved, the method returns to step 816 where one or more welding parameters may be changed and the consolidated weld record is updated. The method may then continue to begin welding again at step 812. In some embodiments, the target score may not be achieved, and instead repeating the welding loop (e.g. steps 816, 812, 814, 818). In some embodiments, the method continues to step 824 to apply postheat treatment heat. In such embodiments, it may be determined that application of a postheat heat treatment may be more appropriate to achieve the target weld/material property score than additional welding activity.
At step 822, it is determined if postheat treatment is needed. In certain embodiments the need for postheat treatment is determined according to a welding sequence. In some embodiments, the need for postheat treatment may be determined based on the weld score/material property score observed in step 818. If postheat heat treatment is needed, the method proceeds to step 824 were heat is applied. After heat is applied, it is determined if heat treatment data received during application of the heat treatment indicates that the heat required by the heat treatment is sufficient. If change is required, one or more welding parameters are changed and the consolidated weld record is updated at step 828 and the method returns to step 824. If no change is required, the method continues to step 827 to determine if the heat treatment is complete. If the heat treatment in complete, the method proceeds to step 830 where a second weld score/material property score is generated. In certain embodiments, the scores generated at step 830 are an aggregate of prior observed scores (e.g. at step 818). If it is determined that the heat treatment is not complete, the method returns to step 824 to continue applying heat according to the postheat treatment.
After a second weld score/material property score is generated, the method proceeds to step 832. At step 832, it is determined if the target score has been achieved. If the target score has not been achieved, the method repeats the postheat heat treatment loop (step 828, 824, 826) until a target score is achieved. If the target score has been achieved, the consolidated weld record is updated at step 834 and the weld is complete.
With reference to
With reference to
While the embodiments discussed herein have been related to the systems and methods discussed above, these embodiments are intended to be exemplary and are not intended to limit the applicability of these embodiments to only those discussions set forth herein. The control systems and methodologies discussed herein may be equally applicable to, and can be utilized in, systems and methods related to arc welding, laser welding, brazing, soldering, plasma cutting, waterjet cutting, laser cutting, and any other systems or methods using similar control methodology, without departing from the spirit of scope of the above discussed inventions. The embodiments and discussions herein can be readily incorporated into any of these systems and methodologies by those of skill in the art.
While the present invention has been illustrated by the description of embodiments thereof, and while the embodiments have been described in some detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details, representative apparatus and methods, and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of the applicant's general inventive concept.
