CA2265215C - Welding monitoring system - Google Patents
Welding monitoring system Download PDFInfo
- Publication number
- CA2265215C CA2265215C CA002265215A CA2265215A CA2265215C CA 2265215 C CA2265215 C CA 2265215C CA 002265215 A CA002265215 A CA 002265215A CA 2265215 A CA2265215 A CA 2265215A CA 2265215 C CA2265215 C CA 2265215C
- Authority
- CA
- Canada
- Prior art keywords
- welding
- electrode
- plates
- current
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding In General (AREA)
- Arc Welding Control (AREA)
Abstract
An apparatus and method of welding-two pipe sections together by use of an electrode and moving the electrode toward a gap between the pipe sections as the electrode is moved about the outer peripheral surface of the pipe sections during the welding operation.
During the welding process, welding parameters are recorded and correlated with a determined position. The position of the formed weld bead is determined by GPS satellites.
During the welding process, welding parameters are recorded and correlated with a determined position. The position of the formed weld bead is determined by GPS satellites.
Description
l0
l5
20
25
30
CA 02265215 2001-11-01
WELDING MONITORING SYSTEM
The invention relates to the art of welding with an electric arc and
more particularly to a method an apparatus for monitoring and controlling a welding
system during the welding process.
The present invention relates to the welding of pipe sections and monitoring
thereof. United States Letters Patent No. 5,676,857 may be referred to as background
information for its discussion of welding sections of pipe together.
BACKGROUND OF THE INVENTION
This invention relates to the ï¬eld of arc welding and particularly to an
apparatus and method of welding two steel plates together by use of a consumable
electrode and monitoring the welding parameters during the welding process, and
more particularly to an apparatus and method of short circuiting arc welding pipe
sections together with a cored electrode and the monitoring of the welding parameters
and the determining of the location of the formed weld bead.
Pipe systems are used to transport a variety of materials such as oil, gas and water
to a desired location. Such pipe systems can extend hundreds and even thousands of
miles. In many instances, these pipe systems traverse remote and many times
undeveloped locations. In the art of welding the ends of large diameter pipe, it is
conventional to machine the ends of each pipe to provide an external bevel and a narrow
ï¬at land; bring the machined ends into axle alignment with the lands in close but usually
spaced relationship to form a gap between the two ends of the pipe; and then to position
one or more welding heads around the pipe so as to form a 360° weld. The weld bead
is usually made in several steps. First, a root pass is made where at least the inner edges
or lands of the pipes are fused and the gap between the lands filled with weld metal.
Thereafter, several ï¬ller passes are made wherein the space formed by the bevel is filled
so that the weld metal is at least flush with the outer surface of the pipe. The root pass
is a very important part of the welding operation. Once the root pass is completed, the
alignment of the pipes is assured. Thus, during the root pass, a 100% sound weld bead
must be laid. Soundness of the weld bead means the complete fusion of both the lands
clear through to the inner surface of the pipes and the complete ï¬lling of the
10
15
20
25
âCA 02265215 1999-03-ll
L-2041
gap between the lands with the weld metal. Depositing of the weld metal in the gap is difï¬cult
because the weld bead must be made by moving the weld heads around the pipe such that the
welding position varies from downhand welding, vertical up or down welding, to overhead weld as
the root pass is formed around the pipe. Furthermore, weld metal formed during the root pass should
ï¬ll the gap between the pipe sections, but should not be allowed to pass through the gap and
accumulate on the interior surface of the pipe. The weld bead should also form a relatively smooth
surface with respect to the interior of the pipe which has very little, if any, protrusion into the interior
of the pipe. Excessive protrusion of the weld bead in the pipe can: 1) create problems with
apparatuses running inside the pipes to detect the soundness of the pipe system, and 2) cause
unwanted ï¬uid mixing and turbulence as the ï¬uids are transported through the pipe system.
A welding apparatus which creates an acceptable root bead is disclosed in United States
Letters Patent No. 5,676,857. This patent discloses two welding bugs which continuously move on
a track around the periphery of the pipe and include a special short circuiting power source to apply
a root bead between the two ends of a pipe. This patent discloses that by selecting the proper bug
speed and welding wire speed, only a slight burn through each edge of the bevel occurs and a small
ï¬at weld is formed on the interior of the pipe. The Lincoln Electric Company has found that the
welding apparatus disclosed in United States Letters Patent No. 5,676,857 can be modified for use
with a ï¬ux cored electrode to obtain the desired composition-of the weld bead so that composition
of the weld metal closely matches the composition of the metal pipe to form a strong and durable
weld bead. The welding apparatus can be further modiï¬ed to ensure that a shielding gas protects
the weld head from the adverse effects of the environment by using a self shielding ï¬ux system
which forms a shielding gas during welding.
Pipe systems are typically designed to be hundreds of miles in length. Due to the length of
such pipe systems, the assembly of the pipe system may be formed in parts along the route of the
pipe system. In view of the extensive length of the pipe systems and the importance of properly
welding the pipe sections together, a team of welding technicians must be present to inspect the
progress and quality of the pipe system and the quality of the weld bead formed between each pipe
-2-
10
15
20
25
CA 02265215 1999-03-ll
L-2041
section. In remote locations, the costs associated with using a team of technicians can be very costly.
Such costs may prevent the pipe line ï¬'om ever being built. In addition, the team of technicians may
be exposed to undesirable conditions when laying the pipe system in remote and/or undeveloped
locations. Such undesirable conditions may adversely affect the health of the technicians and/or
impair their ability to_ constantly monitor the quality of the welding process, thus causing delays,
increased costs and defective weld beads along the pipe system. In addition to the problems
associated with the maintaining of a team of technicians at the welding site, there are inherent
problems associated with the determination of the progress of welding along the pipe line and
identifying the location of a welding problem or other problem which has occurred âalong the pipe
line. In remote and/or undeveloped locations, it can be very difï¬cult, if not impossible, to ascertain
the geographic location of the welder along the pipe system and the location of the weld beads
formed by the welder along the pipe line so as to report the progress and/or problems of the welding
process.
In view of the problems associated with the welding of pipe sections of large pipe systems,
there is a need for a welding monitoring system which monitors the quality of a formed weld bead
and the location of such weld bead.
SUMMARY OF THE INVENTION
The present invention relates to a method and apparatus of welding together two steel plates
and monitoring the parameters of the welding process and more particularly to a method and
apparatus of welding pipe sections together and to monitor one or more welding parameters during
the formation of the weld bead between the pipe sections and associating such welding parameters
with a location. However, the invention has broader applications and can be used to weld together
other long metal workpieces such as track rails, airplane and ship components, bridges, etc..
In accordance with the preferred embodiment of the present invention, there is provided a
workpiece having one or more components, a welder designed to produce a weld bead to weld one
or more components of the workpiece, a welding monitor to record one or more parameters of the
welding process, and a location identiï¬er to determine the location of a formed weld bead. The
I -3-
10
15
20
25
CA 02265215 1999-03-ll
L-2041
monitored welding parameters can include, but are not limited to, voltage and/or current across the
electrode, voltage and/or current produced byethe power supply, electrode type and/or electrode feed
rates, ï¬ux type and/or ï¬ux feed rates, shielding gas type and/or shielding gas feedrates, welding gas
type and/or welding gas feedrates, welding cycle, direction and/or speed of welding head, time of
day, ambient temperature and/or conditions, date, type of welding procedure, position of the welding
head on the workpiece, interruptions during the welding process, errors (electronic and/or
mechanical) during the welding process, the type and/or shape of the workpiece. One or more of
these parameters or others can be electronically stored, electronically transferred to another location,
printed out and/or displayed on a monitor. The location identiï¬er is designed to determine the
location of a particular formed weld bead. This location information or location parameter can then
be associated to one or more welding parameters of the formed weld bead. For long workpieces such
as pipe lines, railroad tracks, and other large workpieces wherein the welder is moved along the
workpiece to perform a welding operation at a plurality of locations, the location identiï¬er
determines the position of the welder with respect to a certain reference point and the monitored
welding parameters are correlated with or associated with the determined location. The recorded
welding parameters and location parameter can be electronically stored, electronically transferred
to another location, printed out and/or displayed on a monitor. The recorded data can be
immediately analyzed and/or analyzed at a later time to review the welding parameters at a particular
location on the workpiece for purposes of quality control.
In accordance with another embodiment, the location identiï¬er is designed to detect two or
more signals from a relatively ï¬xed location and to calculate a location parameter based upon the
detected signals. The signals are preferably land based and/or global satellite based signals. In one
preferred embodiment, the location identiï¬er calculates a location parameter using satellites of the
Global Positioning System (GPS). The GPS is a multiple-satellite based radio positioning system
in which the GPS satellite transmits data that allows a device to precisely measure the distance from
selected ones of the GPS satellites and to thereaï¬er compute position and time parameters to a high
degree of accuracy, using known triangulation techniques. The signals provided by the GPS can be
-4-
....-.......W....._.....................l............,...a,... .. ..
10
15
20
25
CA 02265215 1999-03-ll
L-2041
received both globally and continuously. The GPS comprises space and control segments. The
space segment, when fully operational, consists of twenty-one operational satellites. These satellites
are positioned in a constellation such that typically seven, but a minimum of four, satellites are
observable by a device anywhere on or near the earthâs surface. Each satellite transmits signals on
two ï¬equencies known as L1 (1575.42 MHZ) and L2 (l227.6 MH2), using spread spectrum
techniques that employ spreading functions. C/A and P pseudo random noise (PRN) codes are
transmitted on frequency L1 and/or L2. Both P and C/A codes contain data that enable a receiver
to determine the range between a satellite and the device. Superimposed on both the P and C/A
codes is the navigation (Nav) message. The Nav message contains GPS system time; a handover
word used in connection with the transition from C/A code to P code tracking; ephemeris data for
the particular satellites being tracked; and almanac data for all of the satellites in the constellation,
including information regarding satellite health, coefï¬cients for the ionospheric delay model for C/A
code users, and coefï¬cients used to calculate universal coordinated time (UTC). The control
segment comprises a master control station (MCS) and a number of monitor stations. Updated
ephemeris and clock data are uploaded to each satellite for re-transmission in each satelliteâs
navigation message. The purpose of the control segment is to ensure that the information transmitted
from the satellite is as accurate as possible. A GPS receiver includes an antenna assembly, an RF
assembly, and a GPS processor assembly. The antenna assembly receives the L-band GPS signal
and transmits the received signal to the RF assembly. The RF assembly mixes the L-band GPS
signal down to a convenient IF frequency. Using various known techniques, the PRN code
modulating the Lâband signal is tracked through code-correlation to measure the time of
transmission of the signals from the satellite. The Doppler shift of the received L-band signal is also
measured through a carrier tracking loop. The code correlation and carrier tracking function can be
performed using either analog or digital processing. The control of the code and carrier tracking
loops is provided by the GPS processor assembly. By differencing this measurement with the time
of reception as determined by the deviceâs clock, the pseudo range between the device and the
satellite being tracked may be determined. This pseudo range includes both the range to the satellite
-5-
10
15
20
25
CA 02265215 1999-03-ll
L-2 041
and the offset of the deviceâs clock from the GPS master time reference. The pseudo range
measurements and navigation data from thesatellites are used to compute a position and calibrate
the deviceâs clock offset, and to provide an indication of GPS time. The processing and
memory ï¬mctions include monitoring channel status and control, signal acquisition and
reacquisition, code and carrier tracking loops, computing pseudo range (PR) and delta range (DR)
measurements, determining data edge timing, acquisition and storage of almanac and ephemeris data
broadcast by the satellites, processor control and timing, address and command decoding, timed
interrupt generation, interrupt acknowledgment control, and GPS timing, for example. The _
navigation processing and memory ï¬mctions performed by a the GPS receiver includeâ-satellite orbit
calculations and satellite selection, atmospheric delay correction calculations, navigation solution
computation, clock bias and rate estimates, computation of output information, and preprocessing
and coordinate conversion of aiding information, for example. When using GPS to determine the
location of the formed weld bead on the workpiece, the GPS provides global longitudinal and
latitudinal accuracy of about lâl00m.
In accordance with yet another aspect of the present invention, the location parameter and
M one or more welding parameters are electronically stored and/or printed out for real-time review
and/or for later review on-site and/or electronically stored for transmission to a remote location. The
ability to record one or more welding parameters and associate such welding parameters with a
location parameter enables a technician to periodically monitor the quality of a formed weld bead
without having to be present at each welding location. Upon review of the recorded and/or printed
data, the technician can determine what weld parameters existed during the formation of a particular
weld bead along the workpiece. The technician may review the data hourly, daily, weekly or even
monthly, and upon review of such data, determine the quality of a formed weld head at each location
on the workpiece. In addition to or alternatively, the recorded data may be sent electronically via
the telephone, Internet, satellite, ratio signal, etc. to a remote location for real time and/or delayed
monitoring of the welding process at speciï¬c locations. When the welding process is performed at
a remote location, a satellite may be the only way to form a communication link between the welding
-6-
10,
15
20
25
CA 02265215 1999-03-ll
L-2041
site and remote location. The data storage mechanism, such as a computer, can be designed to store
information and, at preselected times during the day, a data link may be formed manually or
automatically with a remote location via the satellite. In addition, the data storage unit may be
designed to receive signals from a remote location and download, upon command, the information
which is electronically stored.
In accordance with still yet another aspect of the present invention, the welding controller
for the welder is designed to receive information from a remote location via a telephone, Internet,
satellite, radio signal, etc. and/or an on-site technician and thereby use such received information to
alter one or more of the welding parameters during the welding process. In one particular
embodiment, the weld controller alters one or more welding parameters upon analyzing the location
parameter and determining that the welder is at a particular location. In another particular
embodiment, a technician and/or control device at a remote location receives data from the welder
via the telephone, Internet, satellite, radio signal, etc. and upon determining that the welder is at a
particular location, sends updated information to the welding controller via the telephone, Internet,
satellite, radio signal, etc. to alter one or more welding parameters.
In accordance with another embodiment of the present invention, the workpiece includes two
pipe sections which are positioned together and form a gap between the ends of the two pipe
sections and are welded together by a welding system which includes a welding carriage positioned
around the gap formed by the two pipe sections, a welding power supply, a welding current circuit
which controls one or more welding parameters during the welding process, a location device that
determines the location of the welder relative to a ï¬xed location, and a data storage device. The pipe
sections are preferably aligned together by the use of clamps at least until a root bead has been
applied to the gap between the pipe sections. The welding carriage preferably extends at least 180°
around the circumference of the gap and preferably 360° around the circumference of the gap. The
welding carriage is designed to slide along a track as it moves around the circumference of the gap,
which track is secured about the periphery of the pipe. The welding carriage includes a drive motor
to move the welding carriage along the track and around the circumference of the gap at a desired
-7-
10
15
20
25
CA 02265215 1999-03-ll
L-2041
speed. If an electrode is used during welding, the welding carriage includes a mechanism which
controllably moves the consumable electrode toward the gap during the welding process. The
mechanism for controlling the movement of the electrode may be integrated with or separate from
the mechanism for controllably moving the carriage about the gap during welding. The location
device is designed to receive two or more radio signals to calculate a location of the formed weld
bead relative to a particular location. The data storage device is designed to store one or more
welding parameters during the welding process and a location parameter from the location device.
In accordance with yet another aspect of the present invention, the welding current circuit
includes a ï¬rst circuit for controlling the current ï¬ow during the short circuit condition wherein the
molten metal at the end of the consumable cored electrode is primarily transferred into the molten
metal pool between the gap by surface tension action. The transfer current includes a high current
pinch pulse across the shorted melted metal which helps facilitate the transfer of the molten metal
from the electrode to the weld pool. The welding current circuit also includes a second circuit to
create a melting current. The melting current is a high current pulse which is passed through the are
which preferably has a preselected amount of energy or wattage used to melt a relatively constant
volume of metal at the end of the consumable cored electrode when the electrode is spaced from the
welding pool. The second circuit of the welding current circuit is preferably designed to provide
a high energy boost during the initial portion of the arcing condition. The high current boost
preferably has a preselected I(t) area or energy for melting a relatively constant volume of metal on
the end of the consumable wire when the wire is spaced from the welding pool. Preferably after the
initial high current plasma boost current, the high current is maintained for a preselected period of
time and then subsequently decayed over a period of time until the desired amount of energy or
wattage is applied to the electrode to melt the desired volume of the electrode. The welding current
circuit is also preferably designed to limit the amount of energy directed to the electrode so as to
prevent the unnecessary melting of the workpiece during the application of the weld bead and/or to
maintain too hot of a weld bead during welding to thereby prevent molten metal from reducing the
quality of the welded area. The welding current circuit also preferably includes a circuit to produce
-3-
10
15
20
25
CA 02265215 1999-03-ll
L-2041
a background current. The background current is a low level current which is maintained just above
the level necessary to sustain an are after the termination of a short circuit condition. The
background current is preferably maintained throughout the welding cycle to insure that the arc is
not inadvertently extinguished during welding.
The primary object of the present invention is the provision of a welding system which
monitors one or more welding parameters during the formation of a weld bead on a workpiece and
the determined location of the weld bead formed under by welding parameters.
Another object of the present invention is the provision of a welding system which stores one
or more welding parameters during the formation of a weld bead on a workpiece and the determined
location of the weld bead formed by such welding parameters.
Still another object of the present invention is the provision of a welding system which
determines the location of a formed weld bead on a workpiece by receiving two or more signals from
a relatively ï¬xed location and calculating a position based upon the received signals.
Yet another object of the present invention is the provision of a welding system which
utilizes GPS to determine the location of a formed weld bead.
Another object of the present invention is the provision of a welding system transmits
welding information and corresponding weld bead location information to remote locations.
Still another object of the present invention is the provision of a welding system which
provides access to welding information and corresponding weld bead location information from
remote locations.
Still yet another object of the present invention is the provision of a welding system which
allows for real time or delayed quality control review of a welded workpiece.
Another object of the present invention is the provision of a welding system which provides
for cost effective quality control of welding operations in remote and/or undeveloped areas.
Still another object of the present invention is the provision of a short circuiting arc welding
system and method which forms a high quality weld bead between two metal plates.
Another objective of the present invention is the provision of a short circuiting arc welding
-9-
10
15
20
25,
CA 02265215 2002-11-26
L-2041
system and method whic_h accurately tracks a desired current proï¬le during the welding of two metal
plates together. _
I Other objectives and advantages will become apparent from the following description taken 0
together with the accompanied drawings.
I 1 BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a schematic diagram illustrating the welding system of the present invention using
a satellite system to determine the location of the formed weld beadialong the pipeline; and
. Figure 2 is a block diagram of the operation of the welding system.
0 PREFERRED EMBODIMENTS or THE INVENTION â
Refening now to the drawings wherein the showings are for the purpose of illustrating the
preferred embodiments of the invention only and not for the purpose of limiting same, Figure 1
illustrates a welding system 10 for welding pipe sections 20 of a pipe system togetherand for
detennining the location of the formed weld bead 30 along. the pipe system. The pipe sections 20 â
are illustrated as being welded by a short circuiting arc welding system 40. The preferreditype of
short circuitingwelding is SURFACE TENSION TRANSFER or STT type of welding. The welding
circuit and control arrangement for such type of welding is disclosed in United States âLetters Patent
Nos.â 5,148,001; 5,001,326; 4,972,064; 4_,897,5_23:; 4,866,247; and 4,7 17,807._
The weldingsystem 10 for welding pipe sections 20 includes power supply 42 is preferably 1
a D.C._ power supply. The power supply preferably includes a motor, such as a gas motor, which
powers a generator to produce an AC current. The AC current is _then rectiï¬ed by a rectiï¬er to form
a -DC current. A phase controller controls the rectifier to produce a substantially uniform DC
current. The current is then directed into a pulse widthrnodulator. The shapes of the pulse ° H
widths are controlled by a shaping circuit to thereby create a desired pulse with the DC. current. As
can be appreciated, the power supply 42 need not be a rectiï¬ed output but can be any other
appropriate DC source. The DC current from the pulse width modulator is directedacross a welding
' area which includes a consumable cored electrode 50 _ andpipe section 20.
-10-
10
15
20
25
CA 02265215 1999-03-ll
L-2041
Referring to the welding of the pipe section 20, the current to electrode 50 alternates between
a short circuit condition when the electrode 50 engages pipe sections 20 and an arcing condition
where the electrode 50 is spaced ï¬'om the pipe sections 20. During the arcing condition, an electric
arc is created between the pipe and the electrode for purposes of melting and maintaining molten the
end of the electrode as it is fed toward pipe sections for a subsequent short circuit condition.
Referring to Figure 1, each pipe section 20 includes an edge 22. Edge 22 is a beveled surface
which forms a groove when two pipe sections are positioned closely adjacent to one another. When
two pipe sections are positioned next to one another, the pipe edges are spaced apart such that a gap
24 exists between the pipe edges. In accordance with known practice, the pipe edges are positioned
and secured together, preferably by clamps, until at least a root bead is applied to the groove between
the pipe edges, thereby ï¬lling the gap. A pipe ground engages the pipe to complete the arc circuit
between electrode 50 and the pipe sections 20. Electrode 50 is unwound ï¬om electrode and spool
52 directed toward gap 24 between the two pipe ends by electrode nozzle 44. During the welding
cycle, the electrode is fed through electrode nozzle 44 so as to transfer the molten metal at the end
of the electrode into the gap between the pipe ends to form a weld bead 30.
Electrode 50 is a consumable cored electrode which includes an outer metal sheath and an
electrode core. Preferably the metal electrode sheath is made up of carbon steel, stainless steel or
some other type of metal or metal alloy. Preferably the composition of the metal sheath is selected
to be similar to the base metal component of the pipe sections 20. The electrode core preferably
includes ï¬uxing agents and/or alloy and metals. F luxing agents may include compounds to create
a slag over the weld bead to protect the weld bead until it solidiï¬es, to retain the weld bead in
position until it solidiï¬es and/or to shield the weld metal during the fonnation of the weld bead. The
ï¬ux may also include components which produce a shielding gas to protect the weld bead from the
adverse effects of the environment. Preferably the ï¬ux components include ï¬uoride and/or
carbonate to generate a shielding gas during welding so as to eliminate the need for external
shielding gases during welding. When a self shielding electrode is used, the need for an external
shielding gas is eliminated. The slag which forms on the weld bead further shields the weld bead
-11-
10
15
20
25
CA 02265215 1999-03-ll
L-2041
from the environment, thus resulting in the formation of quality weld beads. The alloying agents
are preferably included in the electrode core. The alloying agents are selected such that the alloying
agents in combination with the composition of the metal electrode sheath form a weld bead having
a composition substantially similar to the metal composition of the pipes 20.
A desired current profile to produce low spatter during welding and to prevent the weld bead
from passing through the gap and into the interior of the pipe system includes a pinch portion, a
plasma boost portion, a plasma portion and a background portion wherein the arc is to be maintained.â
The plasma boost portion includes a decaying portion referred to as the plasma portion. Following
the decaying portion, the welding circuit shiï¬s to the background current level whichâ maintains the
plasma or arc. The welding circuit maintains a preselected background current level, thereby
preventing the current level through the are from ever falling below the preselected current low
current level and allowing the arc to extinguish. The welding circuit is designed to produce all the
melting of the electrode during the plasma boost and plasma portion of the welding cycle. Further
melting of electrode 50 does not take place when the background current level occurs since the IR
necessary for melting the electrode is not obtainable through an are maintained only by the
background current. Thus, the background current only serves to maintain the arc and the ball of
molten metal in the molten state. The amount of molten metal at the end of electrode 50 which is
formed by the plasma boost and plasma portion is selected to melt a preselected volume of molten
metal at the end of the electrode, and the plasma portion of the current is reduced to the background
current once the preselected volume is obtained. The duration of the plasma boost and plasma
portion is also selected to prevent unnecessary melting of the metal around pipe ends 22. Such over-
melting of the metal can result in the weld metal seeping into the interiorâ of the pipe sections.
During the formation of the molten metal ball, the jet forces of the high current repel the melted
metal from the welding pool until the preselected amount of molten metal has been melted at the end
of the electrode. Once the current is reduced, the molten metal is allowed to form into a ball and the
molten metal pool in the gap is allowed to stabilize, thereby allowing for a smooth contact between
the substantially spherical ball and the quelled weld metal pool. The desired amount of molten metal
-12-
10
15
20
25
CA 02265215 1999-03-ll
Lâ2041
at the end of the electrode is controlled by directing a preselected amount of energy or wattage into
the electrode during the plasma portion of the welding cycle. All during the time the molten metal
ball is being formed at the end of the electrode, the core components are releasing shielding gases
to shield the molten ball and the weld metal in the gap from the atmosphere. The shield gases
continue until the molten ball is transferred into the molten metal in the gap. Once the molten metal
ball is formed during the plasma boost and the plasma portion of the welding cycle, the molten ball
is forced into the molten pool by feeding the electrode into the pool, thereby forming a short circuit
condition. When the melted metal ball engages the molten metal pool, it is transferred into the pool
by surface tension. This action causes an ultimate necking down of the molten metal extending
between the pool and the wire in the electrode, and then a rupture and separation of the ball ï¬om the
wire occurs. Since there is only a low background current during the separation, little if any spatter
occurs. Preferably, the necking of the molten metal ball is monitored such that when the neck
rapidly reduces in diameter by electric pits, the current ï¬ow during the pinch curve increases more
gradually until a detection of an impending fuse is obtained. Once the detection of an impending
fuse occurs, the current is reduced to the background current until the molten metal at the end of the
electrode transfers into the weld pool.
The welding cycle which is repeated several times per second must be accurately controlled
by a welding circuit to reduce spatter during the welding cycle. In the preferred embodiment, the
operating frequency of the pulse width modulator controller is 20 KHz with a width of the successive
current pulse being determined by a current shape controller. The demanded current for the welding
cycle changes 220,000 times each second. Since the highest rate of the welding cycle is generally
in the neighborhood of 100 to 400 cycles per second, many update pulses are provided during each
, welding cycle.
Referring to Figure 1, a welding monitor 60 is provided which monitors one or more welding
parameters during the formation of weld bead 30. Preferably welding monitor 60 monitors the
current to electrode 50, the feed rate of electrode 50, the total amount of energy to electrode 50
during each weld cycle, and the speed at which the welding head travels around pipe sections 20.
-13-
10
15
20
25
CA 02265215 2002-11-26
L-2 04 1
Additional welding parameters may be monitored. Furthermore, data from other sensors and/or
inspection instruments may be monitored by welding monitor 60. Welding monitor 60 includes a
display to allow a technician to view real-time and/or historical data which is or has been monitored
by welding monitor 60. Welding monitor 60 also includes a data entry arrangement 64 to a) allow
a technician to alter one or more welding parameters to welder 40, b) display different data on
display 62, 3) access historic data, d) activate or deactivate a welding control program or some other
operation. Preferably welding monitor 60 includes one or more components of the welding circuit
that controls the current to electrode 50.
Welding monitor 60 includes a data storage device to store a portion or all of the monitored
information. Preferably, one or more welding parameters are stored on a disk drive or tape. A
sufficient number of welding parameters are preferably stored so that the quality of the weld bead
30 formed between the two pipe ends 22 can be reviewedâ by a technician.
Welding monitor 60 also includes a location circuit to locate the geographic position of
formed weld bead 30. The location circuit includes an antenna 66, a GPS reference receiver and a '
microprocessor for calculating the position of the formed weld bead. Antenna 66 may comprise any
of a number of commercially available low-gain antennas. The GPS reference receiver is designed
to determine the global latitude and longitude of the formed weld bead welding system by sensing
the signals 70 ï¬om satellites 80. A memory unit is provided in welding monitor 60 for storing
location information supplied by a GPS unit, record the history of travel of the GPS unit, and include
information corresponding to the global latitude and longitude information. A clock is provided in
welding monitor 60 for supplying time and date information to the tracking circuit. The welding
monitor 60 preferably includes a telecommunicating circuit to link to a remote location so as to
upload and/or download information to and from the welding monitor. Preferably aptelephone
system and a satellite transmission unit are included in the welding monitor to provide a data link
to a remote location. The operation of the GPS tracking circuit is known in the art and will not be
further described.
The welding system 10 shown in Figure 1 may include a welding carriage adapted to
move the welding head, e.g. electrode 50, about the outer peripheral surface of the plates and
along a gap between the plates. The welding carriage may continuously move along the plates.
The speed of the welding carriage may be varied.
Referring to Figure 2, the operation of the welding system will now be brieï¬y described.
-14-
10
15
20
CA 02265215 1999-03-ll
L-2041
The welding circuit includes preset and/or loaded welding parameters. The welding circuit controls
the formation of the weld bead 30 on pipe sections 20. Weld monitor 60 monitors and stores various
welding parameters during the formation of the weld bead. The welding monitor also monitors and
stores information provided by other sensors and inspection instruments used to form the pipe
system. The monitored information is stored, preferably on a disk drive. As the weld bead is being
formed, the positioning circuit senses signals 70 from GPS satellites 80. Preferably three or more
signals are sensed and processed to determine the global longitudinal and latitudinal position of the
formed weld bead. The positional information is correlated with the monitored parameters and
stored on the disk drive. The stored location and corresponding monitored parameters can be
immediately reviewed or later reviewed on-site or at a remote site via telephone, Internet, radio wave
or satellite connection. A technician, upon reviewing the recorded data on-site and/or at a remote
location can review the stored information to determine the quality of a formed weld bead at a
particular location along the pipe system. The technician after reviewing the data can input new
welding parameters for future weld bead formation and/or correct a problem with a previously
formed weld bead.
The ability of the welding system to provide information on how a particular weld bead is
formed and the location of such weld bead along a pipe system, allows a technician to monitor
welding operations world-wide and to ensure that quality weld beads are formed. The recorded
information can be used to ascertain future failure problems of a weld bead and/or to correct a
problem with a previously formed weld bead.
The invention has been described with reference to a preferred embodiment and alternates
thereof. It is believed that many modifications and alterations to the embodiments disclosed will
readily suggest themselves to one skilled in the art upon reading and understanding the detailed
description of the invention. It is intended to include all such modiï¬cations and alterations insofar
as they come within the scope of the present invention.
-15-
Claims (39)
1. A welding system for welding two plates together which comprises:
a. a welder including a welding circuit and a welding head to supply heat to said plates to form a weld bead therebetween, said welding circuit directing a controlled amount of current through an electrode to form said weld bead on said two plates;
b. a welding monitor to monitor at least one welding parameter during the formation of said weld bead;
c. a positioning circuit to sense a plurality of electromagnetic signals originating from a relatively fixed, remote location and to determine the location of said formed weld bead;
d. a record circuit to electronically record mechanical and electronic errors during a welding process and said determined location to the remote location; and, e. a transmit circuit to transfer said recorded information to a location remote of said welder.
a. a welder including a welding circuit and a welding head to supply heat to said plates to form a weld bead therebetween, said welding circuit directing a controlled amount of current through an electrode to form said weld bead on said two plates;
b. a welding monitor to monitor at least one welding parameter during the formation of said weld bead;
c. a positioning circuit to sense a plurality of electromagnetic signals originating from a relatively fixed, remote location and to determine the location of said formed weld bead;
d. a record circuit to electronically record mechanical and electronic errors during a welding process and said determined location to the remote location; and, e. a transmit circuit to transfer said recorded information to a location remote of said welder.
2. The welding system as defined in claim 1, wherein said positioning circuit senses a plurality of signals from global satellites and determines a global longitudinal and latitudinal position of said formed weld bead.
3. The welding system as defined in claim 1 or 2, wherein the record and transmit circuit transmits at least a portion of said one monitored welding parameter in real-time-
4. The welding system as defined in any one of claims 1 to 3, wherein said record circuit records additional information selected from the group consisting of the amount voltage across the electrode, the amount of current across the electrode, the amount of voltage produced by the power supply, the voltage profile, the amount of current produced by the power supply, the current profile, the amount of power directed to the electrode, the rate of power directed to the electrode, the electrode type, the electrode feed rate, the flux type, the flux feed rate, the shielding gas type, the shielding gas feed rate, the welding gas type, the welding gas feed rate, the welding cycle, the direction of movement of welding head, the rate of speed of welding head, the time of day, the ambient conditions, the date, the type of welding procedure, the type of power supply, the type of welder, the type of welding components, the position of the welding head on the workpiece, the polarity of the electrode during welding, the interruptions during the welding process, the type of the workpiece, the shape of the workpiece, and combinations thereof.
5. The welding system as defined in any one of claims 1 to 4, wherein the welding circuit has a first circuit to create a transfer current arid a second circuit to create a melting current, said second circuit supplying a sufficient amount of current to said electrode to form said weld bead on said two plates.
6. The wielding system as defined in any one of claims 1 to 5, wherein the welding circuit creates a series of small width current pulses and controls the polarity of the current pulses between a first polarity with said electrode which is positive and a second polarity with said electrode which is negative, said series of current pulses constituting a welding cycle with a short circuit transfer portion and a plasma arc melting portion, said current pulses in said cycle each having a given electrical polarity of said electrode with respect to said two plates.
7. The welding system as defined in any one of claims 1 to 6, further including a welding carriage adapted to move said welding head about the outer peripheral surface of said plates sections and along a gap between said plates.
8. The welding system as defined in any one of claims 1 to 7, further including a consumable electrode for forming said weld bead.
9. The welding system as defined in claim 8, wherein said consumable electrode is a cored electrode.
10. The welding system as defined in claim 8 or 9, wherein said electrode is a self-shielding electrode.
11. The welding system as defined in any one of claims 8 to 10, wherein said electrode includes alloying components to form said weld bead having a substantially similar composition as the composition of said plates.
12. The welding system as defined in any one of claims 5 to 11, wherein said second circuit directs a preselected amount of energy to said electrode to melt a relatively constant volume of an electrode during each welding cycle.
13. The welding system as defined in any one of claims 5 to 12, wherein said welding circuit limits an amount of energy directed to said electrode to prevent molten metal from passing through a gap between said two plates.
14. The welding system as defined in any one of claims 5 to 13, wherein said welding circuit reduces the amount of current to said electrode before said molten metal on said electrode forms a short circuit condition with a gap between said two plates.
15. The welding system as defined in any one of claims 5 to 14, wherein said welding circuit creates an alternating current.
16. The welding system as defined in any one of claims 5 to 15, wherein said welding circuit forms part of an STT power supply.
17. The welding system as defined in any one of claims 5 to 16, wherein said electrode moves about the outer peripheral surface of said metal plates and substantially along a gap between the plates.
18. The welding system as defined in claim 7, wherein said welding carriage continuously moves along said plates sections and wherein the speed of said welding carriage can be varied.
19. The welding system as defined in any one of claims 5 to 18, wherein said two metal plates are two pipe sections.
20. A method of welding two plates together, said method comprising the steps of a. providing a welding circuit, a welding head and a consumable electrode;
b. moving said welding head toward said plates;
c. directing a controlled amount of current through said electrode to form a weld bead between said plates;
d. monitoring mechanical and electrical errors during the formation of said weld bead;
e. determining the position of said formed weld bead relative to a remote location by sensing a plurality of electromagnetic signals originating from the remote location;
f. electronically recording and saving said monitored mechanical and electrical errors and associating said errors with said determined position; and, g. transmitting said recorded information to a location remote of said welder.
b. moving said welding head toward said plates;
c. directing a controlled amount of current through said electrode to form a weld bead between said plates;
d. monitoring mechanical and electrical errors during the formation of said weld bead;
e. determining the position of said formed weld bead relative to a remote location by sensing a plurality of electromagnetic signals originating from the remote location;
f. electronically recording and saving said monitored mechanical and electrical errors and associating said errors with said determined position; and, g. transmitting said recorded information to a location remote of said welder.
21. The method as defined in claim 20, wherein the transmitting step transmits at least a portion of said one monitored errors in real-time.
22. The method as defined in claim 20 or 21, further including the step of monitoring and recording welding parameters selected from the group consisting of the amount voltage across the electrode, the amount of current across the electrode, the amount of voltage produced by the power supply, the voltage profile, the amount of current produced by the power supply, the current profile, the amount of power directed to the electrode, the rate of power directed to the electrode, the electrode type, the electrode feed rate, the flux type, the flux feed rate, the shielding gas type, the shielding gas feed rate, the welding gas type, the welding gas feed rate, the welding cycle, the direction of movement of welding head, the rate of speed of welding head, the time of day, the ambient conditions, the date, the type of welding procedure, the type of power supply, the type of welder, the type of welding components, the position of the welding head on the workpiece, the polarity of the electrode during welding, the interruptions during the welding process, the type of the workpiece, the shape of the workpiece, and combinations thereof.
23. The method as defined in any one of claims 20 to 22, wherein said step of determining the position of said formed weld includes the step of sensing a plurality of signals from global satellites.
24. The method as defined in any one of claims 20 to 23, wherein said step of determining the position of said formed weld includes the step of determining a global longitudinal and a lateral position of said formed weld bead.
25. The method as defined in any one of claims 20 to 24, wherein said two plates are ends of two pipe sections.
26. The method as defined in any one of claims 20 to 25, wherein said weld bead is formed from a consumable electrode.
27. The method as defined in claim 26, wherein said consumable electrode is a self --shielding electrode.
28. The method as defined in any one of claim 26 or 27, wherein said electrode is a cored electrode.
29. The method as defined in any one of claims 26 to 28, wherein said electrode includes alloying components to form said weld bead having a substantially similar composition as the composition of said two plates.
30. The method as defined in any one of claims 26 to 28, further including the step of providing a welding carriage which moves said welding head about the outer peripheral surface of said plates.
31. The method as defined in claim 30, wherein the speed of said welding carriage is varied as said carriage moves about said plates.
32. ~The method as defined in any one of claims 26 to 31, further including the step of melting said electrode by an electric wave, said step of directing a preselected energy to said electrode to melt a relatively constant volume of said electrode during each welding cycle.
33. ~The method as defined in claim 32, wherein said electric wave includes a background current, said background current having a high inductance component and a low level just above the level necessary to sustain an arc after the termination of a short circuit condition which is maintained throughout each welding cycle.
34. ~The method as defined in any one of claims 26 to 33, further including the step of limiting the amount of energy directed to said electrode to prevent molten metal from passing through a gap between said two plates.
35. ~The method as defined in any one of claims 26 to 34, further including the step of reducing the amount of current to said electrode prior to said molten metal on said electrode forms a short circuit condition with a gap between said two plates.
36. ~The method as defined in any one of claims 32 to 36, wherein said electric wave is an alternating current.
37. ~The method as defined in any one of claims 32 to 36, wherein said electric wave is formed by an STT power supply.
38. ~The method as defined in any one of claims 26 to 37, including the step of moving said electrode about the outer peripheral surface of said metal plates and substantially along a gap between the plates.
39. ~The method as defined in any one of claims 20 to 38, wherein said metal plates are two pipe sections.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US5422098A | 1998-04-02 | 1998-04-02 | |
US09/054,220 | 1998-04-02 |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2265215A1 CA2265215A1 (en) | 1999-10-02 |
CA2265215C true CA2265215C (en) | 2004-06-22 |
Family
ID=21989557
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002265215A Expired - Fee Related CA2265215C (en) | 1998-04-02 | 1999-03-11 | Welding monitoring system |
Country Status (8)
Country | Link |
---|---|
JP (1) | JP3141290B2 (en) |
KR (1) | KR100318301B1 (en) |
AU (1) | AU715597B2 (en) |
CA (1) | CA2265215C (en) |
ID (1) | ID22395A (en) |
RU (1) | RU2225285C2 (en) |
SA (1) | SA99200002B1 (en) |
SG (1) | SG88749A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102248333A (en) * | 2010-05-21 | 2011-11-23 | 中国石油化工股份有限公司 | Automatic welding and cutting device for modified cross-section bellows |
CN105784730A (en) * | 2016-03-15 | 2016-07-20 | 安阳中科工程检测有限公司 | Digital pipeline weld joint positioning device and positioning method |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2361665B (en) * | 2000-04-26 | 2004-07-07 | Glynwed Pipe Systems Ltd | Improvements in and relating to pipe forming systems |
US6624388B1 (en) | 2001-01-25 | 2003-09-23 | The Lincoln Electric Company | System and method providing distributed welding architecture |
US7643890B1 (en) * | 2005-01-13 | 2010-01-05 | Lincoln Global, Inc. | Remote management of portable construction devices |
AT502283B1 (en) * | 2005-07-15 | 2007-05-15 | Fronius Int Gmbh | WELDING PROCESS AND WELDING SYSTEM DETERMINING THE POSITION OF THE WELDING BURNER |
US8373093B2 (en) * | 2008-06-27 | 2013-02-12 | Lincoln Global, Inc. | Method and system to increase heat input to a weld during a short-circuit arc welding process |
US9415458B2 (en) | 2007-09-26 | 2016-08-16 | Lincoln Global, Inc. | Method to improve the characteristics of a root pass pipe weld |
RU2456107C1 (en) * | 2008-06-23 | 2012-07-20 | ДжФЕ СТИЛ КОРПОРЕЙШН | Method of producing steel pipe by laser welding |
EP2320286A1 (en) * | 2009-11-07 | 2011-05-11 | Leister Process Technologies | Method for logging process information data |
RU2444424C1 (en) * | 2010-06-30 | 2012-03-10 | Открытое акционерное общество "Тверской вагоностроительный завод" (ОАО "ТВЗ") | Method of controlling plasma spot welding quality |
DE102011053799A1 (en) * | 2011-09-20 | 2013-03-21 | Dritte Patentportfolio Beteiligungsgesellschaft Mbh & Co.Kg | Method for controlling at least one control variable of a tool and the tool |
CN103042322B (en) * | 2011-10-13 | 2014-11-12 | 江苏阳明船舶装备制造技术有限公司 | Folding pipe measuring representing system |
US20130119037A1 (en) * | 2011-11-11 | 2013-05-16 | Lincoln Global, Inc. | Systems and methods for utilizing welder power source data |
KR101291615B1 (en) | 2012-12-26 | 2013-08-01 | (주) 모평 | Automatic grinding system and method for welding beads using image processing |
KR101287930B1 (en) * | 2012-12-26 | 2013-07-19 | (주) 모평 | Automatic grinding system for welding beads |
CN105160645B (en) * | 2015-01-24 | 2017-09-19 | 六安志成智能科技有限公司 | Track the welding torch displacement control system of position while welding |
US10162375B2 (en) | 2015-09-03 | 2018-12-25 | Lincoln Global, Inc. | Power source system with remotely configurable power source |
US10416701B2 (en) | 2015-09-03 | 2019-09-17 | Lincoln Global, Inc. | Systems and methods of controlling a maximum power output level of an engine-driven power source system |
EP3319066A1 (en) * | 2016-11-04 | 2018-05-09 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
US20210016381A1 (en) * | 2018-04-14 | 2021-01-21 | Aml3D Pty Limited | Method and apparatus for manufacturing 3d metal parts |
CN108857254B (en) * | 2018-08-17 | 2020-07-24 | 广州文冲船厂有限责任公司 | Jig frame for manufacturing ship flow guide pipe |
RU2766410C1 (en) * | 2021-06-08 | 2022-03-15 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Method for laser calibration of heat flow sensors with simulation of experimental load |
CN114273762B (en) * | 2022-01-20 | 2023-11-14 | 成都熊谷加世电器有限公司 | Double-track welding system |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2551860B1 (en) * | 1983-09-08 | 1987-05-07 | Sciaky Sa | INSTALLATION FOR THE DETERMINATION OF SPATIAL COORDINATES OF A POINT OF A WORKPIECE, PARTICULARLY FOR THE CHECKING OF A TOOLS SUCH AS A WELDING TOOL FOR A VEHICLE BODY |
US5168141A (en) * | 1991-06-14 | 1992-12-01 | General Electric Company | Vision guided laser welding |
US5353238A (en) * | 1991-09-12 | 1994-10-04 | Cloos International Inc. | Welding robot diagnostic system and method of use thereof |
JPH09242976A (en) * | 1996-03-12 | 1997-09-16 | Sekisui Chem Co Ltd | Electro-fusion device |
DE19654122C1 (en) * | 1996-12-23 | 1998-01-29 | Friatec Keramik Kunststoff | Computer-controlled welding unit e.g. for plastics, tubes |
-
1999
- 1999-03-11 CA CA002265215A patent/CA2265215C/en not_active Expired - Fee Related
- 1999-03-16 SG SG9901128A patent/SG88749A1/en unknown
- 1999-03-16 ID IDP990224D patent/ID22395A/en unknown
- 1999-03-31 AU AU22569/99A patent/AU715597B2/en not_active Ceased
- 1999-03-31 KR KR1019990011131A patent/KR100318301B1/en not_active IP Right Cessation
- 1999-04-01 JP JP11095045A patent/JP3141290B2/en not_active Expired - Fee Related
- 1999-04-01 RU RU99106663/02A patent/RU2225285C2/en not_active IP Right Cessation
- 1999-04-18 SA SA99200002A patent/SA99200002B1/en unknown
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102248333A (en) * | 2010-05-21 | 2011-11-23 | 中国石油化工股份有限公司 | Automatic welding and cutting device for modified cross-section bellows |
CN105784730A (en) * | 2016-03-15 | 2016-07-20 | 安阳中科工程检测有限公司 | Digital pipeline weld joint positioning device and positioning method |
Also Published As
Publication number | Publication date |
---|---|
JP3141290B2 (en) | 2001-03-05 |
AU715597B2 (en) | 2000-02-03 |
ID22395A (en) | 1999-10-07 |
CA2265215A1 (en) | 1999-10-02 |
AU2256999A (en) | 1999-10-14 |
KR19990082797A (en) | 1999-11-25 |
SG88749A1 (en) | 2002-05-21 |
RU2225285C2 (en) | 2004-03-10 |
JPH11320093A (en) | 1999-11-24 |
SA99200002B1 (en) | 2005-11-23 |
KR100318301B1 (en) | 2001-12-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA2265215C (en) | Welding monitoring system | |
US6429405B2 (en) | Apparatus and method for welding pipes together | |
US8592719B2 (en) | System and method for identifying welding consumable wear | |
AU2004200199B2 (en) | Welding Wire Positioning System | |
US5347101A (en) | Automatic tracking system for pipeline welding | |
RU99106663A (en) | WELDING CONTROL SYSTEM | |
CN105377493A (en) | System and method for determining weld travel speed | |
EP0684101B1 (en) | System for automatically controlling weld material beading in orbital welding processes for medium- and large-size pipes | |
ATE24290T1 (en) | METHOD OF CONTROL OF AN ARC WELDING TORCH OF A WELDING ROBOT. | |
US5510595A (en) | Machine for automatic in situ welding according to a curvilinear section profile and having programmable extrapolation control | |
CN102717173B (en) | Detectors for movement speeds of semi-automatic consumable electrode and non-consumable electrode electric-arc welding molten baths | |
US7094989B2 (en) | Welding apparatus and methods for using ultrasonic sensing | |
WO2020165916A1 (en) | Methods and systems for repairing crossings of railway tracks | |
TH19436C3 (en) | Welding inspection system | |
JPS6021821B2 (en) | Sealing welding method | |
JPH0459993B2 (en) | ||
Holz | ORNL automated orbital pipe welding systems | |
Ruf et al. | On-site production of butt welds for pipes by mechanized equipment | |
JPS53119263A (en) | Welding method for inner plane of steel pipe | |
KR20170004193U (en) | Welding Defects Forecasting System of FCAW Welding Machine | |
JPH11309577A (en) | Weld arc length detecting method and its device | |
JPH05277738A (en) | Automatic welding equipment for pipes | |
AU2005203174A1 (en) | Welding wire positioning system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request | ||
MKLA | Lapsed |