WO2016178125A1

WO2016178125A1 - Multi axes welding system

Info

Publication number: WO2016178125A1
Application number: PCT/IB2016/052469
Authority: WO
Inventors: T. N. Pradeep Kumar NAIDU
Original assignee: Naidu T N Pradeep Kumar
Priority date: 2015-05-01
Filing date: 2016-04-30
Publication date: 2016-11-10
Also published as: AU2016258286A1

Abstract

The present disclosure seeks to provide a multi axes welding system. The system comprises a torch adapted to assist welding operation of a first item on a component mounted on a mounting arm. The system includes multiple axes motors configured to provide motion to the torch and the mounting arm in the respective axes. The multi axes welding system includes an operator interface for receiving input corresponding to an operational parameter and a dimensional parameter corresponding to the multiple axes motors, torch, component and items. A controller is configured to control the movement of the torch around a predetermined area of welding in order to weld the item on the component.

Description

MULTI AXES WELDING SYSTEM

TECHNICAL FIELD

[001] This application relates generally to a multi axes welding system, and more particularly to a method and system for performing welding operation on a five-axes welding system.

BACKGROUND

[002] Welding operations have an important role in various industrial applications in order to join one or more metal pieces into a single piece. Many times, manual welding is performed wherein an operator experienced in the welding process performs the welding operation. However, the manual welding has severe limitations. For example, the manual welding is dependent on the operator skills and efficiencies. An unexperienced operator can cause quality concerns such as inaccuracy in weld bead, leakage in the joint, improper penetration of weld and inconsistent weld bead. Moreover, the manual welding process is unable to handle an industry demand with a consistent quality where a large quantity of metals pieces is to be weld together.

[003] Therefore, in light of the foregoing discussion, there exists a need to provide a system and a method for performing automatic welding operation.

SUMMARY

[004] The present disclosure seeks to provide a multi axes welding system. The system comprises:

a torch adapted to assist welding operation of a first item on at least one component, wherein the at least one component is mounted on a mounting arm;

an X-axis motor arranged to provide motion to the torch in an X-axis direction;

a Y-axis motor arranged to provide motion to the torch in a Y-axis direction; a Z-axis motor arranged to provide motion to the torch in a Z-axis direction; a first rotational axis motor arranged to provide rotational motion to the torch around a first rotational axis;

a second rotational axis motor arranged to provide rotational motion to the mounting arm around a second rotational axis; a display device configured to display an operator interface to an operator, wherein the operator interface is adapted to receive an input corresponding to an operational parameter and a dimensional parameter; wherein the dimensional parameter is selected from a group comprising at least one of: a dimension of the at least one component, a dimension of the first item, and a relative dimension between the at least one component and first item; and

a controller configured to define a sequence of operation for the torch to assist the welding of the first item on the at least one component, wherein the sequence of operation is dependent on the operational and dimensional parameters; wherein the controller interpolates operations of the X-axis motor, the Y-axis motor, the Z-axis motor, the first rotational axis motor and the second rotational axis motor to control the movement of the torch around a predetermined area of welding in order to weld the first item on the at least one component.

[005] The present disclosure seeks to provide a method for performing a welding operation on the multi axes welding system, the method comprising the steps of: mounting a torch on the multi axes welding system wherein the torch is adapted to assist welding operation of a first item on at least one component, wherein the at least one component is mounted on a mounting arm;

mounting an X-axis motor to provide motion to the torch in an X-axis direction;

mounting a Y-axis motor to provide motion to the torch in a Y-axis direction; mounting a Z-axis motor to provide motion to the torch in a Z-axis direction; mounting a first rotational axis motor to provide rotational motion to the torch around a first rotational axis;

mounting a second rotational axis motor to provide rotational motion to the mounting arm around a second rotational axis;

displaying an operator interface to an operator, wherein the operator interface is adapted to receive an input corresponding to an operational parameter and a dimensional parameter; wherein the dimensional parameter is selected from a group comprising at least one of: a dimension of the at least one component, a dimension of the first item, and a relative dimension between the at least one component and first item; defining a sequence of operation of the torch to assist the welding operation of the first item on the at least one component, wherein the sequence of operation is dependent on the operational and dimensional parameters; and

controlling interpolated operations of the X-axis motor, the Y-axis motor, the Z-axis motor, the first rotational axis motor and the second rotational axis motor to control the movement of the torch around a predetermined area of welding in order to weld the first item on the at least one component.

BRIEF DESCRIPTION OF THE DRAWINGS

[006] The summary above, as well as the following detailed description of illustrative embodiments, is better understood when read in conjunction with the appended drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the present disclosure is not limited to specific methods and instrumentalities disclosed herein.

Moreover, those skilled in the art will understand that the drawings are not to scale.

Wherever possible, like elements have been indicated by identical numbers.

[007] Embodiments of the present disclosure will now be described, by way of example only, with reference to the following diagrams wherein:

[008] Figure 1 is an exemplary multi axes welding system for performing a welding operation in accordance with an embodiment of the disclosure.;

[009] Figures 2A and 2B illustrate exemplary dimensional parameters of a component and one or more items in accordance with an embodiment of the disclosure;

[0010] Figure 3 illustrates an exemplary operator interface for an operator to provide input values corresponding the dimensional and operational parameters in accordance with an embodiment of the disclosure;

[0011] Figure 4 illustrates another operator interface for the operator to provide input specific to port welding parameters in accordance with an embodiment of the disclosure;

[0012] Figure 5 illustrates an operator interface for the operator to provide an input specific to block welding parameters in accordance with an embodiment of the disclosure; [0013] Figure 6 illustrates another operator interface indicating dimensional parameters for performing tack welding in accordance with an embodiment of the disclosure;

[0014] Figure 7 illustrates another operator interface indicating an auto mode selection interface in accordance with an embodiment of the disclosure;

[0015] FIG. 8 is an exemplary operator interface indicating a manual teaching interface in accordance with an embodiment of the disclosure;

[0016] Figure 9 illustrates exemplary work product produced through the operation of the multi axes welding system in accordance with an embodiment of the disclosure;

[0017] Figure 10 is an exemplary mechanical multi axes welding system adapted to perform welding operation in accordance with an embodiment of the disclosure; and [0018] FIG. 11 illustrates an exemplary method for performing welding operation on the multi axes welding system in accordance with an embodiment of the disclosure.

[0019] In the accompanying drawings, an underlined number is employed to represent an item over which the underlined number is positioned or an item to which the underlined number is adjacent. A non-underlined number relates to an item identified by a line linking the non-underlined number to the item. When a number is non-underlined and accompanied by an associated arrow, the non-underlined number is used to identify a general item at which the arrow is pointing.

DETAILED DESCRIPTION

[0020] The following detailed description illustrates embodiments of the present disclosure and manners by which they can be implemented. Although the best mode of carrying out the present disclosure has been disclosed, those skilled in the art would recognize that other embodiments for carrying out or practicing the present disclosure are also possible.

[0021] It should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Further, the terms "a" and "an" herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item.

[0022] Figure 1 is an exemplary multi axes welding system 100 for performing a welding operation in accordance with an embodiment of the disclosure. The multi axes welding system 100 is adapted to weld one or more items such as an item 102a and an item 102b (collectively referred herein to as the item 102) on a component 104 in an automatic as well as in a manual mode of operation. Specifically, in the automatic mode of operation, the multi axes welding system 100 is configured to control movements of a torch 106 in multiple axes through interpolated operations of the respective axes motors. The component 104 is mounted on a mounting arm and the one or more items 102 are tacked on the component 104. Further, a controlled movement of the torch 106 around the one or more tacked items 102 and use of the filler material assist in welding of the one or more items 102 on the component 104.

[0023] In an embodiment, the one or more items 102 can include but not limited to a port, a block, an end cap, profiles such as a cam profile, a circular profile, a hexagonal profile, a polygonal profile and a combination thereof. In an embodiment, the component 104 can include but not limited to a substantially cylindrical tube, a hexagonal tube, a polygonal tube and a combination thereof. Further, the multi axes welding system 100 can be adapted to weld one or more instances of the item 102, two or more different items 102 on the component 104 and a combination thereof.

[0024] The multi axes welding system 100 includes an X-axis motor 112, a Y-axis motor 114, a Z-axis motor 116, a first rotational axis motor 118 and a second rotational axis motor 120. The X-axis motor 112 is arranged to provide motion to the torch 106 in an X-axis direction. The Y-axis motor 114 is arranged to provide motion to the torch 106 in a Y-axis direction. The Z-axis motor 116 is arranged to provide motion to the torch 106 in a Z-axis direction. The first rotational axis motor 118 is arranged to provide rotational motion to the torch 106 around a first rotational axis 122 and the second rotational axis motor 120 is arranged to provide rotational motion to the mounting arm around the second rotational axis 124.

[0025] Further, the multi axes welding system 100 includes a display device 132 so that an operator interface 134 can be shown to an operator. The operator interface 134 is adapted to receive an input corresponding to one or more operational parameters and dimensional parameters required for operating the torch 106 in order to assist in welding the one or more items 102 on the component 104. The dimensional parameters can include angular or linear dimensions corresponding to the one or more items 102 and the component 104. The dimensional parameters can include dimensions of the component 104, dimensions of the one or more items 102, relative dimensions indicating angular, radial, and linear distance between a reference point on the component 104 and welding positions of the one or more items 102 on the component 104. In an embodiment, the dimensional parameter can include relative dimensions indicating angular, radial and linear dimensions between the welding positions of the one or more items 102 with respect to each other.

[0026] Referring to Figures 2A and 2B, exemplary dimensional parameters for the component 104 and the one or more items are identified in accordance with an embodiment of the disclosure. Figure 2A illustrates a front perspective view of the component 104 on which one or more items are required to be welded. Figure 2B illustrates a left side view of the component 104.

[0027] In an embodiment, the one or more items include two ports such as a port 202 and a port 204 and two blocks such as a block 212 and a block 214. These items are to be welded on the component 104. Accordingly, various dimensional parameters are identified so that the multi axes welding system 100 can control the movement of the torch 106 around these items (e.g., 202, 204, 212 and 214) for welding thereof.

[0028] In an embodiment, a first dimensional parameter XI indicates distance of the port 202 from a first end 222 of the component 104. In an embodiment, the first end 222 corresponds to an end of a butting face (i.e., turned face) of the component 104 with respect to the port 202. A second dimensional parameter X2 indicates distance between the port 202 and the port 204. In an embodiment, the second dimensional parameter X2 is an indicative of distance between the centres of the port 202 and the port 204. A third dimensional parameter P2 refers to radius of the port 202. In an embodiment, the radius of the port 204 can be substantially similar to the radius of the port 202.

[0029] In an embodiment, a fourth dimensional parameter X4 indicates distance of a starting plane of the block 212 from the first end 222 of the component 104. A fifth dimensional parameter X5 indicates length of the block 212. A sixth dimensional parameter X6 refers to distance between starting planes of the blocks 212 and 214 respectively. A seventh dimensional parameter X7 indicates to a total length of the component 104 and an eighth dimensional parameter PI refers to radius of the component 104.

[0030] In an embodiment, the dimensional parameter corresponds to an angular dimension between the two items (e.g., the port 202 and the block 212) or between the any of the aforementioned items and the component 104. As illustrated in Figure 2B, a ninth dimensional parameter Al indicates an angle from the centre of the port 202 to a block starting point of weld. A tenth dimensional parameter A2 indicates an angle through which the rectangular blocks (i.e., the blocks 212 and 214) are welded.

[0031] Figure 3 illustrates an exemplary operator interface 300 for an operator to provide input values corresponding the dimensional and operational parameters in accordance with an embodiment of the disclosure. In an embodiment, the operator interface 300 allows the operator to input the values for the one or more dimensional parameters as explained in Figure 2. In addition to the dimensional parameters of Figure 2, the operator interface 300 includes one or more operational parameters such as a linear welding speed 302, an arc welding speed 304, a welding speed 312, a port weld total degree 314, a welding approach speed 322, a welding start delay 324, a welding on delay 326, a Z-axis up position 328, and a circle welding torch offset 330.

[0032] The linear welding speed 302 indicates speed of the torch 106 in a linear direction (e.g., X- axis direction) to assist in welding of the item 102 having linear or straight profile. In an example, it refers to the speed for the torch 106 required to assist the welding along the length of the block 212 or the block 214.

[0033] The arc welding speed 304 refers to the rotational speed of the component 104 around the second rotational axis 124 (refer Figure 2) during the arc welding and circular welding. As a result, the multi axes welding system 100 can be adapted to weld along the circumference of the component 104 during block welding or end cap welding. As an example and not as a limitation, the arc welding speed 304 will determine the speed of the welding for the angular dimensional parameter A2.

[0034] The welding speed 312 refers to the speed of the torch 106 maintained during the port welding. The port weld total degree 314 refers to a total weld angle including the overlap angle for the port welding. Referring to Figure 2, the welding speed 312 and port weld total degree 314 will refer to the speed and an extent of overlapped rotation of the torch 106 with respect to the first rotational axis 122, when the controller 142 is configured to perform welding operation of the items such as the ports 202 and 204. In an embodiment, the controller 142 is configured to control the operation of the first rotational axis motor such that the torch 106 rotates from 360 degrees to 400 degrees on the circumference of the port or the end cap to perform overlapped welding, when the component 104 is a substantially cylindrical tube and the first item is a port or an end cap.

[0035] The welding approach speed 322 refers to the torch interpolated speed to reach a start point of weld in a sequence and the welding start delay 324 indicates a duration for the torch 106 to wait at the start point of weld after approaching. The welding on delay 326 indicates a duration between the start of weld at the initial point and the beginning of rotation of the axes motors. The Z-axis up position 328 refers to an offset point for the torch 106 after every welding of a single component 104. This is in absolute value from the home position. The circle welding torch offset 328 indicates the welding offset angular position of the torch tip.

[0036] Figure 4 illustrates another operator interface 400 for the operator to provide input specific to port welding parameters in accordance with an embodiment of the disclosure. This operator interface 400 enables the operator to control the parameters associated with the port welding. The parameters listed in this operator interface 400 are similar to the parameters as listed in the Figures 2 and 3.

[0037] Figure 5 illustrates an operator interface 500 for the operator to provide an input specific to block welding parameters in accordance with an embodiment of the disclosure. The operator interface 500 enables the operator to control the parameters associated with the block welding. The parameters listed in the operator interface 500 are similar to the parameters as listed in the Figures 2 and 3. Further, the Figure 5 illustrates an operational parameter weld cut length 502 which indicates an amount of initial space after which the linear welding of the block is completed and the same value is compensated at the end. For example, if a Block Length is equal to 64 mm and the weld cut length is adjusted to 5mm, the welding will happen only for 54mm as the start and end length of 5mm each will have only dry run.

[0038] Similarly, an operational parameter weld cut degree 504 indicates an amount of initial space after which the arc welding of the block is done and the same value is compensated at the end of the arc. For example, if a length of the block is 64 mm and Weld Cut Degree = 5mm, the welding will happen only for 54mm as the start and end length of 5mm each will have only dry run.

[0039] Figure 6 refers to another operator interface 600 indicating dimensional parameters for performing tack welding in accordance with an embodiment of the disclosure. The dimensional parameter and the operational parameter as used herein are similar to the dimensional parameter and operational parameter as used for ensuring welding operation of the items 102 on the component 104. The tack welding can be used to setup support for the items 102 on the component 104 so that the multi axes welding system 100 can appropriately perform the welding operation on the component 104.

[0040] Referring to Figures 1 to 6, on receipt of input regarding the dimensional parameters and operational parameters from the operator, the controller 142 is configured to define a sequence of operation for the torch 106 to assist the welding operation of the first item 102 on the component 104. The sequence of operation is dependent on the operational and dimensional parameters. The controller 142 interpolates operations of the X-axis motor 112, the Y-axis motor 114, the Z-axis motor 116, the first rotational axis motor 118 and the second rotational axis motor 120 to control the movement of the torch 106 around a predetermined area of welding in order to weld the first item 102 on the at least one component 104.

[0041] In an embodiment, the sequence of operation may include welding of two ports (e.g., the port 202 and the port 204) and two blocks (e.g., the block 212 and the block 214) on the component 104. Accordingly, the controller 142 is configured to control the interpolated operations of the axes in such a way that the torch 106 first assists in welding of the port 202 and proceeds to assist the welding of the port 204. Further, the component 104 is rotated around the second rotational axis 124. Thereafter, the torch 106 can now linearly move at the linear welding speed 302 along the length of the block 212. Further, the arc welding of the block 212 is performed wherein the component 104 is rotated around the second rotational axis 124 while the torch assists in arc welding of the block 212 along the circumference of the component 104. Subsequently, the block 214 is welded in a manner similar to the welding operation of the block 212.

[0042] The sequence of the operation can be stored in a memory accessible to the controller 142 so that the operator is not required to select multiple options while performing the welding operation. As an example and not as a limitation, another operator interface 700 indicating an auto mode selection interface is illustrated in Figure 7. The operator needs to select a start button 702 and the multi axes welding system 100 starts performing the welding operation in accordance with the dimensional parameters and operational parameters while interpolating the operations of the various axes motors. During the auto mode, the operator can select a RECIPE CALL button 704 to select the recipe required to perform welding of one or more items 102 on the component 104.

[0043] In another embodiment, the operator can select the START button 602 on the interface by switching WELD OFF from the control box to check for dry run of any program before initiating the welding operation. Further, the operator interface 700 enables the operator to monitor the position of torch 106 at various axes such as the X-axis, the Y-axis, the Z-axis, and the first rotational axis 122. In addition, the interface 700 enables the operator to monitor the positions of the component 104 with respect to the second rotational axis 124 during the welding operation. When a sequence is switched ON, the button 706 shows ON and after completion of the sequence of operation, the button 706 shows OFF.

[0044] FIG. 8 is an exemplary operator interface 800 indicating a manual teaching mode in accordance with an embodiment of the disclosure. The manual mode enables the operator to manually control the movement of the different axes by selecting the respective control buttons. The operator can manually operate the interface buttons in order to determine the various dimensional parameters so that the multi axes welding system 100 can be programmed to desired values of the parameters. Further, the operator can select a HOME button for a particular axis of the torch 106 so as to set the torch 106 at home position. Otherwise, the operator can select the MASTER HOME to drive the torch 106 at home position on all axes.

[0045] In an embodiment, the operator can select a CHECK WELD which is a push button switch meant for checking the weld, gas and wire feed of the welding machine.

[0046] Figure 9 illustrates exemplary work product 902 produced through the operation of the multi axes welding system 100. Figure 9A illustrates a work product 902 wherein ports such as a port 904a and 904b are welded on the work product 902 using the multi axes welding system 100. Figure 9B illustrates a work product 912 wherein a hexagonal block 914 is welded around an end port of the work product 912.

[0047] FIG. 10 is an exemplary mechanical multi axes welding system 100 adapted to perform welding operation in accordance with an embodiment of the disclosure. The one or more parts of the multi axes welding system 100 are represented using numerals and disclosed herein below:

[0048] 1 : Display [0049] 2: Error indication lamp

[0050] 3 : File transfer or refresh indicator

[0051] 4: End connector check up.

[0052] 5: Gas connector for leakage.

[0053] 6: Weld ON/Off plug.

[0054] 7: Welding cable nut adjustment.

[0055] 8: Wire feed frame

[0056] 9: A-Axis motor mounting and pulley mounting

[0057] 10: X-Axis motor mounting and coupler mounting

[0058] 11 : Y-Axis motor mounting and coupler mounting

[0059] 12: Z-Axis motor mounting and coupler mounting

[0060] 13 : Sensor mounting check.

[0061] The methods and systems described herein correspond to the multi axes welding system that is configured to perform MIG welding and TIG welding with three linear axes and two rotary axes interpolated. In an embodiment, the multi axes welding system is an amalgamation of all five axes and an optional sixth axis for wire feeding only for TIG welding process. The interpolation of all the five axes is applied simultaneously in a way to create some very complicated weld joints for example, cam profile which generally requires all the five axes to calculate every bit of up slope and down slope. Further, hexagonal tube with round tubes, multiple ports, rectangular, trapezoidal and freehand profile can also be welded on a pipe and as well on a block of pertained size suitable to the machine's envelope.

[0062] The methods and systems described herein can be configured to weld any number of ports at different angular positions with additional blocks on the same pipe in a single operation. In an embodiment, such operations are performed by consistent torch 106 rotation for up to 400 degrees at the same time moving all the linear axes simultaneously in accordance to every point of weld on the circumference of the port. In addition, the z-axis is being moved up and down based on the cam profile due to different diameters. In an embodiment, the movement of the z-axis is directly dependent on the diameters of the pipe and port.

[0063] FIG. 11 illustrates an exemplary method 1100 for performing welding operation on the multi axes welding system 100 in accordance with an embodiment of the disclosure. The method initiates at step 1100 and proceed to step 1102. At step 1104, a torch is mounted on the multi axes welding system wherein the torch is adapted to assist welding operation of a first item on a component. The component is mounted on a mounting arm such as a spindle or a supporting platform.

[0064] At step 1106, an X-axis motor is mounted to provide motion to the torch in an X-axis direction. At step 1108, a Y-axis motor is mounted to provide motion to the torch in a Y-axis direction. At step 1110, a Z-axis motor is mounted to provide motion to the torch in a Z-axis direction.

[0065] At step 1112, a first rotational axis motor is mounted to provide rotational motion to the torch around a first rotational axis and at step 1114, a second rotational axis motor is mounted to provide rotational motion to the mounting arm around a second rotational axis.

[0066] At step 116, an operator interface is displayed to an operator. The operator interface is adapted to receive an input corresponding to an operational parameter and a dimensional parameter. Further, the dimensional parameter is selected from a group comprising at least one of: a dimension of the at least one component, a dimension of the first item, and a relative dimension between the at least one component and first item;

[0067] At step 1118, a sequence of operation of the torch is defined to assist the welding operation of the first item on the component. The sequence of operation is dependent on the operational and dimensional parameters.

[0068] At step 1120, interpolated operations of the X-axis motor, the Y-axis motor, the Z-axis motor, the first rotational axis motor and the second rotational axis motor is controlled to control the movement of the torch in order to weld the first item on the component. At 1122, the method 1100 terminates.

[0069] In an embodiment, the component is a substantially cylindrical tube and the first item is a port or an end cap. Subsequently, the control of the movement of the torch comprises control of operation of the first rotational axis motor such that the torch rotates from 360 degrees to 400 degrees on the circumference of the port or the end cap.

[0070] In an embodiment, the sequence of operation includes controlling the interpolated movement of the motors to achieve welding of the first item and a second item on the at least one component, wherein the first item is a port and the second item is a block. [0071] The methods and systems described herein provide several advantages. For example, the methods and systems described herein can perform welding of multiple profiles at one go in such a way that each profile should have enough space for the torch to move around for welding. Further, job rotation, revolution of the torch and multiple positioning of the linear axes makes it convenient for the component to be welded at any particular nook and corner.

[0072] Additional aspects, advantages, features and objects of the present disclosure will be made apparent from the drawings and the detailed description of the illustrative embodiments construed in conjunction with the appended claims that follow.

[0073] It will be appreciated that features of the present disclosure are susceptible to being combined in various combinations without departing from the scope of the present disclosure as defined by the appended claims.

[0074] Modifications to embodiments of the present disclosure described in the foregoing are possible without departing from the scope of the present disclosure as defined by the accompanying claims. Expressions such as "including", "comprising", "incorporating", "consisting of, "have", "is" used to describe and claim the present disclosure are intended to be construed in a non-exclusive manner, namely allowing for items, components or elements not explicitly described also to be present. Reference to the singular is also to be construed to relate to the plural.

Claims

I/We Claim:

1. A multi axes welding system comprising:

an X-axis motor arranged to provide motion to the torch in an X-axis direction;

a second rotational axis motor arranged to provide rotational motion to the mounting arm around a second rotational axis;

a display device configured to display an operator interface to an operator, wherein the operator interface is adapted to receive an input corresponding to an operational parameter and a dimensional parameter; wherein the dimensional parameter is selected from a group comprising at least one of: a dimension of the at least one component, a dimension of the first item, and a relative dimension between the at least one component and first item;

2. The multi axes welding system of claim 1, wherein the at least one component is selected from a group comprising at least one of: a substantially cylindrical tube, a hexagonal tube, a polygonal tube and a combination thereof.

3. The multi axes welding system of claim 1, wherein the first item is selected from a group comprising at least one of: a port, a block, an end cap, profiles including a cam profile, a circular profile, a hexagonal profile, a polygonal profile and a combination thereof.

4. The multi axes welding system of claim 1, wherein the operational parameter is selected from a group comprising at least one of: welding speed, torch angle and a combination thereof.

5. The multi axes welding system of claim 1, wherein the at least one component is a substantially cylindrical tube and the first item is a port or an end cap, wherein the controller is configured to control the operation of the first rotational axis motor such that the torch rotates from 360 degrees to 400 degrees on the circumference of the port or the end cap.

6. A multi axes welding system as in any one of the preceding claims, in which the operator interface includes a teaching interface so that an operator can manually program the values for the operational and dimensional parameters.

7. A multi axes welding system as in any one of the preceding claims, in which the sequence of operation includes controlling the interpolated movement of the motors to achieve welding of the first item and a second item on the at least one component, wherein the first item is a port and the second item is a block.

8. A method for performing a welding operation on the multi axes welding system, the method comprising the steps of:

mounting a torch on the multi axes welding system wherein the torch is adapted to assist welding operation of a first item on at least one component, wherein the at least one component is mounted on a mounting arm;

mounting an X-axis motor to provide motion to the torch in an X-axis direction;

mounting a Y-axis motor to provide motion to the torch in a Y-axis direction; mounting a Z-axis motor to provide motion to the torch in a Z-axis direction; mounting a first rotational axis motor to provide rotational motion to the torch around a first rotational axis; mounting a second rotational axis motor to provide rotational motion to the mounting arm around a second rotational axis;

displaying a operator interface to an operator, wherein the operator interface is adapted to receive an input corresponding to an operational parameter and a dimensional parameter; wherein the dimensional parameter is selected from a group comprising at least one of: a dimension of the at least one component, a dimension of the first item, and a relative dimension between the at least one component and first item;

defining a sequence of operation of the torch to assist the welding operation of the first item on the at least one component, wherein the sequence of operation is dependent on the operational and dimensional parameters;

9. The method of claim 1, wherein the at least one component is a substantially cylindrical tube and the first item is a port or an end cap, wherein the control of the movement of the torch comprises control of operation of the first rotational axis motor such that the torch rotates from or up to 360 degrees to 400 degrees on the circumference of the port or the end cap.

10. A method as in any one of the preceding claims, in which the sequence of operation includes controlling the interpolated movement of the motors to achieve welding of the first item and a second item on the at least one component, wherein the first item is a port and the second item is a block.