Mechanized and coordinated motion for fillet and groove welding
A two-axis motion system with a motion controller adjusts the welding torch's height and oscillation independently to address the limitations of conventional systems, enabling efficient and reliable weld formation on diverse workpieces without mechanical tilting.
Patent Information
- Application Number
- JP2024229838
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-05-08
- Filing Date
- 2024-12-26
- Publication Date
- 2025-07-15
AI Technical Summary
Conventional mechanized orbital welding systems are limited by the physical orientation of the welding torch, requiring complex mechanical systems and tilting mechanisms to achieve appropriate weld bead placement, which complicates the system and reduces reliability.
A two-axis motion system for the welding torch, controlled by a motion controller, adjusts the height and oscillation directions independently to accommodate the working angle without tilting, allowing for flexible motion control during welding processes.
The system provides efficient, cost-effective, and reliable weld formation on various workpieces by maintaining perpendicular motion to the workpiece, simplifying the mechanical setup and enhancing the flexibility of weld placement.
Smart Images
Figure 2025106225000001_ABST
Abstract
Description
Technical Field
[0001] Incorporation by cross-reference / citation to related applications This U.S. patent application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 617,099, filed on January 3, 2024. U.S. Patent No. 9,770,775, issued on September 26, 2017, is hereby incorporated by reference in its entirety. U.S. Patent Application Publication No. 20150129582, published on May 14, 2015, is hereby incorporated by reference in its entirety.
[0002] Embodiments of the present invention relate to the motion control of a welding torch in a welding process. More particularly, embodiments of the present invention relate to the motion control of a welding torch in a welding process along two independent axes of motion.
Background Art
[0003] Many calibrated motion systems for welding involve the use of a 6-axis industrial robot combined with a rotary positioner. The 6-axis robot has the ability to oscillate the welding torch in multiple planes, and the adjustment is made between the torch path and the addition of part manipulation. Conventionally, mechanized orbital welding has consisted of three axes of motion control, which are those of movement, height, and oscillation. The physical orientation of the two mechanical systems that control height and oscillation limits the welding to a plane perpendicular to the height and oscillation axes. It is often necessary to tilt the welding torch to achieve an appropriate weld bead placement. Such an angle is referred to as the working angle. It is desirable to maintain the oscillation and height control across the welding surface in a state perpendicular to the oscillation. In existing welding systems, this is accomplished by physically reorienting the motion axes. This can result in a complex mechanical system with several size and reliability drawbacks.
Summary of the Invention
Means for Solving the Problems
[0004] Embodiments of the present invention include, for example, systems and methods for supporting mechanized welding, such as orbital welding of pipes. In one embodiment, motion adjusted by software on two independent axes of motion is provided to adjust the plane of oscillation of the welding torch and the height of the welding torch with respect to the workpiece in order to account for the torch angle. Thereby, it is possible to adjust the motion plane without limitation within the limits of the two-axis system. For example, one embodiment is a mechanized welding system. The system includes a welding torch and a two-axis motion device configured to move the welding torch in two independent axes of motion (e.g., X and Y) during an orbital welding procedure to produce at least one of a fillet weld or a groove weld on the workpiece. The system also includes a motion controller operably connected to the two-axis motion device. The motion controller is configured to continuously and simultaneously adjust the welding torch in the height and oscillation directions with respect to the workpiece in an adjusted manner, taking into account the physical working angle of the welding torch with respect to the workpiece and without the need for the two-axis motion device to be tilted with respect to the workpiece when the physical working angle is changed, to control the motion of the two-axis motion device along the two axes of motion.
[0005] In one embodiment, a mechanized welding system is provided. The mechanized welding system includes a welding torch and a two-axis motion device operably connected to the welding torch and configured to move the welding torch in two independent axes of motion (e.g., X and Y) during an orbital welding procedure to create a weld on a cylindrical pipe workpiece. The mechanized welding system also includes a motion controller operably connected to the two-axis motion device and an orbital track configured to fit around the cylindrical pipe workpiece. The mechanized welding system further includes an electric orbital welding head having a tractor assembly. The electric orbital welding head is configured to be operably connected to the orbital track via the tractor assembly for movement along the orbital track. The motion controller is configured to control the movement of the two-axis motion device along the two axes of motion in an adjusted manner to continuously and simultaneously adjust the welding torch in the height and swing directions with respect to the cylindrical pipe workpiece while considering the physical working angle of the welding torch with respect to the cylindrical pipe workpiece and without the need for the two-axis motion device to be tilted with respect to the cylindrical pipe workpiece when the physical working angle is changed. The system also includes a welding power source configured to provide welding power to the welding torch and to provide real-time welding torch height adjustment information to the motion controller during the orbital welding procedure. The height adjustment of the welding torch is performed in a direction that is 90 degrees with respect to the plane of the swing of the welding torch. The system further includes a user interface operably interfacing with the motion controller to enable a user to input the physical working angle of the welding torch and the swing / weaving information of the welding torch. In one embodiment, the motion controller and the two-axis motion device are configured to be operably connected to the electric orbital welding head. In one embodiment, at least one of the motion controller and the two-axis motion device is an integral part of the electric orbital welding head.The system also includes an adjustable torch holder configured to allow a user to change the physical working angle of the welding torch. In one embodiment, the system is configured to produce a fillet-weld-on-pipe-socket connection during an orbital welding procedure. In one embodiment, the system is configured to produce a pipe-through-plate root weld during an orbital welding procedure. In one embodiment, the system is configured to produce a pipe-to-plate fillet weld during an orbital welding procedure.
[0006] In one embodiment, a mechanized welding system is provided. The mechanized welding system includes a welding torch and a two-axis motion device that is operably connected to the welding torch and configured to move the welding torch in two independent axes of motion (e.g., X and Y) during a linear welding procedure to generate a weld on a flat plate workpiece. The system also includes a motion controller operably connected to the two-axis motion device and a linear track configured to be mounted on the flat plate workpiece. The system further includes an electric linear welding head having a tractor assembly. The electric linear welding head is configured to be operably connected to the linear track via the tractor assembly to move along the linear track. The motion controller is configured to control the motion of the two-axis motion device along the two axes of motion in an adjusted manner to continuously and simultaneously adjust the welding torch in the height and swing directions with respect to the flat plate workpiece while considering the physical working angle of the welding torch and without the need for the two-axis motion device to be tilted with respect to the flat plate workpiece when the physical working angle is changed. The system also includes a welding power source configured to provide welding power to the welding torch and to provide welding torch height adjustment information to the motion controller in real time during the linear welding procedure. In one embodiment, the height adjustment of the welding torch is performed in a direction that is 90 degrees with respect to the plane of swing of the welding torch. The system also includes a user interface that operably interfaces with the motion controller to enable a user to input the physical working angle of the welding torch and the swing / weaving information of the welding torch. In one embodiment, the motion controller and the two-axis motion device are configured to be operably connected to the electric linear welding head. In one embodiment, at least one of the motion controller and the two-axis motion device is an integral part of the electric linear welding head. The system also includes an adjustable torch holder configured to enable a user to change the physical working angle of the welding torch.In one embodiment, the system is configured to produce a fillet weld on a flat plate workpiece during a linear welding procedure. In one embodiment, the system is configured to produce a groove weld on a flat plate workpiece during a linear welding procedure. In one embodiment, the system is configured to produce a multi-pass fillet weld on a flat workpiece during a linear welding procedure based on a plurality of manual changes to a physical working angle.
[0007] From the following detailed description of the exemplary embodiments and from the accompanying drawings, many aspects of the general inventive concept will become readily apparent.
[0008] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various embodiments of the present disclosure. It should be understood that the illustrated element boundaries in the figures (e.g., boxes, groups of boxes, or other shapes) represent one embodiment of the boundaries. In some embodiments, one element may be designed as a plurality of elements, or a plurality of elements may be designed as one element. In some embodiments, an element shown as an internal component of another element may be implemented as an external component, and vice versa. Furthermore, the elements may not be drawn to an exact scale.
Brief Description of the Drawings
[0009]
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[0010] Embodiments of systems and methods are disclosed that provide mechanized, adjusted motion for fillet and groove welding for certain types of welding applications. These systems and methods are simpler, more efficient, and more cost-effective than conventional systems and methods (e.g., six-axis robotic systems). The systems and methods described herein can be used, for example, to weld two pipes together, to weld a flat plate onto the end of a pipe, to weld a long straight track along a structural member, or to create a fillet weld between a pipe and a socket connection. Other applications are possible as well.
[0011] The examples and figures herein are for illustrative purposes only and are not intended to limit the invention as determined by the scope and spirit of the claims. The illustrations are not intended to be limiting of the exemplary embodiments of the invention but are only for the purpose of illustrating the same.
[0012] FIG. 1 shows a system block diagram of an embodiment of a welding system 100 that provides two-axis motion for a welding torch. FIG. 2 shows an embodiment of each part of the welding system 100 of FIG. 1 integrated within an orbital welding system 200 when applied to a fillet-weld-on-pipe orbital welding application to form a socket connection. Referring to FIGS. 1 and 2, the system 100 includes a welding power source 110, a motion controller 120, a user interface 130, and a two-axis motion device 140. In one embodiment, the motion controller 120 and the two-axis motion device 140 are part of an electric welding head 210 having a tractor assembly 220. The electric welding head 210 is configured to be operably connected to a track 230 via the tractor assembly 220 to move along the track 230 in a moving direction (e.g., an orbital moving direction around a pipe).
[0013] The motion controller 120 is operably connected to the welding power source 110, the user interface 130, and the two-axis motion device 140. Also, the system 100 includes a welding torch 150 operably connected to the two-axis motion device 140. The two-axis motion device 140 moves along the moving direction as part of the electric welding head 210 together with the welding torch 150 (e.g., in an orbital welding application around a pipe).
[0014] In one embodiment, in addition to providing welding power to the welding torch 150, the welding power source 110 is configured to provide the motion controller 120 with height adjustment information of the welding torch in real time during a welding procedure (e.g., an orbital welding procedure). Further, the welding power source 110 is configured to provide the motion controller 120 with oscillation / weaving information of the welding torch in real time during the welding procedure. The user interface 130 (e.g., a pendant) is configured to enable a user to input to the motion controller 120 the working angle α of the welding torch 150 that is manually set by the user. In an alternative embodiment, instead of the welding power source 110, the user interface 130 provides the motion controller 120 with oscillation / weaving information of the welding torch. According to various embodiments, the user interface 130 can be a part of the electric welding head 210 or can be located outside thereof.
[0015] The welding torch 150 is operably connected to the two-axis motion device 140, for example, via a torch holder. For example, in one embodiment, an adjustable torch holder 240 (see FIG. 2) is provided to enable a user to more easily change the working angle α of the torch 150. The user interface 130 (e.g., a pendant) is used to interface with the motion controller 120 to set up and provide information to the motion controller 120. As the welding torch 150 moves along the track 230 in an orbital welding application, the two-axis motion device 140 moves with the welding torch 150. However, the two-axis motion device 140 does not need to be tilted to compensate for changes in the working angle α of the welding torch 150 with respect to the workpiece 250 (see FIG. 2). The two-axis motion device 140 is always perpendicular to the workpiece 250 (e.g., a pipe).
[0016] According to one embodiment, the implementation is realized through software-controlled adjustment by the motion controller 120 of two linear motion assemblies of the two-axis motion device 140 operably connected to the welding torch 150. The user manually sets the desired physical torch angle α (for example, the working angle of the torch 150). The measured value of the torch angle can be obtained by the user using a common tool or indicator on the torch mount. The user can input the information of the measured torch angle into the motion controller 120 via the user interface 130.
[0017] Based on the input torch angle, the system 100 is configured to change the X and Y positions along the coordinate system (X, Y) based on the position of the two-axis motion device 140. This is for acting on the torch height and torch swing with respect to the workpiece in real time, but the height and swing axes are not aligned with the X and Y axes due to the torch angle α (that is, the two-axis motion device 140 does not need to be tilted to align the height and swing with X and Y). Instead, the motion controller 120 calculates a Cartesian coordinate transformation, whereby the two-axis motion device 140 can, for example, remain perpendicular to the pipe. FIG. 3 shows a configuration 300 that can be avoided by the embodiment of FIG. 1. In the configuration 300 of FIG. 3, it is necessary to tilt the two-axis motion device 340 to compensate for changes in the working angle α. The motion controller 320 does not perform a Cartesian coordinate transformation as in the system 100 of FIG. 1. Such a configuration in FIG. 3 can be more complex, costly, and less efficient. That is, the embodiment of FIG. 1 is likely to be superior to the embodiment of FIG. 3 in various applications.
[0018] In one embodiment, the system 100 uses servo motors in the two-axis motion device 140 based on two independent positions. The adjustment of the servo motors is processed by the motion controller 120 such that it is commanded by the input from the welding power source 110 and / or the user interface 130 to the motion controller 120. In the automatic mode, the oscillation width setting and the automatic torch height control information (e.g., from the welding power source 110) can make certain changes to the target position and speed (i.e., height and oscillation) along each axis.
[0019] In summary, the welding torch 150 can be manually adjusted to the desired working angle for a given path, and the user can measure the working angle to ensure that it is correct. The user can then input the working angle into the user interface 130 (e.g., pendant) to notify the motion controller 120 of the working angle. The motion controller 120 obtains the working angle information, the desired height information (e.g., input from the height control algorithm in the welding power source 110), and the desired oscillation position information (e.g., input from the welding power source 110), and converts this information into the X and Y position information for the motion of the two-axis motion device 140 to achieve the desired height and oscillation position for the torch 150 with respect to the workpiece (e.g., the fillet weld or groove weld on the pipe) in the welding process, at the working angle, and at any given time. That is, the adjustment of the height and oscillation is performed in real time in the welding process. Also in this case, the motion controller 120 calculates the Cartesian coordinate transformation, whereby the two-axis motion device 140 can remain perpendicular to the workpiece.
[0020] For example, in one scenario or application, the welding torch 150 is moving along a track to create a fillet weld. The appropriate motion of the torch 150 during performing the fillet weld is, for example, to weave or oscillate across the welding surface at a working angle of 45 degrees. However, if the welding is multi-pass fillet welding, it may be necessary to change the working angle α for subsequent passes (e.g., 35, 45, 60 degrees). In any given pass, the welding torch weaves across the welding surface and the height of the torch is automatically adjusted in the direction of the wire. The same two-axis motion device 140 having X and Y orthogonal axes and under the control of the motion controller 120 is configured to adjust the height of the torch and the oscillation of the torch for any working angle α without the need to tilt the two-axis motion device 140 with respect to the workpiece (e.g., a pipe). The motion controller 120 calculates the X and Y positions required to position the welding torch at the desired height position and the desired oscillation position at any given instant during welding.
[0021] In one embodiment, a welding program for the first pass of multi-pass welding is generated, including welding settings, weaving settings, and travel speed. For any given welding pass, the system 100 is programmed by the desired torch working angle α and notifies the user of the angle for manually setting the welding torch 150 via the user interface 130. However, the same welding program used for the first pass can be used for subsequent passes. The motion controller 120 and the two-axis motion device 140 compensate for different angles used for different passes.
[0022] The two-axis motion device 140 and the motion controller 120 ensure that the height adjustment is reliably performed in a direction that is 90 degrees from the plane of oscillation, regardless of the value of the working angle α. According to one embodiment, the desired height is determined based on the arc voltage and / or current feedback to the welding power source 110 and by using an automatic height control algorithm within the welding power source 110. According to an alternative embodiment, the automatic height control algorithm is arranged within the motion controller 120.
[0023] FIG. 4 shows a block diagram of an exemplary embodiment of a controller (e.g., a controller within the motion controller 120 or the welding power source 110) that can be used, for example, within the welding system 100 of FIG. 1. Referring to FIG. 4, the controller 400 includes at least one processor 414 (e.g., a microprocessor, a central processing unit, a graphics processing unit) that communicates with several peripheral devices via a bus subsystem 412. These peripheral devices can include, for example, a storage subsystem 424 that includes a memory subsystem 428 and a file storage subsystem 426, a user interface input device 422, a user interface output device 420, and a network interface subsystem 416. The input and output devices enable user interaction with the controller 400 (e.g., the user interface 130 can be a part of the motion controller 120 as a user interface input device 422). The network interface subsystem 416 provides an interface to an external network and can be communicatively coupled to a corresponding interface device in other devices.
[0024] The user interface input device 422 can include audio input devices such as a voice recognition system, a microphone, and / or other types of input devices. In general, the use of the term "input device" is intended to include all possible types of devices and methods for inputting information into the controller 400 or onto a communication network.
[0025] The user interface output device 420 can include a display device or a non-visual display such as an audio output device. The display device can include a flat panel device such as a liquid crystal display (LCD), a projection device, or any other mechanism for generating a visible image. Also, the display device can provide a non-visual display via an audio output device or the like. In general, the use of the term "output device" is intended to include all possible types of devices and methods for outputting information from the controller 400 to a user or another device or computer system.
[0026] The storage subsystem 424 stores the programming and data structures that provide some or all of the functions described herein. For example, computer-executable instructions and data are generally executed by the processor 414 alone or in combination with other processors. The memory 428 used within the storage subsystem 424 can include several memories, including a main random access memory (RAM) 430 for storing instructions and data during program execution and a read-only memory (ROM) 432 in which fixed instructions are stored. The file storage subsystem 426 can provide permanent storage for program and data files and can include a solid state drive, a CD-ROM drive, an optical drive, or a removable media cartridge. The computer-executable instructions and data implementing the functions of a particular embodiment can be stored by the file storage subsystem 426 within the storage subsystem 424 or in other devices accessible by the processor 414.
[0027] The bus subsystem 412 provides a mechanism that enables the various components and subsystems of the controller 400 to communicate with each other as intended. Although the bus subsystem 412 is schematically shown as a single bus, alternative embodiments of the bus subsystem can use multiple buses.
[0028] The controller 400 can be of various types. Due to the continuously changing nature of the computing devices and networks, the description of the controller 400 depicted in FIG. 4 should be construed as being merely a specific example for the purpose of illustrating some embodiments. Many other configurations of the controller are possible, having more or fewer components compared to the controller 400 depicted in FIG. 4. For example, the motion controller 120 may not include the user interface devices 420 and 422. Instead, in the embodiment of FIG. 1, a user interface 130 located external to the motion controller 120 is provided.
[0029] Similar to FIG. 2, FIG. 5 shows an embodiment of a portion of the system of FIG. 1 integrated into the orbital welding system 200 applied to pipe-through-plate root welding orbital welding applications. FIG. 6 shows an embodiment of a portion of the system 100 of FIG. 1 integrated into the orbital welding system 200 applied to pipe-to-plate fillet welding orbital welding applications.
[0030] In addition to orbital welding applications, linear welding applications are similarly supported. For example, FIG. 7A shows a first view (side view) of an embodiment of a portion of the system of FIG. 1 integrated into a linear welding system 300 as applied to a fillet-weld-on-flat-plate linear welding application. The system 300 includes an electric welding head 310 (similar to the electric welding head 210) having a tractor assembly 320 (similar to the tractor assembly 220). The electric welding head 310 is configured to be operably connected to a linear track 330 via the tractor assembly 320 for movement in a linear movement direction (e.g., a linear movement direction along a flat plate) along the linear track 330. Also in this case, the motion controller 120 is operably connected to the welding power source 110, the user interface 130, and the two-axis motion device 140. The system 300 also includes a welding torch 150 operably connected to the two-axis motion device 140 of the electric welding head 310. The two-axis motion device 140 moves along the movement direction as part of the electric welding head 310 together with the welding torch 150 (e.g., in a linear welding application along a flat plate). FIG. 7B shows a second view (front view) of the embodiment of FIG. 7A.
[0031] Although the above-described embodiments have been illustrated and described in considerable detail, there is no intention to limit the scope of the appended claims to such detail, nor is there any intention to limit them in any way. Of course, for the purpose of describing various aspects of the subject matter, it is impossible to describe every possible combination of components or methods. Accordingly, the present disclosure is not limited to the specific details or examples shown and described. Therefore, the present disclosure is to be construed as including modifications, alterations, and variations that fall within the scope of the appended claims and that satisfy the legal subject matter requirements of 35 U.S.C. § 101. The foregoing description of specific embodiments is provided by way of example. From the given disclosure, those skilled in the art will not only understand the general inventive concept and attendant advantages, but will also find obvious various modifications and variations to the structures and methods disclosed. Accordingly, it is required to cover all such modifications and variations that fall within the spirit and scope of the general inventive concept defined by the appended claims and their equivalents.
Description of the Reference Numerals
[0032] 110 Welding power source 120 Motion controller 130 User interface 140 Two-axis motion device 320 Motion controller 400 Controller 414 Processor 416 Network interface 420 User interface output device 422 User interface input device 424 Storage subsystem 426 File storage subsystem 428 Memory subsystem
Claims
1. A mechanized welding system comprising: a welding torch; a two-axis motion device operably connected to the welding torch and configured to move the welding torch in two independent axes of motion during an orbital welding procedure to create a weld on a cylindrical pipe workpiece; a motion controller operably connected to the two-axis motion device; an orbital track configured to fit around the cylindrical pipe workpiece; an electric orbital welding head having a tractor assembly and configured to be operably connected to the orbital track via the tractor assembly for movement along the orbital track; and having: The motion controller is configured to control the movement of the two-axis motion device along the two axes of motion in an adjusted manner to continuously and simultaneously adjust the welding torch in the height and swing directions with respect to the cylindrical pipe workpiece, taking into account the physical working angle of the welding torch with respect to the cylindrical pipe workpiece and without the need for the two-axis motion device to be tilted with respect to the cylindrical pipe workpiece when the physical working angle is changed. A system.
2. The system according to claim 1, further comprising a welding power source configured to provide welding power to the welding torch and to provide welding torch height adjustment information to the motion controller in real time during the orbital welding procedure.
3. The system according to claim 1, wherein the height adjustment of the welding torch is performed in a direction that is 90 degrees with respect to the plane of swing of the welding torch.
4. The system according to claim 1, further comprising a user interface operably interfacing with the motion controller to enable a user to input the physical working angle and swing / weaving information of the welding torch.
5. The system according to claim 1, wherein the motion controller and the two-axis motion device are configured to be operably connected to the electric orbital welding head.
6. The system according to claim 1, wherein at least one of the motion controller and the two-axis motion device is an integral part of the electric orbital welding head.
7. The system according to claim 1, further comprising an adjustable torch holder configured such that a user can change the physical working angle of the welding torch.
8. The system according to claim 1, configured to produce a fillet-weld-on-pipe socket connection during the orbital welding procedure.
9. The system according to claim 1, configured to produce a pipe-through-plate bevel weld during the orbital welding procedure.
10. The system according to claim 1, configured to produce a pipe-to-plate fillet weld during the orbital welding procedure.
11. A mechanized welding system, a welding torch, a two-axis motion device operably connected to the welding torch and configured to move the welding torch in two independent axes of motion during a linear welding procedure to produce a weld on a flat plate workpiece, a motion controller operably connected to the two-axis motion device, a linear track configured to be mounted on the flat plate workpiece, an electric linear welding head having a tractor assembly and configured to be operably connected to the linear track via the tractor assembly for movement along the linear track, comprising The motion controller is configured to control the movement of the two-axis motion device along the two axes of motion in an adjusted manner to continuously and simultaneously adjust the welding torch in the height and swing directions with respect to the flat plate workpiece, taking into account the physical working angle of the welding torch with respect to the flat plate workpiece and without the need for the two-axis motion device to be tilted with respect to the flat plate workpiece when the physical working angle is changed.
12. The system according to claim 11, further comprising a welding power source configured to provide welding power to the welding torch and to provide welding torch height adjustment information to the motion controller in real time during the linear welding procedure.
13. The system according to claim 11, wherein the height adjustment of the welding torch is performed in a direction that is 90 degrees with respect to the plane of oscillation of the welding torch.
14. The system according to claim 11, further comprising a user interface operably interfacing with the motion controller to enable a user to input the physical working angle of the welding torch and welding torch oscillation / weaving information.
15. The system according to claim 11, wherein the motion controller and the two-axis motion device are configured to be operably connected to the electric linear welding head.
16. The system according to claim 11, wherein at least one of the motion controller and the two-axis motion device is an integral part of the electric linear welding head.
17. The system according to claim 11, further comprising an adjustable torch holder configured to enable a user to change the physical working angle of the welding torch.
18. The system according to claim 11, configured to generate a fillet weld on the flat plate workpiece during the linear welding procedure.
19. The system according to claim 11, configured to generate a groove weld on the flat plate workpiece during the linear welding procedure.
20. The system according to claim 11, configured to generate a multi-pass fillet weld on the flat plate workpiece during the linear welding procedure based on multiple manual changes of the physical working angle.