AT526566A1 - Machining device for machining inner surfaces of pipes - Google Patents

Abstract

The invention relates to a processing device (5) for processing inner surfaces (6, 6') of pipes (2, 2'). This processing device (5) comprises a support frame (8) for receiving at least one processing unit (9). At least two wheels (12) which can rotate about wheel axes (13) are held on the support frame (8), so that the processing device (5) can be moved by means of these wheels (12) within a pipe (2, 2') to be processed. All wheels (12) can also be adjusted and locked with regard to their angle of rotation positions about vertical axes (14) running transversely to the wheel axes (13), so that the processing device (5) can be moved by means of the wheels (12) both parallel and transversely to the pipe axis of a pipe (2, 2') to be processed.

Description

can be used.

On the one hand, processing devices are known from the prior art which are intended for processing the outer surface of pipes. These outer surface processing devices can either be attached to the surface of the pipe using clamping mechanisms, or they have separate support structures supported on the substrate, as is known, for example, from CN212217509U. A pipe to be processed is guided through the hollow cylindrical interior of the processing device, with pairs of rollers arranged in this cavity supporting the pipe and guiding it through the processing device. A welding torch is held on an annular support element running around the outside of the pipe, which annular support element can be rotated about its central axis relative to the pipe. The feed movement of a melting welding electrode is achieved via a spiral-shaped guide. With the stationary pairs of rollers for supporting a pipe and with the annular support element surrounding this pipe, weld seams running transversely to the pipe axis can be applied to the outside of the pipe. This well-known construction is mechanical

technically complex.

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ten connected.

The object of the present invention was to overcome the disadvantages of the prior art and to provide a processing device which can carry out extensive processing, in particular repair processing, on the inner surfaces of pipes with the least possible structural effort.

possible.

This object is achieved by a processing device according to the claims

solved.

The processing device according to the invention for processing the inner surfaces of pipes comprises a support frame for receiving at least one processing unit, in particular at least one machining and/or welding processing unit. The support frame is dimensioned in such a way that

nized so that it can be completely accommodated inside a pipe to be processed

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can be positioned.

Preferably, a pipe to be processed has a round cross-section, in particular circular or oval. All wheels for moving the support frame can also be adjusted and locked in terms of their angle of rotation about vertical axes running transversely to the wheel axes, so that the processing device can be moved by means of the wheels both parallel and transversely to the longitudinal axis of a pipe.

on whose inner surface it can be moved.

One advantage of the processing device according to the invention is that it can be moved lengthways, crossways and approximately spirally within a pipe to be processed. In particular, one and the same processing device according to the invention can be used to travel either lengthways or crossways and even implement partial or complete spiral paths. In this way, longitudinal, crossways and spiral-shaped connecting seams of a pipe can be processed, in particular reworked, in an advantageous manner.

processed, or even manufactured.

The term “pipes” refers to hollow structural elements with a round or rounded cross-section, including conical pipes, for example for masts, or containers or boilers, which are connected to at least one axial end face.

can be designed to be closed at the end.

Furthermore, it can be provided that an available adjustment range of the angle of rotation

position of the wheels is at least 90 degrees. This makes it possible to move or

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can be held.

Furthermore, it can be useful if at least one of the wheels is assigned a motorized wheel drive, with which the processing device can be positioned and moved in a controlled manner within a pipe to be processed. This allows the processing device to be positioned quickly and conveniently within a pipe, independent of human power. In addition to manually controlled driving, autonomous or self-propelled or partially autonomous movement of the processing device is also possible.

device is conceivable.

In addition, it can be provided that the at least one processing unit is attached to at least one adjusting device, which is designed to adjust the at least one processing unit relative to the support frame. This makes it possible to carry out a rough or pre-positioning of the movable processing device and the processing unit within the pipe by means of the wheels of the processing device and then to achieve a fine positioning of the at least one processing unit in relation to the planned processing position by means of the at least one adjusting device. Alternatively or in combination with this, it is possible to carry out a desired relative movement during a processing process.

the at least one processing unit relative to the pipe to be processed

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are standing.

According to a further development, it is possible for at least one of the adjusting devices to comprise at least three adjusting axes, so that at least one of their processing units can be adjusted in three-dimensional space. This allows the adjustment range of the processing unit to be increased, especially in the circumferential direction of a pipe to be processed, without problems with static friction occurring or without the limits of traction of the wheels of the support frame being reached. This also makes it possible to achieve defined feed movements in the depth or height direction and defined positioning movements in relation to a horizontal plane, so that precise or planned processing of the curved inner surface of the pipe at the intended processing positions is possible.

can be guaranteed.

Furthermore, it can be useful if a fixing or braking device is designed which is set up to hold the processing device in a selected processing position. This allows the forces acting on the processing device during processing, for example milling or feed forces, to be reliably absorbed without any undesired adjustment or slipping of the entire processing device relative to the pipe. This can be useful for relatively lightweight processing devices. But it can also be of considerable advantage if the processing device carries out processing away from the bottom dead center of the pipe to be processed, or is positioned away from the bottom dead center. The bottom dead center of the pipe can also be defined as the 6 o'clock position in relation to a

Cross-section circular tube.

According to a particular embodiment, it can be provided that the fixing or braking device comprises at least one magnet-based holding element, which is provided for magnetic coupling and decoupling with respect to a pipe to be processed. The at least one magnet-based holding element can comprise at least one electromagnet, at least one permanent magnet.

nets or a combination thereof. Especially in connection with

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will be opened.

Furthermore, it can be provided that the fixing or braking device comprises at least one support foot or brake shoe that is adjustable relative to the support frame and with which a rolling or braking resistance of the processing device can be raised and lowered as required. This creates a structurally simple and yet highly effective fixing or braking device, which

can easily withstand increased loads.

Furthermore, it can be provided that the at least one support foot comprises an articulated support plate in its end section facing away from the support frame in relation to a pipe to be processed. This can result in an improved supporting and/or braking effect of the processing device in relation to the curved inner surface of a pipe to be processed.

be targeted.

According to an expedient embodiment, the at least one processing unit is selected from the group comprising milling device, grinding device, cutting device and welding device. In particular, if the at least one processing unit comprises a milling device with a rotatably mounted milling tool, advantageous repair processing of internal circular and longitudinal seams on large pipes can be achieved with the specified processing device. Among other things, this enables defined or precise removal of qualitatively inadequate or faulty weld seams. The amount of new weld metal to be introduced can thus be reduced, which in turn reduces the introduction of heat energy and

which eliminates the problem of unwanted distortion of the pipe.

According to an advantageous development, it can be provided that in particular on the support frame, on the at least one processing unit, or on

an adjusting device on the support frame a fault detection device

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A precise determination of faults or damage points can be achieved, which enables a qualitatively constant or a measurement-supported and thus objective processing.

tion of pipes.

In particular, it can be advantageous if the fault location detection device comprises optical and/or inductive detection means. This enables reliable and rapid detection of fault locations and potential damage points.

len can be achieved.

Furthermore, it can be provided that a geometry or distance measuring device is mounted, in particular on the support frame, or on an adjusting device on the support frame, or on the at least one processing unit, which is designed to determine the geometry of a pipe to be processed or to determine a vertical distance between the at least one processing unit, in particular with respect to its tool, and a pipe to be processed. As a result, a feed movement, in particular a feed depth, of the processing unit can be made dependent on the diameter or curvature of a pipe to be processed in the section below the processing unit or below the processing device in a simple and reliable manner. This enables defined or planned processing with respect to

the cross-sectional area or wall thickness of the pipe to be machined can be achieved.

According to an advantageous embodiment, it can also be provided that support surfaces for a forklift fork and/or eyes for a crane lifting device are formed on the support frame. This allows comfortable and safe handling of the processing device with regard to its insertion into a pipe to be processed and with regard to its removal from a processed pipe. The measures or means mentioned can also be used as an alternative or in combination with the pivoting wheels on the support frame to move the processing device by 90° depending on a planned longitudinal or transverse direction processing of the inner wall of the pipe, in particular

90° around its vertical axis. This 90° conversion process can

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pipe can be advantageous.

In addition, it can be provided that the processing device comprises a rotation device with which a pipe to be processed can be rotated about its horizontally aligned longitudinal or pipe axis. This makes it possible to create a system for extensive processing of pipes. In particular, this makes it possible to process a pipe over its entire cross-sectional circumference, and also over more than 360°. In particular, this makes it possible to process, in particular repair, round or transverse seams of a pipe over its entire length or at any longitudinal position. The total costs for such a system or processing device for processing internal longitudinal and transverse seams of pipes can be relatively low.

ring should be held.

Another advantageous embodiment is one in which the rotation device comprises at least one support frame and at least two support rollers, which support rollers have roller axes running parallel to the longitudinal axis of a pipe to be processed, and which support rollers are intended to rest on the outer surface of a pipe to be processed. This creates a practical rotation device in addition to the processing device. The rotation device is structurally separate or independently designed to the "in-pipe device", which means that construction and handling advantages can be achieved. The separate rotation device can be used as a pivot bearing block for a pipe with a horizontally aligned longitudinal or transverse axis.

Pipe axis must be designed.

For a better understanding of the invention, it is explained in the following

Figures explained in more detail.

They show in a simplified, exemplary representation:

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different orientations and positions;

Fig. 2 shows the system according to Fig. 1 in a view according to arrow II in Fig. 1;

Fig. 3 is an enlarged detail of Fig. 2;

Fig. 4 shows the system according to Fig. 1 in a sectional view according to arrow III in Fig. 1;

Fig. 5 is an enlarged detail of Fig. 4;

Fig. 6 the movable machining device at a first angle of rotation

position of their wheels;

Fig. 7 the movable processing device at a further angle of 90°

changed angle of rotation of their wheels;

Fig. 8a-8d the processing device in plan view in connection with a (a) longitudinal, (b) transverse and (c) diagonal movement, as well as a (d)

Rotational movement around its vertical axis at the stand.

To begin with, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or identical component designations, whereby the disclosures contained in the entire description can be transferred analogously to identical parts with identical reference symbols or identical component designations. The position information chosen in the description, such as top, bottom, side, etc., also refers to the figure directly described and shown, and these position

In the event of a change in location, the information provided must be transferred accordingly to the new location.

In Figs. 1 to 5, an embodiment of a technical system 1 for processing or producing pipes 2, 2' or container elements with relatively large inner diameters 3, 3' is illustrated. In each of the figures,

Two pipes 2, 2' are shown as examples for different inner diameters 3, 3'.

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However, during processing only one pipe 2 or 2’ is in the system

1 constructed or positioned.

Pipes 2, 2' or container elements to be processed on or with the system 1 have an inner diameter 3, 3' of more than 1000 mm, in particular of more than 2000 mm. The inner diameter 3, 3' can be up to about 15,000 mm. In particular when processing pipes 2, 2' or container elements with an inner diameter 3, 3' of 2000 mm to about 15,000 mm, it is possible for an operator of the system 1 to stand upright in a corresponding pipe 2, 2' if it is aligned horizontally with its pipe axis 4, 4', in particular if it is aligned lying down. Such large pipes 2, 2' therefore enable an operator of the system 1 to adopt a posture that is gentle on the body.

or a processing device 5 located in the pipe 2, 2’.

The system 1 comprises a processing device 5 for the preferably mechanical and/or thermal processing of inner surfaces 6, 6' of such pipes 2, 2', i.e. of so-called large pipes. The type of processing is preferably a milling process at certain or selected points of the inner wall surface, i.e. on the inner surface 6, 6' of these pipes 2, 2'. However, welding, grinding and/or corrosion-resistant processing, for example painting, is also possible by means of the processing.

device 5 is conceivable.

The processing device 5 can be inserted into and removed from the interior of a pipe 2, 2' to be processed as required by means of heavy equipment, in particular a forklift truck 7 and/or a crane. In principle, only one single processing device 5 is required within

half of a pipe 2, 2'.

The processing device 5 comprises a support frame 8 for receiving or load-bearing mounting of at least one mechanical and/or thermal

machining unit 9 relative to the inner surface 6, 6’ of the workpiece to be machined.

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the pipe 2, 2'. According to the embodiment of the processing device 5 shown in Fig. 6, 7, the processing unit 9 is formed by a milling

aggregate 10 with at least one rotatingly drivable milling disk 11.

The pipe processing device 5 further comprises at least two, preferably three or four wheels 12 held on the support frame 8, as can best be seen in Fig. 6. According to this advantageous embodiment, four wheels 12 are provided, whereby these four wheels 12 are each assigned to a corner region of a support frame 8 which is essentially rectangular in plan view. This makes it possible to achieve a high driving stability of the processing device 5.

the.

The wheels 12 are mounted so as to be rotatable about horizontal or essentially horizontal wheel axes 13. By means of the wheels 12, the processing device 5 together with the processing unit 9 held thereon can be moved within the pipe 2, 2' to be processed. In particular, the support frame 8 can be moved or positioned in a rolling manner within a pipe 2, 2' to be processed. It is essential that the wheels 12 are steerable, in particular that all wheels 12 formed on the support frame 8 and intended for support on the inner surface of the pipe can also be rotated and locked with regard to their angle of rotation about vertical axes 14 running transversely, preferably perpendicularly, to their wheel axes 13. Accordingly, a vertical axis 14 is designed for each existing wheel 12, so that each of the wheels 12 on the support frame 8 has a

can assume a defined angle of rotation with respect to a horizontal plane.

The individual wheels 12 can be adjusted and fixed by an operator of the processing device 5, preferably synchronously or uniformly, so that the wheels 12 can be adjusted and fixed with the same angle of rotation. However, it is also possible for the wheels 12 to be independently rotatable and adjustable and to assume independent, individual steering or angle of rotation positions. A mechanical or control-technical coupling with regard to the angle of rotation positions of the wheels 12 is therefore not mandatory. Accordingly, each of the existing wheels 12 can be pivoted independently.

or individually steerable. With two rolling wheels 12, two

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vertical axes 14, while three on the support frame 8

wheels 12 and three vertical axles 14 are designed.

It is essential that the angle of rotation set for each wheel 12 can be determined or fixed with respect to the desired angle of rotation. The wheels 12 can be adjusted and fixed around the vertical axes 14, so that the processing device 5 can be moved or positioned both parallel and transverse to the pipe axis 4, 4' of a pipe to be processed. Accordingly, with just one processing device 5, it is possible to process or produce longitudinal and transverse seams, in particular weld seams, alternately or in immediate succession inside a pipe to be processed.

processing pipe 2, 2'.

Particularly in the case of pipes 2, 2' with a relatively large inner diameter 3, 3' compared to the width or length of the support frame 8, the wheels 12 also make it possible to easily move the processing device 5 by 90° around its vertical axis without having to remove the processing device 5 from the pipe 2, 2' to be processed. This means that longitudinal and transverse processing can be carried out as desired without the need for a lifting device, for example a forklift truck 7 or a crane. The inner diameter 3, 3' of a pipe 2, 2' to be processed is preferably at least 2 times, preferably at least 3 times, particularly preferably at least 5 times the length of the support frame 8 of the processing device.

tion, as can best be seen from Fig. 2 and 4.

According to one embodiment, the wheels 12 can be designed to be freely rotatable with respect to their wheel axles 13, so that a manual displacement of the processing device 5 by an operator within a

processing pipe 2, 2'. Alternatively or in combination with this, it may be expedient if at least one of the wheels 12, preferably all of the wheels 12, is functionally assigned at least one wheel drive 15. Preferably, such a wheel drive 15 is designed as an electric motor. Alternatively, it is also possible to provide a hydraulic wheel drive. The wheel drive 15 can

be designed as a wheel hub drive, as shown in Fig. 6, 7.

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By means of the at least one wheel drive 15 on at least one of the wheels 12, the processing device 5 can be positioned and moved in a controlled manner within a pipe 2, 2' to be processed. In particular, the processing device 5 can be moved parallel to the pipe axis 4, 4' and in the transverse direction to the pipe axis 4, 4'. In the transverse direction to the pipe axis 4, 4' means in the circumferential direction of a pipe 2, 2' to be processed in relation to its cross-section and inner surface. In addition, the wheels 12 with their vertical axes 14 and their adjustability and lockability also enable steering or angle of rotation positions to be achieved, which allow quasi diagonal or spiral movements and compound movements of the processing device 5 within a pipe to be processed.

res 2, 2' enable.

It is expedient if an available adjustment range 16 of the angle of rotation positions of the wheels 12 is at least 90°. It is advantageous if the adjustment range or the adjustment range 16 of the angle of rotation positions of the wheels 12 is approximately 360°, in particular up to 400°. This enables uncomplicated implementation even with cable-connected, electric motor wheel drives 15 directly on the wheels 12. In particular, sliding contacts or rotary feedthroughs can be connected to the

Wheel drives 15 are unnecessary.

The support frame 8 of the processing device 5 is dimensioned such that it can be completely accommodated inside a pipe 2, 2' to be processed. The basic shape of the support frame 8 can be essentially rectangular, as can be seen in Figs. 6, 7. It is expedient to form the support frame 8 by means of support profiles joined together in a frame-like manner and to arrange the at least one processing unit 9 in the receiving area delimited by the support frame 8, as shown by way of example in Figs. 6, 7. The support frame 8 can have a length of approximately 1000 mm to approximately 2500 mm and a width of approximately

800 mm to about 2000 mm.

As can best be seen from Fig. 6 and 7, the exemplary milling processing unit 9 is attached to at least one adjusting device 17. This

At least one adjusting device 17 is provided for the controlled adjustment of the at least

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a processing unit 9 relative to the support frame 8. Accordingly, the processing unit 9 can be positioned relatively widely or roughly within a pipe 2, 2' to be processed by means of the wheels 12 or the chassis. In addition, the processing unit 9 can be adjusted in a controlled manner relative to the support frame 8 and thus relative to the desired processing location or relative to the pipe 2, 2' to be processed by means of the adjusting device 17. In particular, at least feed or advance movements of the processing unit 9 in relation to the pipe to be processed can be controlled with the at least one adjusting device 17.

The machining of the pipe 2, 2' to be processed can be carried out relatively precisely.

According to the advantageous embodiment shown, the adjusting device 17 comprises at least three adjusting axes 18, 19, 20, in particular a so-called X, Y and Z adjusting axis. A practical adjusting range of the X axis 18 (longitudinal axis) can be between 500 mm and 2000 mm. That of the Y axis 19 (transverse axis) between 20 mm and 400 mm and that of the Z axis 20 (vertical axis) between 200 mm and 800 mm. Linear adjusting axes 18, 19, 20 are preferably provided, although at least one of these adjusting axes 18, 19, 20 can also be designed as a rotary axis. The adjusting axes 18, 19,

20 can be manually adjustable and/or motor-adjustable.

It is essential that the at least one processing unit 9 is adjustable in relation to the three-dimensional space by means of the at least one adjusting device 17 on the support frame 8. The respective adjustment ranges are dependent on the

respective requirements.

The processing device 5 further comprises a fixing or braking device 21, which is designed to hold the processing device 5 in a selected processing position within a pipe 2, 2' to be processed. This fixing or braking device 21 can comprise at least one fixing or holding element 22. According to an advantageous embodiment, this holding element 22 is designed to be magnet-based and is used for magnetic coupling and decoupling of the processing device 5 with respect to a pipe to be processed,

metallic pipe 2, 2'. Alternatively or in combination with a mag-

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net-based holding element 22, the fixing or braking device 21 can comprise at least one support foot 23 that can be mechanically adjusted relative to the support frame 8 and/or at least one brake shoe 24. With this fixing or braking device 21 or with its support foot 23 and/or brake shoe 24, the rolling or braking resistance of the processing device 5 in relation to the pipe 2, 2' to be processed can be raised and lowered as required. The at least one support foot 23 or brake shoe 24 in relation to the inner wall of a pipe 2, 2' to be processed can be manually adjustable as shown by means of at least one handwheel and a spindle drive and/or can be driven automatically.

be adjustable.

The at least one support foot 23 can comprise, in its end section facing away from the support frame 8, an articulated support plate 25 opposite a pipe 2, 2' to be processed. This allows, in particular, an adaptation to different radii of curvature of the pipes 2, 2' to be processed in conjunction with

slope with a brake shoe 24.

The at least one processing unit 9 is selected from the group comprising a milling device or a milling unit 10, a grinding device, a cutting device and a welding device. A milling unit 10 comprises

according to the exemplary representation at least one drive motor, in particular

especially at least one electric motor.

According to an expedient embodiment, a defect detection device 26 can be formed on the support frame 8 and/or on the at least one adjusting device 17, which is used to determine the defects to be processed.

Defects or damaged areas in a pipe 2, 2' to be processed.

This defect detection device 26 can comprise optical and/or inductive detection means 27, which can be provided in particular for detecting qualitative defects on or in weld seams. Alternatively or in combination

In combination with this, the detection means 27 can comprise at least one camera.

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Alternatively or in combination with a defect detection device 26, a geometry or distance measuring device 28 can be mounted on the support frame 8 and/or on the at least one adjusting device 17, as can best be seen in Fig. 7. This geometry or distance measuring device 28 is designed to determine the geometry of a pipe 2, 2' to be machined or to determine a vertical distance, in particular with respect to the Z-axis 20, between the at least one processing unit 9, in particular with respect to its tool, and a pipe 2, 2' to be machined. This makes it easy to determine a feed depth or a feed dimension for the processing unit

9, for example a milling unit 10, can be determined and implemented automatically.

This geometry or distance measuring device 28 can easily comprise at least one ultrasonic sensor or a laser-based distance sensor for measuring distances between its sensor surface and a

sound or light reflecting measuring surface.

It is expedient if several support surfaces 29 for a forklift fork and/or eyelets 30 for crane lifting gear are formed on the support frame 8. This allows easy handling or relocation of the processing device

5 must be ensured.

As can best be seen from Fig. 1 to 5, the technical system 1 or the processing device 5 can further comprise a rotation device 31, with which rotation device 31 a pipe 2, 2' to be processed can be rotated about its pipe axis 4, 4'. This allows a safe or reliable rotation of a pipe 2, 2' to be processed about its pipe axis 4; 4'. In particular, transverse seam or circular seam processing can thus be carried out with the processing device 5 in relation to far-reaching circumferential paths, in particular over the entire circumference of a pipe 2, 2' to be processed.

be made.

According to the embodiment according to Fig. 1 to 5, this rotation device 31 can comprise at least one support frame 32 and at least two support rollers

33. These support rollers 33 have parallel to the pipe axis 4, 4' a

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The support rollers 33 are designed to rest on the outer surface, i.e. on the outer surface, of a pipe 2, 2' to be machined. This enables a relatively rapid rotation and secure holding of a pipe 2, 2' mounted on the rotation device 1.

enabled.

The processing device 5, which can be moved inside the pipe, can be connected by means of at least one cable 35 to a control unit 36 arranged outside a pipe 2, 2' to be processed. At least the electrical drive energy required by the wheel drive 15 and/or the processing unit 9 can be transmitted via the cable 36. It is expedient if control signals or control commands from the control unit 36 to the processing device 5 - and vice versa - can also be transmitted via the at least one cable 35. Alternatively or in combination with a cable-based control of the processing device 5, it is also possible to transmit at least some or all control commands by radio. The same applies to sensor or encoder signals from the processing device 5 in the direction of the stationary energy source.

energy supply and/or control unit 36.

In order to support an uncomplicated positioning or movement of the processing device 5 inside a pipe 2, 2' to be processed, at least one cable winding device 37 for winding and unwinding the at least one cable 35 can be provided on the energy supply or control unit 36.

be.

The stationary control unit 36 can also be set up so that an operator can carry out manual operation or control of the functions provided by the processing device 5, in particular its processing functions and/or its movement functions, from the stationary control unit 36. This ensures safe and comfortable operation of the processing device 5, which can be moved in a controlled manner in a pipe 2, 2'.

In addition, this can improve working conditions in connection with

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machining, especially repair machining, of large pipes. The quality of the machining can also be improved.

In addition, processing times can be reduced.

Figures 8a-8d show top views of the processing device 5. Figure 8a illustrates a forward and backward movement using the double arrow shown, Figure 8b illustrates a transverse movement offset by 90° using the double arrow shown, Figure 8c illustrates a diagonal movement using the double arrow shown, where the angle is arbitrary, and Figure 8d illustrates a rotation of the processing device 5 on the

Stand around its vertical axis.

Due to the corresponding freedom of movement of the processing device 5, a complex, vertical swivel axis or swivel mechanism for the processing unit 9 relative to the support frame 8 can be dispensed with and longitudinal, transverse and diagonal processing can still be carried out within the

tend pipes.

The embodiments show possible variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated variants of the same, but rather various combinations of the individual variants with each other are also possible and this possibility of variation due to the teaching on technical action through objective invention in the skill of the person active in this technical field

specialist.

The scope of protection is determined by the claims. However, the description and the drawings are to be used to interpret the claims. Individual features or combinations of features from the different embodiments shown and described can represent independent inventive solutions in themselves. The features associated with the independent inventive solutions

The underlying task can be found in the description.

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All information on value ranges in the description in question is to be understood as including any range and all subranges thereof, e.g. the information 1 to 10 is to be understood as including all subranges starting from the lower limit 1 and the upper limit 10, i.e. all subranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

For the sake of order, it should be noted that for a better understanding of the structure, some elements are not to scale and/or enlarged.

and/or reduced in size.

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27 28

20

List of reference symbols

Attachment

Pipe

Inner diameter Pipe axis Machining device Inner surface

Forklift

Support frame machining unit milling unit

Milling disc

Wheels

Wheel axles

Vertical axes

Wheel drive

Setting range

Adjusting device

Adjusting axis

Adjusting axis

Adjusting axis

Fixing or braking device holding element

Support foot

Brake shoe

Support plate defect detection device

Detection means geometry or distance measuring

contraption

29 30 31 32 33 34 35 36 37

Support surfaces

Eyelets Rotation device Support frame Support rollers Roller axes

Cable

Control unit

Cable winding device

N2022/29000-AT-00

Claims (17)

Patent claims 1. Processing device (5) for processing inner surfaces of pipes, comprising - a support frame (8) for receiving at least one processing unit (9), - at least two wheels (12) mounted on the support frame (8) and rotatable about wheel axles (13), so that the processing device (5) can be moved by means of these wheels (12) within a pipe to be processed, characterized in that all wheels (12) can additionally be adjusted and locked with regard to their angle of rotation positions about vertical axes (14) running transversely to the wheel axles (13), so that the processing device (5) can be rotated by means of the wheels (12) both parallel and can also be moved transversely to the pipe axis of a pipe to be processed. 2. Processing device according to claim 1, characterized in that the support frame (8) is dimensioned such that it is completely inside of a pipe to be processed. 3. Processing device according to claim 1 or 2, characterized in that an available adjustment range (16) of the rotation angle positions is at least 90 degrees. 4. Processing device according to one of the preceding claims, characterized in that at least one of the wheels (12) is assigned a wheel drive (15) with which the processing device (5) can be moved within a The pipe to be machined can be positioned and moved in a controlled manner. 5. Processing device according to one of the preceding claims, characterized in that the at least one processing unit (9) is connected to N2022/29000-AT-00 at least one adjusting device (17) is attached, which at least one adjusting device (17) for adjusting the at least one processing unit (9) relative to the supporting frame (8). 6. Processing device according to claim 5, characterized in that at least one of the adjusting devices (17) comprises at least three adjusting axes (18, 19, 20), so that their at least one processing unit (9) in the three-dimensional dimensional space is adjustable. 7. Processing device according to one of the preceding claims, characterized in that a fixing or braking device (21) is formed, which is designed to hold the processing device (5) on a selected editing position. 8. Processing device according to claim 7, characterized in that the fixing or braking device (21) comprises at least one magnet-based holding element (22) which is used for magnetic coupling and decoupling. opposite a pipe to be machined. 9. Processing device according to claim 7 or 8, characterized in that the fixing or braking device (21) comprises at least one support foot (23) or brake shoe (24) which is adjustable relative to the support frame (8) and with which a rolling or braking resistance of the processing device (5) can be determined. can be raised and lowered as required. 10. Processing device according to claim 9, characterized in that the at least one support foot (23) has, in its end section facing away from the support frame (8), an articulated support plate (25) opposite a pipe to be processed. N2022/29000-AT-00 11. Processing device according to one of the preceding claims, characterized in that the at least one processing unit (9) is selected from the group comprising milling unit (10), grinding device, Cutting device and welding device. 12. Processing device according to one of the preceding claims, characterized in that a defect detection device (26) is designed, which is used to determine defects to be processed in a pipe to be machined. 13. Processing device according to claim 12, characterized in that the defect detection device (26) comprises optical and/or inductive detection means (27). 14. Processing device according to one of the preceding claims, characterized in that a geometry or distance measuring device (28) is mounted on the support frame (8) or on the at least one processing unit (9), which is used to determine the geometry of a pipe to be processed or to determine a vertical distance between the at least one processing unit (9), in particular with respect to its tool, and a pipe to be processed. working pipe. 15. Processing device according to one of the preceding claims, characterized in that support surfaces (29) for a forklift fork and/or eyelets (30) for a crane lifting device are formed on the support frame (8). are. 16. Processing device according to one of the preceding claims, characterized in that it further comprises a rotation device (31), with which a pipe to be processed can be rotated around its pipe axis. 24 / 36 N2022/29000-AT-00 17. Processing device according to claim 16, characterized in that the rotation device (31) comprises at least one support frame (32) and at least two support rollers (33), which support rollers (33) have roller axes (34) running parallel to the pipe axis of a pipe to be machined, and which support rollers (33) are designed to rest on the outer surface of a pipe to be machined. the pipe. N2022/29000-AT-00