DE8438101U1 - Manipulator head with grinding device for pipes or pipelines - Google Patents

Description

KRAFTWERK UNION AKTIENGESELLSCHAFT Our reference Mülheim / Ruhr VPA β 4P 8 5 4 1

Manipulator head with grinding device for pipes or pipelines

The invention lies in the field of service technology for pipe systems and is concerned with the structural design to use a manipulator head that is remote-controlled alone or together with a manipulator vehicle inside a Pipe or pipeline can be positioned and for processing the inner surface of the pipe or pipeline is equipped with a grinding device.

A well-known manipulator head of this type is with a Coupled walking mechanism and consists essentially of two support flanges with radially extendable clamping devices and are provided with radially arranged guide elements for the rolling movement of the manipulator head, furthermore from a rigid axially connecting the two support flanges, rotatably mounted in the support flanges Frame and from a grinding device attached to the frame. A grinding wheel is provided as the actual grinding tool, the drive motor of which is in a drive and bearing number is stored »The grinding device points furthermore a drive device for the axial adjustment of the grinding device and a feed drive for the radial adjustment '' Fine infeed of the grinding tool. Furthermore, to rotate the frame relative to the support flange, one on the a support flange mounted concentric motor is provided, while! on the other support flange the connections for the supply lines of the various drive units are provided (EP-OS 0 061 078). - That well-known manipulator head has a relatively low grinding performance and

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1 must be used for machining circular weld seams on pipe bends

^v in the case of pipelines that can only be accessed from one side, then in very

be controlled in a complex manner when the circular path of the slowly rotating frame carrying the grinding device 5 is inclined to a greater or lesser extent with respect to the circular path of the weld seam.

'' Based on a manipulator head with the characteristics of the

κ Preamble of claim 1, the invention is based on

f 10 would be based on designing the manipulator head so that I used a sanding belt to increase the sanding performance

I can be and that even with one-sided drivable Rohrlei-E lines at pipe bends such a positioning of the

I grinding device ensures that this will rotate when rotating

Φ 15 describes a circular path around the axis of the manipulator head on the circumference of the pipe or 1 of the pipeline.

The following measures are provided to solve this task:

a) The frame is formed by two bearing flanges that

20 are clamped together via spacer sleeves and clamping bolts;

b) on the spacer sleeves is a base slide that can be moved axially to the manipulator head and in which the spindle

<· Nut of a driven

25 benen threaded spindle is mounted;

c) A carrier slide is mounted on the base slide, which is in the direction of a diagonal of the manipulator head is movable and centrally carries the axially arranged drive motor for the actual grinding tool;

30 d) on the support carriage is mounted on a tubular sleeve} a base plate parallel to the supporting flange, wherein

'the tubular sleeve is guided concentrically to the motor axis

% and those free of connections for the supply line

Support flange penetrates;

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e) the actual grinder is on the base plate! tool in the form of a driven grinding belt | assigns, wherein the abrasive belt over three rollers overall U leads, is the first of which as a drive roller, the f? the second is designed as a tensioning roller and the third as a grinding roller provided with the fine feed; f

f) on the base plate there is a tool that extends over the actual grinding tool, down to the axis of the manipulator; head-reaching headband attached to yours as well
Connections for the supply lines are provided.

In the case of a manipulator head designed in this way, first
ensures that the grinding device after fixation
of the manipulator head in the pipe or pipeline
With the help of the basic slide and the carrier slide, quickly
the respective grinding position can be moved. By
the placement of the grinder outside of the two
Support flanges and by arranging connections for
the supply lines at both ends of the manipulator-head is further ensured in that the manipulator head can also be positioned at one side passable pipes to pipe bends so that both \ support flanges always in a linear portion of | Pipeline. The use of an abrasive belt as I actual grinding tool due to the high \ grinding performance in the rest. The arrangement ensures dex j. Grinding device outside of the two support flanges also allows a quick and easy change of the grinding belt. I.

For the drive of the axial \

movable base slide, it has proven to be useful to jj the threaded spindle via a toothed belt from
to drive an electric motor. To drive the carrier slide in the direction of a diagonal of the manipulator head, however, it is expedient to use the carrier slide

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to be provided with a reciprocating piston drive supported on the base slide. It is recommended to use the outer circumference the base plate carrying the grinding device in the direction of the diagonals to arrange a feeler roller over which the Drive of the carriage is stopped when the feeler roller hits the pipe wall.

The fine infeed of the sanding belt into the respective sanding position takes place - as already mentioned - with help a sanding roller. This is useful on a support arm stored, which is in engagement with a guided on a threaded spindle spindle nut. With consideration for one The most compact possible design of the drive device for the fine infeed is the threaded spindle via a Toothed belt drive and an angle drive coupled to the feed drive mounted on the base plate.

Furthermore, in the interest of the most compact possible design of the drive device for the grinding belt is the drive roller of the sanding belt via a toothed belt with the pinion of the drive motor mounted in the base plate engaged. To adapt the guideway of the sanding belt to that caused by the respective fine infeed Given the position of the grinding roller, the tensioning roller can be pivoted and adjusted in a fork-shaped holder stored, which in turn by means of two guide bolts in a guide attached to the base plate Is arranged spring-loaded.

To simplify the construction of the grinding device and to make it easier to change the sanding belt, it is advisable to put the guide rollers on the sanding belt to arrange a separate carrier plate, which in turn is attached to the base plate via spacer sleeves. Included it is recommended to use the guide rollers with the sanding belt

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on the side of the carrier plate facing the support flange and the spring-loaded guide parts of the tension pulley as well to arrange the feed device for the grinding roller on the side of the carrier plate facing away from the support flange. 5

To adapt the manipulator head and thus also the grinding device to different pipe diameters It is also advantageous if the base plate provided with the carrier plate staggered several transversely to the manipulator head has arranged fixing points for fixing the spacer sleeves of the carrier plate, with the compensation different distances between the pinion of the drive motor, which is fixedly arranged in the base plate, and the Drive roller of the grinding belt of the toothed belt engaged with the drive roller of the grinding belt via a Tensioning roller is guided, which is slidably mounted in the base plate.

As mentioned earlier, the manipulator head is ported at both one end and the other for the supply lines. This is the possibility given to retract the manipulator head both backwards and forwards into a pipeline. While the Connections are provided at one end of the manipulator head on a support flange, the connections are on the provided at the other end of the manipulator head on the bracket mentioned. The two connections are functional Electrically and / or pneumatically connected to one another via T-branches.

An embodiment of the new manipulator head is shown in the drawing. Figure 1 shows a Cross-section and Figure 2 is a plan view with a half-section of the overall construction, Figures 3 and 4 are two different front views on which the grinding device carry-

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the end of the manipulator head, FIG. 5 shows a cross section through the base and carrier slides, and FIG. 6 shows the drive device for the axial displacement of the base slide.
5

Figures 1 and 2 show, based on the construction known from EP-OS 0 061 078, a manipulator head, which consists of the following essential assemblies:

1. the support flanges 1 and 2, which according to the known construction with radially extendable clamping devices

gene 3 and are provided with guide elements 4 for rolling movement of the manipulator head.

2. The frame 10, which rigidly connects the two support flanges 1 and 2 to one another and which can be rotated in them Support flanges is stored.

3. The grinding device 30, which is axially and in the frame 10 is mounted radially displaceable and carries the grinding belt 32 as the actual grinding tool.

\ 20 A retaining plate 5 is connected to the support flange 2, at

\ which the connections, not shown in detail, are provided for the supply lines of the various drive units.

\ 25 The frame 10 rotatably mounted in the support flanges consists of the two bearing flanges 11 and 12 and three ab-. Stand sleeves 13 with associated clamping bolts 14. The bearing flange 11 is mounted in a counter flange 6 of the support flange 1 by means of the ball bearing 7, while the bearing flange 12 is mounted directly in the support flange 2 by means of the ball bearings 8. The two bearing flanges 11 and 11 are kept at a distance by means of the spacer sleeves 13, the clamping bolts 14 being guided through these spacer sleeves.

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Taking into account Figure 5 is between the bearing flanges 11 and 12, a base slide 15 is arranged, which is guided on the spacer sleeves 13. This roughly ring-shaped formed, downwardly open base slide carries the carrier slide 16, which by means of the two guide bolts 17 is led. - For the axial displacement of the base slide 15 along the spacer sleeves 13, a spindle-traveling nut drive is according to FIG 18 provided, the threaded spindle 19 is mounted in the bearing flanges 11 and 12 and its Traveling nut or spindle nut 20 is mounted in the base slide 15. The threaded spindle 19 is through a Toothed belt 21 is driven by the electric motor 22, which is fastened to the bearing flange 12.

The carrier slide 16 is displaceable transversely to the base slide 15 and thus along a diagonal of the manipulator head * For this purpose, two reciprocating piston drives 23 are provided, which are located between the base slide 15 and the carrier slide 16 are switched. The lifting pistons 24 of these drives are fixed on the base slide, while the lifting cylinders 25 are attached to the carriage.

To rotate the frame 10 and thus also the base slide and the carrier slide about the manipulator axis is in The rest of the rotary motor 26 is provided, which is attached to the bearing flange 12 and with its pinion 27 in one on the support flange 2 attached ring gear 9 engages.

The grinding device 30 consists according to FIGS. 1 to 4 essentially from the drive motor 31 in the form of an air turbine, from the grinding belt 32 with three guide rollers 33, 34 and 35 and additional devices for tensioning the sanding belt, for radial fine adjustment of the sanding belt and to adapt the fine infeed to different pipe diameters.

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The drive motor 31 is fixed with its housing 36 in the middle in the carrier slide 16 by means of the screws 29. To the Housing 36 is attached via a tubular sleeve 37, the base plate 38 on which the guide rollers of the grinding belt and the additional devices are arranged. The tubular sleeve 37 extends through the support flange 1, so that the base plate 38 is arranged on the outside of the support flange 1 parallel to this. In the pipe sleeve 37 there is a coupling 39 for coupling the drive motor 31 to the drive shaft AO, which is on its other End the pinion 41 carries.

The intended as the actual grinding tool grinding belt 32 is guided over three guide rollers, which are in a triangle are arranged. The guide roller 33 serves as a drive roller, the guide roller 34 as a tensioning roller and the Guide roller 35 as a grinding roller. These guide rollers are mounted on a separate support plate 42, which over three spacer sleeves 43 is attached to the base plate 38 parallel to this. This fastening is done with fitting screws 44, which engage in corresponding threaded bores 45 (FIG. 4) in the base plate 38.

The guide rollers 33, 34 and 35 of the grinding belt 32 are located is on the side of the support plate 42 facing the support flange 1. The drive roller 33 stands over Flanged gear wheel 46 and a toothed belt 47 in engagement with the pinion 41. - The tensioning roller 34 of the grinding belt 32 is located at one end of a two-armed lever 48 which is mounted in a fork-shaped holder 49 is. In this holder, an adjustable stop 50 forms a contact point for the other end of the lever 48 With the help of this stop, the tracking of the sanding belt is set on the slightly spherical guide rollers. The bracket 49 is parallel to the carrier plate 42

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spring-loaded displaceable, including two guide pins 51, a guide housing 52 and one under the action of a compression spring 53 standing pressure piece 54 are provided. The guide housing 52 is part of a housing 80 which is attached to the the side of the carrier plate 42 facing away from the manipulator head is attached.

The grinding roller 35, with which the grinding belt 32 is pressed against the respective grinding point, is provided with a fine feed, which consists of an electric motor as a feed drive, an angle drive, a toothed belt drive and a traveling nut spindle drive. The electric motor 55 and the gearbox are located on a frame 56 which is seated on the housing 80, specifically on the side facing away from the manipulator head. The fine infeed of the grinding roller 35 takes place in the direction of the diagonal displacement of the carrier slide 16 in the frame 10. For this purpose, the output axis of the angular drive consisting of the bevel gears 57 and 58 runs parallel to the guide bolts 17.

With the bevel gear 58, a gear 59 is coupled, which via a toothed belt 60 and a counter gear 61 the thread spin

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stored and engages the traveling nut 63. The hiking

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inuti-iTi o ^ χ ^ τ. nut. a roundabout oi yci ^ uppcit, in order to be provided on the one hand with a support arm 64 for the grinding roller 35 which extends through the support plate 42. The guide piece 81 slides along two guide pins 82 which are arranged in the housing 80 on both sides of the threaded spindle 62.

To limit the radial advance of the carrier slide 16, the feeler roller 65 is provided on the circumference of the base plate 38 in the direction of displacement of the grinding roller 35.

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To adapt the grinding device to different pipe diameters, the carrier plate 42 can be attached to the base plate 38 at different positions. For this purpose, a plurality of threaded bores 45 'arranged in a staggered manner transversely to the manipulator head are provided in the base plate 38 for each fitting screw 44. In order to compensate for different distances between the drive roller 33 fixedly assigned to the base plate 38 and the pinion 41, the toothed belt 47 is guided over the tensioning roller 66 , which in turn is slidably mounted in the base plate on a circular arc 67 concentric to the axis of the pinion 41.

In order to supply energy to the various drive units of the manipulator head, supply lines are connected to the manipulator head and are expediently fed to the manipulator head in its longitudinal axis. These supply lines are continued within the manipulator head, and plug connections are expediently used, both for the electrical and for the pneumatic or hydraulic lines. In FIG. 1, for example, the air connection 68 for the drive motor 31 is shown, to which a hose 69 is connected by means of the quick coupling 70. In Figure 2 are

i '· - Compressed air connections 71 for the reciprocating drive 23 dsrge— 25 places. All supply lines provided within the manipulator head end at not shown in detail Plug-in devices which are fastened to the holding plate 5.

In order to be able to retract the manipulator head backwards into a pipeline 30, a second connection system is required for the ; Supply lines provided. According to FIG. 1, this is the case

the base plate 38 is fastened with a bracket 72 which engages over the actual grinding tool and extends into the axis

of the manipulator head is sufficient. At the flange-shaped free end 73 of this bracket, the are not shown in detail

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Provided plug connections for the supply lines. From there, the supply lines run as T-shaped branches to the actual connection points on the respective drive unit. Such a T-shaped junction consists for the drive motor 31 in the present case from the air hose 74, the air connection 75, the Air hose 76 and the actual junction piece

11 claims
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summary

Manipulator head with grinding device for pipes or pipelines

A manipulator head is provided for positioning and operating a belt grinding device inside a pipeline. the grinding device (30) on a frame (10) rotatably mounted between two support flanges (1, 2) wearing. In this frame (10) the drive motor (31) of the grinding device is axially and by means of slides (15, 16) mounted diagonally displaceable. A base plate (38) is connected to the diagonally displaceable slide (16), on which a drive roller (33), a tensioning roller (34) and one with the radial fine feed (55 to 64) provided Sanding roller (35) for guiding the sanding belt (32) are mounted. The base plate (38) is located outside the both support flanges. Connections for the supply lines of the drive devices of the manipulator head are provided at both ends of the toanipulator head. This is on the support flange (1) adjacent to the grinding device, a half-bow (72) is arranged, which is the actual grinding tool overlaps and extends into the axis of the manipulator head.

Figure 1

Claims (1)

- 12 - VPA 8 4 P 8 5 4 1 sayings 1. Manipulator head for remote-controlled positioning and operation of a grinding device inside a pipe or a pipeline, consisting - of two with radially extendable clamping devices and with radially arranged guide elements for rolling Movement of the manipulator head provided support flanges (1,2), - from a frame (10) that connects the two support flanges in an axially rigid manner and is rotatably mounted in the support flanges - and from a grinding device (30) attached to the frame, the grinding device - a drive and bearing body for the actual grinding tool provided with a drive motor (31), - A drive device (18) for axial adjustment of the grinding device - and has a feed drive (55-63) for radial fine feed of the grinding tool, being continued - A motor (26) is provided for rotating the frame relative to the support flanges - and on the one Support flange connections (5) are provided for the supply lines of the various drive units, characterized in that a) that the frame (10) is formed by two bearing flanges (11, 12) which are clamped together via spacer sleeves (13) and clamping bolts (14), b) that a base slide (15) which can be moved axially to the manipulator head is guided on the spacer sleeves (13), in which the spindle nut (20) of a driven threaded spindle (19) mounted on the bearing flanges is mounted, c) that a carrier slide (16) is mounted on the base slide (15) which extends in the direction of a diagonal of the manipulator head is movable and the axially arranged in the middle - 13 - VPA 8 4 P 8 5 4 1 Drive motor (31) for the actual grinding tool wearing, d) that on the carrier carriage (16) via a tubular sleeve (37) a base plate (38) is attached parallel to the support flange (1), the tubular sleeve being concentric to the motor axis is guided and penetrates the support flange (1) free of connections for the supply lines, e) that the actual grinding tool in the form of a driven grinding belt (32) is arranged on the base plate (38) is, the sanding belt is guided over three guide rollers, of which the first as a drive roller (33), the second is designed as a tensioning roller (34) and the third as a grinding roller (35) provided with the fine feed, f) and that on the base plate (38) the actual grinding tool overlapping, up to the axis of the Manipulator head reaching holding bracket (72) is attached to which also connections for the supply lines are provided. -2. Manipulator head according to claim 1, characterized in that the threaded spindle (19) over a toothed belt (21) is driven by an electric motor (22). 3. Manipulator head according to claim 1, characterized in that the carrier slide (16) with a reciprocating piston drive (23) supported on the base slide (15) is provided. 4. Manipulator head according to claim 1, characterized that the drive roller (33) of the sanding belt over a toothed belt (47) with the basic - Plate (38) mounted pinion (41) of the drive motor (31) is in engagement. _ 14 - VPA 8 4P 8 54 5. Manipulator head according to claim 1, characterized in that the tension roller (34) in one fork-shaped bracket (49) is mounted pivotably and adjustable, which in turn by means of two guide bolts (51) is arranged in a spring-loaded (53,54) guide (52) attached to the base plate (38). 6. Manipulator head according to claim 1, characterized in that the grinding roller (35) is mounted on a support arm (64) which engages with a spindle nut (63) guided along a threaded spindle (62), the threaded spindle via a toothed belt drive ( 59,60,61) and an angle drive (57,58) is coupled to the feed drive (55) mounted on the base plate. 7. Manipulator head according to one of claims 1, 4, 5 or 6, characterized in that the Guide rollers (33,34,35) of the grinding belt (32) are arranged on a separate carrier plate (42), which in turn is attached to the base plate (38) via spacer sleeves (43). 8. Manipulator head according to claims 4 to 7, characterized in that the guide roll (33,34,35) with the grinding belt (32) on the support flange (1) facing side of the carrier plate (42) and the spring-loaded guide parts (48-54) of the tensioning roller (34) and the feed device (55-64) for the grinding roller (35) are arranged on the side of the carrier plate facing away from the support flange. 9. manipulator head "according to claim 7 or 8, characterized characterized in that the base plate (38) has several staggered transversely to the manipulator head Fixing points (45, 45 ') for fixing the carrier plate «·
• a - is - VPA 8 4 P 8 5 4 wherein the toothed belt (47) which is in engagement with the drive roller (33) of the grinding belt is guided over a tensioning roller (66) displaceably mounted in the base plate (38).
5 10. Manipulator head according to claim 1, characterized in that g ε - rs c Γι Γι ζ. Β χ C 11 Π cu, ucsio uic ail uciii riaiucDuyci \ ι ■ £ -J connections provided for the supply lines with the connections provided on one support flange (1) T-branches (77) are electrically and / or pneumatically connected to one another. 11. Manipulator head according to claim 1, characterized in that on the outer circumference of the basic plate (38) in the direction of the diagonals a feeler roller (65)
is arranged.