EP0186031B1 - Tête de manipulateur avec dispositif de meulage pour tuyaux ou tuyauteries - Google Patents

Tête de manipulateur avec dispositif de meulage pour tuyaux ou tuyauteries Download PDF

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Publication number
EP0186031B1
EP0186031B1 EP85115660A EP85115660A EP0186031B1 EP 0186031 B1 EP0186031 B1 EP 0186031B1 EP 85115660 A EP85115660 A EP 85115660A EP 85115660 A EP85115660 A EP 85115660A EP 0186031 B1 EP0186031 B1 EP 0186031B1
Authority
EP
European Patent Office
Prior art keywords
manipulator head
grinding
drive
base plate
roller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP85115660A
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German (de)
English (en)
Other versions
EP0186031A2 (fr
EP0186031A3 (en
Inventor
Georg Gebald
Heinz Dipl.-Ing. Röhrich
Siegfried Förner
Clemens Dipl.-Ing. Dippold (Fh)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0186031A2 publication Critical patent/EP0186031A2/fr
Publication of EP0186031A3 publication Critical patent/EP0186031A3/de
Application granted granted Critical
Publication of EP0186031B1 publication Critical patent/EP0186031B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/36—Single-purpose machines or devices
    • B24B5/40—Single-purpose machines or devices for grinding tubes internally

Definitions

  • the invention is in the field of service technology for pipe systems and is to be used in the structural design of a manipulator head which can be positioned remotely, alone or together with a manipulator vehicle, inside a pipe or a pipe and for processing the inner surface of the pipe or pipe with a Grinding device is equipped.
  • a known manipulator head of this type is coupled to a walking mechanism and consists essentially of two support flanges, which are provided with radially extendable clamping devices and with radially arranged guide elements for the rolling movement of the manipulator head, furthermore from one that axially rigidly connects the two support flanges and rotates in the support flanges stored 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 mounted in a drive and bearing body.
  • the grinding device also has a drive device for the axial adjustment of the grinding device and an infeed drive for the radial fine adjustment of the grinding tool.
  • a rotary motor mounted on one support flange is provided for rotating the frame relative to the support flanges, while the connections for the supply lines of the various drive units are provided on the other support flange (EP-A-0 061 078).
  • This known manipulator head has a relatively low grinding performance and must be controlled in a very complex manner for machining circular welds on pipe curvatures with pipelines which can only be driven on one side if the circular path of the slowly rotated frame carrying the grinding device is more or less inclined towards the circular path of the weld seam.
  • the invention has for its object to design the manipulator head so that a grinding belt can be used to increase the grinding performance and that such positioning of the grinding device is guaranteed even with pipelines on pipe curvatures that this describes a circular path when rotating around the axis of the manipulator head on the circumference of the pipe or the pipeline.
  • the arrangement of the grinding device outside the two support flanges and the arrangement of connections for the supply lines at both ends of the manipulator head further ensures that the manipulator head can be positioned on pipe bends even with pipelines that can be driven on on one side, so that both support flanges are always in a straight line Section of the pipeline.
  • the use of a sanding belt as the actual sanding tool also results in the high sanding performance.
  • the arrangement of the grinding device outside of the two support flanges also ensures simple and quick change of the grinding belt.
  • the fine adjustment of the sanding belt into the respective sanding position takes place - as already mentioned - with the help of a sanding roller.
  • This is expediently mounted on a support arm which is in engagement with a spindle nut guided on a threaded spindle.
  • the threaded spindle is coupled to the infeed drive mounted on the base plate via a toothed belt drive and an angular drive.
  • the drive roller of the grinding belt engages with the pinion of the drive motor mounted in the base plate via a toothed belt.
  • the tensioning roller is, moreover, pivotably and adjustably mounted in a fork-shaped holder, which in turn is arranged spring-loaded by means of two guide bolts in a guide fastened to the base plate.
  • the guide rollers of the grinding belt are arranged on a separate carrier plate, which in turn is attached to the base plate via spacer sleeves. It is recommended to use the guide rollers with the sanding belt to be arranged on the side of the support plate facing the support flange and the spring-loaded guide parts of the tensioning roller and the feed device for the grinding roller on the side of the support plate facing away from the support flange.
  • the base plate provided with the carrier plate has a plurality of fixing points, which are staggered transversely to the manipulator head, for fixing the spacer sleeves of the carrier plate, in order to compensate for different distances between them in the Base plate fixedly arranged pinion of the drive motor and the drive roller of the grinding belt, the toothed belt which is in engagement with the drive roller of the grinding belt is guided over a tensioning roller which is mounted displaceably in the base plate.
  • the manipulator head is provided with connections for the supply lines both at one end and at the other end. This enables the manipulator head to be moved backwards and forwards into a pipeline. While the connections are provided on one end of the manipulator head on a support flange, the connections on the other end of the manipulator head are provided on the mentioned bracket.
  • the two connections are expediently electrically and / or pneumatically connected to one another via T-branches.
  • FIG. 1 shows a cross section and FIG. 2 shows a top view with half section of the overall construction
  • FIGS. 3 and 4 show two different end views of the one carrying the grinding device 5 shows a cross section through the base and the carrier slide
  • FIG. 6 shows the drive device for the axial displacement of the base slide.
  • a holding plate 5 is connected, on which the connections, not shown, for the supply lines of the various drive units are provided.
  • the frame 10 rotatably mounted in the support flanges consists of the two bearing flanges 11 and 12 and three spacer 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 by means of the ball bearings 8 is mounted directly in the support flange 2.
  • the two bearing flanges 11 and 12 are kept at a distance by means of the spacer sleeves 13, the clamping bolts 14 being guided through these spacer sleeves.
  • a base slide 15 is arranged between the bearing flanges 11 and 12 and is guided on the spacer sleeves 13.
  • This approximately ring-shaped base carriage which is open at the bottom, carries the carrier carriage 16, which is guided by means of the two guide bolts 17.
  • a spindle traveling nut drive 18 is provided according to FIG. 6, the threaded spindle 19 of which is mounted in the bearing flanges 11 and 12 and the traveling nut or spindle nut 20 is supported in the base carriage 15.
  • the threaded spindle 19 is driven via a toothed belt 21 by the electric motor 22, which is attached to the bearing flange 12.
  • the carrier slide 16 is arranged to be displaceable transversely to the base slide 15 and thus along a diagonal of the manipulator head.
  • two reciprocating piston drives 23 are provided, which are connected between the base slide 15 and the support slide 16.
  • the lifting pistons 24 of these drives are fixed to the base slide, while the lifting cylinders 25 are attached to the carrier slide.
  • the rotary motor 26 is provided, which is attached to the bearing flange 12 and engages with its pinion 27 in a ring gear 9 fastened to the support flange 2.
  • the grinding device 30 essentially consists of the drive motor 31 in the form of an air turbine, the grinding belt 32 with three guide rollers 33, 34 and 35 and additional devices for tensioning the grinding belt, for radial fine adjustment of the grinding belt and for adjusting the Fine adjustment to different pipe diameters.
  • the drive motor 31 is fixed with its housing 36 centrally in the carrier carriage 16 by means of the screws 29.
  • the base plate 38 on which the guide rollers of the grinding belt and the additional devices are arranged, is fastened to the housing 36 via a tubular sleeve 37.
  • 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.
  • a coupling 39 for coupling the drive motor 31 to the drive shaft 40, which carries the pinion 41 at its other end.
  • the grinding belt 32 provided as the actual grinding tool is guided over three guide rollers which are arranged in a triangle.
  • the guide roller 33 serves as the drive roller, the guide roller 34 as the tensioning roller and the guide roller 35 as the grinding roller.
  • These guide rollers are mounted on a separate carrier plate 42 which is fastened to the base plate 38 parallel to the base plate 38 via three spacer sleeves 43. This attachment is carried out 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 on the side of the carrier plate 42 facing the support flange 1.
  • the drive roller 33 is in engagement with the pinion 41 via a flanged gear 46 and a toothed belt 47.
  • 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. In this holder, an adjustable stop 50 forms a contact point for the other end of the lever 48. With the aid of this stop, the tracking of the grinding belt on the slightly spherical guide rollers is set.
  • the bracket 49 is parallel to the support plate 42nd spring-loaded displaceable, for which purpose two guide bolts 51, a guide housing 52 and a pressure piece 54 under the action of a compression spring 53 are provided.
  • the guide housing 52 is part of a housing 80 which is fastened to the side of the carrier plate 42 facing away from the manipulator head.
  • the grinding roller 35 with which the grinding belt 32 is pressed onto the respective grinding point, is provided with a fine feed, which consists of an electric motor as a feed drive, an angular 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, on the side facing away from the manipulator head.
  • the fine adjustment of the grinding roller 35 takes place in the direction of the diagonal displacement of the carrier carriage 16 in the frame 10.
  • the output axis of the angular drive consisting of the bevel gears 57 and 58 runs parallel to the guide bolts 17.
  • a bevel gear 59 is coupled to the bevel gear 58 a toothed belt 60 and a counter gear 61 drives the threaded spindle 62.
  • the threaded spindle 62 is mounted in the housing 80 and engages in the traveling nut 63.
  • the traveling nut 63 is coupled to a guide piece 81, which in turn is provided with a support arm 64 for the grinding roller 35 which extends through the carrier plate 42.
  • the guide piece 81 slides along two guide bolts 82 which are arranged on both sides of the threaded spindle 62 in the housing 80.
  • the feeler roller 65 is provided on the circumference of the base plate 38 in the direction of displacement of the grinding roller 35.
  • the carrier plate 42 can be attached to the base plate 38 at different positions.
  • a plurality of threaded bores 45 ′ which are staggered transversely to the manipulator head are provided in the base plate 38 for each fitting screw 44.
  • the toothed belt 47 is guided over the tension roller 66, which in turn is slidably fastened in the base plate on a circular arc 67 concentric with the axis of the pinion 41.
  • supply lines are connected to the manipulator head, which supply lines are expediently fed to the manipulator head in its longitudinal axis. These supply lines are continued within the manipulator head, plug connections being expediently used, both for the electrical and for the pneumatic or hydraulic lines.
  • 1 shows, for example, the air connection 68 for the drive motor 31, to which a hose 69 is connected by means of the quick coupling 70.
  • 2 shows compressed air connections 71 for the reciprocating piston drives 23. All supply lines provided within the manipulator head end at plug-in devices, not shown, which are attached to the holding plate 5.
  • a second connection system is provided for the supply lines.
  • a holding bracket 72 is fastened to the base plate 38, which grips over the actual grinding tool and extends into the axis of the manipulator head.
  • Plug connections provided for the supply lines.
  • the supply lines lead as T-shaped branches to the actual connection points on the respective drive unit.
  • Such a T-shaped branch 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 branch piece 77.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Claims (11)

  1. Tête de manipulateur pour le positionnement et le fonctionnement télécommandés d'un dispositif de meulage à l'intérieur d'un tube ou d'une conduite tubulaire, constituée
    - par deux brides de support (1,2) équipées de dispositifs de serrage déplaçables radialement et d'éléments de guidage montés radialement et servant à faire avancer par roulement la tête du manipulateur,
    - par un cadre (10) reliant rigidement et axialement les deux brides de support et monté rotatif dans ces brides, et
    - par un dispositif de meulage (30) fixé sur le cadre,
    le dispositif de meulage comportant
    - un corps d'entraînement et de support pour l'outil de meulage proprement dit, équipé d'un moteur d'entraînement (31),
    - un dispositif d'entraînement (18) servant à déplacer axialement le dispositif de meulage, et
    - un dispositif d'entraînement d'avance (55-63) permettant une avance radiale précise de l'outil de meulage,
    et dans laquelle il est prévu
    - un moteur (26) servant à faire tourner le cadre par rapport aux brides de support, et
    - des bornes (5) prévues sur l'une (2) des brides de support, pour les canalisations d'alimentation des différents mécanismes d'entraînement,
    caractérisée par le fait
    a) que le cadre (10) est formé de deux flasques de paliers (11,12), qui sont serrés l'un contre l'autre au moyen de douilles-entretoises (13) et de boulons de serrage (14),
    b) que sur les douilles-entretoises (13) est guidé un chariot de base (15), qui est déplaçable axialement par rapport à la tête de manipulateur et dans lequel l'écrou à broche (20) est monté sur une broche filetée entraînée (19), qui est supportée par les flasques de paliers,
    c) que sur le chariot de base (15) est monté un chariot de support (16), qui est déplaçable dans la direction d'une diagonale de la tête de manipulateur et porte, en position centrée, le moteur d'entraînement (31) monté axialement et prévu pour l'outil de meulage proprement dit,
    d) qu'une plaque de base (38) est fixée, parallèlement à la bride de support (1), sur le chariot de support (16) par l'intermédiaire d'une douille tubulaire (37), qui est guidée concentriquement par rapport à l'axe du moteur et traverse la bride de support (1) exempte de raccords pour les canalisations d'alimentation,
    e) que l'outil de meulage proprement dit, agencé sous la forme d'une bande abrasive entraînée (32), est disposé sur la plaque de base (38), la bande abrasive circulant sur trois galets de guidage, dont le premier est réalisé sous la forme d'un galet d'entraînement (33), dont le second est réalisé sous la forme d'un galet tendeur (34) et dont le troisième est réalisé sous la forme d'un galet de friction (35), qui peut être équipé d'un système d'avance précise, et
    f) que sur la plaque de base (38) est fixé un étrier de fixation (72), qui s'étend par-dessus l'outil de meulage proprement dit et ce jusqu'au niveau de l'axe de la tête de manipulateur et sur lequel sont également prévus des raccords pour les canalisations d'alimentation.
  2. Tête de manipulateur suivant la revendication 1, caractérisée par le fait que la broche filetée (19) est entraînée par un moteur électrique (22) par l'intermédiaire d'une courroie dentée (21).
  3. Tête de manipulateur suivant la revendication 1, caractérisée par le fait que le chariot de support (16) comporte un dispositif d'entraînement à piston de levage (23), qui prend appui sur le chariot de base (15).
  4. Tête de manipulateur suivant la revendication 1, caractérisée par le fait que le galet d'entraînement (33) de la bande abrasive est en prise, par l'intermédiaire d'une courroie dentée (47), avec le pignon (41), monté dans la plaque de base (38), du moteur d'entraînement (31).
  5. Tête de manipulateur suivant la revendication 1, caractérisée par le fait que le galet tendeur (34) est monté de manière à pouvoir pivoter et à être ajusté dans un support en forme de fourche (49), qui est disposé, pour sa part, entre deux broches de guidage (51), en étant chargé (53,54) par un ressort, dans un guide (52) fixé sur la plaque de base (38).
  6. Tête de manipulateur suivant la revendication 1, caractérisée par le fait que le galet frotteur (35) est monté sur un bras de support (64), qui engrène avec un écrou à broche (63) guidé le long d'une broche filetée (62), cette dernière étant accouplée par l'intermédiaire d'un système d'entraînement à courroie dentée (59,60,61) et d'un mécanisme de commande de courroie à 90° (57,58) au dispositif d'entraînement d'avance (55) monté sur la plaque de base.
  7. Tête de manipulateur suivant l'une des revendications 1, 4, 5 ou 6, caractérisée par le fait que les galets de guidage (33,34,35) de la bande abrasive (32) sont disposés sur une plaque de support particulière (42), qui est fixée pour sa part, au moyen de douilles-entretoises (43), à la plaque de base (38).
  8. Tête de manipulateur suivant l'une des revendications 4 à 7, caractérisée par le fait que les galets de guidage (33,34,35) équipés de la bande abrasive (32) sont disposés sur le côté de la plaque de support (32), tournée vers la bride de support (1), et que les éléments de guidage (48-54), chargés par des ressorts, du galet tendeur (34) ainsi que le dispositif d'avance (55-64) pour le galet friction (35) sont disposés sur le côté de la plaque de support, tournée à l'opposé de la bride de support.
  9. Tête de manipulateur suivant la revendication 7 ou 8, caractérisée par le fait que la plaque de base (38) comporte plusieurs points de fixation (45,45') disposés d'une manière échelonnée transversalement par rapport à la tête de manipulateur et servant à fixer la plaque de support, la courroie dentée (47), qui engrène avec le galet d'entraînement (33) de la bande abrasive, circulant sur un galet tendeur (66) monté de manière à être déplaçable dans la plaque de base (38).
  10. Tête de manipulateur suivant la revendication 1, caractérisée par le fait que les raccords prévus, sur l'étrier de support (72), pour les canalisations d'alimentation sont raccordés électriquement et/ou pneumatiquement aux raccords prévus sur une bride de support (1), au moyen de dérivations en T (77).
  11. Tête de manipulateur suivant la revendication 1, caractérisée par le fait qu'un galet palpeur (65) est disposé sur le pourtour extérieur de la plaque de base (38) dans la direction de la diagonale.
EP85115660A 1984-12-21 1985-12-09 Tête de manipulateur avec dispositif de meulage pour tuyaux ou tuyauteries Expired - Lifetime EP0186031B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE3447551 1984-12-21
DE3447551 1984-12-21
DE8438101U DE8438101U1 (de) 1984-12-21 1984-12-21 Manipulatorkopf mit Schleifvorrichtung für Rohre oder Rohrleitungen

Publications (3)

Publication Number Publication Date
EP0186031A2 EP0186031A2 (fr) 1986-07-02
EP0186031A3 EP0186031A3 (en) 1988-08-03
EP0186031B1 true EP0186031B1 (fr) 1991-05-29

Family

ID=25827820

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85115660A Expired - Lifetime EP0186031B1 (fr) 1984-12-21 1985-12-09 Tête de manipulateur avec dispositif de meulage pour tuyaux ou tuyauteries

Country Status (2)

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EP (1) EP0186031B1 (fr)
DE (1) DE8438101U1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT397777B (de) * 1990-04-12 1994-06-27 Etr Tiefbautechnik Gmbh Verfahren zur materialabtragung in rohren im bereich der einmündung von abzweigrohren in ein hauptrohr sowie abtragvorrichtung zur durchführung dieses verfahrens
CN113427327B (zh) * 2021-07-13 2022-05-20 大连理工大学 一种大深径比长管零件的相交孔边缘加工方法及装置
CN116079505A (zh) * 2022-12-09 2023-05-09 中交第三航务工程局有限公司江苏分公司 一种管道内壁除锈施工工艺

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3230668A (en) * 1964-01-23 1966-01-25 Stanley Richard Carl Interior surface pipe grinding and cleaning machine
FR1465588A (fr) * 1965-11-30 1967-01-13 Commissariat Energie Atomique Machine pour l'usinage de la surface intérieure d'un tube
DE3111814A1 (de) * 1981-03-25 1982-10-07 Kraftwerk Union AG, 4330 Mülheim Selbstfahrender rohrinnenmanipulator zum fernbedienten transportieren von pruefgeraeten und werkzeugen laengs vorgegebener vorschubbahnen, vorzugsweise fuer kernkraftanlagen
JPS5871053A (ja) * 1981-10-23 1983-04-27 Toshiba Corp 円筒容器の研磨装置

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Publication number Publication date
DE8438101U1 (de) 1986-06-19
EP0186031A2 (fr) 1986-07-02
EP0186031A3 (en) 1988-08-03

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