IT202200024849A1 - EQUIPMENT FOR PREPARING A DUCT SEGMENT FOR SUBSEQUENT WELDING, ASSEMBLY AND METHOD - Google Patents

Description

Title: APPARATUS FOR PREPARING A DUCT SEGMENT FOR SUBSEQUENT WELDING, ASSEMBLY AND METHOD

DESCRIPTION

Field of invention

[0001]The present invention relates to an apparatus, assembly and method for preparing one end of a conduit segment for subsequent welding to one end of an adjacent conduit segment to form a fluid-transporting conduit.

State of the art

[0002]When laying a pipe or duct, it is generally necessary to weld a section of a pipe segment to one end of the pipe. The pipe or duct may be laid on land or at sea. Welded joints between successive sections of pipe and the pipe segment generally need to be of high quality and integrity because the pipes may be subjected to loads both during and after the laying process, giving rise to the risk of weakening of the joints due to constant loads or fatigue. To have a good girth weld, the end of the pipe segment must be adequately cleaned, machined (geometrically prepared by chamfering, i.e. cutting an edge of the pipe, prior to welding, so as to round off the edges in the joint areas in order to allow a weld pool to penetrate between two ends of pipe segments), inspected, traced and certified against any detrimental defects that could compromise the integrity of the weld. of welding.

[0003]Pipe segments for piping or ducting are generally produced in the range of 6" (inches) to 100" (inches). Pipe segments generally comprise a main or pressure tube mechanically adapted to withstand the pressures of the fluid to be contained or distributed. The main tubes are typically manufactured by the extrusion process (seamless for smaller diameter tubes) or by rolling and welding sheet metal (larger diameter tubes). The main tubes may be polymeric or metallic, preferably steel.

[0004]The pipe segments may comprise an external coating layer applied to the external surface of the main pipe. The external coating layer may be for example an anti-corrosive coating layer, or a heat-insulating or weighting or mechanical protection layer, for example in concrete (ref. Figures 1-3, Figures 5-6). The external coating layer of the external surface of the main pipe is generally not concentric or coaxial to the main pipe (ref. Figure 3) due to a different precision of execution required in the two processes of manufacturing the main pipe and applying the coating layer.

[0005]The tube segments may include an internal flow liner or anti-corrosion coating applied to the internal surface of the main tube in order to reduce pressure drops and/or provide corrosion protection to the internal surface of the tube.

[0006]The ends of the pipe segments, especially the ends of the main pipes, must be prepared for subsequent welding of the circumferential perimeter during the installation phase of the pipeline.

[0007]In a plant where the tube segment is produced, in particular in a pipe mill, numerous activities are performed on the tube ends, such as, for example, cleaning, rolling control, roundness control, roundness correction, chamfering, flaring, demagnetizing, marking.

[0008]Some of these activities are partially repeated on site during the installation phase of the pipeline, such as cleaning, chamfering, chamfering, inspection. All of the above activities are typically performed with specialized equipment, and often different equipment is used for each different activity.

[0009]To perform the mentioned activities, it is necessary to use many different equipments based on two requirements:

1) the task to be performed (chamfering, inspection, marking, etc.)

2) the diameter of the pipe (the equipment for large diameter pipes is not compatible with small diameter pipes).

[0010]Currently, specialized equipment is available based on the task to be performed and the diameter of the pipe.

[0011] Each of the known equipment that works on the end of the tube requires to be centered on the axis of the tube to perform its task.

[0012]Known equipment comprises a rotating disk or ring, on which working tools, such as chamfering tools, are installed in the perimeter area of the rotating disk or ring so as to rotate integrally with the rotating disk or ring to work the pipe end. The diameter of the rotating disk or ring must be of a similar diameter to the diameter of the pipe segment to be worked, and consequently currently available equipment requires a plurality of different adaptation kits, each suitable for use over rather limited diameter ranges.

[0013]Known equipment includes connecting means for fixing the rotating disk or ring to the segment to be machined by aligning the axis of the rotating disk or ring with the axis of the segment to be machined. However, in this way, in the event of circularity defects in the segment to be machined, the tool follows a machining path determined by the circularity of the rotating disk or ring, resulting in non-homogeneous machining of the end of the tube segment.

[0014]For example, improper and non-uniform chamfering operations along the perimeter of the end of the pipe segment can create alignment problems between pipe segments, as described in Figures 7-11, making welding between pipe segments unreliable, if not impossible, resulting in production rejects and slowdowns in the installation of the pipeline or tubing, or even with possible consequent structural defects in the pipeline or tubing.

[0015]Inhomogeneity in the preparation of the end of the pipe segment is detrimental to the subsequent alignment of the pipes and, in case of increased chamfer opening distance, may cause defects during the execution of the perimeter welds, including, mainly, the lack of fusion of the side walls by means of a GMAW (Gas Metal Are Welding) welding process, with high welding productivity.

[0016]The key to the quality and efficiency of the chamfering operation, or bevelling, according to the known art is linked to the quality of the equipment, and to the professionalism of the operators, the supervision/inspection/maintenance teams.

[0017]The inability to perform thorough and precise quality control of the chamfer, or bevel, using current technology makes it impossible to stop the introduction of tubes with incorrect chamfers into the production line. Improper preparation of the chamfer and the lack of accurate quality inspection increase the possibility of welding defects.

[0018]There is therefore a need to provide a single mechanical device capable of carrying out a plurality of processing activities on the end of a pipe segment, regardless of the shape of the perimeter, surface or section profile of the end of the pipe segment, and regardless of the perfect alignment and centering between the central axis of the pipe segment and the rotation axis of the processing device.

[0019]Furthermore, there is a need to provide mechanical equipment capable of working and/or inspecting the tube ends in a working plane regardless of coaxiality defects between the tube and the coating, and/or roundness defects in the tube profile.

Summary of the invention

[0020]The purpose of the present invention is to devise and provide an apparatus, an assembly and a method for processing one end of a duct segment to prepare said end of the duct segment for subsequent welding to one end of an adjacent duct segment, which allows the aforementioned requirements to be satisfied and at least partially overcome the drawbacks complained of above with reference to the prior art.

[0021]These and further objects and advantages are achieved by an apparatus for processing one end of a duct segment to prepare said duct segment end for subsequent welding to one end of an adjacent duct segment, as well as by an assembly and a method in accordance with the independent claims. [0022]Another object of the present invention is to provide an apparatus and a method for processing one end of a duct segment to prepare said duct segment end for subsequent welding to one end of an adjacent duct segment, prior to assembly of the ducts, which is universal and therefore applicable to a wide range of pipe diameters.

[0023]A further object of the present invention is to provide an apparatus and method of processing one end of a duct segment to prepare said duct segment end for subsequent welding to one end of an adjacent duct segment, prior to assembly of the ducts, which avoids any damage to the internal surface of the duct segment.

[0024]Another object of the present invention is to provide an apparatus and method for machining one end of a duct segment to prepare said duct segment end for subsequent welding to one end of an adjacent duct segment, prior to assembly of the ducts, which ensures that said duct segment end is machined along a plane that is orthogonal to the axis of the duct segment, avoiding the "salami slice" cutting defect.

[0025]It is a further object of the present invention to provide an apparatus and a method for processing one end of a duct segment to prepare said duct segment end for subsequent welding to one end of an adjacent duct segment, prior to assembly of the ducts, which ensures that processing is performed, the result of which is more repeatable than that obtained through the known art, thus significantly increasing the quality of the weld joint.

[0026]It is a further object of the present invention to provide an apparatus and a method for processing one end of a duct segment to prepare said duct segment end for subsequent welding to one end of an adjacent duct segment, prior to assembly of the ducts, which ensures that processing is performed in conditions of safety for the personnel performing the processing.

[0027]Further purposes, solutions and advantages are present in the embodiments described below and claimed in the dependent claims.

Brief description of the drawings

[0028]The invention will be illustrated below with the description of some of its embodiments, given by way of example and not limitation, with reference to the attached drawings in which:

[0029]- Figure 1 illustrates a side view of an example of a tubular conduit segment generally used to make a pipeline for the transport of a fluid, for example a gas pipeline, to be laid on the seabed, or an aqueduct laid on land, wherein such tubular conduit comprises a pipe element, generally made of steel, externally covered by a layer of weighting concrete, with the exception of the free ends of the pipe element;

[0030]- Figure 2 shows a longitudinal sectional view of the duct segment of Figure 1, through a section plane containing the central axis of the duct segment;

[0031]- Figure 3 shows a cross-sectional view of the duct segment of Figure 1, through a section plane orthogonal to the central axis of the duct segment, in which a non-coaxiality defect is visible between the central axis of the steel tube element and the central axis of the external lateral surface of the concrete layer;

[0032]- Figure 4 shows, in cross-section, a non-circularity defect of the steel tube element, with particular reference to the free ends of the tube element;

[0033]- Figure 5 shows, a longitudinal sectional view of a steel tube of Figure 1, where the right end of the steel tube element exhibits a "salami slice cut" defect, i.e. the right end of the tube element lies on a cutting plane that is not orthogonal to the central axis of the tube element, in contrast to the correct cut of the left end of the tube element, which is orthogonal to the axis of the tube element;

[0034]- Figure 6 shows a portion of a pipeline for transporting a fluid, in which three segments of the pipeline are shown welded together;

[0035]- figure 7 shows an enlarged detail of the longitudinal section of two duct segments arranged adjacent and in contact with each other before welding, and after having carried out the respective chamfering to form a welding channel between them, in which the alignment and the workmanship are ideal;

[0036]- figure 8 shows an enlarged detail like that of figure 7, in which the alignment presents a "hi-low" defect, due to a transverse misalignment to the axis of the duct segments, or to an ovality of the pipes;

[0037]- Figure 9 shows an enlarged detail like that of Figure 7, where the alignment of the ends of the duct segments is negatively affected by the geometric difference of the root face, i.e. the thickness in the radial direction of the axially protruding portion, or root, of the free end of the pipe element, due to a chamfering error;

[0038]- figure 10 shows an enlarged detail like that of figure 7, where the alignment of the ends of the duct segments is negatively affected by the difference in depth of the chamfer in an axial direction with respect to the axis of the duct segment, generally caused by an incorrect configuration of the machine for chamfering the chamfer, due to a chamfering error;

[0039]- Figure 11 shows an enlarged detail like that of Figure 7, where the alignment of the ends of the duct segments is adversely affected by the gap distance between the axially protruding portions, or roots, of the free ends of adjacent pipe elements, generally due to the "salami slice" cutting defect caused by incorrect use or incorrect setting of the pipe crimping machine;

[0040]- Figure 12 shows the use of two apparatuses according to the invention for preparing the ends of a tubular duct segment, which grip the two opposite free ends of a duct segment;

[0041]- Figure 13 shows an exploded view of an apparatus according to the invention for preparing one end of a tubular duct segment for subsequent welding to one end of an adjacent tubular duct segment to form a fluid transport conduit, comprising a carriage sliding along a rail, a duct centering unit for gripping the duct segment from opposite sides, an end processing unit comprising a rotating structure comprising at least one slide guide and a slide slidably engaged with said slide guide along a radial direction, and processing means associated with said slide configured to machine said duct segment end;

[0042]- figure 14 shows the processing unit of figure 13;

[0043]- Figure 15 shows an exploded drawing of the processing unit of Figure 13;

[0044]- Figure 16 shows an exploded view of the rotating structure of Figure 13;

[0045]- Figure 17 shows an exploded view of the slide guide and slide of Figure 13;

[0046]- figure 18 shows an example of processing that uses the profile follower associated with said slide to detect a specific value of the distance between the internal surface of the tube element and the rotation axis of the rotating structure;

[0047]- figure 19 shows an example of processing that uses the profile follower associated with said slide to detect a specific value of the distance between the external surface of the tube element and the rotation axis of the rotating structure;

[0048]- Figures 20 and 21 show the centering unit in use with a 60" diameter duct segment and a 6" diameter duct, respectively;

[0049]- Figure 22 shows the centering unit in use with a 60" diameter duct segment having the pipe element axis non-coaxial with the axis of the outer surface of the concrete lining layer of the duct segment, as seen in Figure 3;

[0050]- Figure 23 represents the same layout as Figure 22 but with the rotating structure visible in the background for clarity;

[0051]-figure 24 schematically shows the possible movements of the rotating structure of figure 13, highlighting the machine's ability to perform machining on non-circular trajectories;

[0052]- Figure 25 schematically shows the possible movements of the apparatus according to the invention with respect to a production line and to the ends of the duct segment - Description of the preferred embodiments

[0053]With reference to the figures, an apparatus for preparing a workable segment end of a tubular conduit segment 100 for subsequent welding to an adjacent tubular conduit segment to form a fluid-transporting conduit 101 is generally indicated by the reference 1.

[0054]This equipment is designed to perform various operations at the end of the duct segment to be worked.

[0055]Preparation activities include chamfering the end of the duct segment, inspecting the chamfer, inspecting the roundness of the end of the duct segment, correcting the roundness of the end of the duct segment, correcting the squareness of the end of the duct segment, cleaning/brushing the end of the duct segment, demagnetizing the end of the duct segment, flaring the end of the duct segment, reading a bar code or QR code printed or applied at the end of the duct segment, checking the lamination of the end of the duct segment, preheating the end of the duct segment.

[0056] Said tubular duct segment 100 defining a central axis of segment C, an external lateral surface of segment 102, a first free end of segment 103 and a second end of segment 104 opposite each other. The end of segment to be machined is one of the first free end of segment 103 and the second end of segment 104, wherein said end of segment to be machined comprises an internal end surface 105, an external end surface 106 and an end thickness surface 108 connecting the internal end surface 105 and the external end surface 106. The internal end surface 105 faces said central axis of segment C and the external end surface 106 faces the opposite side. In one embodiment, the end thickness surface 108 is orthogonal to the internal end surface 105 and the external end surface 106. In one embodiment, the tubular duct segment 100 is externally coated with a coating layer 107, leaving portions in the vicinity of the free ends of segment 103, 104 uncoated, for example in correspondence with the external end surface 106.

[0057]In accordance with one embodiment, the apparatus 1 comprises a sliding carriage 2 configured to slide along a predetermined longitudinal direction X, preferably in use parallel to said central segment axis C.

[0058]In accordance with one embodiment, the apparatus 1 comprises a centering unit 3 configured to define a centering axis A. The centering axis A is substantially parallel to said predetermined longitudinal direction X-X and belonging to a vertical plane comprising said predetermined longitudinal direction X-X. In accordance with one embodiment, said centering unit 3 comprises a centering unit support structure 4 fixed on said sliding carriage 2. In accordance with one embodiment, said centering unit 3 comprises two opposite locking saddles 5, 6, wherein said locking saddles 5, 6 are movable with respect to said centering unit support structure 4 along a direction orthogonal to said centering axis A and belonging to said vertical plane in use, towards said centering axis A or away from said centering axis A. In accordance with one embodiment, said centering unit 3 comprises two opposite locking saddles 5, 6, wherein said locking saddles 5, 6 are movable with respect to said centering unit support structure 4 along a direction orthogonal to said centering axis A and belonging to said vertical plane in use, towards said centering axis A or away from said centering axis A. centering assembly 3 comprises two opposite locking saddles 5, 6 avoiding the need to include additional locking saddles or locking elements capable of coming into contact against said external lateral surface of duct 102. In accordance with one embodiment, said two opposite locking saddles 5, 6 each having respective locking surfaces 7, 8 capable of reaching and pressing said duct segment 100 from opposite sides against said external lateral surface of duct 102 in proximity to the end of the segment to be machined, to make the central axis of segment C of said duct segment 100 parallel to the centering axis A.

[00591The apparatus 1 comprises a processing unit 9. The processing unit 9 comprises a processing unit support structure 10 fixable on said sliding carriage 2, a movable base 11 associated with said processing unit support structure 10, a movement assembly 12 comprising at least one linear actuator 13 configured to move said base 11 relative to said processing unit support structure 10 along said predetermined longitudinal direction X or a direction parallel thereto so as to bring the processing unit 9 closer to and/or further away from the end of the segment to be machined when said duct segment 100 is clamped on the centering unit 3. The processing unit 9 comprises a rotating structure 14 rotatably engaged with said movable base 11 to rotate about a rotation axis R suitable for being arranged substantially coaxial with said centering axis A. The processing unit 9 comprises a rotating structure 14 rotatably engaged with said movable base 11 to rotate about a rotation axis R suitable for being arranged substantially coaxial with said centering axis A. of processing 9 comprises a rotary actuator 25 for the rotation of said rotating structure 14.

[0060]Said rotating structure 14 comprising at least one radial sliding assembly.

[0061]Advantageously, each radial slide assembly comprises a slide guide 15 extending predominantly along a radial direction R-R perpendicular to said rotation axis R, a slide 16 engaged with the slide guide 15 in a sliding manner along said radial direction R-R, wherein said slide 16 is adapted to support a profile following device 18 and/or processing means 19, a motorized linear actuator 17 configured to move the slide 16 relative to the slide guide 15 along said radial direction R-R. The apparatus 1 comprises at least one electronic control unit configured to operate said motorized linear actuator 17 in a controlled manner. In accordance with one embodiment, said at least one electronic control unit is configured to operate, selectively or simultaneously, each motorized linear actuator 17 in a controlled manner. In accordance with one embodiment, the at least one electronic control unit is configured to operate, selectively or simultaneously, each motorized linear actuator 17 in a controlled manner. configured to control the linear actuator 13 and/or the rotary actuator 25.

[00621Advantageously, the at least one electronic control unit is configured to move the slide 16 along said radial direction R-R by following, with said profile following device 18 and/or said processing means 19, during a rotation of said rotating structure 14, a profile of one of an internal end surface 105 and an external end surface 106 of the segment end to be machined and/or a predetermined processing path for machining or detecting at least one of said internal end surface 105, said external end surface 106 and said thickness surface 108.

[0063]Thanks to the control of the motorized radial movement R-R with respect to the rotation axis R of the slide 16 suitable for supporting said working means 19 and/or said profile following device 18, it is possible to follow any profile or perimeter path with said working means 19 and/or said profile following device 18 to work and/or prepare and/or inspect and/or detect the ends of duct segments regardless of the shape of their profile and regardless of the perfect alignment between the central axis of the segment G and the rotation axis R.

[0064]In accordance with one embodiment, the rotary structure 14 comprises a rotation shaft or rotation flange 28 configured to receive power, and torque, from the rotary actuator 25, for example via a connection to a drive shaft of the rotary actuator 25. In accordance with one embodiment, the rotation shaft 28 is concentric with the rotation axis R. In accordance with one embodiment, each slide guide 15 is supported by the rotation shaft 28. In accordance with one embodiment, each slide guide 15 extends in an outward radial direction from the rotation shaft R, such that the respective slide 16 is movable from a slide rest position close to the rotation axis R, to a slide maximum extension position which is radially external to the rotation shaft 18 and the rotation axis R. In accordance with one embodiment, the rest position of the slide being at a distance from the rotation axis R preferably less than 20 cm, between 0 cm and 15 cm, even more preferably between 0 cm and 10 cm.

[0065]In accordance with one embodiment, the rotating structure 14 comprises a rotating structure frame 14 which comprises said rotation shaft or rotation flange 28, at least one support beam 29 which is connected to the rotation shaft or rotation flange 28 and extends in a radially external direction with respect to the rotation axis R and to the rotation shaft or rotation flange 28. The support beam 29 is configured to house and support a respective radial slide assembly, in particular the respective slide guide 15 and the motorized linear actuator 17. In accordance with one embodiment, the rotating structure 14 comprises as many support beams 29 as the number of radial slide assemblies to be supported. In accordance with one embodiment, the rotating structure 14 comprises four support beams 29, each extending in a radially external direction from the rotation shaft or rotation flange 28 forming a cross-shaped frame. In accordance with one embodiment, each support beam 29 is connected to an adjacent support beam 29 via one or more reinforcing beams 30. In accordance with one embodiment, the rotating structure 14 avoids forming disk or ring portions, to which said at least one radial slide assembly is connected.

[0066]In one embodiment, each slide 16 is movable along the respective slide guide 15 along the radial direction R-R from a rest position to a maximum radial position, so as to allow working with the same rotating structure 14 duct segments 100 of variable diameter, for example between 6" (inches) and 100" (inches). In accordance with one embodiment, at least one of said slide 16, preferably each slide 16, is movable along the respective slide guide 15 along the radial direction R-R by a slide excursion of not less than 50 cm, preferably not less than 100 cm, even more preferably not less than 150 cm. In accordance with one embodiment, the slide excursion is between 0 cm and 150 cm.

[0067]Due to the positioning of the at least one radial slide assembly and the wide radial slide allowed by the slide 16, it is possible to provide a single mechanical apparatus capable of performing a plurality of operations independently of the diameter of the duct segment, so that the same apparatus can work on a whole range of pipe diameters, for example from 6" to 100", for onshore and/or offshore projects.

[0068]In one embodiment, said at least one electronic control unit is programmed to control the motorized linear actuator 17 by moving said slide 16 along said radial direction R-R away from and/or towards said rotation axis R to contact with said profile following device 18 and/or with said processing means 19 the internal end surface 105 or the external end surface 106 of the segment end to be machined, maintaining the profile following device 18 and/or the processing means 19 in contact with the internal end surface 105 or the external end surface 106 of the segment end to be machined with a constant value of contact force during the rotation of the rotating structure 14.

[0069]In one embodiment, said motorized linear actuator 17 comprises a rotary electric motor and a mechanical transmission that transforms rotary motion into linear motion. In one embodiment, said mechanical transmission comprising a ball screw and said rotary electric motor being a stepper motor.

[0070]In one embodiment, the ball screw comprises an angular position and torque encoder connected to said at least one electronic control unit so as to control an electric motor via closed loop control.

[0071]In one embodiment, said at least one electronic control unit is programmed to control said rotary electric motor by moving said slide 16 along said radial direction R-R away from and/or towards said rotation axis R so as to maintain a constant torque developed by the rotary electric motor during the rotation of the rotating structure 14 with said profile following device 18 and/or the processing means 19 in contact with the internal end surface 105 or the external end surface 106 of the segment end to be machined with said constant value of contact force.

[0072]In one embodiment, the at least one electronic control unit is further configured to operate said linear actuator 13 in a controlled manner to move the rotating structure 14 towards the segment end to be machined along the predefined longitudinal direction X, during rotation of said rotating structure 14 while said profile following device 18 and/or said processing means 19 follow said profile of the inner end surface 105 or the outer end surface 106 of the segment end to be machined and/or said predetermined processing path, so as to advance said profile following device 18 and/or said processing means 19 along directions parallel to the predefined longitudinal direction X to machine at least one of said inner end surface 105, said outer end surface 106 and said end thickness surface 108, preferably said end thickness surface 108.

[0073]In one embodiment, the profile following device 18 is associated and/or constrained to said slide 16. In one embodiment, the profile following device 18 is configured to detect a point value of the distance between said rotation axis R and the internal end surface 105 or the external end surface 106 of the segment end to be machined during the rotation of the rotating structure 14 so as to detect the profile of the internal end surface 105 or the external end surface 106 of the segment end to be machined. [0074]In one embodiment, the profile following device 18 comprises at least one of:

- a feeler 20 comprising a roller 21 which rotates, for example, with respect to an axis parallel to said rotation axis R;

- a radial distance sensor suitable for detecting a distance along said radial direction R-R between the slide 16 and the inner end surface 105 or the outer end surface 106 of the segment end to be machined.

[0075]In one embodiment, the apparatus 1 comprises said processing means 19, wherein said processing means 19 are associated and/or constrained to said slide 16. In one embodiment, said processing means 19 are configured to process at least one of said internal end surface 105, said external end surface 106 and said end thickness surface 108.

[0076]In one embodiment, said working means 19 comprise one or more of the following tools reversibly connectable to said slide 16:

[0077]- a cutting tool for chip removal 22;

[0078]- a brush 23;

[0079]- a surface quality inspection sensor, e.g. a laser sensor and/or an ultrasonic sensor, [0080]- a linear scanner 24 adapted to peripherally inspect the geometry of the segment end to be machined, e.g. at least one of the geometry of the end thickness surface 108, the geometry of the internal end surface 105, and the geometry of the external end surface 108;

[0081]- an axial distance sensor adapted to detect an axial distance along a direction parallel to said predefined direction X-X between said slide 16 and said end of segment to be machined, e.g. said end thickness surface 108,

[0082]- a demagnetizer;

[0083]- an optical reader for tube codes applied to the tubular duct segment 100;

[0084]- a printer for printing a tube code on the tubular duct segment 100,

[0085]- a preheater.

[0086]In one embodiment, the apparatus 1 comprises at least one of said tools connectable to the slide 16 connected to at least one slide 16. In one embodiment, the apparatus 1 comprises a plurality, for example two, three or four, of said tools connectable to the slide 16 connected to at least one slide 16.

[0087]In one embodiment, the profile following device 18 cantilevers from said slide 16 along a direction parallel to said rotation axis R. In accordance with one embodiment, said processing means 19 cantilevers from said axis of said slide 16 along a direction parallel to said rotation axis R. In accordance with one embodiment, the profile following device 18 protrudes along a direction parallel to the rotation axis from the slide 16 more than the processing means 19, so as to allow, when advancing along the predefined longitudinal direction X of the rotating structure 14, the profile following device 18 to approach and/or contact the end of the segment to be machined before the processing means 19.

[0088]In one embodiment, said rotary actuator 25 for rotating said rotating structure 14 is a rotary electric motor. In one embodiment, said rotary actuator 25 for rotating said rotating structure 14 is a hydraulic actuator.

[0089]In one embodiment, said linear actuator 13 of said motion assembly 12 comprises a rotary electric motor and a motion transmission from rotary motion to linear motion.

[0090]In one embodiment, said movement assembly 12 for moving said base 11 relative to said processing unit support structure 10 comprises first base angular orientation means 26 for orienting said base 11 relative to said processing unit support structure 10 around a first base rotation axis orthogonal to said predetermined longitudinal direction X and belonging to said vertical plane.

[0091]In one embodiment, said movement assembly 12 for moving said base 11 relative to said processing unit support structure 10 comprises second base angular orientation means 27 for orienting said base 11 relative to said processing unit support structure 10 around a second rotation axis orthogonal to said predetermined longitudinal direction X and orthogonal to said vertical plane.

[0092]In one embodiment, said locking surfaces 7, 8 are V-shaped and have concaves facing each other so as to externally clamp said segment of tubular duct 100, wherein said centering axis A is defined by said concaves facing each other. In one embodiment, said V-shaped locking surfaces 7, 8 are movable with respect to each other between a minimum distance and a maximum distance between the respective minima of the V-shaped portions of between 10 cm and 260 cm.

[0093]In one embodiment, said centering unit support structure 4 is a rectangular frame inside which the first locking saddle 5 and the second locking saddle 6 are vertically movable towards and away from each other by means of respective linear saddle actuators, preferably comprising an electric saddle motor and a mechanical transmission that transforms the rotary motion into linear motion, preferably said mechanical transmission comprising a ball screw.

[0094]In one embodiment, each electric saddle motor comprises a position encoder adapted to detect the position of the respective locking saddle 5, 6.

[0095]In one embodiment, each saddle electric motor is controlled in output torque such that reaching a limit output torque can determine the achievement of a sufficient clamping force.

[0096]In one embodiment, said first locking saddle 5 and the respective saddle motor are adapted to lift the tubular duct segment 100 to be machined.

[0097]In one embodiment, said first locking surface 7 is adapted to accommodate said second locking surface 8 within its concavity.

[0098]In one embodiment, said second locking surface 8 protrudes with respect to a base portion of said second saddle 6.

[0099]By clamping the duct segment 100 via the two opposite locking saddles 5, 6 on the external lateral surface 102 of the duct segment, it is possible to avoid exposing users to possible injuries due to the handling of sharp metal or polymer edges.

[00J00] By clamping the duct segment 100 via the two opposite locking saddles 5, 6 on the external lateral surface 102 of the duct segment, it is possible to avoid the use of an apparatus fixed mainly internally to the end of the pipe by means of mechanical expanders, which push on the internal lining of the pipe, thus causing damage to any internal lining of the duct segment.

[00101] By clamping the duct segment 100 via the two opposite locking saddles 5, 6 on the external lateral surface 102 of the duct segment, it is possible to ensure automatic clamping and centering of the duct segment, avoiding manual interventions such as occurs with the use of known mechanical expanders, both operating on the internal surface and on the external surface of the duct segment, which can lead to misalignment of the apparatus 1 with respect to the central axis of the duct segment, thus avoiding the inconvenience of setting the rotating tool that rotates on a plane inclined with respect to the axis of the duct segment, thus chamfering the end of the duct on a plane inclined with respect to the axis of the duct, in a so-called "salami slice" manner.

[00102] Thanks to the centering unit 4 described, it is possible to provide an apparatus 1 capable of ensuring perpendicularity between a working plane of the ends of the pipe and the axis of the pipe, thus avoiding the risk of salami-slicing. Avoiding the creation of salami-slicing cuts allows the prevention of welding problems in the alignment phase of the duct segments due to a greater opening distance of the chamfer.

[00103] Thanks to the described centering unit 4 equipped with two opposite locking saddles 5, 6, their shape, and their wide range of movement away from and towards each other, it is possible to clamp and center duct segments regardless of their diameter within a wide range of possible duct segments to be machined, avoiding users having to use and move a plurality of different adaptation kits to cover the entire range of duct segments. In one embodiment, said rotating structure 14 comprises at least two of said at least one radial sliding assembly. In one embodiment, two respective sliding guides 15 are arranged forming an angle between 90° and 180° in a rotation plane perpendicular to said rotation axis R.

[00104] In one embodiment, said rotating structure 14 comprises at least three of said at least one radial sliding assembly. In one embodiment, three respective sliding guides 15 are arranged forming between adjacent sliding guides an angle between 40° and 80°, preferably 60°, in a rotation plane perpendicular to said rotation axis R.

[00105] In one embodiment, said rotating structure 14 comprises at least four of said at least one radial slide assembly. In one embodiment, four respective slide guides are arranged such that each slide guide 15 forms an angle between 90° and 180° with respect to an adjacent slide guide 15, preferably 90° forming a rotating symmetrical cross.

[00106] In one embodiment, each slide 16 is reversibly connectable to the respective slide guide 15.

[00107] In one embodiment, each radial slide assembly rotates at the same rotational speed.

[00108] In one embodiment, each slide 16 is moved along its respective slide guide 15 independently.

[00109] In one embodiment, each slide 16 is arranged symmetrically with respect to an adjacent slide.

[00110] In one embodiment, said predetermined working path is a perimeter path, for example elliptical or circular or ovoid-[00111] The present invention also concerns an assembly comprising a first apparatus 1 and a second apparatus 1 according to any of the embodiments, wherein the first apparatus 1 and the second apparatus 1 are arranged facing each other along said predetermined longitudinal direction X-X so as to work said first free end of segment 103 and said second free end of segment 104 of the tubular duct segment 100.

[00112] The present invention also relates to a method for preparing one end of a tubular conduit segment 100 for subsequent welding to an adjacent tubular conduit segment to form a fluid-transporting conduit 101, said method comprising the following steps:

[00113] - providing a tubular duct segment 100 defining a central segment axis C, an external segment lateral surface 102, a first free segment end 103 and a second segment end 104 opposite each other with respect to said central segment axis C, wherein said segment end to be machined is one of the first free segment end 103 and the second segment end 104, wherein said segment end to be machined comprises an internal end surface 105, an external end surface 106 and an end thickness surface 108 connecting the internal end surface 105 and the external end surface 106, the internal end surface 105 facing said central segment axis C and the external end surface 106 facing the opposite side;

[00114] - clamp said external lateral surface of duct 102 between two opposite locking saddles 5, 6 in proximity to the end of the segment to be machined, leaving the external end surface 106 free from obstacles, defining a centering axis A substantially parallel to said central axis of segment C,

[00115] - provide a tracking device 18 and/or processing means 19 rotatable around a rotation axis R, substantially parallel to said centering axis A, and movable towards and away from said rotation axis R along a radial direction R-R orthogonal to said rotation axis R,

[00116] - bringing said working means 19 close to the end of the segment to be machined along a predetermined longitudinal direction X substantially parallel to said centering axis A in such a way as to face the tracking device 18 and/or said working means 19 onto one of the internal end surface 105, the external end surface 106 and the end thickness surface 108 of the end of the segment to be machined,

[00117] - rotating said tracking device 18 and/or said processing means 19 with respect to said rotation axis R,

[00118] - during the rotation of said working means 19, move said working means 19 along said radial direction R-R towards and/or away from said rotation axis R, following a predetermined working path or a profile of one between the internal end surface 105 and the external end surface 106 of the segment end to be worked;

[00119] -machine said end of the segment to be machined along said predetermined machining path or said profile.

[00120] In accordance with a mode of operation, the method provides the step of providing an apparatus 1 or an assembly according to one or more of the previously described embodiments.

[00121] In accordance with one mode of operation, the step of working said segment end to be worked along said profile, is performed by moving said working means 19 and tracking device 18 along said radial direction R-R towards and away from said rotation axis R so as to keep said tracking device 18 in contact with said profile and/or the internal end surface 105 or the external end surface 106 with a constant contact force during the rotation of said working means 19 and said tracking device 18, working with said working means 19 at least one of the internal end surface 105, the external end surface 106 and the end thickness surface 108 of the segment end to be worked.

[00122] In accordance with one mode of operation, the step of working said segment end to be worked involves advancing said working means 19 and said tracking device 18 along directions parallel to the predetermined longitudinal direction X, while said profile following device 18 and/or said working means 19 follow said profile of the internal end surface 105 or of the external end surface 106 of the segment end to be worked and/or said predetermined working path, to work at least one of said internal end surface 105, said external end surface 106 and said thickness surface 108 with said working means 19, Preferably said thickness surface of the end 108.

[00123] In accordance with one method of operation, the step of tightening said external lateral surface of duct 102 involves tightening both the first free end of segment 103 and the second free end of segment 104 by defining a centering axis A substantially parallel to said central axis of segment C, lifting the duct segment 100 and tightening it to a predefined height.

[00124] To the embodiments of the device described above, a person skilled in the art, in order to satisfy contingent needs, may make modifications, adaptations and replacements of elements with other functionally equivalent ones, without thereby departing from the scope of the following claims. Each of the characteristics described as belonging to a possible embodiment may be realized independently of the other embodiments described.

[00125] The means and materials for carrying out the various functions described may be of various natures without departing from the scope of the invention.

[00126] Also, figures are not necessarily to scale.

[00127] All of the features described herein, and/or any steps of the method described herein, may be combined in any combination, except combinations in which at least some of such features and/or steps are mutually exclusive.

LIST OF REFERENCES

Equipment

Sliding trolley

Centering unit or driven centering unit Support structure of centering unit before locking saddle

second locking saddle

First saddle locking surfaces

Second saddle locking surfaces

processing unit or end processing unit?

support structure of the work unit base

handling assembly

linear actuator

rotating structure

sliding guide

sled

motorized linear actuator

profile tracking device

means of processing

feeler

rotating roller

chip removal cutting tool 23 brush

24 linear scanners

25 rotary actuator

26 first means of angular orientation of base 27 second means of angular orientation of base 28 rotation shaft or rotation flange

29 support beam

30 reinforcement beam

100 segment of tubular duct

101 pipeline

102 external lateral surface of segment

103 first free end of segment

104 second free end of segment

105 internal surface of ends?

106 external surface of extremities?

107 coating

108 end thickness surface?

X-X fixed longitudinal direction

On the centering axis

C segment center axis

R axis of rotation

R-R radial direction

Claims (14)

1. Apparatus (1) for preparing a workable segment end of a tubular duct segment (100) for subsequent welding with an adjacent tubular duct segment to form a conduit (101) for transporting a fluid, said tubular duct segment (100) defining a central segment axis (C), an external lateral segment surface (102), a first free segment end (103) and a second segment end (104) opposite to each other, wherein said workable segment end is one of the first free segment end (103) and the second segment end (104), wherein said workable segment end comprises an internal end surface (105), an external end surface (106) and an end thickness surface (108) connecting the internal end surface (105) and the external end surface (107). (106), the internal end surface (105) facing said central axis of segment (C) and the external end surface (106) facing the opposite side; including: - a processing unit (9) comprising a support structure of processing units (10) fixable on a sliding carriage (2), a movable base (11) associated with said work unit support structure (10), a movement assembly (12) comprising at least one linear actuator (13) configured to move said base (11) relative to said processing unit support structure (10) along a predetermined longitudinal direction (X) or a direction parallel to it so as to bring the processing unit (9) closer to and/or further away from the end of the segment to be machined when said duct segment (100) is clamped onto a centering unit (3), a rotating structure (14) rotatably engaged with said movable base (11) to rotate around a rotation axis (R) suitable to be arranged substantially coaxial with a centering axis (A) defined by the centering unit (3) and in use substantially parallel to said central segment axis (C), said centering axis (A) being arranged parallel to said predetermined longitudinal direction (X-X) and belonging to a vertical plane comprising said predetermined longitudinal direction (X-X), a rotary actuator (25) configured to rotate said rotating structure (14), said rotating structure (14) comprising at least one radial sliding assembly, each radial slide assembly comprising: - a sliding guide (15) developing mainly along a radial direction (R-R) perpendicular to said rotation axis (R), - a slide (16) engaged with the slide guide (15) in a sliding manner along said radial direction (R-R), wherein said slide (16) is adapted to support a profile following device (18) and/or processing means (19), - a motorized linear actuator (17) configured to move the slide (16) relative to the slide guide (15) along said radial direction (R-R), said apparatus (1) comprising at least one electronic control unit configured to operate said motorized linear actuator (17) in a controlled manner to move the slide (16) along said radial direction (R-R) following, during a rotation of said rotating structure (14), with said profile following device (18) and/or said machining means (19), a profile of one of the internal end surface (105) and the external end surface (106) of the segment end to be machined and/or a predetermined machining path for machining at least one of said internal end surface (105), said external end surface (106) and said shim surface (108). 2. Apparatus (1) according to claim 1 wherein said at least one electronic control unit is programmed to control the motorized linear actuator (17) by moving said slide (16) along said radial direction (R-R) away from and/or towards said rotation axis (R) to contact with said profile following device (18) and/or with said processing means (19) the internal end surface (105) or the external end surface (106) of the segment end to be machined, maintaining the profile following device (18) and/or the processing means (19) in contact with the internal end surface (105) or the external end surface (106) of the segment end to be machined with a constant value of contact force during the rotation of the rotating structure (14). 3. Apparatus (1) according to any of the preceding claims, wherein said motorized linear actuator (17) comprises a rotary electric motor and a mechanical transmission that transforms the rotary motion into linear motion, preferably said mechanical transmission comprising a ball screw and said rotary electric motor being a stepper motor. 4. Apparatus (1) according to the preceding claim wherein the ball screw comprises an angular position and torque encoder connected to said at least one electronic control unit so as to control the electric motor by means of a closed loop control, and/or wherein said at least one electronic control unit is programmed to control said rotary electric motor by moving said slide (16) along said radial direction (R-R) away from and/or towards said rotation axis (R) so as to maintain a constant torque delivered by the rotary electric motor during the rotation of the rotating structure (14) with said profile following device (18) and/or the processing means (19) in contact with the internal end surface (105) or the external end surface (106) of the segment end to be machined with said constant value of contact force. 5. Apparatus (1) according to claim 1, comprising said profile following device (18), wherein the profile following device (18) is associated and/or constrained to said slide (16), wherein said profile following device (18) is configured to detect a point value of the distance between said rotation axis (R) and the internal end surface (105) or the external end surface (106) of the segment end to be machined during the rotation of the rotating structure (14) so as to detect the profile of the internal end surface (105) or the external end surface (106) of the segment end to be machined, wherein the profile tracking device (18) comprises at least one of: - a feeler (20) comprising a roller (21), for example rotating with respect to an axis parallel to said rotation axis (R), suitable for contacting the internal end surface (105) or the external end surface (106) to detect the specific value of the distance between said rotation axis (R) and the internal end surface (105) or the external end surface (106) of the end of the segment to be machined; - a radial distance sensor suitable for detecting a distance along said radial direction (R-R) between the slide (16) and the internal end surface (105) or the external end surface (106) of the segment end to be machined. 6. Apparatus (1) according to claim 1, comprising said working means (19), wherein said working means (19) are associated and/or constrained to said slide (16), wherein said working means (19) are configured to work at least one of said internal end surface (105), said external end surface (106) and said end thickness surface (108), wherein said working means (19) comprise one or more of the following tools connectable to said slide (16), for example in a reversible manner: - a cutting tool for chip removal (22); - a brush (23); - a surface quality inspection sensor, e.g. a laser sensor and/or an ultrasonic sensor, - a linear scanner (24) suitable for inspecting the perimeter of the geometry of the segment end to be machined, e.g. at least one of the geometry of the end thickness surface (108), the geometry of the internal end surface (105), and the geometry of the external end surface (108); - an axial distance sensor suitable for detecting an axial distance along a direction parallel to said predefined direction (X-X) between said slide (16) and said segment end to be machined, e.g. said end thickness surface (108), - a demagnetizer; - an optical reader for tube codes applied to the tubular duct segment (100); - a printer for printing a tube code on the tubular duct segment (100); - a preheater. 7. Apparatus (1) according to claim 1 wherein the at least one electronic control unit is further configured to operate said linear actuator (13) in a controlled manner to move the rotating structure (14) towards the segment end to be machined along the predefined longitudinal direction (X), during rotation of said rotating structure (14) while said profile following device (18) and/or said processing means (19) follow said profile of the internal end surface (105) or the external end surface (106) of the segment end to be machined and/or said predetermined processing path, so as to advance said profile following device (18) and/or said processing means (19) along directions parallel to the predefined longitudinal direction (X) to machine at least one of said internal end surface (105), said external end surface (106) and said thickness surface (108), and/or wherein said linear actuator (13) of said motion assembly (12) comprises a rotary electric motor and a motion transmission from rotary motion to linear motion; and/or wherein said movement assembly (12) for moving said base (11) relative to said processing unit support structure (10) comprises first base angular orientation means (26) for orienting said base (11) relative to said processing unit support structure (10) around a first base rotation axis orthogonal to said predetermined longitudinal direction X and belonging to said vertical plane, and/or wherein said movement assembly (12) for moving said base (11) relative to said processing unit support structure (10) comprises second base angular orientation means (27) for orienting said base (11) relative to said processing unit support structure (10) around a second rotation axis orthogonal to said predetermined longitudinal direction X and orthogonal to said vertical plane. 8. Apparatus (1) according to any of the preceding claims, wherein said rotating structure (14) comprises at least two of said at least one radial slide assembly; and/or wherein said rotating structure (14) comprises at least three of said at least one radial slide assembly, and/or wherein said rotating structure (14) comprises at least four of said at least one radial slide assembly, and/or where each radial slide assembly rotates at the same rotational speed, and/or in which each slide (16) is moved along its respective sliding guide (15) independently, and/or where each radial slide assembly is angularly equidistant from an adjacent radial slide assembly, and/or where said predetermined processing path is a perimeter path, for example elliptical or circular or ovoid. 9. Apparatus (1) according to any of the preceding claims, comprising - said centering unit (3), said centering unit (3) being configured to define said centering axis (A) parallel to said predetermined longitudinal direction (X-X) and belonging to a vertical plane in use comprising said predetermined longitudinal direction (X-X), said centering unit (3) comprising a centering unit support structure (4) fixable on said sliding carriage (2), two opposite locking saddles (5, 6), wherein said locking saddles (5, 6) are movable with respect to said centering unit support structure (4), centering (4) along a direction orthogonal to said centering axis (A) and belonging to said vertical plane in use, approaching said centering axis (A) or moving away from said centering axis (A), said two opposite locking saddles (5, 6) each having respective locking surfaces (7, 8) suitable for reaching and pressing said duct segment (100) from opposite sides against said external lateral duct surface (102) in proximity to the end of the segment to be machined, leaving said external end surface (105) free, to align the central segment axis (C) of said duct segment (100) with the centering axis (A), and/or - said sliding carriage (2), said sliding carriage (2) being configured to slide along at least said predetermined longitudinal direction (X), parallel to said central segment axis (C), wherein said processing unit (9) is fixed to said sliding carriage (2). 10. Apparatus (1) according to the preceding claim, wherein said locking surfaces (7, 8) are V-shaped and have concavities facing each other so as to externally clamp said segment of tubular duct (100), wherein said centering axis (A) is defined by said concavities facing each other, and/or wherein said centering unit support structure (4) is a frame, for example rectangular, inside which the first locking saddle (5) and the second locking saddle (6) are vertically movable towards and away from each other by means of respective linear saddle actuators, preferably comprising an electric saddle motor and a mechanical transmission which transforms the rotary motion into linear motion, preferably said mechanical transmission comprising a recirculating ball screw, wherein each electric saddle motor comprises a position encoder suitable for detecting the position of the respective locking saddle (5, 6), preferably each electric saddle motor is a position encoder suitable for detecting the position of the respective locking saddle (5, 6). controlled in torque output so that by reaching a limit torque output it is possible to determine the achievement of a sufficient clamping force, and/or wherein said first locking saddle (5) and the respective saddle motor is adapted to lift the tubular duct segment (100) to be machined. 11. Apparatus (1) according to the preceding claim, wherein said first locking surface (7) is adapted to accommodate said second locking surface (8) within its concavity, and/or wherein said second locking surface (8) protrudes with respect to a base portion of said second saddle (6). 12. Assembly comprising a first apparatus (1) and a second apparatus (1) according to any of the preceding claims, wherein the first apparatus (1) and the second apparatus (1) are arranged facing opposite each other along said predetermined longitudinal direction (X-X) so as to work said first free segment end (103) and said second free segment end (104) of the tubular duct segment (100). 13. A method for preparing a workable segment end of a tubular duct segment (100) for subsequent welding to an adjacent tubular duct segment to form a conduit (101) for transporting a fluid, said method comprising the following steps: - providing a tubular duct segment (100) defining a central segment axis (C), an external segment lateral surface (102), a first free segment end (103) and a second segment end (104) opposite each other with respect to said central segment axis (C), wherein said segment end to be machined is one of the first free segment end (103) and the second segment end (104), wherein said segment end to be machined comprises an internal end surface (105), an external end surface (106) and an end thickness surface (108) connecting the internal end surface (105) and the external end surface (106), the internal end surface (105) facing said central segment axis (C) and the external end surface (106) facing the opposite side; - clamp said external lateral surface of the duct (102) between two opposite locking saddles (5, 6) near the end of the segment to be machined, leaving the external end surface (106) free from obstacles, defining a centering axis (A) substantially parallel to said central axis of the segment (C), - provide a tracking device (18) and/or working means (19) rotatable around a rotation axis (R), substantially parallel to said centering axis (A), and movable towards and away from said rotation axis (R) along a radial direction (R-R) orthogonal to said rotation axis (R), - bring said working means (19) close to the end of the segment to be worked along a predetermined longitudinal direction (X) substantially parallel to said centering axis (A) in such a way as to face the tracking device (18) and/or said working means (19) to one of the internal end surface (105), the external end surface (106) and the end thickness surface (108) of the end of the segment to be worked, - rotate said tracking device (18) and/or said processing means (19) with respect to said rotation axis (R), - during the rotation of said working means (19), move said working means (19) along said radial direction (R-R) towards and away from said rotation axis (R), following a predetermined working path and/or a profile of one of the internal end surface (105) and the external end surface (106) of the segment end to be worked; -machine said end of the segment to be machined along said predetermined machining path or said profile. 14. A method according to the preceding claim, wherein the step of working said segment end to be worked along said profile is performed by moving said working means (19) and said tracking device (18) along said radial direction (R-R) towards and away from said rotation axis (R) so as to keep said tracking device (18) in contact with the internal end surface (105) or the external end surface (106) with a constant contact force during the rotation of said working means (19) and said tracking device (18), working with said working means (19) at least one of the internal end surface (105), the external end surface (106) and the end thickness surface (108) of the segment end to be worked, and/or wherein the step of working said segment end to be worked is performed by moving said working means (19) and said tracking device (18) along said radial direction (R-R) towards and away from said rotation axis (R) so as to maintain said tracking device (18) in contact with the internal end surface (105) or the external end surface (106) with a constant contact force during the rotation of said working means (19) and said tracking device (18), working with said working means (19) at least one of the internal end surface (105), the external end surface (106) and the end thickness surface (108) of the segment end to be worked, and/or wherein the step of working said segment end to be worked is performed by moving said working means (19) and said tracking device (18) towards and away from said rotation axis (R-R) so as to maintain said tracking device (18) in contact with the internal end surface (105) or the external end surface (106) with a constant contact force during the rotation of said working means (19) and said tracking device (18), working with said working means (19) at least one of the internal end surface (105), the external end surface (106) and the end thickness surface (108) of the segment end to be worked, and/or wherein the step of working said segment end to be worked is performed by moving said working means (19) and said tracking of the segment to be machined involves advancing said processing means (19) and said tracking device (18) along directions parallel to the predetermined longitudinal direction (X), while said profile following device (18) and/or said processing means (19) follow said profile of the internal end surface (105) or of the external end surface (106) of the end of the segment to be machined and/or said predetermined processing path, to machine at least one of said internal end surface (105), said external end surface (106) and said end thickness surface (108) with said processing means (19).