WO2024055058A1

WO2024055058A1 - Processing device for processing inner surfaces of pipes

Info

Publication number: WO2024055058A1
Application number: PCT/AT2023/060325
Authority: WO
Inventors: Josef Engl; Josef KLAUSNER
Original assignee: Miba Automation Systems Ges.M.B.H.
Priority date: 2022-09-16
Filing date: 2023-09-15
Publication date: 2024-03-21
Also published as: AT526566A1

Abstract

The invention relates to a processing device (5) for processing inner surfaces (6, 6') of pipes (2, 2'). Said processing device (5) comprises a support frame (8) for holding at least one processing unit (9). At least two wheels (12), which can be rotated about wheel axes (13), are retained on the support frame (8) so that, by means of said wheels (12), the processing device (5) can be moved within a pipe (2, 2') to be processed. All of the wheels (12) are additionally adjustable and lockable with respect to their rotational angle positions about height axes (14) running perpendicularly to the wheel axes (13), so that the processing device (5) can be moved by means of the wheels (12) both parallel and perpendicularly to the pipe axis of a pipe (2, 2') to be processed.

Description

PROCESSING DEVICE FOR PROCESSING INNER SURFACES OF PIPES

The invention relates to a processing device for processing inner surfaces of pipes, as specified in the claims. The pipes intended for processing are large metallic pipes with a diameter of more than 1000 mm, in particular more than 2000 mm, such as can be used for containers, pipelines, offshore components or masts of wind turbines.

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

Furthermore, processing devices are known from the prior art which are intended for processing the inner surface of pipes, for example according to EP1815920A1. It proposes a method and a system for processing the inner longitudinal seam of longitudinally welded components, such as pipes, containers, boilers or the like. The system has a milling lance in which a milling support is mounted so that it can be moved horizontally. At the lower end of the milling lance there are a number of support and alignment elements for fixing the milling lance. The milling support consists of milling units arranged one behind the other with milling cutters attached to a spindle at their lower ends, with detection devices in the milling support in front of and behind the milling units are provided. A feed drive that can be moved horizontally in the milling lance is provided on the milling support. This means that welding notches can be machined very precisely, so that failure of the components due to a swelling load is largely ruled out. Furthermore, this should enable relatively quick processing of the notches and also achieve cost-effective processing. However, such a system is only partially satisfactory in practice. Among other things, adapting to different pipe diameters involves extensive adjustment and conversion work.

The object of the present invention was to overcome the disadvantages of the prior art and to provide a processing device which enables extensive processing, in particular repair processing, on the inner surfaces of pipes with as little construction effort as possible.

This task is solved by a processing device according to the claims.

The processing device according to the invention for processing inner surfaces of pipes comprises a support frame for receiving at least one processing unit, in particular at least one machining and/or welding processing unit. The support frame is dimensioned in such a way that it can be accommodated completely inside a pipe to be processed. A pipe to be processed can therefore delimit the support frame and completely accommodate a processing device arranged inside the pipe. At least two wheels, preferably three or four wheels, are mounted on the support frame. These wheels can be rotated about horizontal or approximately horizontal wheel axles. The wheels are intended for rolling support of the support frame relative to the curved inner surface of a pipe to be processed. In particular, the wheels are designed in such a way that the processing device can be moved within a pipe to be processed and positioned therein by means of these wheels.

A pipe to be processed is preferably round in cross section, in particular circular or oval. All wheels for moving the support frame can also be adjusted and locked in terms of their rotation angle positions around vertical axes that run transversely to the wheel axles, so that the processing device can be moved by means of the wheels both parallel and transversely to the longitudinal axis of a pipe on its inner surface. An advantage of the processing device according to the invention is that it can be moved longitudinally, transversely and approximately spirally within a pipe to be processed. In particular, with one and the same processing device according to the invention, longitudinal and transverse paths can be traversed and even partial or complete spiral paths can be implemented. In an advantageous manner, longitudinal, transverse and also spiral connecting seams of a pipe can be processed, in particular reworked, or even manufactured.

The term “pipes” means hollow components with a rounded or rounded cross-section, including conical pipes, for example for masts, or containers or boilers, which can be closed at at least one axial end.

Furthermore, it can be provided that an available adjustment range of the rotation angle positions of the wheels is at least 90 degrees. This means that a conversion or switching between longitudinal seam and transverse or circular seam processing of a pipe can be achieved quickly and in a functionally stable manner. In particular, this makes it possible for the processing device to be rotated or moved within a pipe to be processed by 90° with respect to a vertical axis of the processing device. If necessary, this 90° transfer process within a pipe to be processed can also be carried out on a stand, i.e. without forward, backward or sideways movement. Furthermore, the processing unit can be mounted on the support frame in an advantageous manner in a rotationally fixed manner, i.e. without a pivoting mechanism with respect to a vertical axis, whereby the structure of the processing device can be kept as simple and robust as possible.

Furthermore, it can be expedient if at least one of the wheels is assigned a motorized wheel drive, with which the processing device can be positioned and moved in a controlled manner within a pipe to be processed. This allows the processing device to be positioned quickly and conveniently within a pipe, independently of human strength. In addition to a manually controlled or controlled ferry operation, an autonomous or self-propelled or semi-autonomous movement of the processing device is also conceivable.

In addition, it can be provided that the at least one processing unit is attached to at least one adjusting device, which provides at least one adjusting device Adjustment of the at least one processing unit is designed relative to the support frame. This makes it possible to use the wheels of the processing device to carry out a rough or prepositioning of the movable processing device and the processing unit within the pipe and then to achieve a fine positioning of the at least one processing unit in relation to the planned processing position using the at least one adjusting device. Alternatively or in combination, it is possible to carry out a desired relative movement of the at least one processing unit relative to the pipe to be processed with high precision during a processing process, while the wheels of the support frame are at a standstill.

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

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

According to a special embodiment, it can be provided that the fixing or braking device comprises at least one magnet-based holding element, which is used for magnetic Coupling and decoupling is provided relative to a pipe to be processed. The at least one magnet-based holding element can have at least one electromagnet, at least one permanent magnet or a combination thereof. Especially in connection with metallic or ferromagnetic pipes, a reliable, highly effective and easily activated and deactivated fixing and braking effect can be created between the processing device and a pipe to be processed.

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

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

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

According to an advantageous development, it can be provided that a flaw detection device is formed, in particular on the support frame, on the at least one processing unit, or on an adjusting device on the support frame, which is designed to determine flaw points to be machined in a pipe to be machined. This enables sensory support to determine defects or damaged areas which enables a qualitatively constant or a metrologically supported and therefore objective processing of pipes.

In particular, it can be advantageous if the fault detection device comprises optical and/or inductive detection means. This allows reliable and rapid identification of defects and potential damage.

Furthermore, it can be provided that a geometry or distance measuring device is held in particular on the support frame, or on an adjusting device on the support frame, or on the at least one processing unit, which is used to determine the geometry of a pipe to be processed or to determine a vertical distance between the at least one Processing unit, in particular in relation to its tool, and a pipe to be processed is formed. As a result, an infeed movement, in particular an infeed depth, of the processing unit can be made dependent on the diameter or on the curvature of a pipe to be processed in the section below the processing unit or below the processing device in a simple and reliable manner. In this way, defined or planned processing can be achieved in relation to the cross-sectional area or wall thickness of the pipe to be processed.

According to an advantageous embodiment, it can further be provided that support surfaces for a forklift truck fork and/or eyelets for a crane sling are formed on the support frame. As a result, comfortable and safe handling of the processing device can be achieved with regard to its introduction into a pipe to be processed and with regard to its removal from a processed pipe. The measures or means mentioned can, as an alternative or in combination to the pivoting wheels on the support frame, also be used to implement the processing device by 90°, in particular to rotate 90° about its vertical axis, depending on a planned longitudinal or transverse direction processing of the inner pipe wall . This 90° transfer process can, if necessary, be carried out quickly and easily using a forklift and/or crane outside the pipe to be processed. Especially in the case of pipes with a relatively small inner diameter and therefore a relatively strong curvature, it can be advantageous to move the processing device outside the pipe to be processed.

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

Also advantageous is an embodiment according to which it can be provided that the rotation device comprises at least one support frame and at least two support rollers, which support rollers have roller axes running parallel to the longitudinal axis of a pipe to be processed, and which support rollers are intended to rest on the outer surface of a pipe to be processed are. This creates a practical rotation device in addition to the processing device. The rotation device is structurally separate or structurally independent from the “in-pipe device”, which means that construction and handling advantages can be achieved. The separate rotation device can be designed as a rotary bearing block for a pipe with a horizontally aligned longitudinal or pipe axis.

For a better understanding of the invention, it will be explained in more detail using the following figures.

They show each in a simplified, exemplary representation:

1 shows a technical system for processing large pipes, the movable processing device used being illustrated in three different orientations and positions;

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

Fig. 3 is an enlarged detailed view of Fig. 2;

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

Fig. 5 is an enlarged detailed view of Fig. 4;

6 shows the movable processing device in a first rotational angular position of its wheels; 7 shows the movable processing device with a further rotational angle position of its wheels changed by 90°;

8a-8d the processing device in plan view in connection with a (a) longitudinal, (b) transverse and (c) diagonal movement, as well as a (d) rotational movement about its vertical axis at the stand.

As an introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numbers or the same component names, whereby the disclosures contained in the entire description can be transferred analogously to the same parts with the same reference numbers or the same component names. The position information selected in the description, such as top, bottom, side, etc., is also related to the figure directly described and shown and, in the event of a change in position, these position information must be transferred accordingly to the new position.

1 to 5 show an exemplary embodiment of a technical system 1 for processing or producing pipes 2, 2' or container elements with relatively large inner diameters 3, 3'. In the illustrations, two pipes 2, 2' are shown as examples for different inner diameters 3, 3'. However, during processing, only a single pipe 2 or 2' is constructed or positioned in system 1.

Pipes 2, 2' or container elements to be processed on or with the system 1 have an inner diameter 3, 3' of more than 1000 mm, in particular more than 2000 mm. The inner diameter 3.3' can be up to around 15,000 mm. In particular when processing pipes 2, 2' or container elements with an inner diameter 3, 3' of 2000 mm to approximately 15,000 mm, it is possible for an operator of the system 1 to be able to stand upright in a corresponding pipe 2, 2' it is aligned horizontally with its tube axis 4, 4 ', in particular aligned horizontally. Such large pipes 2, 2' enable an operator of the system 1 or a processing device 5 located in the pipe 2, 2' to be held in a body-friendly manner.

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

The processing device 5 can, if necessary, be introduced into and out of the interior of a pipe 2, 2 'to be processed using heavy equipment, in particular a forklift truck 7 and/or a crane, and removed therefrom again. Basically, only a single processing device 5 is provided within a tube 2, 2 '.

The processing device 5 comprises a support frame 8 for receiving or load-bearing holding of at least one mechanical and / or thermal processing unit 9 relative to the inner surface 6, 6 'of the pipe 2, 2' to be processed. According to the exemplary embodiment of the processing device 5 shown in FIGS. 6, 7, the processing unit 9 is formed by a milling unit 10 with at least one rotatably drivable milling disk 11.

The pipe processing device 5 further comprises at least two, preferably three or four, wheels 12 held on the support frame 8, as can best be seen from FIG. According to this advantageous embodiment, four wheels 12 are provided, these four wheels 12 each being assigned to a corner region of a support frame 8 which is essentially rectangular in plan view. As a result, a high level of driving stability of the processing device 5 can be achieved.

The wheels 12 are rotatably mounted about horizontally or essentially horizontally extending wheel axles 13. By means of the wheels 12, the processing device 5, together with the processing unit 9 held thereon, can be moved within the pipe 2, 2' to be processed. In particular, the support frame 8 can be moved or positioned in a rolling manner within a tube 2, 2' to be processed. It is important that the wheels 12 are steerable, in particular that all wheels 12 formed on the support frame 8 and provided for support on the inner surface of the tube can also be rotated and locked with regard to their rotation angle positions about vertical axes 14 that run transversely, preferably perpendicularly, to their wheel axles 13. Accordingly, a vertical axis 14 is designed for each existing wheel 12, so that each of the wheels 12 on the support frame 8 can assume a defined rotational angular position with respect to a horizontal plane. The individual wheels 12 can preferably be adjusted and locked synchronously or uniformly by an operator of the processing device 5, so that the wheels 12 can be adjusted and locked with the same rotation angle position. However, it is also possible that the wheels 12 can be rotated and adjusted independently of one another and can assume independent, individual steering or rotation angle positions. A mechanical or control-related coupling with regard to the rotation angle positions of the wheels 12 is therefore not mandatory. Accordingly, each of the existing wheels 12 can be designed to be independently pivotable or individually steerable. With two rolling wheels 12, two vertical axes 14 are formed, while with three wheels 12 formed on the support frame 8, three vertical axes 14 are designed.

It is important that the set rotation angle position for each wheel 12 can be determined or fixed with regard to the desired rotation angle position. Thanks to the wheels 12, which can be adjusted and locked about the vertical axes 14, the processing device 5 can be moved or positioned both parallel and transversely to the pipe axis 4, 4 'of a pipe to be processed. Accordingly, with just one processing device 5, for example, the processing or production of longitudinal and transverse seams, in particular weld seams, in the interior of a pipe 2, 2 'to be processed can be accomplished alternately or in direct succession.

Especially in the case of pipes 2, 2 'with a relatively large inner diameter 3, 3' compared to the width or length of the support frame 8, the wheels 12 can also be used to easily move the processing device 5 by 90 ° around its vertical axis, without the processing Device 5 must be removed from the pipe 2, 2 'to be processed. This means that either longitudinal and transverse processing can be carried out without the need for a lifting device, for example a forklift truck 7 or a crane. The inner diameter 3, 3 'of a pipe 2, 2' to be processed is preferably at least 2 times, preferably at least 3 times, particularly preferably at least 5 times the length of the support frame 8 of the processing device, as best shown in the 2 and 4 can be seen.

According to one embodiment, the wheels 12 can be designed to be freely rotatable with respect to their wheel axles 13, so that manual displacement of the processing device 5 by an operator within a pipe 2, 2 'to be processed is possible is. Alternatively or in combination, it may be expedient if at least one wheel drive 15 is functionally assigned to at least one of the wheels 12, preferably all of the wheels 12. Such a wheel drive 15 is preferably designed as an electric motor. Alternatively, it is also possible to provide a hydraulic wheel drive. The wheel drive 15 can be designed as a wheel hub drive, as can be seen in FIGS. 6, 7.

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

It is expedient if an available adjustment range 16 of the rotation angle positions of the wheels 12 is at least 90°. It is advantageous if the adjustment range or the adjustment range 16 of the rotational angle positions of the wheels 12 is approximately 360°, in particular up to 400°. As a result, an uncomplicated implementation can be made possible directly for the wheels 12, even with wired, electric motor wheel drives 15. In particular, this makes sliding contacts or rotary feedthroughs to the wheel drives 15 attached directly to the wheels 12 unnecessary.

The support frame 8 of the processing device 5 is dimensioned such that it can be accommodated completely inside a pipe 2, 2 'to be processed. The basic shape of the support frame 8 can be essentially rectangular, as can be seen in FIGS. 6, 7. It is expedient to form the support frame 8 by support profiles joined together in a frame-like manner and to arrange the at least one processing unit 9 in the receiving area delimited by the support frame 8, as shown by way of example in FIGS. 6, 7. The support frame 8 can have a length of approximately 1000 mm to approximately 2500 mm and a width of approximately 800 mm to approximately 2000 mm.

As can best be seen from FIGS. 6 and 7, the milling processing unit 9 according to the example is attached to at least one adjusting device 17. At least this one Adjusting device 17 is designed for the controlled adjustment of the at least one processing unit 9 relative to the support frame 8. Accordingly, the processing unit 9 can be positioned relatively widely or roughly within a pipe 2, 2 'to be processed by means of the wheels 12 or the chassis. In addition, the processing unit 9 can be adjusted in a controlled manner relative to the support frame 8 and thus relative to the desired processing point or relative to the pipe 2, 2 'to be processed by means of the adjusting device 17. In particular, with the at least one adjusting device 17, at least feed or feed movements of the processing unit 9 can be carried out relatively precisely in relation to the pipe 2, 2 'to be processed.

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

It is essential that the at least one processing unit 9 can be adjusted in relation to the three-dimensional space by means of the at least one adjusting device 17 on the support frame 8. The respective operating ranges must be selected depending on the respective requirements.

The processing device 5 further comprises a fixing or braking device 21, which is set up to hold the processing device 5 at a selected processing position within a pipe 2, 2 'to be processed. This fixing or braking device 21 can include at least one fixing or holding element 22. According to an advantageous embodiment, this holding element 22 is designed to be magnet-based and is intended for magnetic coupling and decoupling of the processing device 5 relative to a metallic tube 2, 2 'to be processed. Alternatively or in combination with a magnet-based holding element 22, the fixing or braking device 21 can comprise at least one support foot 23 that is mechanically adjustable relative to the support frame 8 and/or at least one brake shoe 24. With this fixing or braking device 21 or with its Support foot 23 and / or brake shoe 24, the rolling or braking resistance of the processing device 5 can be raised and lowered in relation to the pipe 2, 2 'to be processed, if necessary. The at least one support foot 23 or brake shoe 24 in relation to the inner wall of a pipe 2, 2 'to be machined can, as shown, be manually adjustable by means of at least one handwheel and a spindle drive and/or can be adjusted in an automated manner.

The at least one support foot 23 can comprise, in its end section facing away from the support frame 8, an articulated support plate 25 relative to a pipe 2, 2 'to be processed. In this way, an adaptation to different radii of curvature of the pipes 2, 2' to be processed can be achieved in conjunction with a brake shoe 24.

The at least one processing unit 9 is selected from the group comprising a milling device or a milling unit 10, a grinding device, a cutting device and a welding device. According to the exemplary illustration, a milling unit 10 comprises at least one drive motor, in particular at least one electric motor.

According to an expedient embodiment, a defect detection device 26 can be formed on the support frame 8 and/or on the at least one adjusting device 17, which is provided for determining defects or damaged areas to be processed in a pipe 2, 2 'to be processed.

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

Alternatively or in combination with a fault detection device 26, a geometry or distance measuring device 28 can be mounted on the support frame 8 and/or on the at least one adjusting device 17, as can best be seen in FIG. 7. This geometry or distance measuring device 28 is used to determine the geometry of a pipe 2, 2 'to be processed or to determine a vertical distance, in particular with respect to the Z axis 20, between the at least one processing unit 9, in particular with respect to its tool , and a pipe 2, 2 'to be processed. As a result, an infeed depth or a feed dimension for the processing unit 9, for example a milling unit 10, can be determined and implemented automatically in a simple manner. This geometry or distance measuring device 28 can easily comprise at least one ultrasonic sensor or a laser-based distance sensor for measuring distances between its sensor surface and a sound- or light-reflecting measuring surface.

It is expedient if several support surfaces 29 for a stacker lifting fork and / or eyelets 30 for crane slinging devices are formed on the support frame 8. This ensures easy handling and/or moving of the processing device 5.

1 to 5, the technical system 1 or the processing device 5 can further comprise a rotation device 31, with which rotation device 31 a tube 2, 2 'to be processed can be rotated about its tube axis 4, 4' .

This allows a safe or reliable rotation of a pipe 2, 2' to be processed about its pipe axis 4, 4' to be achieved. In particular, Quemaht or circular seam processing can be carried out with the processing device 5 in relation to extensive circumferential paths, in particular over the entire circumference of a pipe 2, 2 'to be processed.

According to the exemplary embodiment according to FIGS. 1 to 5, this rotation device 31 can comprise at least one support frame 32 and at least two support rollers 33. These support rollers 33 have roller axes 34 running parallel to the pipe axis 4, 4 'of a pipe 2, 2' to be processed. The support rollers 33 are intended to rest on the outer surface, i.e. on the outer lateral surface, of a pipe 2, 2 'to be processed. This enables a tube 2, 2′ mounted on the rotation device 1 to be rotated relatively quickly and held securely.

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

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

The stationary control unit 36 can further be set up so that an operator can carry out manual operation or control of the functions provided by the processing device 5, in particular its processing functions and/or its movement functions, starting from the stationary control unit 36. This enables safe and comfortable operation of the processing device 5, which can be moved in a controlled manner in a tube 2, 2 '. In addition, the working conditions in connection with processing, in particular repair processing, of large pipes can be improved. This can also improve the quality of the edits. In addition, a reduction in processing times can be achieved.

Figures 8a-8d show top views of the processing device 5. Figure 8a illustrates a forward and backward movement using the double arrow shown, Figure 8b shows a transverse movement offset by 90 ° using the double arrow shown, and Figure 8c shows a diagonal movement using the double arrow shown Travel movement, whereby the angle is arbitrary, and Figure 8d shows a rotation of the processing device 5 at the stand about its vertical axis using the two double arrows.

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

The exemplary embodiments show possible embodiment variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiment variants, but rather various combinations of the individual embodiment variants with one another are possible and this variation possibility is due to the Teaching about technical action through an objective invention lies within the skills of the specialist working in this technical field.

The scope of protection is determined by the claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions in their own right. The task underlying the independent inventive solutions can be found in the description.

All information on value ranges in this description should be understood to include any and all sub-ranges, e.g. the information 1 to 10 should be understood to include all sub-ranges, starting from the lower limit 1 and the upper limit 10 , i.e. all subranges start with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

For the sake of order, it should finally be pointed out that in order to better understand the structure, elements have sometimes been shown out of scale and/or enlarged and/or reduced in size.

List of reference symbols

Appendix 28 Geometry or distance measurement template

pipe direction

Internal diameter 29 support surfaces

Tubular axle 30 eyelets

Processing device 31 rotation device

Inner surface 32 support frames

Forklift truck 33 support rollers

Support frame 34 roller axles

Processing unit 35 cables

Milling unit 36 control unit

Milling disc 37 cable winding device

Wheels

wheel axles

vertical axes

Wheel drive

adjustment range

Adjusting device

Adjusting axis

Fixing or braking device

Holding element

Support foot

brake shoe

Support plate

Defect detection device

Detection means

Claims

P atent claims

1. Processing device (5) for processing inner surfaces of pipes, comprising

- a support frame (8) for receiving at least one processing unit (9),

- at least two wheels (12) held on the support frame (8) and rotatable about wheel axles (13), so that the processing device (5) can be moved within a pipe to be processed by means of these wheels (12), characterized in that all wheels (12) In addition, the vertical axes (14) running transversely to the wheel axles (13) can be adjusted and locked in terms of their rotation angle positions, so that the processing device (5) can be moved by means of the wheels (12) both parallel and transversely to the pipe axis of a pipe to be processed.

2. Processing device according to claim 1, characterized in that the support frame (8) is dimensioned such that it can be accommodated completely inside a pipe to be processed.

3. Processing device according to claim 1 or 2, characterized in that an available adjustment range (16) of the rotation angle positions is at least 90 degrees.

4. Processing device according to one of the preceding claims, characterized in that at least one of the wheels (12) is assigned a wheel drive (15), with which the processing device (5) can be positioned and moved in a controlled manner within a pipe to be processed.

5. Processing device according to one of the preceding claims, characterized in that the at least one processing unit (9) is attached to at least one adjusting device (17), which has at least one adjusting device (17) for adjusting the at least one processing unit (9) relative to the support frame ( 8) is trained.

6. Processing device according to claim 5, characterized in that at least one of the adjusting devices (17) comprises at least three adjusting axes (18, 19, 20), so that its at least one processing unit (9) is adjustable in three-dimensional space.

7. Processing device according to one of the preceding claims, characterized in that a fixing or braking device (21) is formed, which is set up to hold the processing device (5) at a selected processing position.

8. Processing device according to claim 7, characterized in that the fixing or braking device (21) comprises at least one magnet-based holding element (22), which is provided for magnetic coupling and decoupling with respect to a pipe to be processed.

9. Processing device according to claim 7 or 8, characterized in that the fixing or braking device (21) comprises at least one support foot (23) or brake shoe (24) which is adjustable relative to the support frame (8), with which a rolling or braking resistance of the processing Device (5) can be raised and lowered if necessary.

10. Processing device according to claim 9, characterized in that the at least one support foot (23) comprises, in its end section facing away from the support frame (8), an articulated support plate (25) opposite a pipe to be processed.

11. Processing device according to one of the preceding claims, characterized in that the at least one processing unit (9) is selected from the group comprising milling unit (10), grinding device, cutting device and welding device.

12. Processing device according to one of the preceding claims, characterized in that a flaw detection device (26) is designed, which is designed to determine flaw points to be machined in a pipe to be machined.

13. Processing device according to claim 12, characterized in that the defect detection device (26) comprises optical and / or inductive detection means (27).

14. Processing device according to one of the preceding claims, characterized in that a geometry or distance measuring device (28) is held on the support frame (8) or on the at least one processing unit (9), which is used to determine the geometry of a pipe to be processed or to determine a vertical distance between the at least one processing unit (9), in particular in relation to its tool, and a pipe to be processed.

15. Processing device according to one of the preceding claims, characterized in that support surfaces (29) for a stacker lifting fork and / or eyelets (30) for a crane sling are formed on the support frame (8).

16. Processing device according to one of the preceding claims, characterized in that it further comprises a rotation device (31) with which a pipe to be processed can be rotated about its pipe axis.

17. Processing device according to claim 16, characterized in that the rotation device (31) comprises at least one support frame (32) and at least two support rollers (33), which support rollers (33) have roller axes (34) running parallel to the pipe axis of a pipe to be processed, and which support rollers (33) are provided for contact with the outer surface of a pipe to be processed.