WO2024055058A1 - Dispositif de traitement pour le traitement de surfaces internes de conduits - Google Patents

Dispositif de traitement pour le traitement de surfaces internes de conduits Download PDF

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Publication number
WO2024055058A1
WO2024055058A1 PCT/AT2023/060325 AT2023060325W WO2024055058A1 WO 2024055058 A1 WO2024055058 A1 WO 2024055058A1 AT 2023060325 W AT2023060325 W AT 2023060325W WO 2024055058 A1 WO2024055058 A1 WO 2024055058A1
Authority
WO
WIPO (PCT)
Prior art keywords
processing device
pipe
processing
processed
support frame
Prior art date
Application number
PCT/AT2023/060325
Other languages
German (de)
English (en)
Inventor
Josef Engl
Josef KLAUSNER
Original Assignee
Miba Automation Systems Ges.M.B.H.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Miba Automation Systems Ges.M.B.H. filed Critical Miba Automation Systems Ges.M.B.H.
Publication of WO2024055058A1 publication Critical patent/WO2024055058A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
    • B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
    • B21C37/08—Making tubes with welded or soldered seams
    • B21C37/0807—Tube treating or manipulating combined with, or specially adapted for use in connection with tube making machines, e.g. drawing-off devices, cutting-off
    • B21C37/0811—Tube treating or manipulating combined with, or specially adapted for use in connection with tube making machines, e.g. drawing-off devices, cutting-off removing or treating the weld bead
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
    • B23Q9/0007—Portable machines comprising means for their guidance or support directly on the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
    • B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
    • B21C37/08—Making tubes with welded or soldered seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
    • B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
    • B21C37/08—Making tubes with welded or soldered seams
    • B21C37/0807—Tube treating or manipulating combined with, or specially adapted for use in connection with tube making machines, e.g. drawing-off devices, cutting-off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
    • B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
    • B21C37/12—Making tubes or metal hoses with helically arranged seams
    • B21C37/122—Making tubes or metal hoses with helically arranged seams with welded or soldered seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
    • B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
    • B21C37/12—Making tubes or metal hoses with helically arranged seams
    • B21C37/127—Tube treating or manipulating combined with or specially adapted for use in connection with tube making machines, e.g. drawing-off devices, cutting-off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
    • B23C3/122—Trimming or finishing edges, e.g. deburring welded corners of pipes or cylinders
    • B23C3/124—Trimming or finishing edges, e.g. deburring welded corners of pipes or cylinders internally
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/36—Single-purpose machines or devices
    • B24B5/40—Single-purpose machines or devices for grinding tubes internally
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • longitudinal and transverse paths can be traversed and even partial or complete spiral paths can be implemented.
  • longitudinal, transverse and also spiral connecting seams of a pipe can be processed, in particular reworked, or even manufactured.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a manually controlled or controlled ferry operation an autonomous or self-propelled or semi-autonomous movement of the processing device is also conceivable.
  • 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.
  • 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.
  • 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.
  • 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.
  • a fixing or braking device which is set up to hold the processing device at a selected processing position.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the at least one processing unit is selected from the group comprising milling device, grinding device, cutting device and welding device.
  • 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.
  • 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.
  • 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.
  • the fault detection device comprises optical and/or inductive detection means. This allows reliable and rapid identification of defects and potential damage.
  • 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.
  • 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.
  • defined or planned processing can be achieved in relation to the cross-sectional area or wall thickness of the pipe to be processed.
  • support surfaces for a forklift truck fork and/or eyelets for a crane sling are formed on the support frame.
  • 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.
  • 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.
  • a rotation device with which a pipe to be processed is rotated around its horizontally aligned Longitudinal or pipe axis is rotatable.
  • 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.
  • 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.
  • FIG. 1 shows a technical system for processing large pipes, the movable processing device used being illustrated in three different orientations and positions;
  • FIG. 2 shows the system according to FIG. 1 in a view according to arrow II in FIG. 1;
  • Fig. 3 is an enlarged detailed view of Fig. 2;
  • FIG. 4 shows the system according to FIG. 1 in a sectional view according to arrow III in FIG. 1;
  • Fig. 5 is an enlarged detailed view of Fig. 4;
  • 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.
  • 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'.
  • two pipes 2, 2' are shown as examples for different inner diameters 3, 3'.
  • 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.
  • an operator of the system 1 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.
  • 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 '.
  • 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.
  • 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.
  • the processing device 5, together with the processing unit 9 held thereon can be moved within the pipe 2, 2' to be processed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the wheel drive 15 can be designed as a wheel hub drive, as can be seen in FIGS. 6, 7.
  • the processing device 5 can be positioned and moved in a controlled manner within a pipe 2, 2 'to be processed.
  • 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.
  • 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.
  • 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.
  • the milling processing unit 9 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.
  • 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.
  • 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.
  • 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 can be between 500 mm and 2000 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a milling unit 10 comprises at least one drive motor, in particular at least one electric motor.
  • 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.
  • the detection means 27 can comprise at least one camera.
  • 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.
  • 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.
  • 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' .
  • 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.
  • 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.
  • 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 '.
  • 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
  • Figure 8c shows a diagonal movement using the double arrow shown Travel movement, whereby the angle is arbitrary
  • Figure 8d shows a rotation of the processing device 5 at the stand about its vertical axis using the two double arrows.
  • 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.
  • 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.
  • Appendix 28 Geometry or distance measurement template
  • Inner surface 32 support frames
  • Support frame 34 roller axles
  • Milling disc 37 cable winding device

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Grinding Of Cylindrical And Plane Surfaces (AREA)

Abstract

L'invention concerne un dispositif de traitement (5) pour usiner des surfaces internes (6, 6') de conduits (2, 2'). Ce dispositif de traitement (5) comporte un cadre de support (8) destiné à recevoir au moins une unité de traitement (9). Au moins deux roues (12) pouvant tourner autour d'axes de roue (13) sont maintenues sur le cadre porteur (8), de sorte que le dispositif de traitement (5) puisse être déplacé au moyen de ces roues (12) à l'intérieur d'un conduit (2, 2') à traiter. Toutes les roues (12) peuvent en outre être réglées et bloquées en ce qui concerne leurs positions d'angle de rotation autour d'axes verticaux (14) s'étendant transversalement aux axes de roue (13), de sorte que le dispositif de traitement (5) puisse être déplacé au moyen des roues (12) aussi bien parallèlement que transversalement à l'axe de conduit d'un conduit (2, 2') à traiter.
PCT/AT2023/060325 2022-09-16 2023-09-15 Dispositif de traitement pour le traitement de surfaces internes de conduits WO2024055058A1 (fr)

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ATA50717/2022 2022-09-16
ATA50717/2022A AT526566A1 (de) 2022-09-16 2022-09-16 Bearbeitungsvorrichtung zum Bearbeiten von Innenflächen von Rohren

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WO2024055058A1 true WO2024055058A1 (fr) 2024-03-21

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Citations (7)

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JP2001179448A (ja) * 1999-12-22 2001-07-03 Nkk Corp 自動上向溶接装置
EP1815920A1 (fr) 2006-02-07 2007-08-08 Theodor Gräbener GmbH & Co. KG Procédé et installation de traitement du cordon de soudure longitudinale interne de composants à soudure longitudinale comme des tuyaux, des récipients, des cuvettes, ou analogues
KR20110039984A (ko) * 2009-10-13 2011-04-20 웰텍 주식회사 지능형 로봇장치를 이용한 강관 내면 자동용접장치 및 이를 이용한 자동용접방법
US20140091129A1 (en) * 2012-09-28 2014-04-03 Lincoln Global, Inc. Self-leveling welding tractor
US20190061091A1 (en) * 2017-08-31 2019-02-28 Wabash National, L.P. Device for in-container operations
CN212217509U (zh) 2020-03-18 2020-12-25 许桂平 一种市政给水管道生产用焊接点焊疤处理装置
KR20210066496A (ko) * 2019-11-28 2021-06-07 한국로봇융합연구원 배관 검사 로봇 및 이를 이용한 배관 검사 방법

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Publication number Priority date Publication date Assignee Title
DK2691684T3 (en) * 2011-03-31 2016-08-01 The Safer Plug Company Ltd Progress of device
ES2949668T3 (es) * 2018-05-07 2023-10-02 Shonan Gosei Jushi Seisakusho Kk Robot de interior de tubería
CN109084119A (zh) * 2018-10-31 2018-12-25 南京工程学院 一种多运动模式管道机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001179448A (ja) * 1999-12-22 2001-07-03 Nkk Corp 自動上向溶接装置
EP1815920A1 (fr) 2006-02-07 2007-08-08 Theodor Gräbener GmbH & Co. KG Procédé et installation de traitement du cordon de soudure longitudinale interne de composants à soudure longitudinale comme des tuyaux, des récipients, des cuvettes, ou analogues
KR20110039984A (ko) * 2009-10-13 2011-04-20 웰텍 주식회사 지능형 로봇장치를 이용한 강관 내면 자동용접장치 및 이를 이용한 자동용접방법
US20140091129A1 (en) * 2012-09-28 2014-04-03 Lincoln Global, Inc. Self-leveling welding tractor
US20190061091A1 (en) * 2017-08-31 2019-02-28 Wabash National, L.P. Device for in-container operations
KR20210066496A (ko) * 2019-11-28 2021-06-07 한국로봇융합연구원 배관 검사 로봇 및 이를 이용한 배관 검사 방법
CN212217509U (zh) 2020-03-18 2020-12-25 许桂平 一种市政给水管道生产用焊接点焊疤处理装置

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