DE8108805U1 - SELF-DRIVING TUBE MANIPULATOR FOR TRANSPORTING TOOLS AND / OR TEST EQUIPMENT - Google Patents

Description

KRAFTWERK UNION My sign

AKTIENGESELLSCHAFT VPA 61 G 9218 DE

File number G 81 08 805.1

Self-propelled pipe manipulator for transporting tools and / or test equipment

5 The invention is in the field of service technology for

I pipe systems and is in the structural design

I apply a manipulator with which a tool and / or

I installed a test device in a pipe or pipeline

β and there for special work and / or test purposes

I 10 is to be used remotely. Such pipe manipula-

I gates are of particular importance for the investigation and

i Treatment of pipelines in nuclear power plants. here

In particular, there is a need to make circular seams or

I regrinding or re-welding longitudinal seams from the inside,

I 15 with television cameras or with ultrasonic test equipment too I investigate, etc. It depends in particular on the

I Compliance with precise feed, test and machining paths

1 ^to

^ 20 A well-known self-propelled manipulator consists of one

I two-part treadmill with a front and a

t rear walking body ₃ with the two walking bodies over

a cardan-like joint are connected to one another and with drive means for the tubular axial movement of the one 25 visual riding body are provided relative to the other walking body. These drive means consist of a cylinder with Reciprocating pistons, both of which form an essential part of the front walking body. At the front end of this walking body there is a bracket for one axially

Zm 3 Un / 07/30/1984

forward-extending manipulator head, which is the actual
Carrying tool and / or testing device. - The front walking body still points at the front end of the lifting cylinder
as well as at the rear end of the retractable
Reciprocating piston has a support part that is distributed around the circumference

Guide elements in the form of rollers for moving the | Manipulator carries. A similar support part is on
provided the rear end of the rear border body, _see also the supply lines are guided to the. - At the | Operation of this manipulator will alternate between the one and §. the other stepping body is fixed in the pipe or in the pipeline ff. For this purpose, clamping devices are in the form of a cylindrical shell which can be expanded radially in the manner of a membrane | provided, one of which each stepping body between | is assigned to the support parts (FR-PS 1 508 238). This J

well-known pipe manipulator is mainly due to the I.

1 structural design of the clamping devices a | relatively elongated, slender structure and therefore only in the | essentially in straight pipelines
applicable. ;

Another known self-propelled pipe manipulator \ serves a pickup for an error search device 1 to the transport, consists of a tripartite walking mechanism with j] arranged between two support bodies bellows \-like drive means. The two support bodies each have a cylindrical, diaphragm-like, radially expandable
Sheath provided, and the bellows-like intermediate piece is
can be charged with negative or positive pressure (GB-OS 2 000 301).

Such a manipulator can also bend pipes

run through, but it should be used to transport heavy
Tools such as grinding or welding devices are not
be suitable, especially if the
Transport height differences are to be overcome.

Starting from a self-propelled manipulator with the. Features of the preamble of claim 1 (FR-PS 1 508 238), the invention is based on the object, the two-part Design stepping mechanism in such a way that the pipe manipulator also allows curved and vertical pipe sections can be driven through without the risk of slipping or changing position.

To solve this problem it is provided according to the invention,

that the support parts of the walking body are designed as support flanges, which apart from the guide elements also the Wear clamping devices that protrude beyond the contour of the support flanges,

that in the walking body provided with two support flanges, the two support flanges are rigidly connected to one another, that the clamping devices can be acted upon on both sides, radiate or spoke-shaped around the center of the respective Support flange arranged around and attached to this clamping piston-cylinder arrangements exist, the outward piston rods protruding through a cylinder end wall have spherical clamping surfaces,

and that the walking body receiving the drive means forms the rear walking body, wherein the supply lines are brought up to this stepping body in the form of a flexible cord and the manipulator head is attached to one Support flange of the front walking body is mounted.

In the case of a universally usable pipe manipulator designed in this way, the two walking bodies can in tube-axial direction are made relatively short and compact. This gives the opportunity to also close To drive through bends in the pipe. The clamping devices provided here enable bracing with large radial compressive forces and with corresponding frictional

- 2 B -

concluded, so that even when the pipe manipulator is loaded with heavy tools, it is possible to walk through steep to vertical raw sections.

With regard to a stable arrangement of the pipe manipulator in the pipeline to be tested or processed it is recommended that the rear walking body receiving the drive means be provided with the two support flanges is; these being connected to one another via a flange body are connected. But you can also equip the front walking body with two support flanges. In this valley it is recommended to arrange the manipulator head between the two support flanges.

The proposed according to the invention compact design of the pipe manipulator can be further improved in that the provided on the support flanges guide elements consist of ball roller inserts which likewise radiation or speiehenförmig around the respective Stützflanscb center around distributed and on Stützflan _c "ch fixed are. These guide elements in the form of ball roller inserts ensure easy, jolt-free running of the pipe manipulator and enable it to be rotated in the circumferential direction. Two of the ball roller inserts are expediently each mirror-symmetrical and tangentially adjacent to one

Clamping piston-cylinder arrangement arranged on the respective support flange.

To operate the two-part walking mechanism and thus also the clamping piston-cylinder arrangements provided as clamping devices controls such as valves and sehalter are required. In the interests of the shortest possible axial expansion of the two walking bodies, it is advantageous to have such control elements in a transverse body

J - 2c -

I assign the one at both ends with one each

I cardan joint is provided and the front one as an intermediate link

F walking body articulated to the rear walking body

i connects.

* 5

I As a drive means for the two-part walking mechanism comes

• Above all, dex already known Druckmittexantrieb with a Cylinder and a longitudinally displaceable bearing

I th _f double-sided impactable walking piston into consideration. 1 10 When using a

I screeching cylinder of which the two support flanges I connecting flange body is formed «whereby this I Flange body from one with one support flange

I 15 connected, the scoop leading double flange part I and from a and forming the actual screaming cylinder

1 cylinder connected to the other support flange

j and the switches and valves for the pressure medium drive of the

ί Mace carries.

20th

> ils drive means for the pipe manipulator can also an electromagnetic drive or a spindle wandering nut drive be provided, the respective drive means expediently connecting the two support flanges inside the the flange body is arranged.

Several embodiments of the new pipe manipulator are shown in the drawing. The invention is described in more detail on the basis of these exemplary embodiments and the functional assignment of the individual elements is explained. Here, the border behind the body is simply "walking body" and the front border body rls "Schreitgegen- ^(. Body" means.

- 3 - VPA 81 P 9 2 ι 8 OE It shows:

Fig. 1 in a schematic representation of the inner tube manipulator in two positions within a curved Pipeline, with the manipulator head equipped with an internal pipe grinding device is;

FIG. 2 shows a plan view of the grinding head of the manipulator according to FIG. 1;

Fig. 3 is a simplified circuit diagram of the electropneumatic Control for the walking piston and {"'for the clamping piston of the clamping device;

4 shows the circuit diagram of a single multi-way valve

with the associated differential pressure switch as a position indicator and one that serves as a PE converter Pressure switch (C-piston); Fig. 5 shows the walking body of the in an axial section

Manipulator walking gear j

6 shows the section VI-VI. from Fig. 5, i.e. a support flange with clamping devices and guide elements;

7 shows the section VH-VH from FIG. 5 _f, ie the hexagonal outer contour of the writing cylinder with pressure switches attached to the writing cylinder flange;

Fig. 8 shows the section VJH-yiH from Fig. 5, i.e. that on the

on the other side of the crest cylinder flange Electropneumatic control valves Steering;

Fig. 9 is the external view of an intermediate member which is used for Coupling of the stepping body with the counter stepping body carrying the manipulator head is used; Fig. 10 is a side view of the intermediate link;

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11 shows the entire manipulator with walking body, intermediate member, opposing walking body and attached Grinding head, partly in section, partly in view, stretched and curved Position?

Figs. 12-14 further as in Fig. 1 within the

Schematic versions of the manipulator head located in the pipeline, namely:

12 shows the manipulator with a welding head; 13 shows a plan view of the welding head according to FIG. 12j

14 shows the manipulator with a gamma transmission device;

Fig. 15 as a variant of an electromagnetic drive for the walking gear with magnetic coil and armature;

Fig.i6 a further variant of the walking mechanism with a spindle wander nut drive. and

Fig. 17 land 18 a weld seam with pipe misalignment before and after the grinding.

According to FIG. 1, the tube manipulator designated as a whole with M is used for remote-controlled transport of testing devices and tools along predetermined feed paths through the pipe interior R 'a general pipeline marked with R. This is in the cutout and with three pipe sections r1 welded together, r2, r3 shown, where the shot r1 a first (90 °) tubular elbow, the shot r2 a second, to the tubular elbow r1 forms an S-shaped adjoining (90 °) pipe elbow r2 and the upper pipe section r3 vertically extending pipeline section is. The circumferential weld seams between r1-r2 are marked with s12 and denoted by s23 between r2-r3.

The manipulator M is, as Fig. 1 shows, capable of both vertical and horizontal as well

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remote control of relatively strongly curved pipe sections to wander through controlled and to lock yourself in it in any position. In position I e.g. the weld seam s12 can be ground from the inside; for this purpose, the manipulator head K1, which is attached to the striding counter body m2 is stored, designed as an internal pipe keying device. Position II represents a Intermediate position; the manipulator M, which has just ground the weld seam s23 from the inside, is located on the way to a next weld seam (not shown in FIG. 1).

As Fig * 1 shows in principle, there is a walking mechanism mO of the manipulator M from a walking body m1 and a walking counter body m2. Both bodies m1, m2 are with pneumatic clamping devices A, B or D, E (which will be explained in more detail) for clamping the body m1, m2 is provided on the inner circumference of the pipe. the Means for the axial movement of the walking body m1 relative to the walking counter body m2, if the clamping device - directions A, B of the walking body m1 extended (engaged) and those D, E of the counter body m2 are retracted (disengaged) and vice versa, consist of a walking cylinder C1, which with the Walking body m1 is firmly connected, and an im Stepping cylinder C1 axially displaceably mounted, bilaterally acted upon stepping piston C2, whose Piston rod C20 with the walking counter body m2 via an intermediate link m3 with at least one cardan-type Joint g1, g2 is articulated. The walking body m1 is in the example shown above a first Cardan joint g1 hinged to the intermediate link m3, and the latter is connected to the latter via a second cardan joint g2 Articulated walking counter body. The latter wears the mani-

f * · ·· W ww ν «* ■■ ·

- 6 - VPA oil Γ = "- ¹¹

pulator head K1, in the case shown an internal pipe grinding device, which in their working position between the support flanges f3 and f4 of the walking body m2 centered on the pipe axis RO and accordingly 5 aligned precisely with the orbit of the weld seam s12 can be switched. The clamping devices of the two support

I flanges f3, f4 are available as öanzes slit D, E and individually

Denoted by D1, E1 or D2, E2, the supporting flanges

I see the strider are as a whole with A, B and

1 10 designated in detail with A1, B1 and A2, B2. the '. Guide elements on the support flanges f1, f2, f3 and / i. V 'f4 for sliding or rolling movement on the pipe The inner circumference is not shown in FIG. 1; they load

I are preferably found over the circumference of the supporting flange

I 15 see distributed between successive _έ -clamping devices, but they are based on the Fig.

j and 6 explained in more detail.

"· On the manipulator M or its stepping mechanism mO is a

I 20 zoom guided from its back (not visible the pipe i insertion opening, facing) side

I- flexible strand 3 of electrical and pneumatic

I - supply lines 3.1 connected by one; . ' Protective sheath 3.2 is surrounded and is connected to the walking mechanism by a line accumulator (not shown)

. is led. When the pipe R has a downward gradient i or runs vertically downwards, strand 3

also serve as fall protection; it is to be designed to be tension-proof for this purpose. When the manipulator 30 m with an incline or vertically upwards can be used as a fall protection e.g. at the center of the support flange f3 with one end attached pull rope be provided through a hand hole or the-

-7- VPA 81PS218DE

same at the upper end of the pipe section to be driven through can be wound up on a lockable cable drum. This pull rope can be locxer stay, because the movement of the manipulator K railed with its walking mechanism mO.

The stepping movement of the manipulator M (his head KI I

will be described later) happens as follows: Let:

assumed that the manipulator M from position 1 \

first of all a first step half te further avenge up |

should be moved. For this purpose, the walking body becomes old |

his clamping devices A ₄ B, on the other hand, locks the J

Striding counter body a2 sits on its clamping devices | D and E brought out of singing handle of the pipe wall. then

the piston side C21 ttt is pressurized and | *

the other side of the piston C22 is exhausted «whereby the \ '

Striding counter body m2 by one stroke of piston C2 I

'corresponding step is shifted and old 1ha ί

the intermediate link & 3 and the one designed as a grinding head |

formed manipulator head Ki. If this is the measurement or |

Would be the working position, then all clamping devices were f

brought unto AE -again in their clamping position and overall |

keep; on the other hand, if the manipulator M is to be increased by a wide i

be moved forward by half a step, then only | remains

the striding opposing body m2 is locked, while the f

Walking body m1 with A and B from the pipe inner wall becomes f

solved, so that now when the piston side f

C22 the walking body m1 with its cylinder C1 around |.

the second half of the crotch is retraced, whereby the f

In turn, the step size is determined by the piston stroke. |

The intermediate link m3 with the two cardan joints g1, *

gZ at both ends enables the ■

Manipulator M pipes of relatively strong curvature through I

can drive. i

ic »■ · · 9 · ·· te

_ccs · · · · · ·· er

- 8 - VPA 8? P9218DE

3 "to 10 show details of the walking body m1 and the intermediate member πι3, -which parts corresponding to FIG. 1 have the same reference numerals« The walking piston C2 is designed as a hollow piston with the hollow piston rod C20 for the passage of the supply lines 3-1 C20 has a front end C201 onto which the neck part 4.1 of the joint fork 4 is pushed and fastened by means of the ¥ eller! The piston collar C23 is guided in a longitudinally displaceable manner on the cylinder wall C11, the fial part 4 * 1 and with iha the piston rod part C201 are guided on the flanks of the opening C13 of the cylinder base C12. The other end of the piston rod C202 is guided in the neck part C140 of the double flange part C14 * whose left flange part C141 forms the second cylinder base and whose right flange part is the already mentioned support flange f2. For the purpose of precise sliding guidance, parallel keys 6 am

Outer circumference of the rod part C202 attached, which is shown in

corresponding longitudinal grooves on the inner circumference of the neck part C140 slide. The ball roller inserts 9 are screwed on as guide elements in a radial or spherical arrangement with respect to the support flange center f20 via the stepped intermediate plates 7 and 8. With outwardly protruding steel balls 9.1 you can roll away on the inner wall of the pipe (the ball bearing inside the inserts 9 is omitted for the sake of simplicity, because such inserts are known per se). The contours 9 '»9" and 9 "' indicated by dash-dotted lines, each with a larger diameter, indicate that the support flange f2 and the fastening circle of the inserts 9 adapt to different

ICB "» »··· *» β - * «ft

- 9 - VPA gt ρ 9 2 1 8 QE

Inner pipe diameter can be selected in corresponding diameters. The same increase in diameter is possible for the KI ennnvorrichtungen shown in the left half of Fig. 5 and in Fig. 6, designated as a whole with "and the associated support flange f1, see the contours 10 ·, 10 ™ and 10" · respectively, indicated by dash-dotted lines increasing diameter. While the center line for the support flange f2 is placed in such a way that the guide elements are recognizable, the center line for the support flange f1 is the axial one

Section plane placed in such a way that the clamping devices were in place O 10 recognizes * the latter are with their cylinder housing

10.1 Via eifc * intermediate plate 11 an de. "J with the cylinder base C12 one-piece support flange f1 featge * ~ 15 screws. One side of the flange part C141 of the Double flange part C14 is used to attach Pressure vessels 12 * which - as FIG. 7 shows in more detail - around the hexagonal outer circumference of the writing cylinder 1 are grouped around, which makes a very good.

Haumututilization results. Said flange part C

-has also the compressed air connections C15 for moving the plunger C2 in one direction. To move the crotch C2 in the other direction -. The compressed air line connections indicated by dash-dotted lines at C16 are used. 8, larger solenoid valves MV5 / 2 and smaller pneumatic valves F3 / 2 are also attached to the double flange part C14, where 5/2 means 2 switching states with 5 compressed air connections and 3/2 means 2 switching states with 3 compressed air connections. At all points designated by d in FIG. 5, sealing rings are inserted into corresponding annular grooves, or they serve to seal the sliding surfaces between piston C2 and cylinder C1

ξ ti] ^r <I »I It itS I /

ί - 10 - VPA 81 P9218

I for sealing between the double flange part C14 and

t the adjacent cylinder and piston surfaces or the

I -z.ixc sealing the clamping devices 10 are used. hit

ξ the support flange f2 of the walking body m1 is a

I 5 base plate 13 connected, on the outside of which differential pressure switches 14 are attached.

I in Fig. 6 is representative of all support flanges

I shown on the basis of the Stut2flanscb.es ± 1 that this with

I 10 distributed over its outer fang and protruding over && i £ * " ^f contour clamping devices 10 and guide

O approximately elements 9 is provided, the clamping devices < 10 consist of two-sided, radiant

'■ or spoke-shaped around the support flange center f10

] 15 around the support flange f 1 arranged clamping piston I. .Cylinder arrangements, whose outwardly through a face \ wall 10.11 of the cylinder housing 10.1 protruding piston

\ ' rods 10.21 of the piston 10.2 with spherical clamping surfaces 10.22 on the inside indicated by dashed lines at ft

; 25 .. In an annular groove 10:23 of the piston collar in turn is inserted a ring gasket d, as well - 20 circumference of the tube to be brought into abutment are ο The extended clamping position of the piston rod 10 (+) designated and indicated by dashed lines, the retracted position 10 () in an annular groove on the outer circumference of the cylinder cover s 10.11 another sealing ring d. The sliding rings d1 inserted into corresponding annular grooves on the inner circumference of the cylinder cover 10.11 can also be provided with a lubricant depot (see also FIG. 5). 30 10.3 and 10.4 are connection nipples for pressure hoses which, via corresponding compressed air ducts 10.31 and 10.41, either connect the outer piston side K (-) for the purpose of re-dividing or the inner piston side K (+) for the purpose of exhaust.

f ahrens the piston rod 10:21 pressurize. There are

- 11 - VPA 81 P 9 2 1 8 DE

As can be seen, four clamping devices 10 arranged in the shape of a cross are provided per support flange, furthermore is tangentially adjacent in a mirror-symmetrical arrangement and a clamping device on each side 10 each a ball roller insert 9 fixed in corresponding receptacles 15 of the cylinder housing 10-1. Per Support flange thus four clamping devices 10 and eight ball roller inserts 9 are provided. This over the circumference of the support flange evenly distributed clamping devices 10 and guide elements 9 ensure that pipe outlets can be driven over.

With all support flanges f1 to f4 (see FIG. 1), two groups of clamping devices 10 are provided. For example, in the case of the support flange f1 (FIG. 6), a distinction must be made between group A1, which is used to center the walking mechanism mO on the pipe center RO, and group B1 1, which then supplies the clamping forces when centering has taken place. For this reason, the piston collar in group A1 is attached at such a distance Z1 from the free piston rod end and at such a distance Z2 from the cylinder cover that in the extended position 10 (+) of the two A1 pistons the distance f10 - 10.22 corresponds to the inner tube radius ro (cf. . Fig. 1) corresponds.

Ie the A1 clamping devices (and accordingly the A2, Dl and D2 clamping devices) are adjusted to the inside diameter of the pipe prior to retraction. * The clamping devices A ₁ , B ^; A ₂ , bp; So D1, E1 and D2, E2 of each support flange are for each step

or self-centering for each half of the writing. |

Fig. 3 shows a simplified circuit diagram of the electrical | pneumatic control, each writing body or |

- 12 - VPA 81P92 18DE

Stepping counter body mi, in 2 only drawn with two clamping devices 10 each, which in case m1 represent groups A and B and in case m2 groups D and Έ , where A and D are the centering piston groups and B and E are the tensioning piston groups. All clamping pistons _9, with the exception of the moving piston C, are drawn in the extended (+) position, that is to say the walking mechanism mO is fastened to all support flanges. SS is «ie a-bap-Drücklüit-Saamelsehieiiöj the 0.5 bar busbar (venting pressure) and its

Branches are not drawn. Except for the dashed ρ ^ indicated impulse lines of the .AP / ΡΕ switch combinations, the electrical control lines are not shown (for the sake of clarity). It means:

M 5/2 the already mentioned solenoid valves

.ΔΡ / ΡΕ from a pressure differential switch and a pneumatic-electrical converter

existing ^ .P / PE switch combinations, of which the AP switch when the (+) - piston end position of the 2nd; Adjusting piston (which has a walking or clamping

ViS- * 25 - piston can be) a pressure signal to the

Closing the contact bridge of the PE ¥ andlers there, thus an electrical Emits signal. Accordingly, when the (-) piston end position is reached, a Signal emitted, namely a 0 signal

to open the contact bridge of the PE converter.

The functional sequence is as follows:

1 step backwards 7 · Centering at D 6. Step G backwards OX
ο » 1st bellows step 3. Center at A 2. Step C backwards 1. Loosen A, B 1 step forward m
-s
he _} 6 _ä Stepping C forward Ot
O"
CO IJJalfcstufe ¥ • 3. Center at D 2, step C forward tm
m Step
Bezeii tt- 2nd half step h, tension at A, B 2nd step ¥ -P *
CO
13th
IW
3
13th
ta
3 (O (O initial position notice 8. Spiders D ₁ E -4- a ■ S. Tension at A ₁ B S. I. - ♦ . ». U) ul
.... _. * - · Name of the commands . +. (O (O (O (O A.
HV 5/2 piston ♦ 1 ■ ■ I. -ι. I. (O (O HV 5/2 piston + (O (O (O (O C.
HV 5/2 piston ♦ (O (O I)
HV 5/2 piston HV 5/2 piston I. B. I. ■ I. i -► * ι I. -I- - ». ■ + I. I. I. -f. ι f I. ■ I. ■ I. - ♦ I. I.

i ol

3Ü3

t ■ ·

lit ♦ · · ·· «t · * · ♦

j »· · m · · ♦« ♦ # # ι hu

- 14 - VPA 81 P921 8DE

(Ze) means in Fig. 3 that A and D are centering pistons, (Sp) means that B and E are tension pistons.

Fig. A shows enlarged the C-piston for reasons of Barst ellungs reversed C-cylinder housing and the associated solenoid valve M5 / 2 with connected Z ^ P / PE switch combinations. TC is one over one Button actuated solenoid valve, with which the two pressure medium-actuated 3/2-flow valves F3 / 2 and F3 / 2 both piston sides C21 and C22 can be flooded with compressed air at the same time. In this flood position The C-piston "floats" in its cylinder housing. If then the valve M5 / 2 in the (+) sense or (-) - sense briefly actuated (tapped), then the C-piston takes very small steps in (+) - or (-) - direction so that fine positioning of the manipulator head can be carried out (this • is controlled with the TV camera TV, see -e.g. Figures 1, 2 and 13). .

20th

The pressure difference switches APf in detail with ^ P1 and AP2, each have two connections for pressure pulse lines p6, which are connected to the 6 bar collecting tube SS2 are connected and p6,0, which one depends on "Position of M5 / 2 either with the 6 bar busbar SS1 or with the 0.5 bar line. Since p6,0 of AP2 is connected to SS1, the connected has Converter PE2 its closed position. On the other hand, PE1 has its open position, since p6.0 of ΔΡ1 is vented. To signal lamps that are connected to the contacts of PE1 and PE2 and a voltage source the respective piston end position C (-) or C (+) can be made visible. The pressure difference switch ^ P1 and ^ P2 are additionally followed by a a ^ sign.

Et KICI

-15- VPA 81P9218DE

9 shows that the intermediate member m3 consists of a sleeve-shaped support body m31 with joint forks 22 and 23 at its two ends, the joint bushings 25 with a collar 25.1 being inserted into the joint fork ends 22.1, 23.1 in corresponding bores 24. The articulated frames 26, which, as FIG. 10 shows, have the contour of a segment of a circle, can be pivoted about the universal joint axis 28 by means of the cylindrical pins 27 screwed into their upper and lower frame parts 26.1, 26.2

is the fork 29a of a coupling flange 29 via ('corresponding (not individually shown) cylinder pins, so that the coupling flange 29 and intermediate member m3 can still be pivoted relative to one another about the joint axis. 11, the striding counter body a2 is flanged on. The fork (left half of FIG. 9), like the fork 22, has a second universal joint axis 30 extending vertically into the plane of the paper , with which the joint fork 4 of the to be coupled border body m1 (see Fig * 5) (not shown) via appropriate joint bushes 4.1 and cylindrical pins, for which purpose the intermediate _r - specific membered m3 about its longitudinal axis m30 or the walking body m1 with its fork 4 by 90 ° about the longitudinal axis 3d10 The sleeve-shaped support body m31 of the intermediate member m3 is provided with a central support flange 31, from the two flange sides of which base plate parts 32 connect with a Extend polygon contour. Support flange 31 and base plate parts 32 are used to attach 5/2 solenoid valves M5 / 2, pressure switches PE and differential pressure switches ΔΡ. The connecting electropneumatic control lines are shown in FIGS. 9 and 10 as well as in FIGS. 1, 2 and 5 to 11 for the sake of clarity.

-16- VPA 81 P 3 2 1 δ DE

permit. 11 shows the manipulator M with stepping body m1, intermediate member m3 and the stepping opposing body m2 with manipulator head K1 in a straight position mm, which the manipulator assumes when entering straight pipe sections or driving through them. The curved position mm 'indicated by dashed lines is taken by the manipulator for example, an inside of a curved pipe section. There is shown a pipe section with extreme curvature of 90 ° and clarified, d 3 due to the universal joint connection with the intermediate member j "3, such Krüasungen Dar-chfahren is easily mastered.

The simplified view of the grinding head fc1 after Fig. 2 shows »that the bearing and drive body 32.1 of the grinding wheel 32 around a tube-axis parallelism :. Axis 33 is mounted adjustable in such a way that the grinding wheel plane 320 is illustrated by a Dash-dotted straight line with the relocated to the respective grinding wheel contact point 32.2 Pipe wall tangent 34 forms an acute angle of attack. The outer pipe wall tangent is denoted by 34 *. An angle of attack of ^ »30 ° is shown. The smaller this angle, the flatter it is Grinding deepening and the greater the grinding width.

This is of particular importance for internal pipe grinding, where the weld seam to be ground off and the grinding process are carried out can only watch TV through the TV camera. As a result, you can achieve any smooth running Transitions, even if the pipe is misaligned, as shown in Fig. 17 (before grinding) and Fig. 18 (after grinding). This also applies in the event of a pipe misalignment (cf. FIGS. 17, 18).

surface-friendly sanding is possible, the

- 17 - VPA 81 P 9 2 1 8 DE

Drive and bearing body 32.1 of the grinding wheel 32 - see FIG. 11 - swing around the axis 330 that is transverse to the pipe. So when the drive and solenoid body 32.1 is pressed against the pipe wall by adjusting cylinder 34 (not shown in detail) with its rolling bodies 9, these adjust themselves according to the pipe offset, and now the grinding wheel 32 can by means of its infeed drive 32.3, which drives an electric motor with " The spindle-traveling nut drive (not shown in more detail) includes »be sensitively brought into grinding engagement» ils inside part 32 * 1 a drive motor for the grinding wheel »z.fc« a tuftmotor * is provided »through the base motor 35 with reduction gear the rotating frame 36, which is rotatably mounted on the support flanges f3 and f4 within the bearing housings 36.1 and 36.2, can be grounded in slow rotation about the pipe axis “The lighting device and the TV camera TY are not shown in FIG. 11) they can be attached to part 32“ 1 be igt.

FIGS. 12 and 13 show in a schematic representation corresponding to FIGS. 1 and 2 that a manipulator head K2 in the form of an internal pipe welding device is attached to the walking counter body m2. TV is again the television camera (it goes without saying that, in addition to the television camera, a lighting device must also be present here, but this is not shown), 37 is a welding wire memory that is passed through one welding electrode 39 to the welding point, 40.1 are feet of one Drive and bearing body 40. The axis 41 of the welding wire storage 38 coincides with the pendulum axis for the drive and

-18- VPA 81 P S 2 1 8 DE

Bearing body 40. Part 40 sits on a turntable 42,

I by means of axial and radial bearings 43.1, 43.2 on the Stüt:

I flange. f4 stored and by not shown

I. Drive motor in circumferential direction for the purpose of advance lanj

I turned 5 sam. Fig. 12 also shows that when

I Manipulator head K2 with a single support flange f4

J is sufficient if two support flanges per manipulator

«Members result in greater tension forces.

i 10 Fig. 14 shows that on the striding opposing body m2 of the hand

I pulators M as manipulator head £ 3 a ßaaina major «> L-

I Ό Radiation device for irradiating sewing seams

I s is stored. From the positioned radiation source

1 44 the cone of rays 44 * 1 emanates from the whole

;. 15 Circumference of the weld seam s recorded «on the outside of the pipe-

' brought _t radiation-sensitive, not shown

I film or photographic flattening, possible flashings of the weld seam are made recognizable.

20 It is still possible to have other inspection or To couple repair devices with the manipulator M «e.g. an ultrasonic testing device.

f. In the manipulator design according to FIG. 15, the means for my tubular axial movement consist of one

Electromagnet drive 45, where, for example, "the walking body m1 a magnet coil arrangement 45.1 acting in both directions of force and two associated magnet armatures 45.2 having. The armature 45.2 sit as sleeve-shaped 30 magnetic iron body firmly on the hollow cylindrical Coupling rod 46, which at its left end over at least one cardan-like articulation point g1 is coupled to the walking counter body (not shown) The two magnet coils 45.1 are from the pot magnet housing

sicn 35 sen 45.11 each enclosed in such a way that / when excited

> ti f »fl * · *

> r with

* ι nt

- 19 - VPA 81 solenoid coil is in position 45.2a of the associated armature This results in a self-contained path for the field lines, whereas when the magnet coil is de-energized (armature position 45.2b) the armature is axially displaced out of the solenoid. The support flanges are in turn with f1, f2, the guiding and clamping devices with 9, 10 * By the double flange body 47, the support flanges f 1, f2 are kept at a distance and become one mechanically stable unit connected, which receives the magnet coil arrangement 45 in its interior. 48 are

Helical compression springs at both ends of the walking body ^ j m1, which at the outer end faces of the support flanges f1 or * f2 within flanged to the support flanges Spring pots 49 are arranged so that they grip the coupling rod 46 and with one end each one of the armatures 45-2 and the other end resting on the bottom of the respective spring cup 49. -She serve for resetting and damping. For the precise definition of the two positions of the coupling rod 46 serve the two firmly seated on their outer circumference Stop collar 50, which in the two switching positions either with the bottom of the right spring pot 49 (shown) or that of the left spring cup 49 come to rest. The two armatures 45.2 have ^ - 25 from each other the defined axial distance al, which also corresponds to the hub of this walking body m1. This Hüblcann naturally also reduced and thus a finer sequence of steps can be achieved.

A state is shown in which the right magnet coil 45.2 is excited and its armature is accordingly attracted is. If the right magnet coil is locked with the walking counter body ra2 and the walking body m1 is unlocked is de-energized and the left magnetic coil 45.1 is excited, the walking body m1 moves by one step in the direction of the arrow ν (forward direction). Would in

- 20 - VPA 81 P 9 2 1 8 DE

this position then the walking body m1 is locked and the walking counter-body is unlocked and the illustrated excitation is carried out again, i.e. right magnetic coil excited, left de-excited, then the striding opposing body would be shifted by one step in direction ν. The same would apply to the command sequence when stepping backwards in the direction r.

The rest of the design of the walking mechanism mO according to FIG. 15 or of the rest of the manipulator is as in the first one Embodiment.

Another walker version with which a Movement is possible in particularly small as well as larger steps, is shown in Fig. 16. There are ■ the means for the tubular axial movement of the manipulator "from a spindle-traveling nut drive 51. On the walking body m1, a threaded spindle part 52.1 that can be driven in both directions of rotation is rotatably mounted, the " via at least one cardan-like joint g1, g2 with

a second spindle part 52.2 is articulated. The moving nut 53 sits on the latter so that it cannot rotate, but is axially guided, with the support flange f4 of the walking £ 7 ^ counter body m2 is firmly connected. Walking body m1

and visual riding counter body m2 are via a corrugated pipe 54 Coupled with one another in such a way that mutual axial displacement is possible, but mutual rotation is prevented. The corrugated pipe, which is preferably made of torsion-resistant stainless steel, is with its Ends attached to the support flanges f 1 and f4 and surrounds the universal joints g1, g2 des only in the cutout shown pontic m3. The one on the outside of the support. Flange f2 attached motor M, in particular an electric motor with reduction gear, is via a pinion 55!

with the end wreath 56 of the threaded spindle part 52.1 ge j

10

- 21 - VPA 81 P9218DE

couples. The latter is rotatably mounted on the walking body m1 _t ie its support flanges f1, f2, by means of roller bearings and is surrounded by the hollow cylindrical double flange part 58. The latter combines the two support flanges f1 _f f2, as already described with reference to the previous exemplary embodiments, to form a rigid, stable structure.

When looking at the walking frame in the direction ν (forward), the very antagonistic body ie2 moves in a forward direction, when its support flanges are unlocked, the support flanges f 1, f2 of the walking body are locked and when the motor M (with a right-hand thread the spindle 52) is rotated counter-clockwise. In detail:

20th

-

30th

35

Locking of m2 " rotation
Motor M Movement of m1 m2 m1 solved O V fixed fixed O V solved fixed O solved solved O - r nearly

In the so-called tipping mode, the motor can if necessary Brief angular impulses are given »so that only small steps are carried out. The one between the spindle collar 60 and hiking nut 53 inserted helical compression spring 59 is used for damping, i.e. as a buffer. Of the

- ₂₂ _ _TOA 81 P 9 2 1 ^ S DE

The rest of the basic structure of the walking mechanism or manipulator is the same as in the first example be = very nice.

In Fig. 11, the following becomes the very advantageous one Operation of the grinding head added the following: It can be seen that the portal-like drive and bearing body 32.1 uia a tubular pendulum axis 330 is pivotally mounted such that it is with its guide bodies 9 of the Rohrinnenkcntur accordingly can be pressed that the pressure by means of a pendulum axis that is transverse to the pipe in the direction of the pipe wall adjusting, preferably pneumatic actuating cylinder takes place and that the pneumatic pressure forces each are greater than the resulting grinding forces that _ is made up of the grinding wheel feed force and the Resulting grinding reaction forces. For the infeed of the grinding wheel 32, a recirculating ball screw has been used for the drive 32 proved to be advantageous (because of low friction, low wear and tear and smooth delivery).

This delivery can be seen in the direction of the Grinding wheel axis, so that the angle of attack

- ~ (see. Fig. 2) remains constant.

It should also be added that the pontic also has to be added m3 with the drive means (C, C1, C2) for the tubular axial Movement of the walking mechanism mO could be equipped, i.e. if it is not just a single one Universal joint g1, but two spaced apart arranged universal joints g1, g2 or more thereof.

Claims (1)

Protection claims Our mark VPA 81 G 9218 DE file number G 81 08 805.1 1. Self-propelled manipulator for the remote-controlled transport of a tool and / or a test device through the interior of a pipe or a pipeline, consisting of a two-part walking frame with a front and a rear walking body CmI ₁ m2), with a katdan-like joint that articulates the two walking bodies (m3), with drive means (C) for the axial movement of one walking body relative to the other solid body and with a holder provided on the front walking body (m2) for a manipulator head (Kl) _{1 carrying the tool (32) and / or the testing device} - in which he has a writing body (ml) at both ends each has a support part (fl, f2) that is distributed around the circumference Guide elements (9) for the rolling movement of the Manipulator carries, and the other striding body (m2) has at least one similar support part (f4), - with the clamping devices (A, B, D, E) that can be radially extended and retracted on the outer circumference of each walking body (ml, m2) are provided - In which the drive means (C) are assigned to the one stepping body (ml) and one in the tubular axis Have a movable part (C2) connected to the other walking body (m2), - and in which supply lines (3) are brought up to the rear walking body (ml), characterized in that a) that the support parts of the walking body act as support flanges (fl, f2, f3, f4) are formed, the other than the guide elements (9) also the clamping devices (A, B, C, D) wear which over the contour of the Zm 3 Un / 07/30/1964 Support flanges protrude, b) that in the stepping body (ml) provided with two supporting flanges (fl, f2), the two supporting flanges are rigid are connected to each other, I 5c) that the clamping devices from two sides J loadable, radial or spoke-shaped around the P and arranged around the center of the respective support flange § on this attached clamping piston-cylinder assemblies (10) I exist, the piston rods (10.2) of which outwardly through a cylinder end wall I 10 (10.11) have spherical clamping surfaces: (10.22), i d) and that of the f walking body (ml) accommodating the drive means (C) I forms the rear walking body, the supply lines (3 * 1) being brought up to this walking body in the form of a flexible cord I (3) and the manipulator head (Kl) is mounted on a Stützfiansch (f4) of the front body 1 border (m2). '20 2, pipe manipulator according to claim 1, characterized characterized in that the rear step body (ml) receiving the drive means with the two Support flanges (fl, f2) is provided, these being connected to one another via a flange body (Vl, C14). 25th 3. Rohrmsnipulator according to claim 1 or 2, characterized in that the front walking body (rn2) has two Stützflpnsche (f3, fA), between which the manipulator head (Kl _t K3) is arranged « 30th 4. Pipe manipulator according to one of claims 1 to 3, characterized in that the % Support flanges (fl - f4) with a defined annular gap are adapted to the inner cross-section of the pipe. • • »» • a · * ·· G 81 08 805.1 VPA 81 G 9218 DE 5, pipe manipulator according to one of claims 1 to 4, characterized in that the guide elements provided on the support flanges are made Ball roller inserts (9) exist, which also radiate or spoke-shaped around the respective Support flange center are arranged distributed around and attached to the support flange. 6. Pipe manipulator according to claim 5, characterized in that two each Ball roller inserts (9) mirror-symmetrically and tangentially adjacent to a clamping piston-cylinder arrangement (10) on the respective support flange (f) are arranged. 7. Pipe manipulator according to one of claims 1 to 4, characterized in that Control elements (valves, switches) (M5 / 2, PE, ΔΡ) for the two-part walking mechanism on a support body (m31) are located, each with a cardan joint at both ends (22, 26; 23, 26) is provided and as an intermediate member (m3) the front walking body with the rear walking body articulately connects. 8. Pipe manipulator according to claim 2, in which the rear stepping body has, as drive means, a stepping cylinder with a stepping piston which is mounted in it so as to be slowly displaceable and can be acted upon on both sides, characterized in that the writing cylinder from the flange body (Cl, C14) is formed, this flange body from one with the one support flange (f2) connected, the walking piston (C2) leading double flange part (C14) and from one forming the actual step cylinder and with the other Support flange (fl) connected cylinder and the Switches and valves (MV5 / 2, AP / ΡΕ) for the pressure medium drive of the plunger (C2) carries. 9. Pipe manipulator according to claim 2, characterized characterized in that the drive means consists of one arranged in the interior of the flange body (47) Electromagnetic drive (45) exist, the one in both KräfLricntünySn 'irifkefius nfäQfi & cSpüienäriüfunüng v45.i) üfiu the associated magnet armature (45.2), wherein the magnet armature via a coupling rod (46) with at least a cardan-like joint (gl) with the anterior Walking body (m2) is coupled. 10. Pipe manipulator according to claim 2, characterized IL- marked, that the drive means off a spindle-traveling nut drive (51) with. one in the two support flanges (fl, f2) and one of the Flange body (58) surrounded in both directions of rotation motor-driven spindle (52) and one at the free end the spindle non-rotatably mounted and with the front j Walking body (m2) permanently connected walking nut (53), that the spindle is articulated in at least two by at least one cardan-like articulated connection (gl, g2) interconnected sections (52.1, 52.2) is divided and that the two stepping bodies (ml, m2) are connected to the Support flanges (fl, f4) attached and the cardan-like Corrugated pipe (54) surrounding the articulated connection are coupled to one another in a torsion-proof manner. 11. Pipe manipulator according to claim 3 with one as a grinding device trained manipulator head, thereby characterized in that the bearing and drive body (32.1) of the grinding wheel (32) around a rohrachsparailele Axis (33) adjustable between the G 81 08 805.1 VPA 81 G 9218 DE two support flanges (f3, f4) is mounted that the Grinding wheel level (320) with that of the respective grinding wheel contact point (32.2) Pipe wall tangent (34) has an acute angle of attack (<#) forms. 12. Pipe manipulator according to claim 11, characterized in that der- pör-taiar-tig trained bearing and drive body (32.1) is mounted so that it can be pivoted about a pendulum axis (330) that is transverse to the pipe, that it can be pressed with its guide body (9) in accordance with the inner contour of the pipe and that it is pressed on the pendulum axis transverse to the pipe is provided in the direction of the adjusting cylinder (34) which adjusts the pipe wall. 15th 13. Pipe manipulator according to one of claims 1 to 3 with a manipulator head designed as a welding device, characterized in that the welding device is rotatable on a support flange (f4) mounted turntable (42) is arranged and that the bearing and drive body (40) for the welding electrode (39) u »id the welding wire is mounted on this turntable on a pendulum axis (41) parallel to the tube axis.