[go: up one dir, main page]

US20110107571A1 - Peening Device for Peening Welds Inside Steel Submarine Pipes, Process for Producing Steel Submarine Pipes Using Such a Device, and Submarine Connection Pipe - Google Patents

Peening Device for Peening Welds Inside Steel Submarine Pipes, Process for Producing Steel Submarine Pipes Using Such a Device, and Submarine Connection Pipe Download PDF

Info

Publication number
US20110107571A1
US20110107571A1 US12/674,190 US67419008A US2011107571A1 US 20110107571 A1 US20110107571 A1 US 20110107571A1 US 67419008 A US67419008 A US 67419008A US 2011107571 A1 US2011107571 A1 US 2011107571A1
Authority
US
United States
Prior art keywords
pipe
peening
carriage
hammer
translation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/674,190
Other languages
English (en)
Inventor
Eric Kerdiles
Jean-Yves Goalabre
Xavier Rocher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saipem SA
Original Assignee
Saipem SA
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 Saipem SA filed Critical Saipem SA
Assigned to SAIPEM S.A. reassignment SAIPEM S.A. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GOALABRE, JEAN-YVES, KERDILES, ERIC, ROCHER, XAVIER
Publication of US20110107571A1 publication Critical patent/US20110107571A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/282—Electrode holders not supplying shielding means to the electrode
    • 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
    • B24B39/00—Burnishing machines or devices, i.e. requiring pressure members for compacting the surface zone; Accessories therefor
    • B24B39/02—Burnishing machines or devices, i.e. requiring pressure members for compacting the surface zone; Accessories therefor designed for working internal surfaces of revolution
    • B24B39/026—Impact burnishing
    • 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
    • B24B5/363—Single-purpose machines or devices for grinding surfaces of revolution in situ
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D11/00—Portable percussive tools with electromotor or other motor drive
    • B25D11/06—Means for driving the impulse member
    • B25D11/064—Means for driving the impulse member using an electromagnetic drive
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D7/00—Modifying the physical properties of iron or steel by deformation
    • C21D7/02—Modifying the physical properties of iron or steel by deformation by cold working
    • C21D7/04—Modifying the physical properties of iron or steel by deformation by cold working of the surface
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/08—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for tubular bodies or pipes
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/50—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for welded joints
    • 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
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/26—Repairing or joining pipes on or under water
    • 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
    • F16L13/00—Non-disconnectable pipe joints, e.g. soldered, adhesive, or caulked joints
    • F16L13/02—Welded joints
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/10—Pipe-lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
    • B25D2250/371—Use of springs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/47—Burnishing
    • Y10T29/479—Burnishing by shot peening or blasting

Definitions

  • the present invention relates to a method of treating welds in a steel pipe, in particular an undersea pipe for conveying corrosive fluids, and in particular water, the method comprising assembling unit pipe elements together by welding.
  • the present invention relates more particularly to a subsurface connection installation between a floating support and an oil loading buoy.
  • the present invention relates more particularly to a bottom-to-surface connection installation comprising at least one undersea pipe providing a connection between a floating support and the bottom of the sea, in particular at great depth.
  • undersea pipes are referred to as “risers” and they are made up of unit tubular elements made of steel that are welded together end-to-end.
  • the present invention provides a riser type undersea pipe for making a connection between a floating support and the bottom of the sea, said riser being constituted by a rigid, catenary-type pipe that extends from said floating support to a point of contact with the sea bottom.
  • the technical field of the invention is thus the field of fabricating and installing undersea pipes and more particularly production bottom-to-surface connections for offshore extraction of oil, gas, or other soluble or phase-change material, or a suspension of mineral material, from an undersea well head in order to develop production fields located at sea or off-shore.
  • the main and immediate application of the invention lies in the field of oil production, and also in reinjecting water and producing or reinjecting gas.
  • a floating support in general, includes anchor means enabling it to remain in position in spite of the effects of currents, winds, and swell. It also generally includes means for drilling, storing, and processing oil, and means for off-loading to off-loading tankers that call at regular intervals to remove production.
  • Such floating supports are referred to as floating production storage off-loading (FPSO) vessels or as “floating drilling and production units” (FPDU) when the floating support is also used for performing drilling operations with wells being deflected in the depth of the water.
  • FPSO floating production storage off-loading
  • FPDU floating drilling and production units
  • An undersea pipe or “riser” of the invention may constitute either a “production pipe” for crude oil or gas, or a water injection pipe providing a connection with an undersea well head at the sea bottom, or indeed a “drilling riser” providing the connection between the floating support and a well head located on the sea bottom.
  • a multiplicity of lines are generally installed on FPSOs and it is necessary to implement either hybrid-tower type bottom-to-surface connections or else catenary type connections, i.e. connections that follow a catenary curve.
  • the bottom-to-surface connection pipe When the bottom-to-surface connection pipe is of the catenary type, it provides a direct connection between a floating support and a point of contact with the sea bottom that is offset from the axis of said support, said pipe taking up a so-called “catenary” configuration under the effect of its own weight, i.e. a curve having a radius of curvature that decreases from the surface down to the point of contact with the sea bottom, with the axis of said pipe forming an angle ⁇ relative to the vertical that varies in general from 10° to 20° at the level of the floating support up to, theoretically, 90° at the sea bottom corresponding to a theoretical position that is substantially tangential to the horizontal, as explained below.
  • substantially vertical risers have been developed so as to bring the catenary-configuration flexible connection closer to the surface near the floating support, thus making it possible to minimize the length of said flexible pipe, and also to minimize the forces that are applied thereto, thereby considerably reducing its cost.
  • SCRs steel catenary risers
  • curvature varies along the catenary from the surface where its radius of curvature has a maximum value R max down to the point of contact where its radius of curvature has a minimum value R min (or R 0 in the above formula).
  • the pipe presents a radius of curvature that is greatest at the top of the catenary, and in generally at least 1500 m, and in particular lies in the range 1500 m to 5000 m, i.e. at the point where it suspended from the FPSO, with said radius of curvature decreasing down to the point of contact with the bottom.
  • the radius of curvature is at a minimum in the portion that is suspended.
  • said pipe in the adjacent portion that is resting on the sea bottom, said pipe is theoretically in a straight line so its radius of curvature is theoretically infinite. In fact, since some residual curvature remains, said radius is not infinite, but it is extremely large.
  • the radius of curvature passes in succession from a minimum value R min to a value that is extremely large, or even infinite in a theoretical configuration where the undersea pipe rests on the sea bottom substantially in a straight line.
  • These pipes are made by welding unit pipe elements together end-to-end.
  • the unit pipe elements are themselves assembled to form strings, in general strings of two to four unit elements welded end-to-end, which strings are then taken to sea.
  • these strings are assembled by being welded to one another at sea from a pipe-laying ship, in particular in a J-lay tower.
  • the assembly welds are made preferably and for the most part from the outside of the pipe.
  • the most critical portion of a riser is situated at the assembly welds between unit pipe elements, in particular in the portion of the riser that is closest to the point of contact, and the major fraction of the forces in this low portion of the catenary are generated by the movements of the floating support and by the excitations that are applied to the top portion of the catenary, which is subjected to current and swell, with all of these excitations then propagating mechanically along the entire length of the pipe to the foot of the catenary.
  • the steels from which pipes are made are selected to withstand fatigue throughout the lifetime of installations, however, the welds between pipe elements, in this catenary foot zone constitute weak points when said pipe conveys water or fluid that includes water, and more particularly salt water. In the presence of water, said welds are subjected to fatigue and corrosion phenomena that give rise over time, and under varying bending stresses, to cracks that lead to said pipes being destroyed.
  • Anti-corrosion alloys are well known to the person skilled in the art, and are constituted mainly by nickel-based alloys, in particular of the Inconel type, preferably of a specific grade, and in particular Inconel 625 or 825.
  • Such Inconels also present excellent resistance to fatigue as a result of their high elastic limits, thereby making it possible to achieve lifetimes of 20 to 30 years.
  • Such a lining of stainless steel or anti-corrosion alloy, in particular of the Inconel type, is provided using an expensive arc method referred to as “cladding”, and generally performed using a tungsten inert gas (TIG) method or a plasma method, associated with a filler wire or with a powder of stainless steel or of corrosion-resistant alloy.
  • TOG tungsten inert gas
  • the object of the present invention is to provide a novel method of fabricating and installing undersea pipes for conveying corrosive fluids and in particular water, the method comprising welding together undersea pipe strings at sea on board a ship for laying undersea pipes, which method should:
  • incipient cracks are located on the inside of the pipe in the vicinity of the small projection of the weld bead that extends towards the inside of the pipe, and not on the outside face comprising the main bulk of the weld bead on the outside of the pipe. More precisely, and as explained in the detailed description below given with reference to FIGS. 3E and 3F , the inventors have discovered that the origin of weld destruction lies in the transition zone between the welds and the inside surface made of the base steel of the adjacent pipe, in which zone traction stresses associated with thermal shocks during welding can give rise to physical defects, and in particular to incipient cracks located in said zone.
  • U.S. Pat. No. 4,491,001 discloses a device for peening annular welds inside pipes, the steel or metal alloy weld beads constituting said welds being located on the outside of the pipe, said peening being implemented to increase the compression of the steel or metal in the welds and to eliminate traction stresses.
  • the peening device has a said peening tool mounted at the end of a shaft passing along said pipe axially. Said shaft is moved in rotation about its own axis about said axial longitudinal axis XX of the pipe by using a system of gearing disposed outside the pipe. Said shaft or said pipe is moved in relative longitudinal translation in the axial direction of the pipe.
  • Said peening tool is thus suitable for moving in relative longitudinal translation XX relative to said pipe and in rotation about said axial longitudinal axis XX of the pipe at the end of said shaft and in the vicinity of said welds.
  • the said peening tool has a plurality of hammers suitable for being moved repeatedly in radial translation in said pipe in order to perform said peening perpendicularly against the inside surface of the pipe for peening in the vicinity of said welds.
  • the various hammers are distributed along the inside circumference of the pipe. Said hammers are actuated simultaneously to move in relative radial translation by a common motor that makes use of pneumatic energy.
  • That type of peening device performs peening that is random but uniform over the peened zone so as to eliminate the internal projection on the back of the external annular weld bead.
  • FR-2 791 293 discloses a piezoelectric peening tool and U.S. Pat. No. 3,935,055 discloses a peening tool using pneumatic energy, said tools having multiple independent pins that are projected randomly against a surface for treatment.
  • the object of the present invention is thus to provide a peening method and device that enables peening to be performed more accurately and under greater control, in particular peening that is differentiated in the transition zone between the weld and the adjacent inside surface of the pipe, without necessarily seeking to eliminate the internal seam on the back of the weld bead.
  • the present invention essentially provides a peening device suitable for peening annular weld zones inside undersea pipes, the device comprising at least one peening tool, with at least one hammer actuated to perform radial reciprocating movement in translation for peening against the inside surface of the pipe and/or said weld, the device being characterized in that:
  • the present invention provides a peening device suitable for peening the insides of undersea pipes made of steel assembled by annular welding of abutting ends of unitary pipe elements, the weld beads being made from the outside of the pipe, said device comprising at least one peening tool suitable for moving in longitudinal axial translation XX in the axial direction of the pipe, and in rotation about said axial longitudinal axis XX of the pipe in the vicinity of said welds inside the pipe, said peening device having at least one hammer comprising:
  • said peening tool has a single hammer
  • said hammer is pivotally mounted so as to be capable of varying the angle of inclination of said elongate flyweight and of varying said direction Y1Y1 of relative reciprocating movement in translation of said hammer relative to the radial direction;
  • said device comprises:
  • said peening tool includes means for actuating peening by said radial reciprocating movement in translation by implementing electromagnetic energy
  • the hammer comprising a said main body made of magnetic material suitable for reciprocating in both directions inside a stationary solenoid coil along the axial direction of said solenoid corresponding to said longitudinal direction Y1Y1 of said hammer under the effect of a magnetic field created inside the solenoid when said solenoid is powered with direct current (DC) alternately in both directions, said main body also preferably co-operating with a spring.
  • the term “reciprocating radial movement in translation” is used to mean repeated back-and-forth movements in translation in succession against the inside surface of the pipe so as to create a plurality of impacts, preferably in the form of adjacent craters covering the entire peened surface.
  • solenoid electromagnetic motor is known to the person skilled in the art as a “linear motor”, in particular for loudspeaker coils (“voice coil motors”) that operate in similar manner but generally inversely, i.e. it is the coil that moves while the magnet bar remains stationary.
  • linear motor in particular for loudspeaker coils (“voice coil motors”) that operate in similar manner but generally inversely, i.e. it is the coil that moves while the magnet bar remains stationary.
  • said main body is preferably made of ferromagnetic steel, or of magnetic alloy, in particular a samarium-cobalt alloy or a neodymium-boron alloy.
  • the electrical power supply to the solenoid is controlled under digital control as a function of the position of the hammer that is determined using a sensor, thereby making it possible to adapt the peening energy, i.e. the energy that is transferred by the hammer to the surface being treated.
  • the peening device of the present invention includes the following characteristics:
  • said first carriage is driven by a motor powered from outside the pipe by an umbilical connection, and said first carriage has wheels pressed against the inside surface of the pipe and guiding said axial longitudinal movement in translation of said first carriage inside the pipe, said wheels being connected to an axial main body of the first carriage by a system of arms mounted as hinged parallelograms.
  • said system of arms mounted as hinged parallelograms comprises three parallelogram structures, each carrying two wheels in alignment on the axial direction XX of the pipe, the three parallelogram structures preferably being distributed uniformly at 120° from one another, and being actuated synchronously by springs or actuators so that the main body of said first carriage remains substantially on the axis XX of said pipe.
  • said rounded element of convex curvature of said hammer defines a body of revolution of spherical, oval, or parabolic shape, preferably of spherical shape, made of a steel or a metallic carbide of hardness that is greater than that of said main body of the hammer, and said convex element presents a small dimension in cross-section, in particular a small diameter, compared with the corresponding dimension of the main body, in particular the cross-sectional diameter of said main body of the hammer.
  • said convex element terminating the hammer presents hardness on the Vickers scale greater than 500 HV, and preferably greater than 750 HV.
  • the main body presents dimensions in length and in cross-section that are sufficient, and thus a mass that is sufficient, to confer a large amount of kinetic energy to the hammer, while the small dimension of the cross-section of the convex terminal element and its greater hardness seeks to concentrate said kinetic energy at the point of impact with the surface for treatment over a small area, said great hardness of the terminal element thus avoiding any permanent deformation of said terminal element.
  • said convex terminal element is made of tungsten carbide. It is also possible to use a said terminal convex element that is made of tempered steel of the type used for ball bearing balls. In any event, the main body is made of magnetic material, either in part only or completely.
  • the device has a plurality of peening tools, each having a single said hammer, each peening tool being suitable for being moved independently, and each hammer being suitable for controlled to perform peening independently.
  • the device has two peening tools, said first shaft supporting two said second carriages each supporting one said peening tool on a common said transverse guidance support.
  • the device of the invention has four peening tools, said first shaft supporting two said transverse guidance supports offset in the longitudinal and rotary directions, each of said guidance supports being suitable for guiding the movement of two said second carriages in radial translation, each carriage supporting a single said peening tool.
  • the present invention provides a method of treating welds in a steel pipe assembled by welding together the abutting ends of unit pipe elements, the steel or metal alloy weld beads of said welds being located on the outside of the pipe, the method being characterized in that localized peening is performed inside the pipe to increase the compression of the steel or the metal in said welds and over the adjacent peripheral inside surface of the pipe on either side of the welds so as to create a peened surface swath over a distance L that is limited in the axial longitudinal direction of said pipe, preferably over a distance L that is greater than the width of the weld inside the pipe, preferably over a distance L that is not less than the width of the weld inside the pipe plus a width of 1 mm to 10 mm on either side thereof, said peening being performed by creating a plurality of impacts using a peening device of the invention having at least one peening tool with a single tiltable hammer that is driven by an electromagnetic motor on a self
  • the weld comprises a main weld bead outside the pipe and a projection or internal seam of smaller thickness projecting from the inside of the pipe, and said peening is performed at least in the transition zone between the inside surface of said seam at the back of the weld bead and the adjacent inside surface of the pipe, by varying the angle of inclination ⁇ of the longitudinal direction Y1Y1 of movement in translation of said hammer relative to said direction YY of movement in radial translation of said second carriage.
  • said peening is performed in such a manner as to establish compression or increase compression over a thickness of 0.2 mm to 2 mm in said inside surface of the pipe and of said weld.
  • the limited distance L represents one to three times the thickness of the pipe.
  • peening is performed in such a manner so as to obtain compression stress greater that 5 megapascals (MPa), preferably greater than 50 MPa, and in particular lying in the range 50 MPa to 1000 MPa, over the entire peened surface.
  • MPa 5 megapascals
  • said peened swath extends over a distance L that is not less than half the thickness of the pipe wall, and more preferably over a distance L that is less than twice the thickness of the pipe.
  • the weld comprises a main weld bead on the outside of the pipe and a projection or seam on the inside that is of smaller thickness and that projects into the inside of the pipe.
  • This internal projection or seam results from the partial melting of the ends of the unit elements that are assembled together by welding, said melting taking place during the welding heat treatment.
  • said peened swath extends over a distance L corresponding to the width of the weld on the inside of the pipe, in particular the width of said internal seam, which seam presents a width lying in practice in the range 3 millimeters (mm) to 5 mm, plus a width on either side lying in the range 1 mm to 10 mm, so as to give a distance L lying in the range 5 mm to 25 mm.
  • peeling is used herein to mean surface treatment by multiple impacts using one said hammer so as to increase the level of compression stress in a zone of the surface under treatment.
  • the present invention is the entire surface of said swath, i.e. the cylindrical inside surface section on either side of the weld, overlapping the weld, that is subjected to these impacts, with no zone of the surface outside said swath needing to subjected to such an impact.
  • Peening in the present invention consists, so to speak, in cold forging to eliminate residual traction stresses by deforming the material in the peened surface. It should be observed that it is not desired to eliminate any extra thickness associated with an inside seam or projection of the weld bead, but only to apply compression in substantially uniform manner to the surface of the welding zone and of the adjacent zones, using sufficient energy to plasticize and deform the metal so as to eliminate any residual traction stresses due to the welding operation.
  • said ends of the unit pipe elements for welding together comprise, in longitudinal axial section, a straight end beside the inside of the pipe forming a root face that preferably occupies at least one-fourth of the thickness of the main portion of the pipe and that is extended towards the outside of the pipe by a sloping chamfer.
  • the inside projection or seam of the weld that stands proud is a made up molten metal from said root face and of the filler metal.
  • said chamfer faces towards the outside of the pipe so that it can receive a weld bead deposited between the two chamfers at the ends of two abutting pipe elements, thereby substantially forming a V-shape at the end of the two pipe elements for butt welding together.
  • material is removed by prior grinding or by milling, from the inside surface of the pipe and from the weld bead over the surface that is to be peened, prior to said peening, with a rotary grinder tool mounted in the place of said peening tool on a said first carriage.
  • the method of the invention is characterized in that it includes the following steps:
  • the longitudinal movement of the peening tool in translation relative to said first carriage may be performed either continuously, or else essentially between two of said rotations of said peening tool. This makes it possible to avoid leaving any non-peened area between two impact zones of said successive projectiles, and thus to reach the most critical zones that are situated at the interface between the seam of the weld bead and the base metal of the pipe.
  • said welding is performed using carbon steel, stainless steel, or a corrosion-resisting alloy of the Inconel type having high elasticity, and good fatigue resistance, and preferably Inconel of grade 625 or 825.
  • the method of the invention comprises the following successive steps:
  • the present invention also provides a bottom-to-surface connection undersea pipe having at least a portion including zones of said assembly welds between unit pipe elements that have been put into compression by differentiated peening of said transition zone using a said inclined hammer in a method of the invention.
  • the present invention provides a bottom-to-surface connection undersea pipe of the invention that is characterized in that it is a catenary pipe of the SCR type with at least a portion thereof, including the zone that comes into contact with the bottom and extending from the bottom over at least 100 m, and preferably 200 m, being assembled by a pipe-making method of the invention.
  • FIG. 1 is a side view of a pipe in a simple catenary configuration 1 , suspended from a floating support 10 of the FPSO type, having its bottom end resting on the sea bottom 13 , and shown in three different positions 1 a , 1 b , and 1 c;
  • FIG. 1A is a side view in section showing in detail the trench 12 that is dug by the foot 11 of the catenary during movements in which the pipe is lifted off and rested on the sea bottom;
  • FIG. 2 is a longitudinal section of a pipe and a side view of a peening robot 3 inside the pipe while it is being assembled, shown during peening treatment of the weld 6 between the ends of two pipe elements 2 a and 2 b , the weld being shown in the bottom half only of the section;
  • FIG. 2A is a section view of the pipe showing the peening robot 3 inside the pipe;
  • FIG. 3 is a longitudinal section view of one end of a pipe element showing a straight portion (root face) and an inclined portion (chamfer);
  • FIGS. 3A , 3 B, 3 C, and 3 D are side views in section showing all or part of the respective ends of two pipe elements to be assembled together, respectively during an approach and positioning stage ( 3 A), a welding stage ( 3 B), an internal grinding stage ( 3 C), and a peening stage ( 3 D).
  • FIGS. 3C and 3D show only a bottom portion of the weld so as to show more clearly the inside surface 6 3 of the weld bead 6 after it has been ground;
  • FIG. 3 A′ shows a variant of FIG. 3A in the event of a small offset between the end root faces of two pipe elements for assembling together;
  • FIGS. 3 B′ and 3 C′ are fragmentary longitudinal sections corresponding to FIGS. 33 and 3C and showing only the bottom portion of the weld and of the pipe;
  • FIGS. 3E and 3F show variants of FIGS. 3 B′ in the event that the pipe ends are offset, as in FIG. 3 A′, with a incipient crack from the inside being shown at 2 k in FIG. 3F ;
  • FIG. 4A shows a pipe-laying ship fitted with a J-lay tower
  • FIG. 4B is a side view of a pipe 2 P being lowered down to the sea bottom and held under tension within said J-lay tower, and a string 2 N held in the top portion of said J-lay tower, said string being approached to said suspended pipe 2 P for the purpose of being assembled thereto by welding;
  • FIG. 4C is a side view in section showing the two ends of the pipe elements, in the bottom portion of the figure peening has not yet been performed at 7 2 , while said peening is taking place in the top half-portion at 7 1 ;
  • FIG. 4D is a side view showing a string 2 made up of four pipe elements 2 a - 2 d assembled to one another and ready for transferring to the J-lay ship of FIG. 4A ;
  • FIGS. 5A and 5B are a side view of a peening tool 5 having a single hammer associated with control electronics, the hammer being shown respectively in a deployed position ( FIG. 5A ) and a retracted position ( FIG. 5B );
  • FIGS. 5C and 5D are side views in longitudinal section on the axis Y1Y1 of the hammer, showing variant hammers in which the percussion ends present respectively parabolic curvature with a small radius of curvature ( FIG. 5C ), and spherical curvature with a relatively larger radius of curvature ( FIG. 5D );
  • FIG. 5E is a side view of a tiltable peening tool having a single hammer
  • FIG. 6 is a detail view of a grinder tool 19 mounted on a said second carriage 4 c , taking the place of the peening tool 5 .
  • FIG. 7 is a side view of a robot 3 fitted with two peening tools 5 ;
  • FIG. 7A is a face view showing the end of a robot 3 fitted with a turntable carrying four peening tools arranged diametrically opposite one another in pairs.
  • FIG. 1 there can be seen a side view of a bottom-to-surface connection 1 , 1 a , 1 b , and 1 c of the SCR type, that is suspended from a floating support 10 of the FPSO type anchored at 15 , the pipe resting on the sea bottom 13 at its point of contact 14 a , 14 b , 14 c.
  • Curvature varies along the catenary from the surface, where the radius of curvature has a maximum value, to the point of contact where the radius of curvature has a minimum value R 0 , R 1 , R 2 .
  • the floating support 10 moves, e.g. from left to right as shown in the figure, thereby having the effect of lifting or lowering the catenary-shaped pipe off or onto the sea bottom.
  • the floating support In position 10 c , the floating support is away from its normal position 10 a , thereby having the effect of tensioning the catenary 1 c and raising it, thereby moving the point of contact 14 towards the right from 14 a to 14 c ; the radius of curvature at the foot of the catenary increases from R 0 to R 2 , and the horizontal tension in the pipe generated at said point of contact also increases, and consequently the tension increases in the pipe and said floating support.
  • the movement to the right of the floating support has the effect of relaxing the catenary 1 b and of resting a portion of pipe on the sea bottom.
  • the radius R 0 at the point of contact 14 a decreases to a value R 1 , and similarly the horizontal tension in the pipe at the same time also decreases, as does the tension in the pipe at said floating support.
  • This reduction in the radius of curvature at 14 b gives rise to considerable internal stresses with the structure of the pipe, thereby generating fatigue phenomena that are cumulative and that can lead to the bottom-to-surface connection being destroyed.
  • the pipe presents a radius of curvature that is at its greatest at the top of the catenary, i.e. the point where it is suspended from the FPSO, and that decreases down to the point of contact 14 with the bottom 13 .
  • the radius of curvature at the suspended portion is at its smallest, however in the adjacent portion that is resting on the sea bottom, and assuming that said pipe is extending in a straight line, its radius of curvature becomes theoretically infinite.
  • said radius of curvature is not infinite but is very large, since, as a general rule, some residual curvature persists.
  • the radius of curvature passes successively from a minimum value R min to a value that is extremely large, or even infinite, in a configuration that extends substantially in a straight line.
  • FIG. 4D shows a string 2 comprising four unit pipe elements 2 a - 2 d that are assembled together by welds 2 2 , 2 3 , and 2 4 made in a workshop.
  • the first end 2 1 of said string is for welding to the end 2 5 of already-assembled pipe that is being laid, with the end 2 5 of the string then constituting the new end 2 5 of the pipe being laid and being ready for assembly with the end 2 1 of the next string, assembly taking place on board the laying ship 8 shown in FIG. 4A , which ship is fitted with a J-lay tower 9 .
  • the strings are stored horizontally on deck, and then they are raised one after another by a pivoting ramp 18 from a horizontal position to a position in which they can be inserted in the J-lay tower 9 .
  • the already-laid portion of pipe 2 P (not shown in FIG. 4A but visible in FIG. 4B ) is held under tension within the tower by means of a clamp.
  • a new string 2 N is lowered towards said pipe 2 P that is held under tension, as shown in detail in FIG. 4B , and is finally welded thereto, and then subjected to the peening treatment of the invention, as shown in detail in FIG. 4C .
  • FIG. 2 is a section in side view showing two pipe elements 2 a and 2 b assembled end-to-end by welding 6 in a workshop, the top half-portion being shown in the approach stage prior to welding.
  • a remotely-controlled device or robot 3 is inserted from the right-hand end of the right pipe 2 b , said robot carrying a peening tool 5 of the invention and serving to position said peening tool astride said weld 6 , substantially on the axis thereof.
  • the robot 3 serves to enable the inside wall and the weld to be subjected automatically to peening treatment over a swath 7 of width L, e.g. having a total width of 2 centimeters (cm) to 6 cm, i.e. substantially 1 cm to 3 cm on either side of the weld bead 6 .
  • FIG. 3 is a section showing the face of a pipe element that has machined in order to enable it to be assembled to the following element by welding.
  • the face is machined in the plane perpendicular to the axis XX of the pipe and, towards the inside of the pipe, it presents a root face 16 occupying a few millimeters, generally 2 mm to 4 mm, followed by a chamber 17 , e.g. a straight and conical chamfer as shown, or a curved and parabolic chamfer (not shown).
  • FIG. 3A two pipe elements have been positioned face to face, ready for welding.
  • the pipe elements present an extremely high level of quality, or when they have been made so as to present a diameter that is perfectly circular, the inside wall surfaces of said pipe element are substantially continuous.
  • this gives rise to a small internal projection 6 2 that is substantially uniform to the right ( 2 k ) and to the left ( 2 h ) and all around the periphery, as shown in detail in FIG. 3 B′.
  • FIGS. 3E and 3F show the above-described unwanted phenomenon for this type of pipe that is to be subjected to fatigue over a period that may exceed 25 to 30 years.
  • the first pass needs to merge perfectly with the respective root faces 16 of the two ends of the two pipe elements 2 a and 2 b .
  • the chamfers 17 are prepared as shown in FIGS. 3 and 3A . It is the melting of said root faces that gives rise to a small amount of extra thickness in the form of a narrow seam or projection 6 2 ( FIG.
  • the pipe elements do not have an internal cross-section that is perfectly circular, with the section being slightly ovalized.
  • wall thickness may vary around the periphery.
  • connection angle ⁇ 1 is small
  • connection angle ⁇ 2 is larger and may result in a sharp angle.
  • the welding process involves the use of heating and melting powers, and thus of considerable amounts of energy, since it is desirable to minimize cycle time, particularly for the welding that is performed on board the laying ship 8 , as explained above with reference to FIG. 4A to 4D .
  • Such pipe-installing ships have extremely high hourly operating costs, with welding and preparation operations constituting critical busy times. It is desirable to have welding process cycle times of the order of 10 minutes (min) to 12 min for pipes having a diameter of 300 mm and a thickness of 20 mm.
  • the localized thermal shocks created by the power of the welding equipment are considerable and they give rise to residual zones of stress concentration that cannot be treated in conventional manner, in particular by thermal annealing, in order to obtain acceptable relaxation of stresses within a lapse of time that is compatible with the desired rates of laying.
  • Said residual stresses may be compression stresses or traction stresses with traction stresses being more dangerous in terms of fatigue behavior over the lifetime of installations that may exceed 25 to 30 years or more.
  • the peening device 100 of the invention is constituted by a peening tool 5 supported by a first carriage 3 having wheels 3 e driven by a motor 3 a and powered by an umbilical cord 3 d .
  • the wheels are connected to an axial main body 3 1 of the first carriage via a system of arms 3 b mounted as a hinged parallelogram, preferably three parallelogram structures 3 b , each carrying two wheels in alignment on the direction XX.
  • the three parallelogram structures 3 b are preferably uniformly distributed at 120° from one another, as shown in the cross-section of FIG. 2A , and they are actuated synchronously by springs or actuators 3 c so that the main body 3 1 of the robot remains substantially on the axis XX of said pipe.
  • the first carriage or robot 3 carries at its front end an axial shaft 4 that is movable in translation along the axis XX in a guide barrel 4 a that is secured to the main body 3 1 , passing axially therethrough, and movable in translation along said axis XX by an actuator (not shown) that may be a hydraulic cylinder or an electric motor, and that is preferably servo-controlled and operated by a computer via the umbilical cord 3 d . Furthermore, said shaft 4 is capable of rotating about the same axis XX within said guide barrel 4 a . Said rotation of the shaft 4 is actuated by an electric motor (not shown) incorporated in the main body 3 1 , and preferably controlled and operated by said computer.
  • a guide support 4 b secured to said shaft serves to support a second carriage 4 c and guided in a direction perpendicular to the axis XX and to the inside wall 2 i of the pipe 2 .
  • Said second carriage 4 c carries a peening tool 5 that is secured thereto.
  • Said peening tool is held in intimate contact with the inside wall 2 i of the pipe 2 , preferably with a constant bearing force, e.g. by means of a pneumatic actuator 4 d , with said second carriage 4 c being moved in a transverse direction.
  • said first carriage or robot 3 is inserted from the right-hand end of the pipe 2 b , carrying the second carriage 4 c that in turn carries the peening tool 5 in a retracted position, thus ensuring that the peening tool does not interfere with the inside surface of the pipe wall.
  • the robot Under drive from the motor 3 a , the robot is moved to the weld 6 for treatment, under monitoring via a video camera 4 e carried by the carriage 4 c .
  • the carriage is then locked in longitudinal position by locking its motor drive 3 a and by increasing the pressure in the actuators 3 c so as to cause the hinged arm 3 b to pivot and jam the wheels 3 a against the inside surface 2 i of the wall of the pipes.
  • the main body is then substantially on the axis XX of the pipe, and the position of the peening tool 5 is adjusted by acting on the position of the shaft 4 that is movable in translation along the axis XX, still under monitoring via the video camera 4 e .
  • the actuator 4 d is then actuated so as to deploy the peening tool in a transverse direction in order to press it against the surface 2 i of the wall of said pipe.
  • the peening tool is then actuated while also driving the shaft 4 in rotation about its axis XX in order to apply said peening tool to the entire periphery of the inner weld bead together with the adjacent internal surfaces 2 i of each of the pipe elements so as to form a peened swath 7 by performing successive circular passes of the peening tool that are slightly offset in longitudinal translation towards the left or towards the right, by modifying the longitudinal position of the shaft 4 that is movable in translation along the axis XX in the guide barrel 4 a secured to the carriage 3 .
  • a peening tool 5 that comprises a single hammer 5 1 of tempered steel constituted by a main cylindrical body 5 5 with a polygonal or circular section of 6 mm to 20 mm and a length of 30 mm to 100 mm, and with a projection at the end of said main body forming an elongate pin, constituted by an element that is extremely hard, e.g. made of fine-grained tungsten carbide, that is of convex shape, defining a parabolic surface of revolution ( FIG. 5C ) or a spherical surface of revolution ( FIG. 5D ).
  • the element preferably presents a cross-section that is circular and thus creates craters that are substantially circular.
  • the convex element 5 4 presents a length along Y1Y1 of 3 mm to 20 mm and a diameter in cross-section of 3 mm to 15 mm.
  • the radius of curvature of the convex element 5 4 at its end along the longitudinal axis Y1Y1, i.e. where it comes in contact with the surface being peened, is always less than the radius of curvature of the pipe, but in a preferred version of the invention, it comes as close as possible thereto while in any event being greater than at least half or even two-thirds the radius of curvature of the pipe.
  • the end of the hammer strikes the surface for treatment, and on impact its kinetic energy is transformed into plastic and elastic deformation energy, thereby creating or increasing the level of compression stress in the material at the point of impact by creating craters that are substantially circular.
  • FIGS. 5A-5B and 5 E there can be seen more precisely a carriage 4 c fitted with its peening tool 5 that is remotely controlled via an umbilical connection 5 3 , the tool comprising a solenoid coil 5 6 and a housing 5 7 through and in which the main cylindrical body 5 5 of a hammer 5 1 slides along the axis Y1Y1, said body being made of very high performance magnetic material, e.g. a samarium-cobalt alloy, and it is pre-magnetized so as to present north and south magnetic poles.
  • a linear motor is known to the person skilled in the art as a “voice coil motor” and it presents optimum dynamic performance when it is controlled by appropriate electronics, also known to the person skilled in the art.
  • Said control is preferably performed with the position of said hammer as determined by a sensor 5 9 being fed back.
  • the solenoid is controlled by an electronics card 5 10 that is electrically powered at 5 11 , and the position of the hammer is measured in real time by the sensor 5 9 as a result of the rod 5 13 that is secured to the main body 5 5 moving, this measurement then being sent 5 12 to the electronics control card.
  • the hammer 5 1 is thus set into reciprocating motion along the direction Y1Y1 as follows: the solenoid is powered with DC so that the main cylindrical body 5 5 of the hammer enters into its housing 5 7 , in which it advantageously compresses a spring 5 8 that thus absorbs a fraction of the potential energy.
  • the voltage is reversed, thereby having the effect of subjecting the hammer to a force directed in the opposite direction, i.e. towards the wall of the pipe, with a high level of acceleration under the additional effect of the mechanical potential energy stored in the spring 5 8 .
  • the hammer thus acquires a high speed and thus a high level of kinetic energy that is transferred to the wall of the pipe as soon as the hammer comes into contact with said wall, thereby performing localized peening of the zone for treatment, as shown in FIG. 5A .
  • the voltage is then once more reversed so as to retract the hammer and perform a new peening cycle, either in exactly the same position, i.e. at the same location, or else in a position that is slightly offset by pivoting the head 4 about the axis XX or by moving it in translation along the direction XX.
  • the reciprocating motion of the hammer is advantageously performed at a frequency of 5 hertz (Hz) to 250 Hz, and in particular 1 Hz to 100 Hz, while advantageously moving the peening tool in regular manner, thereby moving the impact zone both in rotation about the axis XX and in translation along the axis XX, so as to cover in substantially uniform manner all of the swath corresponding to the treated zone 7 , so as to obtain a zone that is entirely covered in said adjacent or even overlapping craters.
  • Hz hertz
  • the trajectory of the hammer is controlled in real time by digital control means known to the person skilled in the art.
  • digital control means known to the person skilled in the art.
  • the position of the hammer, its speed, and its acceleration are known and under control, and the energy that is transferred during impact against the wall of the pipe is advantageously maintained stable and repetitive throughout the sequence, the adjustment parameters advantageously be modified depending on the position of the hammer.
  • the action of gravity on the hammer adds to the acceleration delivered by the control electronics; in contrast, when the hammer is striking the ceiling, i.e. upwards, then the acceleration of gravity is subtracted from the acceleration delivered by the control electronics.
  • the use of a digital control system thus makes it possible, by monitoring the parameters of the hammer trajectory in real time, to transfer a substantially constant level of energy throughout the treatment of the wall, regardless of the orientation of the hammer relative to the vertical.
  • FIGS. 5C and 5D are side views of the striking end of the hammer either presenting a high degree of parabolic curvature ( FIG. 5C ), i.e. with a small radius of curvature, or a low degree of spherical curvature ( FIG. 5D ), i.e. with a radius of curvature that is larger, and that comes close to the internal curvature of the pipe.
  • the diameter and the depth of the zone that is impacted on each stroke of the hammer depends on the energy that is transmitted, on the quality of the base steel of the pipe, on the radius of curvature of said hammer, and on the inside radius of curvature of said pipe.
  • FIG. 5E shows a peening tool 5 that pivots about the axis 4 f of the support 4 g secured to the carriage 4 c .
  • the axis Y1Y1 of the hammer 5 1 which also corresponds to the direction in which said hammer 5 1 is projected against the surface for peening, is inclined at an angle ⁇ relative to said radial translation direction (YY) of the carriage 4 c , so that it is possible to reach the transition zones 2 h - 2 k as described above with reference to FIGS. 3 B′ and 3 F under the best possible conditions, i.e. the zones that are substantially the closest to a direction perpendicular to the surface of the bead in said zones.
  • a first peening tool as described with reference to FIG. 5 is advantageously used for performing general peening. Thereafter, particular insistence is applied to each of the transition zones 2 h - 2 k by means of said peening tool 5 being in a position that is inclined at an angle ⁇ , e.g. lying in the range 30° to 60°, relative to the direction perpendicular to the inside surface of the pipe, so as to begin by peening the transition zone 2 h , and then subsequently placing said peening tool 5 in a position that is inclined at an angle ⁇ in order to peen the transition zone 2 k .
  • two peening tools 5 are installed on a common carriage 4 c , or on two independent carriages secured to a common axial shaft 4 , with one tool being inclined at an angle ⁇ and the other tool being inclined at an angle ⁇ .
  • This peening serves to provide local deformation over a controlled thickness as a function of the energy transmitted by the sonotrode to said needles, the metal of the weld, and the base metal at the end of each of the pipe elements.
  • This plastic deformation of the metal makes it possible to establish a generalized and substantially uniform compression stress state throughout the treated zone 7 , thereby having the effect of absorbing any residual localized traction stress state that might result from the welding process and the above-described undesirable localized quenching phenomena.
  • Achieving compression depends on the power and the accuracy of the peening process, and it is generally performed over a thickness lying in the range 0.2 mm to 2 mm, thereby advantageously preventing unwanted incipient cracks from appearing.
  • the quality of the pipe in the welding zone is advantageously improved by internally grinding 6 3 the weld prior to peening so as to eliminate geometrical surface defects, thereby enabling peening to be performed over an inside surface of the pipe and the welding that is substantially cylindrical where it is peened.
  • Grinding is advantageously performed using a grinder tool 19 as shown in FIG. 6 , which tool is mounted on a device similar to said above-described peening tool, but in which the peening tool is replaced with a grinder tool 19 .
  • the grinder tool 19 comprises a rotary grindwheel 19 1 that is mounted on a said second carriage 4 c and that can therefore be moved in translation in the transverse direction YY such that the rotary grindwheel 19 1 comes to bear against the inside surface of the pipe and of the weld for grinding.
  • At least one guide wheel 20 is securely mounted to the grinder tool 19 on one side thereof to serve as a guide to ensure that the rotary grindwheel 19 1 is held in position when it comes to bear against said inside surface of the pipe, i.e. so as to ensure that said rotary grindwheel 19 1 does indeed remain tangential to the bore of the pipe, and thus removes only the necessary quantity of the projection 6 2 of the weld bead 6 , as shown in FIGS. 3 C- 3 C′.
  • FIG. 6 shows a rotary grindwheel 19 1 of cylindrical shape and having an axis of rotation X 1 X 1 , which axis extends in a longitudinal direction parallel to the axial longitudinal direction XX of the pipe, the abrasive surface of the grindwheel corresponding to its cylindrical outer surface.
  • the cylindrical rotary grindwheel may extend in the direction X 1 X 1 over a said distance L.
  • the guide wheel 20 presents an axis of rotation X 2 X 2 in the longitudinal direction parallel to the axes XX and X 1 X 1 , such that the guide wheel 20 and the rotary grindwheel 19 1 present a common tangent X 3 X 3 beside the inside surface 21 of the pipe, thus enabling the guide wheel 20 to guide the grinder tool by maintaining its axis X 1 X 1 tangential to the bore 2 i of the pipe, as described above.
  • FIG. 3D shows the state of the inside surface of the pipe in the peened zone 7 of the inside surface of the weld over a width L.
  • the length of the unit elements 2 a to 2 d lies in the range about 6 m to 12 m, thereby making it necessary to insert the peening robot from the end that is closest to the weld for treatment, i.e. at a distance of about 6 m to 12 m depending on circumstances, and then cause the robot to travel along said distance in order to take up an accurate position astride said weld for treatment.
  • the prefabricated strings generally have a length of about 50 m, as shown in FIG. 4D , or under certain circumstances of 25 m or of 100 m, and it is then necessary to make the robot travel over that distance in order to reach the welding zone for treatment.
  • FIGS. 4A to 4C show two strings being assembled together together with the welding zone being treated by peening, during on-site installation as performed on board a laying ship 8 that is fitted with a J-lay tower 9 , as shown in FIG. 4A .
  • the already-laid pipe element 2 P is held securely in suspension from the foot of the tower, and a new pipe element 2 N is transferred by means of a pivoting ramp 15 and in known manner from the horizontal position to the oblique position that corresponds to the inclination of the tower, after which it is positioned on the axis of the terminal suspended pipe element.
  • Said pipe element 2 N that is to be assembled is subsequently moved axially along the direction XX towards the suspended terminal pipe element 2 P, as shown in FIG.
  • the peening robot 3 is inserted into the pipe and lowered to the welding zone that is situated 50 m below when using 50 m string, as shown in FIG. 4C , after which a swath 7 is peened in a manner similar to the treatment performed in a workshop and as described above.
  • the peening robot is raised back to the top of the tower 9 and then the top end of the pipe is grasped and lowered towards the bottom of the tower so as to be ready to perform a new cycle of assembling and treating a new pipe string.
  • the most appropriate inspection technique is the X-ray method that makes it possible to measure the inter-atomic distances within the surface of the material, and thus to characterize very accurately the stress state and level, regardless of whether stress is in traction, at rest, or in compression.
  • Such means are implemented using a robot similar to that described above, the peening tool 5 being replaced by the X-ray source and the associated sensors that are available from the supplier Stresstech (Finland).
  • the signals recovered by the sensors are then sent to a signal processor unit, e.g. a computer, which deduces therefrom the real stress level that exists after and possibly also before the peening treatment of said welding zone.
  • the present invention is described mainly for solving the problem associated with bottom-to-surface connections and more particularly in the zone of the point of contact with the sea bottom in an SCR type connection. Nevertheless, the invention applies to any type of undersea pipe, whether it rests on the sea bottom, whether it is incorporated in a vertical tower, or indeed whether it constitutes a subsurface connection between two FPSOs, or between an FPSO and an unloading buoy.
  • subsurface connection The various types of subsurface connection are described in patent FR 05/04848 in the name of the Applicant, and more particularly in FIGS. 1A-1D and 2 A. Said subsurface connections are particularly subject to fatigue phenomena when they are subjected to swell and to currents and above all to the movements of the floating supports, FPSO or loading buoy, which generates alternating stresses, particularly in the zones close to said floating supports.
  • the peening tool 5 is described in detail above on the basis of an actuator constituted by a linear actuator of the “voice coil motor” type or a linear motor such as the “PowerRod Actuator PRA25” type from the supplier Parker Hannifin GmbH, making it possible to control accurately the amount of kinetic energy that is transmitted to the hammer, and thus the peening energy.
  • the peening tool 5 as described above has only one single hammer, however it is advantageous to juxtapose a plurality of single-hammer peening tools that are independently actuatable, preferably on a common shaft 4 , said tools being advantageously distributed regularly around the circumference of the pipe, and optionally being slightly offset relative to one another along the axis XX, so that during rotations of said tools about the axis XX, the zone for treatment 7 is treated in substantially uniform manner in a shorter length of time.
  • the energy to be transmitted by the peening tool is substantially the same and depends essentially on the hardness of the metal of the pipe and on the shape of the end of the hammer.
  • the perimeter for treatment is a function of the inside diameter of the pipe, and the treatment time with a single tool therefore increases as a function of said diameter.
  • FIG. 7 is a side view of a head with a said first shaft of the same robot carriage 3 fitted with two second carriages 4 c that are diametrically opposite carrying two diametrically opposite peening tools 5 with a small offset along the axis XX.
  • FIG. 7 is a side view of a head with a said first shaft of the same robot carriage 3 fitted with two second carriages 4 c that are diametrically opposite carrying two diametrically opposite peening tools 5 with a small offset along the axis XX.
  • FIG. 7A is a face view of a turntable, here carrying four peening tools uniformly distributed around the circumference. Under such circumstances, said tools are preferably disposed in diametrically-opposite pairs, on two transverse guide supports 4 b that are offset by 90°, each supporting two of said second carriages that are radially movable independently of each other, preferably with the two transverse guide supports 4 b being at a small offset in translation along the axis XX.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Thermal Sciences (AREA)
  • Electromagnetism (AREA)
  • Plasma & Fusion (AREA)
  • Earth Drilling (AREA)
US12/674,190 2007-08-21 2008-07-10 Peening Device for Peening Welds Inside Steel Submarine Pipes, Process for Producing Steel Submarine Pipes Using Such a Device, and Submarine Connection Pipe Abandoned US20110107571A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0757111A FR2920105B1 (fr) 2007-08-21 2007-08-21 Procede de traitement de soudures de conduite en acier comprenant le martelage des soudures a l'interieur de la conduite
FR0757111 2007-08-21
PCT/EP2008/059033 WO2009024406A1 (fr) 2007-08-21 2008-07-10 Dispositif de martelage pour realiser le martelage des soudures a l' interieur de conduites sous marines en acier, procede de realisation de conduites sous marines en acier utilisant un tel dispositif, conduite sous marine de liaison

Publications (1)

Publication Number Publication Date
US20110107571A1 true US20110107571A1 (en) 2011-05-12

Family

ID=39204932

Family Applications (1)

Application Number Title Priority Date Filing Date
US12/674,190 Abandoned US20110107571A1 (en) 2007-08-21 2008-07-10 Peening Device for Peening Welds Inside Steel Submarine Pipes, Process for Producing Steel Submarine Pipes Using Such a Device, and Submarine Connection Pipe

Country Status (5)

Country Link
US (1) US20110107571A1 (fr)
EP (1) EP2178672B1 (fr)
BR (1) BRPI0815589A2 (fr)
FR (1) FR2920105B1 (fr)
WO (1) WO2009024406A1 (fr)

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012106285A (ja) * 2010-10-26 2012-06-07 Nippon Steel Corp 溶接継手及び溶接継手の製造方法
US20130036787A1 (en) * 2011-08-08 2013-02-14 Arthur Eugene Johnson Pipe expander
US20130086970A1 (en) * 2011-10-06 2013-04-11 PeenMet Linear Motion Peening
JP2013071140A (ja) * 2011-09-27 2013-04-22 Nippon Steel & Sumitomo Metal Corp 耐疲労特性に優れた溶接継手及びその製造方法
CN105215831A (zh) * 2015-09-09 2016-01-06 浙江中五钢管制造有限公司 不锈钢管外径抛光装置
US20160256971A1 (en) * 2015-03-05 2016-09-08 Chung-Yuan Christian University Interface apparatus of transmission
US20160256973A1 (en) * 2015-03-04 2016-09-08 Chung-Yuan Christian University System of Detection and Transmission of Ultrasonic Machining
CN106989769A (zh) * 2017-05-28 2017-07-28 南昌理工学院 一种传感器系统及其检测方法
US20170291242A1 (en) * 2016-04-08 2017-10-12 Structural Services, Inc. Systems and methods for automated stud placement and welding
US20180029154A1 (en) * 2013-05-23 2018-02-01 Crc-Evans Pipeline International, Inc. Rotating welding system and methods
JP2018069386A (ja) * 2016-10-31 2018-05-10 Ｊｆｅスチール株式会社 大径鋼管用管内面研削装置
WO2018148718A1 (fr) 2017-02-13 2018-08-16 Webco Industries, Inc. Soudures écrouies et procédés associés
US20180281119A1 (en) * 2015-10-07 2018-10-04 Esab Ab Pipe crawling welding device and method of welding pipes with such device
CN108817621A (zh) * 2018-08-02 2018-11-16 威海万丰镁业科技发展有限公司 低频声场调控式纵向运动电弧钨极氩弧焊焊接装置及方法
WO2019024558A1 (fr) * 2017-08-01 2019-02-07 武汉中仪物联技术股份有限公司 Robot et système de remise en état de tuyau à l'aide de traitement aux ultraviolets
US20190084066A1 (en) * 2017-09-18 2019-03-21 Raul Cardona Cylinder Welding System
CN110202444A (zh) * 2019-06-04 2019-09-06 武振兴 一种环保型聚乙烯管内端面打磨装置
US10480862B2 (en) 2013-05-23 2019-11-19 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
CN110497284A (zh) * 2019-09-10 2019-11-26 桂林航天工业学院 一种发动机进气系统用进气管加工设备
CN110757303A (zh) * 2019-09-19 2020-02-07 河南平高电气股份有限公司 一种管筒内壁面自动抛光装置
US10695876B2 (en) 2013-05-23 2020-06-30 Crc-Evans Pipeline International, Inc. Self-powered welding systems and methods
US10828715B2 (en) 2014-08-29 2020-11-10 Crc-Evans Pipeline International, Inc. System for welding
CN112676739A (zh) * 2020-12-17 2021-04-20 浙江科技学院 一种伸入式焊接装置
US20210170539A1 (en) * 2019-12-05 2021-06-10 Saudi Arabian Oil Company Internal grinding device for pipes and weld joints
EP3936276A4 (fr) * 2019-03-08 2022-04-20 JFE Steel Corporation Procédé de martelage
US11339900B2 (en) 2017-02-13 2022-05-24 Webco Industries, Inc. Work hardened welds and methods for same
US11344974B2 (en) * 2019-10-16 2022-05-31 Saudi Arabian Oil Company Optimized method and system for internal coating of field girth welds
US20220234133A1 (en) * 2019-06-13 2022-07-28 Sms Group Gmbh Fixing a strip end segment of a metal strip coil to an adjacent strip winding
US11458571B2 (en) 2016-07-01 2022-10-04 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
CN115945828A (zh) * 2023-01-30 2023-04-11 西京学院 一种管材焊接焊缝的应力消除装置及使用方法
CN116442106A (zh) * 2023-06-19 2023-07-18 山东工程职业技术大学 一种高精度机械加工误差检测装置
US11767934B2 (en) 2013-05-23 2023-09-26 Crc-Evans Pipeline International, Inc. Internally welded pipes
CN117403054A (zh) * 2023-10-02 2024-01-16 中国科学院金属研究所 一种金属板材表面积分冲击抗疲劳装置及强化方法
WO2024159205A1 (fr) * 2023-01-27 2024-08-02 Ohio State Innovation Foundation Systèmes et procédés pour la déformation incrémentielle locale de régions de composant locales
CN119870780A (zh) * 2025-03-27 2025-04-25 中国五冶集团有限公司 一种建筑工程用钢材焊接装置及其使用方法
CN119973758A (zh) * 2025-03-28 2025-05-13 天津瀛海实业有限公司 一种钢管内壁打磨装置

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101941139B (zh) * 2010-09-02 2014-02-12 中信重工机械股份有限公司 一种超大型矿用磨机筒体装焊方法
NO335301B1 (no) * 2010-09-22 2014-11-10 Aker Mh As Innretning for behandling av den ytre overflaten på et sylindrisk element
CN102642169B (zh) * 2012-04-01 2014-02-19 茂名重力石化机械制造有限公司 一种环管反应器内管自动抛光装置
CN103071901B (zh) * 2012-12-10 2015-01-21 哈尔滨工业大学 用于随焊冲击旋转挤压装置上的曲面冲击头
CN104149004A (zh) * 2014-08-14 2014-11-19 茂名重力石化机械制造有限公司 急冷换热器内管拼缝打磨装置
CN104827357B (zh) * 2015-05-21 2017-05-31 佛山市上发不锈钢管有限公司 一种内壁打磨装置
CN108296895A (zh) * 2018-01-25 2018-07-20 成都科盛石油科技有限公司 一种针对石油管道内壁打磨抛光方法
CN111037420A (zh) * 2020-01-06 2020-04-21 山东力能重工有限公司 一种壳体内腔自动打磨机
CN111300194B (zh) * 2020-02-20 2021-07-09 深圳市智能机器人研究院 一种控制管道打磨机器人的系统及方法
CN111390673B (zh) * 2020-03-02 2021-08-10 江西理工大学 一种集成可调式打磨机构
CN112553435B (zh) * 2020-12-03 2022-05-20 江苏电子信息职业学院 一种钢材料模具表面拐角处去应力装置
CN113333907B (zh) * 2021-06-09 2022-06-24 江苏乾昭新材料有限公司 一种焊缝快速脱药皮的铝单板焊接设备
CN115194637B (zh) * 2022-09-15 2022-11-22 四川航天拓达玄武岩纤维开发有限公司 一种玄武岩纤维复合管定向抛光装置及方法
CN116618956B (zh) * 2023-07-21 2023-10-13 长沙市雷锋重型锻造有限公司 一种锤击锻造焊缝的焊接装置
FR3151981B1 (fr) * 2023-08-10 2026-01-16 Safran Aircraft Engines Système d’ajustage, de précontrainte et de compactage de peinture par martelage et procédé correspondant.
CN116967669B (zh) * 2023-08-28 2024-02-27 江苏科耐特智能机器人有限公司 一种智能机器人管道焊接设备及焊接方法
CN117564569B (zh) * 2024-01-17 2024-07-19 武汉东泰盛机械有限公司 一种汽车电池盒上箱体自动化焊接机器人
FR3158700A1 (fr) 2024-01-30 2025-08-01 Saipem S.A. Porteur mutualisé pour l’installation d’outils destinés à la production en série de structures métalliques, notamment de fondations fixes ou flottantes pour éoliennes offshore

Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1079065A (en) * 1912-11-07 1913-11-18 John I Pilston Pipe-peening machine.
US2496027A (en) * 1944-10-23 1950-01-31 Trapet Maurice Portable tool with swivel head
US3531964A (en) * 1967-08-31 1970-10-06 Nasa Controlled glass bead peening
US3945098A (en) * 1975-04-18 1976-03-23 Petr Ivanovich Yascheritsyn Pulse impact tool for finishing internal surfaces of revolution in blanks
US4410297A (en) * 1981-01-19 1983-10-18 Lynch Robert P Marine continuous pipe laying system
US4491001A (en) * 1981-12-21 1985-01-01 Kawasaki Jukogyo Kabushiki Kaisha Apparatus for processing welded joint parts of pipes
US4713952A (en) * 1986-02-05 1987-12-22 Westinghouse Electric Corp. Tool and method for rotopeening the peripheral tubes in a tubesheet
US5676857A (en) * 1995-08-11 1997-10-14 Sabre International, Inc. Method of welding the end of a first pipe to the end of a second pipe
US20010017292A1 (en) * 1998-12-24 2001-08-30 Antonio Belloni Method and apparatus for welding pipes together
US6685393B1 (en) * 1999-09-08 2004-02-03 Petroleo Brasileiro S.A. Method for installing an undersea catenary riser
US20040031840A1 (en) * 2000-12-21 2004-02-19 Michel Baylot Centering insert and a method of assembling and welding together two pipe elements
US20040245323A1 (en) * 2003-06-05 2004-12-09 Offer Henry P. Fusion-welding of defective components to preclude expulsion of contaminants through the weld
US20050039511A1 (en) * 2003-03-14 2005-02-24 Prevey Paul S. Method and apparatus for providing a layer of compressive residual stress in the surface of a part
US20050205273A1 (en) * 2004-03-19 2005-09-22 Yiu Chih H Method for driving electric percussion tool
US20070181541A1 (en) * 2004-07-29 2007-08-09 Mitsubishi Heavy Industries, Ltd Residual stress improving apparatus for piping technical field
US7344609B2 (en) * 1998-09-03 2008-03-18 U.I.T., L.L.C. Ultrasonic impact methods for treatment of welded structures
US20080223106A1 (en) * 2006-01-10 2008-09-18 Mitsubishi Heavy Industries, Ltd. Tip tool guide apparatus and method for bringing in tip tool guide apparatus
US20080264451A1 (en) * 2007-03-23 2008-10-30 Kabushiki Kaisha Toshiba Apparatus and method for processing inside of pipe
US20100147047A1 (en) * 2007-04-12 2010-06-17 Saipem S.A. Method of Making an Udersea Pipe, the Method Including Peening Assembly Welds Inside the Pipe
US8061582B2 (en) * 2006-12-14 2011-11-22 Saipem S.P.A. Pipe-joining method and apparatus for producing underwater pipelines, and underwater-pipeline-laying vessel comprising such an apparatus

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10249585A (ja) * 1997-03-07 1998-09-22 Nippon Steel Corp 管体中継ぎ部の内面溶接装置
JP2004066311A (ja) * 2002-08-08 2004-03-04 Ishikawajima Harima Heavy Ind Co Ltd ピーニング装置および溶接箇所の残留応力低減方法
JP4795661B2 (ja) * 2004-09-29 2011-10-19 三菱重工業株式会社 配管継手構造
WO2006115754A2 (fr) * 2005-04-26 2006-11-02 Exxonmobil Upstream Research Company Appareils et procedes pour ameliorer la resistance a la fatigue de soudures de colonnes montantes
DE502006005935D1 (de) * 2005-10-12 2010-03-04 Palfinger Ag Kran mit verstärkungsblech

Patent Citations (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1079065A (en) * 1912-11-07 1913-11-18 John I Pilston Pipe-peening machine.
US2496027A (en) * 1944-10-23 1950-01-31 Trapet Maurice Portable tool with swivel head
US3531964A (en) * 1967-08-31 1970-10-06 Nasa Controlled glass bead peening
US3945098A (en) * 1975-04-18 1976-03-23 Petr Ivanovich Yascheritsyn Pulse impact tool for finishing internal surfaces of revolution in blanks
US4410297A (en) * 1981-01-19 1983-10-18 Lynch Robert P Marine continuous pipe laying system
US4491001A (en) * 1981-12-21 1985-01-01 Kawasaki Jukogyo Kabushiki Kaisha Apparatus for processing welded joint parts of pipes
US4713952A (en) * 1986-02-05 1987-12-22 Westinghouse Electric Corp. Tool and method for rotopeening the peripheral tubes in a tubesheet
US5676857A (en) * 1995-08-11 1997-10-14 Sabre International, Inc. Method of welding the end of a first pipe to the end of a second pipe
US7344609B2 (en) * 1998-09-03 2008-03-18 U.I.T., L.L.C. Ultrasonic impact methods for treatment of welded structures
US20010017292A1 (en) * 1998-12-24 2001-08-30 Antonio Belloni Method and apparatus for welding pipes together
US6313426B2 (en) * 1998-12-24 2001-11-06 Saipem S.P.A. Method and apparatus for welding pipes together
US6685393B1 (en) * 1999-09-08 2004-02-03 Petroleo Brasileiro S.A. Method for installing an undersea catenary riser
US20040031840A1 (en) * 2000-12-21 2004-02-19 Michel Baylot Centering insert and a method of assembling and welding together two pipe elements
US7011244B2 (en) * 2000-12-21 2006-03-14 Saipem S.A. Centering insert and a method of assembling and welding together two pipe elements
US20050039511A1 (en) * 2003-03-14 2005-02-24 Prevey Paul S. Method and apparatus for providing a layer of compressive residual stress in the surface of a part
US7159425B2 (en) * 2003-03-14 2007-01-09 Prevey Paul S Method and apparatus for providing a layer of compressive residual stress in the surface of a part
US20040245323A1 (en) * 2003-06-05 2004-12-09 Offer Henry P. Fusion-welding of defective components to preclude expulsion of contaminants through the weld
US20050205273A1 (en) * 2004-03-19 2005-09-22 Yiu Chih H Method for driving electric percussion tool
US20070181541A1 (en) * 2004-07-29 2007-08-09 Mitsubishi Heavy Industries, Ltd Residual stress improving apparatus for piping technical field
US7485828B2 (en) * 2004-07-29 2009-02-03 Mitsubishi Heavy Industries, Ltd. Residual stress improving apparatus for piping technical field
US20080223106A1 (en) * 2006-01-10 2008-09-18 Mitsubishi Heavy Industries, Ltd. Tip tool guide apparatus and method for bringing in tip tool guide apparatus
US7690234B2 (en) * 2006-01-10 2010-04-06 Mitsubishi Heavy Industries, Ltd. Tip tool guide apparatus and method for bringing in tip tool guide apparatus
US8061582B2 (en) * 2006-12-14 2011-11-22 Saipem S.P.A. Pipe-joining method and apparatus for producing underwater pipelines, and underwater-pipeline-laying vessel comprising such an apparatus
US20080264451A1 (en) * 2007-03-23 2008-10-30 Kabushiki Kaisha Toshiba Apparatus and method for processing inside of pipe
US20100147047A1 (en) * 2007-04-12 2010-06-17 Saipem S.A. Method of Making an Udersea Pipe, the Method Including Peening Assembly Welds Inside the Pipe

Cited By (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012106285A (ja) * 2010-10-26 2012-06-07 Nippon Steel Corp 溶接継手及び溶接継手の製造方法
US20130036787A1 (en) * 2011-08-08 2013-02-14 Arthur Eugene Johnson Pipe expander
JP2013071140A (ja) * 2011-09-27 2013-04-22 Nippon Steel & Sumitomo Metal Corp 耐疲労特性に優れた溶接継手及びその製造方法
US20130086970A1 (en) * 2011-10-06 2013-04-11 PeenMet Linear Motion Peening
US20180029154A1 (en) * 2013-05-23 2018-02-01 Crc-Evans Pipeline International, Inc. Rotating welding system and methods
US11767934B2 (en) 2013-05-23 2023-09-26 Crc-Evans Pipeline International, Inc. Internally welded pipes
US10695876B2 (en) 2013-05-23 2020-06-30 Crc-Evans Pipeline International, Inc. Self-powered welding systems and methods
US10589371B2 (en) * 2013-05-23 2020-03-17 Crc-Evans Pipeline International, Inc. Rotating welding system and methods
US11175099B2 (en) 2013-05-23 2021-11-16 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
US10480862B2 (en) 2013-05-23 2019-11-19 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
US10828715B2 (en) 2014-08-29 2020-11-10 Crc-Evans Pipeline International, Inc. System for welding
US20160256973A1 (en) * 2015-03-04 2016-09-08 Chung-Yuan Christian University System of Detection and Transmission of Ultrasonic Machining
US20160256971A1 (en) * 2015-03-05 2016-09-08 Chung-Yuan Christian University Interface apparatus of transmission
CN105215831A (zh) * 2015-09-09 2016-01-06 浙江中五钢管制造有限公司 不锈钢管外径抛光装置
US20180281119A1 (en) * 2015-10-07 2018-10-04 Esab Ab Pipe crawling welding device and method of welding pipes with such device
US20170291242A1 (en) * 2016-04-08 2017-10-12 Structural Services, Inc. Systems and methods for automated stud placement and welding
US11458571B2 (en) 2016-07-01 2022-10-04 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
JP2018069386A (ja) * 2016-10-31 2018-05-10 Ｊｆｅスチール株式会社 大径鋼管用管内面研削装置
EP3580485A4 (fr) * 2017-02-13 2021-04-28 Webco Industries, Inc. Soudures écrouies et procédés associés
US11666980B2 (en) 2017-02-13 2023-06-06 Webco Industries, Inc. Work hardened welds and methods for same
EP4425025A1 (fr) 2017-02-13 2024-09-04 Webco Industries, Inc. Soudures durcies par travail et leurs procédés
US11339900B2 (en) 2017-02-13 2022-05-24 Webco Industries, Inc. Work hardened welds and methods for same
WO2018148718A1 (fr) 2017-02-13 2018-08-16 Webco Industries, Inc. Soudures écrouies et procédés associés
US11014181B2 (en) 2017-02-13 2021-05-25 Webco Industries, Inc. Work hardened welds and methods for same
CN106989769A (zh) * 2017-05-28 2017-07-28 南昌理工学院 一种传感器系统及其检测方法
AU2018309216B2 (en) * 2017-08-01 2021-02-04 Wuhan Easy-Sight Technology Co., Ltd. Robot and system for pipeline rehabilitation with ultraviolet curing
WO2019024558A1 (fr) * 2017-08-01 2019-02-07 武汉中仪物联技术股份有限公司 Robot et système de remise en état de tuyau à l'aide de traitement aux ultraviolets
US11041587B2 (en) 2017-08-01 2021-06-22 Wuhan Easy-Sight Technology Co., Ltd. Ultraviolet curing pipeline repair robot and system
US10821534B2 (en) * 2017-09-18 2020-11-03 Raul Cardona Cylinder welding system
US20190084066A1 (en) * 2017-09-18 2019-03-21 Raul Cardona Cylinder Welding System
CN108817621A (zh) * 2018-08-02 2018-11-16 威海万丰镁业科技发展有限公司 低频声场调控式纵向运动电弧钨极氩弧焊焊接装置及方法
EP3936276A4 (fr) * 2019-03-08 2022-04-20 JFE Steel Corporation Procédé de martelage
US12305246B2 (en) 2019-03-08 2025-05-20 Jfe Steel Corporation Needle-peening method
CN110202444A (zh) * 2019-06-04 2019-09-06 武振兴 一种环保型聚乙烯管内端面打磨装置
US20220234133A1 (en) * 2019-06-13 2022-07-28 Sms Group Gmbh Fixing a strip end segment of a metal strip coil to an adjacent strip winding
CN110497284A (zh) * 2019-09-10 2019-11-26 桂林航天工业学院 一种发动机进气系统用进气管加工设备
CN110757303A (zh) * 2019-09-19 2020-02-07 河南平高电气股份有限公司 一种管筒内壁面自动抛光装置
US11344974B2 (en) * 2019-10-16 2022-05-31 Saudi Arabian Oil Company Optimized method and system for internal coating of field girth welds
US11590624B2 (en) * 2019-12-05 2023-02-28 Saudi Arabian Oil Company Internal grinding device for pipes and weld joints
US20210170539A1 (en) * 2019-12-05 2021-06-10 Saudi Arabian Oil Company Internal grinding device for pipes and weld joints
CN112676739A (zh) * 2020-12-17 2021-04-20 浙江科技学院 一种伸入式焊接装置
WO2024159205A1 (fr) * 2023-01-27 2024-08-02 Ohio State Innovation Foundation Systèmes et procédés pour la déformation incrémentielle locale de régions de composant locales
CN115945828A (zh) * 2023-01-30 2023-04-11 西京学院 一种管材焊接焊缝的应力消除装置及使用方法
CN116442106A (zh) * 2023-06-19 2023-07-18 山东工程职业技术大学 一种高精度机械加工误差检测装置
CN117403054A (zh) * 2023-10-02 2024-01-16 中国科学院金属研究所 一种金属板材表面积分冲击抗疲劳装置及强化方法
CN119870780A (zh) * 2025-03-27 2025-04-25 中国五冶集团有限公司 一种建筑工程用钢材焊接装置及其使用方法
CN119973758A (zh) * 2025-03-28 2025-05-13 天津瀛海实业有限公司 一种钢管内壁打磨装置

Also Published As

Publication number Publication date
FR2920105A1 (fr) 2009-02-27
WO2009024406A1 (fr) 2009-02-26
EP2178672A1 (fr) 2010-04-28
BRPI0815589A2 (pt) 2015-02-18
FR2920105B1 (fr) 2010-02-05
EP2178672B1 (fr) 2013-05-01

Similar Documents

Publication Publication Date Title
US20110107571A1 (en) Peening Device for Peening Welds Inside Steel Submarine Pipes, Process for Producing Steel Submarine Pipes Using Such a Device, and Submarine Connection Pipe
US20100147047A1 (en) Method of Making an Udersea Pipe, the Method Including Peening Assembly Welds Inside the Pipe
US8366351B2 (en) Method of making an undersea pipe including anticorrosion linings and welds
EP2254724B1 (fr) Martelage par choc laser
US7698937B2 (en) Method and apparatus for detecting defects in oilfield tubulars
US8123437B2 (en) Pipeline assembly comprising an anchoring device
AU2021105106A4 (en) Monitoring device and method for dynamic development of overburden mining separated bed
JP3514875B2 (ja) 遠隔炉内作業装置および方法
US9308600B2 (en) Arc guiding, gripping and sealing device for a magnetically impelled butt welding rig
CN110257623B (zh) 一种轴承外圈的激光冲击强化方法及其装置
JP5113837B2 (ja) 予防保全・補修装置および予防保全・補修方法
JP7730596B2 (ja) 配管接続機構、配管接続方法、及び配管接続装置
EP3417142B1 (fr) Dispositif d'amélioration des performances à la fatigue
CN215699032U (zh) 一种立管管内缺陷焊接维修装置
US9446470B2 (en) Enhanced magnetically impelled arc butt wielding (MIAB) technology
US20050116468A1 (en) Threaded connectors for axial alignment of tubular components, and method of installing pipe sections employing such connectors
CN113958306B (zh) 一种井下油管腐蚀监测装置及方法
CN222673883U (zh) 一种用于海上风电海缆柔性保护套管贯穿安装的牵引装置
US20250314133A1 (en) Remotely operated attachment to provide alignment between viv fairing structures
CN217371965U (zh) 一种防腐钢管用抛丸机
AU2017294125B2 (en) Method for connecting two individual elements of an underwater fluid-transport pipe subject to fatigue
CN119825993A (zh) 用于海底管线铺装的导向磁场锚钉埋设机器人及使用方法
CN107263337A (zh) 全气动四枪头海洋管道喷砂行走机构

Legal Events

Date Code Title Description
AS Assignment

Owner name: SAIPEM S.A., FRANCE

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KERDILES, ERIC;GOALABRE, JEAN-YVES;ROCHER, XAVIER;REEL/FRAME:024198/0815

Effective date: 20100331

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION