Detection equipment for gas leakage of process pipeline

Abstract

The invention relates to the field of gas leakage detection, in particular to detection equipment for gas leakage of a process pipeline. Operators do not need to climb to work, so that the leakage inspection efficiency and safety of the process pipeline are effectively improved; comprising a walking and climbing mechanism, and the walking and climbing mechanism comprises a rack and two holding and climbing devices installed on the two sides of the lower portion of the bottom of the rack. The holding climber comprises an arm frame rotationally installed on the rack, a first driver installed on the rack and providing power for rotation of the arm frame, an installation base installed at the bottom of the arm frame, a clamping device installed on the installation base and a walking driver installed at the clamping end of the clamping device. A sensor module; the sensor module is mounted on the mounting seat on one of the holding climbers; the clamping device comprises two first clamping arms rotationally mounted on the mounting base, a first driving cylinder fixedly mounted on the mounting base and a driving arm mounted at the output end of the first driving cylinder.

Description

Technical Field

[0001] The invention relates to the technical field of gas leakage detection, and in particular to a detection device for gas leakage in a process pipeline. Background Art

[0002] At present, in industrial sites such as chemical plants, gases are basically transported using process pipelines on overhead pipe galleries. Because some of the transported gases are flammable and explosive, operators are required to inspect the process pipelines regularly.

[0003] For example, a Chinese invention patent discloses a pipeline gas leakage detection device and a detection method thereof (Announcement No. CN104913204B), the detection device includes a leaking gas collection device and a sensor module arranged inside the leaking gas collection device, the leaking gas collection device is provided with an air inlet and an air outlet controlled by a solenoid valve, the sensor module includes a gas pressure sensor, a signal acquisition device and a signal output device; the method is: start the solenoid valve to open the air outlet, and the initial gas pressure is detected by the sensor module and recorded as p0; close the solenoid valve, after a time Δt, the sensor module is started, and the current gas pressure is detected to be p1; if p0=p1, there is no gas leakage. The pipeline gas leakage detection device is highly practical, low-cost, and has a high safety factor. At the same time, a simple and effective detection method is designed, which can quickly and effectively detect gas leakage at the interface flange of the gas transmission pipeline.

[0004] The above-mentioned existing technical solutions have the following defects: although the above-mentioned sensor module can detect the leakage source of the process pipeline, the operator is required to climb to the overhead pipe gallery and hold the sensor module to detect the pipeline along the process pipeline; manual high-altitude operations and close contact with leaked toxic and harmful gases pose great safety hazards; the inspection efficiency is low and there are certain limitations in use. Summary of the invention

[0005] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a detection device for gas leakage in a process pipeline, which improves the efficiency and safety of gas leakage detection in the process pipeline.

[0006] (II) Technical solution To achieve the above object, the present invention provides the following technical solution: a detection device for gas leakage in a process pipeline, comprising: A walking and climbing mechanism, the walking and climbing mechanism comprises a frame and two holding and climbing devices installed on both sides below the bottom of the frame, the holding and climbing devices comprise an arm frame rotatably mounted on the frame, a first driver installed on the frame and providing power for the rotation of the arm frame, a mounting seat installed at the bottom of the arm frame, a clamp installed on the mounting seat, and a walking driver installed at the clamping end of the clamp; A sensor module is used for detecting gas leakage in a process pipeline; the sensor module is installed at a mounting seat on one of the holding and climbing devices.

[0007] Preferably, the clamp includes two first clamping arms rotatably mounted on a mounting seat, a first driving cylinder fixedly mounted on the mounting seat and a driving arm mounted on an output end of the first driving cylinder, a driving column being mounted on the first clamping arm, an inclined sliding groove being provided on the driving arm, and the driving column being slidably mounted in the sliding groove; the travel drive is mounted on the end of the first clamping arm, and the travel drive includes a housing, driving wheels rotatably mounted on both sides of the housing, a crawler mounted on the driving wheels, and a second drive built into the housing and providing power for the rotation of the driving wheels.

[0008] Preferably, a rotating frame is rotatably mounted at the bottom of the arm, the mounting seat is fixedly mounted on the rotating frame, the frame is installed with a rotating driver that provides power for the rotation of the rotating frame, the rotating driver includes a third driver and an arm fixedly mounted on the output end of the third driver, and the arm is hinged to the rotating frame.

[0009] Preferably, it further includes two second drive cylinders, the frame includes a first frame body and a second frame body, one end of the two second drive cylinders are hinged to the first frame body, the other end of the two second drive cylinders are hinged to the second frame body, and the two second drive cylinders are arranged in parallel.

[0010] Preferably, it also includes a shutter and two semicircular covers installed on the clamping ends of the shutter, the shutter is installed on one of the holding and climbing devices, the shutter includes a seat, two driving gears rotatably installed on the seat and meshing with each other, a second clamping arm fixedly installed on the driving gears, and a fourth driver providing power for the rotation of one of the driving gears; the semicircular cover is fixedly installed on the second clamping arm, and the detection end of the sensor module extends into the semicircular cover.

[0011] Preferably, a sealing rubber ring is provided on the semicircular cover body.

[0012] Preferably, it also includes a visual inspection mechanism, which includes a semi-ring frame installed on one of the holding and climbing devices, two arc-shaped disc frames rotatably installed on the semi-ring frame, and a fifth drive that provides power for the rotation of the two arc-shaped disc frames, and a camera is installed on the arc-shaped disc frame.

[0013] Preferably, the arm is a length-adjustable arm.

[0014] (III) Beneficial effects Compared with the prior art, the present invention provides a detection device for gas leakage in process pipelines, which has the following beneficial effects: The detection device for gas leakage in process pipelines uses the clamps on the two holding and jumping devices to make the travel driver in close contact with the outer wall of the process pipeline. The travel driver can drive the monitoring device to move along the outer wall of the process pipeline. When encountering pipe fittings such as flanges or instruments, one of the holding and jumping devices is always in close contact with the process pipeline, and the clamp on the other holding and jumping device drives the corresponding travel driver to move away from the center of the process pipeline until the two are in a disengaged state. Then the first driver on the holding and jumping device drives the arm frame to rotate until the mounting seat on the holding and jumping device tends to be parallel to the frame and is in a state of being parallel to the process pipeline. The first driver on the holding and jumping device engaged with the process pipeline moves synchronously and drives the frame to rotate until the bottom of the other holding and jumping device is higher than the pipe fittings on the process pipeline, and the walking driver on the holding and jumping device engaged with the process pipeline moves and drives the frame to move forward along the process pipeline. Then, according to the above principle, one group of holding and jumping devices that cross the obstacle re-engages with the process pipeline, and the other group of holding and jumping devices crosses the obstacle on the process pipeline. In this way, the process pipeline on the overhead pipe gallery can be inspected for leakage through the sensor module, without the need for operators to work at height, effectively improving the efficiency and safety of leakage inspection of process pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural diagram of this application; Figure 2 It is a front plan view of the present application; Figure 3 This application Figure 2 Sectional structure diagram at AA in the middle; Figure 4 This application Figure 2 Sectional structure diagram at BB in the middle; Figure 5 This application Figure 2 Cross-sectional structure diagram at CC; Figure 6 This application Figure 5 Sectional structure diagram at DD in the middle; Figure 7 This application Figure 1 A partial enlarged structural diagram in the middle.

[0016] Markings in the accompanying drawings: 1. frame; 2. arm; 3. first driver; 4. mounting seat; 5. sensor module; 6. first clamping arm; 7. first driving cylinder; 8. driving arm; 9. driving column; 10. slide; 11. shell; 12. driving wheel; 13. crawler track; 14. second driver; 15. rotating frame; 16. third driver; 17. arm; 18. second driving cylinder; 19. first frame; 20. second frame; 21. semicircular cover; 22. seat; 23. driving gear; 24. second clamping arm; 25. fourth driver; 26. sealing rubber ring; 27. semi-ring frame; 28. arc disc frame; 29. ​​fifth driver; 30. camera. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the invention, the technical solutions in the embodiments of the invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the invention. Obviously, the described embodiments are only embodiments of a part of the invention, not all of the embodiments. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the invention.

[0018] A pipeline gas leakage detection device and a detection method thereof as described in the background technology; although the above-mentioned sensor module can detect the leakage source of the process pipeline, the operator is required to climb to the overhead pipe gallery and hold the sensor module to detect the pipeline along the process pipeline; manual high-altitude operations and close contact with leaked toxic and harmful gases pose great safety hazards; the inspection efficiency is low and there are certain limitations in use.

[0019] In order to solve this technical problem, the present invention provides a detection device for gas leakage in a process pipeline, which is applied to gas leakage detection.

[0020] Reference Figure 1-3 , a detection device for gas leakage in a process pipeline, comprising: a walking and climbing mechanism, the walking and climbing mechanism comprising a frame 1 and two holding and climbing devices installed on both sides below the bottom of the frame 1, the holding and climbing devices comprising an arm frame 2 rotatably installed on the frame 1, a first driver 3 installed on the frame 1 and providing power for the rotation of the arm frame 2, a mounting seat 4 installed at the bottom of the arm frame 2, a clamp installed on the mounting seat 4, and a walking driver installed at the clamping end of the clamp; Sensor module 5, sensor module 5 is used for detecting gas leakage in process pipeline; sensor module 5 is installed at the mounting seat 4 on one of the holding and climbing devices; further, the first driver 3 adopts a servo motor with a built-in brake, and other other drivers with the effect of driving the arm 2 to rotate and brake can also be used; the clamp is preferably a mechanical clamp with an opening and closing effect, and the walking driver can adopt a crawler or wheel walking trolley; the sensor module 5 can choose the sensor disclosed in the above background technology, or it can adopt a conventional gas leak detector on the market, such as a fuel gas leak detector; the corresponding sensor module 5 can be appropriately selected according to the nature of the gas transported in the process pipeline, and the principle of the sensor module 5 and the type of detected gas are not further limited here. The user can choose the corresponding model of sensor according to the leakage detection requirements of different gases; when the two holding and climbing devices drive the frame 1 to climb over the obstacles on the process pipeline, the leaping action of a horse can be referred to.

[0021] Please refer to Figure 5-6 The clamp includes two first clamping arms 6 rotatably mounted on the mounting seat 4, a first driving cylinder 7 fixedly mounted on the mounting seat 4 and a driving arm 8 mounted on the output end of the first driving cylinder 7, a driving column 9 is mounted on the first clamping arm 6, and an inclined slide 10 is provided on the driving arm 8, and the driving column 9 is slidably mounted in the slide 10; the travel drive is mounted on the end of the first clamping arm 6, and the travel drive includes a housing 11, driving wheels 12 rotatably mounted on both sides of the housing 11, a crawler 13 sleeved on the driving wheel 12, and a second drive 14 built into the housing 11 and providing power for the rotation of the driving wheel 12; further, the second drive 14 is preferably an electric motor and a transmission member, and the electric motor is used to drive the driving wheel 12 through the transmission member. Rotation provides power; by starting the first driving cylinder 7, the first driving cylinder 7 drives the driving arm 8 to move up and down, and the driving column 9 slides along the inner wall of the slide groove 10, the driving column 9 drives the first clamping arm 6 to rotate around the rotation point with the mounting seat 4, and the two first clamping arms 6 move away from or close to each other to achieve the engagement and disengagement of the travel drive and the process pipeline; the outer wall of the process pipeline is located between the two crawlers 13 on the travel drive, and the second driver 14 drives the driving wheel 12 to rotate, thereby driving the crawler 13 to move, and realizing the driving of the travel drive. The crawler 13 is preferably a plastic rubber crawler; such a setting can improve the holding stability of the travel drive and the process pipeline, and avoid the situation where the frame 1 rotates around the process pipeline.

[0022] Please refer to Figure 1-3A rotating frame 15 is rotatably mounted at the bottom of the arm 2, and the mounting seat 4 is fixedly mounted on the rotating frame 15. The frame 1 is equipped with a rotating driver that provides power for the rotation of the rotating frame 15. The rotating driver includes a third driver 16 and an arm 17 fixedly mounted at the output end of the third driver 16, and the arm 17 is hinged to the rotating frame 15; further, the third driver 16 preferably adopts a servo motor with a built-in brake; the third driver 16 can drive the arm 17 to rotate, and after the arm 17 is driven, the rotating frame 15 drives the mounting seat 4 to rotate, thereby adaptively adjusting the angle of the mounting seat 4, and performing When inspecting the process pipeline, the mounting seat 4 can be adjusted to be in a vertical state with the central axis of the process pipeline; and when the detection equipment climbs over obstacles such as pipe fittings on the process pipeline, the third driver 16 and the arm 17 can assist in adjusting the rotation angle of the mounting seat 4, and when the rotation angle of the mounting seat 4 is adjusted, the third driver 16 brakes itself, and the mounting seat 4 is locked and limited by the third driver 16 and the arm 17 to ensure that the mounting seat 4 is in a stable angle state, so as to prevent the mounting seat 4 from shifting and colliding with the obstacle when climbing over the obstacle on the process pipeline. Please refer to 1-2, which also includes two second drive cylinders 18. The frame 1 includes a first frame 19 and a second frame 20. One end of the two second drive cylinders 18 is hinged to the first frame 19, and the other end of the two second drive cylinders 18 is hinged to the second frame 20. The two second drive cylinders 18 are arranged in parallel; by synchronously adjusting the elongation of the two second drive cylinders 18, the first frame 19 and the second frame 20 move away from or close to each other, thereby adaptively adjusting the length of the frame 1; when there are elbow pipe fittings on the process pipeline, the elongation of the two second drive cylinders 18 is not equidistantly extended, and an angle of ±0-90 degrees can be formed between the first frame 19 and the second frame 20, so that the detection device can smoothly cross the elbow pipe fittings of 0-180 degrees, thereby improving the applicability of the detection equipment.

[0023] Please refer to Figure 3, also includes a shutter and two semicircular covers 21 installed at the clamping ends of the shutter, the shutter is installed on one of the holding and climbing devices, the shutter includes a seat 22, two driving gears 23 rotatably installed on the seat 22 and meshing with each other, a second clamping arm 24 fixedly installed on the driving gear 23 and a fourth driver 25 that provides power for the rotation of one of the driving gears 23; the semicircular cover 21 is fixedly installed on the second clamping arm 24, and the detection end of the sensor module 5 extends into the semicircular cover 21; further, the fourth driver 25 adopts a driving motor and a gear set, the driving motor is fixedly installed on the seat 22, and the output end of the driving motor is connected to the corresponding driving gear 23 through the gear set; the fourth driver 25 can also adopt other drivers that have the effect of driving the driving gear 23 to rotate; the two semicircular covers 21 and the outer wall of the process pipeline to be inspected are surrounded by A confined space, in which the gas can be detected by the sensor module 5; when the amount of gas leaking from the process pipeline is small and the concentration is low, it is difficult to detect the leaked gas through the sensor module 5; at this time, the fourth driver 25 can be started to drive one of the drive gears 23 to rotate, and the other drive gear 23 can move synchronously, the two second clamping arms 24 are close to each other, and the semicircular cover 21 completely covers the suspected leakage point of the process pipeline. The two semicircular covers 21 and the outer wall of the process pipeline to be inspected form a confined space to collect the leaked gas. When the leaked gas reaches a certain concentration, it can be successfully captured by the sensor module 5, thereby improving the accuracy of gas leakage detection in the process pipeline; when the detection equipment moves along the process pipeline, the two semicircular covers 21 are in an open state after moving away from each other, so as to avoid interference with the normal movement of the detection equipment.

[0024] A sealing rubber ring 26 is provided on the semicircular cover body 21; further, the sealing rubber ring 26 is preferably made of plastic rubber material, and the connection between the two semicircular cover bodies 21 and the contact between the semicircular cover body 21 and the process pipeline are sealed by the sealing rubber ring 26; the sealing rubber ring 26 can improve the sealing between the two semicircular cover bodies 21 and between the semicircular cover body 21 and the process pipeline, thereby reducing gas leakage.

[0025] Please refer to Figure 1 and Figure 4, also includes a visual inspection mechanism, the visual inspection mechanism includes a semi-ring frame 27 installed on one of the holding and climbing devices, two arc-shaped disc frames 28 rotatably installed on the semi-ring frame 27, and a fifth driver 29 that provides power for the rotation of the two arc-shaped disc frames 28, and a camera 30 is installed on the arc-shaped disc frame 28; further, the fifth driver 29 preferably drives a motor and a rotating wheel, and the driving motor provides power for the rotation of the arc-shaped disc frame 28 through the rotating wheel; the image acquisition end of the camera 30 faces the center of the pipeline to be detected; by starting the two fifth drivers 29, the two arc-shaped disc frames 28 are synchronously rotated in the opposite direction around the outer wall of the process pipeline, and the camera 30 on the arc-shaped disc frame 28 can realize a circumferential visual inspection of the outer wall of the process pipeline. When the sensor module 5 detects a gas leak, the camera 30 can accurately find the leak point at the process pipeline, further improving the inspection efficiency of the process pipeline; the camera 30 is preferably an image collector with a remote image transmission function, so that the operator can complete the visual inspection of the process pipeline on the ground.

[0026] Please refer to Figure 2-3 , the arm 2 adopts a length-adjustable frame; further, the arm 2 includes a fixed arm and an adjusting arm, the fixed arm is provided with a plurality of adjustment holes, and the adjusting arm is detachably connected to the adjustment holes on the fixed arm by bolts; the arm 2 can adopt other adjustment frames with height adjustment effects such as a telescopic frame; by adjusting the height of the arm 2, the overall height of the frame 1 can be adjusted, thereby ensuring that the frame 1 smoothly crosses obstacles of different heights on the process pipeline, further improving the applicability of the detection equipment.

[0027] The use principle of the detection device for gas leakage in process pipelines is as follows: the travel drive is closely contacted with the outer wall of the process pipeline through the clamps on the two holding and climbing devices, and the travel drive can drive the monitoring device to move along the outer wall of the process pipeline. When encountering pipe fittings such as flanges or instruments, one of the holding and climbing devices is always closely held with the process pipeline, and the clamp on the other holding and climbing device drives the corresponding travel drive to move away from the center of the process pipeline until the two are in a disengaged state, and then the first drive 3 on the holding and climbing device drives the arm 2 to rotate until the mounting seat 4 on the holding and climbing device tends to be parallel to the frame 1, and the first drive 3 on the holding and climbing device that is held with the process pipeline moves synchronously and drives the frame 1 to rotate until the bottom of the other holding and climbing device is higher than the pipe fittings on the process pipeline, and the travel drive on the holding and climbing device that is held with the process pipeline moves and drives the frame 1 to move forward along the process pipeline, and then according to the above principle, a group of holding and climbing devices that cross the obstacle re-engage with the process pipeline, and the other group of holding and climbing devices that cross the obstacle re-engage with the process pipeline, and the other group of holding and climbing devices that cross the obstacle re-engage with the process pipeline. A group of holding jumpers cross the obstacles on the process pipeline, which can refer to the action of a horse crossing an obstacle; the extension of the two second drive cylinders 18 is adjusted respectively to change the angle and distance between the first frame 19 and the second frame 20, so that the angle and distance between the first frame 19 and the second frame 20 are consistent with the angle of the elbow on the process pipeline, so that the detection equipment can smoothly pass through the elbow on the process pipeline; when the suspected gas leakage point is reached, the fourth driver 25 is started, so that the fourth driver 25 drives one of the drive gears 23 to rotate, and the other drive gear 23 moves synchronously, and the two second clamping arms 24 approach each other, and the semicircular cover 21 completely covers the suspected leakage point of the process pipeline. The two semicircular covers 21 and the outer wall of the process pipeline to be inspected form a closed space to collect the leaked gas, and the gas in the closed space can be detected by the sensor module 5, and the circumferential direction of the process pipeline can be visually inspected by the visual inspection mechanism, and the gas leakage point of the process pipeline can be visually inspected and located.

[0028] In the invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be mechanically connected, electrically connected, or able to communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0029] Obviously, the embodiments described above are only some embodiments of the invention, not all embodiments. The preferred embodiments of the invention are given in the drawings, but they do not limit the patent scope of the invention. The invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the invention more thorough and comprehensive. Although the invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the invention specification and the drawings, directly or indirectly used in other related technical fields, is also within the scope of protection of the invention patent.

Claims

1. A detection device for gas leakage in process pipelines, characterized in that: include: A walking and climbing mechanism, the walking and climbing mechanism comprising a frame (1) and two holding and climbing devices mounted on both sides below the bottom of the frame (1), the holding and climbing devices comprising an arm frame (2) rotatably mounted on the frame (1), a first driver (3) mounted on the frame (1) and providing power for the rotation of the arm frame (2), a mounting seat (4) mounted on the bottom of the arm frame (2), a clamp mounted on the mounting seat (4), and a walking driver mounted on the clamping end of the clamp; A sensor module (5), the sensor module (5) is used for detecting gas leakage in a process pipeline; the sensor module (5) is installed at a mounting seat (4) on one of the holding and climbing devices.

2. The detection device for gas leakage in process pipeline according to claim 1, characterized in that: The clamp comprises two first clamping arms (6) rotatably mounted on a mounting seat (4), a first driving cylinder (7) fixedly mounted on the mounting seat (4), and a driving arm (8) mounted on an output end of the first driving cylinder (7), a driving column (9) being mounted on the first clamping arm (6), an inclined sliding groove (10) being provided on the driving arm (8), and the driving column (9) being slidably mounted in the sliding groove (10); The travel drive is mounted on an end of the first clamping arm (6), and comprises a housing (11), drive wheels (12) rotatably mounted on both sides of the housing (11), tracks (13) sleeved on the drive wheels (12), and a second drive (14) built into the housing (11) and providing power for the drive wheels (12) to rotate.

3. The detection device for gas leakage in process pipeline according to claim 2, characterized in that: A rotating frame (15) is rotatably mounted on the bottom of the arm frame (2); the mounting seat (4) is fixedly mounted on the rotating frame (15); the frame (1) is mounted with a rotating driver for providing power for the rotating frame (15) to rotate; the rotating driver comprises a third driver (16) and an arm (17) fixedly mounted on an output end of the third driver (16); the arm (17) is hingedly connected to the rotating frame (15).

4. The detection device for gas leakage in process pipeline according to claim 3, characterized in that: It also includes two second drive cylinders (18), the frame (1) includes a first frame body (19) and a second frame body (20), one end of the two second drive cylinders (18) is hinged to the first frame body (19), the other end of the two second drive cylinders (18) is hinged to the second frame body (20), and the two second drive cylinders (18) are arranged in parallel.

5. The detection device for gas leakage in process pipeline according to claim 1, characterized in that: It also includes a shutter and two semicircular covers (21) mounted on the clamping ends of the shutter, the shutter being mounted on one of the holding and climbing devices, the shutter comprising a seat (22), two driving gears (23) rotatably mounted on the seat (22) and meshing with each other, a second clamping arm (24) fixedly mounted on the driving gear (23), and a fourth driver (25) providing power for the rotation of one of the driving gears (23); the semicircular cover (21) is fixedly mounted on the second clamping arm (24), and the detection end of the sensor module (5) extends into the semicircular cover (21).

6. The detection device for gas leakage in process pipeline according to claim 5, characterized in that: The semicircular cover (21) is provided with a sealing rubber ring (26).

7. The detection device for gas leakage in process pipeline according to claim 1, characterized in that: The device also includes a visual inspection mechanism, which includes a semi-ring frame (27) mounted on one of the holding and climbing devices, two arc-shaped disc frames (28) rotatably mounted on the semi-ring frame (27), and a fifth driver (29) providing power for the rotation of the two arc-shaped disc frames (28), and a camera (30) is mounted on the arc-shaped disc frame (28).

8. The detection device for gas leakage in process pipeline according to claim 1, characterized in that: The arm frame (2) is a length-adjustable frame.

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