Device for automated or semi-automated production of polymer-reinforced pipe elements with tolerance pipe sections and polymer-reinforced pipe elements

Abstract

The utility model relates to a method for automatically or semi-automatically manufacturing a polymer reinforced pipe element (100) by using tolerance pipe sections (101, 102), which comprises the following steps of: providing a first pipe section (101) and a second pipe section (102), the pipe sections being respectively provided with a connecting area which is used for being connected with the other pipe section; detecting a spatial shape of the first pipe section and a spatial shape of the second pipe section in the connection region; determining a spatial penetration curve as a function of the superposition of the spatial shapes; determining a cutting profile in the connection region of the first pipe section and a cutting profile in the connection region of the second pipe section as a function of the penetration curve, respectively; creating facets (115, 117) in the connection region of the first and second pipe sections along the respective cutting profile; orienting the resulting facets of the tube sections to each other; and welding the first and second pipe sections along ridge surfaces oriented to each other along a specific space penetration curve. The utility model further relates to equipment for automatically or semi-automatically manufacturing the polymer reinforced pipe element.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of equipment for using toleranced pipe sections to manufacture polymer-reinforced pipe element automatically or semi-automatically. BACKGROUND

[0002] Manufacturing polymer-reinforced pipe elements is known, for example, from EP 2623163 B1, EP 2766653 B1 and WO 2020 / 002502 A1. The possibility of applying a highly corrosion-resistant and durable coating to a pipe by means of polymer reinforcement is particularly important in application areas in which the durability of the corrosion resistance is of safety-relevant importance. Emphasized examples for such application purposes are the use of polymer-reinforced pipe elements in fire-extinguishing installations, but also the use of such polymer-reinforced pipe elements in industrial installations with corrosion-promoting media that have to be transported or in corrosion-promoting environments, such as fluid line systems in maritime environments, are increasingly important application areas.

[0003] It is known that, for a successful coating when polymer-reinforced, it is important to avoid potential subsequent corrosion pits during pipe manufacture. It is also known, for example, from the documents mentioned, that pipe elements composed of a plurality of pipe sections, such as, for example, a base body and a pipe joint arranged laterally thereon, are connected to one another by means of welding, wherein in the region of the welds, due to occurring contaminants, shape deviations and other factors, the formation of such corrosion nests or the incorrect composition of the coating due to surface artifacts can be caused. It is furthermore known that, by means of comprehensive root cause detection in the welding process, most of these problem sites on the inside of the pipe can be eliminated quite reliably in a subsequent pickling process.

[0004] It has proven in practice that, when using toleranced pipes with regard to their wall thickness, roundness and pipe bending, which can differ from pipe to pipe, the manufacture of pipe elements from a plurality of pipe sections by means of welding then faces particular challenges. But for reasons of business economics and just for application cases in which very large quantities, i.e. pipe lengths, have to be processed, it is sought to use such pipes. SUMMARY

[0005] It is therefore an object of the utility model to propose a method of the type mentioned at the outset, in which the disadvantages described above are overcome as far as possible. In particular, the utility model is based on the object of proposing a method of the type described at the outset which allows the manufacture of pipe elements to be beneficial for business economics without impairing the quality of the surface coating by means of polymer reinforcement.

[0006] The utility model solves the object based here in terms of a method of the type described at the outset in that the method has the following steps:

[0007] - providing a first pipe section and a second pipe section, wherein the pipe sections each have a connection region which is provided for connection with the other pipe section, respectively;

[0008] - detecting the spatial shape of the first pipe section and the spatial shape of the second pipe section, respectively, in the connection region;

[0009] - determining a common spatial penetration curve as a function of the superimposition of the spatial shapes,

[0010] - determining a cutting contour in the connection region of the first pipe section and a cutting contour in the connection region of the second pipe section, respectively, as a function of the common spatial penetration curve,

[0011] - producing facets along the respective cutting contours in the connection regions of the first and second pipe sections;

[0012] - orienting the produced facets of the pipe sections to each other; and

[0013] - welding the first and second pipe sections along the oriented facets along the determined spatial penetration curve.

[0014] A toleranced pipe is understood, for example, as a pipe in which the deviation of the outer diameter is up to + / - 1 %, which corresponds to a tolerance band of approximately 4 mm in the case of a nominal width of DN 200. The tolerances of the pipe element with respect to the wall thickness can be + / - 10 % in the sense of the present invention in a toleranced pipe, so that the inner contour can be in a tolerance band of up to 0.4 mm in a pipe with a diameter of DN 200. The shape accuracy is up to 2 % in a toleranced pipe and the deviation of the straightness is 3 mm per meter.

[0015] The present invention makes use of the knowledge that, by determining a spatial penetration curve on the basis of the spatial shapes of two pipe sections, it is possible to provide a reference set for the shapes to be introduced into the two pipe sections, which ensures an exact shape correspondence of the first and second pipe sections in their connection region, despite shape deviations caused by tolerances in practice.

[0016] It is possible with the present invention to process pipes which have been dimensioned extremely accurately from the factory and are toleranced, but also pipes which have deviations in the tolerance range described above or even greater deviations. In other words, the common spatial penetration curve makes it possible to introduce the exact outer shape of the first pipe section as a cut facet into the second pipe section when the second pipe section is a joint and the first pipe section is an elongate basic pipe. Furthermore, the common penetration curve makes it possible to introduce the exact shape of the second pipe section as a cutout into the first pipe section.

[0017] Preferably, the step of welding the first and second pipe sections is performed in a unique continuous movement. This means that the welding device is set up and moved through the joint in a common spatial penetration curve until the weld is complete without being removed temporarily. The welding device is preferably removed only when the set-up site is reached again and in particular when the root of the weld is formed which connects to one another. Thereby, the process reliably achieves the desired weld quality, for example a grade B according to DIN EN ISO 5817:2014 or a similar other standard. This approach can be achieved by determining and subsequently using a common spatial penetration curve. The weld formed in a unique continuous process thereby forms more regularly than a weld produced manually or semi-automatically, whereby in turn the ability of the pipe element to form a low-defect or defect-free surface coating by means of polymer reinforcement is improved.

[0018] A preferred embodiment of the method according to the application is set out in the subsequent description.

[0019] In a first refinement of the method, the step of determining the spatial shape comprises providing an idealized model of the first pipe section and an idealized model of the second pipe section and determining a deviation of the detected shape of the pipe sections from the respective model. The idealized model is for example a cylinder having a predetermined theoretical outer diameter of the pipe section. The outer diameter is also a variable detected in a measuring technique. In the method step, in other words, the actual deviation of the pipe sections from their desired geometry is detected.

[0020] In one refinement of the method, the step of determining the spatial penetration curve comprises providing or generating an idealized penetration curve of the idealized model and generating the spatial penetration curve by applying the deviation of the spatial shape to the idealized penetration curve.

[0021] In one alternative preferred embodiment, the step of determining the spatial shape comprises determining point clouds for both pipe sections, wherein the point clouds lie on the respective surfaces of the pipe sections in the respective joining region and characterize the spatial shape of the pipe sections in the joining region, and wherein the step of determining the spatial penetration curve preferably further comprises forming the spatial penetration curve from the intersection of the point clouds. According to this variant, in other words, points are found which have the same coordinates in both point clouds. As long as the two detection steps are not performed in the same coordinate system, the point clouds are preferably transformed into a common coordinate system.

[0022] The advantages of the utility model are shown particularly here: by means of the common space-penetrating curve, it is possible to perform all steps of the machining of the pipe sections, such as, for example, their positioning in the facility, the creation of edges in the connection region for the subsequent welding, cleaning and calibration of the cutting faces produced, and even the welding on precisely the same trajectory respectively as a function of the space-penetrating curve in a semi-automated or automated method. Thereby, sources of error that can possibly be associated with imprecise positioning or possibly derived from unpredictable shaping of the pipe sections are excluded as far as possible.

[0023] The method is preferably improved in that the method comprises the step of clamping the first pipe section by means of a clamping device, preferably such that the first pipe section is rotatably accommodated about an axis of rotation of the clamping device. The first pipe section is in other words preferably rotatably clamped about a defined instantaneous pole, which represents the theoretical center of the pipe if the pipe corresponds to an idealized cylinder. The rotational function can be realized, for example, by rotating the entire clamping device about the pipe center axis, which also forms the so-called tool center point (TCP) of the common coordinate system, or by rotating only the first pipe section. The method according to the utility model can in principle also be performed if the rotatability of the pipe sections is waived.

[0024] Furthermore preferably, the method comprises the step of accommodating the second pipe section by means of an operating device, in particular an operating robot, and the step of positioning the second pipe section in a fixed position relative to the first pipe section. In a first preferred variant, the operating device continuously holds the second pipe section in the fixed position relative to the first pipe section until the welding is performed. In a preferred second alternative, the second pipe section is held by means of the operating device only until it is mechanically fixed in another way relative to the first pipe section, for example by means of a tack weld.

[0025] In a further preferred embodiment of the method, the step of creating the edge face comprises cutting a circumferential edge face at the first and second pipe sections, preferably by means of plasma cutting, wherein preferably the edge faces at the first and second pipe sections are cut to have an inner edge and an outer edge respectively.

[0026] Furthermore, the edge faces at the first and second pipe sections are preferably cleaned before the step of welding.

[0027] Furthermore preferably, the edge face to be created at the first pipe section is spaced apart from the front end of the first pipe section and defines a cutout through the wall of the first pipe section, and the edge face created at the second pipe section is constituted at the front end of the second pipe section. In other words, the first pipe section is a base pipe having a lateral recess spaced apart from the front end, and the second pipe section is a joint arranged for lateral placement at the first pipe section, which joint is oriented flush with the cutout.

[0028] The first and second pipe sections are preferably oriented at an angle of 90° + / - 0° to 5° to each other.

[0029] Alternatively or additionally, the first and second pipe sections are preferably oriented such that they abut each other without a joint gap or with a joint gap of 0.2 mm or less.

[0030] The method preferably further comprises the step of scanning the markings in the pipe sections to be machined for the step of providing the first and second pipe sections. By scanning the corresponding markings in the pipe sections it is possible to detect the (theoretical) nominal diameter, wall thickness, etc. of the pipe sections to be machined for the automation of the welding. The information detected can for example be used to automatically set up the operating equipment, clamping devices, etc.

[0031] In another preferred embodiment, the step of welding the first and second pipe sections comprises welding the pipe sections along a penetration curve; constituting a complete circumferential weld seam having a root extending up to the inner side of the pipe sections, wherein the root of the weld seam has a thickness such that at least one, and preferably both, of the inner edges is completely fused by the root, wherein the root of the weld seam completely fuses the inner edge of one of the pipe sections and the remaining inner edge of the other pipe section is spaced apart from the weld seam in the radial direction by a predetermined maximum value, wherein in particular the predetermined maximum value is a) less than or equal to half of the wall thickness of the pipe sections, particularly preferably less than or equal to a quarter of the wall thickness of the pipe sections, as long as the first and second pipe sections have the same wall thickness, or b) less than or equal to the difference in wall thickness of the pipe sections, particularly preferably less than or equal to half of the difference in wall thickness of the pipe sections, as long as the first and second pipe sections have different wall thicknesses.

[0032] The method according to the application preferably further comprises the step of applying a polymer-based layer on the inner side of the pipe element, wherein the polymer-based layer completely covers the inner side of the pipe element, wherein the application of the polymer-based layer is preferably carried out by means of autodeposition, more preferably by means of immersion of the pipe element into an immersion bath, which contains the corresponding coating medium, in particular a polymer-based autodeposition material. The addition of a polymer reinforces the method steps of the pipe, for example, can be successfully used by means of different autodeposition materials. In the past, for example, epoxy resin acryl urethane coatings, such as, for example, the phosphating agent M-PP 930, have proven to be suitable. The properties of the autodeposition materials are known and the materials are also well manageable on an industrial scale in the coating process. Autodeposition coatings are described, for example, in the documents mentioned at the beginning, the content of which is hereby fully incorporated herein.

[0033] The utility model discloses in this text in the first aspect in the method described in reference. In another aspect, the utility model also relates to a kind of equipment for utilizing the pipe section with tolerance to manufacture polymer reinforced pipe element automatically or semi-automatically, wherein pipe section has connection area respectively, and the connection area is used to connect with another pipe section respectively.

[0034] The utility model solves the problems based on the following mode: the equipment has: at least one detection device, for detecting space shape in connection area respectively;A computing unit, the computing unit is set to determine space penetration curve as the superposition of detected space shape;And determine the cutting profile in the connection area of the first and second pipe sections as the function of penetration curve;Cutting device, for generating facet in the connection area of the first and second pipe sections along corresponding cutting profile;And welding device, the welding device is set to weld the first and second pipe sections along the determined space penetration curve along the facet oriented to each other.

[0035] The equipment utilizes the same advantages and preferred embodiments as the method according to the first aspect according to the utility model, so that the above embodiments are referred to in order to avoid repetition. The preferred embodiments of the method are also the preferred embodiments of the equipment and vice versa.

[0036] In a preferred refinement of the equipment, the equipment has a device for intercepting on the inside of the first and / or second pipe section welding, cutting jet or other artificial objects, such as welding spatter, liquid metal or swarf blown from the plasma cutting process, thrown from the machining point, which is set to be positioned in the connection area of the first and / or second pipe section before welding, particularly preferably substantially relative to the welding or cutting site. Thereby, the damage and contamination of the inner surface are reduced or prevented, and the risk of impairing the surface quality in the pipe interior is reduced.

[0037] Preferably, the device has for this an interception container, which matches the inner diameter of the first pipe section and is set to intercept as many of the above-mentioned artificial objects as possible. The interception of artificial objects according to the utility model is also carried out integrally in the semi-automated or automated process, for example further described in WO 2020 / 002486 A1, the content of which is fully incorporated herein.

[0038] In a preferred embodiment, the equipment according to the utility model has a clamping device for the first pipe section and an operating device, in particular a robot, for the second pipe section.

[0039] The clamping device preferably has at least one clamping mechanism, preferably a plurality of clamping mechanisms, and is designed to rotate the first pipe section about an axis of rotation, wherein preferably the axis of rotation of the clamping device extends through the origin of the coordinate system of the common spatial penetration curve in its clamping position, or wherein the common spatial penetration curve is transformed, if necessary, into a coordinate system whose one axis is the axis of rotation. If the first pipe section has already been clamped before the detection of the spatial shape, the detection and thus also the determination of the common penetration curve can be carried out directly in the correct coordinate system, so that a transformation can be dispensed with.

[0040] In a further preferred embodiment, the clamping mechanisms comprise a clamping center which defines the axis of rotation of the clamping device. In a further preferred embodiment, the clamping mechanisms described above are first clamping mechanisms and the clamping device also has second clamping mechanisms which are arranged axially spaced apart from the first clamping mechanisms along the axis of rotation, wherein the clamping device is designed to clamp the first pipe section on both sides of the connection region by means of the clamping mechanisms. It is advantageous in this principle to select the spacing of the clamping mechanisms from one another to be as small as possible.

[0041] It is particularly preferred that the clamping mechanisms are movable relative to one another in the direction of the axis of rotation, so that the clamping spacing between the clamping mechanisms can be set in relation to the diameter of the second pipe section. The smaller the spacing of the clamping mechanisms from one another is selected, the smaller the tumbling movement of the first pipe section is when it is rotated. The tumbling movement is forced by the radial misalignment between the axis of rotation of the clamping device and the center of gravity of the first pipe section, since the pipe section does not have an idealized cylindrical shape, but also tolerances in its straightness.

[0042] Furthermore, the pipe section is preferably clamped in accordance with the expected deformation of the pipe section due to the thermal input to be expected. Thereby, the influence of the thermally induced deformation on the calculated welding trajectory is reduced.

[0043] This means that the deflection of the surface of the first pipe section is absolutely smaller, even in curved, non-linearly extending pipe sections, which simplifies the position tracking of the operating devices to be carried out for the welding operation.

[0044] In a further preferred embodiment, one or more clamping mechanisms are open on one side and are designed to receive and clamp the first pipe section from above. By the open construction of the clamping mechanisms on one side, two advantages are achieved at the same time: On the one hand, the pipe element can be placed into the clamping device from above, which significantly simplifies the operation in automated production and reduces the space requirement. On the other hand, the open area of the clamping device can provide better access to the connection sections of the pipe section for one or more operating devices from above.

[0045] In another preferred embodiment, the first and / or second clamping mechanism is designed to secure the tube section, and the clamping device or clamping mechanism is designed to pivot the clamping mechanism such that the first tube section rotates about the axis of rotation of the clamping device. It can be advantageous to rotate the entire clamping device and to secure the clamping mechanism relative to the clamping device.

[0046] The clamping mechanism is designed in one preferred embodiment as a center clamping clamping device, particularly preferably as a holder.

[0047] In another preferred embodiment, the clamping device has an arcuate guide along which the clamping mechanism is movably accommodated, wherein the guide is oriented concentrically relative to the axis of rotation and is designed to guide the clamping mechanism about the axis of rotation. In the case of a plurality of clamping mechanisms, preferably at least one, preferably a plurality or all of the clamping mechanisms are movably arranged about the axis of rotation by means of their own such guide.

[0048] In another preferred embodiment, the operating device is a first operating device, the device also having a second operating device, in particular designed as an operating robot, which has a receiving portion for different machining fittings. The fittings, also referred to as work heads, here preferably comprise one or more of the following: in order to constitute a cutting device, a cutting torch, a laser, a water jet or a machining head for chip-removing machining, including post-machining of the cutting edge, in particular for milling; as a cleaning device, a fitting for hammering, spraying, scraping, brushing or plasma spraying; in order to constitute a detection device, a mechanical surface probe, a dynamic pressure sensor, a plasma surface sensor, one or more optical sensors; in order to constitute a welding device, a welding head, for example a MIG, MAG or WIG welding head, or in the case of soldering instead of welding, a soldering device.

[0049] Preferably, the fittings each have a mounting interface which is constituted in correspondence with the receiving operating device, and have a tool center point. The tool center point is, for example, a marking tip in the case of a marker pen, a welding point in the case of a welding fitting, etc. Particularly preferably, the tool center point is identically positioned relative to its mounting interface in all fittings. This has the effect that the tool performs exactly the same movement through space with its tool center point when it is guided by the operating device along the same trajectory. This in turn leads to the fact that a plurality of tools, for example a measuring fitting, a cutting combustion fitting and / or a welding fitting, can be guided by means of a unique trajectory. It is not necessary to program or calculate a trajectory for each tool itself. In the preferred embodiment, therefore, the space-penetrating curve has to be calculated only once, but can still be used for all work steps despite possible tool changes. As a result, considerable calculation and time resources can be saved and at the same time production tolerances are reduced.

[0050] The device preferably has an electronic machine control which is connected in a signal-conducting manner with the detection means, the calculation unit, the cutting means, the welding means and preferably one, several or all clamping means, the first and / or second handling device and is set up to carry out the method according to one of the preferred embodiments described above.

[0051] The machine control can be constituted by a superordinate control which communicates in a signal-conducting manner with one, several or all of the above-mentioned means and operates the means, or can have one or more sub-control units which are each associated with the above-mentioned means and each carry out a dedicated control of the respective unit.

[0052] The program architecture is application-specific and matches the machine concept maintained by the respective facility operator, for example the electronic machine control can operate as a superordinate control two mechanical systems each with a CNC control.

[0053] The machine control preferably has a superordinate programmable logic controller (PLC) and a human-machine interface and furthermore preferably has functional units such as an order management and control of the peripherals of the device. The two mechanical systems each have a dedicated CNC control and are constituted by handling devices which are six-axis robots. The first mechanical system is preferably responsible for the first pipe section and the second mechanical system is responsible for the second pipe section.

[0054] The first mechanical system preferably has a positioning device for the pipe with clamping means and a sensor device for surface measurement with detection means. Furthermore, the first mechanical system has machining hardware for cutting the first pipe section and for welding the pipe connection between the two pipe sections, both preferably being operated by means of a handling device.

[0055] The second mechanical system preferably also has a handling device constituted by a six-axis robot and is responsible for handling and positioning the second pipe section, preferably a pipe joint. The second mechanical system preferably also has a sensor device for surface measurement, which is a detection means, and has hardware for cutting the second pipe section and for positioning the joint for joining or for joining itself, as far as required.

[0056] The utility model is described above according to the first and second aspects regarding the method according to the utility model and the device according to the utility model. The utility model also relates to a computer program product comprising instructions that, when the program is executed by a computer, preferably by a machine control of the device, cause the computer to subsequently carry out the steps of the method according to the preferred embodiments described above.

[0057] The utility model still relates to a computer readable storage medium, including instruction, when the instruction is executed by computer, preferably by the machine control device of the equipment described in the foregoing, the instruction promotes the computer to execute the steps of the method according to the preferred embodiment described in the foregoing subsequently.

[0058] Furthermore, the utility model also relates to the application of a pipe element manufactured by means of the method according to the preferred embodiment described in the foregoing or by means of the equipment according to the preferred embodiment described in the foregoing in a pipe system of a fire extinguishing installation. Alternatively, the utility model relates to the application of a pipe element in a pipe system of a watercraft or as a gas or liquid pipe in an industrial enterprise, for example in a maritime environment.

[0059] The utility model shows its advantages in the place where stainless steel pipe has been used for rust prevention in the past. The utility model provides the following possibility even if the pipe has a tolerance due to the dominant position of the welding process, without loss of corrosion resistance, significantly improving the safety and economy for setting up such an installation.

[0060] Furthermore, the utility model also relates to a polymer-reinforced pipe element, having a first pipe section and a second pipe section, which are connected to one another by means of a continuous weld seam and are at least coated on the inside of the pipe, but preferably on the inside and on the outside of the pipe, with a polymer-based layer, wherein the polymer-based layer is chemically bonded to the material of the pipe element and preferably comprises a polymer-based self-depositing material.

[0061] The pipe element utilizes the advantages of the method and the equipment of the two aspects mentioned herein. The preferred embodiments of the method and the equipment are at the same time preferred embodiments of the pipe element and vice versa.

[0062] By welding the first and second pipe sections in a continuous, i.e. unique, uninterrupted movement, the pipe element has a specifically shaped weld seam, which, as set out in the foregoing, can be more regular in its configuration than a manually or semi-automatically produced weld seam. The weld seam, due to its production in an uninterrupted passage, has in particular precisely a deposition site at which a detachment site is present at the same time. The conventional configuration is visually checkable at the pipe element not only externally but also internally (see also the above embodiment of root detection) and by means of it also the ability of the pipe element for a low-defect or defect-free surface coating by means of polymer reinforcement.

[0063] The pipe element has at the first pipe section preferably a nominal diameter in the range of DN 16 to DN 500, more preferably in the range of DN 20 to DN 300, particularly preferably in the range of DN 32 to DN 65, wherein the nominal diameter of the second pipe section is smaller than or equal to the nominal diameter of the first pipe section.

[0064] The first pipe section has preferably in the wall region, preferably in the region in which the weld is formed, a flattened surface.

[0065] The wall thickness of the pipe section is preferably in the range between 2 mm and 10 mm, preferably in the range of a wall thickness of 5 mm to 6 mm.

[0066] It is noted here that it is possible with the method according to the application to produce pipe elements with significantly higher wall thicknesses, since the method according to the application, which is described in detail above, is also performed under multi-layer welding, again with the aid of a spatially penetrating curve guidance, wherein wall thicknesses in the range of 30 mm to 40 mm are then also able to be connected to one another at all. Due to the improved homogeneity, each welding layer benefits from the possibility of uninterrupted continuous welding without intermittent disengagement, which manifests itself, among other things, in less pronounced spalling.

[0067] With the method according to the application and the device according to the application, soldering of thin-walled sheets can alternatively also be performed.

[0068] The pipe element manufactured with the method according to the application or the device according to the application has preferably a polymer reinforcement in the range of 7 μιη to 80 μιη, preferably in the range of 7 μιη to 30 μιη, wherein the layer thickness relates to the dry layer thickness and in particular the layer thickness increase relative to the untreated state.

[0069] In the region of the connection region and the region facing the front end of the pipe, the layer thickness is preferably higher than in the intermediate region, which is spaced apart from one and the other end of the pipe section. BRIEF DESCRIPTION OF DRAWINGS

[0070] The application is described in the following with reference to the drawings and with reference to possible embodiments. Herein is shown:

[0071] Figure 1 An automatic method flowchart of the method for manufacturing a pipe element according to the application is shown according to one preferred embodiment;

[0072] Figure 2a A schematic spatial view of a pipe element manufactured according to the method according to Figure 1 ;

[0073] Figure 2b A schematic spatial view of a pipe element manufactured according toFigure 2a sub-view of the pipe element according to the utility model;

[0074] Figure 3a , b shows a general view of the device for manufacturing a pipe element according to the utility model from the front and from the side;

[0075] Figures 4a-9b shows a sub-view of the device for manufacturing a pipe element according to the utility model in different steps according to an embodiment of the method according to the utility model; and

[0076] Figure 10 shows a detail view of the device according to the utility model with its angle positioner for accommodating and moving the first pipe section; and

[0077] Figure 11 shows a schematic diagram for determining a spatial penetration curve. DETAILED DESCRIPTION

[0078] In Figure 1 a schematic flow of one possible embodiment of a method for manufacturing a polymer-reinforced pipe element 100 (Fig. 2) according to the utility model is shown. First, a first pipe section 101 and a second pipe section 102 are provided in steps la, lb. The first pipe section 101 is, for example, a basic pipe, and the second pipe section 102 is a pipe joint which is to be welded as a lateral outlet to the first pipe section 101.

[0079] After that, in the following method steps 3a, 3b, the spatial shape of the first and second pipe sections 101, 102, respectively, is detected, which is to constitute the later connecting area of the pipe sections 101, 102. In particular, the surfaces of the pipe sections 101, 102 which are to be connected to each other are scanned in order to detect possible deformations or irregularities in the design of the pipe element.

[0080] Between steps 1 and 3, the first pipe section 101 is preferably clamped in a clamping device, preferably a clamping device 40 according to the second aspect of the utility model. This is described in more detail below. Furthermore, preferably, the accommodation of the second pipe section is carried out by means of an operating device, for example a (first) operating device 52, which is configured as an operating robot, see Figure 8b .

[0081] The detection of the spatial shape of the first pipe section 101 is carried out, for example, by means of a (not shown) stationary detection device along which the pipe section 101 is guided, or by means of a (second) operating device 50, which can be configured as an operating robot.

[0082] The detection of the spatial shape of the second pipe section 102 takes place, for example, by means of stationary detection means (not shown), along which the pipe section 102 is guided, or by means of a second operating device 50, which is movable relative to the first operating device. The second operating device can, for example, have a plurality of different work fittings, one of which is the detection means.

[0083] In a subsequent method step 5, the spatial penetration curve is then determined as a function of the superimposition of the spatial shapes of the first and second pipe sections, preferably by means of the calculation unit 46. The spatial penetration curve serves as a central control variable for the subsequent method steps up to and including the welding of the pipe sections 101, 102 to one another.

[0084] The work fittings preferably each have the same point of action relative to the operating device, so that all work fittings can be moved by means of the same trajectory, i.e. along a common penetration curve, without additional programming outlay being required.

[0085] Thus, on the basis of the penetration curve, the cutting contours in the connection region of the first pipe section 101 and in the connection region of the second pipe section 102 are subsequently determined, in particular also by means of the calculation unit 46.

[0086] In subsequent method steps 7a, b, in order to prepare the welding, a land is produced at the pipe sections 101, 102 by means of a cutting device, preferably by means of plasma cutting. The land at the first pipe section 101 is preferably produced by means of the second operating device 50, which accommodates a corresponding work head as cutting device for this purpose.

[0087] The land at the second pipe section 102 is preferably produced by means of a stationary part of the cutting device or by means of the second operating device. The pipe sections either obtain a land 115 at one or both of their front ends 103, 105 or a land 117 in a wall section spaced apart from the respective front end 108, 110 in steps 7a, b. As soon as the land 117 is produced spaced apart from the respective front end, a cutout 113 is produced in the wall 107 of the respective pipe section 101. The falling pipe tabs are preferably intercepted in the interior of the pipe by means of an intercepting container introduced into the first pipe section and removed from the interior of the pipe.

[0088] In a further (optional) method step 9a, 9b, the first and second pipe sections 101, 102 are cleaned at the lands 115, 117. In one embodiment, the cleaning takes place by means of a rotationally driven brush or milling cutter. By cleaning the lands 115, 117, in particular metal oxides and loose particles or burrs, which are produced in the plasma cutting for producing the lands, are to be removed as far as possible.

[0089] In a next method step 11, the first pipe section 101 and the second pipe section 102 are oriented to each other. In the orientation, the facets 115 of one pipe section 102 are oriented as close as possible to the correspondingly formed facets 117 of the respective other pipe section 101. The orientation of the second pipe section 102 can be carried out manually or with the aid of an automatically actuated handling device 52. As long as the clamping of the first pipe section 101 has not yet been carried out, this is now carried out in a step.

[0090] In a preferred embodiment, the second pipe section 102 is oriented relative to the clamped first pipe section 101 and held by the first handling device 101 until the pipe sections 101, 102 are spot-welded or fully welded. The spot-welding is preferably carried out with the aid of a second handling device 50, which for this purpose in turn accommodates a corresponding work head.

[0091] In a subsequent method step 13, the oriented pipe sections 101, 102 are welded to each other along the mutually oriented, encircling facets 115, 117. By means of the welding, a fully encircling weld seam 109 is preferably produced, which has a continuous root extending on the inside of the pipe sections 101, 102.

[0092] In order to intercept welding spatters, an interception container is preferably used, by means of which pipe lugs are also intercepted, or a further interception container. The movement of the interception container is preferably carried out in a machine-controlled manner.

[0093] Subsequently, after the welding, the mutually welded pipe sections are prepared for the subsequent cladding in a method step 15. Step 15 comprises, for example, cleaning the mutually welded pipe sections in one or more dip tanks, in which, for example, pickling liquor or rinsing medium can be held. The precise number and setting of the processes in this step depend on the specifications of the cladding material to be used.

[0094] The welded pipe sections 101, 102 prepared in step 15 are chemically clad in one or more dip processes by means of a self-deposition method in a next method step 17. By means of the immersion, the inside of the pipe element 100, including the one or more weld seams 109, but also the outside, is essentially completely clad.

[0095] After the cladding of the pipe sections 101, 102 and the weld seams 109 connecting the pipe sections by means of a polymer-based layer 111, method step 17, a thermal post-treatment is carried out in step 19. Method step 19 can comprise one or more sub-steps in one design of the method, in which respectively a flash-off or an annealing (low annealing or high annealing) by means of a predetermined temperature and annealing duration is carried out.

[0096] Optionally, the powder coating of the tube element 100 produced from the tube sections 101, 102 can be carried out in a method step 21, which is coated and has been post- treated. The powder coating step 21 can be carried out directly after the method step 17 or also after the previously carried out thermal post-treatment according to step 19. According to a preferred design of the method, the thermal post-treatment according to step 19 is carried out after the powder coating step 21 in order to harden the produced powder coating.

[0097] Subsequently, in a method step 23, the produced tube element is removed from the manufacturing process and, for example, fed to an intermediate storage device.

[0098] The method step 19 for the thermal post-treatment of the tube element is drawn as a single step for simplicity. In a method step 25, the tube element 100 can be passed through a plurality of thermal treatment stages following one another, which are carried out in one or a plurality of different temperature control devices.

[0099] With reference to Figure 1 , the method is schematically illustrated. The tube element 100 produced by means of the method has already been mentioned above and is further illustrated in Figure 2a , 2b . The tube element 100 illustrated in Figure 2a , 2b comprises a first tube section 101 and a second tube section 102.

[0100] The first tube section 101 has a cutout 113 in its side wall 107 at the location of the welding of the first tube section 101 to the second tube section 102 (Fig. 3).

[0101] In the illustrated embodiment, the first tube section 101 and the second tube section 102 are connected by means of a single-layer, complete circumferential weld 109.

[0102] The tube element 100 has a polymer-based layer 111 in its interior, which extends completely along the inner side of the tube sections 101, 102 and also completely covers the circumferential weld 109 in the interior of the tube element 109. As soon as the tube element 101 has been coated in an immersion process, the outer surface of the tube element 100 and thus of the first and second tube sections 101, 102 as well as the weld 109 is at least as far as possible covered by the polymer-based layer.

[0103] The second tube section 102 is arranged approximately centrally between the first positive end 108 and the second positive end 110 of the first tube section 101 in the illustrated embodiment. In the illustrated embodiment, the second tube section 102 is coaxially aligned in the wall section 113 formed in the side wall 107 of the first tube section 101. The second tube section 102 and the first tube section 101 are oriented at an angle a to one another, which is 90° in the present embodiment.

[0104] According to the specifications for tube components, the angle α can also be within the range of 30 degrees and 90 degrees. Figure 2a and 2b In the embodiment shown, the first pipe section 101 is a base pipe and the second pipe section 102 is a connecting element.

[0105] In this embodiment, the first pipe segment 101 has a diameter that is different from the diameter of the second pipe segment 102. The diameters of the first and second pipe segments 101 and 102 may be equal.

[0106] The two pipe sections 101 and 102 are secured to each other during welding, particularly using clamping devices and operating equipment described in detail below, to ensure a constant gap between the pipe sections. This simplifies the complete root inspection of weld 109 and at least the facet 115 of the second pipe section 102, or even the facets 115 and 117 of both pipe sections 102 and 101.

[0107] Figure 3a b shows the method of manufacturing, for example, in Figure 2a and 2b The diagram shows a schematic of an apparatus 30 for a polymer-reinforced tubular element. The apparatus 30 includes a support device 32 with tracks 33 along which support portions 34, 35 for accommodating a first tubular segment 101 are movable. An angle locator 36 for the first tubular element 101 is provided in the segment between the tracks 33.

[0108] In one embodiment, device 30 includes a first operating device 52 and a second operating device 50, preferably both configured as operating robots, the precise functions of which are described in detail below.

[0109] Figures 4 through 9 show sub-views of equipment 30 during different manufacturing steps of the polymer-reinforced tubular element 100. Equipment 30 includes a support device 32 having two support portions 34 and 35, which are provided to receive the positive ends 108 and 110 of the first tubular segment 101. An angle locator 36 is disposed along a segment of the support device 32, and the angle locator is also in a standby position, see [reference needed]. Figure 4a , 4b Operating devices 50 and 52 are shown in an abstract manner in the views below for overview purposes.

[0110] like Figure 5a As shown in 6a, 6b and 6a, 6b, the angle positioner 36 is then switched to the working position, i.e., the proximity region relative to the first tube section 101. Figure 5b), wherein the angle positioner 36 is preferably movable transversely to the track 33 and thus transversely to the longitudinal axis of the first pipe element 101. The support device 32 is moved into a predetermined position with the accommodated first pipe section 101, i.e. towards the angle positioner 36, such that the section at which the connection region is to be produced is centrally arranged with respect to the angle positioner 36 at the first pipe section 101.

[0111] Furthermore, in one embodiment of the utility model, the sacrificial shell 38 is guided into the interior of the first pipe section 101 at a position at which the connection region with the second pipe section 102 is to be produced. The sacrificial shell 138 serves, inter alia, for intercepting residues which contaminate the inner side of the first pipe section and which are produced when the first and second pipe sections 101, 102 are subsequently processed and as described in detail, for example, in WO 2020 / 002486 A1.

[0112] As Figure 6a , bFurthermore, as shown, the first pipe section 101 is subsequently clamped by the angle positioner 36. The clamping takes place by means of a clamping device 40 present at the angle positioner 36, which comprises two clamping mechanisms 41, 42 which act on the first pipe section 101 on both sides of the connection region to be produced. The clamping mechanisms are configured as 3-point clamps. Thereby it is ensured that the first pipe section 101 to be accommodated is clamped by means of its axis almost coaxially to the clamping center of the clamping mechanisms 41, 42. By means of the clamping by the angle positioner 36, the previous clamping force exerted at the support portion can be removed, so that the first pipe section 101 is movable at least with respect to a specific section of the support portions 34, 35 of the support device 32.

[0113] In a preferred embodiment of the utility model, the device 30 has a detection device 44 which is set up for detecting the spatial form at the connection region of at least the first pipe section 101. By means of the detection device 44, the surface of the first pipe section 101 is scanned in order to ascertain tolerances in the form of possible non-roundnesses at said section of the pipe section 101.

[0114] By means of the detection device 44 or a separate detection device, for example a stationary detection device, the spatial form in the connection region of the second pipe section 102 is also detected. The second pipe section 102 is grasped and positioned by means of the operating device 52.

[0115] By means of a computing unit 46 which is coupled in a signal-conducting manner to the detection device 44, a spatial penetration curve is then determined as a function of the detected spatial forms of the first and second pipe sections 101, 102, and a cutting profile of the first and second pipe sections 101, 102 is ascertained on the basis of the determined penetration curve.

[0116] The cutting profile is transmitted by the computing unit 46 to the cutting device 48, by means of which the flanks 115, 117 (Fig. 3) are produced at the first and second pipe sections 101, 102 in coordination with one another.

[0117] The cutting device 48 in the embodiments shown in Figure 7a , b is configured as an operating device 50 for automated handling, such as a robot for example. The operating device 50 in the embodiment shown carries out all the machining of the first pipe section 101 using the corresponding detection and machining fittings of the apparatus. The operating device 50 takes over the welding of the first and second pipe sections 101, 102 to form the pipe element 100 by means of a welding fitting.

[0118] As can be seen from Figure 8a , b, the correspondingly configured pipe section 102 is aligned to the first pipe section 101 in the following by means of the operating device 52 which is handled automatically.

[0119] In a preferred embodiment of the application, the first and second pipe sections 101, 102 are then welded to one another by means of a welding device 56 which is preferably provided at the operating device 50 as a machining fitting.

[0120] In one embodiment, the pipe sections 101, 102 are welded to one another along the flanks 115, 117 which are oriented to one another. In a preferred embodiment of the application, the flanks produced when cutting are welded to one another along a specific spatial penetration curve.

[0121] It is also preferred at present that a single-layered, circumferential weld seam 109 is produced. During the entire machining, machining residues which can be produced, such as welding spatters for example, are intercepted by the sacrificial shell 38 which is provided in the interior of the first pipe section. Preferably, any machining of the first pipe section 101 is carried out at a recessed position. The recessed position is understood to mean that the machining is carried out from above, independently of whether cutting or welding is carried out, so that possible machining residues produced can subsequently fall downwards into the sacrificial shell. For this purpose, the first pipe section 101 is always rotated into the corresponding angular position.

[0122] As can be seen from Figure 9a , b, a plurality of, two or three such pipe sections 102 can be provided at the first pipe section 101 at a predetermined spacing along its longitudinal axis. The resulting pipe element 100 thus has a plurality of branches at the pipe section 101.

[0123] After the production of such a pipe element 100, the clamping device 40 of the angular positioner 36 is released, whereby the pipe section 101 is released. The angular positioner 36 is moved again from the working position into its rest position at a certain spacing from the pipe section 101 after release by the clamping mechanism.

[0124] The clamping mechanisms 41, 42 of the clamping device 40 are movably accommodated at the angle positioner 36, in particular along the adjustment device 58, about the rotation axis 60. By moving the clamping mechanisms 41, 42, the first pipe section 101 is moved coaxially about a tool center point (TCP). The tool center point is formed by the clamping center of the clamping mechanisms 41, 42 of the angle positioner 36 and overlaps the rotation axis 60. The detailed mode of operation of the angle positioner is described below in the embodiment of the angle positioner 36 shown in Figure 10

[0125] In the embodiment of the device 30 according to the application shown in Figure 10 A detailed view of the angle positioner 36 is shown in order to illustrate the mode of operation and the configuration of the clamping device 40 accommodating the first pipe section 101. The clamping device 40 comprises clamping mechanisms 41, 42 by means of which the first pipe section 101 is clamped on both sides of the connection region on the first pipe section 101 on the rotation axis 60 of the angle positioner 36. Furthermore, the rotation axis 60 forms a tool center point (TCP) which serves as a starting point for the machining of the first pipe section 101 and the steps of welding the first and second pipe sections 101, 102 to one another and preferably as a reference axis for the spatial penetration curve.

[0126] The clamping mechanisms 41, 42, together with the clamped first pipe section 101, move on a circular trajectory about the rotation axis 60 of the angle positioner 36. The first clamping device 40 is associated with an arc-shaped guide 62 for each clamping mechanism 41, 42, respectively. The guide 62 preferably has a ring segment-shaped track body 64.

[0127] The clamping mechanisms 41, 42 are provided at a guide face 65 facing the rotation axis 60 for the first pipe section 101. The clamping mechanisms 41 move about their defined clamping center which coincides with the rotation axis 60 of the angle positioner and the tool center point (TCP) of the device. The clamping mechanisms 41, 42 are coupled with a drive unit 66 for a controlled movement relative to the guide track 62.

[0128] In one embodiment of the device 30 according to the application, the track body 64 is configured as a ring segment and extends over an angle of approximately 180° to approximately 240°, preferably in an angle of approximately 240°. Thereby, the first pipe section can be moved in a radial direction about the rotation axis 60 of the angle positioner 36, which simplifies the accommodation and removal of the first pipe section 101.

[0129] ​In another embodiment of the apparatus it is proposed that the adjustment device 58 has a receptacle 68 for each annular guide track 62, in which the guide track 62 is arranged at a guide face 69 facing away from the rotation axis 60, thus achieving a more flexible adjustment possibility for the first pipe section 101 in addition to the clamping mechanism 41, 42 which is movably accommodated at the guide track 62.

[0130] At the receptacle 68 there is a further drive unit 70 for a controlled movement of the guide track 62 relative to the receptacle 68. The guide track can be moved at an angle greater than 90°, preferably at an angle greater than 180° for accommodation, whereby the clamping mechanism can be moved on a complete circular trajectory around the rotation axis 60 towards the angular positioner, although there is accessibility in the radial direction. Thus, the pipe section to be processed can be processed over its entire circumference.

[0131] The method according to the utility model and the apparatus according to the utility model are preferably partially or completely operated under computer control. For this purpose, the apparatus 30 preferably has a machine control device 72. The machine control device is preferably connected in a signal-conducting manner with the operating devices 50, 52 and the clamping device 40, with the detection devices, the cutting device and the welding device, if present in addition to the operating devices, the computing unit 46, and furthermore preferably with additional peripheral devices, such as for example an intercepting device which controls an intercepting container for pipe stubs and welding spatters.

[0132] The machine control device 72 can have a central control logic device or comprise one or more sub-control devices. The machine control device 72 can directly actuate the different work devices or work together with the control devices of the devices via corresponding protocols. The machine control device is set up to output control instructions to carry out the preferred embodiments of the method described herein above and preferably to receive inputs of an operator by means of a human-machine interface. Preferably, the machine control device 72 has a data interface for communication with a storage medium which contains a computer program product which in turn contains control instructions for carrying out the method.

[0133] The same or similar components are denoted by the same reference numerals.

[0134] After the basic method flow has been set out above with reference to the figures, reference should be made to Figure 11 The specialist language of the common penetration curve is set out again. Starting first with an idealized pipe element, in which the first pipe section 101 and the second pipe section 102 have an idealized contour K ID In the idealized contour, the two pipe sections 101, 102 are each a cylinder.

[0135] In reality, the first pipe segment 100 does not generally have a perfect cylindrical shape, but rather a shape that deviates from it, manifested as a non-cylindrical surface K1 with tolerances. Surface K1 is detected as a group of points in the method according to this invention. The group of points is characterized by absolute coordinates or by deviations from an idealized cylindrical shape.

[0136] In the same manner as the first tube segment 101, the second tube segment 102 also does not have an ideal column shape, but rather a surface K2 that deviates from the ideal column shape, which is also characterized as a group of points after its measurement.

[0137] The common spatial penetration curve D is derived as the intersection of these two surfaces or point groups K1 and K2. In other words, coordinates that exist not only in K1 but also in K2 lie on the common spatial penetration curve.

[0138] To prepare pipe sections 101 and 102 prior to the welding process, a cut surface is created by introducing a recess along a common penetration curve D in the first pipe section 101, the recess being viewed from above ( Figure 11 The lower left corner corresponds to the projection of K2. A cut surface is introduced at the end of the second pipe section 102, which, when viewed from the side, ( Figure 11 (Top left) corresponds to the projection of K1. The two thus prepared tube segments 101, 102 can then be positioned relative to each other and welded guided by a robotic arm along a common penetration curve D. The welding process is particularly preferably carried out in a single, continuous motion in which the welding equipment is positioned at the placement location and moved across the common spatial penetration curve D without disengaging until the weld is complete, until the placement location is reached again. The resulting weld, due to its regularity, is optimally prepared not only externally at the tube element but also internally in the area at the weld root for subsequent polymer reinforcement.

[0139] List of reference numerals in the attached diagram:

[0140] 1a, b provide pipe sections

[0141] 3a, b Detecting spatial shape

[0142] 5. Determine the spatial penetration curve / cutting profile

[0143] 7a, b produce facets

[0144] 9a, b Clean the facets

[0145] 11 Directional Pipe Section

[0146] 13 Welded pipe sections

[0147] 13.1 Measurement

[0148] 13.2 Selection parameters

[0149] 13.3 Reading-in parameters

[0150] 13.4 Spot-welding tube sections

[0151] 15 Preparing tube elements

[0152] 17 Coating tube elements

[0153] 19 Post-processing

[0154] 21 Powder coating

[0155] 23 Transporting tube elements outwards

[0156] 30 Apparatus

[0157] 32 Support device

[0158] 33 Track

[0159] 34, 35 Support section

[0160] 36 Angular positioner

[0161] 38 Sacrificial shell

[0162] 40 Clamping device

[0163] 41, 42 Clamping mechanism

[0164] 44 Detection device

[0165] 46 Computing unit

[0166] 48 Cutting device

[0167] 50, 52 Operating device

[0168] 56 Welding device

[0169] 58 Adjustment device

[0170] 60 Rotation axis / TCP

[0171] 62 Guide track

[0172] 64 Track body

[0173] 65 Guide surface

[0174] 66, 70 Drive unit

[0175] 68 Accommodation

[0176] 69 Guide surface

[0177] 72 Machine control device

[0178] 100 pipe element

[0179] 102 second pipe section

[0180] 101 first pipe section

[0181] 103, 105 front end

[0182] 107 side wall

[0183] 108, 110 front end

[0184] 109 weld seam

[0185] 111 cladding

[0186] 113 cutout

[0187] 115, 117 facet

Claims

1. An apparatus for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances, characterized in that the pipe sections each having a connection region which is provided for connection with a further pipe section, wherein the apparatus comprises: - at least one detection device (44) for detecting a spatial form in the connection region, respectively; - a computing unit (36) which is provided for determining a spatial penetration curve as a function of the superimposition of the detected spatial forms and, as a function of the penetration curve, a cutting contour in the connection region of the first pipe section (101) and the second pipe section (102); - a cutting device (48) for producing facets (115, 117) in the connection region of the first pipe section (101) and the second pipe section (102) along the respective cutting contour, and - a welding device (56) which is provided for welding the first pipe section (102) and the second pipe section (102) along the facets (115, 117) oriented towards one another along the determined spatial penetration curve.

2. The apparatus for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 1, characterized in that the apparatus has a clamping device (40) for the first pipe section (101) and an operating apparatus (52) for the second pipe section (102).

3. The apparatus for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 2, characterized in that the clamping device (40) comprises at least one clamping mechanism (41, 42) and is provided for rotating the first pipe section (101) about a rotation axis (60).

4. The apparatus for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 3, characterized in that the clamping mechanism (41, 42) has a clamping center which defines the rotation axis (60) of the clamping device (40).

5. The apparatus for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 3 or 4, characterized in that the clamping mechanism (41) is a first clamping mechanism and the clamping device (40) has a second clamping mechanism (42) which is arranged axially spaced apart from the first clamping mechanism along the rotation axis (60), wherein the clamping device (40) is provided for clamping the first pipe section (101) on both sides of the connection region.

6. The apparatus for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 3 or 4, characterized in that one or more of the clamping mechanisms are open on one side and are provided for receiving and clamping the first pipe section from above.

7. The device for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 3 or 4, characterized in that a first clamping mechanism and / or a second clamping mechanism of the at least one clamping mechanism (41, 42) is designed to secure the first pipe section (101), and the clamping device (40) is designed to pivot the clamping mechanism (41, 42) such that the first pipe section (101) rotates about the rotation axis (60).

8. The device for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 3 or 4, characterized in that the clamping device (40) has an arc-shaped guide (62) along which the clamping mechanism is movably accommodated, wherein the guide (62) is oriented concentrically with respect to the rotation axis (60) and is designed to guide the clamping mechanism (41, 42) about the rotation axis (60).

9. The device for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to any one of claims 1 to 4, characterized in that the handling device (52) is a first handling device, and the device furthermore has a second handling device (50), the handling devices having accommodations for different processing fittings.

10. The device for automated or semi-automated production of a polymer-reinforced pipe element from pipe sections with tolerances according to any one of claims 1 to 4, characterized in that the device has an electronic machine control which is connected in a signal-conducting manner to the detection device, the calculation unit, the cutting device, the welding device.

11. The apparatus for automated or semi-automated manufacturing of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 2, characterized in that the handling device (52) is a handling robot.

12. The device for automated or semi-automated manufacturing of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 9, characterized in that the second handling device (50) is a handling robot.

13. The device for automated or semi-automated manufacturing of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 10, characterized in that the electronic machine control is connected in a signal-conducting manner to one, several or all of the clamping devices.

14. The device for automated or semi-automated manufacturing of a polymer-reinforced pipe element from pipe sections with tolerances according to claim 9, characterized in that the device has an electronic machine control which is connected in a signal-conducting manner to the first handling device and / or the second handling device.

15. A polymer-reinforced pipe element (100), characterized by the polymer-reinforced pipe element has: a first pipe section (101) and a second pipe section (102) which are connected to one another by means of a continuous weld seam (109) and have a polymer-based layer (111) which is coated on the inside of the pipe and which is a layer of material which is chemically bound to the material of the pipe element and which contains a polymer-based self-precipitating material, wherein the pipe element is furthermore a pipe element produced using the device according to any one of claims 1 to 14.

16. The polymer-reinforced tubular element (100) according to claim 15, characterized in that, the first pipe section (101) and the second pipe section (102) have a polymer-based layer (111) which is coated on the inside and the outside of the pipe.

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