Device for laying pipes with control means, corresponding assembly and method

Abstract

This pipe laying device (30) is adapted for inserting a plain end (6) of a first pipe (8), to be laid, into a push-fit end (10) of a second pipe (12), already laid. The push-fit end is equipped with a sealing gasket (14) adapted to seal a gap between the plain end and the push-fit end. The pipe laying device includes means (32) for moving the first pipe relative to the second pipe in order to insert the plain end into the push-fit end over an insertion stroke (CE). The pipe laying device (30) includes force-sensing means (60) adapted to determine the insertion force of the plain end into the push-fit end as a function of the position of the plain end relative to the push-fit end over the insertion stroke of the plain end into the push-fit end.

Description

[0001] The present invention relates to a pipe laying device, the pipe laying device being adapted to fit a plain end of a first pipe, which is a pipe to be laid, into a socket end of a second pipe, which is an already laid pipe, the socket end being provided with a sealing gasket adapted to seal a gap between the plain end and the socket end, the pipe laying device comprising means for moving the first pipe relative to the second pipe in order to fit the plain end into the socket end over a fitting stroke.

[0002] Document WO2020141266A1 discloses a device for laying pipeline pipes. The device makes it possible to check the fitting of a pipe to be laid (T) into a pipe laid (To). The fitting is checked by determining the fitting length of the plain end into the fitting end, for example by using a reference stop. The integrity of the seal is checked after fitting via a vacuum device.

[0003] EP3623680A1 discloses a connecting device for tubular lines for a pneumatic system or for a fuel delivery system. The connecting device comprises a connecting body with a receiving opening for the tubular line to be plugged in. A support sleeve is arranged coaxially with the connecting body and inside the latter, such that the end of the tubular line can be pushed onto the cylindrical outer surface of the support sleeve. A retaining element is mounted inside the connecting body to fix the plugged-in pipe end. A circumferential seal is arranged between the connecting body and the end of the tubular line.

[0004] The peripheral seal produces a first haptic signal in the form of a sudden increase in insertion resistance when the end of the pipe meets the peripheral seal.

[0005] The support sleeve comprises a sensing element which generates a second haptic signal in the form of a sharp increase in insertion resistance depending on the insertion depth of the pipe end in the insertion direction behind the circumferential seal inside the connection body.

[0006] This document does not concern pipes for the transport of water and uses specific means to generate the characteristic succession of the first and second haptic signals.

[0007] WO2020249265A2 describes a pipe fitting applicator.

[0008] EP3120064 or WO2015139148A1 discloses a device for locking a joint after inserting a plain end into a socket end. These documents do not concern self-sealing or self-locking joints.

[0009] The aim of the invention is to provide a device and a method for laying pipeline pipes efficiently and reliably leading to a sealed, in particular sealed and locked, tubular joint, and which reliably and economically ensure the sealing, in particular the sealing and locking, of the tubular joint. In the following, the term "pipe" is defined as being a straight or bent tubular element provided with a plain end and a socket end.

[0010] To this end, the invention relates to a pipe-laying device, as indicated above, characterized in that the pipe-laying device comprises force detection means adapted to detect the force of fitting the plain end into the socket end as a function of the position of the plain end relative to the socket end over the fitting stroke of the plain end into the socket end.

[0011] According to particular embodiments of the device, the latter may comprise one or more of the following characteristics: the force detection means comprise a pressure sensor adapted to detect the pressure of a fluid, or a force sensor adapted to detect a force, such as a strain gauge; the displacement means comprise an actuator, in particular in the form of a hydraulic cylinder; the pipe laying device comprises means for displaying nesting data, these nesting data representing the nesting stroke, carried out by the displacement means, and the nesting force detected by the force detection means, over the nesting stroke, and in particular the pipe laying device comprising data archiving means, adapted to archive the nesting data;the pipe laying device comprises evaluation means, adapted to evaluate, as a function of the spigot force detected by the force detection means on the spigot stroke, whether the tubular joint created by the spigot being spigotted into the spigot end on the spigot stroke is correctly established, in particular is sealed or sealed and locked; the evaluation means comprise an evaluation module which is adapted to detect, as a function of the spigot force detected by the force detection means on the spigot stroke, at least one joint defect; the joint defect detectable by the evaluation module comprises one, several or all of the following joint defects: abutment of the spigot end against the end face of the spigot end; ejection of the seal; absence of the seal; partial pinching of the seal;impact of the spigot end against the bottom of the socket end; optimum socket depth of the spigot end not reached; non-compliance of the hardness and / or dimensions of the seal; and in the case of a seal with locking inserts, insufficient recoil of the spigot end to ensure correct attachment of the inserts.

[0012] The invention also relates to a pipe laying assembly comprising a first pipe, provided with a plain end; a second pipe, provided with a socket end; and a pipe laying device, the spigot end being provided with a seal; characterized in that the pipe laying device is a pipe laying device as defined above, and in that the pipe laying device is adapted to fit the plain end into the spigot end by the displacement means.

[0013] According to particular embodiments of the installation assembly, it may include one, several or all of the following characteristics: the first pipe and / or the second pipe is / are made of cast iron; the spigot end comprises an internal groove and the gasket is inserted into the internal groove; the gasket comprises a heel and a self-sealing sealing lip; the gasket comprises locking inserts adapted to automatically lock the junction between the spigot end and the spigot end.

[0014] The invention also relates to a method for laying pipes, comprising the following successive steps: supply of a pipe laying assembly as defined above; fitting the plain end into the socket end over the fitting stroke by the displacement means; recording the fitting force of the plain end into the socket end as a function of the position of the plain end relative to the socket end over the fitting stroke by the force detection means; and evaluation of whether or not the tubular joint has been correctly fitted, based on the general shape of the curve representing the fitting force of the plain end into the socket end as a function of the position of the plain end relative to the socket end over the fitting stroke.

[0015] The invention will be better understood on reading the following description, given solely by way of example and with reference to the appended drawings, in which: [ Fig 1 ] There Figure 1shows schematically and not to scale a pipe laying assembly according to the invention in a configuration preceding the start of nesting; [ Fig 2 ] There Figure 2 schematically shows the first pipe and the second pipe of the entire Figure 1 during fitting, at the moment when the plain end comes into contact with the sealing gasket; [ Fig 3 ] There Figure 3 schematically shows the first pipe and the second pipe during fitting, at the moment when the sealing gasket is flared by the spigot end and in maximum compression; [ Fig 4 ] There Figure 4 schematically shows the first pipe and the second pipe during fitting, the plain end sliding into the gasket; [ Fig 5 ] There Figure 5 schematically shows the first pipe and the second pipe in the end position of the nesting stroke; [ Fig 6 ] There Figure 6 is a view corresponding to that of the Figure 5, of a variant of a tubular junction according to the invention, the tubular junction being in its nested and locked configuration; and [ Fig 7 ] There Figure 7 is a stroke-force diagram showing the shape of the interlocking force as a function of the interlocking stroke of the spigot end into the interlocking end for different interlocking cases of the tubular junctions of the Figures 1 to 6 .

[0016] On the Figure 1 a pipe laying assembly according to the invention is shown, designated by the general reference 2. The Figure 1 is schematic and not to scale.

[0017] The pipe laying assembly 2 is suitable for creating a tubular junction 4 shown in the Figure 5 in assembled state.

[0018] The tubular junction 4 extends along a central axis XX. In the following, the expressions “radially”, “axially”, “circumferentially” and “meridian” will be used in relation to this central axis.

[0019] The tubular junction 4 comprises a plain end 6, or male end, of a first pipe 8, a socket end 10, or female end, of a second pipe 12, and a sealing gasket 14. In this case, the tubular junction 4 is made up of the plain end 6, the socket end 10 and the sealing gasket 14. The tubular junction 4 therefore does not have a support sleeve adapted to oppose radial deformation of the plain end 6.

[0020] On the Figures 1 to 4, the tubular joint 4 is shown at different stages of the assembly process. The first pipe 8 is a pipe to be laid. The second pipe 12 is a pipe that is already laid. During the assembly process, the first pipe 8 is moved, while the second pipe 12 is stationary.

[0021] The first pipe 8 is for example made of cast iron, in particular ductile iron. The second pipe 12 is for example made of cast iron, in particular ductile iron. The first pipe 8 and the second pipe 12 have for example a nominal diameter greater than or equal to 100 mm, in particular greater than or equal to 400 mm. The first pipe 8 and the second pipe 12 have for example a wall thickness of between 3 mm and 30 mm. The first pipe 8 and the second pipe 12 are for example drinking water supply pipes or sanitation pipes or irrigation pipes.

[0022] Alternatively, the plain end and / or the socket end is not the plain end and / or the socket end of a tubular element of generally cylindrical shape, but the plain end and / or the socket end of another tubular element such as a tubular connector for example. Alternatively, one or other of the first and second pipes 8 and 12 may therefore be for example a tubular connector or a valve. The above characteristics of the first and second pipes 8 and 12 also apply to these other tubular elements.

[0023] The tubular junction 4 is, for example, part of an installation in a buried trench or on supports placed on the ground, on tunnel walls or on bridges.

[0024] The spigot end 10 comprises an inner groove 16 and a spigot bottom surface 17. The seal 14 is inserted into this inner groove 16. The seal 14 is adapted to make the gap between the plain end and the spigot end watertight.

[0025] The sealing gasket 14 comprises, in the meridian section, an elastic ring made of flexible or resilient material, for example elastomer, which extends along the central axis XX.

[0026] The seal 14 forms an anchor heel 18 and a self-sealing sealing lip 20. The term "self-sealing" means that the seal is obtained upon insertion of the plain end into the socket end by the radial compression of the seal 14 by the plain end and the socket end and subsequently reinforced by the pressure of the liquid flowing in the first and second pipes.

[0027] The sealing gasket 14, respectively the tubular junction 4, of the embodiment of the Figures 1 to 5 is devoid of locking inserts locking the plain end relative to the socket end.

[0028] Tubular junction 4 defines a nesting stroke THIS, which is the displacement of the plain end 6 relative to the socket end 12 between an assembly start position ( Figure 1 ) and an assembly end position ( Figure 5 ). The nesting race THIS is directed in a nesting direction SE, which is coaxial with the central axis XX and directed from the plain end 6 towards the nested end 10.

[0029] The pipe laying assembly 2 further comprises a pipe laying device 30 adapted to fit the plain end 6 of the first pipe 8 into the socket end 10 of the second pipe 12.

[0030] The pipe laying device 30 comprises means 32 for moving the first pipe 8 relative to the second pipe 12 in order to fit the plain end into the socket end on the socket stroke. THIS.

[0031] The displacement means 32 comprise an actuator 34 adapted to drive the plain end relative to the interlocking end. The actuator 34 is preferably a hydraulic cylinder 36. In a variant not shown, the actuator 34 is for example an electric cylinder or a rack mechanism.

[0032] The displacement means 32 further comprise two gripping elements 38, 40 for gripping the first pipe 8 relative to the second pipe 12, such as suction cups. One of the gripping elements, in this case the gripping element 38, is connected to the actuator 34 in order to transmit the displacement induced by the actuator 34 to the plain end 6.

[0033] The displacement means 32 further comprise a source of pressurized fluid 42, for example a pump, connected to the hydraulic cylinder 36 by two fluid lines 44, 46. One and the other of the two fluid lines 44, 46 are respectively connected to one and the other of two working chambers 48, 50 of the hydraulic cylinder 36.

[0034] The displacement means 32 further comprise switching means 52, such as a switching valve, in order to selectively connect the source of pressurized fluid 42 to one or the other of the two working chambers 48, 50.

[0035] The pipe laying device 30 further comprises force detection means 60 adapted to detect the interlocking force. F of the plain end 6 into the socket end 10 depending on the position of the plain end relative to the socket end over the socket stroke THIS from the plain end into the socket end.

[0036] The interlocking force is the resisting force opposing a displacement of the spigot in the interlocking direction SE.

[0037] The force detection means 60 comprise in this case a pressure sensor 62 adapted to detect the pressure of the fluid in the pressure chamber 48. The pressure sensor 62 can for example be arranged in the fluid line 44 ( Figure 1 ) or be arranged between the fluid line 44 and the fluid inlet in a housing of the hydraulic cylinder 36.

[0038] In a variant not shown, the force detection means 60 comprise a force sensor adapted to detect a force, such as a strain gauge. The force sensor is disposed on an element located in the flow of forces moving the spigot end relative to the socket end. For example, the force sensor is disposed on a piston rod 64 of the hydraulic cylinder 36.

[0039] The force detection means 60 further comprise conversion means in order to convert the pressure P detected by the pressure sensor 62 into a force.

[0040] The pipe laying device 30 further comprises stroke detection means 66 adapted to record the distance traveled by the spigot 6 over the fitting stroke. THIS.These stroke detection means 66 comprise in this case a position sensor 68, which is adapted to detect the position of the plain end 6 relative to the interlocking end 10. The position sensor 68 is for example arranged on the hydraulic cylinder 36 and adapted to detect the position of the piston rod of the hydraulic cylinder relative to the casing of the hydraulic cylinder. In a variant not shown, the position sensor 68 is a camera detecting an image of the plain end and the interlocking end. Also, in a variant not shown, the position sensor 68 is a speed sensor measuring the speed of movement of the plain end relative to the interlocking end associated with means for integrating the speed captured over time.

[0041] The pipe laying device 30 also comprises a control device 70. The control device 70 is for example a microcomputer or a microcontroller. The control device 70 comprises a processor, a RAM, a ROM and control inputs and outputs.

[0042] The control device 70 is adapted to control the displacement means 32. In this case, the control device 70 is connected by a control line 72 to the source of pressurized fluid 42 and by a control line 74 to the switching means 52.

[0043] The control device 70 is connected by a control line 76 to the pressure sensor 62, allowing the control device 70 to read the pressure detected by the pressure sensor. The means for converting the pressure detected by the pressure sensor 62 into a force are advantageously implemented by the control device 70, for example in the form of software. Alternatively, the conversion means can be integrated into the pressure sensor 62.

[0044] The control device 70 is connected by a control line 78 to the position sensor 68 in order to detect the position of the spigot end 6 relative to the socket end 10.

[0045] The control device 70 is therefore adapted to generate and manage nesting data representing the nesting stroke. THIS,carried out by the displacement means, and the nesting force F detected by the force detection means, over the nesting stroke THIS. For this purpose, the control device 70 comprises or is connected to a memory adapted to store the nesting data representing the nesting stroke THIS, carried out by the displacement means, and the nesting force F detected by the force detection means, over the nesting stroke THIS for a given tubular junction 4.

[0046] The pipe laying device 30 also comprises means for displaying nesting data 80, these data representing the nesting stroke, carried out by the displacement means, and the nesting force F detected by the force detection means, over the nesting stroke. THIS.These nesting data display means 80 comprise for example a screen 82 and a display line 84 connecting the screen 82 to the control device 70 and more particularly to the storage memory.

[0047] The pipe laying device 30 further comprises data archiving means 90. These data archiving means 90 are adapted to archive and archive the interlocking data representing the interlocking stroke, carried out by the displacement means, and the interlocking force detected by the force detection means, on this interlocking stroke for a given tubular junction 4. The data archiving means 90 are also adapted to archive and archive management data associating the interlocking data with the given tubular junction 4. These management data comprise for example unambiguous identification data of the tubular junction 4, such as serial numbers of the interlocking end, the spigot end and / or the seal, the date and / or time of the installation, the geolocation of the installation site.

[0048] The data archiving means 90 are advantageously adapted to archive and archive the nesting data for several tubular junctions 4, in particular the tubular junctions 4 of a given site.

[0049] The pipe laying device 30 comprises evaluation means 100, adapted to evaluate, as a function of the fitting force detected by the force detection means on the fitting stroke THIS, if the tubular junction 4 created by the fitting of the plain end into the socket end on the fitting stroke THIS is correctly established, that is to say if the tubular junction 4 is watertight or, where appropriate, watertight and locked.

[0050] The evaluation means 100 comprise a memory containing typical nesting data representing the nesting force over the nesting stroke. THIScorresponding to a correct fitting of a given tubular junction 4. These typical fitting data are represented on the Figure 7 in dashed lines, corresponding to the high and low tolerances.

[0051] The evaluation means 100 comprise an evaluation module 104.

[0052] The evaluation means 100 or the evaluation module 104 comprise means for comparing the nesting data of a given tubular junction 4 with the typical nesting data.

[0053] The pipe laying device 30 also comprises means for signaling the status of the given tubular junction 4 as a function of the result of the comparison carried out by the comparison means. These signaling means may for example comprise the interlocking data display means 80 or the screen 82.

[0054] The evaluation means 100 are furthermore adapted to detect, as a function of the nesting data or as a function of the nesting force detected by the force detection means on the nesting stroke THIS of a given tubular junction 4, at least one of the different possible junction defects.

[0055] More specifically, in this case, the evaluation module 104 is adapted to detect, as a function of the nesting data or as a function of the nesting force detected by the force detection means on the nesting stroke THIS of a given tubular junction 4, one, several or all of the following junction defects, this list not being exhaustive: a) spigot end abutment against the front face of the socket end; b) ejection of the packing; c) absence of the packing; d) partial pinching of the packing; e) impact of the spigot end against the bottom of the socket end; f) optimum socket depth of the spigot end not reached; g) non-conformity of the hardness and / or dimensions of the packing; and in the case of sealing gaskets with locking inserts, the evaluation module 104 can also verify that the recoil of the spigot has indeed caused the inserts to engage.

[0056] Each junction defect detectable by the evaluation module corresponds to typical defect data. The evaluation means 100 comprise a typical defect memory containing the typical defect data for each detectable junction defect. Before describing the characteristics of each junction defect, the fitting method will be described subsequently in the case of a correctly established tubular junction 4.

[0057] We start from the situation represented on the Figure 1 . The first pipe 8 and the second pipe 12 are coaxial. The plain end 6 is axially offset from the socket end 10 and located outside the socket end 10. The sealing gasket 14 is located in the inner groove 16 of the second pipe 12.

[0058] During a first nesting step, which is an approach step, the nesting force which corresponds to the movement of the spigot end is low (almost zero), and this until the spigot end 6 comes into contact with the seal 14. This approach step is represented by A [A surrounded by a circle] on the Figure 7 and corresponds to the step of moving the spigot between the Figures 1 And 2 .

[0059] During a second fitting stage, which is a flaring and compression stage of the gasket, the fitting force gradually increases as the spigot moves. The stroke-force curve is inclined with a positive gradient on the abscissa.

[0060] This step of flaring and compressing the seal is represented by B [B surrounded by a circle] on the Figure 7 and corresponds to the step of moving between the Figures 2 And 3during which the interlocking force reaches a maximum value.

[0061] During a third nesting step, which is a spigot penetration step, the nesting force gradually decreases as the spigot moves. The stroke-force curve is inclined with a negative gradient on the abscissa. The gradient is, however, less than the gradient during the second nesting step. This spigot penetration step is represented by C [C surrounded by a circle] on the Figure 7 and corresponds to the stage during which the plain end slides into the seal ( Figure 4 ).

[0062] During a fourth nesting step, which is an end-of-stroke step, the stroke-force curve is inclined with a negative gradient on the abscissa greater than that of the third nesting step. This end-of-stroke step is represented by D [D surrounded by a circle] on the Figure 7and corresponds to the step during which action is stopped on the actuator 34 of the displacement means 32, the plain end being finally immobilized in the position of the Figure 5 .

[0063] On the Figure 5 , the tubular junction 4 is established and is watertight. The plain end 6 is axially distant from the bottom surface of the fitting.

[0064] Subsequently, different representations of junction defects that can be encountered will be explained (non-exhaustive list), in light of the Figure 7 . The stroke-force curves of various junction defects are shown in the Figure 7 by dotted lines a) to g). The stroke-force curves of the various junction defects of the Figure 7 indicate the stroke-force curve shape of each defect compared to the stroke-force curve shapes of other defects and to the stroke-force curve shape of a correctly established tubular junction.

[0065] For defect a), which corresponds to the abutment of the plain end against the front face of the socket end, the stroke-force curve is initially horizontal during the approach stage (the socket force being initially low), then vertical at a point which corresponds to the contact of the plain end 6 with the front face of the socket end 10. This defect appears during a radial offset of the plain end relative to the socket end, when the two pipes to be joined are not aligned.

[0066] For defect b), which corresponds to the ejection of the seal 14 from the inner groove 16 during fitting, the stroke-force curve is identical to that of the first fitting step and that of the beginning of the second fitting step. As a difference, before the end of the second fitting step, a seal ejection step occurs, resulting in a sharp decrease in the stroke-force curve during the displacement of the spigot. The stroke-force curve during seal ejection is inclined with a negative gradient on the abscissa. Then, on the stroke corresponding to the third fitting step, the fitting force is lower and corresponds only to the axial displacement force which pushes the ejected seal from its housing.

[0067] For defect c), which corresponds to the absence of sealing gasket 14, the stroke-force curve is identical to that of the first nesting stage, then remains at a low level during the second nesting stage.

[0068] For defect d), which corresponds to a partial pinching of the seal 14, the stroke-force curve is identical to that of the first fitting step and follows that of the second fitting step until the partial pinching of the seal, which then results in an inclination of the curve with a negative gradient on the abscissa. This partial pinching defect corresponds, for example, to a seal partially removed from its seal track but without being ejected, because it was caught on a sector by the plain end or initially poorly positioned in the internal groove 16.

[0069] For defect e), which corresponds to the impact of the spigot in the socket bottom, the stroke-force curve is identical to that of the first, second and third socket stages. Then, during the fourth socket stage, the impact at the socket bottom results in a strong inclination of the curve (almost vertical, with a positive gradient on the abscissa) due to the sudden increase in the socket force at a point which corresponds to the contact of the spigot 6 against the socket bottom, the movement of the spigot being blocked. This defect appears in particular when the socket stroke THIS is too long because the actuator 34 continues to maintain the engagement force.

[0070] For defect f), which corresponds to insufficient engagement of the spigot in the socket end, the stroke-force curve is identical to that of the first and second socketing stages. During the third stage, the spigot stops prematurely before reaching the point defined in the typical socketing data. During the fourth stage (called the end-of-stroke stage) the curve has a strong negative gradient on the abscissa. In this stage, action on the actuator 34 of the displacement means 32 is stopped, the spigot being finally immobilized in the position of the Figure 5 This defect appears when the gripping element 38, 40 has lost its initial position during one of the first, second or third steps (sliding for example).

[0071] For defect g), which corresponds to a non-conformity in the hardness and / or dimensions of a batch of sealing gaskets, the gasket is correctly positioned and the joint is watertight, but made with fitting forces that are either too high or too low, outside the recommended force range. The indication of this type of defect indicates a quality defect for the batch of gaskets concerned.

[0072] Upon or after the establishment of the tubular junction 4, the pipe laying device 30 displays the fitting data.

[0073] The operator then decides, based on the nesting data, including the stroke-force curve, whether the tubular joint 4 has been correctly established. The operator can take immediate corrective action if necessary.

[0074] Alternatively or additionally, after the establishment of the tubular junction 4, the pipe laying device 30 evaluates, by means of the evaluation means 100, whether the tubular junction 4 is correctly established, by comparing the fitting data with typical fitting data, namely: the nesting race THIS the general shape of the stroke-force curve.

[0075] The pipe laying device 30 emits a signal to indicate whether the tubular joint is correctly established or defective.

[0076] Additionally, the evaluation means 100 indicate, by similarity with stroke-force curves typical of defects, the nature of the junction defect encountered. When such a similarity or identity is observed for a junction defect, the pipe-laying device 30 emits a signal corresponding to the detected junction defect.

[0077] The variant of the tubular junction of the Figure 6 differs from that previously described only in that the seal 14 comprises locking inserts 22 which allow the tubular joint to be automatically locked, preventing it from being dislodged. The locking inserts 22 are embedded in the seal 14.

[0078] The fitting process of this variant is identical to that of the tubular junction 4 previously described, with the only following differences.

[0079] After the fourth nesting step, which is the end-of-stroke step, a fifth nesting step takes place, which is a locking step. In this locking step, the plain end 6 is moved back relative to the nested end 10 by a locking distance DVin order to place the locking inserts 22 in their hooking position in the spigot end. The stroke-force curve, in the direction of recoil, has an increasing inclination and ends with a vertical section, which corresponds to the state of locking of the spigot end in the socket end.

[0080] The fifth step is represented schematically by E [E surrounded by a circle] on the Figure 7 , in broken lines.

[0081] The method of laying the pipe laying assembly 2 generally comprises the following successive steps: supply of the pipe laying assembly 2; fitting of the plain end 6 into the socket end 10 over the fitting stroke CE by the displacement means 32; recording of the fitting force of the plain end into the socket end as a function of the position of the plain end relative to the socket end over the fitting stroke by the force detection means 60; evaluation of whether or not the tubular joint has been correctly fitted, based on the general shape of the curve representing the fitting force of the plain end into the socket end as a function of the position of the plain end relative to the socket end over the fitting stroke THIS.

[0082] The pipe laying device 30, the assembly and the method according to the invention make it possible to check, for each tubular junction, the correct positioning of the sealing gasket in its housing at the time of the fitting carried out at the bottom of the trench or on supports placed on the ground, on tunnel walls or on bridges. The pipe laying device 30, the assembly and the method according to the invention also make it possible to monitor and anticipate the risks of drifts originating either from the fitting operation, or from the characteristics of the parts supplied, such as sealing gaskets outside the tolerances, or from the surrounding conditions such as temperature or humidity for example.

[0083] The installation device, the assembly and the method according to the invention also allow: to follow the fitting procedure as closely as possible by assisting the operator with automatic checks, to guarantee the correct execution of the fitting of each tubular junction to reduce the risk of leakage at the time of the pressure acceptance test and ultimately after the pipeline is put into service.

[0084] Using data archiving means, for example a database, it is advantageously possible to quantitatively and qualitatively measure the factors influencing the assembly operation and therefore to use this data for an improved design of future tubular joints. It is also possible to correlate, with artificial intelligence software, the shape of the stroke-force curves with the different types of installation defects encountered, by a machine learning type process.

[0085] The preceding description contains technical features of the invention. These technical features, although presented in a technical context and possibly in combination with other technical features, can be used individually in each case, without the other technical features, as far as this is technically possible.

Claims

1. Pipe laying device (30), the pipe laying device being adapted to fit a plain end (6) of a first pipe (8), which is a pipe to be laid, into a socket end (10) of a second pipe (12), which is a pipe already laid, the socket end being provided with a sealing gasket (14) adapted to seal a gap between the plain end and the socket end, the pipe laying device comprising means (32) for moving the first pipe relative to the second pipe in order to fit the plain end into the socket end over a socket stroke (CE), characterized in that the pipe laying device (30) comprises force sensing means (60) adapted to detect the spigot force of the spigot end into the spigot end as a function of the position of the spigot end relative to the spigot end over the spigot stroke of the spigot end into the spigot end.

2. A pipe laying device according to claim 1, wherein the force sensing means (60) comprises a pressure sensor (62) adapted to detect the pressure of a fluid, or a force sensor adapted to detect a force, such as a strain gauge.

3. Pipe laying device according to claim 1 or 2, wherein the displacement means comprise an actuator (34), in particular in the form of a hydraulic cylinder (36).

4. Pipe laying device according to any one of the preceding claims, wherein the pipe laying device (30) comprises nesting data display means (80), these nesting data representing the nesting stroke, carried out by the displacement means, and the nesting force detected by the force detection means, on the nesting stroke, and in particular the pipe laying device comprising data archiving means (90), adapted to archive the nesting data.

5. A pipe laying device according to any preceding claim, wherein the pipe laying device (30) comprises evaluation means (100), adapted to evaluate, as a function of the fitting force detected by the force detection means (60) over the fitting stroke, whether the tubular joint created by the fitting of the spigot end into the socket end over the fitting stroke is correctly established, in particular is sealed or sealed and locked.

6. Pipe laying device according to claim 5, wherein the evaluation means (100) comprise an evaluation module (104) which is adapted to detect, as a function of the insertion force detected by the force detection means (60) on the insertion stroke (CE), at least one joint defect.

7. Pipe laying device according to claim 6, characterized in thatthe joint defect detectable by the evaluation module (104) comprises one, several or all of the following joint defects: - abutment of the spigot end against the front face of the socket end; - ejection of the seal; - absence of the seal; - partial pinching of the seal; - impact of the spigot end against the bottom of the socket end; - optimum socket depth of the spigot end not reached; - non-conformity of the hardness and / or dimensions of the seal; and - in the case of a seal with locking inserts (22), insufficient recoil of the spigot end to ensure correct attachment of the inserts.

8. Pipe laying assembly comprising - a first pipe (8), provided with a plain end (6); - a second pipe (12), provided with a socket end (10); and - a pipe laying device, the socket end being provided with a sealing gasket (14); characterized in thatthe pipe laying device is a pipe laying device (30) according to any one of the preceding claims, and in that the pipe laying device is adapted to fit the plain end into the socket end by the displacement means (32).

9. Pipe laying assembly according to claim 8, wherein the laying assembly comprises one, more or all of the following features: - the first pipe (8) and / or the second pipe (10) is / are made of cast iron; - the spigot end (10) comprises an inner groove (16) and the seal (14) is inserted into the inner groove; - the seal comprises a heel (18) and a self-sealing sealing lip (20); - the seal (14) comprises locking inserts (22) adapted to automatically lock the junction between the spigot end and the spigot end.

10. A method of laying pipes, comprising the following successive steps: - providing a pipe laying assembly according to any one of claims 8 or 9; - fitting the plain end into the socket end over the fitting stroke by the displacement means; - recording the fitting force of the plain end into the socket end as a function of the position of the plain end relative to the socket end over the fitting stroke by the force detection means; and - evaluating whether or not the tubular joint has been correctly fitted, based on the general shape of the curve representing the fitting force of the plain end into the socket end as a function of the position of the plain end relative to the socket end over the fitting stroke.

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