Processing device for processing inner surfaces of pipes

Abstract

The invention relates to a processing device (5) for processing inner surfaces (6, 6') of pipes (2, 2'). Said processing device (5) comprises a support frame (8) for holding at least one processing unit (9). At least two wheels (12), which can be rotated about wheel axes (13), are retained on the support frame (8) so that, by means of said wheels (12), the processing device (5) can be moved within a pipe (2, 2') to be processed. All of the wheels (12) are additionally adjustable and lockable with respect to their rotational angle positions about height axes (14) running perpendicularly to the wheel axes (13), so that the processing device (5) can be moved by means of the wheels (12) both parallel and perpendicularly to the pipe axis of a pipe (2, 2') to be processed.

Description

[0001] MACHINING DEVICE FOR MACHINING INTERNAL SURFACES OF PIPES

[0002] The invention relates to a processing device for machining the inner surfaces of pipes, as specified in the claims. The pipes intended for machining are large metal pipes with a diameter of more than 1000 mm, in particular more than 2000 mm, such as those used for containers, pipelines, offshore components, or wind turbine masts.

[0003] From the prior art, processing devices are known which are intended for processing the outer surface of pipes. These outer surface processing devices can either be attached to the outer surface of the pipe by clamping mechanisms, or they have separate support structures supported on the substrate, as is known, for example, from CN212217509U. In this case, a pipe to be processed is guided through the hollow cylindrical interior of the processing device, with pairs of rollers arranged in this cavity supporting the pipe and guiding it through the processing device. A welding torch is mounted on an annular support element which extends outside the pipe and which is rotatable about its central axis relative to the pipe. The feed movement of a consumable welding electrode is achieved via a spiral-shaped guide.With the stationary pairs of rollers supporting a pipe and the ring-shaped support element surrounding the pipe, weld seams can be applied to the outside of the pipe running perpendicular to the pipe axis. This well-known design is mechanically complex.

[0004] Furthermore, machining devices intended for machining the inner surface of pipes are known from the prior art, for example according to EP1815920A1. This device proposes a method and a system for machining the inner longitudinal seam of longitudinally welded components, such as pipes, containers, boilers, or the like. The system has a milling lance in which a milling support is mounted so that it can be moved horizontally. At the lower end of the milling lance, a plurality of support and alignment elements are provided for fixing the milling lance. The milling support consists of milling units arranged one behind the other, each with milling cutters fastened to a spindle at their lower ends, with detection devices provided in the milling support in front of and behind the milling units. A feed drive that can be moved horizontally within the milling lance is provided on the milling support.This should enable weld notches to be machined with great precision, largely eliminating component failure due to pulsating loads. Furthermore, it should enable relatively fast machining of the notches and also achieve cost-effective processing. However, such a system is only partially satisfactory in practice. Among other things, adapting to different pipe diameters requires extensive modification and modification work.

[0005] The object of the present invention was to overcome the disadvantages of the prior art and to provide a processing device which enables extensive processing, in particular repair processing, on the inner surfaces of pipes with the least possible structural effort.

[0006] This object is achieved by a processing device according to the claims.

[0007] The processing device according to the invention for processing the inner surfaces of pipes comprises a support frame for accommodating at least one processing unit, in particular at least one machining and / or welding processing unit. The support frame is dimensioned such that it can be completely accommodated inside a pipe to be processed. A pipe to be processed can therefore surround the support frame and completely accommodate a processing device arranged inside the pipe. At least two wheels, preferably three or four wheels, are mounted on the support frame. These wheels are rotatable about horizontal or approximately horizontal wheel axes. The wheels are provided for rolling support of the support frame relative to the curved inner surface of a pipe to be processed.In particular, the wheels are designed in such a way that the processing device can be moved and positioned within a pipe to be processed by means of these wheels.

[0008] Preferably, a pipe to be machined has a round cross-section, in particular circular or oval. All wheels for moving the support frame can also be adjusted and locked with regard to their angular positions about vertical axes running transversely to the wheel axes, so that the processing device can be moved by means of the wheels both parallel and transversely to the longitudinal axis of a pipe on its inner surface. An advantage of the processing device according to the invention is that it can be moved longitudinally, transversely, and approximately spirally within a pipe to be machined. In particular, one and the same processing device according to the invention can optionally travel longitudinal and transverse paths and even implement partial or complete spiral paths.In this way, longitudinal, transverse and spiral connecting seams of a pipe can be processed, in particular reworked, or even manufactured in an advantageous manner.

[0009] The term “pipes” refers to hollow structural elements with a round or rounded cross-section, including conical pipes, for example for masts, or containers or boilers, which may be closed at at least one axial end.

[0010] Furthermore, it can be provided that an available adjustment range of the rotation angle positions of the wheels is at least 90 degrees. This allows for quick and functionally stable conversion or switching between longitudinal seam and transverse or circumferential seam processing of a pipe. In particular, this enables the processing device to be rotated or converted by 90° with respect to a vertical axis of the processing device within a pipe to be processed. This 90° conversion process within a pipe to be processed can, if necessary, also take place at a stand, i.e., without forward, backward, or sideways movement. Furthermore, this allows the processing unit to be advantageously mounted on the support frame in a rotationally fixed manner, i.e., without a pivoting mechanism with respect to a vertical axis, whereby the design of the processing device can be kept as simple and robust as possible.

[0011] Furthermore, it may be advantageous to have a motorized wheel drive associated with at least one of the wheels, allowing the processing device to be positioned and moved within a pipe to be processed in a controlled manner. This allows for rapid, convenient, and independent positioning of the processing device within a pipe. In addition to manually controlled or controlled shuttle operation, autonomous, self-propelled, or semi-autonomous movement of the processing device is also conceivable.

[0012] Furthermore, it can be provided that the at least one processing unit is fastened to at least one adjusting device, which at least one adjusting device is designed to adjust the at least one processing unit relative to the support frame. This makes it possible to carry out a rough or pre-positioning of the movable processing device and the processing unit within the pipe by means of the wheels of the processing device and then to achieve a fine positioning of the at least one processing unit in relation to the planned processing position by means of the at least one adjusting device. Alternatively or in combination with this, it is possible to carry out a desired relative movement of the at least one processing unit with respect to the pipe to be processed with high precision during a processing operation while the wheels of the support frame are at a standstill.

[0013] According to a further development, it is possible for at least one of the adjusting devices to comprise at least three adjusting axes, so that at least one of its processing units is adjustable in three-dimensional space. This allows the adjustment range of the processing unit to be increased, particularly in the circumferential direction of a pipe to be processed, without causing problems with static friction or without reaching the traction limits of the wheels of the support frame. This also makes it possible to achieve defined feed movements in the depth and height directions and defined positioning movements with respect to a horizontal plane, thus ensuring precise and planned machining of the curved inner surface of the pipe at the intended machining positions.

[0014] Furthermore, it can be expedient to have a fixing or braking device designed to hold the machining device in a selected machining position. This allows the forces acting on the machining device during machining, such as milling or feed forces, to be reliably absorbed without any undesired displacement or slipping of the entire machining device relative to the pipe. This can be expedient for relatively lightweight machining devices. However, it can also be a considerable advantage if the machining device performs machining away from the bottom dead center of the pipe to be machined, or is positioned away from the bottom dead center. The bottom dead center of the pipe can also be referred to as the 6 o'clock position in relation to a pipe with a circular cross-section.

[0015] According to a particular embodiment, the fixing or braking device can comprise at least one magnet-based holding element, which is designed for magnetic coupling and decoupling with a pipe to be processed. The at least one magnet-based holding element can comprise at least one electromagnet, at least one permanent magnet, or a combination thereof. Especially in connection with metallic or ferromagnetic pipes, this can create a reliable, highly effective, and easily activated and deactivated fixing and braking effect between the processing device and a pipe to be processed.

[0016] Furthermore, the fixing or braking device can comprise at least one support foot or brake shoe that is adjustable relative to the support frame, with which a rolling or braking resistance of the machining device can be raised and lowered as needed. This creates a structurally simple yet highly effective fixing or braking device that can easily withstand even increased loads.

[0017] Furthermore, it can be provided that the at least one support leg comprises, in its end section facing away from the support frame, an articulated support plate relative to a pipe to be machined. This allows for an improved supporting and / or braking effect of the machining device relative to the curved inner surface of a pipe to be machined.

[0018] According to an expedient embodiment, the at least one processing unit is selected from the group comprising milling device, grinding device, cutting device and welding device. In particular, if the at least one processing unit comprises a milling device with a rotatably mounted milling tool, advantageous repair processing of internal circumferential and longitudinal welds on large pipes can be achieved with the specified processing device. Among other things, this enables defined and precise removal of qualitatively inadequate or defective weld seams. The amount of new weld metal to be introduced can thus be reduced, which in turn reduces the introduction of thermal energy and prevents the problem of undesired distortion of the pipe.

[0019] According to an advantageous development, a defect detection device can be provided, particularly on the support frame, on the at least one processing unit, or on an adjusting device on the support frame. This device is designed to detect defects in a pipe to be machined. This allows for sensor-assisted detection of defects or damaged areas, which enables qualitatively consistent or measurement-supported and thus objective processing of pipes.

[0020] In particular, it may be advantageous if the fault location detection device comprises optical and / or inductive detection means. This allows for reliable and rapid detection of fault locations and potential damage points.

[0021] Furthermore, it can be provided that a geometry or distance measuring device is mounted, in particular on the support frame, or on an adjusting device on the support frame, or on the at least one processing unit, which is designed to determine the geometry of a pipe to be processed or to determine a vertical distance between the at least one processing unit, in particular with respect to its tool, and a pipe to be processed. As a result, an infeed movement, in particular an infeed depth, of the processing unit can be made dependent on the diameter or curvature of a pipe to be processed in the section below the processing unit or below the processing device in a simple and reliable manner. In this way, defined or planned processing can be achieved with respect to the cross-sectional area or wall thickness of the pipe to be processed.

[0022] According to an advantageous embodiment, it can further be provided that support surfaces for a forklift truck and / or eyes for a crane lifting device are formed on the support frame. This allows comfortable and safe handling of the processing device with regard to its insertion into a pipe to be processed and with regard to its removal from a processed pipe. The aforementioned measures or means can also be used alternatively or in combination with the pivoting wheels on the support frame to relocate the processing device by 90°, in particular to rotate it 90° around its vertical axis, depending on a planned longitudinal or transverse processing of the pipe's inner wall. This 90° relocation process can, if necessary, be carried out quickly and easily using a forklift truck and / or crane outside the pipe to be processed.Especially for pipes with a relatively small inner diameter and thus a relatively strong curvature, a transfer process of the processing device outside the pipe to be processed can be advantageous.

[0023] Furthermore, it can be provided that the processing device comprises a rotation device with which a pipe to be processed can be rotated about its horizontally oriented longitudinal or pipe axis. This makes it possible to create a system for the extensive processing of pipes. In particular, this makes it possible to process a pipe over its entire cross-sectional circumference, and also over more than 360°. In particular, this makes it possible to process, in particular repair, circular or transverse seams of a pipe over its entire length or at any desired longitudinal position. The overall costs for such a system or processing device for processing internal longitudinal and transverse seams of pipes can be kept relatively low.

[0024] Another advantageous embodiment is one in which the rotation device comprises at least one support frame and at least two support rollers, which support rollers have roller axes running parallel to the longitudinal axis of a pipe to be processed, and which support rollers are intended to bear against the outer surface of a pipe to be processed. This creates a practical rotation device in addition to the processing device. The rotation device is structurally separate or constructively independent from the "in-pipe device", whereby assembly and handling advantages can be achieved. The separate rotation device can be designed as a pivot bearing block for a pipe with a horizontally aligned longitudinal or pipe axis.

[0025] For a better understanding of the invention, it is explained in more detail using the following figures.

[0026] They show in a simplified, exemplary representation:

[0027] Fig. 1 shows a technical system for processing large pipes, with the movable processing device used being illustrated in three different orientations and positions;

[0028] Fig. 2 shows the system according to Fig. 1 in a view according to arrow II in Fig. 1;

[0029] Fig. 3 is an enlarged detail view of Fig. 2;

[0030] Fig. 4 shows the system according to Fig. 1 in a sectional view according to arrow III in Fig. 1;

[0031] Fig. 5 is an enlarged detail view of Fig. 4;

[0032] Fig. 6 shows the movable processing device with its wheels in a first angular position; Fig. 7 shows the movable processing device with its wheels in a further angular position, changed by 90°;

[0033] Fig. 8a-8d the processing device in plan view in connection with a (a) longitudinal, (b) transverse and (c) diagonal movement, as well as a (d) rotational movement around its vertical axis at the stand.

[0034] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied analogously to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure, and these positional information must be applied analogously to the new position in the event of a change in position.

[0035] Figs. 1 to 5 illustrate an embodiment of a technical system 1 for processing or manufacturing pipes 2, 2' or container elements with relatively large inner diameters 3, 3'. Two pipes 2, 2' are shown in each figure as examples of different inner diameters 3, 3'. However, during processing, only a single pipe 2 or 2' is assembled or positioned in the system 1.

[0036] Pipes 2, 2' or container elements to be processed on or with the system 1 have an inner diameter 3, 3' of more than 1000 mm, in particular more than 2000 mm. The inner diameter 3, 3' can be up to approximately 15,000 mm. In particular, when processing pipes 2, 2' or container elements with an inner diameter 3, 3' of 2000 mm to approximately 15,000 mm, it is possible for an operator of the system 1 to stand upright in a corresponding pipe 2, 2' if it is aligned horizontally with its pipe axis 4, 4', in particular if it is aligned quasi-lying. Such large pipes 2, 2' thus enable a body-friendly posture for an operator of the system 1 or a processing device 5 located in the pipe 2, 2'.

[0037] The system 1 comprises a processing device 5 for the preferably mechanical and / or thermal processing of inner surfaces 6, 6' of such pipes 2, 2', i.e., so-called large-diameter pipes. The type of processing is preferably milling at specific or selected locations on the inner wall surface, i.e., on the inner surface 6, 6' of these pipes 2, 2'. However, welding, grinding, and / or corrosion-resistant processing, for example, painting, is also conceivable using the processing device 5.

[0038] The processing device 5 can be inserted into and removed from the interior of a pipe 2, 2' to be processed as needed using heavy equipment, in particular a forklift truck 7 and / or a crane. In principle, only a single processing device 5 is provided within a pipe 2, 2'.

[0039] The processing device 5 comprises a support frame 8 for receiving or load-bearing mounting of at least one mechanical and / or thermal processing unit 9 relative to the inner surface 6, 6' of the pipe 2, 2' to be processed. According to the embodiment of the processing device 5 shown in Figs. 6, 7, the processing unit 9 is formed by a milling unit 10 with at least one rotatably driven milling disk 11.

[0040] The pipe processing device 5 further comprises at least two, preferably three or four, wheels 12 mounted on the support frame 8, as best shown in Fig. 6. According to this advantageous embodiment, four wheels 12 are provided, each of which is assigned to a corner region of a support frame 8 that is essentially rectangular in plan view. This allows for a high degree of driving stability of the processing device 5 to be achieved.

[0041] The wheels 12 are rotatably mounted about horizontally or essentially horizontally extending wheel axes 13. By means of the wheels 12, the processing device 5, together with the processing unit 9 mounted thereon, can be moved within the pipe 2, 2' to be processed. In particular, the support frame 8 can be moved or positioned in a rolling manner within a pipe 2, 2' to be processed. It is essential that the wheels 12 are steerable, in particular that all wheels 12 formed on the support frame 8 and provided for support on the inner surface of the pipe can also be rotated and locked with regard to their angular positions about vertical axes 14 running transversely, preferably perpendicularly, to their wheel axes 13. Accordingly, a vertical axis 14 is provided for each existing wheel 12, so that each of the wheels 12 on the support frame 8 can assume a defined angular position with respect to a horizontal plane.The individual wheels 12 can preferably be adjusted and locked synchronously or uniformly by an operator of the processing device 5, so that the wheels 12 can be adjusted and locked with the same angle of rotation. However, it is also possible for the wheels 12 to be rotated and adjusted independently of one another and to assume independent, individual steering or angle of rotation positions. A mechanical or control-related coupling with regard to the angle of rotation of the wheels 12 is therefore not mandatory. Accordingly, each of the existing wheels 12 can be designed to be independently pivotable or individually steerable. With two rolling wheels 12, two vertical axes 14 are formed, whereas with three wheels 12 formed on the support frame 8, three vertical axes 14 are formed.

[0042] It is essential that the respective set rotation angle position of each wheel 12 can be locked or fixed with respect to the desired rotation angle position. Due to the wheels 12, which can be adjusted and locked about the vertical axes 14, the processing device 5 can be moved or positioned both parallel and transversely to the pipe axis 4, 4' of a pipe to be processed. Accordingly, with just one processing device 5, for example, longitudinal and transverse seams, in particular weld seams, can be processed or produced alternately or in immediate succession inside a pipe 2, 2' to be processed.

[0043] Particularly in the case of pipes 2, 2' with a relatively large inner diameter 3, 3' compared to the width or length of the support frame 8, the wheels 12 also make it easy to move the processing device 5 by 90° around its vertical axis without having to remove the processing device 5 from the pipe 2, 2' to be processed. This allows either longitudinal or transverse processing to be carried out without the need for a lifting device, for example a forklift truck 7 or a crane. Preferably, the inner diameter 3, 3' of a pipe 2, 2' to be processed is at least twice, preferably at least three times, particularly preferably at least five times the length of the support frame 8 of the processing device, as can best be seen from Figs. 2 and 4.

[0044] According to one embodiment, the wheels 12 can be designed to be freely rotatable with respect to their wheel axles 13, thus enabling manual displacement of the processing device 5 by an operator within a pipe 2, 2' to be processed. Alternatively, or in combination therewith, it may be expedient for at least one wheel drive 15 to be functionally assigned to at least one of the wheels 12, preferably to all of the wheels 12. Such a wheel drive 15 is preferably designed as an electric motor. Alternatively, it is also possible to provide a hydraulic wheel drive. The wheel drive 15 can be designed as a wheel hub drive, as can be seen in Figs. 6, 7.

[0045] By means of the at least one wheel drive 15 on at least one of the wheels 12, the processing device 5 can be controlled and moved within a pipe 2, 2' to be processed. In particular, the processing device 5 can be moved parallel to the pipe axis 4, 4' and transversely to the pipe axis 4, 4'. Transversely to the pipe axis 4, 4' means in the circumferential direction of a pipe 2, 2' to be processed in relation to its cross-section and inner surface. In addition, the wheels 12 with their vertical axes 14 and their adjustability and lockability also enable steering or rotational angle positions to be achieved, which enable quasi-diagonal or spiral movements and compound movements of the processing device 5 within a pipe 2, 2' to be processed.

[0046] It is expedient if an available adjustment range 16 of the rotational angle positions of the wheels 12 is at least 90°. It is advantageous if the adjustment range or adjustment range 16 of the rotational angle positions of the wheels 12 is approximately 360°, in particular up to 400°. This enables straightforward implementation even with cable-connected, electric-motor wheel drives 15 directly connected to the wheels 12. In particular, this eliminates the need for sliding contacts or rotary feedthroughs to the wheel drives 15 attached directly to the wheels 12.

[0047] The support frame 8 of the processing device 5 is dimensioned such that it can be completely accommodated inside a pipe 2, 2' to be processed. The basic shape of the support frame 8 can be substantially rectangular, as can be seen in Figs. 6, 7. It is expedient to form the support frame 8 by support profiles joined together in a frame-like manner and to arrange the at least one processing unit 9 in the receiving area delimited by the support frame 8, as shown by way of example in Figs. 6, 7. The support frame 8 can have a length of approximately 1000 mm to approximately 2500 mm and a width of approximately 800 mm to approximately 2000 mm.

[0048] 6 and 7, the exemplary milling and machining unit 9 is attached to at least one adjusting device 17. This at least one adjusting device 17 is designed for the controlled adjustment of the at least one machining unit 9 relative to the support frame 8. Accordingly, the machining unit 9 can be positioned relatively widely or roughly within a pipe 2, 2' to be machined by means of the wheels 12 or the chassis. In addition, the machining unit 9 can be controlled and adjusted relative to the support frame 8 and thus relative to the desired machining location or relative to the pipe 2, 2' to be machined by means of the adjusting device 17. In particular, at least feed or advance movements of the machining unit 9 in relation to the pipe 2, 2' to be machined can be carried out relatively precisely using the at least one adjusting device 17.

[0049] According to the advantageous embodiment shown, the adjusting device 17 comprises at least three adjusting axes 18, 19, 20, in particular a so-called X-, Y- and Z-adjusting axes. A practical adjusting range of the X-axis 18 (longitudinal axis) can be between 500 mm and 2000 mm. That of the Y-axis 19 (transverse axis) between 20 mm and 400 mm and that of the Z-axis 20 (vertical axis) between 200 mm and 800 mm. Preferably, linear adjusting axes 18, 19, 20 are provided, although at least one of these adjusting axes 18, 19, 20 can also be designed as a rotary axis. The adjusting axes 18, 19, 20 can be manually adjustable and / or motor-adjustable.

[0050] It is essential that the at least one processing unit 9 is adjustable in three-dimensional space by means of the at least one adjusting device 17 on the support frame 8. The respective adjustment ranges are to be selected depending on the respective requirements.

[0051] The processing device 5 further comprises a fixing or braking device 21, which is designed to hold the processing device 5 at a selected processing position within a pipe 2, 2' to be processed. This fixing or braking device 21 can comprise at least one fixing or holding element 22. According to an advantageous embodiment, this holding element 22 is magnet-based and is provided for the magnetic coupling and decoupling of the processing device 5 with respect to a metallic pipe 2, 2' to be processed. Alternatively or in combination with a magnet-based holding element 22, the fixing or braking device 21 can comprise at least one support foot 23 that is mechanically adjustable relative to the support frame 8 and / or at least one brake shoe 24. With this fixing or braking device 21 or with its support foot 23 and / or brake shoe 24, the rolling orThe braking resistance of the processing device 5 can be raised and lowered as needed in relation to the pipe 2, 2' to be processed. The at least one support foot 23 or brake shoe 24 with respect to the inner wall of a pipe 2, 2' to be processed can be manually adjustable, as shown, by means of at least one handwheel and a spindle drive and / or can be automatically adjustable.

[0052] The at least one support foot 23 can comprise, in its end section facing away from the support frame 8, an articulated support plate 25 relative to a pipe 2, 2' to be processed. This allows, in particular, adaptation to different radii of curvature of the pipes 2, 2' to be processed in conjunction with a brake shoe 24.

[0053] The at least one processing unit 9 is selected from the group comprising a milling device or milling unit 10, a grinding device, a cutting device, and a welding device. According to the exemplary illustration, a milling unit 10 comprises at least one drive motor, in particular at least one electric motor.

[0054] According to an expedient embodiment, a defect detection device 26 can be formed on the support frame 8 and / or on the at least one adjusting device 17, which is provided for determining defects or damaged areas to be processed in a pipe 2, 2' to be processed.

[0055] This defect detection device 26 can comprise optical and / or inductive detection means 27, which can be provided in particular for detecting quality defects on or in weld seams. Alternatively or in combination, the detection means 27 can comprise at least one camera.

[0056] Alternatively or in combination with a defect detection device 26, a geometry or distance measuring device 28 can be mounted on the support frame 8 and / or on the at least one adjusting device 17, as is best shown in Fig. 7. This geometry or distance measuring device 28 is designed to determine the geometry of a pipe 2, 2' to be machined or to determine a vertical distance, in particular with respect to the Z-axis 20, between the at least one machining unit 9, in particular with respect to its tool, and a pipe 2, 2' to be machined. This allows an infeed depth or a feed dimension for the machining unit 9, for example a milling unit 10, to be determined and implemented automatically in a simple manner.This geometry or distance measuring device 28 can easily comprise at least one ultrasonic sensor or a laser-based distance sensor for measuring distances between its sensor surface and a sound- or light-reflecting measuring surface.

[0057] It is expedient if several support surfaces 29 for a forklift fork and / or eyelets 30 for crane lifting gear are formed on the support frame 8. This ensures easy handling or relocation of the processing device 5.

[0058] As can best be seen from Figs. 1 to 5, the technical system 1 or the processing device 5 can further comprise a rotation device 31, with which rotation device 31 a pipe 2, 2' to be processed can be rotated about its pipe axis 4, 4'.

[0059] This allows for a safe and reliable rotation of a pipe 2, 2' to be machined around its pipe axis 4, 4'. In particular, transverse seam or circumferential seam machining can be performed with the machining device 5 with respect to extensive circumferential paths, in particular over the entire circumference of a pipe 2, 2' to be machined.

[0060] According to the embodiment shown in Figs. 1 to 5, this rotation device 31 can comprise at least one support frame 32 and at least two support rollers 33. These support rollers 33 have roller axes 34 running parallel to the pipe axis 4, 4' of a pipe 2, 2' to be machined. The support rollers 33 are designed to bear against the outer surface, i.e., the outer circumferential surface, of a pipe 2, 2' to be machined. This enables relatively rapid rotation and secure holding of a pipe 2, 2' mounted on the rotation device 1.

[0061] The processing device 5, which can be moved inside the pipe, can be connected by at least one cable 35 to a control unit 36 ​​arranged outside a pipe 2, 2' to be processed. At least the electrical drive energy required by the wheel drive 15 and / or the processing unit 9 can be transmitted via the cable 36. It is expedient if control signals or control commands originating from the control unit 36 ​​to the processing device 5—and vice versa—can also be transmitted via the at least one cable 35. Alternatively, or in combination with a wired control of the processing device 5, it is also possible to transmit at least some or all of the control commands wirelessly. The same applies to sensor or transmitter signals originating from the processing device 5 toward the stationary power supply and / or control unit 36.

[0062] In order to support an uncomplicated positioning or movement of the processing device 5 inside a pipe 2, 2' to be processed, at least one cable winding device 37 for winding and unwinding the at least one cable 35 can be provided on the energy supply or control unit 36.

[0063] The stationary control unit 36 ​​can further be configured to allow an operator to manually operate or control the functions provided by the processing device 5, in particular its processing functions and / or its movement functions, from the stationary control unit 36. This enables safe and convenient operation of the processing device 5, which can be moved in a pipe 2, 2' in a controlled manner. Furthermore, this can improve the working conditions in connection with the processing, in particular the repair processing, of large pipes. The quality of the processing can also be improved. Furthermore, a reduction in processing times can be achieved.

[0064] Figures 8a-8d show top views of the processing device 5. Figure 8a illustrates forward and backward travel using the double arrow shown, Figure 8b illustrates transverse travel offset by 90° using the double arrow shown, Figure 8c illustrates a diagonal travel movement using the double arrow shown, whereby the angle is arbitrary, and Figure 8d shows a rotation of the processing device 5 at the stand around its vertical axis using the two double arrows.

[0065] Due to the corresponding freedom of movement of the processing device 5, a complex, vertical pivot axis or pivot mechanism for the processing unit 9 relative to the support frame 8 can be dispensed with and longitudinal, transverse and diagonal processing can still be carried out within the pipes to be processed.

[0066] The embodiments show possible embodiments, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather various combinations of the individual embodiments with each other are also possible and this possibility of variation lies within the skill of the person skilled in the art in this technical field due to the teaching of technical action by means of the objective invention.

[0067] The scope of protection is determined by the claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions. The problem underlying these independent inventive solutions can be derived from the description.

[0068] All information on value ranges in this description is to be understood as including any and all sub-ranges thereof, e.g. the information 1 to 10 is to be understood as including all sub-ranges starting from the lower limit of 1 and the upper limit of 10, ie all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0069] For the sake of clarity, it should finally be pointed out that, in order to better understand the structure, some elements have been shown out of scale and / or enlarged and / or reduced in size.

[0070] Reference symbol list

[0071] Appendix 28 Geometry or distance measuring device

[0072] Pipe direction

[0073] Inner diameter 29 support surfaces

[0074] Tube axis 30 eyelets

[0075] Machining device 31 Rotation device

[0076] Inner surface 32 support frame

[0077] Forklift 33 support rollers

[0078] Support frame 34 roller axes

[0079] Processing unit 35 cables

[0080] Milling unit 36 ​​control unit

[0081] Milling disc 37 cable winding device

[0082] Wheels

[0083] Wheel axles

[0084] Vertical axes

[0085] Wheel drive

[0086] Setting range

[0087] Adjusting device

[0088] Adjusting axis

[0089] Adjusting axis

[0090] Adjusting axis

[0091] Fixing or braking device

[0092] Holding element

[0093] Support foot

[0094] brake shoe

[0095] support plate

[0096] Fault detection device

[0097] Experience is a gift.

Claims

Patent claims 1. Machining device (5) for machining inner surfaces of pipes, comprising - a support frame (8) for receiving at least one processing unit (9), - at least two wheels (12) mounted on the support frame (8) and rotatable about wheel axles (13), so that the processing device (5) can be moved by means of these wheels (12) within a pipe to be processed, characterized in that all wheels (12) can additionally be adjusted and locked with regard to their angle of rotation positions about vertical axes (14) running transversely to the wheel axles (13), so that the processing device (5) can be moved by means of the wheels (12) both parallel and transversely to the pipe axis of a pipe to be processed.

2. Processing device according to claim 1, characterized in that the support frame (8) is dimensioned such that it can be completely accommodated inside a pipe to be processed.

3. Machining device according to claim 1 or 2, characterized in that an available adjustment range (16) of the rotation angle positions is at least 90 degrees.

4. Processing device according to one of the preceding claims, characterized in that at least one of the wheels (12) is assigned a wheel drive (15), with which the processing device (5) can be controlled and moved within a pipe to be processed.

5. Processing device according to one of the preceding claims, characterized in that the at least one processing unit (9) is fastened to at least one adjusting device (17), which at least one adjusting device (17) is designed to adjust the at least one processing unit (9) relative to the support frame (8).

6. Processing device according to claim 5, characterized in that at least one of the adjusting devices (17) comprises at least three adjusting axes (18, 19, 20), so that at least one processing unit (9) thereof is adjustable in three-dimensional space.

7. Processing device according to one of the preceding claims, characterized in that a fixing or braking device (21) is formed, which is designed to hold the processing device (5) at a selected processing position.

8. Processing device according to claim 7, characterized in that the fixing or braking device (21) comprises at least one magnet-based holding element (22) which is provided for magnetic coupling and decoupling with respect to a pipe to be processed.

9. Machining device according to claim 7 or 8, characterized in that the fixing or braking device (21) comprises at least one support foot (23) or brake shoe (24) which is adjustable relative to the support frame (8) and with which a rolling or braking resistance of the machining device (5) can be raised and lowered as required.

10. Processing device according to claim 9, characterized in that the at least one support foot (23) comprises, in its end section facing away from the support frame (8), an articulated support plate (25) opposite a pipe to be processed.

11. Processing device according to one of the preceding claims, characterized in that the at least one processing unit (9) is selected from the group comprising milling unit (10), grinding device, cutting device and welding device.

12. Processing device according to one of the preceding claims, characterized in that a defect detection device (26) is designed which is designed to determine defects to be processed in a pipe to be processed.

13. Processing device according to claim 12, characterized in that the defect detection device (26) comprises optical and / or inductive detection means (27).

14. Processing device according to one of the preceding claims, characterized in that a geometry or distance measuring device (28) is mounted on the support frame (8) or on the at least one processing unit (9), which is designed to determine the geometry of a pipe to be processed or to determine a vertical distance between the at least one processing unit (9), in particular with respect to its tool, and a pipe to be processed.

15. Processing device according to one of the preceding claims, characterized in that support surfaces (29) for a forklift lifting fork and / or eyelets (30) for a crane lifting device are formed on the support frame (8).

16. Processing device according to one of the preceding claims, characterized in that it further comprises a rotation device (31) with which a pipe to be processed can be rotated about its pipe axis.

17. Processing device according to claim 16, characterized in that the rotation device (31) comprises at least one support frame (32) and at least two support rollers (33), which support rollers (33) have roller axes (34) running parallel to the pipe axis of a pipe to be processed, and which support rollers (33) are provided for contact with the outer surface of a pipe to be processed.

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