Pipe laying equipment with control means, assembly and corresponding method

Abstract

Pipe laying device with control means, assembly and corresponding method. 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 being 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 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 measure 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. Figure for the abbreviation: Figure 1

Description

Title of the invention: Pipe laying device with control means, corresponding assembly and method

[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 a pipe already laid, the socket end being provided with a sealing gasket adapted to seal a gap between the plain end and the socket end,

[0002] 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 socket stroke.

[0003] Document WO2020141266A1 discloses an apparatus for laying pipeline pipes. The apparatus 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.

[0004] EP3623680A1 discloses a connection device for tubular conduits for a pneumatic system or for a fuel delivery system. The connecting device comprises a connecting body with a receiving opening for the pipe to be plugged in. A support sleeve is arranged coaxially with the connecting body and inside the latter, such that the end of the pipe 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 pipe end. A circumferential seal is arranged between the connecting body and the end of the pipe.

[0005] The peripheral seal produces a first haptic signal in the form of a sudden increase in the resistance to insertion when the end of the tubular conduit encounters the peripheral seal.

[0006] The support sleeve comprises a sensor element which generates a second haptic signal in the form of a sudden increase in the insertion resistance depending on the insertion depth of the end of the pipe in the insertion direction behind the peripheral seal inside the connection body.

[0007] This document does not concern pipes for the transport of water and calls upon specific means for generating the characteristic succession of the first and second haptic signals.

[0008] WO2020249265A2 describes a pipe fitting applicator.

[0009] EP3120064 or WO2015139148A1 discloses a locking device for a junction after inserting a plain end into a socket end. These documents do not concern self-sealing or self-locking junctions.

[0010] The object of the invention is to provide a device and a method for laying pipeline pipes efficiently and reliably leading to a sealed tubular joint, in particular a 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.

[0011] 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 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 of the plain end into the socket end.

[0012] According to particular embodiments of the device, the latter may comprise one or more of the following characteristics:

[0013] - the force detection means comprise a pressure sensor adapted for measure the pressure of a fluid, or a force sensor adapted to measure a force, such as a strain gauge;

[0014] - the displacement means comprise an actuator, in particular in the form of a hydraulic jack;

[0015] - the pipe laying device comprises data display means nesting, 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, adapted to archive the nesting data;

[0016] - the pipe laying device comprises evaluation means, adapted for assess, based on the interlocking force detected by the force detection means on the interlocking stroke, whether the tubular junction created by the interlocking of the plain end into the interlocking end on the interlocking stroke is correctly established, in particular is watertight or watertight and locked;

[0017] - the evaluation means comprise an evaluation module which is adapted for detect, depending on the interlocking force detected by the detection means force on the nesting stroke, at least one junction defect;

[0018] - the junction defect detectable by the evaluation module comprises one, several or all of the following junction defects:

[0019] - abutment of the plain end against the front face of the socket end;

[0020] - ejection of the sealing gasket;

[0021] - absence of the sealing gasket;

[0022] - partial pinching of the sealing gasket;

[0023] - impact of the plain end against the bottom of the socket end;

[0024] - optimal nesting depth of the plain end not reached;

[0025] - non-conformity of the hardness and / or dimensions of the sealing gasket; and

[0026] - in the case of a sealing gasket with locking inserts, recoil of the plain end insufficient to ensure the correct attachment of inserts.

[0027] The invention also relates to a pipe laying assembly comprising

[0028] - a first pipe, provided with a plain end;

[0029] - a second pipe, provided with a fitting end; and

[0030] - a pipe laying device,

[0031] the interlocking end being provided with a sealing gasket;

[0032] 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 socket end by the displacement means.

[0033] According to particular embodiments of the installation assembly, the latter may comprise one, several or all of the following characteristics:

[0034] - the first pipe and / or the second pipe is / are made of cast iron;

[0035] - the spigot end comprises an inner groove and the sealing gasket is inserted into the inner groove;

[0036] - the sealing gasket comprises a heel and a self-sealing sealing lip;

[0037] - the seal has locking inserts adapted to ver automatically rust the junction between the plain end and the socket end.

[0038] The invention also relates to a method for laying pipes, comprising the following successive steps:

[0039] - provision of a pipe laying assembly as defined above;

[0040] - fitting the plain end into the socket end on the socket stroke by means of transport;

[0041] - measurement of the interlocking force of the plain end in the interlocking end in function of the position of the plain end relative to the socket end over the socket stroke by the force sensing means; and

[0042] - assessment of the correct or incorrect assembly of the tubular junction, based on the appearance general of the curve representing the interlocking force of the plain end in the end nesting depending on the position of the plain end relative to the socket end over the nesting stroke.

[0043] 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:

[0044] [Fig-1] [Fig. 1] shows schematically and not to scale a pipe laying assembly according to the invention in a configuration preceding the start of nesting;

[0045] [Fig.2] [Fig.2] schematically shows the first pipe and the second pipe of the whole of [Fig.l] during fitting, at the moment when the plain end comes into contact with the sealing gasket;

[0046] [Fig.3] [Fig.3] shows schematically the first pipe and the second pipe during fitting, when the seal is flared by the plain end and in maximum compression;

[0047] [Fig.4] [Fig.4] shows schematically the first pipe and the second pipe during fitting, the plain end sliding into the sealing gasket;

[0048] [Fig.5] [Fig.5] schematically shows the first pipe and the second pipe in end of nesting stroke position;

[0049] [Fig.6] [Fig.6] is a view corresponding to that of [Fig.5], of a variant of a tubular junction according to the invention, the tubular junction being in its nested and locked configuration; and

[0050] [Fig.7] [Fig.7] is a stroke-force diagram showing the shape of the force of nesting as a function of the nesting stroke of the plain end in the socket end for different cases of nesting of the tubular junctions of Figures 1 to 6.

[0051] In [Fig.l] is shown a pipe laying assembly according to the invention, designated by the general reference 2. [Fig.l] is schematic and is not to scale.

[0052] The pipe laying assembly 2 is adapted to create a tubular junction 4 shown in [Fig.5] in the assembled state.

[0053] The tubular junction 4 extends along a central axis XX. In the following, the expressions “radially”, “axially”, “circumferentially” and “meridian” will be used with respect to this central axis.

[0054] 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.

[0055] In 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.

[0056] The first pipe 8 is for example made of cast iron, in particular ductile cast iron. The second pipe 12 is for example made of cast iron, in particular ductile cast 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] The sealing gasket 14 comprises, in meridian section, an elastic ring made of flexible or resilient material, for example elastomer, which extends along the central axis XX.

[0061] 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.

[0062] The sealing gasket 14, respectively the tubular junction 4, of the embodiment of Figures 1 to 5 is devoid of locking inserts locking the plain end relative to the socket end.

[0063] The tubular junction 4 defines a fitting stroke CE, which is the movement of the plain end 6 relative to the fitting end 12 between an assembly start position ([Fig.l]) and an assembly end position ([Fig.5]). The fitting stroke CE is directed in a fitting direction SE, which is coaxial with the central axis XX and directed from the plain end 6 towards the fitting end 10.

[0064] 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.

[0065] 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 fitting end over the fitting stroke CE.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] The pipe laying device 30 further comprises force detection means 60 adapted to detect the fitting force F of the plain end 6 in the socket end 10 as a function of the position of the plain end relative to the socket end over the fitting stroke CE of the plain end in the socket end.

[0071] The interlocking force is the resistance force opposing a displacement of the spigot in the interlocking direction SE.

[0072] 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 ([Fig.l]) or be arranged between the fluid line 44 and the fluid inlet in a casing of the hydraulic cylinder 36.

[0073] 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.

[0074] 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.

[0075] The pipe laying device 30 further comprises stroke detection means 66 adapted to record the distance traveled by the spigot end 6 over the fitting stroke CE. These stroke detection means 66 comprise in this case a position sensor 68, which is adapted to record the position of the spigot end 6 relative to the fitting end 10. The position sensor 68 is for example arranged on the hydraulic cylinder 36 and adapted to record 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 spigot end and the fitting end. Also, in a variant not shown, the position sensor 68 is a speed sensor measuring the speed of movement of the spigot end relative to the fitting end associated with means for integrating the speed captured over time.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] The control device 70 is connected by a control line 78 to the position sensor 68 in order to record the position of the plain end 6 relative to the socket end 10.

[0080] The control device 70 is therefore adapted to generate and manage nesting data representing the nesting stroke CE, carried out by the displacement means, and the nesting force F detected by the force detection means, on the nesting stroke CE. For this purpose, the control device 70 comprises or is connected to a memory adapted to store the nesting data representing the nesting stroke CE, carried out by the displacement means, and the interlocking force F detected by the force detection means, over the interlocking stroke CE for a given tubular junction 4.

[0081] 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, on the nesting stroke CE. These means for displaying nesting data 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.

[0082] 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 unequivocal 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.

[0083] 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.

[0084] 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 CE, whether the tubular junction 4 created by the fitting of the plain end into the fitting end on the fitting stroke CE is correctly established, that is to say whether the tubular junction 4 is sealed or, where appropriate, sealed and locked.

[0085] The evaluation means 100 comprise a memory containing typical nesting data representing the nesting force over the nesting stroke CE corresponding to a correct nesting of a given tubular junction 4. These typical nesting data are represented in [Fig.7] in dashed-dots, corresponding to the high and low tolerances.

[0086] The evaluation means 100 comprise an evaluation module 104.

[0087] The evaluation means 100 or the evaluation module 104 comprise means of comparing the nesting data of a given tubular junction 4 with typical nesting data.

[0088] 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 nesting data display means 80 or the screen 82.

[0089] The evaluation means 100 are furthermore adapted to detect, as a function of the interlocking data or as a function of the interlocking force detected by the force detection means on the interlocking stroke CE of a given tubular junction 4, at least one of the various possible junction defects.

[0090] More precisely, in this case, the evaluation module 104 is adapted to detect, as a function of the interlocking data or as a function of the interlocking force detected by the force detection means on the interlocking stroke CE of a given tubular junction 4, one, several or all of the following junction defects, this list not being exhaustive:

[0091] a) abutment of the plain end against the front face of the socket end;

[0092] b) ejection of the seal;

[0093] c) absence of the sealing gasket;

[0094] d) partial pinching of the seal;

[0095] e) impact of the plain end against the bottom of the socket end;

[0096] f) optimum nesting depth of the spigot not reached;

[0097] g) non-conformity of the hardness and / or dimensions of the seal; and

[0098] in the case of seals with locking inserts, the evaluation module 104 can also verify that the recoil of the spigot has indeed caused the inserts to catch.

[0099] 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.

[0100] We start from the situation shown in [Fig.l]. 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.

[0101] During a first fitting step, which is an approach step, the fitting 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 sealing gasket 14. This approach step is represented by A [A surrounded by a circle] in [Fig.7] and corresponds to the step of moving the spigot between Figures 1 and 2.

[0102] During a second nesting step, which is a step of flaring and compressing the seal, the nesting force gradually increases during the displacement of the spigot. The stroke-force curve is inclined with a positive gradient on the abscissa.

[0103] This step of flaring and compressing the seal is represented by B [B surrounded by a circle] in [Fig.7] and corresponds to the displacement step between Figures 2 and 3 during which the fitting force reaches a maximum value.

[0104] 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] in [Fig.7] and corresponds to the step during which the spigot slides into the seal ([Fig.4]).

[0105] During a fourth nesting step, which is an end-of-travel 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-travel step is represented by D [D surrounded by a circle] in [Fig. 7] and corresponds to the step during which action on the actuator 34 of the displacement means 32 ceases, the plain end being finally immobilized in the position of [Fig. 5].

[0106] In [Fig.5], the tubular junction 4 is established and is watertight. The plain end 6 is axially distant from the bottom surface of the fitting.

[0107] Subsequently, various representations of junction defects that may be encountered will be explained (non-exhaustive list), in the light of [Fig. 7]. The stroke-force curves of various junction defects are represented in [Fig. 7] by dotted lines a) to g). The stroke-force curves of the various junction defects in [Fig. 7] indicate the shape of the stroke-force curve of each defect compared to the shapes of the stroke-force curves of the other defects and to the shape of the stroke-force curve of a correctly established tubular junction.

[0108] 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 step (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 assembled are not aligned.

[0109] For defect b), which corresponds to the ejection of the sealing gasket 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.

[0110] For defect c), which corresponds to the absence of sealing gasket 14, the stroke-force curve is identical to that of the first nesting step, then remains at a low level during the second nesting step.

[0111] 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 hooked onto a sector by the plain end or initially poorly positioned in the internal groove 16.

[0112] For defect e), which corresponds to the impact of the spigot in the bottom of the fitting, the stroke-force curve is identical to that of the first, second and third steps of fitting. Then, during the fourth step of fitting, the impact at the bottom of the fitting results in a strong inclination of the curve (almost vertical, with a positive gradient on the abscissa) due to the sudden increase in the fitting force at a point which corresponds to the contact of the spigot 6 against the bottom of the fitting, the movement of the spigot being blocked. This defect appears in particular when the fitting stroke CE is too long because the actuator 34 continues to maintain the fitting force.

[0113] For defect f), which corresponds to insufficient engagement of the spigot end in the interlocking end, the stroke-force curve is identical to that of the first and second interlocking steps. During the third step, the spigot end stops prematurely before reaching the point defined in the typical interlocking data. During the fourth step (called the end-of-travel step) the curve has a strong negative gradient on the abscissa. In this step, action on the actuator 34 of the displacement means 32 is stopped, the spigot end being finally immobilized in the position of [Fig. 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).

[0114] For defect g) which corresponds to a non-conformity of 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 signals a quality defect for the batch of gaskets concerned.

[0115] Upon or after the establishment of the tubular junction 4, the pipe laying device 30 displays the nesting data.

[0116] Then, the operator decides, based on the nesting data, in particular the stroke-force curve, if the tubular junction 4 has been correctly established. The operator can take immediate corrective action if necessary.

[0117] Alternatively or in a complementary manner, 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 fitting stroke CE - the general shape of the stroke-force curve.

[0118] The pipe laying device 30 emits a signal to indicate whether the tubular joint is correctly established or defective.

[0119] In a complementary manner, 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.

[0120] The variant of the tubular junction of [Fig.6] differs from that previously described solely by the fact that the seal 14 comprises locking inserts 22 which allow the automatic locking of the tubular junction by preventing its disengagement. The locking inserts 22 are embedded in the seal 14.

[0121] The fitting method of this variant is identical to that of the tubular junction 4 previously described, with the only following differences.

[0122] After the fourth fitting step, which is the end-of-stroke step, a fifth fitting step takes place, which is a locking step. During this locking step, the spigot end 6 is moved back relative to the spigot end 10 by a locking distance DV in order to bring the locking inserts 22 into their hooking position in the spigot end. The stroke-force curve, in the direction of the move-back, has an increasing inclination and ends with a vertical section, which corresponds to the locking state of the spigot end in the spigot end.

[0123] The fifth step is represented schematically by E [E surrounded by a circle] in [Fig.7], in broken lines.

[0124] The method of laying the pipe laying assembly 2 generally comprises the following successive steps: - supply of pipe laying set 2; - fitting of the plain end 6 into the fitting end 10 on the fitting stroke CE by the displacement means 32; - recording the interlocking force of the plain end into the interlocking end as a function of the position of the plain end relative to the interlocking end over the interlocking stroke by the force detection means 60; - assessment of whether the tubular joint has been correctly assembled or not, based on the general shape of the curve representing the interlocking force of the plain end in the socket end as a function of the position of the plain end relative to the socket end over the CE interlocking stroke.

[0125] 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.

[0126] The installation device, the assembly and the method according to the invention also allow:

[0127] - to respect the nesting procedure as closely as possible by assisting the operator by automatic controls,

[0128] - to guarantee the correct execution of the fitting of each tubular junction

[0129] - to reduce the risk of leakage at the time of the pressure acceptance test and at term after the pipeline is put into service.

[0130] From 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 junctions. 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.

[0131] The foregoing description contains technical characteristics of the invention. These technical features, although presented in a technical context and possibly in combination with other technical features, may be used individually each time, without the other technical features, as far as this is technically possible.

Claims

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 fitting stroke (CE), characterized in that the pipe laying device (30) comprises force detection means (60) adapted to detect 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 of the plain end into the interlocking end.

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

3. A 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. A pipe laying device according to any preceding claim, wherein the pipe laying device (30) comprises nesting data display means (80), said nesting data representing the nesting stroke, performed 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 (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 insertion force detected by the force detection means (60) over the insertion stroke, whether the tubular joint created by the fitting of the plain end into the socket end on the fitting stroke is correctly established, in particular is watertight or watertight 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 that the 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), recoil of the spigot end insufficient to ensure the correct attachment of inserts.

8. A 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 that the 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. A 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;

10. - the sealing gasket comprises a heel (18) and a self-sealing sealing lip (20); - the sealing gasket (14) comprises locking inserts (22) adapted to automatically lock the junction between the plain end and the socket end. 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 fitting end on the fitting stroke by the displacement means; - recording the spigot force of the spigot into the spigot end as a function of the position of the spigot relative to the spigot end over the spigot stroke by the force detection means; and - assessment of whether the tubular joint has been correctly fitted or not, 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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