Introduction of pressure hull penetrators into the pressure hull, in particular of a submarine

Abstract

The invention relates to a welding robot (20) for introducing a pressure hull penetrator (70) into a pressure hull (10), wherein the welding robot (20) has a frame (30) with at least three feet (40), wherein the feet (40) are designed for placement on the pressure hull (10), wherein the welding robot (20) has a multi-axis arm (50), wherein the welding robot (20) has a plasma cutting head and a welding head, and wherein the welding robot (20) has a gripping device for a pressure hull penetrator. - Fig. 1 -

Description

[0001] 02.09.2025 1 / 15

[0002] Installation of pressure hull penetrations into the pressure hull, in particular of a submarine.

[0003] The invention relates to a method and a device for introducing pressure body penetrations into a pressure body.

[0004] A submarine has a pressure hull to maintain a survivable pressure inside for the crew. The pressure hull must therefore withstand the external pressure. However, various connections must be provided between the interior of the pressure hull and the exterior, such as the propeller shaft, a periscope, as well as airlocks or hatches for the crew, and a gun barrel. Furthermore, connections to systems like sonar, tanks, and the like must be established. As a result, the pressure hull ultimately has a relatively large number of pressure hull penetrations, each of which is particularly critical, as any missing penetration could potentially lead to water ingress.Furthermore, the components used as pressure vessel penetrations in a pressure vessel are sometimes comparatively large and correspondingly heavy, so they are currently welded to the pressure vessel using auxiliary structures to hold them securely in position for the actual welding process. Additional steps are required to prepare the resulting recess, in particular to chamfer it to create volume for the welding material.

[0005] A particular challenge arises from the fact that while the exterior of the pressure hull is easily accessible, a pressure hull typically contains internal frames. These frames can deviate from their positions specified in the plans due to manufacturing processes. Since the installation of a pressure hull penetration must be relative to the actual positions of the frames, it is necessary to establish a relative reference system between the interior and exterior of the pressure hull.

[0006] A further complicating factor is the high integration density inside a submarine. This further complicates the installation, especially if other components are already present inside the pressure hull. This can be seen on September 2, 2025.

[0007] 2 / 15 also makes it difficult to create the recesses from the inside out, even solely due to space constraints.

[0008] A numerically controlled spherical surface cutting machine is known from CN 2 03 236 089 U.

[0009] From EP 2 284 073 B1, a submarine with a pressure hull penetration is known.

[0010] The object of the invention is to provide a method for the safe and efficient insertion of pressure body penetrations at precisely predetermined positions.

[0011] This problem is solved by the method with the features specified in claim 1 and by the multifunctional welding robot with the features specified in claim 12. Advantageous further developments are described in the dependent claims, the following description, and the drawings.

[0012] The method according to the invention serves to introduce a pressure hull penetration into a pressure hull. For the purposes of this invention, "pressure hull" also refers to components of a pressure hull. A submarine is typically manufactured section by section, i.e., from individual cylindrical pieces that are later welded together to form a pressure hull. These segments of the pressure hull are already considered pressure hulls within the meaning of the invention, since they will ultimately be part of the pressure hull. The method comprises the following steps: a) providing a pressure hull, b) applying position markers to the outside, c) positioning a welding robot on the outside of the pressure hull, the welding robot also having a plasma welding head and component placement fixtures.d) Optical detection of the position markings by the welding robot, e) Determination of the exact position of the welding robot in relation to the pressure body from the detected position of the position markings, 02.09.2025.

[0013] 3 / 15 f) Creating the recess with the plasma welding head, g) Removing the welding robot.

[0014] The application of position markers in step b) serves to ensure reliable alignment on the outside of the pressure vessel. These markers are therefore preferably placed at predetermined positions on the pressure vessel, as this avoids the need for subsequent precise determination of the position. Firstly, the pressure vessel is typically a metal cylinder, so there is no external orientation available. Secondly, there are internal frames whose positions can only be precisely measured after manufacturing. Therefore, it is necessary to establish a reference system on the outside of the pressure vessel. This is most easily achieved using position markers at predetermined locations. For example, a position marker can be placed on the first frame of each section of the pressure vessel. Advantageously, several position markers can be placed at the same length and circumference.By attaching and measuring several, advantageously at least three, preferably four, position markers, the surface of the pressure body and its orientation can be determined. Multiple position markers (and not just one) allow for unambiguous position identification; there is not just a single reference point. This then makes the exact position of the welding robot relative to the pressure body known, enabling a recess to be made at a precisely predetermined position.

[0015] The use of a welding robot enables flexible deployment within the manufacturing process. Previously, the cutouts were made using special fixtures, requiring the pressure bodies to be transported to these fixtures. This allows for greater flexibility in workflows. Since the welding robot is placed on the outside of the pressure body, it rests solely on the pressure body, thus requiring no additional space. This further enhances its versatility. The welding robot is preferably a welding robot according to the invention. 02.09.2025

[0016] 4 / 15

[0017] The welding robot according to the invention consists of a support structure, a multi-jointed arm, and tools attachable to the multi-jointed arm, in particular a plasma welding head. Other tools can also be attached to the multi-jointed arm, enabling it, for example, to grip and hold a component, such as a pressure vessel bushing. Although the welding robot cannot weld at this moment, it is nevertheless considered a welding robot within the meaning of the invention.

[0018] In step c), a welding robot is positioned on the outside of the pressure vessel, not next to it, over it, or anywhere else, but directly on top of it. The welding robot preferably places the support structure onto the pressure vessel. If necessary, a protective layer can be placed between the pressure vessel and the support structure to prevent scratches, for example, from the support structure. The support structure has at least three feet, which are designed for placement on the pressure vessel.

[0019] Since the welding robot can only be set up with a certain degree of accuracy, subsequent calibration by recording the position markers is advisable, as this easily achieves the necessary accuracy. This is done in step d). The exact position of the welding robot is then determined in step e) from the data recorded in step d). This allows the welding robot to be positioned with less accuracy than is required for the actual insertion work. Because there are multiple position markers, not just one, the relative position of the welding robot is precisely known. Only after setup is the position precisely recorded by capturing these markers, enabling the multi-jointed arm to move to any point on the pressure body with pinpoint accuracy, thus allowing for targeted and precise insertion of recesses.This means that only very low accuracy requirements are placed on the setup. At the same time, optical detection is relatively simple and requires no further expertise. 02.09.2025.

[0020] 5 / 15

[0021] The recess is created in step f) by using the plasma welding or cutting head to cut through the pressure body, creating a recess, or hole, in the pressure body. The recess is preferably slightly larger than the pressure body feedthrough, which is installed in the recess in the following steps. The recess has, for example, V-shaped chamfers on its edges. These V-shaped chamfers mean that the edge of the recess tapers from the top towards the center of the material and then widens again towards the bottom. This creates a V-shaped space between the pressure body and the pressure body feedthrough on both the outside and inside, which can be filled during subsequent welding with material, thus enabling a strong and stable weld.This is easily achieved through the use of a welding robot, thus reducing the need for subsequent grinding.

[0022] The welding robot can then simply be removed and used elsewhere.

[0023] In a further embodiment of the invention, the method additionally comprises the following steps between step e) and step f): h) marking the recess to be created for the pressure body penetration on the pressure body with the plasma welding head, i) checking the marking,

[0024] The marking in step h) is done by the plasma welding head at low power, so that while a mark is made, it can still be corrected in case of an error. The major advantage is that by using the same tool for both the marking and the recess itself, a high degree of accuracy is achieved, ensuring that step f) is performed exactly at the point of the marking.

[0025] Step i) is preferably performed manually, so the positional accuracy can be checked and documented according to current standardized processes. 02.09.2025 6 / 15

[0026] It may be provided that step f) is carried out using further predetermined positions on the pressure body.

[0027] In a further embodiment of the invention, the method additionally comprises the following steps between step f) and step g): j) providing a pressure body feedthrough, k) inserting the pressure body feedthrough into the recess and holding the pressure body feedthrough by the welding robot, l) welding the pressure body feedthrough to the pressure body from the inside, m) welding the pressure body feedthrough to the pressure body from the outside by the welding robot.

[0028] Inserting the pressure vessel bushing into the recess and holding it in place by the welding robot in step k) eliminates the need for preliminary welding and corresponding auxiliary elements, as the welding robot can hold the pressure vessel bushing securely and stably in position until welding, preferably from the inside, has been performed in step i), creating a load-bearing connection. The welding robot can then release the pressure vessel bushing and preferably weld the outside in step m). In this step i), the welding can initially be spot-welded to create a load-bearing connection and then completed in a second step, or the complete welding can be performed immediately.

[0029] In a further embodiment of the invention, the setup in step c) is carried out using augmented reality. The use of augmented reality, for example, glasses that display both the real world and a virtual one—in this case, for example, the target position of the welding robot or a display of any deviation from it—enables sufficiently accurate placement of the welding robot on the pressure vessel in a simple manner. Especially in complex production environments such as submarine construction, complete automation is often difficult to implement. At the same time, however, automatic support for the operator is very helpful, particularly for quickly achieving sufficiently accurate positioning. Advantageously, analog displays, such as a spirit level with crosshairs, can also be used. 02.09.2025 7 / 15

[0030] Spirit levels and similar auxiliary indicators are attached to the support structure of the welding robot, which, for example, assist in carrying out the positioning if the glasses fail.

[0031] In a further embodiment of the invention, optical detection in step d) is carried out using at least one camera integrated into the welding robot. The camera can also be movably arranged on the robot arm, allowing the robot itself to control different camera positions in order to detect position markers at various locations. Alternatively, the welding robot can also be equipped with multiple cameras. Preferably, the cameras are suspended from the support structure of the welding robot and are not physically attached to the multi-jointed arm of the welding robot. This saves process time.

[0032] In a further embodiment of the invention, the marking in step h) is carried out with significantly less energy than the creation of the recess in step f). The use of the same tool, only with different energy, results in a very high positional reproducibility between marking and creation, meaning that the recess is actually created exactly where the marking has already been made.

[0033] In a further embodiment of the invention, the recess is created in step f) at at least two angles to widen the recess on the top and bottom of the pressure body. This creates a volume to accommodate the material introduced during welding. Machine production with a welding robot allows for such precise results that post-processing, such as grinding, is unnecessary, unlike with a manually produced recess. Minimal manual finishing may still be required, for example, to remove the oxide layer or to add a missing ridge to the recess. However, this finishing is minimal compared to previous manual work. 02.09.2025 8 / 15

[0034] In a further embodiment of the invention, the insertion in step k) is controlled manually. The advantage is that in the comparatively highly complex environment, complete automation is difficult to implement, so manual control is advantageous. On the other hand, the welding robot bears the weight, so there is no physical problem for the operator.

[0035] In a further embodiment of the invention, the insertion in step k) is carried out using augmented reality. Just as with the setup in step c), augmented reality, for example with the aid of appropriate glasses, can simplify the guidance to the predetermined location and support the achievement of the necessary accuracy.

[0036] In a further embodiment of the invention, an extraction system, preferably located on the bulkheads of the pressure body, is arranged inside the pressure body before the recess is created in step f). The bulkheads are particularly well suited for attaching, for example, such an extraction system; the extraction system completely removes any gaseous welding and plasma cutting products that arise and reliably prevents damage to other components inside the pressure body.

[0037] In a further embodiment of the invention, steps h) to m) are repeated. Thus, at one installation position of the welding robot, two or more pressure body penetrations are introduced into the pressure body. This can be useful, for example, in the area of ​​fuel tanks, particularly hydrogen storage tanks, or in the area of ​​sonar antennas.

[0038] In another aspect, the invention relates to a welding robot for inserting a pressure body penetration into a pressure body. The welding robot has a frame with at least three feet. The frame serves to absorb and transmit all occurring forces. The feet are designed for placement on the pressure body. The welding robot is thus placed directly on the pressure body. This must be taken into account with regard to the feet, since the pressure body is tubular, i.e., has a curved surface without flat surfaces. All forces are transmitted from the frame to the pressure body via the feet. The welding robot has a multi-axis arm. Such arms are common for robots today and allow, on the one hand, precise control of a tool connected to the multi-axis arm and its orientation in space, which in particular enables very precise cuts with extremely cleanly defined cut surfaces.Simultaneously, a multi-axis arm is also capable of holding and moving larger components, such as a pressure vessel bushing, and precisely aligning and holding them in an exact position. The welding robot is equipped with a plasma welding head. This head can be used to mark the workpiece in step h), create a recess in step f), and weld the pressure vessel bushing in step m). Furthermore, the welding robot has a gripper for feeding the pressure vessel. This allows the welding robot to position and hold the pressure vessel bushing in steps k and i).

[0039] In a further embodiment of the invention, the feet of the welding robot have a suction device for attachment to the pressure body. The suction device enables secure positioning on the round pressure body in a simple manner, reliably preventing slippage.

[0040] In a further embodiment of the invention, the plasma cutting head, the welding head, preferably a plasma welding head, and the gripping device can be interchangeably connected to the multi-axis arm.

[0041] In a further embodiment of the invention, the welding robot has at least one camera. The camera can, for example, be interchangeably connected to the multi-axis arm. Alternatively, preferably at least two, and more preferably four, cameras can be fixedly arranged on the frame.

[0042] In another embodiment of the invention, the welding robot has four feet. Four feet are advantageous due to their round cross-section, even though, unlike with only three feet, height adjustment may be necessary on uneven surfaces. 02.09.2025 10 / 15

[0043] In a further embodiment of the invention, the welding robot has a rectangular base shape. In particular, the frame of the welding robot has a rectangular base shape.

[0044] The method according to the invention is explained in more detail below with reference to an embodiment shown in the drawings.

[0045] Fig. 1 Device

[0046] Fig. 2 Pressure body

[0047] Fig. 3 Recess

[0048] Fig. 4 Pressure body penetration

[0049] Fig. 5 Welding from the inside

[0050] Fig. 6 Welding from inside and outside

[0051] The illustrations are highly schematic and not to scale, and serve only to illustrate the process description.

[0052] Figure 1 shows how the welding robot 20 is positioned on a (partially) shown section of a pressure body 10. The welding robot 20 has a frame 30 with four feet 40 and can thus be ideally positioned on the round pressure body 10. The welding robot 20 has a multi-axis arm 50.

[0053] Figures 2 to 6 illustrate the process using a cross-sectional section of the pressure body 10, as shown in Figure 2. First, as shown in Figure 3, a recess 60 is created, with the plasma welding head held at two different angles to form a V-shaped profile. Next, as shown in Figure 4, a pressure body feedthrough 70 is inserted into the recess 60 and held in position by the multi-axis arm 50 of the welding robot 20. First, manual welding is performed from the inside to create the weld seam 80 shown in Figure 5. The welding robot 20 can then release the pressure body feedthrough 70 and perform the external weld seam 80 shown in Figure 6. 02.09.2025

[0054] 11 / 15

[0055] Reference sign

[0056] 10 pressure bodies

[0057] 20 welding robots

[0058] 30 frames 40 feet

[0059] 50 Multi-axis arm

[0060] 60 Exclusion

[0061] 70 Pressure vessel penetration

[0062] 80 weld seam

Claims

02. 09.2025 12 / 15 Patent claims 1. A method for introducing a pressure body penetration (70) into a pressure body (10), comprising the following steps: a) providing a pressure body (10), b) applying position markers on the outside, c) positioning a welding robot (20) on the outside of the pressure body (10), the welding robot (20) having a plasma welding head, d) optical detection of the position markers by the welding robot (20), e) determining the exact position of the welding robot relative to the pressure body from the detected position of the position markers, f) creating the recess (60) with the plasma welding head, g) removing the welding robot (20).

2. Method according to claim 1, characterized in that the method additionally comprises the following steps between step e) and step f): h) marking the recess (60) to be produced for the pressure body penetration (70) on the pressure body (10) with the plasma welding head, i) checking the marking.

3. Method according to one of the preceding claims, characterized in that the method additionally comprises the following steps between step f) and step g): j) providing a pressure body feedthrough (70), k) inserting the pressure body feedthrough (70) into the recess (60) and holding the pressure body feedthrough (70) by the welding robot (20), l) welding the pressure body feedthrough (70) to the pressure body (10) from the inside, m) welding the pressure body feedthrough (70) to the pressure body (10) from the outside by the welding robot (20).

4. Method according to one of the preceding claims, characterized in that the setup in step c) is carried out using augmented reality. September 2, 2025 13 / 15 5. Method according to one of the preceding claims, characterized in that the optical detection in step d) is carried out by means of at least one camera integrated into the welding robot (20).

6. Method according to claim 2 or a preceding claim referring back to claim 2, characterized in that the marking in step h) is carried out with significantly less energy than the creation of the recess (60) in step f).

7. Method according to one of the preceding claims, characterized in that the creation of the recess (60) in step f) is carried out at at least two angles in order to create a widening of the recess (60) on the top and bottom of the pressure body (10).

8. Method according to claim 3 or a preceding claim relating back to claim 3, characterized in that the insertion in step k) is manually controlled.

9. Method according to claim 8, characterized in that the introduction in step k) is carried out using augmented reality.

10. Method according to one of the preceding claims, characterized in that, prior to the creation of the recess (60) in step f), a suction is arranged inside the pressure body (10), preferably on the ribs of the pressure body (10).

11. A method according to claim 2 and claim 3 or a preceding claim relating back to claim 2 and claim 3, characterized in that steps h) to m) are repeated.

12. Welding robot (20) for inserting a pressure body penetration (70) into a pressure body (10), wherein the welding robot (20) has a frame (30) with at least three feet (40), wherein the feet (40) are designed for placement on the pressure body (10), wherein the welding robot (20) has a September 2, 2025 14 / 15 a multi-axis arm (50) wherein the welding robot (20) has a plasma welding head, wherein the welding robot (20) has a gripping device for a pressure body feeder.

13. Welding robot (20) according to claim 12, characterized in that the feet (40) of the welding robot (20) have a suction device for attachment to the pressure body (10).

14. Welding robot (20) according to one of claims 12 to 13, characterized in that the plasma cutting head [formerly: plasma welding head]. The welding head and the gripping device are interchangeably connectable to the multi-axis arm (50).

15. Welding robot (20) according to one of claims 12 to 14, characterized in that the welding robot (20) has at least one camera.

16. Welding robot (20) according to one of claims 12 to 15, characterized in that the welding robot (20) has four feet (40).

17. Welding robot (20) according to one of claims 12 to 16, characterized in that the welding robot (20) has a rectangular basic shape.

18. Welding robot (20) according to one of claims 4 to 9, characterized in that the motion programming of the welding robot can be adapted to changes in the underlying construction documents and is not fixed.

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