Abstract: A method and apparatus is provided for automated control and positioning of a mandrel within a pipe during bending operations. Position detection is accomplished by means of a low frequency electromagnetic signal transmission from a coil placed in close proximity parallel to the pipe outer surface. This signal is detected by a pair of orthogonal receiving coils mounted on the mandrel in close proximity to the pipe inner surface. The phases of the received signals with respect to the transmitted signal and the ratio of the amplitudes of the two received signals is used to estimate the relative position of the transmitter and the receivers. Control of the mandrel along with transmission of reference phase information is accomplished via a high frequency direct sequence spread spectrum radio link between a computer console outside the pipe mounted on the bender and a computer unit mounted inside the pipe on the mandrel.

Abstract: A pipe bending machine, a segmented bending die for use in a pipe bending machine, and a method for bending pipe are disclosed. The pipe bending machine includes a frame, a segmented bending die, a support structure, a stiffback, and a pin up shoe. A pipe is inserted in the pipe bending machine, over the pin up shoe, between the segmented bending die and the support structure, and onto the stiffback. By raising the stiffback upwardly and securing an end of the pipe with the pin up shoe, the pipe is bent against the segmented bending die. The segmented bending die and the support structure conform to the external surface contours of the pipe to support the walls of the pipe, thereby preventing distortion, buckling, flattening, or collapsing of the pipe during bending.

Abstract: A pipe bending system employing a feedback and control system that provides continuous data to a programmed processor. The processor is programmed to automatically carry out an incremental bending cycle in which the pipe is clamped by a predefined pressure by the pin-up shoe, a stiffback is moved upwardly to a predefined position to achieve a desired angular bend in the pipe, the stiffback is returned to its fill back position, as is the pin-up shoe, whereupon the pipe is axially moved a predefined distance to proceed with the subsequent incremental bend.

Abstract: A pipe bending apparatus is disclosed for bending pipe sections, particularly pipe sections of the type used in pipelines. The apparatus allows rapid clamping of the pipe section at reduced pressure via hydraulic fluid regeneration, while providing full hydraulic force for pipe section bending.

Abstract: A method and apparatus is provided for automated control and positioning of a mandrel within a pipe during bending operations. Position detection is accomplished by means of a low frequency electromagnetic signal transmission from a coil placed in close proximity parallel to the pipe outer surface. This signal is detected by a pair of orthogonal receiving coils mounted on the mandrel in close proximity to the pipe inner surface. The phases of the received signals with respect to the transmitted signal and the ratio of the amplitudes of the two received signals is used to estimate the relative position of the transmitter and the receivers. Control of the mandrel along with transmission of reference phase information is accomplished via a high frequency direct sequence spread spectrum radio link between a computer console outside the pipe mounted on the bender and a computer unit mounted inside the pipe on the mandrel.

Abstract: An apparatus (20) for counterboring a pipe (25) includes an expander unit (24), a shaft (26) extending from the expander unit, a flywheel (30) rotatably and slidably mounted on the shaft, a frame (34) mounted on the flywheel to be movable in a radial direction, a tool mount (50) and a guide wheel mount (52) formed on the frame, the tool mount traveling with the flywheel into the interior of the pipe during counterboring and the guide wheel mount traveling outside of the pipe during counterboring, the guide wheel mount being connected to the tool mount by guide wheel arm (51) having a radial member (54) that is axially offset to the rear of the tool mount by a distance at least the length of the counterbore to be machined in the pipe, a cutting tool (56) adjustably mounted to the tool mount, a guide wheel (72) rotatably mounted on the guide wheel mount, an inward force applying member (116) and an outward force applying member (122) connected between the flywheel and the frame such that the frame can be moved

Abstract: An automatic external welder travels on tracks which are attached to the exterior surface of the pipeline and functions to weld together the abutting ends of pipe segments. The automatic welder has a carriage assembly that includes a laser source for producing a laser beam for performing the welding operation at the weld region. The laser source is positioned in a first embodiment to produce a laser beam which is parallel to the axis of the pipe and is reflected for direction to the weld joint. In a second embodiment, the laser source is positioned on the carriage such that the laser beam is directed without deflection to the welding junction. For each embodiment, the laser source is carried by the carriage assembly so that it orbits about the pipeline to produce a complete weld of the abutting pipe ends.

Abstract: An automatic welder is used in an internal welder unit which travels along the interior of a pipeline and welds the abutting ends of the pipe segments together. The automatic welder has a carriage assembly that contains a laser source for producing a laser beam, first and second line-up clamp assemblies for aligning the respective abutting ends of the pipe segments together, at least one laser beam conductor, or alternatively a reflecting surface positioned between said first and second line-up clamp assemblies along the axis of said beam, for directing said beam to the abutting ends of said first and second pipe segments, and a drive for rotating the reflecting surface around the axis of said beam to direct the beam to the abutting ends of said pipe segments for welding said pipe segments together. The automatic welder can also be configured as an external welder in which the automatic welder carrying a laser source is carried on a track mounted on the outside of the pipeline.

Abstract: A visual inspection apparatus (18) is disclosed for viewing welds between pipe sections (26, 28). The apparatus (18) can be part of a combination plug clamp and inspection apparatus (12) or used independently of the plug clamp (12). The TV camera (20) is aimed along the center line axis (52) of the apparatus and pipeline and a mirror (76) reflects the image of a portion of the weld into the lens of the camera. The mirror can be rotated to allow the entire circumference of the weld to be inspected. A weighted ring (102) provides a reference relative to the vertical independent of the orientation of the apparatus within the pipeline.

Abstract: Equipment is positioned within a pipeline for providing many functions related to the construction and operation of the pipeline. A mandrel is positioned within a segment of pipe for bending the pipe segment for use in fabricating the pipeline. It is important that equipment used within a pipeline, in many applications, be positioned at a correct longitudinal location within the pipeline. A electromagnetic frequency communication system is used which includes a transmit antenna external to the pipeline and a receiving antenna mounted on the equipment within the pipeline. In a preferred embodiment, these antennas are oriented at right angles to each other, with one being parallel to the axis of the pipeline and the other being perpendicular to the axis of the pipeline. The external apparatus transmits a periodic sinusoidal pulse.

Abstract: A line-up clamp (10) is disclosed for clamping small diameter pipe sections together for welding. The line-up clamp includes back-up shoe assemblies (106) which are pivoted into engagement with the interior surfaces of the pipe sections adjacent the weld as the clamp clamps the pipe sections. As the hydraulic cylinder (14) compresses the resilient disks, expanding the disks into clamping contact with the pipe sections, actuator bodies (58, 88) are urged together, with tapered surfaces on facing back-up shoe assemblies moving into contact and driving the back-up shoe assemblies into contact with the interior surfaces of the pipe sections at the point of welding.

Abstract: An automatic welder is used in an internal welder unit which travels along the interior of a pipeline and welds the abutting ends of the pipe segments together. The automatic welder has a carriage assembly that contains a laser source for producing a laser beam, first and second line-up clamp assemblies for aligning the respective abutting ends of the pipe segments together, at least one laser beam conductor, or alternatively a reflecting surface positioned between said first and second line-up clamp assemblies along the axis of said beam, for directing said beam to the abutting ends of said first and second pipe segments, and a drive for rotating the reflecting surface around the axis of said beam to direct the beam to the abutting ends of said pipe segments for welding said pipe segments together.

Abstract: An improved internal line up clamp (10) is disclosed which has an integral back up ring (12). A first set of pipe clamps (22) move radially outward to engage the inner surface of a first pipe (14). A second set of pipe clamps (62) and a set of back up ring segments (202) are simultaneously moved radially outward into engagement with the inner surface of the pipes. The back up ring segments (202) are spring loaded to exert a relatively constant back up force against the inner surface of the pipes at the weld. The back up ring segments support the shoe elements (220). The shoe elements are spring loaded to accommodate diameter mismatch and non-circularity of the pipe ends. The back up ring segments rotate about a radial axis from the pipe centerline. Tapered ends on the back up ring segments provide for the decrease in ring circumference necessary to lower the ring segments.

Abstract: An apparatus for machining a counterbore in a pipe is provided which comprises an expander unit adapted for being secured against the inside surface of a pipe. A shaft extends from the expander unit coaxial with the pipe and a flywheel is rotatably and slidably mounted on the shaft. A pair of parallel guide structures are mounted on the face of the flywheel, and a frame is slidably mounted on the parallel guide structures such that the frame is linearly movable along the guide structures in a radial direction relative to the shaft. A cutting tool is mounted to the frame and has a distal end that is extendable radially beyond the radially outermost point of the frame. A pair of actuators are attached to the frame and to the flywheel such that the actuators can move the frame along the guide structures and force the cutting tool against the inside surface of the pipe during the counterboring procedure.

Abstract: An improved internal line up clamp (10) is disclosed which has an integral back up ring (12). A first set of pipe clamps (22) move radially outward to engage the inner surface of a first pipe (14). A second set of pipe clamps (62) and a set of back up ring segments (88) are simultaneously moved radially outward into engagement with the inner surface of the pipes. The back up ring segments (88) are spring loaded to exert a relatively constant back up force against the inner surface of the pipes at the weld. In a modification, a fill block (118) can be used to fill the gap between adjacent back up ring segments when engaging the inner surface of the pipe.

Abstract: A plug (10) is disclosed which is clamped to the end of a first pipeline section (14) being worked on by a line travel device (12). The line travel device (12) can completely perform its operation on the first pipeline section and move on to the plug. The plug is then unclamped from the first pipeline section and the plug and line travel device are moved together to the second pipeline section (16) to be worked on. The plug is clamped to the second pipeline section (16) to be worked on and the line travel device moves off the plug onto the second pipeline section to perform its operation on the entire length of the section.

Abstract: An automatic welder is used in an internal welder unit which travels along the interior of a pipeline and provides the interior weld passes at the junction of abutting pipe joints. The internal welder unit has an electronic control system which includes a plurality of microprocessor control units, each of which performs specific functional operations for the internal welder unit. The microprocessor control units are interconnected by a serial communication link which permits the transmission of commands and data between all of the microprocessor control units. The control system includes a back end control unit positioned in the internal welder unit, a front end control unit with a panel in the weld unit, a reach rod control unit at the end of a reach rod and a power supply control unit adjacent the arc power supply. The control system directs the operation of orbiting internal welders to have a zero or slow travel speed at a start point to ensure a high reliability of arc initiation.

Abstract: An automated pipeline rehabilitation apparatus (10) is disclosed. The apparatus employs a centering assembly (24) with pivoting arms (26, 28) which can pivot between an operating position and an installation/removal position to allow the unit to be removed from a pipeline. Arcuate rings (38, 40) are mounted on the arms. Spray nozzles (44) are mounted on the arcuate rings for reciprocating arcuate motion along the rings to treat the pipeline. The nozzles (44) can be used to clean the pipeline and prepare the outer surface of the pipeline with high pressure water jets with entrained abrasives. The nozzles (44) can also be used to apply a coating, preferably a polyurethane coating to the pipeline. A nozzle assembly (200) can be used to mount a spray gun (204) on the apparatus. The nozzle assembly permits easy adjustment of the nozzle position in two different directions to insure a consistent spray pattern. The nozzle assembly also provides for reversal of the tip of the nozzle for cleaning.

Abstract: A transport mechanism (28) is disclosed for use in a pipe bender (10) for bending pipe sections (12), particularly pipe sections having a diameter greater than one foot. First and second powered rollers (30, 32) are mounted within the pipe bender and driven by hydraulic motors to move the pipe section in a controlled manner through the pipe bender. A hold down roller (34) is pivoted against the pipe section to force the pipe section into engagement with the powered rollers to insure an adequately frictional engagement between the rollers and the pipe section to move the pipe section through the pipe bender.

Abstract: An automatic welder is used in an internal welder unit which travels along the interior of a pipeline and provides the interior weld passes at the junction of abutting pipe joints. The internal welder unit has an electronic control system which includes a plurality of microprocessor control units, each of which performs specific functional operations for the internal welder unit. The microprocessor control units are interconnected by a serial communication link which permits the transmission of commands and data between all of the microprocessor control units. The control system includes a back end control unit positioned in the internal welder unit, a front end control unit with a panel in the weld unit, a reach rod control unit at the end of a reach rod and a power supply control unit adjacent the arc power supply. The control system directs the operation of orbiting internal welders to have a zero or slow travel speed at a start point to ensure a high reliablity of arc initiation.