DK2325394T3

DK2325394T3 - Method and apparatus for applying a liquid to a rope

Info

Publication number: DK2325394T3
Application number: DK10191024.8T
Authority: DK
Inventors: Andreas Boué
Original assignee: Diagnose Und Ingenieurgesellschaft Dr Boue Mbh
Priority date: 2009-11-13
Filing date: 2010-11-12
Publication date: 2018-05-07
Also published as: EP2325394B1; NO2325394T3; DK2325394T4; DE202010017969U1; DE102009052829A1; EP2325394A2; EP2325394A3; EP2325394B2

Description

[0001] The subject matter of the present invention is a method for applying a liquid to a rope, and a device for applying a liquid to a rope. The method and device can be used, in particular, to examine, clean, repair, applying coatings, and mark load-bearing ropes, such as are used, for example, on bridges or similar structures.

[0002] Ropes and rods that are built into technical structures, such as, for example, rope bridges or suspension bridges so as to be stationary in order to transfer tensile forces need to be regularly inspected in order to prevent endangerment of third parties and the structures themselves by unexpected ruptures of the ropes or rods. Doing so often requires applying liquid analysis systems or indicator liquids to the ropes in order to identify damage or corrosion. The ropes also need to be cleaned, coated, and marked, and the coatings thereof need to be repaired. Such work on ropes and rods has previously taken place via manned inspection machines and aerial work platforms. Unmanned inspection machines are also known, for example, from DE 203 11 395 Ul, and unpublished Germany patent application DE 10 2008 049 942.0. US 2,858,555 also discloses a device for cleaning or painting ropes.

[0003] Since the aforementioned work on the ropes or rods often require inspecting and working on very long ropes—rope lengths of several hundred meters are commonplace, especially with suspension bridges or rope bridges—the following invention addresses the problem of setting forth a method and a device with which the drawbacks that are known from the prior art can be at least partially overcome and, in particular, unmanned application of liquid on a rope can be performed, even with work on ropes of great length. This problem is solved by a method and device having the features of the independent claims.

[0004] The respective dependent claims discuss advantageous embodiments.

[0005] The method according to the invention for applying a liquid to a rope, in which a rope is traveled on by a device that comprises at least three rollers, which are force-fitted connected with the rope, wherein at least one roller is driven by at least one motor so that the device can be moved on the rope, and wherein the at least one motor can be controlled so that the device can reproducibly travel to predeterminable positions on the rope, is characterized in that at least one liquid is at least temporarily applied to at least partial sections of the rope.

[0006] One preferred embodiment of the method according to the invention, in which a rope to be inspected is traveled on with an inspection device that bears at least one inspection machine for recording data on the state characterization of the rope, wherein the inspection apparatus comprises at least three rollers that are force-fitted connected with the rope, and wherein at least one roller is driven by at least one motor so that the inspection device can be moved on the rope, is characterized in that the at least one motor can be controlled so that the inspection device can reproducibly travel to predeterminable positions on the rope, and wherein data on the state characterization of the rope is at least temporarily recorded.

[0007] The inspection device may be part of the device for traveling on the rope according to the method according to the invention, or same may be part of an inspection device. The term “rope” for the purposes of the present invention is understood to be an element that is suitable for absorbing tensile forces. In particular, the term "rope" includes a rope and a rod such as are installed, for example, in rope or suspension bridges, and/or also a plurality of ropes, which together form such a rope for a cable or suspension bridge and which, in particular, are passed in a tube, preferably one made out of metal and/or a plastic. The device is unmanned and can thus travel the rope automatically or by remote control, in particular, in the installed state as a stay rope in the case of suspension bridges. The device is in contact with the rope through the at least three, preferably four rollers. Here, a force-fitted connection between the rollers and the rope is produced. Preferably, all of the rollers can be and are driven with a common or roller-specific motor. Driving of at least one roller moves the device on the rope. Reproducible driving to a designated position on the rope and/or position-resolved data recording on the rope is performed through corresponding control of the motor, which comprises, for example, a stepping motor, and/or on the basis of data of a corresponding sensor for positioning.

[0008] This signifies that, for example, after one complete journey on a rope of several hundreds of meters, or even more than 1 km long, it is possible to travel to a certain position on the rope that may be determined, for example, as the distance from a rope suspension and/or a marking on the rope, in order to more closely inspect a certain defect or the surface condition at this position, or to treat with liquid, e.g., with a repair solution for a damaged coating. State changes occurring over time can thus be observed with precision, in a position-resolved manner, even with successive inspections. In particular, it is possible to travel to the position on the rope so as to be accurate to 5 mm, and better still. With this method, even large lengths of rope can be appropriately inspected regularly and reproducibly. The data on state characterization of the rope can be recorded in specifiable time and/or location intervals, or also continuously.

[0009] The liquid, which may be composed of one or more components, may entail, in particular, paint, coating, a contact liquid, and/or an analysis liquid with which the rope or the coating thereof can be inspected for any defects or anomalies. A contact liquid is also understood to mean, in particular, a liquid via which it is possible to produce contact with an analysis machine, for example, ultrasonics. With a contact liquid for using an ultrasonic sensor, the contact liquid serves, in particular, to couple the ultrasonic signal into the upper surface layers on the rope. In particular, the contact liquid encompasses a liquid having a higher viscosity than that of water in the temperature range of 5°C (degrees Celsius) to 50°C. Preferably, the contact liquid is applied so as to form a layer of contact liquid between an ultrasonic sensor and the rope.

[0010] According to an advantageous embodiment of the method according to the invention, the pressing force of the rollers on the rope is controlled.

[0011] In particular, same may be done on the basis of the slip data on the rollers on the rope. The pressing force is controlled, in particular, in accordance with the surface condition of the rope and, in particular, of the corrosion protection thereof, which must not be damaged. The pressing force of the rollers may be varied by corresponding pressure motors, or manually by a corresponding pretension of elastic elements on the roller suspensions and the roller material.

[0012] According to another advantageous embodiment of the method according to the invention, the pendulum shear stress of the rope is less than 2% (percent) of the tensile adhesive strength of the surface layer, preferably, a coat, on the rope.

[0013] This makes it possible to prevent the rope from being damaged by being traveled on with the device and/or inspection device. Especially preferred are pendulum shear stresses of less than 20%, in particular, less than 10%, or even less than 2% of the tensile adhesive strength of the surface layer on the rope. The pendulum shear stress is created by the combination of the drive torque with roller and pendulum movements of the device and/or inspection device along and/or on the rope, which leads to shearing of the rope. The pendulum shear stress may be set, in particular, by one of the following measures: a) setting the pressing force of the rollers; b) regulating the pressing force of the rollers; c) selecting the material of the rollers; d) setting the contact surface of the rollers against the rope; e) limiting the acceleration and/or driving forces; f) attenuating tumbling movement in the roller bearings; g) leading lines to the device and/or inspection device, in particular, at least one supply line and/or data line; h) cleaning and drying the rope surface before the rollers [0014] Item h is understood here to be, in particular, mechanical cleaning of the rope with small brushes and scrapers that are mounted before the rollers.

[0015] According to one advantageous embodiment of the method according to the invention, the data is recorded in at least one of the following manners: a) by means of magnetic field detection; b) optically; c) by absorption of vibrations; d) by measurement of a layer thickness of at least one near-surface layer; e) ultrasonic measurements; and f) measurements of the material hardness.

[0016] Magnetic field detection is understood to mean measuring induced magnetic fields in the rope. Taking measurements optically is understood to mean, in particular, recording data by means of one or more imaging machines, e.g., cameras. Vibrational modes can be recorded, in particular, by appropriately configured inertial sensors. Measuring a layer thickness of a near-surface layer is understood to mean, in particular, determining the layer thickness of a coat and/or the corrosion protection layers, e.g., zinc plating on a rope, by means of magnetic or eddy current methods. Ultrasonic measurements refer to introducing an ultrasonic signal into the rope surface and measuring the reflection thereof at boundary layers, whereby the disturbances thereof are mapped. The material hardness may be measured, in particular, at a corrosion protection layer and/or a coat on the rope and/or layers lying thereunder, preferably by correspondingly configured sensors with which a defined force is exerted with a corresponding probe onto a defined surface on the rope and the corresponding resistance to deformation of the material is determined.

[0017] According to another advantageous embodiment of the method according to the invention, the data is transmitted to a receiver.

[0018] This transmission may be, in particular, wireless, for example, via the configuration of a wireless network (WLAN), or may be wired. The receiver may herein preferably be configured on the bottom or on the surface of the construction to be inspected, e.g., the bridge. Due to the often large volume of data to be transmitted, the long transmission distances, and the fact that the ropes are typically constituted of steel with the associated electromagnetic interferences, it is preferred to use wired transmission to the receiver. Standard and specific network cables may be used for this purpose. The device and/or inspection device is also preferably powered via the same cable or another cable, in order to thus cut the weight of the build of the device and/or inspection device by saving the weight of the batteries.

[0019] According to another advantageous embodiment, location information that is correlated with the position on the rope when data is recorded is captured with that data.

[0020] This may involve, in particular, specifications of the stepping motor, for example, a number of steps taken. Another possibility is data of an angle coder that detects the roller spins. Another alternative or additional possibility is to capture calibration data for the location information with which, for example, the distance traveled on the rope after a certain initialization is captured and stored therewith.

[0021] According to another advantageous embodiment of the method according to the invention, the liquid is applied in at least one of the following manners: a) by being sprayed on, b) by being brushed on, and c) by being rolled on.

[0022] Applying the liquid by spraying same on is especially suitable for ropes that have a rough or structured surface, because the liquid can thus readily be introduced even into small cavities on the rope surface. There is also relatively little wear and tear on the nozzles for spraying on the liquid.

[0023] With treatment with a high-viscosity liquid, the liquid is preferably applied by being brushed or rolled onto the rope.

[0024] According to another advantageous embodiment of the method according to the invention, in which the liquid is composed of at least two components, the components are mixed in at least one of the following manners: a) simultaneously spraying on at least two components onto the rope surface; b) spraying the components onto the rope surface with a short time interval therebetween; and c) mixing in a mixer.

[0025] The three aforementioned manners are alike in that there is only a short period of time between when the components are mixed and when the liquid is applied, so that the components do not react with one another for more than a brief length of time before being applied to the rope surface. This prevents, for example, the liquid from drying up. Depending on the properties of the liquid, such as, for example, the viscosity or responsiveness, a corresponding type of mixing is used, e.g., mixing in a mixer in the case of highly viscous liquids for which spraying on is only possible with difficulty.

[0026] According to another advantageous embodiment of the method according to the invention, the liquid is suitable for at least one of the following purposes: a) inspecting the rope; b) cleaning the rope; c) repairing coatings on the rope; d) applying coatings to the rope; and e) marking the rope.

[0027] In order to detect ruptures in the rope, for example, two-color inspections systems are used. Herein, two different liquids are applied one after the other onto the rope, react with one another, and can show ruptures in weld seams through a color change. Also used are indicator liquids that react with deposits or corrosion products on the rope and also indicate same through a color change.

[0028] One possible example for cleaning ropes is water, which, if necessary, is mixed with cleaning additives, as well as surfactants and/or solvent mixes.

[0029] The method according to the invention is also suitable for repairing coatings and for applying coatings onto the rope. For this purpose, a plurality of layers and components of a used corrosion protection and coat system may be applied in one or more operations as a single component or plurality of components to large areas of the rope surface at predeterminable positions. In this manner, it is possible to treat either individual partial sections that may be limited in length and around the circumference of the rope, or the entire rope.

[0030] The method according to the invention can also be used to apply a plurality of layers or components of a coat system to selected positions in one or more operations, at points or in lines, in order to label or mark the ropes on the surface thereof.

[0031] According to another advantageous embodiment of the method according to the invention, a contact liquid is applied as the liquid in order to couple ultrasonic signals into at least partial regions of the rope, in particular, into near-surface layers of the rope.

[0032] In a preferred procedure, an ultrasonic sensor by means of which corresponding ultrasonic signals are generated is configured, the ultrasonic signals being coupled via the contact liquid into at least the near-surface layers or regions of the rope, and it being possible to record reflected signals from the rope therewith.

[0033] Another aspect of the present invention proposes a device for applying a liquid onto a rope that comprises at least three rollers, by means of which the rope is to be traveled on with the device, wherein at least one roller can be driven by a motor so that the device can be moved on the rope, wherein a control means by means of which the motor can be controlled so as to be able to travel to predeterminable positions on the rope in a reproducible manner is configured, and wherein at least one applying means by means of which at least one liquid can be applied to the rope is configured.

[0034] In particular, this device may be part of an inspection device, or an inspection device may be part of this device, wherein the inspection device for inspecting ropes comprises at least three rollers by means of which the rope to be inspected is traveled on with the inspection device, and furthermore comprises at least one inspection machine for recording data on the state characterization of the rope. At least one roller can be driven by a motor so that the inspection device can be moved on the rope. According to the invention, a control means by means of which the motor can be controlled so as to be able to travel to predeterminable positions on the rope in a reproducible manner is configured.

[0035] According to one advantageous embodiment of the device and/or inspection device according to the invention, pressing means for pressing the rollers against the rope are configured.

[0036] According to one advantageous embodiment, the pressing force of the pressing means against the rope can be regulated.

[0037] According to one advantageous embodiment of the device and/or inspection device, at least one of the following inspection machines is configured: a) at least one sensor for measuring self-induced or externally induced local magnetic fields; b) at least one camera for capturing optical data; c) at least one vibration sensor; d) at least one sensor for determining a layer thickness of at least one near-surface layer; e) at least one ultrasonic sensor; and f) at least one sensor for measuring the material hardness.

[0038] A sensor for measuring self-induced or externally induced local magnetic fields, a so-called magnetic induction meter, is understood to mean a machine by means of which a magnetic field in the rope to be inspected can be induced and then measured. Disturbances in the existing or thus-induced homogeneous magnetic field may indicate breakage in the rope. Preferably, the device and/or inspection device comprises a plurality of cameras and, in particular, a plurality of types of cameras, wherein it is preferable to display and record, with one type of camera, a position-accurate image, preferably of a low resolution, in particular, for the purpose of simultaneous transmission and/or viewing of the data for immediate local inspection of the rope during travel at a higher travel speed. A second type of camera is configured for high-resolution visual inspection of the rope in a position-accurate manner after the travel.

[0039] According to another advantageous embodiment of the device and/or inspection device, at least one of the following applying means is configured: a) at least one spraying installation; b) at least one nozzle; c) at least one two-component nozzle; d) at least one brush; e) at least one roll; and f) at least one brush.

[0040] The spraying installation and the nozzles are preferably used for low-viscosity liquids. The two-component nozzle is suitable for simultaneously applying two liquid components that are low-viscosity onto the rope surface. In the case of higher-viscosity liquids, it is preferable to use a brush and/or a roll. The at least one brush may be used in order to clean the rope and/or in order to apply the liquid to the rope.

[0041] According to another advantageous embodiment of the device and/or inspection device, at least one tank for holding a liquid is configured.

[0042] A plurality of tanks may be configured for different liquid components, so that on travel on and inspection of the rope, just the required liquid can be immediately selected and used without the need to make a replacement on the machine.

[0043] According to another advantageous embodiment of the device and/or inspection device, at least one conveying means that is connected to the tank and to the at least one applying means is configured in order to convey the at least one liquid.

[0044] The term “conveying means” is understood to mean compressors for generating compressed air, diaphragm and/or peristaltic pumps, and hose systems with valves. These are advantageously suitable for conveying the entrained liquids from the tank to the corresponding applying means.

[0045] According to another advantageous embodiment of the device and/or inspection device, a mixer for mixing at least two liquids is configured.

[0046] According to another advantageous embodiment of the device and/or inspection device, the mixer is configured as a through-flow tube mixer.

[0047] The device according to the invention is especially suitable for carrying out the method according to the invention. The details and advantageous disclosed for the method according to the invention can be transferred and applied to the device and/or inspection device according to the invention, and vice versa. The invention will be described in greater detail below, with reference to the accompanying drawings, but is not limited to the details and advantages indicated there. In the schematic drawings,

Fig. 1: illustrates a sectional view of a first embodiment of a device according to the invention on a rope that has been designated for liquid application;

Fig. 2: illustrates a sectional view of a second embodiment of a device according to the invention on a rope;

Fig. 3: illustrates a first sectional view of an inspection device on a rope to be inspected;

Fig. 4: illustrates a second sectional view of an inspection device on a rope;

Fig. 5: illustrates a sectional view of a third embodiment of a device according to the invention on a rope; and

Fig. 6: illustrates a sectional view of a fourth embodiment of a device according to the invention on a rope.

[0048] Fig. 1 illustrates a cross-section of a device 2 according to the invention. The device is used to apply at least one liquid to the surface of a rope 1, for example, a stay rope of a rope bridge or suspension bridge. The device 2 is force-fitted connected with the rope 1 designated for liquid application via rollers 3 that are made of soft rubber. Driving a roller 3 with a corresponding roller 16 (in particular, see also fig. 4) makes it possible to travel on the rope 1 with the device 2. As applying means 5, 6, the device 2 comprises a nozzle 5 and a roll 6 with which a liquid can be applied to the rope 1. The nozzle 5 is connected via a mixer 4 and via conveying means 8 to the tank 7, so that the entrained liquid can be transported from the tank 6 to the nozzle 5.

[0049] Fig. 2 illustrates another cross-section of a device 2 according to the invention. The device is equipped with two nozzles 5, in contrast to fig. 1.

[0050] Fig. 3 and 4 each show an inspection device 2 for inspecting a rope 1. At least one inspection machine 10 is configured on a meter carrier 9. The inspection meters 10 include cameras 11 and magnetic field meters 12. The rollers 3 are mounted in wheel suspensions 13. The data delivered by the inspection machines 10, in particular, the cameras 11 and magnetic field meters 12 are evaluated in a measurement evaluating means 14 and, where appropriate, transmitted to a receiver (not shown). Also configured is a control means 15 by means of which the motor 16 for driving the rollers 3 is monitored and controlled. The control means 15 then includes position counters for determining location information so that same can be correlated and saved with the data delivered by the inspection machines 10, as well as—optionally—thrust sensors.

[0051] Fig. 5 illustrates another embodiment of a device 2 according to the invention, which can be moved on the rope 1 via rollers 3. The force-fitted connection of the rollers 3 to the rope 1 is basically equipped as illustrated in fig. 3. A carrier 17 has configured thereon a tank 7 for the liquid, in particular, for a single- or multiple-component paint and/or coating, and a conveying means 8. Via the conveying means 8, preferably a pump, the liquid is delivered via a dosing means 18 via at least one nozzle 5 to the surface of the rope 1. The dosing means may be configured at the same time as a mixer 4 in which a plurality of components of the liquid are mixed together. A preferred embodiment is with three or more nozzles 5 that are preferably configured in the circumferential direction so as to be able to supply the liquid substantially to the entire circumference of the rope 1.

[0052] Herein, the device 2 is moved in a direction of movement 19 via the motor 16 (not shown here). At least one brush 20 is configured behind the nozzle 5 in the direction of movement 19. Preferably, same are configured so as to rotate in a direction of rotation 21, and are driven to rotate by a brush drive 22. Configuring the brushes so as to be behind the nozzle 5 in the direction of movement 19 causes the liquid to be evenly distributed over the surface of the rope 1. In particular, a plurality—in particular, four or more—of brushes 20 are configured in the circumferential direction of the rope 1. In this embodiment, the applying means thus comprises the at least one nozzle 5 and the at least one brush 20.

[0053] Fig. 6 illustrates another embodiment of a device 2 according to the invention that is configured in a manner similar to the embodiment in fig. 5. A carrier 17 has built thereon a tank 7 for a liquid, in particular, a tank for a cleaning agent, for example, water mixed with surfactants. Via a conveying means 8 and a dosing means 18, the liquid is delivered via at least one nozzle 5 to the surface of the rope 1. Here, a plurality of nozzles 5 are preferably configured in the circumferential direction of the rope 1 so as to be able to supply liquid substantially to the entire circumference of the rope 1.

[0054] The at least one nozzle 5 is preferably configured in a washing chamber 23 that can be moved with the device 2 over the rope 1. Preferably, the device 2 is moved in a direction of movement 19 in which the nozzle 5 is configured before at least one brush 24. The movement of the device 2 and, therewith, the at least one brush 24 over the rope 1 causes the surface of the rope 1 to be cleaned. Preferably, then, the at least one brush 24 is excited to vibration via one or more vibration motors 25. The relative movement of the vibrating brushes 24 relative to the rope 1 brings about further improvement in cleaning performance. The liquid may preferably be returned via a return line 26 to the tank 7 and then reused.

[0055] The method according to the invention and the device 2 according to the invention enable automated, unmanned examination, cleaning, repairing of coatings, and marking of ropes, for example, of suspension bridges. Thus, for example, it is possible to use the device to approach and mend a defect on the rope in a targeted manner.

Tist of reference signs [0056] 1 Rope 2 Device 3 Rollers 4 Mixer 5 Nozzle 6 Roll 7 Tank 8 Conveying means 9 Meter carrier 10 Inspection machines 11 Cameras 12 Magnetic field meters 13 Wheel suspensions 14 Measurement evaluating means 15 Control means 16 Motor 17 Carrier 18 Dosing means 19 Direction of movement 20 Brush 21 Direction of rotation 22 Brush drive 23 Washing chamber 24 Brush 25 Vibration motor 26 Return line

Claims

A method of applying a liquid to a rope (1), wherein a rope (1) is traversed by a device (2) comprising at least three wheels (3) frictionally connected to the rope (1), wherein at least one wheels (3) are driven by at least one motor so that the device (2) is movable on the rope (1), at least one motor being controlled such that the device (2) repetitively drives to predetermined positions on the rope (1), at least temporarily at least one liquid is applied at least to sub-regions of the rope (1).

A method according to claim 1, wherein the application of the liquid to the rope (1) takes place in at least one of the following ways: a) by spraying b) by brushing, or c) by rolling.

A method according to any one of the preceding claims, wherein the liquid consists of at least two components, the mixing of the components taking place in at least one of the following ways: a) simultaneous spraying of at least two components on the surface of the rope b) spraying the components on the surface of the rope or c) mixing in a mixer (4).

Method according to one of the preceding claims, wherein the liquid is suitable for at least one of the following purposes: a) examination of the rope b) cleaning of the rope c) repair of coatings on the rope d) application of coatings on the rope or e) marking of the rope.

A method according to any one of the preceding claims, wherein a liquid is applied as a fluid for coupling ultrasonic signals at least to sub-regions of the rope, especially in the layers of the rope which are close to the surface.

A device (2) for applying a liquid to a rope (1) comprising at least three wheels (3), by which the rope (1) is traversed by the device (2), at least one wheel (3) being driven by a motor, such that the device (2) is movable on the rope (1), providing a guide means by which the motor can be controlled such that it can be repetitively driven to predetermined positions on the rope (1), with at least one application means provided (5, 6) by which at least one liquid can be applied to the rope (1).

Device (2) according to claim 6, wherein at least one of the following application means (5, 6) is provided: a) at least one spray system b) at least one nozzle (5) c) at least one two-component nozzle d) at least one brush (20) (e) at least one roller (6), or f) at least one brush (24).

The device (2) of claim 6 or 7, wherein at least one container (7) is provided for receiving a liquid.

Device (2) according to claim 8, wherein at least one feeding means (8) is provided for feeding the at least one liquid connected to the container (7) and at least one application means (5, 6).

Device (2) according to one of claims 6 to 9, wherein a mixer (4) is provided for mixing at least two liquid components.

Device (2) according to claim 10, wherein the mixer (4) is designed as a flow mixer.