EP2325394B2 - Procédé et dispositif d'application d'un liquide sur une corde - Google Patents

Procédé et dispositif d'application d'un liquide sur une corde Download PDF

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Publication number
EP2325394B2
EP2325394B2 EP10191024.8A EP10191024A EP2325394B2 EP 2325394 B2 EP2325394 B2 EP 2325394B2 EP 10191024 A EP10191024 A EP 10191024A EP 2325394 B2 EP2325394 B2 EP 2325394B2
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EP
European Patent Office
Prior art keywords
rope
liquid
motor
components
applying
Prior art date
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Active
Application number
EP10191024.8A
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German (de)
English (en)
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EP2325394A3 (fr
EP2325394B1 (fr
EP2325394A2 (fr
Inventor
Andreas Boué
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cpe Corrosion Protection Engineering GmbH
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Cpe Corrosion Protection Engineering GmbH
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B7/00—Details of, or auxiliary devices incorporated in, rope- or cable-making machines; Auxiliary apparatus associated with such machines
    • D07B7/02—Machine details; Auxiliary devices
    • D07B7/12—Machine details; Auxiliary devices for softening, lubricating or impregnating ropes, cables, or component strands thereof
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00—Structural or constructional details of bridges
    • E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
    • E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
    • D—TEXTILES; PAPER
    • D07—ROPES; CABLES OTHER THAN ELECTRIC
    • D07B—ROPES OR CABLES IN GENERAL
    • D07B2501/00—Application field
    • D07B2501/20—Application field related to ropes or cables
    • D07B2501/2015—Construction industries
    • D07B2501/203—Bridges

Definitions

  • the subject of the present invention is a method for applying a liquid to a rope and an arrangement consisting of a rope and a device for applying a liquid to a rope.
  • the method and arrangement can be used in particular for examining, cleaning, repairing and applying coatings and for marking load-bearing ropes, such as those used on bridges or similar structures.
  • Ropes or rods that are installed stationary in technical structures, such as rope or suspension bridges, to transmit tensile forces must be inspected regularly in order to prevent third parties and the structures themselves from being endangered by unexpected breaks in the ropes or rods. To do this, it is often necessary to apply liquid testing systems or indicator liquids to the ropes in order to detect damage or corrosion. In addition, the ropes must be cleaned, coated and marked and their coatings repaired. Until now, this work on ropes or rods has taken place using manned inspection devices and aerial work platforms. Unmanned inspection devices are also known, for example from DE 203 11 395 U1 as well as the unpublished German patent application DE 10 2008 049 942.0 . Furthermore, from the US 2,858,555 a device for cleaning or painting ropes is known.
  • the method according to the invention for applying a liquid to a rope in which a rope is driven with a device which comprises at least three rollers which are non-positively connected to the rope, at least one roller being driven by at least one motor, so that the device can be moved on the rope, wherein the at least one motor can be controlled in such a way that the device reproducibly moves to predeterminable positions on the rope, is characterized in that at least one liquid is applied to the rope at least at times, at least in some areas.
  • a preferred embodiment of the method according to the invention is in which a rope to be inspected is driven over with an inspection device which carries at least one inspection device for recording data for characterizing the condition of the rope, the inspection device comprising at least three rollers which are non-positively connected to the rope, 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 in such a way that the inspection device reproducibly approaches predetermined positions on the rope and data for characterizing the condition of the rope is recorded at least temporarily.
  • the inspection device can be part of the device for driving on the rope according to the method according to the invention or it can be part of an inspection device.
  • the term “rope” in the sense of the present invention is understood to mean an element which is suitable for absorbing tensile forces.
  • the term “rope” includes a rope and a rod, such as those installed in rope or suspension bridges and/or also a plurality of ropes, which together form such a rope for a rope or suspension bridge and which are in particular in a pipe , preferably made of metal and / or a plastic.
  • the device is unmanned, so it automatically moves along the rope, especially when installed as a support rope on suspension bridges.
  • the device is in contact with the rope through the at least three, preferably four, rollers.
  • All rollers can preferably be driven with a common or roller-specific motor and are driven in this way.
  • the motor which includes, for example, a stepper motor and/or based on data from a corresponding sensor for position determination, a reproducible control of a specific position on the rope and/or position-resolved data recording on the rope takes place.
  • a very specific position on the rope which can be defined, for example, as the distance from a rope suspension and/or a marking on the rope, can be approached is to inspect a specific defect or the surface condition at that location more closely or to treat it with liquid, for example with repair solution for a damaged coating.
  • the data for characterizing the condition of the rope can be recorded at predetermined time and/or location intervals or even continuously.
  • the liquid which can consist of one or more components, can in particular be paint, a coating, a contact liquid and/or an analysis liquid with which the rope or its coating can be examined for possible errors or anomalies.
  • a contact liquid is also understood to mean, in particular, a liquid via which contact with an analysis device, for example an ultrasound device, can be established.
  • the contact fluid serves in particular to couple the ultrasonic signal into the upper surface layers on the rope.
  • the contact liquid comprises a liquid with a higher viscosity than that of water in the temperature range of 5°C (degrees Celsius) to 50°C.
  • the contact liquid is preferably applied in such a way that a layer of contact liquid is formed between an ultrasonic sensor and the rope.
  • the contact force of the rollers on the rope is controlled.
  • this can be done based on the slip data of the rollers on the rope.
  • the contact force is controlled in particular depending on the surface quality of the rope and in particular its corrosion protection, which must not be damaged.
  • the contact pressure of the rollers can be varied using appropriate pressure motors or manually by appropriately pre-tensioning elastic elements on the roller suspensions and the roller material.
  • the pendulum shear stress on the rope is less than 2% (percent) of the tensile adhesive strength of the surface layer, preferably a paint, on the rope.
  • Point h refers in particular to the mechanical cleaning of the rope using small brushes and scrapers that are mounted in front of the rollers.
  • Magnetic field detection is the measurement of induced magnetic fields in the rope. Measurements by optical means include in particular the recording of Data using one or more image capture devices, such as. B. Cameras understood. The vibration modes can be recorded in particular by appropriately designed inertial sensors. Measuring a layer thickness of a layer close to the surface is, in particular, the determination of the layer thickness of a paint and/or the corrosion protection layers, such as. B. Galvanizing on a rope using magnetic or eddy current processes. Ultrasonic measurements refer to the introduction of an ultrasonic signal into the rope surface and measurement of its reflection on boundary layers, the disturbances of which are thus mapped.
  • Measurements of the material hardness can be carried out in particular on the corrosion protection layer and/or a coat of paint on the rope and/or underlying layers, preferably using appropriately designed sensors, in which a defined force is exerted on the rope on a defined surface using a corresponding probe and the corresponding deformation resistance of the material is determined.
  • the data is transmitted to a receiver.
  • This transmission can be carried out in particular wirelessly, for example via the formation of a wireless network (W-LAN) or wired.
  • the receiver can preferably be designed on the ground or on the surface of the structure to be inspected, for example the bridge. Due to the often large amount of data to be transmitted, the long transmission distances and the design of the cables, which are usually made of steel with the corresponding electromagnetic interference, a wired transmission to the receiver is preferred. Commercially available and special network cables can be used for this.
  • the device and/or inspection device is preferably to be supplied with power via the same or a different cable in order to save weight in the construction of the device and/or inspection device by saving the weight of the accumulators or batteries.
  • location information is recorded with the data, which is correlated with the position on the rope when the data was recorded.
  • This can in particular be specifications of the stepper motor, for example a number of steps taken. It can also be data from an angle encoder that detects the roller rotations. Furthermore, it is alternatively or additionally possible to record calibration or calibration data of the location information, in which, for example, the distance traveled on the rope is recorded and saved after a certain initialization.
  • Applying liquid by spraying is particularly suitable for ropes with a rough or structured surface, as the liquid can easily get into small spaces can be introduced into the rope surface.
  • the wear on the nozzles for spraying the liquid is comparatively low.
  • two-color inspection systems are used to detect cracks in the rope.
  • two different liquids are applied one after the other to the rope, which react with each other and can reveal cracks in weld seams through a color change.
  • indicator liquids are used that react with deposits or corrosion products on the rope and also indicate these through a color change.
  • the method according to the invention is also suitable for repairing coatings and for applying coatings to the rope.
  • several layers and components of a corrosion protection and coating system used can be applied in one or more components to the rope surface at predetermined positions in one or more operations over larger areas. In this way, either individual sections, which can be limited in length and circumference of the rope, or the entire rope are treated.
  • a contact liquid for coupling ultrasonic signals into at least partial areas of the rope, in particular into layers of the rope near the surface is applied as a liquid.
  • an ultrasonic sensor is designed, by means of which corresponding ultrasonic signals are generated, which are coupled via the contact liquid into at least the layers or areas of the rope near the surface and with which reflected signals from the rope can be recorded.
  • an arrangement consisting of a rope and a device for applying a liquid to the rope comprising at least three rollers by means of which the rope can be moved with the device, at least one roller being driven by one Motor can be driven, so that the device is moved on the rope, with a control means being formed, by means of which the motor can be controlled in such a way that predeterminable positions on the rope become reproducible and automatic, with at least one application means being formed, by means of which at least one liquid can be applied to the rope.
  • this device can be part of an inspection device or an inspection device can 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 can be driven over with the inspection device and furthermore at least one inspection device for recording data for condition 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.
  • a control means is designed by means of which the motor can be controlled in such a way that predeterminable positions on the rope can be approached in a reproducible manner.
  • pressing means are designed to press the rollers onto the rope.
  • the contact pressure of the contact pressure means on the rope can be regulated.
  • a sensor for measuring self- or externally induced local magnetic fields is understood to be a device by means of which a magnetic field can be induced in the rope to be inspected, which is then measured. Disturbances in the existing or induced homogeneous magnetic field can indicate wire breaks in the rope.
  • the device and/or inspection device comprises several cameras and in particular several types of cameras, preferably with one type of camera a positionally accurate image, preferably a lower resolution, in particular for simultaneous transmission and/or viewing of the data for immediate local inspection of the rope during the Traffic is displayed and recorded at higher traffic speeds.
  • a second type of camera is designed for high-resolution optical inspection of the rope in precise position after it has been driven over.
  • the spray system and the nozzle are preferably used for liquids with low viscosity.
  • the two-component nozzle is suitable for applying two liquid components with low viscosity to the rope surface at the same time.
  • a brush and/or roller is preferably used for liquids with higher viscosity.
  • the at least one brush can be used to clean the rope and/or to apply the liquid to the rope.
  • At least one tank is designed to hold a liquid.
  • At least one conveying means is designed to convey the at least one liquid, which is connected to the tank and the at least one application means.
  • funding means compressors for generating compressed air, diaphragm and/or hose pumps, as well as hose systems with valves. These are advantageously suitable for transporting the liquids carried from the tank to the corresponding application medium.
  • a mixer is designed to mix at least two liquids.
  • the mixer is designed as a flow-through tube mixer.
  • Figure 1 shows a cross section of a device 2 of an arrangement according to the invention. This is used to apply at least one liquid to the surface of a rope 1, for example a support rope of a rope or suspension bridge.
  • the device 2 is non-positively connected to the rope 1 intended for liquid application via rollers 3, which are made of soft rubber.
  • rollers 3 which are made of soft rubber.
  • the device 2 contains a nozzle 5 and a roller 6 as application means 5, 6, with which a liquid can be applied to the rope 1.
  • the nozzle 5 is connected to the tank 7 via a mixer 4 and via conveying means 8, so that the liquid carried can be transported from the tank 6 to the nozzle 5.
  • Figure 2 shows a further cross section of a device 2 of an arrangement according to the invention. This is in comparison to Figure 1 equipped with two nozzles 5.
  • the Figures 3 and 4 each show an inspection device 2 for inspecting a rope 1.
  • At least one inspection device 10 is formed on a measuring device carrier 9. These inspection devices 10 include cameras 11 and magnetic field measuring devices 12.
  • the rollers 3 are held in wheel suspensions 13.
  • the data supplied by the inspection devices 10 and in particular the cameras 11 and magnetic field measuring devices 12 are evaluated in a measurement evaluation means 14 and, if necessary, transmitted to a receiver, not shown.
  • a control means 15 is formed, by means of which the motor 16 for driving the rollers 3 is monitored and controlled.
  • the control means 15 include position counters for determining location information so that it can be correlated and stored with the data supplied by the inspection devices 10, and optionally thrust force sensors.
  • Fig. 5 shows a further exemplary embodiment of a device 2 of an arrangement according to the invention, the device being movable via rollers 3 on the rope 1.
  • the frictional connection of the rollers 3 to the rope 1 is basically as in Fig. 3 shown.
  • a tank 7 for the liquid, in particular for a single- or multi-component paint and/or coating, and a conveying means 8 are formed on a carrier 17.
  • the conveying means 8 preferably a pump
  • the liquid is applied to the surface of the rope 1 via a metering means 18 via at least one nozzle 5.
  • the dosing agent can also be designed as a mixer 4, in which several components of the liquid are mixed together.
  • An embodiment with three or more nozzles 5 is preferred, which are preferably designed in the circumferential direction so that essentially the entire circumference of the rope 1 can be provided with the liquid.
  • the device 2 is moved in a direction of movement 19 via the motor 16, not shown here.
  • At least one brush 20 is formed behind the nozzle 5 in the direction of movement 19. These are preferably designed to rotate in a direction of rotation 21 and are driven to rotate by a brush drive 22. Because the brushes are formed behind the nozzle 5 in the direction of movement 19, the liquid is distributed evenly over the surface of the rope 1.
  • several brushes 20 are formed in the circumferential direction of the rope 1, in particular four or more.
  • the application means comprises the at least one nozzle 5 and the at least one brush 20.
  • Fig. 6 shows a further exemplary embodiment of a device 2 of an arrangement according to the invention, which is similar to the exemplary embodiment in Fig. 5 is trained.
  • a tank 7 for a liquid is designed on a carrier 17, in particular a tank for a cleaning agent, for example water containing surfactants.
  • the liquid is applied to the surface of the rope 1 via at least one nozzle 5 via a conveying means 8 and a metering means 18.
  • a plurality of nozzles 5 are preferably formed in the circumferential direction of the rope 1, so that essentially the entire circumference of the rope 1 can be provided with liquid.
  • the at least one nozzle 5 is preferably formed in a washing chamber 23, which can be moved over the rope 1 with the device 2.
  • the device 2 is preferred in one Direction of movement 19 moves, in which the nozzle 5 is formed in front of at least one brush 24.
  • the at least one brush 24 is stimulated to vibrate via one or more vibration motors 25.
  • the relative movement of the vibrating brushes 24 relative to the rope 1 results in further improved cleaning performance.
  • the liquid can preferably be returned to the tank 7 via a return line 26 and reused.
  • the method according to the invention and the arrangement according to the invention allow automated and unmanned examination, cleaning, repair of coating and marking of ropes, for example of suspension bridges. For example, a defect on the rope can be targeted and repaired using the device.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Bridges Or Land Bridges (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Claims (11)

  1. Procédé d'application d'un liquide sur un câble (1), un câble (1) étant parcouru par un dispositif (2) qui comprend au moins trois galets (3) qui sont reliés au câble (1) par adhérence,
    au moins un galet (3) étant entraîné par au moins un moteur de sorte que le dispositif (2) est déplacé sur le câble (1),
    l'au moins un moteur étant commandé de manière à ce que le dispositif (2) s'approche de manière reproductible et automatique de positions prédéfinissables sur le câble (1),
    au moins un liquide étant appliqué au moins périodiquement au moins dans des zones du câble (1).
  2. Procédé selon la revendication 1, dans lequel l'application du liquide sur le câble (1) se fait au moins d'une des manières suivantes:
    a) par pulvérisation;
    b) par application au pinceau et
    c) par application au rouleau.
  3. Procédé selon au moins une des revendications précédentes, dans lequel le liquide est composé de deux composants, le mélange des composants étant réalisé d'au moins une des manières suivantes :
    a) pulvérisation simultanée d'au moins deux composants sur la surface du câble ;
    b) pulvérisation des composants sur la surface du câble avec un bref intervalle de temps; et
    c) mélange dans un mélangeur (4).
  4. Procédé selon au moins une des revendications précédentes, dans lequel le liquide est adapté à au moins une des fins suivantes:
    a) examen du câble;
    b) nettoyage du câble;
    c) réparation de revêtements du câble;
    d) application de revêtements sur le câble; et
    e) marquage du câble.
  5. Procédé selon au moins une des revendications précédentes, dans lequel le liquide appliqué est un liquide de contact destiné à l'injection de signaux ultrasonores dans au moins des zones du câble, en particulier dans des couches du câble proches de la surface.
  6. Assemblage d'un câble et d'un dispositif (2) d'application d'un liquide sur le câble (1), le dispositif comprenant au moins trois galet (3) au moyen desquels le câble (1) est parcouru par le dispositif (2), au moins un galet (3) pouvant être entraîné par un moteur de sorte que le dispositif (2) se déplace sur le câble (1), un moyen de commande étant réalisé, au moyen duquel le moteur peut être commandé de telle sorte que des positions prédéterminables sur le câble (1) sont approchées de manière reproductible et automatique, au moins un moyen d'application (5, 6) étant conçu de manière à ce que l'au moins un liquide puisse être appliqué sur le câble (1).
  7. Assemblage selon la revendication 6, dans lequel il est prévu au moins un des moyens d'application suivants (5, 6):
    a) au moins un dispositif d'injection ;
    b) au moins une buse (5) ;
    c) au moins une buse bicomposant ;
    d) au moins un pinceau (20) ;
    e) au moins un galet (6) ; et
    f) au moins une brosse (24).
  8. Assemblage selon la revendication 6 ou 7, dans lequel il est prévu au moins un réservoir (7) destiné à recevoir un liquide.
  9. Assemblage selon la revendication 8, dans lequel il est prévu au moins un moyen de transport (8) pour transporter l'au moins un liquide (7), lequel moyen de transport est raccordé à au moins un moyen d'application (5, 6).
  10. Assemblage selon une des revendications 6 à 9, dans lequel il est prévu un mélangeur (4) destiné à mélanger au moins deux composants du liquide.
  11. Assemblage selon la revendication 10, dans lequel le mélangeur (4) est réalisé sous forme d'un mélangeur tubulaire à flux continu.
EP10191024.8A 2009-11-13 2010-11-12 Procédé et dispositif d'application d'un liquide sur une corde Active EP2325394B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009052829A DE102009052829A1 (de) 2009-11-13 2009-11-13 Verfahren und Vorrichtung zum Auftragen einer Flüssigkeit auf ein Seil

Publications (4)

Publication Number Publication Date
EP2325394A2 EP2325394A2 (fr) 2011-05-25
EP2325394A3 EP2325394A3 (fr) 2016-07-13
EP2325394B1 EP2325394B1 (fr) 2018-01-24
EP2325394B2 true EP2325394B2 (fr) 2023-10-11

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ID=43617880

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10191024.8A Active EP2325394B2 (fr) 2009-11-13 2010-11-12 Procédé et dispositif d'application d'un liquide sur une corde

Country Status (4)

Country Link
EP (1) EP2325394B2 (fr)
DE (2) DE102009052829A1 (fr)
DK (1) DK2325394T4 (fr)
NO (1) NO2325394T3 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8697178B2 (en) * 2011-08-26 2014-04-15 Diagnose-und Ingenieurgesellschaft Dr. Boué Method and apparatus for applying a coating to a cable
DE202012013040U1 (de) 2012-06-19 2014-08-26 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Vorrichtung zum Befahren eines Seils
EP2677080A1 (fr) 2012-06-19 2013-12-25 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Dispositif et procédé destiné à parcourir un câble
CN103806377B (zh) * 2014-02-25 2015-09-23 福建建工集团总公司 一种桥梁大吨位多桩基的整体主动托换结构及托换方法
CN105088976B (zh) * 2015-08-14 2016-12-21 青岛玉兰祥商务服务有限公司 一种能快速降温且用于桥梁的自动清理维护装置
CN105019383B (zh) * 2015-08-14 2016-07-13 宁波市江东明联物联科技有限公司 一种安装有警示灯且用于桥梁的自动清理维护装置
CN111058378A (zh) * 2020-01-14 2020-04-24 中北大学 一种土木工程的道路桥梁自走式勘测装置
CN117107630B (zh) * 2023-10-25 2024-01-09 山东省路桥集团有限公司 一种斜拉桥的斜拉索破坏性检测装置

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US4106436A (en) † 1976-08-26 1978-08-15 Booker Leslie L Apparatus for dispensing a coating of liquid on an elevated cable or the like
US4169427A (en) † 1976-04-14 1979-10-02 Crump Desmond G Cable cleaning unit
US6494141B2 (en) † 2000-02-22 2002-12-17 Hydro-Quebec Remotely operated vehicle for inspection and intervention of a live line
DE202005020287U1 (de) † 2005-12-23 2006-06-01 Alpin Technik Und Ingenieurservice Gmbh Seilbefahrungsgerät zur Außenbefahrung von rohrförmigen, geradlinigen Bauwerken in beliebiger Einbaulage
EP2172593A2 (fr) † 2008-10-02 2010-04-07 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Procédé et dispositif pour l'inspection des haubans

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US2858555A (en) 1955-06-09 1958-11-04 Medovick George Self-propelled cleaning or painting device
DE3937928A1 (de) * 1989-11-15 1991-05-16 Asea Brown Boveri Reinigungsgeraet zur reinigung eines rundprofiles, insbesondere eines seiles
DE29502234U1 (de) * 1995-02-11 1995-04-13 Peiniger Ernst Gmbh Oberflächen-Bearbeitungsvorrichtung für langgestreckte, ortsfest angebrachte Körper, insbesondere für Tragseile an Brücken
DE20311395U1 (de) 2003-07-24 2003-10-30 Boue Andreas Selbstfahrende Inspektionsplattform für Seile

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US4169427A (en) † 1976-04-14 1979-10-02 Crump Desmond G Cable cleaning unit
US4106436A (en) † 1976-08-26 1978-08-15 Booker Leslie L Apparatus for dispensing a coating of liquid on an elevated cable or the like
US6494141B2 (en) † 2000-02-22 2002-12-17 Hydro-Quebec Remotely operated vehicle for inspection and intervention of a live line
DE202005020287U1 (de) † 2005-12-23 2006-06-01 Alpin Technik Und Ingenieurservice Gmbh Seilbefahrungsgerät zur Außenbefahrung von rohrförmigen, geradlinigen Bauwerken in beliebiger Einbaulage
EP2172593A2 (fr) † 2008-10-02 2010-04-07 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Procédé et dispositif pour l'inspection des haubans
DE102008049942A1 (de) † 2008-10-02 2010-04-08 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Verfahren und Inspektionsvorrichtung zum Inspizieren von Seilen

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Fengyu Xu, Xingsong Wang: "Design and Experiments on a New Wheel-Based Cable Climbing Robot’ Proceedings of the 2008 IE-EE/ASME Xi'an. China. 2-5 07.2008, p 418-423 †

Also Published As

Publication number Publication date
DE102009052829A1 (de) 2011-05-19
DK2325394T4 (da) 2023-11-13
DE202010017969U1 (de) 2013-08-22
DK2325394T3 (en) 2018-05-07
NO2325394T3 (fr) 2018-06-23
EP2325394A3 (fr) 2016-07-13
EP2325394B1 (fr) 2018-01-24
EP2325394A2 (fr) 2011-05-25

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