EP2677080A1 - Dispositif et procédé destiné à parcourir un câble - Google Patents

Dispositif et procédé destiné à parcourir un câble Download PDF

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Publication number
EP2677080A1
EP2677080A1 EP12172534.5A EP12172534A EP2677080A1 EP 2677080 A1 EP2677080 A1 EP 2677080A1 EP 12172534 A EP12172534 A EP 12172534A EP 2677080 A1 EP2677080 A1 EP 2677080A1
Authority
EP
European Patent Office
Prior art keywords
drive unit
rod
cable
rope
obstacle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12172534.5A
Other languages
German (de)
English (en)
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.)
Diagnose und Ingenieurgesellschaft Dr Boue mbH
Original Assignee
Diagnose und Ingenieurgesellschaft Dr Boue mbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Diagnose und Ingenieurgesellschaft Dr Boue mbH filed Critical Diagnose und Ingenieurgesellschaft Dr Boue mbH
Priority to EP12172534.5A priority Critical patent/EP2677080A1/fr
Publication of EP2677080A1 publication Critical patent/EP2677080A1/fr
Withdrawn legal-status Critical Current

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    • 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

Definitions

  • the present invention relates to an apparatus and a method for driving a bridge rope of a suspension bridge or a similar structure of stationary ropes, cables, pipes or rods, as e.g. be used in cable-stayed bridges or cable-supported roof structures or for clamping masts .. Such devices and methods are regularly used in the inspection of such ropes.
  • Ropes or bars which are installed to transfer tensile forces stationary in technical structures, such as rope or suspension bridges, rope-tensioned structures or for mast bracing, must be regularly subjected to maintenance and inspection in order to identify early corrosion or other wear damage. In particular, these measures serve to preserve the building fabric and ensure the safety of buildings.
  • For maintenance and inspection work on ropes have particularly unmanned devices or robots proven, as for example from the DE 10 2009 052 829 A1 are known. These devices are capable of self-propelled rope ropes and thereby detect damage to the ropes by means of sensors and / or make repairs to the ropes by means of maintenance systems.
  • the known devices have for this purpose a plurality of wheels, with which the devices are clamped to a bridge rope, so that they can be moved along the cables.
  • this is sometimes not possible with the known devices, especially when cross braces, sleeves and / or the like are attached to the cables, which represent an insurmountable obstacle for the known devices.
  • a similar one Obstacle arises when the cross section of the rope, the tube or the rod-like structure is variable, eg in its length undergoes a change, for example, the diameter.
  • the object of the invention is therefore to solve the problems described with reference to the prior art at least partially and in particular to provide a device for driving a rope, with the obstacles on one or more ropes or rod-like structures can be easily overcome.
  • a method for driving one or more interconnected ropes or rod-like structures is to be specified, with the obstacles on a rope can be easily overcome.
  • the inventive device for driving a rope or a rod-like structure has at least a first drive unit and a second drive unit, wherein the first drive unit and the second Drive unit to the rope or the rod-like structure are fastened in each case with a fastening means and the first drive unit and the second drive unit each comprise a drive, so that the first drive unit and the second drive unit along a first longitudinal axis of the rope or the rod-like structure are movable, and at least one lifting device with which the first drive unit and the second drive unit are mutually liftable by the cable or the rod-like structure, so that an obstacle on the rope or rod-like structure by the first drive unit and the second drive unit in the process along the first longitudinal axis the rope or the rod-like structure can be overcome.
  • the fastening means are in particular designed to be pivotable, so that they allow attachment to ropes or rod-like structures with varying diameters or cross-sectional shapes.
  • the device proposed here for driving on a rope or a rod-like structure serves, in particular, as a carrier for sensors in order to examine the cable for damage, and / or devices for carrying out maintenance or repair work on ropes or a rod-like structure.
  • the ropes are usually made of metal.
  • the rod-like structures are, in particular, tubes which consist in particular essentially of plastics. They also serve as a covering of ropes or wires.
  • the ropes and / or rod-like structures have a diameter of at least 1 cm, at least 10 cm or even at least 30 cm.
  • the ropes are in particular bridge cables.
  • sensors for example, optical visual inspection devices, for example cameras, ultrasound and / or X-ray devices can be used.
  • the device may further comprise facilities for loading or unloading of ropes or rod-like structures. These include in particular means for applying, for example, paints, bitumen, oils and / or zinc, but also for cleaning and removing old coatings.
  • the device has at least one first drive unit and a second drive unit, which can be fastened to the cable or the rod-like structure by fastening means.
  • first drive unit nor the second drive unit is rigidly connected to the cable or the rod-like structure, but each comprise a drive, with which the first drive unit and the second drive unit along a longitudinal axis of the rope or the rod-like structure are movable.
  • the attachment means prevent the device from detaching from the rope or rod-like structure in operation and falling down therefrom, even if the cross section of the rope or rod-like structure changes continuously or in steps.
  • the drive is in particular an electric motor or an internal combustion engine.
  • the device is unmanned and acts remotely or even autonomously.
  • the remote control of the device is either wired or through a wireless connection.
  • the device has at least two drive units, but may also have further drive units, for example 3, 4, 5 or even 6 pieces.
  • the device has at least one lifting device, with which the first drive unit and the second drive unit are mutually liftable by the cable or the rod-like structure.
  • the drive units are detachable from the cable or rod-like structure and liftable by the cable or rod-like structure by means of the lifting device so that there is a distance between the raised drive unit and the cable or rod-like structure.
  • at least one drive unit always remains firmly connected to the cable or the rod-like structure, so that it carries the lifted drive units with the lifting device.
  • the distance between the raised drive unit and the rope or the rod-like structure may be in particular at least 1 cm, preferably at least 5 cm or more preferably at least 50 cm.
  • an obstacle on the cable or the rod-like structure can be overcome in an advantageous manner.
  • Crossbars that is, in particular connecting points of the cable or of the rod-type structure with additional cables or rod-like structures, or in particular also devices for vibration damping of cables or rod-like structures, often occur as obstacles. It should be made clear at this juncture that the obstacles are not merely bumps on a surface of the rope or rod-like structure that are easy to overrun, but rather clearly stand out from the surface of the rope or rod-like structure.
  • these may be obstacles caused by a mere change in cross-section, such as when the diameter of the ropes or rod-like structures changes.
  • the height of the obstacles from the surface of the rope or the rod-like structure is in particular at least 1 cm, at least 5 cm, at least 20 cm or even more than 50 cm.
  • the obstacle may also completely complete the rope or rod-like structure in a circumferential direction surround.
  • the at least one first drive unit or second drive unit is in the process before reaching an obstacle with the at least one lifting device relative to the rope or the rod-like structure liftable to a height at least the height of the obstacle in the direction of the lifting direction of the at least one first drive unit or second drive unit equivalent.
  • the drive unit on the opposite side of the obstacle of the rope or the rod-like structure to the rope or the rod-like structure can be refastened.
  • all the drive units of the device are successively liftable by the lifting device from the rope or rod-like structure, and so can also overcome the obstacle on the rope or rod-like structure.
  • the fastening means preferably have at least one drive wheel, at least one guide wheel and at least one running wheel.
  • the drive wheel can be driven by the drive, so that the device is movable along the longitudinal axis of the cable or the rod-like structure.
  • a running surface of the drive wheel is preferably at least partially made of rubber in order to avoid slippage between the drive wheel and the cable or the rod-like structure when the device is moved.
  • the at least one guide wheel serves in particular for the lateral guidance of the device on the cable or the rod-like structure.
  • the at least one impeller can preferably be arranged on the half side of the cable or the rod-like structure opposite the at least one drive wheel, so that the device can not be detached from the cable or the rod-like structure (in the method).
  • the at least one impeller is pivotable about a pivot axis.
  • the device is particularly easy to a rope or rod-like Fasten structure and release again, even if the cross section of the rope or the rod-like structure has changed.
  • the lifting device comprises a boom, at the longitudinal ends of the first drive unit and the second drive unit is fixed, and wherein the position of the boom with a first actuating means or with a second actuating means relative to the first longitudinal axis of the rope or rod-like structure is adjustable.
  • the boom is preferably designed in the manner of a crane arm whose longitudinal ends are movably mounted on the first drive unit and the second drive unit.
  • the boom may also have other joints between its longitudinal ends, so that the boom is diverse and possibly multi-dimensionally movable. This also overcomes obstacles that can lead to a pivoting of the rope or the rod-like structure, i.
  • the longitudinal axis of the rope or the rod-like structure in front of the obstacle is different from the longitudinal axis of the rope after the obstacle, or it is a node of several attached ropes or rod-like structures.
  • the device has a first adjusting means and a second adjusting means, with which the boom is pivotable at its attachment points at the longitudinal ends relative to the first drive unit and the second drive unit.
  • the position of the boom relative to the first longitudinal axis of the rope or the rod-like structure is adjustable and the at least one first drive unit and second drive unit particularly easy by means of the boom of the lifting device of the rope or the rod-like structure can be raised.
  • the lifting device comprises a traverse to which the first drive unit and the second drive unit are attached, and wherein the first drive unit and the second drive unit orthogonal to a second longitudinal axis of Traverse are adjustable. The adjustment of the first drive unit and the second drive unit takes place in each case with at least one lifting device.
  • the device has a third drive unit, wherein the third drive unit is attached to the traverse and is orthogonal to the second longitudinal axis of the traverse adjustable.
  • the third drive unit is attached to the traverse and is orthogonal to the second longitudinal axis of the traverse adjustable.
  • Fig. 1 shows a device 1 for driving a rope 2.
  • the rope 2 shown here could also represent a rod-like structure.
  • the device 1 has a first drive unit 3 and a second drive unit 4.
  • the first drive unit 3 and the second drive unit 4 are provided with fastening means 5 (cf. Fig. 2 ) is attached to the cable 2 such that the device 1 is movably attached to the cable 2 along a first longitudinal axis 7 of the cable 2.
  • the device 1 comprises a lifting device 8, which comprises a boom 14, a first adjusting means 16 and a second adjusting means 17.
  • the carrier 14 is rotatably connected with its longitudinal ends 15 with the first drive unit 3 and the second drive unit 4.
  • the second drive unit 4 By activating the first actuating means 16, the second drive unit 4 can be solved with the lifting device 8 in a lifting direction 24 of the cable 2 and lifted, so that a Distance 26 between a surface 27 of the rope 2 and the second drive unit 4 at least one height 25 of an obstacle 9 in the lifting direction 24 of the second drive unit 4 corresponds.
  • the first drive unit 3 By moving the first drive unit 3 in the direction of travel 21, the second drive unit 4 can thus be lifted by an obstacle 9 on the cable 2 and placed on the cable 2 again on the side of the cable 2 opposite the obstacle 9.
  • the first drive unit 3 can be lifted by the lifting device 8 of the cable 2 and thus the obstacle 9 are completely overcome by the device 1 by the same procedure.
  • Fig. 2 now shows the first drive unit 3 of the device 1 in a front view.
  • the fastening means 5 which comprises a drive wheel 10, a plurality of guide wheels 11 and a plurality of wheels 12.
  • the drive wheel 10 can be driven by a drive 6, so that the device 1 along the rope 2 is movable.
  • the guide wheels 11 are stationarily connected to the device 1 in this embodiment.
  • the wheels 12 are fixed to a pivot arm 22, which is pivotable about an axis of rotation 13 with an adjusting means 23.
  • the adjusting means 23 in this embodiment is a servomotor.
  • Fig. 3 shows a further embodiment of the device 1.
  • the device 1 has in this embodiment, a first drive unit 3, a second drive unit 4 and a third drive unit 20.
  • the first drive unit 3, the second drive unit 4 and the third drive unit 20 can each be fastened to the cable 2 with fastening means 5.
  • the fastening means 5 correspond to the in Fig. 2 shown fastening means 5.
  • the fastening means 5 comprise a drive wheel 10, a guide wheel 11 and an impeller 12.
  • the impeller 12 with the pivot arm 22 of the cable 2 is pivotable away.
  • the device 1 has a lifting device 8, which comprises a traverse 18.
  • the first drive unit 3, the second drive unit 4 and / or the third drive unit 20 can be moved orthogonal to a second longitudinal axis 19 of the traverse 18, so that in each case at least one drive unit (3, 4, 20) of the rope 2 is liftable.
  • the Fig. 3 shows the device 1 in a situation in which the second drive unit 4 is held by the lifting device 8 of the second drive unit 4 with a distance 26 in the lifting direction 24 of the surface 27 of the rope 2, wherein the distance 26 at least the height 25 of the obstacle 9 in the lifting direction 24 corresponds. It should be noted at this point that when determining the distance 26 only areas of the device 1 are to be considered, which could collide in the lifting direction 24 with the obstacle 9 when passing over the obstacle 9. Thus, the wheels 12 and the pivot arms 22 are disregarded here.
  • the present invention is characterized in particular by the fact that an obstacle 9 on a cable 2 can be overcome with it in a particularly simple manner.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Bridges Or Land Bridges (AREA)
EP12172534.5A 2012-06-19 2012-06-19 Dispositif et procédé destiné à parcourir un câble Withdrawn EP2677080A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12172534.5A EP2677080A1 (fr) 2012-06-19 2012-06-19 Dispositif et procédé destiné à parcourir un câble

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12172534.5A EP2677080A1 (fr) 2012-06-19 2012-06-19 Dispositif et procédé destiné à parcourir un câble

Publications (1)

Publication Number Publication Date
EP2677080A1 true EP2677080A1 (fr) 2013-12-25

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EP12172534.5A Withdrawn EP2677080A1 (fr) 2012-06-19 2012-06-19 Dispositif et procédé destiné à parcourir un câble

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EP (1) EP2677080A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106245520A (zh) * 2015-06-15 2016-12-21 徐工集团工程机械股份有限公司 桥梁检测车行走机构及桥梁检测车
CN109680609A (zh) * 2019-01-08 2019-04-26 上海源盛机械电气制造有限公司 一种跨障机构、移动小车及声屏障立柱螺栓巡检装置
CN114319102A (zh) * 2022-01-21 2022-04-12 山东大学 一种缆索检测机器人及其工作方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3623032A1 (de) * 1986-07-09 1988-01-14 Avt Gmbh Verfahreinheit fuer seile und dgl.
DE20311395U1 (de) * 2003-07-24 2003-10-30 Boue Andreas Selbstfahrende Inspektionsplattform für Seile
DE102009052829A1 (de) 2009-11-13 2011-05-19 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Verfahren und Vorrichtung zum Auftragen einer Flüssigkeit auf ein Seil

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3623032A1 (de) * 1986-07-09 1988-01-14 Avt Gmbh Verfahreinheit fuer seile und dgl.
DE20311395U1 (de) * 2003-07-24 2003-10-30 Boue Andreas Selbstfahrende Inspektionsplattform für Seile
DE102009052829A1 (de) 2009-11-13 2011-05-19 Diagnose- und Ingenieurgesellschaft Dr. Boué mbH Verfahren und Vorrichtung zum Auftragen einer Flüssigkeit auf ein Seil

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106245520A (zh) * 2015-06-15 2016-12-21 徐工集团工程机械股份有限公司 桥梁检测车行走机构及桥梁检测车
WO2016201777A1 (fr) * 2015-06-15 2016-12-22 徐工集团工程机械股份有限公司 Mécanisme de déplacement pour véhicule de détection de pont, et véhicule de détection de pont
CN109680609A (zh) * 2019-01-08 2019-04-26 上海源盛机械电气制造有限公司 一种跨障机构、移动小车及声屏障立柱螺栓巡检装置
CN109680609B (zh) * 2019-01-08 2023-12-22 上海源盛机械电气制造有限公司 一种跨障机构、移动小车及声屏障立柱螺栓巡检装置
CN114319102A (zh) * 2022-01-21 2022-04-12 山东大学 一种缆索检测机器人及其工作方法
CN114319102B (zh) * 2022-01-21 2023-02-28 山东大学 一种缆索检测机器人及其工作方法
WO2023137852A1 (fr) * 2022-01-21 2023-07-27 山东大学 Robot de détection de câble et son procédé de fonctionnement

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