WO2018215088A1

WO2018215088A1 - Travel system for travelling the surfaces of towers or pipes

Info

Publication number: WO2018215088A1
Application number: PCT/EP2018/000239
Authority: WO
Inventors: Mohsen Bagheri
Original assignee: Fachhochschule Aachen
Priority date: 2017-05-24
Filing date: 2018-05-03
Publication date: 2018-11-29
Also published as: DE112018002659A5; DE102017004968A1

Abstract

The invention relates to a travel system for travelling the surfaces of towers or pipes, preferably cylindrical and/or conical surfaces, in particular towers of wind power plants, said travel system comprising at least one bracing system (1) which can be placed in a ring in the circumferential direction around a surface to be travelled, the circumferential length of said bracing system being changeable by means of at least one actuator (9), and a plurality of drivable running gears (4a, 4b), preferably identical running gears (4a, 4b), which are connected to the bracing system (1), for making contact with the surface to be travelled, said running gears being arranged in a ring on the bracing system (1) and spaced from one another in the circumferential direction and in particular are arranged in a ring around the surface to be travelled. By means of the bracing system (1), the distance in the circumferential direction between running gears (4a, 4b) arranged in a ring can be changed by changing the circumferential length of the bracing system (1), in particular so that a force can be exerted on the surface to be travelled by means of the bracing system (1) via the running gears (4a, 4b). The at least one bracing system (1) has at the first axial end thereof a first running gear assembly of running gears (4a) arranged in a ring in the circumferential direction, and the at least one bracing system (1) has at the second axial end thereof a second running gear assembly of running gears (4b) arranged in a ring in the circumferential direction, in particular which can guided around the surface to be travelled.

Description

Access system for driving on the surfaces of poles or pipes

The invention relates to a vehicle for driving on the surfaces of masts or tubes, preferably cylindrical and / or conical surfaces, in particular masts of wind turbines, comprising at least one circumferentially annular around a surface to be traveled laying around clamping system, the circumferential length is changed by at least one actuator and a plurality of driveable motors connected to the tensioning system

Chassis, preferably identical suspensions, for contacting the surface to be traveled, which are arranged annularly and circumferentially spaced apart on the clamping system, in particular around the surface to be traveled are arranged annularly, wherein with the clamping system by a circumferential length change of the clamping system, the distance between annular arranged chassis is changeable in the circumferential direction, in particular so that with the clamping system on the trolleys on the surface to be driven a force is exercised.

Such vehicles are e.g. from the applicant's own publication DE 10 2015 010 804 A1. They serve primarily to perform maintenance work on wind turbines, e.g. controlling and repairing rotor blades and welds on the towers of such installations.

The invention relates to such a system, which however can also be used in other applications in which it is necessary to carry out maintenance on a mast, tower, tube or similar cylindrical, preferably circular cylindrical, conical or polygonal cross-section elongate elements. Such

CONFIRMATION COPY Elements can also be the supporting pillars of drilling rigs, bridges or other structures. Preferably, the vehicle according to the invention on land

(Onshore and offshore) and also be used under water.

Said known Fahrfahranlage has a single annular arrangement of a plurality of circumferentially spaced tracks, which are pressed by means of a clamping system on the surface to be traveled.

To intercept tilting moments caused by the carrying of loads and by their own weight, it is provided here in an axial distance to the ring of trolleys to provide another suspension, which supports the ring against tilting on the surface. Already here is a problem because sometimes large forces are introduced relatively selectively in the surface. Tipping moments that act on the ring are partly due to the

causes significant longitudinal extension of the chain suspensions used here, but are limited in terms of controllability.

In addition, the movement of entrained maintenance units, or

Maintenance cubicles in the circumferential direction problematic due to

elongated chain suspensions connected to the ring. A driving in a circumferential direction is connected here simultaneously with an axial driving, which can not turn the track wheels in place due to the curved surface to be traveled.

Thus, it is an object of the invention to develop a traffic control system of the aforementioned generic type so that tilting moments are intercepted with great certainty, an increased drive power is available and simplifies maintenance units, e.g. Maintenance cabins in a circumferential direction, preferably completely around a mast, a tower, pipe or the like can be guided around. Preferably should be

According to the invention provide a stable moving construction that withstands high velocities of surrounding media, such as air or water. This object is achieved by a vehicle of the type mentioned, in which the at least one clamping system has at its first axial end a first suspension arrangement of annularly arranged in the circumferential direction trolleys and at least one clamping system at its second axial end of a second suspension arrangement in the Circumferentially has annularly arranged trolleys. According to a preferred embodiment, the at least one clamping system axially between the end-side annular chassis assemblies, preferably radially inside to

Clamping system, at least one maintenance unit or at least one

Have receiving device for a maintenance unit, which is feasible in the circumferential direction, in particular which can be guided around the surface to be traveled around. However, a maintenance unit can in principle be attached to any point on the vehicle, especially at an area of

Clamping system between the axial end chassis arrangements.

In the described invention, the following definitions of direction should apply.

The longitudinal extension direction is the direction in which a mast, pipe, tower or other element to be driven has its greatest extent. The longitudinal extension direction is hereinafter also the axial direction, which thus coincides with the longitudinal axis of the element, in particular the axial direction is the direction of the center axis of an element to be traveled, in particular an element which is rotationally symmetrical about this axis or at least n-fold rotationally symmetrical.

Radial or the radial direction is perpendicular to the axial or

Longitudinal direction. Radially inward means that the component described in comparison with the referenced component in the radial

Direction closer to the said center axis lies.

The circumferential direction is about the longitudinal direction or the

Viewed center axis around, regardless of the radial distance to the center axis. The designated circumferentially extending annular

Chassis arrangements or clamping systems surround the center axis of the element to be traveled, ie a mast, tower, etc. The

Ring center axis preferably coincides with the center axis of the traveled element. The circumferential extent of the various named annular arrangements is rectified, but may be in different radial directions

Be distances to the surface. Preferably, all annular arrangements are concentric. The axial direction of an element of the access system, such as e.g. the at least one annular clamping system also corresponds to the axial

Direction of the traveled element.

An essential core idea of the invention lies in the axial spacing of the two annularly arranged on the clamping system at each end

Suspension arrangements. By this axial spacing a harmful effect of a tilting moment occurring is prevented. Emerging forces are further introduced annularly in both end-side contact areas in the surface to be traveled, whereby damage can be avoided.

The preferred arrangement of the at least one maintenance unit or its receiving device axially between the landing gear arrangements ensures that the radial movements of the maintenance unit generated are reduced by any remaining tilting moments. To idealize this, the at least one maintenance unit can preferably be arranged axially in the middle between the chassis arrangements, in particular if the service installation has only two annular chassis arrangements.

A receiving device of a maintenance unit can by a

Be formed attachment region to which a maintenance unit is attachable. Here is then in the preferred embodiment of this

Mounting area between the two annular chassis arrangements. The maintenance unit attached to the receiving device may also be located between the landing gear assemblies after attachment thereto, but it may also be provided that a maintenance unit is not axially is located between the landing gear assemblies, although it is secured in an area therebetween on the tensioning system, but axially in front of both or behind both or all chassis arrangements.

The preferred arrangement of the at least one maintenance unit or its receiving device radially inwardly relative to the clamping system results in a positioning in which a maintenance unit is located between the clamping system and the surface to be traveled. Thus, the maintenance unit can also be simply subjected to force by means of the clamping system in the radial direction to the surface in order to position these safely and stably on the surface. Furthermore, a wind and weather protection can be achieved thereby, in particular, if a clamping system radially outward of a cover, e.g. surrounded by a tarpaulin. It results from the clamping system, in particular when using a cover, a protected annular space in which the maintenance can be made. However, the arrangement of a maintenance unit can also be realized radially outside the clamping system.

In a development, the invention can provide that the at least one clamping system between the axially end-side annular

Chassis assemblies having at least one further chassis arrangement of annularly arranged in the circumferential direction undercarriages, in particular wherein more preferably between at least one pair of two axially adjacent annular chassis assemblies, preferably between each pair of two axially adjacent annular chassis assemblies

at least one maintenance unit or at least one receiving device for a maintenance unit can be guided in the circumferential direction, in particular can be guided around the surface to be traveled.

This results in only one clamping system at least three annular force application areas, ie the areas in which the landing gear assemblies contact the surface. Again, in a preferred embodiment

be ensured that maintenance units or their

Receiving devices each with respect to the axial position between two annular suspension arrangements are arranged. Likewise, however, maintenance units can be positioned axially in front of or behind all chassis arrangements, in particular even if they are fastened to a receiving device axially between them.

The invention can also provide that the service system has at least two annular clamping systems, each having axially end-side arranged annular chassis assemblies, wherein two axially adjacent

Clamping systems are connected by means of a common annular chassis arrangement. Thus, the clamping systems can be positively connected and exercise together on the chassis forces forces on the surface.

In all embodiments, forces are exerted in the radial direction, ie normal forces relative to the surface on the chassis attached to the tensioning system via the at least one tensioning system by controlled circumferential length reduction by means of at least one actuator, so that a vehicle according to the invention preferably in force and / or frictional engagement adheres to the surface or drives over the surface.

A movement of a maintenance unit or a designated one

Cradle in the circumferential direction around the surface to be traveled around can be realized in various ways.

An embodiment of the invention may provide that the at least one

Maintenance unit or the at least one receiving device for a

Maintenance unit is fixed to the clamping system fixed, e.g. axially centered between the landing gear assemblies and in the circumferential direction around the surface to be driven around is characterized in that the entire

Clamping system can be moved around the surface by means of the chassis in the circumferential direction. The attachment of a maintenance unit can be both radially on the inside and radially on the outside of the clamping system, wherein the radially inner side arrangement is preferred when the surface to be traveled is to be maintained directly. A radially outer side arrangement may be advantageous if, for example, the wings of a wind turbine to be serviced. Especially at a radially outer side arrangement, the maintenance unit may be positioned axially in front of or behind all landing gear assemblies, even if it is mounted centrally between two landing gear assemblies on the clamping system. The

However, the maintenance unit can also be positioned radially on the outside and axially between the chassis arrangements.

For example, the respective trolleys may be rotatably mounted on the tensioning system, in particular rotatable about a radial axis, preferably, so as to change the alignment of the trolleys between a longitudinal or axial direction and a circumferential travel. Thus, a traffic control system of this type can travel both axially and in the circumferential direction and thereby carry the maintenance unit fixed to the installation.

Instead of a rotatability of each whole chassis, the invention may also provide that the trolleys are equipped with omnidirectional wheels, so-called Omni Wheels, which are alternatively and / or cumulatively drivable for driving in the longitudinal direction and circumferential direction.

In an alternative, but also cumulatively possible embodiment, the invention can provide that a guide system is arranged on the clamping system, which extends in the circumferential direction, in particular radially inwardly of the clamping system, with the guide system at least one maintenance unit or at least one receiving device for a maintenance unit relative to the clamping system in the circumferential direction, in particular to be traveled

Surface around, is movable, in particular while maintaining a fixed arrangement of the clamping system to be traveled surface.

Again, the guide system and radially outward lying to

Clamping system can be arranged. In particular, here the guide system is provided to a receiving device for a maintenance unit,

in particular thus at least their attachment points or directly one

To move maintenance unit radially outside in the circumferential direction. If a maintenance unit is attached to the axially between the landing gear assemblies guide system, but even axially before or behind all Chassis units, this maintenance unit can also by the

Guide system are guided in the circumferential direction. For example, In this case, a maintenance unit can contact a surface area of the surface to be traveled located axially in front of or behind all chassis arrangements.

Also in this embodiment, the trolleys can be aligned axially or circumferentially or any angle therebetween. In this embodiment, but it would also be enough if the vehicle can only move axially, so the chassis are set up to drive only in the longitudinal direction, because any desired circumferential position of a maintenance unit by their movement in the circumferential direction relative to the clamping system is possible.

One possible embodiment may provide that the guidance system

at least one cableway system having at least one pull rope, which is guided along the clamping system in the circumferential direction, in particular radially inward, but alternatively also radially outward, in particular by means of maintenance units or their recording devices durchfahrbaren cable guides, and which with a drive in the circumferential direction relative to the clamping system movable is, wherein at least one maintenance unit or at least one

Receiving device for a maintenance unit with the pull rope is fixedly connected, in particular is detachably connected.

Thus, a maintenance unit moves together with the in

Circumferentially driven traction cable. Particularly preferred is an embodiment according to which the cableway system comprises exactly two or at least two traction cables, which are guided at a distance in the longitudinal direction next to each other. In this embodiment, a maintenance unit or its receiving device is attached to both tension cables simultaneously. In particular, such a tilting of the maintenance unit or the receiving device is avoided.

Preferably, a maintenance unit as well as the chassis is acted upon by a radial force and pressed against the surface, in particular when the maintenance unit and the guide system radially inward from

Clamping system is arranged. In the embodiment with a cable car, the power generation and transmission can preferably be done indirectly via the tension cables. For this purpose, the invention can provide that the at least one pull rope, in particular by means of its drive, is to be tensioned more or less, ie variably, ie the pull rope in

To lengthen or shorten the circumferential direction.

By a force applied in this way, the edge of an opening of the maintenance unit facing the surface can be pressed onto the surface.

In particular, if a maintenance unit axially before or behind all

Chassis arrangements is, especially where they are between the

Chassis assemblies radially outwardly attached to the clamping system, but also in all other versions of maintenance units and their attachment to the clamping system, the invention can provide that a maintenance unit

Attachment means are associated with which the maintenance unit can be at least temporarily attached to a surface. Such attachment means may e.g. comprise switchable magnetic holder with which a magnetic force between the maintenance unit and the surface can be generated.

Since not all surfaces are magnetizable such fasteners may also include vacuum cleaners. Fasteners are preferred in

The circumferential direction is considered at least on both sides of a maintenance unit

arranged.

A maintenance unit may further comprise extendable roller units whose rollers are extendable from the interior of the maintenance unit beyond the opening edge in the direction of the surface. Such roles could e.g. be constant, for example by means of a spring force and extend when said radial force is reduced. Alternatively, the rolling units can also be actuated extendable. In this case, the radial force must also not be reduced, but may be constant. A variability of

Pull rope tension is not necessary in this case. The named cableway unit may further comprise, in a preferred embodiment, a drive unit which, preferably for each of several

existing traction cables, a first driven winding roll and a second driven winding roll, wherein the respective traction cable is wound with one of the winding rolls, while it can be unwound simultaneously with the other winding roll. Thus, a non-closed pull rope can be guided in the circumferential direction along the clamping system and wound with its two end regions on each one of the winding rolls. Such a pull rope preferably has at least twice the maximum required circumferential length, so that a maintenance unit can be moved over a full 360 degrees with such a pull rope.

The invention also allows a targeted with this design

Circumferential length compensation, i. a reaction to different required circumferential lengths of the pull rope along the tensioning system, if this changes its diameter due to a conicity of a driven mast. If, for example, the diameter narrows and, therefore, less circumferential traction cable length is required, the traction cable can be rolled up and shortened with one of the two driven winding rollers. Also, for such a case, the winding and unwinding speeds of the simultaneously driven winding rolls may be at least temporarily different, for which an electronic control may be provided.

In a preferred embodiment, the invention provides that the drive unit of a maintenance unit or a receiving device for a maintenance unit in the circumferential direction is traversable. Thus, the circumferential position at which the drive unit of a cableway arrangement is located can also be reached by a maintenance unit. In particular, for this purpose, a maintenance unit or its receiving device can be separable from the pull cable, preferably wherein it is guided during passage through the drive unit in at least one rail of the drive unit. Such a separation of the connection of maintenance unit or their

Take-up unit from the pull rope can be done automatically when the

Maintenance unit enters the drive unit, e.g. by an actuated mechanism that triggers the decoupling. In the same way, can be done automatically on the pull rope when extending out of the drive unit automatic coupling.

In a refinement that can be combined with all the implementations cited in this description of the invention, it can be provided that the at least one tensioning system comprises a plurality of connecting struts which are located between

Chassis of various ring-shaped landing gear arrangements extend, wherein the connected by a connecting strut trolleys of the various landing gear assemblies are arranged at different circumferential positions.

In particular, if the vehicle each exactly two annular

Chassis arrangements on a clamping system, the trolleys are each arranged exactly at the ends of the connecting struts.

By the connection of two offset in the circumferential direction

Chassis of different chassis arrangements with the respective

Connecting struts result in a crossing of connecting struts, which are preferably hingedly connected at the respective intersection, in particular with a radially oriented hinge axis.

At such intersection, e.g. fixed to the clamping system

Maintenance units or their recording devices are attached, e.g. if this by a total movement of the clamping system or the entire

Access are moved in the circumferential direction.

Elements of a guidance system, in particular cable guides, can also be provided at such intersection locations by means of which the at least one traction cable, preferably both traction cables of a cableway arrangement, are guided in the circumferential direction. Such cable guides are preferably also of

Maintenance units or their recording devices durchfahrbar, preferably without being disconnected from the rope. Such rope guides can also Have drives with which a pull rope is conveyed in the circumferential direction, in particular also independent of the drive unit described above.

The pivotally connected at the intersection of two connecting struts in this embodiment form a scissors hinge unit, in particular in the execution of a so-called Nuremberg scissors.

In the circumferential direction are thus preferably in the clamping system more

provided adjacent scissor hinge units, in particular in the circumferential direction by 360 degrees, preferably in itself

form closed, more preferably reveal scissors hinge chain. Such an opening is advantageous if the vehicle must initially be wrapped around a mast, tower or pipe or other element to be driven.

The invention may also provide that several in the axial direction

adjacent scissor hinge units are provided.

The formation of the tensioning system with a scissors link chain is particularly advantageous because this results in a generally rigid arrangement during clamping, in which the forces acting through the articulated crossed

Distribute connecting struts over the entire clamping system and thus results in a very uniform force in the surface to be traveled.

The invention may provide in this embodiment that the facing each other ends of the connecting struts of two adjacent circumferentially scissor hinge units are hinged together and articulated with a chassis. Such an articulated connection preferably comprises a spherical joint.

Here, more preferably, each of two facing each other ends of two connecting struts have their own articulated connection, in particular spherical hinge connection to a chassis carrier, to which a chassis is attached. Such a chassis carrier thus represents an indirect connection between a connecting strut and a chassis, in particular in the other functionalities can be integrated. The invention can provide that each chassis of at least one of the landing gear arrangements, preferably of all chassis arrangements on the tensioning system is mounted variable in distance in the radial direction, in particular flexibly secured or the distance is adjustable with an actuator. This ensures that the ring diameter of a chassis assembly may be different to the ring diameter of another, especially the other suspension arrangement, in particular, when a conically tapering in the axial direction surface is traveled, as is customary in the masts of wind turbines.

The invention can now provide that the end of a connecting strut is connected indirectly to a chassis via a chassis carrier, wherein the chassis relative to the chassis carrier by means of an actuator at a distance,

in particular radial distance is adjustable. However, it is also possible for the end of a connecting strut to be flexibly connected to a running gear, in particular an end region of a connecting strut can have greater flexibility than a region lying between the ends.

In a preferred embodiment, the invention provides that the inner surface of the at least one clamping system facing the surface to be driven is polygonal or bent concavely to the surface to be traveled in a plane defined by a radial vector and axial vector.

In particular for this purpose, e.g. the connecting struts of the at least one clamping system to the surface to be traveled at least partially polygonal concave or curved, in particular partially curved curved concave. Seen from the surface are thus the

Connecting struts bent outwards. Preferably, the center of the connecting struts, in particular where two intersecting

Connecting struts are hinged, the largest distance of the

Connecting struts to the surface.

Thereby, a substantially part-toroidal or generally annular space can be formed between the inside of the clamping system and the surface to be traveled is arranged and forms space for the circumferentially moving maintenance unit.

A change in the circumferential length of the clamping system can be effected by at least one actuator, preferably a plurality of actuators by control, the / the elements of the clamping system or attached to the clamping system elements in the circumferential direction against each other.

With general validity, and especially in the above-described embodiment of the embodiment of the tensioning system with a scissors link chain, preferably with concave scissors hinge units to the surface can between two in

Circumferentially adjacent suspensions of an annular

Suspension arrangement, in particular only between each second pair of circumferentially adjacent suspensions an actuator, in particular linear actuator be arranged, with which the distance between all suspensions of the

Chassis assembly is changeable in the circumferential direction.

Actuators between each second pair of circumferentially adjacent suspensions of a landing gear assembly may preferably be circumferentially offset from the actuators between each second pair of circumferentially adjacent suspensions of another suspension assembly.

Such actuators are arranged very close to the surface, which can be a hindrance if superficies are present on the surface over which it is intended to travel over, e.g. Antennas or sensors.

The invention may also provide that actuators, in particular linear actuators, with which the distance between all running gears of a tensioning system can be changed between the intersection of neighboring scissor hinges are arranged.

The invention can provide in all possible embodiments, that also axially outside or beyond the axial ends of the clamping system, are attached to which trolleys are mounted further attachments, which are transported by the vehicle. Such attachments can eg to the Connecting struts of scissor hinge chain described, particularly preferably be attached to the intersection.

Likewise, the invention can provide that a further guide system is arranged radially outside the described clamping system, with the same maintenance units can be moved in the circumferential direction. Again, the guide system may comprise a cable car arrangement, at least at least one service unit is attached to the subsidized at least one pull rope.

In particular, provided that maintenance personnel mitfährt with maintenance units, but also in other embodiments, it can provide that in addition to the described clamping system at least one further redundant

Additional clamping system is provided on the clamping system according to the invention. Such an additional clamping system can provide that radially outward around the

Clamping system according to the invention at least one e.g. motor or by other actuators tensioned rope is guided around, wherein by clamping a compressive force is exerted on the clamping system. Should be in

Clamping system occur a failure that would lead to a decrease in the holding force generated by this, the auxiliary clamping system would provide the required holding power. Thus a possibly required redundancy for passenger transport can be realized.

Concrete embodiments of the invention will be explained with reference to the following figures.

FIG. 1 shows a plan view in the axial direction of a traffic control system according to the invention, e.g. a mast of a wind turbine can automatically drive along without showing the mast, which is surrounded here in the circumferential direction.

In combination described with the figure 2, which partially illustrates in radial view different options of connecting webs of the tensioning system of the vehicle, the system comprises a clamping system 1 with a plurality of crossed connecting struts 2, which are connected at the intersection locations 3 radially articulated. In the circumferential direction thereby form the more Connecting struts 2 a scissors link chain. The connecting struts 2 are each concave to the interior of the clamping system. Here, the figure 2 shows the right side various options such concave training, which may be both partially circular concave in the options 1 and 2 and polygonal concave in the options 3 and 4.

At the ends of the connecting struts 2 these are articulated, preferably spherical articulated directly or indirectly via chassis support 4 ^' with trolleys 4th

connected. With reference to FIG. 2, a plurality of carriages 4 a are arranged at the upper axial end of the clamping system, and a plurality of carriages 4 b are arranged at the lower end. The trolleys 4a and trolleys 4b each form one

Chassis assembly in which the trolleys 4a / 4b are spaced circumferentially and arranged annularly.

The trolleys can basically be of any type, e.g. Chain suspensions, those with omnidirectional tires or radially steerable pneumatic tires etc.

In the embodiments of Figures 1 and 2, a guide system is formed as a cable car radially inwardly from the clamping system and its connecting struts 2, with a pull cable 5, which is also guided in the circumferential direction and is driven. On traction cable 5 maintenance units 6 are fixed, which are carried along with the cable 5. The cable 5 is guided in cable guides 7, which is in each case durchfahrbar by a maintenance unit 6 and which are preferably attached here at the intersection locations 3 radially inward.

Especially with the right part of Figure 2 it can be seen that a

Annulus 8 between clamping system and a surface to be traveled results, which can be traversed by maintenance units 6 in the circumferential direction.

Furthermore, it can be seen that between two suspensions 4a and between two trolleys 4b a respective linear actuator 9 is arranged, with which the distance between the trolleys in the circumferential direction can be changed. As a result, a tensioning force can be exerted on the surface to be traveled. The actuators 9 in different chassis arrangements are arranged offset in the circumferential direction.

3 shows an alternative in which the clamping system a

Scherengelenkkette forms with Scherengelenkeinheiten, of which several adjacent to each other in the circumferential direction and of which two are adjacent to each other in the axial direction. The arrangement can also be understood as two clamping systems located at an axial end, which is centered in the here

Overall arrangement is to share a common suspension arrangement.

There are three landing gear arrangements here with the respective running gears 4a, 4b or in the middle between them 4c, which are each arranged in a ring shape. This results in two annular spaces 8a and 8b which are passable by maintenance units 6. Here are both radially inward of clamping system with the connecting struts 2 and outside guide systems designed as a cable car, so that inside

Maintenance units 6 and outside boom 0 can be moved in the circumferential direction.

Figure 4 shows two optional arrangements in which on the axial ends 11 and 12 of the clamping system, on which each of the landing gear assemblies are fixed, in addition to the axial direction further attachments 13 are arranged. Such attachments can be completely carried by the tensioning system or even ride on the surface of a mast or tower or pipe and are dragged along. The attachments 13 can here as well

Make up maintenance units, either with maintenance staff occupied or unoccupied maintenance units.

In the option shown here above, the attachments 13 are axially movable on both sides even in a guide system as a cable car in the circumferential direction. The attachment shown axially here in the lower position may e.g. a manned one

Represent maintenance unit.

Figure 5 shows a possible embodiment of a cable car drive 14. In the situation shown this is currently being passed through by a maintenance unit 6. The drive 14 here has two parallel traction cables 15a and 15b to which a maintenance unit 6 is detachably coupled.

Essential here is the training with two bobbins 16 for each of the traction cables 15a / 15b. Since respective traction cable, which extends in the circumferential direction is transported by the drive in the circumferential direction by it is unrolled from one of the winding rollers 16 and rolled up at the same time by the other. The maintenance unit attached to the pull rope is entrained in this way.

When driving through the drive unit, the maintenance unit 6 is first decoupled when entering the rope 15 a / b, via a rail system through the

Drive unit passed and placed back on the rope 15a 15b at the exit.

FIG. 6 shows a maintenance unit, which here is designed as a housing, which is open to one side facing the surface to be traveled. Radially outside the maintenance unit has cable coupling elements 17, with which a detachable connection to the tension cables can be made.

Inside the maintenance unit 6 are roller units 8, whose rollers are spring-loaded or actuated over the opening edge in the direction towards

moving surface can be moved. With pushed out rollers, a maintenance unit can thus be moved over the surface to be traveled in the circumferential direction. With sunk rollers, the

Maintenance unit occupied a maintenance position and can detect or edit the surface sensory.

In a maintenance unit 6, any sensors or actuators may be arranged for maintenance. Here is an example of a camera 19 shown.

Figure 7 shows a detail of a drive of a cable car arrangement. Above and below here are each three pairs of rollers recognizable, through which the respective upper or lower rope of a cable car is passed. Between the respective outer and the middle roller pair is the respective described winding roller 16 arranged so that the rope passes though the outer but not the inner pairs of rollers.

Through the pairs of rollers 20, the cable coupling elements 17 of a maintenance unit are passed while passing through a maintenance unit and disconnected from an outer roller pair 20 and the middle roller pair of rope or re-applied. In the separated situation, the maintenance unit is guided on the guides 21.

Within a pair of rollers, the two rollers of the pair are biased by spring force by means of the springs 22 in the direction towards each other, so that a rope is tightly enclosed, however, a cable coupling element 17 can pass through the rollers of the roller pair by pressing them.

Claims

claims

1. vehicle for driving on the surfaces of masts or pipes,

preferably cylindrical and / or conical surfaces, in particular masts of wind turbines, comprising: a. at least one clamping system (1) which can be placed around a surface to be driven in the circumferential direction in a circumferential direction, whose circumferential length can be changed by means of at least one actuator (9) and b. a plurality of driveable running gears (4a, 4b) connected to the tensioning system (1), preferably identical running gears (4a, 4b), for contacting the surface to be traveled, which are arranged annularly on the tensioning system (1) and spaced apart in the circumferential direction, in particular which are arranged annularly around the surface to be traveled c. with the clamping system (1) by a

Circumferential length change of the tensioning system (1) the distance between annularly arranged running gears (4a, 4b) is changeable in the circumferential direction, in particular so that with the tensioning system (1) via the running gears (4a, 4b) on the surface to be driven a force is exercisable characterized in that d. the at least one tensioning system (1) has at its first axial end a first chassis arrangement of running gears (4a) arranged annularly in the circumferential direction, and e. the at least one tensioning system (1) has at its second axial end a second chassis arrangement of running gears (4b) arranged annularly in the circumferential direction f. in particular wherein the at least one tensioning system (1) axially between the end-side annular chassis assemblies, preferably at least radially inside, at least one maintenance unit (6) or at least one receiving device for a maintenance unit (6), which is guided in the circumferential direction, in particular which around the driving surface is feasible.

2. A vehicle according to claim 1, characterized in that the at least one clamping system (1) between the axially end-side annular chassis arrangements at least one more

Suspension arrangement of annularly arranged in the circumferential direction undercarriages (4c), in particular between at least one pair of two axially adjacent annular chassis assemblies, preferably between each pair of two axially adjacent annular chassis assemblies at least one maintenance unit (6) or at least one receiving device for a maintenance unit ( 6) is provided, which is feasible in the circumferential direction, in particular around the surface to be driven is guided around.

3. Anfahranlage according to claim 1, characterized in that they

at least two annular clamping systems (1) each having axially end side arranged annular chassis assemblies, wherein two axially adjacent clamping systems (1) are connected by means of a common annular chassis assembly.

4. Transport system according to one of the preceding claims, characterized

characterized in that the at least one maintenance unit (6) or the at least one receiving device for a maintenance unit on the Clamping system (1) is fixed in place and can be guided in the circumferential direction around the surface to be traveled by the fact that the entire clamping system (1) by means of the chassis (4a, 4b) in the circumferential direction around the surface can be moved around.

5. vehicle according to one of the preceding claims, characterized

characterized in that the respective running gears (4a, 4b) on the

Clamping system (1) are rotatably mounted, in particular about a radial axis are rotatable, preferably to the orientation of the chassis (4a, 4b) between a driving in the longitudinal direction and a driving in

Change circumferential direction.

6. Transport system according to one of the preceding claims, characterized

in that the running gears (4a, 4b) are equipped with omnidirectional wheels which can be driven alternatively and / or cumulatively for driving in the longitudinal direction and in the circumferential direction.

7. Transport system according to one of the preceding claims, characterized

characterized in that a guide system (5, 7) is arranged on the clamping system (1), which, in particular radially inward of the

Clamping system (1), extending in the circumferential direction, wherein with the

Guide system (5, 7) at least one maintenance unit (6) or at least one receiving device for a maintenance unit (6) relative to the clamping system (1) in the circumferential direction, in particular around the surface to be driven, is movable, in particular under

Maintaining a fixed arrangement of the clamping system (1) to be traveled surface.

8. A vehicle according to claim 7, characterized in that the

Chassis (4a, 4b) are set up to drive only in the longitudinal direction.

9. Transport system according to one of the preceding claims 7 or 8, characterized in that the guide system (5, 7) at least one Cableway installation (5, 7), with at least one traction cable (5) which is guided along the clamping system (1) in the circumferential direction, in particular radially inward, in particular by means of cable guides (7) which can be moved through by maintenance units (6), and which has a drive ( 14) in the circumferential direction relative to the clamping system (1) is movable, wherein at least one maintenance unit (6) or at least one

Receiving device for a maintenance unit (6) with the pull cable (5) fixedly connected, in particular releasably connected.

10. A vehicle according to claim 9, characterized in that the

Cableway installation (5, 7) comprises two traction cables (15a, 15b), which are guided at a distance in the longitudinal direction next to each other.

11. Transport system according to one of the preceding claims 9 or 10, characterized in that the cable car system (15a, 15b, 7) a

Drive unit (4), which, preferably for each pull rope (15a, 15b), a first driven winding roll (16) and a second driven winding roll (16), wherein the pull rope (15a, 15b) with one of the winding rolls (16) can be wound while it is unwound simultaneously with the other winding roll (16).

12. A vehicle according to claim 11, characterized in that the

Drive unit (14) from a maintenance unit (6) or a

Receiving device for a maintenance unit (6) is traversable in the circumferential direction, in particular for which a maintenance unit (6) or its receiving device from the traction cable (15a, 15b) is separable, preferably this while driving through in at least one rail (21) of the drive unit (14) is guided.

13. Transport system according to one of the preceding claims, characterized

characterized in that the at least one tensioning system (1) comprises a plurality of connecting struts (2) which extend between running gears (4a, 4b) of various annular chassis arrangements, wherein the by a connecting strut (2) connected undercarriages (4a, 4b) of the different suspension arrangements at different

Circumferential positions are arranged.

14. Access control system according to claim 13, characterized in that by each two intersecting connecting struts (2) on the

Junction (3) are articulated, in particular with a radially oriented hinge axis, a scissors hinge unit is formed and the clamping system (1) in the circumferential direction more

has adjacent scissor hinge units, in particular in the circumferential direction a scissor hinge chain extending through 360 degrees, preferably self-contained, more preferably disclosed scissor hinge.

15. Access control system according to one of the preceding claims 13 or 14, characterized in that the mutually facing ends of the

Connecting struts (2) of two adjacent in the circumferential direction

Scherengelenkeinheiten articulated with each other and articulated, each with a chassis (4a, 4b) are connected.

16. A vehicle according to claim 15, characterized in that each of two facing each other ends of two connecting struts (2) has its own articulated connection (4 ^" ), in particular spherical

Has articulated connection (4 ^" ) to a chassis support (4 ^' ) on which a chassis (4a, 4b) is attached.

17. Terminal according to one of the preceding claims, characterized

in that each chassis (4a, 4b) at least one of the landing gear assemblies, preferably all chassis arrangements on

Clamping system (1) is mounted variable in distance in the radial direction, in particular flexibly mounted or the distance is adjustable with an actuator.

18. A vehicle according to claim 17, characterized in that the end of a connecting strut (2) with a chassis (4a, 4b) indirectly is connected via a chassis support (4 ^' ), wherein the chassis (4a, 4b) relative to the chassis support (4 ^' ) by means of an actuator at a distance, in particular radial distance is adjustable.

19. Access control system according to claim 17, characterized in that the end of a connecting strut (2) with a chassis (4a, 4b) is flexibly connected, in particular an end portion of a connecting strut (2) has a greater flexibility than a lying between the ends region.

20. Transport system according to one of the preceding claims, characterized

in that the inner surface of the at least one clamping system (1) facing the surface to be driven is polygonal or curved in a concave manner to the surface to be traveled, in particular in a concave plane formed by a radial vector and axial vector.

21. Terminal according to one of the preceding claims, characterized

characterized in that the connecting struts (2) of the at least one clamping system (1) to the surface to be traveled at least partially polygonal concave or curved, in particular

are formed part-circular arcuate concave.

22. Terminal according to one of the preceding claims, characterized

in that between two circumferentially adjacent running gears (4a, 4b) of an annular chassis arrangement,

In particular, only between each second pair of circumferentially adjacent chassis (4a, 4b) an actuator (9), in particular linear actuator (9) is arranged, with which the distance between all chassis (4a, 4b) of the chassis assembly in the circumferential direction is changeable.

23. Access system according to claim 22, characterized in that actuators (9) between each second pair of circumferentially adjacent suspensions (4 a, 4 b) of a chassis arrangements for the actuators (9). between each second pair of circumferentially adjacent suspensions (4a, 4b) of another suspension arrangement

Circumferentially arranged offset.

24. Transport system according to one of the preceding claims, characterized

characterized in that actuators (9), in particular linear actuators (9), with which the distance between all running gears (4a, 4b) of a

Clamping system (1) changeable is arranged between the crossing locations (3) of adjacent scissor hinges.

25. Terminal according to one of the preceding claims, characterized

in that by means of the tensioning system (1) and / or its guide system (5, 7) a force can be exerted on a maintenance unit (6) in the direction of the surface to be traveled, in particular through which the edge of an opening of the maintenance unit facing towards the surface (6 ) Can be pressed onto the surface and a maintenance unit (6) extendable rolling units (18) whose roles from the interior of the

Maintenance unit (6) beyond the opening edge in the direction of

Surface are extendable.