DE102017004968A1 - Access system for driving on the surfaces of poles or pipes - Google Patents

Abstract

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 (1), the circumferential length by means of at least one Actuator (9) is changeable and a plurality of the tensioning system (1) connected to driveways (4a, 4b), preferably identical chassis (4a, 4b), for contacting the surface to be traveled on the clamping system (1) annular and in Circumferentially arranged spaced from each other, in particular around the surface to be traveled around are arranged annularly, with the clamping system (1) by a circumferential length change of the clamping system (1) the distance between annularly arranged trolleys (4a, 4b) is changeable in the circumferential direction, in particular so that with the clamping system (1) over the Trolleys (4a, 4b) on the surface to be driven a force is exercised and wherein the at least one clamping system (1) at its first axial end a first suspension arrangement of annularly arranged in the circumferential direction undercarriages (4a) and the at least one tensioning system (1 ) has at its second axial end a second suspension arrangement of annularly arranged in the circumferential direction undercarriages (4b). in particular, which can be guided around the surface to be traveled.

Description

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 connected to the tensioning system driveways, preferably identical suspensions, for contacting the surface to be traveled, which are arranged on the clamping system annular and circumferentially spaced from each other, in particular those around the surface to be traveled around are arranged annularly, with the clamping system by a change in the circumferential length of the clamping system, the distance between annularly arranged trolleys in the circumferential direction is changeable, in particular so that with the clamping system on the trolleys on the surface to be driven a Kra ft is exercisable.

Such vehicles are, for example, from the applicant's own publication DE 10 2015 010 804 A1 known. They serve mainly to perform maintenance on wind turbines, such as the control and repair of rotor blades and welds on the towers of such facilities.

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 elements may also be the support posts of drilling rigs, bridges or other structures. Preferably, the vehicle according to the invention should be used on land (onshore and offshore) and also 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 also partly caused by the significant longitudinal extent 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 is problematic due to the elongated chain running gears, which are 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, according to the invention, a stably moving construction should result, which withstands even 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 undercarriages and the 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 development, the at least one tensioning system can have axially between the end-side annular chassis arrangements, preferably radially inward to the tensioning system, at least one maintenance unit or at least one receiving device for a maintenance unit, which can be guided in the circumferential direction, in particular which can be guided around the surface to be traveled. However, a maintenance unit can in principle be fastened at any point on the vehicle, in particular at an area of the 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 direction is subsequently 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 so an element which is rotationally symmetric 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 described component is closer to said center axis in the radial direction as compared to the referenced component.

The circumferential direction is considered around the longitudinal direction or the center axis, regardless of the radial distance to the center axis.

The designated circumferentially extending annular landing gear assemblies or clamping systems surround the center axis of the element to be traveled, so 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 at different radial distances from 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 vehicle element.

An essential core idea of the invention resides in the axial spacing of the two ring-shaped chassis arrangements respectively arranged on the clamping system at each end. 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 be formed by a fastening region, to which a maintenance unit can be fastened.

Here, in the preferred embodiment, this fastening region is then located 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 service unit is not located axially between the landing gear assemblies, although it is secured to the clamping system in an area therebetween, but axially forward both or behind both or all suspension 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 further development, the invention can provide that the at least one tensioning system between the axially end-side annular chassis arrangements has at least one further chassis arrangement of annularly arranged in the circumferential direction undercarriages, in particular more preferably between at least one pair of two axially adjacent annular chassis arrangements, 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 in the circumferential direction is feasible, in particular around the surface to be driven is feasible.

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, it can be ensured in a preferred embodiment that maintenance units or their receiving devices are each arranged with respect to the axial position between two annular chassis assemblies. Likewise, however, maintenance units can be positioned axially in front of or behind all landing gear arrangements, especially if you attached to a receiving device axially between them.

The invention can also provide that the service system has at least two annular clamping systems, each with axially arranged end annular suspension arrangements, 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 receiving device provided in the circumferential direction about the surface to be traveled around can be realized in various ways.

An embodiment of the invention may provide for the at least one maintenance unit or unit for a maintenance unit to be fixedly attached to the tensioning system, e.g. axially centered between the landing gear assemblies and in the circumferential direction around the surface to be driven is guided by the fact that the entire clamping system can be moved around by means of the chassis in the circumferential direction around the surface. 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 outboard arrangement may be advantageous when e.g. the wings of a wind turbine are to be maintained. Especially with a radially outer side arrangement, the maintenance unit can be positioned axially in front of or behind all chassis arrangements, even if it is mounted centrally between two landing gear assemblies on the clamping system. However, the maintenance unit can also be positioned radially on the outside and axially between the landing gear 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 the respective entire 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 around the surface to be traveled, is movable, in particular while maintaining a fixed arrangement of the clamping system to be traveled surface.

Again, the guide system can also be arranged radially outward lying to the clamping system. In particular, here the guide system is provided to move a receiving device for a maintenance unit, in particular thus at least their attachment points or directly a maintenance unit radially outside in the circumferential direction. If a maintenance unit is indeed fastened to the guide system lying axially between the chassis arrangements, but itself lies axially in front of or behind all the chassis units, this maintenance unit can also be guided by the guidance system 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.

A possible embodiment may provide that the guide system has at least one cableway system, with 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 cable guides which can be passed through by maintenance units or their receiving devices, and which with a drive in the circumferential direction relative to the clamping system is movable, 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 releasably connected.

Accordingly, a maintenance unit thus moves together with the traction cable driven in the circumferential direction. 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 is arranged radially inwardly of the clamping system.

In the embodiment with a cable car, the power generation and transmission can preferably be done indirectly via the tension cables. The invention can provide for this purpose that the at least one traction cable, in particular by means of its drive, more or less, i. is variable to stretch, so to lengthen or shorten the pull rope in 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 is located axially in front of or behind all chassis arrangements, in particular where it is fastened between the chassis arrangements radially outward on the tensioning system, but also in all other embodiments of maintenance units and their attachment to the tensioning system, the invention can provide that a maintenance unit are assigned fastening means, 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 preferably arranged in the circumferential direction, at least arranged on both sides of a maintenance unit.

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 Zugseilspannung is not necessary in this case.

The named cableway unit may further comprise in a preferred embodiment, a drive unit, preferably, for each of optionally. Several existing tension cables, a first driven winding roll and a second driven winding roll, wherein the respective pull rope is wound with one of the winding rolls, while at the same time the other winding roll is unwound. 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 targeted 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 the maintenance unit or its receiving unit from the traction cable can be carried out automatically when the maintenance unit enters the drive unit, for example 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 further embodiment which can be combined with all the implementations mentioned in this description of the invention, it can be provided that the at least one tensioning system comprises a plurality of connecting struts extending between suspensions of different ring-shaped chassis arrangements, wherein the suspensions of the different suspension arrangements connected by a connecting strut are arranged at different circumferential positions.

In particular, if the vehicle each have exactly two annular chassis arrangements on a clamping system, the trolleys are each arranged exactly at the ends of the connecting struts.

By connecting two circumferentially staggered trolleys different suspension arrangements with the respective connecting struts results in a crossing of connecting struts, which are preferably hinged at the respective intersection, in particular with a radially oriented hinge axis.

At such intersection, e.g. fixed to the clamping system stationary maintenance units or their receiving devices, e.g. if they are moved by an overall movement of the clamping system or the entire vehicle 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 by maintenance units or their recording devices durchfahrbar, preferably without being disconnected from the rope. Such cable guides may 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.

Thus, in the circumferential direction, a plurality of adjoining scissor joint units are preferably provided in the clamping system, in particular those which form a scissor joint chain which extends in the circumferential direction and which is preferably self-contained, more preferably openable by 360 degrees. 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 a plurality of adjoining scissor joint units are provided in the axial direction.

The formation of the tensioning system with a scissors link chain is particularly advantageous because this results in a generally rigid arrangement during bracing, in which the forces are distributed through the articulated connecting struts over the entire clamping system and thus results in a very uniform application of 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 support 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. When viewed from the surface, the connecting struts are thus bent outward. Preferably, the center of the connecting struts, in particular where two intersecting connecting struts are articulated, the largest distance of the connecting struts to the surface.

Thereby, a substantially part-toroidal or generally annular space can be formed, which is arranged between the inside of the clamping system and the surface to be traveled and makes room 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 scissor hinge units to the surface, between two circumferentially adjacent chassis of an annular suspension arrangement, in particular only between each second pair of circumferentially adjacent chassis an actuator, in particular Linear actuator be arranged with the distance between all the chassis of the chassis assembly is changed 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 may e.g. be attached to the connecting struts of the scissors hinge chain described, particularly preferably at the crossing locations.

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 the invention 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 outside 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 a failure occur in the clamping system, which would lead to a decrease in the holding force generated by this, the auxiliary clamping system would provide the required holding force. 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.

The 1 shows a plan view in the axial direction of a vehicle according to the invention, for example, can drive a mast of a wind turbine automatically along without showing the mast, which is surrounded here in the circumferential direction.

In combination described with the 2 , which partially visualizes in radial view different options of connecting webs of the clamping system of the vehicle, the system comprises a clamping system 1 with several crossed connecting struts 2 , which are connected at the intersection 3 radially articulated. In the circumferential direction thereby form the plurality of connecting struts 2 a scissors hinge chain. The connection struts 2 are each concave to the interior of the clamping system. This shows the 2 right-sided different options of such concave training, which are both part-circular concave in the options 1 and 2 as well as polygonal concave in the options 3 and 4 can be.

At the ends of the connecting struts 2 These are articulated, preferably spherical articulated directly or indirectly via chassis carrier 4 ' with landing gears 4 connected. Related to 2 are at the upper axial end of the clamping system here several suspensions 4a arranged and at the lower end several chassis 4b , The chassis 4a and chassis 4b each form a chassis arrangement in which the chassis 4a / 4b spaced in the circumferential direction and are 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 remarks of the 1 and 2 is radially inward of the clamping system or of its connecting struts 2 a guide system designed as a cable car, with a pull rope 5 , which is also guided in the circumferential direction and is driven. On the rope 5 are maintenance units 6 attached to the rope 5 be carried along. The rope 5 is in rope guides 7 guided, which is in each case durchfahrbar by a maintenance unit 6 and which are preferably fixed here at the intersection 3 radially inward.

Especially with the right part of the 2 it is apparent that there is an annulus 8th between the tensioning system and a surface to be traveled, that of maintenance units 6 can be passed in the circumferential direction.

Furthermore, it can be seen that between two landing gears 4a and between two landing gears 4b one linear actuator each 9 is arranged, with which the distance between the landing gear in the circumferential direction can be changed. As a result, a tensioning force can be exerted on the surface to be traveled.

The actors 9 in different landing gear arrangements are arranged offset in the circumferential direction.

The 3 shows an alternative in which the tensioning system forms a scissor articulated chain with scissor hinge units, of which several are juxtaposed in the circumferential direction and of which two are juxtaposed in the axial direction. The arrangement may also be understood as two tensioning systems that share a common chassis arrangement at one axial end, which is centrally located in the overall arrangement.

There are three landing gear arrangements with the respective landing gear 4a . 4b or in between in the middle 4c , which are each arranged in a ring. There are two annular spaces 8a and 8b that of maintenance units 6 are durchfahrbar. Here are both radially inward of clamping system with the connecting struts 2 as well as outside guide systems designed as a cable car, so that inside maintenance units 6 and outboard boom 10 can be moved in the circumferential direction.

4 shows two optional arrangements where over the axial ends 11 and 12 the clamping system to which each of the landing gear assemblies are attached, in addition to other extensions in the axial direction 13 are arranged. are. 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 annexes 13 In this case, it is also possible to form maintenance units, either maintenance personnel occupied or unoccupied maintenance units.

In the option shown above are the attachments 13 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, for example, represent a manned maintenance unit.

5 shows a possible embodiment of a cable car drive 14 , In the situation shown this is currently from a maintenance unit 6 passed through.

The drive 14 here has two parallel traction cables 15a and 15b on which a maintenance unit 6 is releasably coupled.

Essential here is the training with two bobbins 16 for each of the pull ropes 15a / 15b , Since respective traction cable, which in the circumferential direction runs is transported by the drive in the circumferential direction by one of the winding rollers 16 unrolled while being rolled up by the other. The maintenance unit attached to the pull rope is entrained in this way.

When driving through the drive unit is the maintenance unit 6 first when entering the rope 15 Disconnected a / b, passed through a rail system through the drive unit and the exit back to the rope 15a 15b placed.

The 6 shows a maintenance unit, which is designed here as a housing, which is open to a 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 roll units 18 , whose roles spring-loaded or aktorisch can be moved over the opening edge in the direction of the surface to be traveled. With pushed out rollers, a maintenance unit can thus be moved over the surface to be traveled in the circumferential direction. With recessed rollers, the maintenance unit has taken 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.

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 roles 20 When passing through a maintenance unit, the cable coupling elements 17 passed through a maintenance unit and between an outer pair of rollers 20 and the middle pair of rollers separated by rope or reloaded. In the separated situation the maintenance unit is on the guides 21 guided.

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

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102015010804 A1 [0002]

Claims (25)

Access control system for driving on the surfaces of masts or pipes, preferably cylindrical and / or conical surfaces, in particular masts of wind power plants, 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. wherein with the clamping system (1) by a change in circumferential length of the clamping system (1) the distance between annularly arranged undercarriages (4a, 4b) in the circumferential direction is changeable, in particular so that with the tensioning system (1) on the trolleys (4a, 4b) on the surface to be driven is a force exercisable, characterized in that d. the at least one tensioning system (1) has at its first axial end a first chassis arrangement of circumferentially annularly arranged running gears (4a) 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. After the arrival Claim 1 characterized in that the at least one tensioning system (1) between the axially end-side annular landing gear assemblies comprises at least one further landing gear arrangement of circumferentially annularly arranged suspensions (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 guided in the circumferential direction, in particular around the surface to be traveled around. After the arrival Claim 1 , characterized in that it comprises 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. Access control system according to one of the preceding claims, characterized in that the at least one maintenance unit (6) or the at least one receiving device for a maintenance unit on the tensioning system (1) is fixedly secured and can be guided in the circumferential direction around the surface to be traveled in that the entire Clamping system (1) by means of the chassis (4a, 4b) in the circumferential direction around the surface is movable around. Access control system according to one of the preceding claims, characterized in that the respective running gears (4a, 4b) are fastened rotatably to the tensioning system (1), in particular are rotatable about a radial axis, preferably about the alignment of the running gears (4a, 4b) between a Driving in the longitudinal direction and driving in the circumferential direction to change. Access control system according to one of the preceding claims, characterized in that the running gears (4a, 4b) are equipped with omnidirectional wheels, which are alternatively and / or cumulatively drivable for driving in the longitudinal direction and the circumferential direction. Access control system according to one of the preceding claims, characterized in that on the tensioning system (1) a guide system (5, 7) is arranged, which extends in the circumferential direction, in particular radially inwardly of the tensioning system (1), 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 traveled, is movable, in particular while maintaining a fixed arrangement of the clamping system (1) driving surface. After the arrival Claim 7 , characterized in that the trolleys (4a, 4b) are arranged to be able to drive only in the longitudinal direction. Access to one of the previous ones Claims 7 or 8th , characterized in that the guide system (5, 7) at least one cableway system (5, 7), with at least one pull rope (5), which in the circumferential direction, in particular radially inside, along the clamping system (1) is guided, in particular by means of maintenance units ( 6) passable cable guides (7), and which with 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 detachably connected. After the arrival Claim 9 , characterized in that the cableway system (5, 7) comprises two traction cables (15a, 15b) which are guided at a distance in the longitudinal direction next to each other. Access to one of the previous ones Claims 9 or 10 , characterized in that the cableway installation (15a, 15b, 7) comprises a drive unit (14) which, for each pull cable (15a, 15b), has a first driven winding roller (16) and a second driven winding roller (16), wherein the pull cable (15a, 15b) with one of the winding rollers (16) is wound up, while it is unwound simultaneously with the other winding roller (16). After the arrival Claim 11 , characterized in that the drive unit (14) is passable in the circumferential direction by a maintenance unit (6) or a receiving device for a maintenance unit (6), in particular for which a maintenance unit (6) or its receiving device is separable from the pull cable (15a, 15b), preferably, wherein this is guided during the passage in at least one rail (21) of the drive unit (14). Access control system according to one of the preceding claims, characterized in that the at least one tensioning system (1) comprises a plurality of connecting struts (2) extending between undercarriages (4a, 4b) of various ring-shaped landing gear assemblies, the suspensions (14) connected by a connecting strut (2). 4a, 4b) of the various chassis arrangements are arranged at different circumferential positions. After the arrival Claim 13 , characterized in that in each case by two intersecting connecting struts (2), which are articulated at the intersection (3), in particular with a radially oriented hinge axis, a scissors hinge unit is formed and the clamping system (1) in the circumferential direction has a plurality of adjacent scissor hinge units , In particular, in the circumferential direction form a scissor hinge chain extending through 360 degrees, preferably self-contained, more preferably openable. Access to one of the previous ones Claims 13 or 14 , characterized in that the mutually facing ends of the connecting struts (2) of two circumferentially adjacent scissor hinge units articulated with each other and articulated with one landing gear (4a, 4b) are connected. After the arrival Claim 15 , characterized in that each of two mutually facing ends of two connecting struts (2) has its own articulated connection (4 "), in particular spherical articulation (4") to a chassis support (4 '), to which a chassis (4a, 4b) attached is. Access control system 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 assemblies on the clamping system (1) is mounted variable in distance in the radial direction, in particular flexibly mounted or the distance adjustable with an actuator is. After the arrival Claim 17 , characterized in that the end of a connecting strut (2) with a chassis (4a, 4b) indirectly via a chassis support (4 ') is connected, wherein the chassis (4a, 4b) relative to the chassis support (4') by means of an actuator in Distance, in particular radial distance is adjustable. After the arrival 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 an area lying between the ends. Access control system according to one of the preceding claims, characterized in that the inner surface facing the surface to be driven polygonal or curved concave, at least one clamping system (1) is formed concave, in particular in a plane defined by a radial vector and axial vector , Access control system according to one of the preceding claims, characterized in that the connecting struts (2) of the at least one tensioning system (1) to the surface to be traveled at least partially polygonal concave or curved, in particular part-circular curved concave. Access control system 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 running gears (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 is changed in the circumferential direction. After the arrival Claim 22 characterized in that actuators (9) between each second pair of circumferentially adjacent trolleys (4a, 4b) of landing gear assemblies for the actuators (9) between each second pair of circumferentially adjacent trolleys (4a, 4b) of another suspension assembly in the circumferential direction are arranged offset. Access control system according to one of the preceding claims, 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 between the crossing locations (3) adjacent scissor hinges arranged are. Access system according to one of the preceding claims, characterized in that by means of the clamping system (1) and / or its guide system (5,7) on a maintenance unit (6) a force in the direction of the surface to be traveled is exercised, in particular by which the edge of a to the surface facing opening of the maintenance unit (6) can be pressed onto the surface and a maintenance unit (6) extendable roller units (18) whose roles from the interior of the maintenance unit (6) over the opening edge out in the direction of the surface are extendable.

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