Device for maintaining structural parts

Abstract

A bypass module is provided for removable series connection between a first drive and / or service module and a second drive and / or service module along an elongated structure, each drive and / or service module being selectively closed or opened around the structure to enable removal from the structure, wherein the bypass module is actuatable to move the first module and the second module relative to each other in a direction toward or away from the structure such that one of the modules moves away from the structure while another of the modules is closed around the structure.

Description

Technical Field

[0001] The present invention relates to an apparatus for maintaining structures such as support structures, including but not limited to marine support structures (such as risers, conductors, caisson piles, or legs for offshore platforms, jetties or piers, or pipelines), and land-based structures or offshore structures (such as wind turbine towers). Background Art

[0002] Marine support structures are often subject to aging and degradation, particularly in the "splash zone", which is a portion of the structure that is periodically covered and uncovered by water, e.g., due to tidal range, wave action, and / or splash. Aging can include corrosion and physical damage caused by wave action and impact. Degradation can include the accumulation of marine growth, such as weeds, barnacles, etc.

[0003] Therefore, its marine support structures need to be maintained, for example by cleaning, inspection and coating or painting, to ensure continued performance and extend their service life. Typically, maintenance is performed by divers, but this can be very difficult and dangerous, especially in splash zones, and is often not completely effective.

[0004] WO-A-2020 / 096529 discloses a device for servicing a structure, the device comprising: a cage or frame carrying a drive wheel or roller to drive the frame along the structure; and / or a tool for servicing the structure. The frame comprises at least two parts connected together by a hinge, so that the frame can be opened to fit around the structure to be serviced and can be closed to fix the frame or cage around the structure. A plurality of such frames or cages can be connected together in series around the structure.

[0005] The structure may include obstacles that hinder the passage of maintenance equipment along the structure.For example, a marine support structure may have clamps attached thereto for assembling structural components (such as cross braces).

[0006] Various solutions have been proposed for this problem. For example, WO-A-2019 / 144227 discloses a device in the form of an open loop, which rotates around a structure so that an obstacle passes through an opening in the loop. GB-A-2531893 discloses a similar approach; in addition, the device has a drive roller that can be lifted away from the structure in order to "step over" small obstacles. The "open loop" solution requires the entire device to rotate around the structure, which may cause entanglement of hydraulic hoses or cables connected to the device.

[0007] In another example, EP-A-2600051 discloses a device comprising a number of collar segments which can be separated to pass over a flange on a pipe. This arrangement is not suitable for passing over obstacles such as cross braces extending away from the pipe.

[0008] When servicing structures including not only marine and offshore structures, but also land-based structures such as wind turbine towers, a simpler and more efficient method of navigating large obstacles is needed. Summary of the invention

[0009] Aspects of the invention are defined by the accompanying claims.

[0010] According to one embodiment, a bypass module is provided for serial connection between a first drive and / or maintenance module and a second drive and / or maintenance module, each drive and / or maintenance module being selectively closed around an elongated structure to be maintained or opened to move away from the structure to be maintained, wherein the bypass module is actuatable to move the first module and the second module relative to each other in a direction perpendicular to the elongated structure so that one of the modules moves away from the structure and the other of the modules closes around the structure. In this way, by arranging a train of drive and maintenance modules with bypass modules therebetween, the train can bypass obstacles on the structure by moving one or more modules sequentially away from the structure, driving one or more modules over the structure, and then moving one or more modules back toward the structure and closing the one or more modules around the structure.

[0011] The or each drive and / or service module may be selectively opened and closed by a drive member (such as a hydraulic ram or electric motor) mounted on the structure of the drive / service module. In this way, the drive member for attaching the drive / service module to the structure may be actuated to allow the drive / service module to pass over obstacles on the structure, and no additional drive member is required in the bypass module for opening and closing. The bypass module may include a movable or pivotable mounting member to allow the first drive / service module and / or the second drive / service module to be opened and closed.

[0012] The or each drive module is configured to be driven along the structure, for example by means of drive wheels or rollers in contact with the structure. The or each service module may include one or more tools for servicing the structure. A combined drive and service module may combine the functionality of a drive module with the functionality of a service module.

[0013] The drive / service modules may each comprise a cage or frame comprising two or more segments or sections movably or pivotably connected together, for example by one or more hinges, such that the cage or frame may be closed around a structure and opened to allow removal from the structure.

[0014] The cage or frame may include an upper support and a lower support connected together by an axial strut. The upper support and / or the lower support may have a connection member for connecting to a corresponding connection member on the bypass module. The drive and / or maintenance components may be mounted between the upper support and the lower support so as not to protrude beyond the upper and lower supports and interfere with the bypass module. There may be an intermediate support between the upper support and the lower support for mounting the drive and / or maintenance components. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Specific embodiments of the present invention will now be described with reference to the accompanying drawings, in which:

[0016] Figure 1 is a top perspective view of the device in the first example;

[0017] Figure 2 is a first side view of the device of the first example;

[0018] Figure 3 is a second side view of the device of the first example orthogonal to the first side view;

[0019] Figure 4 is through Figure 2 The section of plane AA in the figure shows the location of the supporting structure;

[0020] Figure 5 is a top view of the device of the first example;

[0021] Figure 6 is a top perspective view of the device in the second example;

[0022] Figure 7 is a bottom perspective view of the device of the second example;

[0023] Figure 8 is a first side view of the apparatus of the second example;

[0024] Fig. 9 is a second side view of the device of the second example orthogonal to the first side view;

[0025] Fig.10 yes Fig. 9 The section in plane AA;

[0026] Fig.11 yes Fig. 9 The section in plane BB;

[0027] Fig.12 is a top view of a device of a second example;

[0028] Fig.13 is a view of a kit of parts for assembly to form a device according to the first embodiment or the second embodiment;

[0029] Fig.14 is a diagram illustrating the operation of the device in the example;

[0030] Fig.15 is a diagram of a portion of a hydraulic system of an apparatus in an example;

[0031] Fig.16 is a diagram showing a remote control system for operating a device in an example;

[0032] Fig.17 is a first side view of the apparatus in the third example;

[0033] Fig.18 is a second side view of the device of the third example, which is orthogonal to the first side view;

[0034] Fig.19 is a top perspective view of a device of a third example;

[0035] Fig. 20 is a bottom view of the device of the third example;

[0036] Fig.21 is a top view of the device of the third example;

[0037] Fig. 22 yes Fig.21 A partial cross-sectional view in plane AA;

[0038] Fig.23 are diagrams showing different configurations of an apparatus as a third example of a traction module with an additional module;

[0039] Fig.24 Shows Fig.23 A detailed view of the connection system between modules in the configuration;

[0040] Fig.25 is a side view of the device in the fourth example;

[0041] Fig.26 is a perspective view of a device in a first embodiment of the present invention for connection between modules to allow the modules to pass over obstacles;

[0042] Fig. 27 is a plan view of the first embodiment in a closed position;

[0043] Fig.28 is a plan view of the first embodiment in a partially open position;

[0044] Fig.29 is a plan view of the first embodiment shown in a fully open position relative to the duct with cross braces;

[0045] Fig.30 is a flow chart showing the method of operation of the first embodiment;

[0046] Figures 31 to 41 is a perspective view showing the operation of the first embodiment at the corresponding steps of the flowchart;

[0047] Fig.42 and Fig.43 A top perspective view and a bottom perspective view of a portion of a drive module in a second embodiment; and

[0048] Fig.44 and Fig.45 Exploded and assembled perspective views, respectively, of a pin or block for fixing the bypass module to the drive and / or service module in the second embodiment. DETAILED DESCRIPTION

[0049] In the following description, the orientation of the device will be described as being assembled around a vertical elongated support structure 30. 'Circumferential' and 'tangential' refer to circles around an imaginary central vertical axis, and 'radial' refers to directions perpendicular to that axis.

[0050] Where dimensions are shown in the drawings, these dimensions are in millimeters. The dimensions do not limit the size of a particular embodiment and are provided by way of example only.

[0051] For the sake of clarity, not all examples of a particular component are represented by reference numerals in the drawings. By viewing the drawings as a whole, the components referred to therein will be understood. Similar components between different embodiments are represented by the same reference numerals.

[0052] Embodiments of the present invention are designed for use with a device for servicing a structure as disclosed in WO 2020 / 096529, examples of which are described below. However, the present invention is not limited to use with these examples.

[0053] See below Figures 1 to 5A first example is described. The cage or frame 1 comprises cage or frame segments or sections 1a, 1b, 1c which are removably connected together at frame connection points 2a, 2b, 2c, for example using removable pins. In use, the frame segments 1a, 1b, 1c are assembled around a support structure 30 to be serviced. The frame segments 1a, 1b, 1c comprise lifting points 23 for attaching cables or the like for lifting the frame segments 1a, 1b, 1c into place and / or for retrieving them after use. Preferably, each frame segment 1a, 1b, 1c is light enough to be lifted into place manually.

[0054] The frame 1 comprises an upper support 3 and a lower support 4 interconnected by a strut 5. In this example, the upper support 3 and the lower support 4 are annular in shape and are coaxial. The strut 5 extends vertically generally between the upper support 3 and the lower support 4. The upper support 3, the lower support 4 and the strut 5 are preferably substantially rigid and connected together so that the frame 1 is substantially rigid when assembled.

[0055] A plurality of pairs (three pairs in this case) of upper and lower arms 6, 7 are connected to the upper support 3 at different circumferential positions, preferably evenly circumferentially spaced around the upper support 3, in this example, for example 120°.

[0056] Each arm 6, 7 is pivotally connected to the upper support 3, for example by a respective axle or spindle, about a tangential horizontal pivot axis. In this example, the arms 6, 7 are pivotable about respective axes on the upper and lower sides of the upper support 3, but may alternatively be pivotable about the same axis. The upper arm 6 and the lower arm 7 are pivotable in opposite directions relative to each other, so that they can be moved towards or away from the support structure 30 simultaneously. The upper arm 6 and the lower arm 7 may be pivotable independently of each other, so that the angle between the upper arm 6 and the lower arm 7 can be changed.

[0057] Each arm 6, 7 carries a respective wheel, roller or other rotating member 8, 9 arranged to contact the support structure 30. The wheels 8, 9 may have contact surfaces arranged to enhance traction on the support structure 30 and / or reduce wear on the wheels 8, 9. Each pair of wheels 8, 9 carried by a corresponding pair of arms 6, 7 may be rotatable independently of each other.

[0058] At least one of the multiple pairs of arms 6, 7 is reciprocatingly drivable to pivot toward and away from the support structure 30 so that the corresponding wheels 8, 9 clamp and release the support structure 30, respectively. Preferably, the pair of arms 6, 7 is driven by a corresponding hydraulic cylinder 10, 11. The controls of the hydraulic cylinders 10, 11 can be interconnected so that the pair of arms is driven synchronously. The hydraulic cylinders 10, 11 can be supplied by corresponding hydraulic hoses (not shown) fixed by hose clamps 24.

[0059] Depending on the diameter of the support structure 30 to be serviced, the other arms of the pairs of arms 6 , 7 may be adjustably held in a pivoted position, for example by means of adjustable-length rods or telescopic screws 12 , 13 .

[0060] The lower arms 7 are arranged to pass between the pillars 5 so that the corresponding wheels 9 can contact the support structure 30 .

[0061] At least one of the wheels 8, 9 is reciprocally drivable in either of the opposite directions (e.g., front-to-back directions) to move the device up and down, respectively, on the support structure 30. Preferably, the drivable wheels 8, 9 are provided on the reciprocally drivable arms 6, 7. The other of the wheels 8, 9 may not be driven, but may preferably rotate freely independently of each other to act as a guide for the device to move up and down along the support structure 30.

[0062] The lower support 4 supports a guide rail 14 for guiding a carriage 15 circumferentially around the lower portion of the frame 1. The carriage 15 has a drive gear 16 that meshes with a gear track 17 that is arranged circumferentially and horizontally around the lower portion of the frame 1. The drive gear 16 is driven so that the carriage 15 moves circumferentially around the guide rail 14. The carriage 15 may be drivable circumferentially through about 360°, but preferably, the movement of the carriage 15 is limited to one complete rotation by a carriage stop 18 provided adjacent the guide rail 14, as shown in FIG. Figure 4 shown.

[0063] The carriage 15 preferably does not contact the support structure 30, as accumulation on the support structure 30 may impede the advancement of the carriage 15. Instead, the carriage 15 is supported by a pair of inner rollers 19 that contact the inside of the rail 14 and a pair of outer rollers 20 that contact the outside of the rail 14. The inner rollers 19 are mounted on respective carriage arms 21 that extend horizontally to either side of the carriage 15 to improve stability.

[0064] In alternative examples, the functions of the guide rail 14 and the gear track 17 may be combined. For example, the gear track 17 and drive gear 16 may be omitted, and one or more of the inner rollers 19 or outer rollers 20 may be driven to drive the carriage 15 around the guide rail 14. Alternatively, the guide rail 14 may be omitted and the gear track 17 may be modified to provide the guiding function. Instead of a gear / pinion track or rack and pinion arrangement, an alternative linear drive arrangement may be used, such as a roller pinion or a friction drive.

[0065] The carriage 15 is arranged to carry one or more tools 22 for servicing the support structure 30. By moving the frame 1 up and down the support structure 30 using the drivable wheels 8, 9 and moving the carriage 15 circumferentially around the support structure 30, the tools 22 can reach substantially any part of the outer surface of the support structure 30 (at least within the splash zone) and be subject to any restrictions caused by hydraulic lines and the like.

[0066] The tool 22 may be movably mounted on the carriage 15 to allow the tool 22 to move relative to the carriage 15. For example, the tool 22 may be drivable reciprocally in a radial direction towards and away from the support structure 30, for example.

[0067] Examples of tool(s) that may be mounted individually or together on the carriage 15 and that may be interchangeable include:

[0068] A high-pressure water nozzle for cleaning the surface of the supporting structure 30;

[0069] A wall thickness measuring probe for measuring the wall thickness of the support structure 30 using, for example, ultrasound;

[0070] Camera 27, used to check the maintenance location;

[0071] a gap sensor for sensing a gap with a surface of a supporting structure;

[0072] A painting tool (such as a paint roller or a brush) for painting the surface of the support structure 30;

[0073] a packaging tool for applying a protective packaging to the support structure 30;

[0074] A cutting tool is used to cut a portion of the support structure 30 using, for example, abrasive cutting.

[0075] In a second example, the carriage 15 carries, in addition to the cleaning tool 22, a camera 27, such as a video camera.

[0076] The apparatus may comprise one or more distance sensors to determine the distance travelled along the support structure 30. The distance sensors may determine the number of revolutions of the wheels 8, 9, for example by using one or more optical or magnetic angular position sensors.

[0077] The carriage 15 may include one or more rotational position sensors (eg, optical or magnetic sensors) capable of detecting an absolute or relative circumferential position of the carriage 15 relative to the frame 1 , for example by detecting reference position marks on the guide rail 14 or gear track 17 .

[0078] Distance sensors and / or rotational position sensors may be used to determine the position of tool 22, carriage 15, or another portion of the device on support structure 30. This may allow the device to travel to a predetermined absolute position or return to a previously visited position (e.g., where an anomaly or deviation has been detected).

[0079] The device can be aligned with one or more reference marks on the support structure 30 to allow the device to return to a previously visited position relative to the reference marks. In one instance, horizontal and / or vertical visible marks are made on the support structure 30, which correspond to the initial position of one or more components of the device, such as the vertical position of the upper support 3 and the circumferential position of a predetermined support in the support 5, which is identified, for example, by markings such as distinctive paint marks. The distance sensor is set to zero. The bracket 15 is in its maximum circumferential position (clockwise or counterclockwise) and the rotational position sensor is set to zero. As the device moves along the support structure 30, the distance sensor and the rotational position sensor measure the distance traveled in the axial and circumferential directions relative to the initial position. This enables the position of any anomaly or deviation on the support structure to be mapped and returned to when necessary.

[0080] The first example is designed to service support structures 30 having diameters in the range of 22 inches to 36 inches (0.56 meters to 0.91 meters). Alternative examples of frame segments 1a, 1b, 1c of different sizes and / or numbers may be provided to service support structures of other diameters. For example, Figures 6 to 12 A second example is shown which is similar in construction to the first example but has a smaller diameter frame 1 which is designed to accommodate a device having a diameter of 9. 5 The support structure 30 has a diameter in the range of 1 / 8 inch to 22 inch (0.24 m to 0.56 m). The frame 1 comprises two frame segments 1a, 1b which are semi-cylindrical and assembled together to form a cylindrical frame 1.

[0081] The second example has three pairs of upper and lower arms 6, 7, as in the first example, evenly spaced around the upper support 3. In other examples, particularly those designed to service larger diameter support structures, there may be more than three pairs of arms 6, 7.

[0082] The arms 6, 7 together with the wheels 8, 9, the hydraulic cylinders 10, 11 and the adjustable length rods 12, 13 can be removably attached to the frame segments 1a, 1b, 1c. These components can then be used interchangeably with the frame segments 1a, 1b, 1c of the first instance and the frame segments 1a, 1b of the second instance. Due to the different radii of curvature, different brackets 15 may be required for the first and second instances. Alternatively, a single adjustable bracket 15 can be used interchangeably between the first and second instances, for example with an adjustable bracket arm 21.

[0083] Figures 17 to 22 The device in a third example is shown, which differs from the first and second examples in that the cage or frame 1 comprises an intermediate support 33 to which are connected two pairs of upper arms 6 and lower arms 7 carrying respective wheels 8, 9. Thus, the cage 1 comprises three annular horizontal members (lower support 3, intermediate support 33 and upper support 4) connected together by vertically extending struts 5 to form a generally cylindrical structure. Thus, the third example can be considered a development of the first and second examples, wherein the intermediate support 33 performs a similar function to the upper support 4 of the first and second examples, and the upper support 4 of the third example is an additional structural member extending beyond the upper arms 6.

[0084] The cage 1 comprises two semi-cylindrical sections 1a, 1b which are hingedly connected together at connection points 2a, 2b and can be locked together, similar to the second example. In this example, the cage can be designed in a larger format to fit around a structure 30 having a diameter between 22 inches and 36 inches (0.56m-0.91m), or in a smaller format for a structure 30 having a diameter between 8 inches and 22 inches (0.20m-0.56m).

[0085] One pair of arms 6,7 has a pair of corresponding actuating cylinders 10,11, while the other pair of arms has a pair of corresponding adjustable length rods 12,13. The wheels 8,9 of at least one pair of arms 6,7 are reciprocally drivable so as to move the device up and down along the structure 30.

[0086] In this example, the device has no rails 14 or brackets 15 for carrying the tool 22. Therefore, the center of gravity (COG) is close to the geometric center of the cage 1, such as Fig.17 and Fig.18 As shown. Fig.23and Fig.24 As shown, the device is configured as a towing module for serial connection to one or more service modules 34, such as a cleaning module, a non-destructive testing (NDT) module and / or a cutting module, along and around a structure 30. Each additional module includes a cage or frame similar in construction to the towing module, and may include two or more pairs of arms 6, 7, with corresponding wheels 8, 9 similar to those of the towing module, except that none of the wheels 8 and 9 of the additional modules are drivable; instead, the service modules 34 are driven by the towing modules along the structure 30. Alternatively, one or more service modules may be moved along the structure 30 by some other means, such as one or more winches attached to the structure 30 or platform.

[0087] The distance travelled along the structure 30 can be measured by a measuring wheel 43 which is supported by the frame 1, for example by the intermediate support 33, and which is pivotable into contact with the structure 30. The measuring wheel may be an encoding wheel from which the distance travelled can be detected optically and / or electronically.

[0088] like Fig.24 As shown, adjacent first and second modules can be connected together by one or more first docking parts on the first module, which dock with corresponding one or more second docking parts of the second module; for example, the first docking part can include one or more male docking probes 35, and the second docking part can include one or more sockets 36, and the corresponding male docking probes 35 fit into the sockets. The connection can be secured by a locking system (such as a quick release bolt 37) that passes through holes in the male docking probes and the sockets. Alternative docking mechanisms and / or securing mechanisms can be used.

[0089] The traction module may have a plurality of feet 42 attached to the lower support 4. Preferably, the feet 42 are removable to allow connection of additional modules below the traction module.

[0090] The traction module includes a master controller 38 which is removably connectable to one or more corresponding slave controllers 39 on one or more additional modules via leads 40. The master controller 38 is controlled from the surface by the remote control unit 25 and transmits communication signals and / or power to the slave controllers 39.

[0091] Any instance of the component can be set as a set of parts. For example, Fig.13A kit of parts is shown which may be arranged to allow assembly of the apparatus of the first or second example, including at least the frame segments 1a, 1b, 1c of the first example, the frame segments 1a, 1b of the second example, arms 6, 7, also wheels 8, 9, hydraulic cylinders 10, 11, and adjustable length rods 12, 13 (shown herein attached to the frame segments 1a, 1b of the second example), brackets 15 for the first and second examples, a set of hydraulic hoses 29, and a hydraulic power source 28. In this example, the kit of parts is provided in a transportable container 32 including a workbench 31 to facilitate partial assembly of the apparatus prior to assembly around a support structure 30.

[0092] In the example of a support structure 30 designed for use with only one diameter or a small range of diameters, some of the non-driven pairs of arms 6, 7 and wheels 8, 9 may be replaced by other types of guides, such as rollers or wheels with fixed radial position.

[0093] Fig.14 Examples of drivable functions of the device (such as those described above) are shown:

[0094] i. By driving the upper and lower arms 6 and 7 which can be driven to pivot radially outwardly / inwardly pivot to open / close the clamp;

[0095] ii. moving up / down by driving the drivable wheels 8, 9 in contact with the surface of the support structure 30 in the forward / reverse direction, respectively;

[0096] iii. rotating the carriage clockwise / counterclockwise by driving the drive gear 16 in the forward / reverse direction, respectively;

[0097] iv. Forward / reverse adjustment of the tool by driving the tool 22 radially forward / reverse, respectively, relative to the carriage 15 .

[0098] The drivable functions may each be powered and / or controlled by hydraulic power or electricity (e.g., via hydraulic hoses and / or cables connected to the device). Hydraulic power is preferred for at least some applications, e.g., to reduce the weight of the device and / or to avoid the use of electricity in a marine environment. The hydraulic power unit may be mounted on a platform and connected to the device by a flexible hydraulic hose.

[0099] Examples of hydraulic drive systems for devices include Fig.15 As shown, wherein a separate hydraulic line connected to a hydraulic power unit (not shown) drives: the pivoting of one of the multiple pairs of arms 6, 7; the rotation of the corresponding wheels 8, 9; and in the first and second instances, the rotation of the drive gear 16 and the reciprocating drive of the tool 22.

[0100] For example Fig.16 As shown, the device is preferably controlled by a remote control unit 25, which allows some or all of the above functions to be controlled, preferably by means of corresponding user-executable control devices. The remote control unit 25 can be connected to a controller 26 of the above functions by a wired connection or a wireless connection. Under the control of the controller 26, power for driving the functions can be provided by a power supply 28.

[0101] Preferably, the drive speeds of the wheels 8, 9 and the drive gear 16 are independently controllable to adjust for the required maintenance. Alternatively or additionally, the remote control unit 25 or controller 26 may be programmable or programmed to perform specific maintenance by coordinated control of different functions (optionally, in response to the travel distance as detected by the distance sensor and / or the circumferential position of the carriage 15 as detected by the circumferential position sensor). This may enable maintenance of predetermined sections of the support structure 30.

[0102] The pivot angle of the arms 6, 7 may be varied during use, for example to allow the device to be driven upwards or downwards on an inclined or curved support member.

[0103] The number of wheels 8,9 powered may vary depending on the load to be carried by the device or the operating conditions of the device. Pivoting of more than one of the pairs of arms 6,7 may be powered, depending on the adjustability or clamping force required.

[0104] The example can be used to service a tapered support structure by varying the degree of pivoting of the arms 6, 7 to accommodate different diameters as the device is moved up and down the support structure.

[0105] In an alternative example, the arms 6 , 7 may be mounted on the lower support 4 and the rails 14 may be mounted on the upper support 3 .

[0106] Preferably, the frame segments 1a, 1b, 1c consist of aluminium tubes so as to be lightweight. For example, the mass of the device (excluding hydraulic or electrical lines) may be in the range of 200-300 kg.

[0107] For larger examples, the method of closing by removable pins may be replaced by a hydraulic closing method in which two or more of the cage or frame segments 1a, 1b, 1c are connected together by an articulated connection actuated, for example, by a hydraulic ram or cylinder 41, such as Fig.17. The segments 1a, 1b, 1c may be connected together on a suitable surface, such as a floating pontoon or barge, supported, for example, by feet 42. The hinged connections may be opened to allow the cage or frame 1 to be fitted around a support structure 30 to be serviced, and then closed to secure the frame 1 around the structure 30. The segments 1a, 1b, 1c may be secured together by one or more locking mechanisms, such as a hydraulically actuated locking cylinder 44.

[0108] The above examples are designed to service cylindrical support structures 30 (such as piles), and therefore the frame 1 is generally cylindrical, with an inner diameter slightly larger than the diameter of the support structure 30. Alternative examples may have alternative shapes and sizes to match the type of support structure 30 they are designed to service. For example, a square or rectangular cylindrical frame 1 (preferably with a pair of arms 5, 6 on each of the four sides) may be used in examples designed to service square or rectangular cylindrical support structures 30.

[0109] The above examples may be used in the ocean or splash zone, or at shallow depths below the water surface, such as 10 meters. These examples may be modified to operate below 10 meters depth, for example by using suitable hydraulic seals. These examples may be used to service pipelines as long as they are not obstructed by pipeline supports.

[0110] Alternative examples may be used for servicing non-marine or onshore support structures (such as wind turbines or radio masts). For these applications, the frame segments 1a, 1b, 1c may be provided with one or more removable or permanently attached wheels for other conveying members, allowing the frame segments to be moved into position along the ground around the support structure. For example, each frame segment 1a, 1b, 1c may have one or more wheels attached on each side, and an additional removable wheel located on a truss at the vertex of a triangle formed by two wheels on the frame 1 and on the outside of the frame. The segments 1a, 1b, 1c may then be assembled and closed around the support structure 30, for example by means of a removable pin or a hydraulic ram as described above.

[0111] Fig.25 The device in a fourth example is shown. This example has a frame 1 with upper and lower supports 3, 4 and an intermediate support 33 on which upper and lower arms 6, 7 carry respective wheels 8, 9, as in the third example. The upper and lower arms 6, 7 are positioned between adjacent pillars 5 and pass between them so that the wheels 8, 9 can contact the structure.

[0112] As in the third example, the mounting of the upper and lower arms 6, 7 on the intermediate support leaves the upper and lower supports 3, 4 unobstructed. This enables the guide rails 14 and gear tracks 17 (similar to those of the first and second examples) carrying tool carriages 15 to be mounted on each of the upper and lower supports 3, 4. This arrangement increases the ability of the device to carry tools on a single module.

[0113] The device of the fourth example is particularly suitable for servicing wind turbine towers. The positions of the upper arm 6 and the lower arm 7 can be independently controlled to accommodate a conical tower.

[0114] Now we will see Figures 26 to 40 A first embodiment of the invention is described. This embodiment is designed for use with the above-described articulated modules, wherein each module comprises two or more cage or frame segments 1a, 1b, 1c connected together by an articulated connection, which can be opened so that the cage or frame 1 is fitted around the supporting structure 30 to be serviced and can be closed so that the frame 1 is fixed around the structure 30, this being done using drive means (such as hydraulic cylinders or electric motors) to open and close the cage or frame 1.

[0115] The first embodiment is also designed to be similar to the above reference Fig.23 and Fig.24 The described embodiments may be used together, wherein a plurality of modules may be connected together in series along a structure, each module comprising a drive and / or service module.

[0116] Figure 26 to Figure 29 A bypass module 50 is shown for serial connection between adjacent modules 1 to allow the drive and / or service modules 1, 34 to pass over obstacles on the structure to be serviced (including obstacles such as cross braces extending away from the structure). The module 50 includes a pair of upper slotted plates 52 and lower slotted plates 60, which carry upwardly and downwardly projecting module attachment pins 51, respectively, for attachment to corresponding attachment portions (e.g., sockets 36) of the drive and / or service modules above and below the bypass module 50, respectively.

[0117] A pair of linear telescopic rails 61 are provided between the upper slotted plate 52 and the lower slotted plate 60, and are arranged so that the upper slotted plate 52 can move linearly relative to the lower slotted plate 60. The linear movement is driven by a hydraulic ram 55, which is connected to a mounting block 56, which is connected to one end of the respective telescopic rail 61, but other drive means such as an electric motor or hydraulic motor with a linear drive connection may be used instead. The ends of the rails 61 are protected by buffers 62.

[0118] Each pair of upper and lower slotted plates 52 and 60 is pivotally mounted on a structure including a stabilizing bar 58 and a stabilizing plate 57 by means of a bearing block 54 movable in a moving slot 53. On the contact surfaces of the block 54 and the slot 53, an anti-friction coating may be provided.

[0119] like Fig. 27 and Fig.28 As shown in , each pair of upper slotted plates 52 and lower slotted plates 60 can be pivoted toward and away from each other in the manner of a pair of jaws or pliers. This pivoting movement follows the opening and closing movement of the module 1 to which the upper plate 52 / lower plate 60 is attached. In the example shown, each pair can be opened up to about 53°. As shown in Fig.29 This allows the bypass module 50 to fit around the pipe or riser 30 as shown.

[0120] Several modules 1 may be connected together via bypass modules 50 to form a train of modules 1. For example, a train may comprise in series:

[0121] Top drive or traction module 1a;

[0122] Top bypass module 50a;

[0123] Tool module 34;

[0124] Bottom bypass module 50b;

[0125] Bottom drive or traction module 1b.

[0126] Fig.30 The flowchart of FIG. 1 shows a method for operating a queue to cross an obstacle (such as a cross brace), wherein steps S1-S11 correspond to Figure 31-Figure 41 . Each drive module 1a, 1b and tool module 34 can be opened and closed independently of each other, driven by their respective drive devices (such as, hydraulic rams or electric motors). Each of the top bypass module 50a and the bottom bypass module 50b is capable of linearly moving the drive module and / or maintenance module connected to it relative to each other by extending or retracting the telescopic rails 61 driven by the corresponding hydraulic rams 5. The opening, closing, driving, extending and retracting steps can be controlled manually, automatically or semi-automatically, for example by means of a remote control unit 25 and / or a controller 26, wherein the position and status of the modules are detected by one or more sensors and / or by visual inspection.

[0127] In step S1, the queue is located on the riser 30, which is just above the clamp 70, to which the cross brace 71 is attached. In this state, both the drive modules 1a, 1b and the tool module 34 are closed around the pipe 30. In step S2, the bottom traction module 1b and the tool module 34 are opened. In step S3, the top bypass module 50 is extended, so that the tool module 34 and the bottom drive module 1b move linearly away from the riser 30 and the clamp 70.

[0128] At step S4, the top drive module 1a drives the train down the pipe 30 so that the bottom drive module 1b passes the clamp 70. At step S5, the bottom bypass module 50b extends so that the bottom drive module 1b is positioned around the riser 30. At step S6, the bottom drive module 1b is closed around the riser 30.

[0129] In step S7, the top drive module 1a is opened. In step S8, the top bypass module 50a is retracted so that the top drive module 1a moves away from the riser 30. In step S9, the bottom drive module 1b drives the queue down the riser 30 so that the top bypass module 50a and the tool module 34 move through the clamp 70. In step S10, the bottom bypass module 50b is retracted to move the top drive module 1a and the tool module 34 back onto the riser 30. Finally, in step S11, the top drive module 1a and the tool module 34 are closed onto the riser 30. The queue can then be driven further down the riser 30.

[0130] Therefore, by adding the top bypass module 50a and the bottom bypass module 50b, the drive modules 1a, 1b and the tool module 34 can bypass obstacles (such as the clamp 70).

[0131] A similar method of operation may be employed, using alternative queue configurations. For example, one or more additional tool modules or drive modules may be added, and a combined tool and drive module may be used. One or more dolly wheel modules may be added at one or both ends of the queue, with the non-driven wheels arranged to contact the support 30; this provides greater stability to the torque applied by the bypass module 50.

[0132] In some embodiments, for example, where the bypass module 50 has a greater length along the structure than the obstacle, the queue may include a first drive module 1a and a second drive module 1b connected in series by a single bypass module 50, at least one of the first drive module and the second drive module being also configured as a tool module. In this case, the first drive module 1a opens, moves away from the structure through the bypass module 50, and is driven by the second drive module 1b to cross the obstacle. Then, the first drive module 1b moves toward the structure through the bypass module 50 and closes around the structure. Then, the second drive module 1b opens, moves away from the structure through the bypass module 50, and is driven by the first drive module 1b to cross the obstacle. Then, the second drive module 1b moves toward the structure through the bypass module 50 and closes around the structure.

[0133] The first embodiment provides a bypass module 50 for use with an existing (such as in the above example) drive and / or service module 1, 34. However, in alternative embodiments, some components or functions of the bypass module 50 may be integrated into the drive and / or service module 1, 34. For example, Fig.42 and Fig.43 A cross section of the upper half of a drive module 1 in a second embodiment is shown, wherein at least one of the slotted plates 52, 60 forms the upper support 3 and / or the lower support 4. Since there is no need to provide separate slotted plates 52, 60 and upper support 3 / lower support 4 or pins 51, the weight of the queue is reduced. Furthermore, the connection between the modules can be made stronger.

[0134] In a second embodiment, the bypass module 50 consists only of a telescopic rail 61, a hydraulic ram 55 and a stabilizing plate 57 and a rod 58, as well as a pin or block 54 which fits in a slot 53 in a slotted plate 52, 60 of the upper or lower drive and / or service module 1, 34 and is fixed in the slot 53 by a removable cover, e.g. Fig.44 and Fig.45 As shown, the pin or block 54 includes a nut and bolt type fastener and a nylon bushing to reduce friction with the corresponding slot 53.

[0135] The pin or block 54 is a part of Fig.44 The following are marked:

[0136] 54a M30 half nut (x2)

[0137] 54b M30 narrow washer

[0138] 54c Fasteners to secure the top nylon bushing (x2)

[0139] 54d Top load spreader

[0140] 54e Top Nylon Bushing

[0141] 54f groove nylon bushing

[0142] 54g bottom nylon bushing

[0143] 54h Bottom Load Spreader M30 Pin

[0144] 54i Fasteners for fastening the bottom nylon bushing (x2)

[0145] The combination of modules 1, 34 according to the first and second embodiments can be used together in the same train, by using a bypass module 50 having a slotted plate 52, 60 and pins 51 on one side thereof for connection to the upper support 3 / lower support 4 of the drive and / or service module 1, 34, and a telescopic rail 61 on the other side thereof, directly connected or directly connectable to the drive and / or service module 1, 34, wherein the drive and / or service module has an integrated slotted plate 52, 60 on this side. Thus, a hybrid bypass module 50 can be provided with one side as in the first embodiment and another side according to the second embodiment.

[0146] Alternative embodiments of the invention which may be apparent to a person skilled in the art after reading the above description may fall within the scope of the invention as defined by the appended claims.

Claims

1. An apparatus for servicing an elongated structure, the apparatus comprising bypass modules connected in series between a first module and a second module along the elongated structure, each module being selectively closable or openable around the elongated structure to enable removal from the elongated structure, and each of the modules being drivable along the elongated structure, wherein: The bypass module is actuatable to move the first module and the second module relative to each other toward or away from the elongated structure in a direction perpendicular to the elongated structure, so that the second module moves away from the elongated structure in the perpendicular direction, while the first module is closed around the elongated structure and the first module is drivable along the elongated structure to drive the second module over an obstacle on the elongated structure.

2. The device according to claim 1, wherein: The bypass module comprises a first mounting member and / or a second mounting member for removably connecting to the first module and the second module, respectively.

3. The device according to claim 2, wherein: The first mounting member and / or the second mounting member are movable to allow the first module and / or the second module to be opened and closed.

4. The device according to claim 2 or claim 3, wherein: The first mount and / or the second mount are linearly movable to move the first module and the second module relative to each other in a direction toward and away from the elongated structure.

5. The device according to claim 1, wherein: At least one of the first module and the second module has a slotted plate at an end thereof, and the bypass module is removably connected to the slotted plate by one or more blocks or pins to allow the modules to be opened and closed, and the one or more blocks or pins are slidably mounted in corresponding slots in the slotted plate.

6. A device according to any one of the preceding claims, wherein: The bypass module includes one or more telescoping rails for moving the first module and the second module relative to each other in a direction toward and away from the elongated structure.

7. A device according to any one of the preceding claims, wherein: The first module and the modules each comprise means for actuating the opening and / or closing of the respective module.

8. A device according to any one of the preceding claims, wherein: The first module and the second module each include a cage or frame including two or more sections or segments movably or pivotably connected together.

9. The device according to any one of the preceding claims, wherein: Each of the modules comprises one or more rotating members arranged to contact the elongated structure and drivable to drive the module along the elongated structure.

10. The device according to any one of the preceding claims, wherein: At least one of the modules includes one or more tools for servicing the elongated structure.

11. The device according to any one of the preceding claims, further comprising a third module, the third module being arranged between the first module and the second module, the third module being selectively closable or openable around the elongated structure to enable removal from the elongated structure and driving and maintaining the elongated structure along the elongated structure, wherein The first module and the third module are connected together in series along the elongated structure via a first bypass module, and the third module is connected in series to the second module along the elongated structure via a second bypass module, and the second bypass module is actuatable to move the second module and the third module toward or away from the elongated structure relative to each other in a vertical direction.

12. A method of operating the apparatus of claim 11, wherein: The first module is adjacent to an obstacle on the elongated structure, the first module and the second module each include at least one driving module, and the second module includes at least one maintenance module, and the method includes: a) opening (S2) the first module and the third module; b) actuating (S3) the second bypass module to move the first module and the third module away from the elongated structure; c) driving the second module to drive (S4) the first module and the third module to cross the obstacle; d) actuating (S5) the first bypass module to move the first module toward the elongated structure; e) closing (S6) the first module around the elongated structure; f) opening (S7) the second module; g) actuating (S8) the second bypass module to move the second module away from the elongated structure; h) driving (S9) the second module to cross the obstacle; i) actuating ( S10 ) the first bypass module to move the second module and the third module toward the elongated structure; and j) Closing (S11) the second module and the third module around the elongated structure.

13. A method of operating the apparatus of any one of claims 1 to 10, wherein: The first module and the second module are connected in series along the elongated structure via the bypass module, the first module is adjacent to an obstacle on the elongated structure, and the first module and the second module both include a driving module, and the method includes: a) opening the first module; b) actuating the bypass module to move the first module away from the elongated structure; c) driving the first module to cross the obstacle by driving the second module; d) actuating the bypass module to move the first module toward the elongated structure; e) closing the first module around the elongated structure; f) opening the second module; g) actuating the bypass module to move the second module away from the elongated structure; h) driving the second module to cross the obstacle by driving the first module; i) actuating the bypass module to move the second module toward the elongated structure; and j) closing the second module around the elongated structure.

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