Equipment for working on structures

Abstract

To provide a device that can safely perform operations such as cleaning, checking, and coating and painting on a marine support structure.SOLUTION: A device for performing operation on a structure includes a frame mounted around the structure (30). The frame includes at least a pair of first and second arms (6) respectively supporting rotation members (8) that have base ends pivotally attached to the frame and are disposed to make contact with the structure and can be driven to move the frame along the structure (30).SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present invention relates to an apparatus for working on structures such as support structures including but not limited to risers, conductors, marine support structures such as caisson piles, piers for marine platforms, piers or wharves, or pipes. [Background technology]

[0002] Marine support structures typically age and deteriorate, particularly in the "splash zone," which is the portion of the structure that is periodically exposed to water, for example, as a result of tides, wave action, and / or splashing. Aging can include corrosion and physical damage caused by wave action and impact. Deterioration can include buildup of algae, shellfish, etc.

[0003] Therefore, marine support structures need to be maintained for a longer life and have a longer lifespan, for example by cleaning, inspecting, painting, etc. Traditionally, inspection and maintenance work is performed by divers, which is a very difficult job, especially in splash zones, is dangerous, and sometimes is not effective enough.

[0004] US Patent Publication No. 9,382,682 discloses an apparatus for cleaning marine debris from piles, which has a truss cage including two halves clamped around the pile and a traction motor with caterpillar treads for vertical movement. A trolley runs along tracks on the outside of the frame and carries a water jet for cleaning the pile. Description of the Invention

[0005] Aspects of the present invention are defined by the appended claims.

[0006] According to one embodiment of the present invention, there is provided an apparatus for working on a structure, comprising: a frame having first and second supports at axially opposite ends for assembly or placement around the structure; at least one pair of first and second support arms pivotally mounted at proximal ends to the first support, each supporting a rotating member positioned to contact the structure and drivable to move the frame along the structure; a carriage arranged for circumferential movement and supporting one or more tools for operating on the structure; An apparatus is provided comprising:

[0007] Advantageously, the above arrangement allows tools to be mounted on the frame without interference from the rotating members and arms, since the tools are mounted on the opposite end of the frame from the carriage.

[0008] Advantageously, the above arrangement allows easy access to the arms, for example, when assembling them, especially when the arms are mounted at the upper end of the frame.

[0009] For example, the arm may be removably attached to the frame to facilitate assembly and / or allow the arm to be attached to frames of different sizes to work on structures of different sizes.

[0010] The apparatus may be provided as a kit of parts including frames or frame sections of different sizes to which the arms can be interchangeably attached. This aspect is considered an independent invention. Thus, in another aspect of the present invention, there is provided apparatus for working on a plurality of structures of different sizes, the apparatus including frames or frame elements of different sizes for assembly around the structures, at least one arm interchangeably attached to each said frame, the arm having a rotating member arranged to contact the structure and drivable to move the frame along the structure, and a carriage arranged to support one or more tools for working on the structures.

[0011] The frame is cylindrical in shape and does not require concentric parts of different diameters, so the frame can be relatively light and / or small.

[0012] The first and second arms may extend in opposite axial directions, with the first arm extending beyond one end of the frame and the second arm extending through the frame, for example through an opening between the struts connecting the first and second supports, thus also allowing the device to be lightweight and compact.

[0013] Both arms can be independently attached to the first support. The arms can be driven by hydraulic cylinders to change the pivot angle of the arms supporting the rotating members so that the frame moves along the structure. This can improve the device's ability to navigate over obstacles, such as pre-wrapped composite wraps, pipe deposits, or other obstacles. Such a configuration can enable or facilitate the device's climbing of sloped structures.

[0014] The above structure of the second arm is considered an independent invention. Accordingly, in another aspect of the present invention there is provided an apparatus for operating on a structure, the apparatus comprising: a frame for assembling or placing around the structure; an arm pivotally mounted to one axial end of the frame and supporting a rotating member drivable to contact the structure and move the frame along the structure; a carriage disposed at the other axial end of the structure; An apparatus is provided, wherein the arms extend through the frame.

[0015] The apparatus may include one or more distance or position sensors arranged to determine the absolute or relative position of at least a portion of the apparatus with respect to the structure, for example the distance traveled by the frame along the structure and / or the circumferential position of the carriage. This aspect is considered an independent invention and according to another aspect of the invention there is provided an apparatus for operating on a structure, comprising: a frame for assembling or placing around said structure; an arm attached to the frame and supporting a rotating member disposed in contact with the structure and drivable to move the frame along the structure; a tool carriage attached to the frame and movable in a circumferential direction relative to the frame; It is provided that the apparatus includes one or more distance sensors positioned to detect the distance traveled by the frame along the structure.

[0016] According to another embodiment of the present invention, there is provided an apparatus for operating on a structure, comprising: a frame for assembling or placing around said structure, said frame having supports at intermediate axial locations; at least one pair of first and second arms pivotally attached at their base ends to the support; , at least one pair of first and second rotating members attached to distal ends of the first and second arms, respectively, so as to contact the structure; An apparatus is provided in which the first and second arms extend in opposite axial directions and are pivotable to move corresponding first and second rotating members toward or away from the structure.

[0017] The apparatus can have a first module coupleable to one or more additional modules aligned along the structure, the first module configured as a traction or drive module and the additional modules configured to operate on the structure. [Brief explanation of the drawings]

[0018] Specific embodiments of the present invention will now be described with reference to the accompanying drawings. [Figure 1] FIG. 1 is a perspective view of an apparatus according to a first embodiment of the present invention, seen from above. [Figure 2] FIG. 2 is a first side elevational view of the device of the first embodiment. [Figure 3] FIG. 3 is a second side elevation view of the first embodiment of the device, perpendicular to the first side elevation view. [Figure 4] FIG. 4 is a cross-sectional view of plane AA of FIG. 2, showing the location of the support structure. [Figure 5] FIG. 5 is a top view of the device of the first embodiment. [Figure 6] FIG. 6 is a perspective view of an apparatus according to a second embodiment of the present invention, seen from above. [Figure 7] FIG. 7 is a perspective view of the device of the second embodiment as seen from below. [Figure 8] FIG. 8 is a first side elevational view of the device in the second embodiment. [Figure 9] FIG. 9 is a second side elevation view of the device in the second embodiment, perpendicular to the first side elevation view. [Figure 10] FIG. 10 is a cross-sectional view of plane AA of FIG. [Figure 11] FIG. 11 is a cross-sectional view of plane BB of FIG. [Figure 12] FIG. 12 is a top view of the second embodiment of the device. [Figure 13] FIG. 13 is a diagram of a kit of parts for assembly to form a device according to the first or second embodiment. [Figure 14] FIG. 14 is a diagram of the operation of a device in accordance with an embodiment of the present invention. [Figure 15] FIG. 15 is a partial diagram of a hydraulic system for an apparatus according to an embodiment of the present invention. [Figure 16] FIG. 16 is a diagram illustrating a remote control system for operating a device in an embodiment of the present invention. [Figure 17] FIG. 17 is a first side elevational view of an apparatus according to a third embodiment of the present invention. [Figure 18] FIG. 18 is a second side elevation view of the device in the third embodiment, perpendicular to the first side elevation view. [Figure 19] FIG. 19 is a perspective view of the device of the third embodiment as seen from above. [Figure 20] FIG. 20 is a bottom view of the device of the third embodiment. [Figure 21] FIG. 21 shows the top of the device of the third embodiment. [Figure 22] FIG. 22 is a partial cross-sectional view taken along plane AA of FIG. [Figure 23] FIG. 23 is a diagram showing different configurations of the third embodiment with a traction module. [Figure 24] FIG. 24 is a detailed view of the coupling system between the two modules in the configuration of FIG.

[0019] In the following description, the orientation of the device will be described as being assembled around a vertically extending support structure 30. "Circumferential" and "tangential" refer to directions circumferentially about an imaginary central vertical axis, and "radial" refers to directions perpendicular to that axis.

[0020] Where dimensions are given in the drawings, they are in millimeters (mm); however, these dimensions are not limiting as to the size of a particular embodiment, but are purely exemplary.

[0021] For clarity, certain parts are shown in some, but not all, instances with reference numerals in the drawings. A view of the drawings will allow one to understand which parts are being referred to as a whole. Similar parts between different embodiments are designated with the same reference numerals.

[0022] A first embodiment of the present invention will now be described with reference to Figures 1-5. A cage or frame 1 includes cage or frame segments or sections 1a, 1b, and 1c that are removably connected at frame connection points 2a, 2b, and 2c, for example, using removable pins. In use, the frame segments 1a, 1b, and 1c are assembled around a support structure 30 to be worked on. The frame segments 1a, 1b, and 1c include lifting points 23 for attachment of cables or the like for lifting the frame segments 1a, 1b, and 1c to a desired position and / or retrieving them after use. Preferably, each of the frame segments 1a, 1b, and 1c is sufficiently light so that it can be manually lifted into a desired position.

[0023] The frame 1 includes an upper support 3 and a lower support 4 connected by a support post 5. In this embodiment, the upper and lower supports 3, 4 are circular and coaxial. The support post 5 extends generally vertically between the upper and lower supports 3, 4. The upper support 3, the lower support 4 and the support post 5 are rigid and are connected to each other so that when assembled, the frame 1 is substantially rigid.

[0024] Multiple 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 at equal circumferential intervals around the upper support 3, for example, 120° apart in this embodiment.

[0025] Each arm 6, 7 is pivotally supported on the upper support 3 about a tangential, horizontal pivot axis, for example, by a respective shaft or spindle. In this embodiment, the arms 6, 7 are pivotable about their respective axes above and below the upper support 3, but may alternatively be pivotable about the same axis. The upper and lower arms 6, 7 are pivotable in opposite directions to each other, so that they can simultaneously move toward or away from the support structure 30. The upper and lower arms 6, 7 can pivot independently of each other, allowing the angle between the upper and lower arms 6, 7 to be changed.

[0026] Each arm 6,7 includes 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 and / or reduce wear on the wheels 8,9 relative to the support structure 30. Each pair of wheels 8,9 may be supported by a corresponding pair of arms 6,7 and may be rotatable independently of each other.

[0027] At least one of the pairs of arms 6, 7 is reciprocally drivable to pivot towards and away from the support structure 30 so that the corresponding wheels 8, 9 can respectively clamp and release the support structure 30. Preferably, the pairs of arms 6, 7 are driven by respective hydraulic cylinders 10, 11. The controls for the hydraulic cylinders 10, 11 can be interconnected so that the arm pairs are driven synchronously. The hydraulic cylinders 10, 11 are driven by respective hydraulic hoses (not shown) attached to hose clamps 24.

[0028] The other pair of arms 6, 7 are adjustably held in a pivoted position, for example by means of adjustable length rods or bolt screws 12, 13, depending on the diameter of the support structure 30 to be worked on.

[0029] The lower arms 7 pass between the struts 5 so that the corresponding wheels 9 can come into contact with the support structure 30 .

[0030] At least one of the wheels 8, 9 is reciprocally drivable in either opposite direction (i.e., forward and backward) to move the device respectively up and down the support structure 30. Preferably, the drivable wheels 8, 9 are mounted on the reciprocally drivable arms 6, 7. The other wheels 8, 9 are not driven and are free to rotate, preferably independently of each other, to act as guides for movement of the device up and down the support structure 30.

[0031] 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 engages a gear track 17 that is circumferentially and horizontally disposed around the lower portion of the frame 1. The drive gear 16 is driven to move the carriage 15 circumferentially around the guide rail 14. The carriage 15 can be driven circumferentially through approximately 360 degrees, but movement of the carriage 15 is preferably limited to one complete rotation by a carriage stopper 18 located near the guide rail 14, as shown in FIG.

[0032] Carriage 15 preferably does not contact support structure 30 because buildup on support structure 30 would impede the progression of carriage 15. Instead, carriage 15 is supported by a pair of inner rollers 19 that contact the inside of guide rail 14 and a pair of outer rollers 20 that contact the outside of guide rail 14. The inner rollers 19 are mounted on horizontally extending carriage arms 21 on either side of carriage 15 to improve stability.

[0033] In alternative embodiments, the functions of the guide rail 14 and gear track 17 can be combined. For example, the gear track 17 and drive gear 16 can be omitted, and one or more of the internal or external rollers 19, 20 can be driven to drive the carriage 15 around the guide rail 14. Alternatively, the guide rail 14 can be omitted and the gear track 17 modified to provide the guide function. Instead of the pinion device, a linear drive device, such as a roller pinion or friction drive, may be substituted.

[0034] Carriage 15 is configured to support one or more tools 22 for operating on support structure 30. By using drivable wheels 8, 9 and moving carriage 15 circumferentially around support structure 30 to move frame 1 up and down support structure 30, tools 22 can reach substantially any portion of the outer surface of support structure 30, subject to any restrictions such as hydraulic lines, at least within the splash zone.

[0035] The tool 22 is movably mounted on the carriage 15 such that the tool 22 can be moved relative to the carriage 15. For example, the tool 22 can be driven to reciprocate toward and away from the support structure 30, e.g., radially.

[0036] One or more tools can be mounted on the carriage 15, but they are interchangeable. - high pressure water nozzles for cleaning the surface of the support structure 30; a wall thickness measuring probe for measuring the wall thickness of the support structure 30, for example using ultrasound; - video cameras for inspecting work sites27; - a clearance sensor for detecting the clearance from the surface of the support structure; painting tools, such as paint rollers or brushes, for painting the surface of the support structure 30; - a wrapping tool for applying a protective wrapping to the support structure 30; Examples include cutting tools for cutting off parts of the support structure 30 using, for example, high pressure abrasive cutting.

[0037] In the second embodiment, the carriage 15 supports, in addition to the cleaning tool 22, a camera 27, such as a video camera.

[0038] The device may have one or more distance sensors to measure the distance traveled along the support structure 30. The distance sensors may, for example, be arranged to determine the number of revolutions of the wheels 8, 9, for example using one or more magnetic angle position sensors.

[0039] The carriage 15 may have one or more rotational position sensors (e.g., optical or magnetic sensors) to determine the absolute or relative circumferential position of the carriage 15 with respect to the frame 1, for example, by detecting reference position marks on the guide rails 14 or gear track 17.

[0040] Distance and / or rotational position sensors can be used to determine the position of the tool 22, carriage 15 or other parts of the apparatus on the support structure 30. This makes it possible to move the apparatus to a predetermined absolute position or return it to a previously visited position, for example if an anomaly or inconsistency is detected.

[0041] The device can be aligned with one or more of the reference marks on the support structure 30 and returned to a previously passed position relative to the reference marks. As an example, a single horizontal and / or vertical visible mark, identified by a marking such as a prominent paint marking, is created on the support structure 30 corresponding to the initial position of one or more components of the device, such as the vertical position of the upper support 3 and a predetermined circumferential position of the support column 5. The distance sensor is set to zero. The carriage 15 is placed in its maximum circumferential position (either 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 rotational position sensor measure the distance traveled axially and circumferentially relative to the initial position. In this manner, a map of abnormal or inconsistent positions on the support structure 30 can be created and returned to, if necessary.

[0042] The first embodiment is designed to work with support structures 30 having diameters ranging from 22 to 36 inches (0.56 to 0.91 meters). Alternate embodiments with different sizes and / or numbers of frame segments 1a, 1b, 1c can be adapted to work with support structures of other diameters. For example, FIGS. 6-12 show a second embodiment, similar in construction to the first embodiment, but with a smaller diameter frame 1 designed to work with support structures 30 having diameters ranging from 9 5 / 8 inches to 22 inches (0.24 to 0.56 meters). This frame 1 consists of two frame segments 1a, 1b, which are semi-cylindrical and combine to form the cylindrical frame 1.

[0043] The second embodiment, like the first embodiment, has three pairs of upper and lower arms 6, 7 spaced equally around the upper support 3. Other embodiments, particularly for working with support structures of larger diameter, may have more than three pairs of arms 6, 7.

[0044] The arms 6, 7, together with the wheels 8, 9, hydraulic cylinders 10, 11, and length-adjustable bars 12, 13, are removably attached to the frame segments 1a, 1b, 1c. These elements can be used interchangeably with the frame segments 1a, 1b, 1c of the first embodiment and the frame segments 1a, 1b of the second embodiment. Different carriages 15 may be required for the first and second embodiments due to the different curvature systems. Alternatively, a single adjustable carriage 15 may be used interchangeably between the first and second embodiments, for example with an adjustable carriage arm 21.

[0045] 17 to 22 show a device in a third embodiment, which differs from the first and second embodiments in that the cage or frame 1 has an intermediate support 33 to which two pairs of upper and lower arms 6, 7, each having a corresponding wheel 8, 9, are connected. The cage 1 therefore has three annular horizontal pieces (the lower support 3, the intermediate support 33, and the upper support 4), which are connected by vertically extending struts 5 to form a generally cylindrical structure. The third embodiment can therefore be considered an extension of the first and second embodiments, in which the intermediate support 33 performs a similar function to the upper support 4 of the first and second embodiments, and the upper support 4 of the third embodiment is an additional structural part extending beyond the upper arm 6.

[0046] Cage 1 includes two semi-cylindrical sections 1a, 1b that are hinged together at connection points 2a, 2b so that they can swing together, similar to embodiment 2. In this example, the cage may be designed in a larger version for mounting around a structure 30 having a diameter in the range of 22 to 36 inches (0.56 to 0.91 meters), or in a smaller version for structures 30 having a diameter in the range of 8 to 22 inches (0.20 to 0.56 meters).

[0047] One pair of arms 6, 7 has a corresponding pair of drive cylinders 10, 11, while the other pair of arms has a corresponding pair of length-adjustable bars 12, 13. The wheels 8, 9 of at least one pair of arms 6, 7 are reciprocatably drivable to move the device up and down on the structure 30.

[0048] In this embodiment, the apparatus lacks guide rails 14 or carriages 15 for supporting tools 22. Therefore, the center of gravity (COG) is closer to the geometric center of the cage 1, as shown in FIGS. 17 and 18. As shown in FIGS. 23 and 24, the apparatus is configured as a traction module for connecting one or more work modules 34, such as cleaning modules, NDT (non-destructive testing) modules, and / or cutting modules, in a line along and around the structure 30. Each of the additional modules has a cage or frame similar in structure to that of the traction module, including two or more pairs of arms 6, 7 and corresponding wheels 8, 9, except that the wheels 8, 9 of the additional modules are non-driven. The work modules 34 are driven along the structure 30 by the traction module. Alternatively, one or more work 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.

[0049] The distance traveled along the structure 30 is measured by a measuring wheel 43 supported on the frame 1, for example by an intermediate support 33, and pivotable into contact with the structure 30. The measuring wheel may be an encoder wheel capable of measuring the distance traveled optically and / or electrically.

[0050] As shown in FIG. 24, adjacent first and second modules can be coupled to each other by one or more first mating components on the first module to one or more corresponding mating components on the second module, e.g., the first mating components can include one or more male The second mating component may have a mating probe 35 and one or more receptacles 36 for mating with corresponding male mating probes 35. The connection may be secured by a locking means such as a quick release bolt 37 that passes through the male mating probe and the receptacle, although other mating and / or fastening mechanisms may also be used.

[0051] The traction module preferably has a plurality of feet 42 attached to the lower support 4. The feet 42 are preferably removable to allow additional modules to be joined below the traction module.

[0052] The traction module includes a master controller 38 that is removably connectable by leads 40 to one or more corresponding slave controllers 39 on one or more additional modules. The master controller 38 is controlled from the surface by a remote control unit 25, which passes communication signals and / or power to the slave controllers 39.

[0053] 13 shows a parts kit provided for assembling either the first or second embodiment of the apparatus, including at least the frame segments 1a, 1b, 1c of the first embodiment, the frame segments 1a, 1b of the second embodiment, the arms 6, 7, together with the wheels 8, 9, hydraulic cylinders 10, 11, adjustable length bars 12, 13 (shown here attached to the frame segments 1a, 1b of the second embodiment), the carriage 15 for the first and second embodiments, a set of fluid hoses 29, and a fluid power supply 28. In this example, the parts kit is provided in the form of a transportable container 32 including a work platform 31 to facilitate partial assembly of the apparatus prior to assembly around the support structure 30.

[0054] In embodiments designed for a single diameter or multi-diameter support structure 30 with a small range of diameters, some pairs of arms 6, 7 and wheels 8, 9 that are not driven can be replaced by other types of guides, such as rollers or wheels at fixed radius positions.

[0055] FIG. 14 shows examples of activatable functions of a device in an embodiment of the invention, such as the embodiment described above: i. The upper and lower arms 6, 7 are driven to pivot radially outward and inward to open and close the clamp; ii. contacting the surface of the support structure 30 to move the drivable wheels 8, 9 in the forward and reverse directions, respectively; Driven to move up and down; iii. Driving the drive gear 16 forward / backward to rotate the carriage clockwise / counterclockwise; iv. Driving the tool 22 forward and backward in the radial direction relative to the carriage 15 / Adjust the tool in the reverse direction.

[0056] The actuatable functions may be powered and / or controlled by a hydraulic or electrical source, respectively, via hydraulic hoses and / or electrical cables connected to the device. Hydraulic power may be preferred for at least some applications, for example, 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 flexible hydraulic hoses.

[0057] An example of a hydraulic drive system for the apparatus is shown in FIG. 15, in which the pivoting of one of the pair of arms 6, 7, the rotation of the corresponding wheels 8, 9, and in the case of the first and second embodiments, the rotation of the drive gear 16 and the reciprocating drive of the tool 22 are all performed by a hydraulic power source unit (not shown). It is powered by a separate hydraulic line connected to the valve (not included).

[0058] 16, the device is preferably controlled by a remote control unit 25 in which control of some or all of the functions described above can be effected, preferably by corresponding user-actuable controls. The remote control unit 25 can be connected by wire or wirelessly to a controller 26 for the functions described above. Power for operating the functions can be provided by a power source 28 under the control of the controller 26.

[0059] Preferably, the drive speeds of the wheels 8, 9 and the drive gear 16 are independently controllable for the required task. Alternatively or additionally, the remote control unit 25 or controller 26 is programmable or can be programmed to perform a specific task by unifying the control of different functions, optionally in response to the travel distance detected by the distance sensor and / or the circumferential position of the carriage 15 detected by the circumferential position sensor, thereby enabling work to be performed at a predetermined position on the support structure 30.

[0060] The pivot angle of the arms 6,7 can be varied during use, for example so that the device can be driven up and down a sloped or curved support member.

[0061] The number of powered wheels 8, 9 can be varied depending on the load carried by the device or depending on the operating conditions of the device. Depending on the adjustability or clamping force required, multiple pairs of pivoting arms 6, 7 can be powered.

[0062] Embodiments of the present invention can be used to work on tapered support structures by varying the degree of pivoting of the arms 6, 7 to adjust the diameter as the device moves up and down the support structure.

[0063] In an alternative embodiment, the arms 6,7 may be mounted on the lower support 4 and the guide rail 14 may be mounted on the upper support 3.

[0064] The frame segments 1a, 1b, 1c are preferably made of aluminum tubing to reduce weight, for example, the mass of the device should be in the range of 200-300 kg, excluding hydraulic or electrical lines.

[0065] In larger embodiments, instead of a removable pin closure, a hydraulic closure may be used. In this case, two or more of the cage or frame segments 1a, 1b, 1c are connected by hinge connections actuated by hydraulic rams or cylinders 41, as shown in FIG. 17. The segments 1a, 1b, 1c may be connected on a suitable surface, such as a floating pontoon or barge, and supported, for example, by feet 42. The hinge connections can be opened to fit around the support structure 30 to be worked on, and then closed to attach the frame 1 around the structure 30. The segments 1a, 1b, 1c may be attached by one or more locking mechanisms, such as lock cylinders 44.

[0066] The above embodiment is designed to work on a cylindrical support structure 30 such as a pile, and therefore the frame 1 is generally circular and tubular with an inner diameter slightly larger than the diameter of the support structure 30. In other embodiments, the frame 1 may have other shapes and sizes to suit the type of support structure 30 and be designed to suit the structure being worked on. For example, in embodiments designed to work on a square or rectangular tubular support structure 30, the frame 1 may have a square or rectangular tubular shape. A square or rectangular tubular frame 1 can be used, preferably with a pair of arms 5, 6 on each of the four sides.

[0067] The above embodiments are suitable for use in the ocean or splash zones, or below the surface, at shallow depths of around 10 meters. They can be modified for work at depths greater than 10 meters, for example by using appropriate seals. The embodiments can be used for pipe repairs, provided they are not obstructed by the pipe's supporting structure.

[0068] Another embodiment of the present invention can be used for non-marine, i.e., land-based support structures, such as wind turbines or radio masts. For these applications, frame segments 1a, 1b, and 1c can be provided with one or more wheels, either removable or permanently attached, to allow the frame segments to be moved around the support structure along the ground or for transport members. For example, frame segments 1a, 1b, and 1c can each have one or more wheels attached to each side, with additional removable wheels attached to the truss at the apex of a triangle formed by the two wheels on and outside the frame 1. Segments 1a, 1b, and 1c can then be assembled or closed around support structure 20, for example, by removable pins or the hydraulic rams described above.

[0069] Alternative embodiments that would be apparent to one of ordinary skill in the art upon reading the above description may fall within the scope of the invention as defined by the appended claims. List of parts and corresponding codes

[0070] TIFF0007772764000001.tif118166

Claims

1. 1. An apparatus for supporting and carrying one or more tools (22) for performing cleaning, inspecting, measuring, cutting, painting, lapping or painting operations on an axially extending structure, comprising: a frame (1) for assembling or placing around the structure, the frame (1) comprising a first support (3) at one axial end of the frame and a second support (4) at the other axial end, the first and second supports (3, 4) being connected together by a plurality of axially extending struts (5), each of the first and second supports (3, 4) surrounding the structure to form a generally cylindrical structure; at least one pair of first and second arms (6, 7) pivotally attached at their proximal ends to the first support (3); at least one pair of rotating members (8, 9) attached to the distal ends of the first and second arms (6, 7) respectively so as to come into contact with the structure; the first and second arms (6, 7) being pivotable and drivable to move corresponding first and second rotating members (8, 9) towards or away from the structure; The first and second arms (6, 7) extend in opposite axial directions from the base end to the tip end, and the second arms are arranged to pass radially between adjacent struts (5) parallel to the at least one pair of first and second arms (6, 7), and at least one of the first rotating member (8) and the second rotating member (9) is configured to be able to contact the structure and drive the frame along the structure in the axial direction of the structure; and a carriage (15) attached to said second support (4), said carriage (15) moving circumferentially around said structure to support or be arranged to support said one or more tools (22).

2. 2. The device according to claim 1, further comprising a guide rail (14) for circumferentially guiding the carriage (15), the guide rail (14) being attached to the second support (4).

3. 1. An apparatus for supporting and carrying one or more tools (22) for cleaning, inspecting, measuring, cutting, painting, lapping or painting an axially extending structure, comprising: a frame (1) for assembling or disposing around the structure, the frame (1) including a first support (3) and a second support (4) provided at one axial end and the other axial end of the frame, respectively, and an intermediate support (33) provided between the first and second supports (3, 4), the intermediate support (33) being connected to the first and second supports (3, 4) by a plurality of struts (5) extending in the axial direction, each of the first, second and intermediate supports (3, 4, 33) surrounding the structure to form a generally cylindrical structure; at least one pair of first and second arms (6, 7) each pivotally attached at a proximal end to said intermediate support (33); at least one pair of rotating members (8, 9) attached to the distal ends of the first and second arms (6, 7) respectively so as to come into contact with the structure; the first and second arms (6, 7) being pivotable and drivable to move corresponding first and second rotating members (8, 9) towards or away from the structure; At least one pair of the first and second arms (6, 7) extend in opposite axial directions from the base end to the tip end, and corresponding first and second rotating members (8, 9) pass radially between adjacent struts (5) parallel to the at least one pair of the first and second arms (6, 7), and are configured to contact the structure and drive the frame along the structure in the axial direction of the structure; 1. Apparatus according to claim 1, wherein a carriage (15) is attached to the first support (3) or the second support (4), the carriage (15) moving circumferentially around the structure to support or to support one or more tools (22).

4. 4. The apparatus of claim 3, including connection means (35) for removably connecting to one or more modules (34) for supporting and carrying one or more tools (22) for performing said work on said structure.

5. 5. Apparatus according to any one of claims 1 to 4, including a track (17) arranged circumferentially around the frame (1), the carriage (15) having a drive member (16) which is engageable with the track (17) and is drivable to move the carriage (15) around the track (17).

6. 6. Apparatus according to any one of the preceding claims, comprising means for driving the one or more tools (22) relative to the carriage (15).

7. 7. The apparatus of claim 1, further comprising one or more tools (22) carried by the carriage (15), the one or more tools (22) comprising at least one of a cleaning tool, a wall thickness measuring tool, a video camera, a clearance sensor, a painting tool, a wrapping tool, and a cutting tool.

8. 8. Apparatus according to any one of claims 1 to 7, including a circumferential position sensor for sensing the circumferential position of the carriage.

9. 9. Device according to any one of the preceding claims, wherein the first and second arms (6, 7) are actuatable by at least one hydraulic cylinder (10, 11).

10. 10. Device according to any one of the preceding claims, wherein the first and / or second arm (6, 7) is electrically drivable.

11. 11. Apparatus according to any one of claims 1 to 10, comprising a plurality of said pairs of first and second arms (6, 7) and first and second rotating members (8, 9) spaced circumferentially around one of the supports (3, 33) to which the arms (6, 7) are attached.

12. 12. Apparatus according to any one of the preceding claims, wherein the frame (1) comprises a plurality of frame segments (1a, 1b, 1c) arranged to be assembled around the structure.

13. 13. Apparatus according to claim 12, wherein adjacent pairs of frame segments (1a, 1b, 1c) are hinged together.

14. 14. Apparatus according to any preceding claim, including a distance sensor for detecting the distance travelled by the apparatus along the structure.

15. 15. The apparatus of claim 14, wherein the distance sensor comprises a wheel (43) positioned in contact with the structure.

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