Continuous-Track Travel System for Cylindrical Surfaces
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Solution Overview
Problem
Existing travel systems for cylindrical or frustoconical surfaces, such as pipes and masts, either rely on point-based holding forces that can cause damage or have uneven temporal distribution of forces, limiting access and maintenance efficiency.
Innovation Solution
A travel system with a working platform and interconnected undercarriage elements forming a closed annular array, utilizing continuous-track drives that distribute forces along a line and include additional undercarriage elements for axial support, along with a gripping structure that adapts to the surface, ensuring even force distribution and secure attachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If point-based holding forces are used by cable winch or stepper drives, then the travel system can be supported on the surface, but the holding forces cause damage to the surface and are applied only at points
Solution Approach 1:
The travel system divides the holding force application into multiple segmented contact points through the annular array of undercarriage elements, each element distributing force across multiple points along the cylindrical surface rather than concentrating it at a single location
Solution Approach 2:
The invention transitions from point-based force application (0D) to line-based force distribution (1D) by arranging undercarriage elements in an annular array that contacts the surface along a continuous line, and further to surface-based distribution (2D) through the gripping structure that applies force across the entire contact surface
2Ease of operation
If stepper drives are used for self-actuated climbing, then vertical travel is achieved, but the holding forces are applied only at points and cause damage when drives are detached
Solution Approach 1:
The continuous-track drives provide continuous contact with the surface throughout the travel cycle, eliminating the intermittent detachment and reattachment of stepper drives that causes harmful forces. The gripping structure maintains continuous gripping force on the surface during the entire rotation cycle
Solution Approach 2:
The annular array segments the travel system into multiple undercarriage elements distributed around the circumference, with each element contributing to continuous surface contact and force distribution, ensuring that no single point bears the full load during operation
3Force
If continuous-track drives are used instead of point contacts, then force distribution along a line is achieved, but the contact surface area can be increased to maximize protection
Solution Approach 1:
The invention extends force distribution from a line (1D) to a surface (2D) by introducing the gripping structure that applies radial force across the entire contact surface between the undercarriage elements and the cylindrical surface, maximizing the area over which forces are distributed
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables self-actuated, continuous travel along cylindrical or frustoconical surfaces with maximally large contact surface area, preventing damage and ensuring stable, uniform force distribution, allowing access to both outer and inner surfaces.
Implementation Method 1
the forces on the surface are transferred not only at points, but rather along a line, preferably along a contact surface that extends in the direction of travel between the treads of the respective continuous-track drive and the surface
Implementation Method 2
the tread elements of a continuous-track drive can be made of an elastomer that adapts to the curvature of the surface
Data Source
AI summary
The invention relates to a travel system for cylindrical and/or conical surfaces, in particular for the outer surface or the inner surface of a pipe or mast (1), having: an assembly platform (4a, 4b); a plurality of connected undercarriage elements (6), preferably identical undercarriage elements (6), which form a closed ring in a circumferential direction, in particular together with the assembly platform (4a, 4b) integrated between two undercarriage elements (6); a clamping system (7) which connects at least the undercarriage elements (6) to each other and with which the distance between the connected undercarriage elements (6) can be changed; at least one other undercarriage element (8) which is situated on the assembly platform (4a, 4b) at an axial distance from the ring of connected undercarriage elements (6); wherein at least the undercarriage elements (6) connected to the ring, preferably also the undercarriage element (8) axially spaced therefrom, are each in the form of a continuous track system. The invention also relates to a continuous track vehicle (11), in particular a 2-track continuous track vehicle (11), having at least one chain guided around two spaced deflection wheels (17), in particular deflection gears (17), running surface elements (20) being secured to the links (18) of the chain, wherein the running surface elements (20) each comprise rollers (21) for contacting a driving surface, the axes of rotation of the rollers being oriented in the direction in which the deflection wheels (17) are spaced or the running surface elements (20) being displaceable relative to the associated link (18) by at least one actuator (24).