Fachhochschule Aachen

Mohsen Bagheri

Josef Schleupen

Peter Dahmann

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 (), having: an assembly platform (); a plurality of connected undercarriage elements (), preferably identical undercarriage elements (), which form a closed ring in a circumferential direction, in particular together with the assembly platform () integrated between two undercarriage elements (); a clamping system () which connects at least the undercarriage elements () to each other and with which the distance between the connected undercarriage elements () can be changed; at least one other undercarriage element () which is situated on the assembly platform () at an axial distance from the ring of connected undercarriage elements (); wherein at least the undercarriage elements () connected to the ring, preferably also the undercarriage element () axially spaced therefrom, are each in the form of a continuous track system. The invention also relates to a continuous track vehicle (), in particular a 2-track continuous track vehicle (), having at least one chain guided around two spaced deflection wheels (), in particular deflection gears (), running surface elements () being secured to the links () of the chain, wherein the running surface elements () each comprise rollers () for contacting a driving surface, the axes of rotation of the rollers being oriented in the direction in which the deflection wheels () are spaced or the running surface elements () being displaceable relative to the associated link () by at least one actuator ().

System for traveling on a cylindrical or frustoconical surface

A mast-climbing robot has first and load-bearing assemblies, at least one linear actuator connected between the assemblies for changing their vertical spacing, and a respective clamp on each load-bearing assembly that can secure the respective load-bearing assembly on the mast and release the respective load-bearing assembly therefrom. Each clamp has two bearing points on the respective load-bearing assembly, at least one flexible belt that extends between the two bearing or attachment points and circumferentially around the mast, and at least one clamping actuator with which the length of the at least one belt can be increased and decreased between the bearing or attachment points to tighten lock the respective belt about the mast and thereby lock the respective assembly on the mast.

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Aachen, Germany

Mohsen Bagheri