ES3044933T3 - Climbing device and method for the climbing of such a climbing device - Google Patents

Abstract

The present invention relates to a climbing device configured to move a tool attached to it during external work on a pillar-shaped structure. The climbing device comprises: - a first frame, - dimensionally stable clamping elements that move into the first frame, - a tensioning element that engages with the clamping elements, - a tensioning device for tensioning the tensioning element and moving the clamping elements toward a pillar-shaped structure surrounded by the frame, - a similar second frame, - connecting means that connect the first and second frames to each other and are configured to allow them to move closer together and further apart, and - an actuating device configured to actuate the connecting means. The invention also relates to a method for performing climbing operations of the climbing device.

Description

[0001] DESCRIPTION

[0003] Climbing device and method for climbing said climbing device

[0005] According to a first aspect, the present invention relates to a climbing device configured to perform work externally on a pillar-shaped structure. The work includes inspection, repair, and maintenance work.

[0007] It is known that inspecting chimneys (such as pillar-like structures) is carried out by placing a frame in a horizontal plane around a chimney. The frame has four interconnected metal rods and can be fixed around the chimney. A track-like structure is attached to the frame, by which the frame can be moved up and down on the chimney. One or more cameras are provided on the frame, which take photographs of the exterior of the chimney for inspection purposes.

[0009] One disadvantage of the known construction is that it is susceptible to imperfections on the outer side of the chimney. This places a relatively large load on both the stage, due to the track-like structure, and on the frame's support around the chimney. Therefore, the known construction can only be used in a limited way.

[0011] Korean patent KR 101225691 B describes a maintenance robot for a wind turbine generator that automatically performs various maintenance tasks on the tower. The robot's frame consists of two bodies, each of which encloses half the circumference of a tower and is articulated to each other. Actuators are provided, with pneumatic or hydraulic cylinders that can be actuated from one body toward the outer wall of the tower and pressed against it. A disadvantage of this design is that the cylinders exert an outward force on the bodies in response. The bodies must be of robust design to prevent deformation. Furthermore, there is a risk that the connection between the two bodies may break or be damaged as a result of the reaction force of the cylinders.

[0013] Chinese patent application CN 107226 145 A describes a diagonal clamping mechanism for a climbing robot. The device has as its frame an opening and closing ring-shaped body composed of two half-rings that can be positioned around a rod-shaped object to be climbed. The device also includes four curved pressure plates, each connected to the ring-shaped body via rods and configured to make contact with and exert pressure on the rod-shaped object to be climbed. A reaction force is also generated here, pushing outward against the two half-rings, which can damage and open them.

[0015] US patent application 2016/059939 A1 describes a complex device designed to crawl along a tubular target. This device also relies on the pressure of the device against a surrounding object by means of compressive force. This device also has the disadvantages mentioned above.

[0017] An object of the present invention is to provide an improved climbing device that is significantly less susceptible, if at all, to imperfections on the outer side of a pillar-like structure along which the climbing device is intended to ascend and/or descend, and wherein the frame is loaded to a lesser extent by reaction force(s) from a clamping force exerted on the pillar-like structure than in the case of known devices. This object is achieved according to the present invention by means of a climbing device as claimed in claim 1. The tensioning device differs from known devices at least in that, during use, the tensioning device does not press a tensioning element against the pillar-like structure by means of a compressive force and, therefore, does not exert an outwardly directed reaction force (directed away from the central axis of the pillar-like structure) on the frame. Conversely, during use, a tensile force is exerted on the ends of the tension element in the direction of its extension. Thus, while known climbing devices involve a force exerted from a surrounding frame at right angles and directly to the central axis of the pillar-shaped structure, a device according to the invention involves the force being exerted on the tension element in the peripheral direction of the pillar-shaped structure. In this way, the diameter of the tension element's span initially decreases until the pillar-shaped structure prevents further reduction. By pulling the tension element further in its extension direction, it is clamped around the pillar-shaped structure to an increasingly greater degree, without loading the frame in the process. In this way, the objective of the invention is achieved. In other words, whereas in known climbing devices the frame must be sufficiently strong to withstand the reaction force, in a device according to the invention it is the tensile strength of the tensioning element that must be sufficiently large. Furthermore, according to the present invention, the tensioning element need not be directly coupled to the periphery of the pillar-shaped structure; the force of the tensioning element can also be transmitted to the pillar-shaped structure via auxiliary means, such as arms.

[0018] In this document, the term “pillar-like construction” is to be interpreted broadly and is intended to indicate various forms of vertical, inclined, and/or curved structures, whether constructed, uniform, and/or natural, that can be secured around and on which, for example, inspection, maintenance, and/or repair work must be carried out. However, its applicability is not limited to this. Examples of pillar-like constructions include bridge piers and dock piles, chimneys, masts, and the like.

[0020] The dimensions of the climbing device depend on the dimensions, particularly the cross-section, of the pillar-shaped structure to be circumvented. The length-to-width ratio of a rectangular frame is preferably between 1:2 and 2:1, more preferably between 2:3 and 3:2. The width of a rectangular or square frame is preferably at least 500 mm, preferably 700 mm, and more preferably 850 mm. The width of a rectangular or square frame is preferably at most 5000 mm, preferably 3000 mm, and more preferably 2000 mm or 1500 mm. In the case of a circular frame, the minimum and maximum diagonal dimensions have the values mentioned above. Furthermore, the connecting means preferably allow for a mutual distance of at least 100 mm, more preferably 200 mm, and more preferably 300 mm, between the upper and lower frames. The connection means preferably allow a mutual distance of at most 2000 mm, more preferably 1000 mm, and even more preferably 7500 mm, between the upper and lower frames.

[0022] The climbing device is configured to be mounted around a pillar-shaped structure such that the first and second frames are positioned at a distance from each other, one above the other, for example, with the first frame below the second frame. The first tensioning element is then tensioned, i.e., tightened, by the tensioning device to tighten the first clamping elements against the pillar-shaped structure, thereby securing the first frame around the pillar-shaped structure. The second frame can then be moved upwards relative to the first frame using the drive device. When the second frame has reached the desired height, the second tensioning element is tightened, i.e., pulled tightly, by the tensioning device to tighten the second clamping elements against the pillar-shaped structure, thereby securing the second frame around the pillar-shaped structure. The first tensioning element can then be released, allowing the first clamping elements to move away from the pillar-shaped structure. Then, with the aid of the drive device, the first frame can be moved upwards relative to the second frame. These steps can be repeated to move the climbing device further upwards. Similarly, the climbing device can also be moved downwards. Because the clamping means are moved relatively far from the pillar-shaped structure, because the clamping means only come into contact with the pillar-shaped structure at the location where they are clamped around it, and because the tensile or tensile force of the tensioning element is directed around and thus avoids bending stress in the frame (for example, in the case of an irregular outer surface of the pillar-shaped structure), the climbing device according to the present invention is not susceptible, or at least less susceptible than the known device, to imperfections on the outer side of a pillar-shaped structure along which the climbing device is intended to ascend and/or descend, and the object of the present invention is achieved. The climbing device according to the invention adapts even to paths with curves in the pillar-shaped construction.

[0024] Once the first and second frames are secured around the pillar structure, work on the pillar structure can begin. Work can also be carried out with only one frame secured around the pillar structure. Work can then be performed from the frame secured around the pillar structure, but also from the "relaxed" frame, for example, when it is moved relative to the pillar structure, using one or more tools attached to the climbing device. Because a frame can be securely fastened around a pillar structure by means of the tensioning element, it is possible, for example, to clean the outer surface of the pillar structure with a water jet directed towards the pillar structure from below (or above) from a water jet device attached to the frame. However, other tasks can also be performed using tools attached to the frame. In this way, the number of connections between the interconnected parts of the frame can be limited, and a pillar-shaped structure can be easily enclosed. However, other shapes, including a circular one, are also conceivable.

[0026] In a preferred embodiment of the climbing device, the first and second frames are polygonal in shape, preferably rectangular, preferably square.

[0028] The first and second frames are preferably configured so that, in the assembled state, the frame, including the tensioning element and the fastening elements, can be opened and closed, allowing the climbing device to be fitted around and removed from a pillar-shaped structure in a horizontal movement. In this way, the climbing device can be mounted around a pillar-shaped structure without having to perform the (dis)assembly work required for this on the frame. In the open state, the climbing device can be easily mounted around a pillar-shaped structure to be climbed, after which the climbing device can be closed to enclose the pillar-shaped structure.

[0029] In this case, it is preferable that the first and second frames each comprise at least one pivot arm, which can pivot from a closed state to an open state, preferably in the plane defined by the relevant frame. If, for example, a pivot arm is provided as an articulated part of the frame, it can be easily transferred from an open state to a closed state, and vice versa.

[0030] The first and second frames preferably each comprise at least two pivot arms that can pivot open and close like swing gates. The pivot arms can thus be of a relatively short design, resulting in a relatively short pivot range of motion, and the climbing device can be opened relatively close to a pillar-like structure surrounding it for support. Furthermore, the relatively short pivot arms are less fragile, and any tolerances have relatively little influence on the movement of the pivot arms.

[0031] At least one pivot arm then extends over one entire side of the frame, wherein preferably a second pivot arm, extending from an opposite part of the frame, partially overlaps at least one pivot arm. This increases the strength and rigidity of the construction.

[0032] Guiding means are preferably provided to guide, at least during a final phase of frame closing, the at least one pivot arm during its movement from an open to a closed state. This reduces the risk of the free end of a pivot arm becoming incorrectly aligned with an opposite part of the frame during the closing operation.

[0033] To secure the pivot arms in a simple manner, hooking means are preferably provided which engage with each other in the closed state of the pivot arms in such a way that the ends of the tensioning element are pulled towards each other during tensioning and in this way the mutual engagement of the hooking means is reinforced and the engagement is also secured.

[0034] It is preferable that tensioning means be provided to maintain the tensioning element under tensile tension in the open state of at least one pivot arm. This prevents the tensioning element from being disengaged in the open state of the frame, thus avoiding a situation where the clamping element is not tensioned or is improperly tensioned during subsequent tensioning of the tensioning element. It is preferable that the climbing device be provided with centering means configured to center a pillar to be clamped around the clamping elements. This makes it possible to adjust the climbing device, or at least its operation, to the cross-sectional differences of pillar-shaped structures, such that a pillar-shaped structure being clamped around has been, or at least is, centered with respect to the frames. In this way, it is possible to provide for a part of a frame that can be moved, for example in a powered manner or at least in response to the tension of the tensioning element, inwards, that is, in the direction of the center of the plane covered by the frame, and preferably in that plane or at least substantially parallel to it, with respect to the rest of the frame.

[0035] In a preferred embodiment, the tensioning element is an elongated flexible tensioning element, for example, a cable. The cable can be made from fibers, such as Dyneema. By means of cables, in particular cables that substantially completely encircle the pillar-shaped structure in use and in which the tensioning force is surrounding, it is possible to easily provide a very large tensioning force to firmly tension the fastening elements against a pillar-shaped structure to be encircled. A robust tensioning device comprises a spindle and a spindle nut that meshes with the spindle, wherein the tensioning element, the spindle, and the spindle nut are connected to each other, or at least cooperate, such that the rotation of the spindle nut tensions or relaxes the tensioning element. In this case, the spindle nut can engage with the tensioning element and tension or relax the tensioning element during the rotation of the spindle.

[0036] It is preferable that the connecting means comprise a rack and a pinion meshing with the rack, wherein the rack and pinion are connected or meshed with the first and second frames such that the rotation of the pinion is fixed but causes a relative displacement of the first and second frames. In one embodiment, the pinion is rotatably connected to one of the frames and the rack is fixedly connected to the other frame and extends at right angles to the plane defined by and meshes with the pinion on one frame. During the rotation of the pinion, the rack, together with the other frame fixedly connected to it, is displaced relative to that frame. In this way, it is possible to manipulate the climbing device to ascend or descend a pillar-shaped structure, which is explained in more detail below.

[0037] It is preferable that the connecting means comprise two or more rack and pinion combinations cooperating in this manner. A solid climbing device comprises such a combination, for example, on each of its sides, except for the side with at least one pivot arm, such that the two frames are connected to each other on these three sides and displacement is effected at three locations on the frames.

[0038] Alternatively or additionally, the climbing device may be provided with wheels by which the climbing device can be moved over (semi) paved ground.

[0039] In a preferred embodiment, the climbing device is provided with floats by which it can float in open water. In this way, pillars located in the water can be easily reached and grasped with the climbing device. In this case, the climbing device can ascend, but it can also descend below the surface of the open water.

[0040] The climbing device may be provided with a displacement mechanism, such as a motor to drive the wheels or a propeller, by which the climbing device can be moved on land or in open water.

[0041] The device is preferably provided with remotely operable control means. This allows the climbing device to be guided over terrain or open water difficult for people to access, to a pillar-shaped structure to be climbed, opened or closed there to surround the pillar-shaped structure, and subsequently operated to ascend or descend the pillar-shaped structure.

[0042] To carry out the work, the climbing device is preferably equipped with a releasable processing device by which processes can be carried out on the pillar-shaped structure, or at least with means for attaching a releasable processing device. The work may involve inspection or taking photographs with the aid of a camera, but may also involve spray cleaning of the pillar-shaped structure or carrying out mechanical processes or other maintenance work.

[0043] According to a second aspect, the present invention relates to a method as claimed in claim 13.

[0044] This method is a simple way to ascend or descend along a pillar-shaped structure. The respective tensioning elements can exert a relatively large force on the fastening elements, so the climbing device has a relatively large load-bearing capacity without requiring a robustly designed frame to exert a reaction force against the pillar-shaped structure. When the climbing device is equipped with floats, it is possible for the climbing device to descend below the water level along a pillar-shaped structure located in the water. Apart from its assembly or disassembly, the climbing device remains constantly fixed by at least one frame clamp around the pillar-shaped structure, so that it is not possible for the climbing device to fall unintentionally or, in the water, rise to the surface as a result of its buoyancy.

[0045] The aforementioned method can also be protected independently of a climbing device according to the present invention, defined by a method for ascending and descending along a pillar-shaped structure using a climbing device having first and second fastening mechanisms that are movable at least substantially independently of each other and are connected to each other and can be placed one above the other around a pillar-shaped structure, said method comprising the following steps:

[0046] a) provide a pillar-shaped construction;

[0047] b) placing the first and second clamping mechanisms one above the other around the pillar-shaped construction, wherein the first clamping mechanism is located below the second clamping mechanism;

[0048] c) secure the first securing mechanism around the pillar-shaped construction;

[0049] d) maintain the second clamping mechanism in an unclamped state or bring it to that state;

[0050] e) displace the second clamping mechanism with respect to the first clamping mechanism in a certain direction upwards or, respectively, downwards;

[0051] c) secure the second securing mechanism around the pillar-shaped construction;

[0052] g) bring the first clamping mechanism to a non-clamping state;

[0053] h) move the first clamping mechanism in the determined direction;

[0054] i) repeat steps c) to h) until the climbing device is in the desired position with respect to the pillar-shaped construction.

[0055] In a preferred embodiment of the method according to the present invention, the pillar-shaped structure is situated in a body of water and the climbing device is provided with flotation means, wherein the climbing device floats or navigates on a water surface of the body of water to the pillar-shaped structure prior to step b).

[0056] To carry out external work on a pillar-shaped structure, the climbing device is moved downwards to below the water surface in steps c) to h). The relatively high tension force allows the climbing device, which has sufficient buoyancy to remain afloat in the water, to be dragged well below the water surface to descend from the water surface to the bottom around a pillar-shaped structure, such as a pier pile in an industrial port or a bridge pier, in order to monitor its condition by means of a camera attached to the climbing device.

[0057] In a preferred method, a climbing device is provided with a receiver configured to receive control signals, wherein the control signals for operating the device are transmitted from a distance to the receiver via a transmitter. The control may involve both ascending and descending along a pillar-like structure and moving to and from the pillar-like structure by means of the aforementioned means of displacement.

[0058] The present invention will be described below with reference to the accompanying drawing of preferred, non-limiting embodiments of the climbing device according to the present invention. In the figures, identical elements are indicated by identical reference numbers, which will not be re-entered for each figure to avoid unnecessary repetition. In the drawing:

[0059] Figure 1 shows a perspective side view of a climbing device according to the present invention;

[0060] Figure 2 shows a top view of the climbing device of Figure 1;

[0061] Figure 3 shows a front view of the climbing device of Figure 1;

[0062] Figure 4 shows a top schematic view of climbing device 1 with the pivoting arms open;

[0063] Figures 5a-d show a top schematic view of the climbing device of Figure 1, with pillar-like constructions having several horizontal cross-sections held around by a climbing device;

[0064] Figure 6 shows a detailed view of the attachment of the ends of the tension cable to the pivot arms; Figure 7 shows a perspective view of a mechanism that pivots the frame's pivot arms to open and close them;

[0065] Figure 8a shows a perspective view of the connecting means between the upper and lower parts of the frame;

[0066] Figure 8b shows a detailed view of a portion of the connecting medium;

[0067] Figures 9a-f show a schematic illustration of successive caps for raising a pillar; and

[0068] Figures 10a-e show a schematic illustration of successive positions of a climbing device descending along a pillar-shaped structure situated in a body of water.

[0069] Figure 1 shows a perspective side view of a climbing device 1 according to the present invention, suitable for use with piers located in open water, vertical structures, docks/piles 0 similar as pillar-like constructions. In this embodiment, the climbing device 1 has four floats 2, two of which are each attached to an upper frame 3a (also referred to herein as the first frame) and a lower frame 3b (also referred to herein as the second frame) of an assembled frame. In this exemplary embodiment, the frames 3a and 3b are square and each consists of two pairs of three rods, 4a-c, 4d-f, 5a-c, and 5d-f, connected together in a U-shape, and two pairs of pivot arms, 6a-d and 7a-d, pivotally connected to the free ends of the respective U-shapes. A spindle 17 extends between rods 4b and 4e and 5b and 5e, respectively, and the operation of this spindle will be explained in more detail later in the text. The mutual cooperation of the pivot arms 6a-d and 7a-d is explained in more detail below in the present description. The frames 3a and 3b each define a plane, the planes of which extend substantially at right angles to a pillar-like structure in use. In the description of the invention, it is considered that this plane extends horizontally, although the planes may deviate from the horizontal in the case of an inclined or curved construction.

[0071] Within each of the frames 3a, 3b are two first and second clamping elements, which are positionally fixed in a fixed position but pivot in the plane of the respective frame 3a, 3b, are connected to the corresponding frame 3a, 3b and are designed as clamping arms 8a, 8b.

[0073] Within each frame 3a, 3b are U-shaped subframes 10a, 10b that are attached to the corresponding frame 3a, 3b so that they can slide from the rods 4b, 4e and 5b, 5e, respectively, towards the pivot arms 6, 7 and vice versa.

[0075] Within each auxiliary frame 10a, 10b are also two first and second clamping elements, which are pivotally connected to the corresponding auxiliary frame 10a, 10b and are designed as sliding clamping arms 9a and 9b, respectively.

[0077] The four clamping arms 8a, 9a and 8b, 9b, respectively, of each frame 3a, 3b are surrounded by a tension cable 11a, 11b, which is not visible in Figure 1, as the first and, respectively, second tension element. Pulling on a tension cable 11a, 11b applies a tensioning force to tension the tension cable 11a, 11b around a pillar-shaped structure.

[0079] Both frames 3a and 3b are connected to each other by three sets of connecting means 12a, 12b, and 12c, forming a climbing mechanism, which is explained in more detail below. However, it is also possible for the climbing device to be equipped with two or four sets of connecting means. Even a single set might suffice, although this is not recommended.

[0081] Figure 2 shows a top view of the climbing device of Figure 1, provided with the reference numbers mentioned above. From the top view, it can be seen that the pivot arm 6b (and 6d) spans the distance between the free ends of the rods 4a, 4c (4d, 4f), and that the pivot arm 6a (6b) generally overlaps approximately two-thirds of the pivot arm 6c (6d) and (not visible in Figure 2) slides through a cutout 13 over a flange 14 of the pivot arm 6c. It can also be seen that the clamping arms 8, 9 are provided with guide wheels 15 for the tension cable 11 (which is also not visible in Figure 2).

[0083] In the front view of figure 3, it can be seen how the cutout 13 in the triangular plate 16 passes over the rim 14.

[0085] Figure 4 shows a top schematic view of the climbing device 1. The upper frame 3a is shown with the pivoting arms 6 in an open state. Frame 3b is in the same state below frame 3a and is therefore not visible in the top view. In this state, the climbing device 1 can be mounted around a pillar-like structure, as illustrated in Figures 5a-d. Subsequently, the pivoting arms 6 return to their closed state (see Figure 1).

[0087] Figure 4 shows in more detail the tension cable 11, one end of which is connected to the pivot arm 6a and the other end of which is connected to the pivot arm 6c. Figure 4 also shows in more detail a tensioning device, by means of which the tension cable 11 can be tensioned and relaxed. The tensioning device has a spindle 17 that extends across the width of the frame 3 and is meshed with a spindle nut 18 in which there is a pulley block 19 with a guide wheel 15, around which the tension cable 11 is wound. The rotating spindle 17 causes the spindle nut 18 with the pulley block 19 to move to one side or the other, and the tension cable 11 is tensioned or relaxed accordingly, because the profile of the tension cable 11, or at least the part that is in the tensioning device, is extended or shortened, respectively, while both ends are fixed to the arms of the pillars 6a and 6c. From the state shown in Figure 4, the pivoting arms 6a, 6c will close first. Next, the tension cable 11 pulls the clamping arms 8 and 9 towards the center of the frame 3. The clamping arms 8 and 9 pivot inwards around their respective hinged fixings under the tensioning force exerted on them by this tension cable 11. The clamping arms 8 and 9 are preloaded in the direction of the rods 4a,c, and 5a,c of the corresponding frame 3a and 3b by means of springs. When the tensioning force of the tension cable 11 is released, the preload force causes the clamping arms 8 and 9 to return to their position parallel to the respective rods 4a,c, and 5a,c. The spindle 17 and spindle nut 18 can be used to reliably exert a relatively large tensioning force. The tensile force in the tensioning element can be determined by measuring the current through a tensioning motor or a tension sensor connected in series with the tensioning element. Clamping is achieved through the tensile force in the tensioning element, rather than through the pressure of a rigid, bending frame, which is heavier and less stable as in conventional devices. Therefore, clamping the elements around a pillar-shaped structure does not generate an outward reaction force on the frame.

[0088] Figures 5a-d each show the climbing device 1, which has been fitted with both frames 3a and 3b (not visible) clamped around a pillar-shaped structure denoted by the letters A, B, C, and D, respectively. If the pillar-shaped structure A, B, C, D has, viewed in its longitudinal direction, an irregular or conical cross-section (cross-sectional shape), frames 3a and 3b may not be aligned with each other. Furthermore, if during ascent or descent the clamping arms 8, 9 of one of the two frames 3a, 3b are tensioned around the pillar-shaped structure and the clamping arms 8, 9 of the other frame 3b, 3a are not, the rear frame viewed in the direction of viewing is partially visible.

[0090] The pillar-shaped constructions A, B, C, D vary in shape, i.e., round and square, and in cross-sectional size. In Figures 5a-d, it can be seen that the clamping arms 8, 9 are not only tensioned inwards by the tension cable 11, but the position of the subframe 10a is also adjusted to the cross-section of the pillar-shaped construction A, B, C, D. It can also be seen in Figures 5ad that the spindle nut 18 with the pulley block 19 has been slid further to the left since the periphery of the pillar-shaped construction A, B, C, D is smaller. Ultimately, the larger the periphery, the smaller the extension of the tension cable profile 11 that must be extended to bring the clamping arms 8, 9 into contact with the pillar-shaped construction A, B, C, D. In figures 5a-d, the tension cable 11 has been tensioned around the guide wheels 15 of the clamping arms 8, 9 in such a way that the pillar-shaped construction A, B, C, D has been firmly held.

[0092] Figure 6 shows a detailed view of the attachment of the ends of the tensioning cable 11 to the pivot arms 6 on both sides of the flange 14. When the pivot arms 6 are closed, the tensioning force is satisfactorily distributed and the risk of bending stress on the frame 3a, 3b is minimized.

[0094] Figure 7 shows the mechanism that opens and closes the pivot arms 6, 7 of the frame 3b. An actuator 20 that drives a spindle 21 is hinged to the rod 5f. The pivot arms 7c,d are connected to the rods 5c,f via a connecting piece 22 that projects outward from the frame 3b. The connecting piece 22 is connected to the rods 5c,f via a pivot shaft 23 and is connected to the pivot arms 7c,d by means of two pivot connections 24. A spindle nut 25 is provided between the pivot connections 24. When the actuator 20 drives the spindle 21, the pivot arm 7 rotates to open or close.

[0096] Figure 8a shows a perspective view of the connecting means between the upper and lower frames 3a, 3b, said connecting means forming a climbing mechanism 12b. For clarity, the rods of the upper and lower frames 3a, 3b are omitted from this figure. Figure 8b shows a portion of a climbing mechanism 12c that is positioned on the side of the climbing device in detail, with the rods 5c,f of the lower frame 3b.

[0098] Figure 8a shows an actuator 26 as a drive device that drives a rotating rod 27. A pinion in the form of a drive wheel 29 is arranged at the center of the rod 27. The pinion 29 at the center of the rod 27 directly drives the rack 30.

[0100] Near both ends of rod 27 are arranged chain wheels 32 around which a chain 33 is wound, said chain being used to drive two climbing mechanisms 12a, 12c (not shown in figure 8a), which are located on respective sides of the climbing device, by means of a toothed wheel 29 driven by the respective chain 28, similarly to the climbing mechanism 12b described with reference to figure 8b.

[0102] Figure 8b shows a pinion or sprocket 29, with axis of rotation 28, which is driven via the actuator 26 by means of a chain wheel 32 and a chain 33. The sprocket 29 meshes with a rack 30 (whose teeth are not visible in Figure 8b) that is connected to rods 5c,f so that it can be guided between the sprocket 29 and a pressure wheel 31. The rack 30 is fixed to the rods 4b,e (which are not visible in Figures 8a, 8b) near its upper end. When the actuator 26 drives the rod 27, the transmission described above ensures that the upper frame 3a moves upward or downward, respectively, relative to the lower frame portion 3b.

[0103] In this way it is possible to establish a mutual distance between the lower frame 3b and the upper frame 3a.

[0104] Figures 9a-9f show, in a schematic cross-sectional view, the manner in which a climbing device 1 according to the present invention moves upwards along a pillar-shaped construction in the form of pillar 34. With reference to the above description of the climbing device, this can be explained in a reasonably concise but clear manner.

[0106] Figure 9a shows a pillar 34 around which the climbing device is fitted. The lower frame 3b and the upper frame 3a are fitted tightly around the pillar 34.

[0108] Figure 9b shows the climbing device at a later stage, in which the tension in the clamping arms of the lower frame 3b has been at least partially eliminated, and the clamping arms are at a distance from the pillar. The clamping arms of the upper frame 3a are attached around the pillar 34 unchanged.

[0109] Figure 9c again shows the climbing device at a later stage, in which the lower frame 3b has been moved towards the upper frame 3a by means of the climbing mechanism. The clamping arms of the lower frame 3b are still located some distance from the pillar 34. The clamping arms of the upper frame 3a are attached around the pillar 34 unchanged.

[0110] Figure 9d shows the climbing device at a later stage, in which tension has been reapplied to the clamping arms of the lower frame 3b, with the result that the clamping arms are held firmly around the pillar. The clamping arms of the upper frame 3a are held around the pillar 34 unchanged.

[0111] Figure 9e shows the climbing device at a later stage, in which the tension in the clamping arms of the upper frame 3a has been at least partially eliminated, and the clamping arms are at a distance from the pillar. The clamping arms of the lower frame 3b are clamped around the pillar 34 unchanged.

[0112] Figure 9f shows the climbing device at a later stage, in which the tension on the upper frame clamping arms 3a has been at least partially canceled, and the clamping arms are at a distance from the pillar 34. The lower frame clamping arms 3b are clamped around the pillar 34 unchanged.

[0113] In the next stage, the climbing device is again in the state shown in Figure 1a. By successively and repeatedly performing the aforementioned stages, the climbing device moves upwards. The climbing device descends a pillar in reverse sequence; that is, the states in Figure 9a, passing through 9f, 9e, 9d, 9c, and 9b, follow one another until reaching Figure 9a.

[0114] Figures 10a-e show schematic illustrations of successive positions of a climbing device descending along a pier situated in a body of water. In Figure 1a, a climbing device has been navigated across the water, the bottom of which is indicated by the letter “B” and the surface of the water by the letter “W”, to a pier 34, for example a bridge pier, situated in a body of water. The upper frame 3a and the lower frame 3b are not in clamping contact with the pier. The floats (not shown in detail in Figure 10) keep the climbing device afloat around pillar 34. In Figures 10b-e, the climbing device is shown in progressively lower positions, corresponding to the stage in Figure 9d, after repeated descents along pillar 34. The tension and clamping force of each of the separate frames 3a and 3b is sufficient to keep the climbing device underwater in the relevant positions and thus overcome buoyancy. This requires considerable force. Since the climbing device's clamping elements are tensioned around the pillar, no outward-directed forces are exerted on the frame, or they are negligible.

[0115] After the climbing device has reached the position shown in Figure 10e, and has therefore descended to the bottom B of the water body and carried out processes such as an inspection on the pillar, the climbing device can ascend, in reverse sequence, along pillar 34 towards the water surface “W”, and thus to the position illustrated in Figure 10a. Alternatively, both tensioning devices can be relaxed, whereby the climbing device ascends to the water surface “W” by buoyancy. This same principle can be employed in the event of a defect in the tensioning device, provided that the tensioning element is relaxed by means of an emergency mechanism, and therefore not by rotation of the spindle.

[0116] In the preceding description and accompanying figures, the present invention has been described and shown with reference to a preferred exemplary embodiment of the present invention. The description and figures do not limit the scope of protection of the invention, which is defined by the following claims. The exemplary climbing device is provided with floats. These floats are optional and may be omitted or possibly replaced by wheels or other means of transport. Although the invention is intended for performing work, no processing means are fixed to the exemplary climbing device. It is evident that the desired tools can be easily attached to one or more of the rods.

[0117] List of reference designations

[0118] 1 climbing device

[0119] 2 float

[0120] 3 assembled frame

[0121] 3a upper frame

[0122] 3b lower frame

[0123] 4 upper frame rod

[0124] 5 lower frame rod

[0125] 6 upper frame pivot arm

[0126] 7 lower frame pivot arm

[0127] 8 positionally fixed clamping arm

[0128] 9 sliding clamping arm

[0129] 10 subframe

[0130] 11 voltage cable

[0131] 12 means of connection

[0132] 13 separate

[0133] 14 rim

[0134] 15 guide wheel

[0135] 16 triangular plate

[0136] 17 spindle

[0137] 18 spindle nut

[0138] 19 pulley block

[0139] 20 solenoid

[0140] 21 spindle

[0141] 22 connecting piece

[0142] 23 pivot axis

[0143] 24 second pivot axis

[0144] 25 spindle nut

[0145] 26 actuator

[0146] 27 rod

[0147] 28 axis of rotation

[0148] 29 cogwheel

[0149] 30 zipper

[0150] 31 pressure wheel

[0151] 32 chain wheel

[0152] 33 chain

[0153] 34 pillar

[0154] B bottom of the body of water

[0155] W water surface of the water body

Claims (15)

1. CLAIMS 1. A climbing device (1) configured to move an instrument fixed to the climbing device (1) when work is being carried out externally on a pillar-shaped structure (34), the climbing device (1) comprising: - a first frame (3a) defining a foreground and configured to surround a pillar-shaped construction (34) such that the foreground extends at least substantially at right angles to a longitudinal axis of the pillar-shaped construction (34), - first fastening elements (9) that are fixed to the first frame (3a) so that they can be moved inwards from the first frame (3a) in, or at least substantially parallel to, the first plane and that are at least substantially dimensionally stable, - a first tensioning element (11) that couples, or at least is capable of coupling, with the first fastening elements (9), - a tensioning device that is configured to tension the first tensioning element (11), to tension the first tensioning element (11) in order to move the first fastening elements (9) in the direction of a pillar-shaped construction (34) surrounded by the frame (3a), - a second frame (3b) defining a second plane and configured to surround a pillar-shaped construction (34) such that the second plane extends at least substantially at right angles to a longitudinal axis of the pillar-shaped construction (34), - second fastening elements (9) that are fixed to the second frame (3b) so that they can be moved inwards from the second frame (3b) in, or at least substantially parallel to, the second plane and that are at least substantially dimensionally stable, - a second tensioning element (11) that couples, or at least is capable of coupling, with the second clamping elements (9), - a tensioning device that is configured to tension the second tensioning element, to tension the second tensioning element (11) in order to move the second fastening elements (9) in the direction of a pillar-shaped construction (34) surrounded by the frame, - connection means (12) connecting the first rack (3a) and the second rack (3b) to each other and configured to connect the first and second racks (3a, 3b) in such a way that they can be moved away from each other and towards each other, - a drive device (20) configured to drive the connection means (12), in order to adjust the distance between the first and second frame (3a, 3b). 2. The climbing device (1) as claimed in claim 1, wherein the first and second frames (3a, 3b) are polygonal in shape, preferably rectangular, preferably square. 3. The climbing device as claimed in claim 2, wherein the first and second frames (3a, 3b) are configured to, preferably in the assembled state, open and close the frame (3), including the tensioning element (11) and the clamping elements (9), so that the climbing device (1) can be adjusted around and removed from a pillar-shaped construction (34) in a horizontal motion. 4. The climbing device (1) as claimed in claim 3, wherein the first and second frames (3a, 3b) each comprise at least one pivoting arm (6, 7), the pivoting arm (6, 7) being pivotable from a closed state to an open state, wherein preferably the first and second frames (3a, 3b) each comprise at least two pivoting arms (6, 7) that can pivot to open and close like swing doors. 5. The climbing device (1) as claimed in claim 4, wherein the at least one pivoting arm (6, 7) of a part of the frame extends, in the closed state, to an opposite part of the frame part, preferably over a whole side of the frame part, wherein preferably a second pivoting arm (6, 7) partially overlaps the at least one pivoting arm (6, 7), and/or wherein guide means (15) are provided to guide, at least during a final phase of the closing of the frame (3), the at least one pivoting arm (6, 7) during the movement of the at least one pivoting arm (6, 7) from an open state to a closed state. 6. The climbing device (1) as claimed in one or more of the preceding claims 4 or 5, wherein the pivoting arms (6, 7) of a frame are provided with engagement means that couple with each other in the closed state of the pivoting arms (6, 7) such that the ends of the tensioning element (11) are pulled towards each other during tensioning and, therefore, the mutual engagement of the engagement means is is reinforced and secured, and/or in which tensioning means are provided to keep the tensioning element (11) under tension in the open state of at least one pivoting arm (6, 7). 7. The climbing device (1) as claimed in one or more of the preceding claims, provided with centering means configured to be able to center a pillar-shaped construction (34) to be attached with respect to the fastening elements (9), and/or wherein the tensioning element (11) is an elongated flexible tensioning element (11), preferably a cable. 8. The climbing device (1) as claimed in one or more of the preceding claims, wherein the tensioning device comprises a spindle (17) and a spindle nut (18) that engages with the spindle (17), wherein the tensioning element (11), the spindle (17) and the spindle nut (18) are connected to each other in such a way that rotation of the spindle nut (18) tensions or relaxes the tensioning element (11). 9. The climbing device (1) as claimed in one or more of the preceding claims, wherein the connecting means (12) comprise a rack (30) and a pinion that engages with the rack (30), wherein the rack (30) and the pinion are connected or engaged with the first and second frames (3a, 3b) such that rotation of the pinion produces a mutual displacement of the first and second frames (3a, 3b), wherein preferably the connecting means (12) comprise two or more combinations of a rack (30) and a pinion cooperating in this manner. 10. The climbing device (1) as claimed in one or more of the preceding claims, wherein the climbing device (1) is provided with floats (2) by means of which the climbing device (1) can float in open water, and/or wherein the climbing device (1) is provided with a displacement drive, by means of which the climbing device (1) can be displaced over open water or the ground. 11. The climbing device (1) as claimed in one or more of the preceding claims, wherein the device (1) is provided with remotely controllable means, and/or wherein the climbing device (1) is provided with wheels, by means of which the climbing device (1) can be moved over (semi) paved ground. 12. The climbing device (1) as claimed in one or more of the preceding claims, characterized in that the climbing device (1) is provided with a preferably releasable processing device by means of which processes can be carried out on the pillar-shaped construction (34). 13. A method for ascending and descending along a pillar-shaped structure (34) using a climbing device (1) as claimed in one or more of the preceding claims when fitted around the pillar-shaped structure (34), said method comprising the following steps: a) provide a pillar-shaped construction (34); b) placing the climbing device (1) around the pillar-shaped construction (34), wherein the first frame (3a) is located above the second frame (3b); c) securing the fastening elements (9) of the first frame (3a) around the pillar-shaped construction (34) by means of the first tensioning element (11) that is coupled to the first fastening elements (9), a tensioning device that pulls the first tensioning element (11) firmly, to tension the first tensioning element (11) in order to move the first fastening elements (9) in the direction of a pillar-shaped construction (34) surrounded by the frame; d) keep the fastening elements (9) of the second frame (3b) in an unfastened state or bring them to that state; e) move the second frame (3b) with respect to the first frame (3a) in a certain direction upwards or, respectively, downwards; f) securing the fastening elements (9) of the second frame (3b) around the pillar-shaped construction (34) by means of the second tensioning element (11) that is coupled to the second fastening elements (9), a tensioning device that pulls the second tensioning element forcefully, to tension the second tensioning element (11) in order to move the second fastening elements (9) in the direction of a pillar-shaped construction (34) surrounded by the frame; g) bring the fastening elements (9) of the first frame (3a) to an unfastened state; h) move the first frame (3a) in the determined direction; i) repeat steps c) to h) until the climbing device (1) is located in a desired position with respect to the pillar-shaped construction (34). 14. The method as claimed in claim 13, wherein the pillar-shaped structure (34) is situated in a body of water and the climbing device (1) is provided with flotation means (2), wherein the climbing device (1) floats or navigates over a water surface (W) of the body of water to the pillar-shaped structure (34) before step b), and/or wherein the climbing device (1) moves downwards to below the water surface in steps c) to h). 15. The method as claimed in one or more of claims 13 or 14, wherein a climbing device (1) is provided with a receiver configured to receive control signals, and wherein the control signals for controlling the device are transmitted from a distance to the receiver through a transmitter.