received by the International Bureau on 29 May 2020 (29.05.2020)

Claims

1. Apparatus for servicing a structure, comprising:

a frame for assembly or arrangement around the structure, the frame having first and second end supports provided at opposite ends of the frame and a middle support provided between said opposite ends of the frame and connected to said end supports by axially extending struts;

at least one pair of first and second arms pivotally attached at proximal ends thereof to the middle support; and

at least one pair of first and second rotating members, attached to distal ends of the respective first and second arms, for contact with the structure;

the first and second arms extending in axially opposite directions and being pivotable so as to move the corresponding first and second rotating members towards or away from the structure;

wherein at least one of the first and second arms is arranged to pass between adjacent ones of the struts such that the corresponding first or second rotating member is able to contact the structure.

2. Apparatus of any preceding claim, including means for driving the first and/or second arms so as to pivot towards the structure and bring the respective rotating member into contact with the structure.

3. Apparatus of claim 2, wherein the means for driving the first and/or second arms

comprises hydraulic driving means.

4. Apparatus of any preceding claim, including a plurality of said pairs of first and second arms and first and second rotating members, circumferentially spaced around the support.

5. Apparatus of any preceding claim, wherein the or each rotating member has a contact surface arranged to enhance traction and/or reduce wear.

6. Apparatus of any preceding claim, wherein the frame comprises a plurality of frame segments arranged to be assembled around the structure.

7. Apparatus of claim 6, wherein an adjacent pair of the frame segments are hingedly connected together.

8. Apparatus of any preceding claim, including connecting means for removably

connecting the apparatus to one or more modules for servicing the structure.

9. Apparatus of claim 8, wherein the connecting means comprises one or more docking parts. 10. Apparatus of claim 8 or claim 9, comprising a first module and including one or more additional modules connected directly or indirectly to the first module, the or each additional module comprising apparatus in accordance with any one of claims 1 to 8.

11. Apparatus of claim 10, wherein the or each additional module is arranged for cleaning, testing and/or cutting the structure.

12. Apparatus of claim 10 or claim 11, wherein the first module includes a master

controller and the or each additional module includes a slave controller connected or connectable to the master controller.

13. Apparatus of any one of claims 1 to 8, including a carriage arranged for circumferential movement at or near an axial end of the frame, the carriage carrying, or being arranged to carry, one or more tools for servicing the structure. 14. Apparatus of claim 13, including means for driving the carriage circumferentially

relative to the frame.

15. Apparatus of claim 14, including a track arranged circumferentially around the frame, the carriage having a drive member that engages the track and is driveable so as to move the carriage around the track.

16. Apparatus of claim 15, wherein the track comprises a gear track and the drive member comprises a gear. 17. Apparatus of any one of claims 13 to 16, including a guide rail for guiding the carriage circumferentially, the guide rail being attached to the second support.

21

18. Apparatus of any one of claims 13 to 17, including means for driving the tool relative to the carriage.

19. Apparatus of any one of claims 13 to 18, including said one or more tools carried on the carriage, the one or more tools 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.

20. Apparatus of any one of claims 13 to 19, including a circumferential position sensor for sensing a circumferential position of the carriage.

21. Apparatus of any preceding claim, including a distance sensor for sensing a distance travelled by the apparatus along the structure.

22. Apparatus of claim 21, wherein the distance sensor comprises a wheel arranged to contact the structure.

23. Apparatus of any one of claims 2, 3, 14 or 18, or any one of claims 4 to 13, 15 to 17 or 19 to 22 when dependent thereon, including a remote control for controlling said driving.

24. Apparatus of any one of claims 2, 3, 14 or 18, or any one of claims 4 to 13, 15 to 17 or 19 to 22, or according to claim 23, wherein said driving is programmable to perform said service.

25. A kit of parts for providing the apparatus of any preceding claim, for servicing

structures of different sizes, comprising:

a plurality of frame components of different sizes so as to provide frames for assembly around structures of different sizes; and

at least one arm removably attached or attachable to at least one of the frame components and having a rotating member arranged to contact the structure.

22