Offshore platform dry type pile leg inner wall crawling robot

Abstract

The invention relates to a pure power-driven crawling robot. The overall robot is composed of an upper leg group, a lower leg group, electromagnetic suction cup, a body, motors, screw nuts and other mechanisms. Extensible movement of the robot mechanism is achieved through the motors and the screw nuts, and guiding and supporting are achieved through a guiding rail mechanism. Vertical reciprocating crawling of the robot is achieved through cooperation of extension and absorption the leg groups and extension of the body. The overall robot can freely crawl in a semicircular columnar space in a dry type pile leg and step over a flange obstacle in the joint in the middle of the pile leg through a mode of step size changing. According to the robot, a pile leg inner wall defect detecting device or an operating device can be carried, human operation can be replaced, safety of the pile leg and even a platform system is improved, and overhauling cost is saved.

Description

technical field [0001] The invention relates to a crawling robot on the inner wall of a dry-type pile leg of an offshore platform, which belongs to the field of mechanical design. Background technique [0002] The pile leg is an important basic component to maintain the stability and safety of the offshore platform. In practical application, affected by factors such as the displacement and seating of the platform system, ship collision, partial load of the platform system, marine organisms, seawater, wind and waves, tidal current erosion and other factors, the pile legs will be rusted, cracked, deformed, partially thinned, Stress concentration and other problems, if these problems are not dealt with in time, will continue to deteriorate and expand under the joint action of internal and external factors, and then endanger the safety of the legs and even the entire platform system. Therefore, the development of a leg defect detection system is conducive to the timely discover...

AI Technical Summary

Problems solved by technology

On-site detection mainly relies on methods such as manual crawling and naked eye observation. This method is usually accompanied by high-altitude operations. And the legs are dragged into the dock, which requires a lot of manpower and financial resources

[0004] The present invention is based on the internal structure of dry-type pile legs of an offshore platform. The inner cylindrical space of the pile leg is divided into two semi-cylindrical parts, and one of the semi-cylindrical spaces is equipped with multi-layer working platforms, ladders, guardrails and other structures, and the structure is relatively complicated. , not suitable for robot crawling

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