Chain climbing robot for detecting mooring chain of offshore floating platform and offshore operation method of chain climbing robot

Abstract

The invention discloses a crawling robot for offshore floating platform mooring chain detection and an offshore operation method of the crawling robot. The device is composed of a plurality of modules; each module frame mechanism is of an octagonal prism structure capable of being opened and closed, four faces in eight side faces are main faces, each main face is composed of a main frame, each main frame comprises two unit frames, the main frames are connected through a connecting frame, and the connecting frame with a twisting function is adopted at the position of a twisting structure; each main frame is provided with a moving wheel, the moving wheels on the opposite main frames are at the same height, the heights of the moving wheels on the adjacent main frames are different, and the two unit frames in the main frames can be telescopically adjusted; two opposite moving wheels form a moving module, a distance between the two wheels is adjusted through a clamping mechanism, and the robot is suitable for in-situ detection of mooring chains of various ocean floating platforms, can carry various sensors, functional equipment and the like, and has wide scientific application significance and commercial prospects.

Description

technical field [0001] The invention belongs to the technical field of detection of mooring systems of offshore platforms, and in particular relates to a chain-climbing robot used for detection of mooring chains of floating platforms on the sea. Background technique [0002] For offshore floating platforms, their stability at sea mainly depends on the mooring system. At present, semi-submersible production and drilling platforms in the South my country Sea, crude oil export terminals using single point mooring of catenary buoys, and offshore floating wind power platforms all use anchor mooring systems for offshore positioning. For the floating production platform, due to its long-term operation, the adhesion of marine organisms will increase the structural stress and weaken the platform's load capacity, and the secretion of marine organisms will accelerate structural corrosion. Fatigue problems can also arise due to the fact that the anchor chain structure is subject to alt...

AI Technical Summary

Problems solved by technology

The diving operation itself is a high-risk operation. The influence of the ocean environment such as ocean currents and internal waves will bring great safety hazards to underwater operations. Adding the underwater working tools, umbilical cables and high-pressure water pipes it carries makes diving operations extremely difficult. high;

[0005] (2) Restrictions on operating capacity

[0006] (3) The operating environment window is limited, the construction period is long, and the operating efficiency is low

[0009] (1) The cost of existing underwater anchor chain detection robots is high, the structure is too complicated, and the overall weight of most detection robots is too large, and the operation is cumbersome;

[0010] (2) The overall research and development level of anchor chain detection robots proposed at home and abroad is low, and the technology is immature. Most of them stay in the theoretical analysis and design stage, and there are very few prototypes with commercial value;

[0011] (3) The adaptability of existing underwater robots is poor, and the size difference between different levels of mooring chains has not been considered;

[0012] (4) It is difficult for the existing floating underwater robots to meet the operational stability required for detection operations;

[0013] (5) The existing crawling robot has insufficient chain climbing ability, and the requirements for mooring chains are very high, and adjacent chain links cannot be bent or twisted

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