Offshore platform wall-climbing derusting robot

Abstract

The application refers to a kind of offshore platform wall-climbing derusting robot designed by electromagnetic adsorption method and parallelogram linkage mechanism to replace manual derusting operation on offshore drilling platform, which is composed of swing arm derusting system, rear leg group system, front leg group system and rotary drive system. The robot has simple and compact structure, reliable adsorption force, flexible drive, forward and reverse direction climbing, arbitrary angle steering, adsorption on uneven wall to a certain extent and certain obstacle crossing ability.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of offshore platform wall climbing derusting robot, belong to mechanical design field. BACKGROUND

[0002] In the development process of offshore oil and gas field, although its platform wall surface is treated by spraying antirust coating, but with the increase of running time and the influence of marine special environment, there will be different degrees of internal and external corrosion, serious corrosion can greatly reduce the structural strength of equipment, even cause penetrating leakage, and then the safety of platform local or even whole is threatened, cause serious consequences.Therefore, platform facilities must be regularly or irregularly derusting operation.The traditional manual derusting method needs worker to personally go to rust place and carry out derusting, not only inefficient, consume more time, and there is great security risk.Platform site urgently needs a more efficient, safe operation mode to replace manual operation.The present application applies electromagnetic adsorption mode, refers to parallelogram linkage mechanism and designs a kind of offshore platform wall climbing derusting robot to replace manual derusting operation on offshore drilling platform, has the advantages such as simple and compact structure, reliable adsorption force, flexible drive, can climb in positive and reverse directions, can turn at any angle, can be adsorbed on uneven wall surface to a certain extent, has certain obstacle-crossing ability. SUMMARY

[0003] The present application refers to parallelogram linkage mechanism and designs a kind of offshore platform wall climbing derusting robot based on electromagnetic adsorption mode to replace manual derusting operation on offshore drilling platform.To realize the above technical problem, the present application adopts the following scheme:

[0004] A kind of offshore platform wall climbing derusting robot, its overall structure is composed of swing arm derusting system, rear leg group system, front leg group system, rotary drive system.

[0005] The swing arm rust removal system is composed of a rotating machine cover, long bolt nuts, angle seats, swing arm cross beams, inclined support beams, cross beam connecting rods, swing arm vertical beams, stepping motors, shaft couplings, U-shaped frames, sand wheel assembly shafts, sand wheels and T-shaped nuts, wherein one end of the two swing arm cross beams is provided with bolt through holes, the end is fastened to the rotating machine cover through the long bolt nuts and two angle seats and matched bolts and T-shaped nuts, the other end of the two swing arm cross beams is fastened to the cross beam connecting rod through two angle seats and matched bolts and T-shaped nuts, the swing arm vertical beam is connected to the middle part of the bottom surface of the cross beam connecting rod and is fastened through the two inclined support beams and matched bolts and T-shaped nuts, the U-shaped frame is threadedly connected to the bottom end of the swing arm vertical beam through four bolts, the stepping motor is threadedly connected to the top surface of the U-shaped frame through four bolts, the top surface of the U-shaped frame is provided with a motor mounting hole for the motor output shaft to extend into the U-shaped space of the U-shaped frame, the bottom surface of the U-shaped frame is provided with a reserved hole for the sand wheel assembly shaft to extend into the U-shaped space of the U-shaped frame, after the motor output shaft and the sand wheel assembly shaft are assembled, the two shafts are connected through the shaft coupling in the U-shaped space of the U-shaped frame, and the sand wheel rotating center is provided with a mounting hole and is fastened to the sand wheel assembly shaft.

[0006] The rear leg group system is composed of corner seats, rear leg group frame vertical rods, rear leg group frame horizontal rods, rear leg group connecting rods, connecting rod supports, rear leg group connecting rods, rear leg group electromagnet rods, rolling bearings, shaft retaining rings, connecting rod shafts, electromagnets, springs, upper electric cylinder supports, lower electric cylinder supports, rear leg group electric cylinder bodies, rear leg group electric cylinder piston rods and T-shaped nuts; the top frame of the rear leg group system is symmetrically connected to the upper and lower ends of the inner side surfaces of the left and right rear leg group frame vertical rods at the outer frame upper and lower two rear leg group frame horizontal rods, and the four corners of the inner surface of the rectangular area formed by the frame are fastened and connected by four groups of corner seats and matched bolts and T-shaped nuts; the two ends of the two rear leg group frame horizontal rods inside the frame are connected to the middle of the inner side surfaces of the left and right rear leg group frame vertical rods, and the four corners of the inner surface of the rectangular area formed by the frame are fastened and connected by four groups of corner seats and matched bolts and T-shaped nuts; the bottom side surfaces of each rear leg group frame vertical rod are threadedly connected to two connecting rod supports through bolts at both ends; the bottom module of the rear leg group system is connected to the left ends of the inner side surfaces of the two rear leg group electromagnet rods at the upper and lower ends of the rear leg group connecting rods, and the two corners of the inner surface of the formed area are fastened and connected by two groups of corner seats and matched bolts and T-shaped nuts; the top side surfaces of each rear leg group electromagnet rod are threadedly connected to two connecting rod supports through bolts at both ends; each rear leg group electromagnet rod is connected to four groups of electromagnets through two springs, two bolts and two electromagnets, wherein the two ends of the spring are previously placed in the spring hole reserved on the bottom side surface of the rear leg group electromagnet rod and are connected to the plane outside the circumferential surface of the two threaded holes at the top of the electromagnet, and then the two bolts pass through the bolt reserved hole on the top side surface of the rear leg group electromagnet rod, pass through the two springs and are threadedly connected to the two threaded holes at the top of the electromagnet; the top frame and the bottom module of the rear leg group system are connected by four rear leg group connecting rods, two rolling bearings are installed on the inner and outer bearing holes of each rear leg group connecting rod at both ends, the rolling bearings at both ends of the rear leg group connecting rod are hinged to the connecting rod supports through the connecting rod shafts, and shaft retaining rings are installed at both ends of the connecting rod shafts; the rear leg group stepping electric cylinder mechanism is composed of an upper electric cylinder support, a lower electric cylinder support, a rear leg group electric cylinder body and a rear leg group electric cylinder piston rod; the upper electric cylinder support is threadedly connected to the middle of the left side surface of the left rear leg group frame vertical rod of the top frame through four bolts, the lower electric cylinder support is threadedly connected to the middle of the top side surface of the rear leg group connecting rod of the bottom module through four bolts, the rear leg group electric cylinder body is hinged to the lower electric cylinder support through a shaft, and the rear leg group electric cylinder piston rod is hinged to the upper electric cylinder support through a shaft.

[0007] The front leg group system is composed of corner seats, connecting rod supports, rolling bearings, shaft retaining rings, connecting rod shafts, electromagnets, springs, upper cylinder supports, lower cylinder supports, front leg group cylinder bodies, front leg group cylinder piston rods, front leg group frame crossbars, front leg group frame vertical bars, front leg group connecting rods, front leg group electromagnet rods, and T-shaped nuts. The top frame of the front leg group system is symmetrically connected to the upper and lower ends of the inner side surfaces of the left and right front leg group frame vertical bars, and the four corners of the inner surface of the rectangular area formed by the frame are fastened and connected by four groups of corner seats and matched bolts and T-shaped nuts. The top frame and the bottom module of the front leg group system are connected by four front leg group connecting rods, two rolling bearings are installed at the two ends of each front leg group connecting rod, the rolling bearings at the two ends of the front leg group connecting rod are hinged to the connecting rod supports through connecting rod shafts, and shaft retaining rings are installed at the two ends of the connecting rod shafts. The front leg group stepping cylinder mechanism is composed of an upper cylinder support, a lower cylinder support, a front leg group cylinder body, and a front leg group cylinder piston rod.

[0008] The rotating driving system is composed of a shaft coupling, deep groove ball bearings, clutch assembly shafts, electromagnetic clutch plates, electromagnetic clutch bodies, a motor frame, T-shaped nuts, double-output shaft stepping motors and a rotating support, wherein the double-output shaft stepping motor is installed on the motor frame through four bolts, the upper output shaft of the motor extends from the motor mounting hole in the center of the motor frame and is connected with one end of the shaft coupling, the other end of the shaft coupling is connected with the clutch assembly shaft, the clutch assembly shaft is sequentially penetrated by the electromagnetic clutch body, the electromagnetic clutch plate and two deep groove ball bearings from bottom to top, and the clutch assembly shaft is connected with the electromagnetic clutch body through the insertion of the pin into the pin slot at the bottom of the electromagnetic clutch body; the lower output shaft of the motor is connected with one end of another shaft coupling, the other end of the shaft coupling is connected with another clutch assembly shaft, the clutch assembly shaft is sequentially penetrated by the electromagnetic clutch body, the electromagnetic clutch plate and two deep groove ball bearings from top to bottom, and the clutch assembly shaft is connected with the electromagnetic clutch body through the insertion of the pin into the pin slot at the bottom of the electromagnetic clutch body, the electromagnetic clutch plate is threadedly connected with the rotating support through a screw, and the deep groove ball bearings are arranged in the bearing holes at the bottom of the rotating support.

[0009] The rotating driving system, the rear leg group system, the front leg group system and the rotating driving system are connected with the rotating driving system in the following manner to form a whole wall-climbing robot.

[0010] The two rear leg group frame crossbars in the top frame of the rear leg group system are fastened and connected with the motor frame in the rotating driving system through a set of bolts and T-shaped nuts on the top surface of each crossbar, the front leg group frame crossbars on the two sides of the top frame of the front leg group system are fastened and connected with the rotating support in the rotating driving system through a set of bolts and T-shaped nuts on the top surface of each crossbar, the two deep groove ball bearings on the top of the rotating driving system are transitionally fitted with the bearing holes in the rotating machine cover of the swing arm derusting system, and the electromagnetic clutch plate on the top of the rotating driving system is threadedly connected with the rotating machine cover in the swing arm derusting system through a screw.

[0011] Compared with the prior art, the present application has the following advantages:

[0012] 1. The robot has simple and compact structure, reliable adsorption force and flexible driving.

[0013] 2. The robot can climb in both forward and reverse directions and can turn at any angle during operation.

[0014] 3. The electromagnetic self-adaptive modules at the bottom of the front and rear leg groups can be adsorbed on the wall surface with certain concave-convex unevenness.

[0015] 4. The front and rear leg groups are parallelogram linkage mechanisms and have certain obstacle-crossing ability. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be further described in detail below in combination with the drawings and specific embodiments:

[0017] Figure 1 The overall structure diagram of the robot of the present application;

[0018] Figure 2 The structure diagram of the swing arm rust removal system of the robot of the present application;

[0019] Figure 3 The structure diagram of the rear leg group system of the robot of the present application;

[0020] Figure 4 The structure diagram of the front leg group system of the robot of the present application;

[0021] Figure 5 The structure diagram of the rotation driving system of the robot of the present application;

[0022] Figure 6 The schematic diagram of the floating electromagnet mechanism of the robot of the present application;

[0023] Figure 7 The half cut main view of the rotating machine cover of the present application;

[0024] Figure 8 The top view of the rotating machine cover of the present application;

[0025] Figure 9 The main view of the U-shaped frame of the present application;

[0026] Figure 10 The left view of the U-shaped frame of the present application;

[0027] Figure 11 The top view of the U-shaped frame of the present application;

[0028] Figure 12 The half cut main view of the rotating support of the present application;

[0029] Figure 13 The top view of the rotating support of the present application;

[0030] Figure 14 The main view of the motor frame of the present application;

[0031] Figure 15 The top view of the motor frame of the present application.

[0032] The reference signs in the drawings are as follows:

[0033] 1, rotating cover; 2, long bolt nut; 3, angle seat; 4, swing arm crossbeam; 5, inclined support beam; 6, crossbeam connecting rod; 7, swing arm vertical beam; 8, stepping motor; 9, shaft coupling; 10, U-shaped frame; 11, grinding wheel assembly shaft; 12, grinding wheel; 13, rear leg group frame vertical rod; 14, rear leg group frame crossbeam; 15, rear leg group connecting rod; 16, connecting rod support; 17, rear leg group connecting rod; 18, rear leg group electromagnet rod; 19, rolling bearing; 20, shaft retainer; 21, connecting rod core shaft; 22, electromagnet; 23, spring; 24, upper support of electric cylinder; 25, lower support of electric cylinder; 26, main body of rear leg group electric cylinder; 27, piston rod of rear leg group electric cylinder; 28, main body of front leg group electric cylinder; 29, piston rod of front leg group electric cylinder; 30, vertical rod of front leg group frame; 31, connecting rod of front leg group; 32, crossbeam of front leg group frame; 33, electromagnet rod of front leg group; 34, connecting rod of front leg group; 35, deep groove ball bearing; 36, clutch assembly shaft; 37, electromagnetic clutch piece; 38, main body of electromagnetic clutch; 39, motor frame; 40, T-shaped nut; 41, double-output shaft stepping motor; 42, rotating support. DETAILED DESCRIPTION

[0034] In order to better describe the purpose, function and specific design scheme of the present application, the present application will be further described in detail below in combination with the drawings. Please refer to Figures 1-7 A sea platform wall-climbing derusting robot, which is composed of a swing arm derusting system, a rear leg group system, a front leg group system and a rotating driving system.

[0035] The swing arm rust removal system is composed of a rotating machine cover (1), long bolt nuts (2), angle seats (3), swing arm cross beams (4), inclined support beams (5), cross beam connecting rods (6), swing arm vertical beams (7), stepping motors (8), shaft couplings (9), U-shaped frames (10), grinding wheel assembly shafts (11), grinding wheels (12), and T-shaped nuts (40). One end of each of the two swing arm cross beams (4) is provided with a bolt through hole, and the end is fastened to the rotating machine cover (1) through the long bolt nuts (2), two angle seats (3), and matched bolts and T-shaped nuts (40). The other end of the two swing arm cross beams (4) is fastened to the cross beam connecting rod (6) through two angle seats (3) and matched bolts and T-shaped nuts (40). The swing arm vertical beam (7) is connected to the bottom surface of the middle part of the cross beam connecting rod (6) and is fastened through the inclined support beams (5) on both sides and matched bolts and T-shaped nuts (40). The U-shaped frame (10) is screwed to the lower end of the swing arm vertical beam (7) through four bolts. The stepping motor (8) is screwed to the top surface of the U-shaped frame (10) through four bolts. The top surface of the U-shaped frame (10) is provided with a motor mounting hole, and the motor output shaft is inserted into the U-shaped space of the U-shaped frame (10). The bottom surface of the U-shaped frame (10) is provided with a reserved hole, and the grinding wheel assembly shaft (11) is inserted into the U-shaped space of the U-shaped frame (10). After the motor output shaft and the grinding wheel assembly shaft (11) are assembled, the two shafts are connected through the shaft coupling (9) in the U-shaped space of the U-shaped frame (10). The grinding wheel (12) is fastened to the grinding wheel assembly shaft (11) through the mounting hole in the center of the grinding wheel.

[0036] The back leg group system is composed of corner seat (3), back leg group frame vertical rod (13), back leg group frame horizontal rod (14), back leg group connecting rod (15), connecting rod support (16), back leg group connecting rod (17), back leg group electromagnet rod (18), rolling bearing (19), shaft check ring (20), connecting rod core shaft (21), electromagnet (22), spring (23), electric cylinder upper support (24), electric cylinder lower support (25), back leg group electric cylinder body (26), back leg group electric cylinder piston rod (27) and T-shaped nut (40); the top frame of the back leg group system is symmetrically connected to the upper and lower ends of the inner side surfaces of the left and right back leg group frame vertical rods (13) at the two end faces of the two back leg group frame horizontal rods (14) on the outer frame, and the four corners of the inner surface of the rectangular area formed by the frame are fastened and connected by four corner seats (3) and matched bolts and T-shaped nuts (40), the two end faces of the two back leg group frame horizontal rods (14) in the frame are connected to the middle of the inner side surfaces of the left and right back leg group frame vertical rods (13), and the four corners of the inner surface of the rectangular area formed by the frame are fastened and connected by four corner seats (3) and matched bolts and T-shaped nuts (40), and the bottom side surfaces of each back leg group frame vertical rod (13) are threadedly connected to two connecting rod supports (16) through bolts; the bottom module of the back leg group system is connected to the left end of the inner side surface of each back leg group electromagnet rod (18) at the upper and lower ends of the back leg group connecting rod (17), and the two corners of the inner surface of the formed area are fastened and connected by two corner seats (3) and matched bolts and T-shaped nuts (40), the top side surfaces of each back leg group electromagnet rod (18) are threadedly connected to two connecting rod supports (16) through bolts, and four electromagnets (22) are connected by two springs (23), two bolts and two electromagnets (22) for each group, wherein the two ends of the spring are previously placed in the spring hole reserved on the bottom side surface of the back leg group electromagnet rod (18) and the plane outside the two threaded hole circumferences of the top of the electromagnet (22), and then the two bolts pass through the bolt reserved hole on the top side surface of the back leg group electromagnet rod (18), pass through the two springs, and are threadedly connected with the two threaded holes on the top of the electromagnet (22); the top frame and the bottom module of the back leg group system are connected by four back leg group connecting rods (15), two rolling bearings (19) are installed in the inner and outer bearing holes at the two ends of each back leg group connecting rod (15), the rolling bearings (19) at the two ends of the back leg group connecting rod (15) are hinged to the connecting rod support (16) through the connecting rod core shaft (21), and shaft check rings (20) are installed at the two ends of the connecting rod core shaft (21).The rear leg group step electric cylinder mechanism is composed of an electric cylinder upper support (24), an electric cylinder lower support (25), an electric cylinder main body (26), and an electric cylinder piston rod (27). The electric cylinder upper support (24) is threadedly connected to the left side surface of the middle part of the rear leg group frame vertical rod (13) on the left side of the top frame through four bolts. The electric cylinder lower support (25) is threadedly connected to the top side surface of the middle part of the rear leg group connecting rod (17) of the bottom module through four bolts. The tail of the electric cylinder main body (26) is hingedly connected to the electric cylinder lower support (25) through a mandrel. The head of the electric cylinder piston rod (27) is hingedly connected to the electric cylinder upper support (24) through a mandrel.

[0037] The front leg group system is composed of corner seat (3), connecting rod support (16), rolling bearing (19), shaft check ring (20), connecting rod shaft (21), electromagnet (22), spring (23), upper cylinder support (24), lower cylinder support (25), front leg group cylinder body (28), front leg group cylinder piston rod (29), front leg group frame crossbar (32), front leg group frame vertical bar (30), front leg group connecting rod (31), front leg group electromagnet rod (33), front leg group connecting rod (34) and T-shaped nut (40); the top frame of the front leg group system is symmetrically connected to the upper and lower ends of the inner side surfaces of the left and right front leg group frame vertical bars (30) at the two ends of the upper and lower front leg group frame crossbars (32), and the four corners of the inner surface of the rectangular area formed by the frame are fastened and connected by four sets of corner seats (3) and matched bolts and T-shaped nuts (40); the bottom module of the front leg group system is connected to the right end of the inner side surface of the two front leg group electromagnet rods (33) at the upper and lower ends of the front leg group connecting rod (34), and the two corners of the inner surface of the formed area are fastened and connected by two sets of corner seats (3) and matched bolts and T-shaped nuts (40); the top side surface of each front leg group electromagnet rod (33) is threadedly connected to two connecting rod supports (16) through bolts at the left and right ends; each front leg group electromagnet rod (33) is connected to four electromagnets (22) through two springs (23), two bolts and two electromagnets (23), wherein the two ends of the spring are placed in the spring hole reserved on the bottom side surface of the front leg group electromagnet rod (33) and the plane outside the two threaded holes on the top of the electromagnet (22), and then the two bolts pass through the bolt reserved hole on the top side surface of the front leg group electromagnet rod (33), pass through the two springs, and are threadedly connected to the two threaded holes on the top of the electromagnet (23); the top frame and the bottom module of the front leg group system are connected by four front leg group connecting rods (31), two rolling bearings (19) are installed in the inner and outer bearing holes at the two ends of each front leg group connecting rod (31), the rolling bearings (19) at the two ends of the front leg group connecting rod (31) are hinged to the connecting rod support (16) through the connecting rod shaft (21), and shaft check rings (20) are installed at the two ends of the connecting rod shaft (21); the front leg group stepping cylinder mechanism is composed of upper cylinder support (24), lower cylinder support (25), front leg group cylinder body (28) and front leg group cylinder piston rod (29), the upper cylinder support (24) is threadedly connected to the middle part of the right side surface of the right front leg group frame vertical bar (30) of the top frame through four bolts, the lower cylinder support (25) is threadedly connected to the middle part of the top side surface of the front leg group connecting rod (34) of the bottom module through four bolts, the tail of the front leg group cylinder body (28) is hinged to the lower cylinder support (25) through a shaft, and the head of the front leg group cylinder piston rod (29) is hinged to the upper cylinder support (24) through a shaft.

[0038] The rotating drive system is composed of a shaft coupling (9), deep groove ball bearings (35), clutch assembly shafts (36), electromagnetic clutch plates (37), electromagnetic clutch bodies (38), motor frames (39), T-shaped nuts (40), double-output shaft stepper motors (41), rotating supports (42), wherein the double-output shaft stepper motor (41) is installed on the motor frame (39) through four bolts, the upper output shaft of the motor extends from the motor mounting hole in the center of the motor frame (39) and is connected with one end of the shaft coupling (9), the other end of the shaft coupling (9) is connected with the clutch assembly shaft (36), the clutch assembly shaft (36) is sequentially penetrated from bottom to top with the electromagnetic clutch body (38), the electromagnetic clutch plate (37) and two deep groove ball bearings (35), and the electromagnetic clutch body (38) is connected with the clutch assembly shaft (36) through a pin passing through the pin slot at the bottom of the electromagnetic clutch body (38); the lower output shaft of the motor is connected with one end of another shaft coupling (9), the other end of the shaft coupling (9) is connected with another clutch assembly shaft (36), the clutch assembly shaft (36) is sequentially penetrated from top to bottom with the electromagnetic clutch body (38), the electromagnetic clutch plate (37) and two deep groove ball bearings (35), and the electromagnetic clutch body (38) is connected with the clutch assembly shaft (36) through a pin passing through the pin slot at the bottom of the electromagnetic clutch body (38), the electromagnetic clutch plate (37) is threadedly connected with the rotating support (42) through a screw, and the deep groove ball bearings (35) are assembled in the bearing holes at the bottom of the rotating support (42).

[0039] The swing arm derusting system, the rear leg group system, the front leg group system and the rotating drive system are connected with the rotating drive system in the following manner to form an overall wall climbing robot.

[0040] The two rear leg group frame cross bars (14) in the top frame of the rear leg group system are each fastened and connected with the motor frame (39) in the rotating drive system through a set of bolts and T-shaped nuts (40) on the top surface thereof, the front leg group frame cross bars (30) on both sides of the top frame of the front leg group system are each fastened and connected with the rotating support (42) in the rotating drive system through a set of bolts and T-shaped nuts (40) on the top surface thereof, the two deep groove ball bearings (35) on the top of the rotating drive system are transitionally fitted with the bearing holes in the interior of the rotating machine cover (1) of the swing arm derusting system, and the electromagnetic clutch plate (37) in the rotating drive system is threadedly connected with the rotating machine cover (1) in the swing arm derusting system through a screw.

[0041] The working principle of the present application is as follows:

[0042] The advancing process is as follows: Figure 1As the initial posture, the eight electromagnets of the front leg group system are powered to be adsorbed to the wall surface when advancing, the forward rotation of the stepping motor in the front leg group stepping cylinder mechanism drives the front leg group cylinder piston rod (29) to elongate, so that the robot as a whole moves a certain distance forward, until the front leg group connecting rod (31) is perpendicular to the wall surface; further, the forward rotation of the stepping motor in the rear leg group stepping cylinder mechanism drives the rear leg group cylinder piston rod (27) to elongate, so that the rear leg group system bottom module lands, until the rear leg group connecting rod (15) is perpendicular to the wall surface, at this time the eight electromagnets of the rear leg group system are in contact with the wall surface; further, the eight electromagnets of the rear leg group system are powered to be adsorbed to the wall surface, the eight electromagnets of the front leg group system are de-energized to stop adsorption, the reverse rotation of the stepping motor in the front leg group stepping cylinder mechanism drives the front leg group cylinder piston rod (29) to shorten, so that the front leg group system bottom module rises, until the angle between the front leg group connecting rod (31) and the wall surface is as in the initial posture; further, the reverse rotation of the stepping motor in the rear leg group stepping cylinder mechanism drives the rear leg group cylinder piston rod (27) to shorten, so that the robot as a whole moves a certain distance forward, until the angle between the rear leg group connecting rod (15) and the wall surface is as in the initial posture, at this time the eight electromagnets of the front leg group system are in contact with the wall surface, and the robot as a whole returns to the initial posture, which is a complete cycle.

[0043] Retreating process: taking Figure 1 As the initial posture, the eight electromagnets of the rear leg group system are powered to be adsorbed to the wall surface when retreating, the forward rotation of the stepping motor in the rear leg group stepping cylinder mechanism drives the rear leg group cylinder piston rod (27) to elongate, so that the robot as a whole moves a certain distance backward, until the rear leg group connecting rod (15) is perpendicular to the wall surface; further, the forward rotation of the stepping motor in the front leg group stepping cylinder mechanism drives the front leg group cylinder piston rod (29) to elongate, so that the front leg group system bottom module lands, until the front leg group connecting rod (31) is perpendicular to the wall surface, at this time the eight electromagnets of the front leg group system are in contact with the wall surface; further, the eight electromagnets of the front leg group system are powered to be adsorbed to the wall surface, the eight electromagnets of the rear leg group system are de-energized to stop adsorption, the reverse rotation of the stepping motor in the rear leg group stepping cylinder mechanism drives the rear leg group cylinder piston rod (27) to shorten, so that the rear leg group system bottom module rises, until the angle between the rear leg group connecting rod (15) and the wall surface is as in the initial posture; further, the reverse rotation of the stepping motor in the front leg group stepping cylinder mechanism drives the front leg group cylinder piston rod (29) to shorten, so that the robot as a whole moves a certain distance backward, until the angle between the front leg group connecting rod (31) and the wall surface is as in the initial posture, at this time the eight electromagnets of the rear leg group system are in contact with the wall surface, and the robot as a whole returns to the initial posture, which is a complete cycle.

[0044] Turning process: taking Figure 1For the initial posture, the eight electromagnets of the front leg group system are powered to be adsorbed on the wall surface, the forward rotation of the stepping motor in the front leg group stepping cylinder mechanism drives the extension of the front leg group cylinder piston rod (29) to make the whole robot rise until the front leg group connecting rod (31) is perpendicular to the wall surface; further, the bottom electromagnetic clutch in the rotary drive system is powered, the top electromagnetic clutch is powered off, the double-output shaft stepping motor (41) rotates according to the control program to drive the rear leg group system and the swing arm derusting system to rotate to a certain angle and then stop; further, the forward rotation of the stepping motor in the rear leg group stepping cylinder mechanism drives the extension of the rear leg group cylinder piston rod (27) to make the bottom module of the rear leg group system land until the rear leg group connecting rod (15) is perpendicular to the wall surface, at this time, the eight electromagnets of the rear leg group system contact the wall surface; further, the eight electromagnets of the rear leg group system are powered to be adsorbed on the wall surface, the eight electromagnets of the front leg group system are powered off to stop adsorption, the reverse rotation of the stepping motor in the front leg group stepping cylinder mechanism drives the shortening of the front leg group cylinder piston rod (29) to make the bottom module of the front leg group system rise until the included angle between the front leg group connecting rod (31) and the wall surface is the same as that in the initial posture; at this time, the on-off state of the two electromagnetic clutches has not changed, the double-output shaft stepping motor (41) rotates according to the control program to drive the front leg group system to rotate, so that it is at the same angle as the rotated rear leg group system and the swing arm derusting system; further, the reverse rotation of the stepping motor in the rear leg group stepping cylinder mechanism drives the shortening of the rear leg group cylinder piston rod (27) to make the whole robot descend, at this time, the eight electromagnets of the front leg group system contact the wall surface, and the whole robot returns to the initial posture, which is a complete cycle.

[0045] The swing arm derusting process: the stepping motor (8) in the swing arm derusting system is pre-rotated to drive the grinding wheel (12) to work, when the wall climbing robot enters the preliminary derusting posture as shown in Figure 1 , the rotating grinding wheel contacts the wall surface to be derusted, the top electromagnetic clutch in the rotary drive system is powered, the bottom electromagnetic clutch is powered off, the double-output shaft stepping motor (41) rotates forward and backward according to the preset control program to drive the swing arm derusting system to reciprocate to a certain angle, and the derusting of the wall surface is completed after the grinding wheel sweeps the area to be derusted. After the forward movement process, the backward movement process and the turning process, the complete wall derusting can be completed.

[0046] The parts not described in detail in the present application are known to those skilled in the art and researchers.

[0047] Although embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wall-climbing derusting robot for offshore platforms, which is composed of a swing arm derusting system, a rear leg group system, a front leg group system and a rotary drive system. The swing arm rust removal system is composed of a rotating machine cover (1), long bolt nuts (2), angle seats (3), swing arm cross beams (4), inclined support beams (5), cross beam connecting rods (6), swing arm vertical beams (7), stepping motors (8), shaft couplings (9), U-shaped frames (10), grinding wheel assembly shafts (11), grinding wheels (12) and T-shaped nuts (40), wherein one end of each of the two swing arm cross beams (4) is provided with a bolt through hole, and the end is fastened to the rotating machine cover (1) through the long bolt nuts (2), the two angle seats (3) and matched bolts and T-shaped nuts (40), the other end of each of the two swing arm cross beams (4) is fastened to the cross beam connecting rod (6) through the two angle seats (3) and matched bolts and T-shaped nuts (40), the swing arm vertical beam (7) is connected to the bottom surface of the middle part of the cross beam connecting rod (6) and is fastened through the two inclined support beams (5) and matched bolts and T-shaped nuts (40), the U-shaped frame (10) is threadedly connected to the lower end of the swing arm vertical beam (7) through four bolts, the stepping motor (8) is threadedly connected to the top surface of the U-shaped frame (10) through four bolts, the top surface of the U-shaped frame (10) is provided with a motor mounting hole, the motor output shaft is arranged in the U-shaped space of the U-shaped frame (10), the bottom surface of the U-shaped frame (10) is provided with a reserved hole, the grinding wheel assembly shaft (11) is arranged in the U-shaped space of the U-shaped frame (10), after the motor output shaft and the grinding wheel assembly shaft (11) are assembled, the two shafts are connected through the shaft coupling (9) in the U-shaped space of the U-shaped frame (10), the grinding wheel (12) is fastened to the grinding wheel assembly shaft (11) through the mounting hole in the center of the grinding wheel (12); the rear leg group system is composed of the angle seats (3), rear leg group frame vertical rods (13), rear leg group frame horizontal rods (14), rear leg group connecting rods (15), connecting rod supports (16), rear leg group connecting rods (17), rear leg group electromagnet rods (18), rolling bearings (19), shaft retaining rings (20), connecting rod shafts (21), electromagnets (22), springs (23), upper cylinder supports (24), lower cylinder supports (25), rear leg group cylinder bodies (26), rear leg group cylinder piston rods (27) and T-shaped nuts (40); the top frame of the rear leg group system is provided with two rear leg group frame horizontal rods (14) on the outer frame, the two end faces of the two rear leg group frame horizontal rods (14) are symmetrically connected to the upper and lower ends of the inner side surfaces of the left and right rear leg group frame vertical rods (13), the four corners of the inner surface of the rectangular area formed by the frame are fastened through four angle seats (3) and matched bolts and T-shaped nuts (40), the two end faces of the two rear leg group frame horizontal rods (14) in the frame are connected to the middle parts of the inner side surfaces of the left and right rear leg group frame vertical rods (13), the four corners of the inner surface of the rectangular area formed by the frame are fastened through four angle seats (3) and matched bolts and T-shaped nuts (40), and the bottom side surfaces of each of the rear leg group frame vertical rods (13) are threadedly connected to the two connecting rod supports (16) through bolts.The bottom module of the rear leg group system has a frame which is connected to the left end of the inner side surface of the two rear leg group electromagnet rods (18) through the upper and lower end faces of the rear leg group connecting rod (17), and is fastened and connected by two groups of corner seats (3) and matched bolts and T-shaped nuts (40) at the two corners of the area of the inner surface. The top side surface of each rear leg group electromagnet rod (18) is threadedly connected to the two connecting rod supports (16) through bolts at the left and right ends. Each rear leg group electromagnet rod (18) is connected to four groups of electromagnets (22) through two springs (23), two bolts and two electromagnets (22), wherein the two ends of the springs are placed in the spring hole positions reserved on the bottom side surface of the rear leg group electromagnet rod (18) and the flat surface outside the two threaded holes on the top of the electromagnet (22), and then the two bolts pass through the bolt reserved holes on the top side surface of the rear leg group electromagnet rod (18), pass through the two springs, and are threadedly connected to the two threaded holes on the top of the electromagnet (22). The top frame of the rear leg group system is connected to the bottom module through four rear leg group connecting rods (15). The two ends of each rear leg group connecting rod (15) are respectively provided with two rolling bearings (19) in the bearing holes on the inner and outer sides. The rolling bearings (19) at the two ends of the rear leg group connecting rod (15) are hingedly connected to the connecting rod support (16) through the connecting rod shaft (21), and the shaft stop collar (20) is installed at the two ends of the connecting rod shaft (21). The rear leg group stepping cylinder mechanism is composed of an upper cylinder support (24), a lower cylinder support (25), a rear leg group cylinder body (26), and a rear leg group cylinder piston rod (27). The upper cylinder support (24) is threadedly connected to the left side surface of the middle part of the rear leg group frame vertical rod (13) on the left side of the top frame through four bolts. The lower cylinder support (25) is threadedly connected to the middle part of the top side surface of the rear leg group connecting rod (17) of the bottom module through four bolts. The rear leg group cylinder body (26) is hingedly connected to the lower cylinder support (25) through the shaft. The head of the rear leg group cylinder piston rod (27) is hingedly connected to the upper cylinder support (24) through the shaft. The front leg group system is composed of corner seat (3), connecting rod support (16), rolling bearing (19), shaft check ring (20), connecting rod shaft (21), electromagnet (22), spring (23), upper cylinder support (24), lower cylinder support (25), front leg group cylinder body (28), front leg group cylinder piston rod (29), front leg group frame crossbar (32), front leg group frame vertical bar (30), front leg group connecting rod (31), front leg group electromagnet rod (33), front leg group connecting rod (34) and T-shaped nut (40); the top frame of the front leg group system is symmetrically connected to the upper and lower ends of the inner side surfaces of the left and right front leg group frame vertical bars (30) at the two ends of the upper and lower front leg group frame crossbars (32), and the four corners of the inner surface of the rectangular area formed by the frame are fastened and connected by four sets of corner seats (3) and matched bolts and T-shaped nuts (40); the bottom module of the front leg group system is connected to the right end of the inner side surface of the two front leg group electromagnet rods (33) at the upper and lower ends of the front leg group connecting rod (34), and the two corners of the inner surface of the formed area are fastened and connected by two sets of corner seats (3) and matched bolts and T-shaped nuts (40); the top side surface of each front leg group electromagnet rod (33) is threadedly connected to two connecting rod supports (16) through bolts at the left and right ends; each front leg group electromagnet rod (33) is connected to four electromagnets (22) through two springs (23), two bolts and two electromagnets (22), wherein the two ends of the spring are placed in the spring hole reserved on the bottom side surface of the front leg group electromagnet rod (33) and the plane outside the two threaded hole circumferences of the top of the electromagnet (22), and then the two bolts pass through the bolt reserved hole on the top side surface of the front leg group electromagnet rod (33), pass through the two springs, and are threadedly connected to the two threaded holes on the top of the electromagnet (22); the top frame and the bottom module of the front leg group system are connected by four front leg group connecting rods (31), two rolling bearings (19) are installed in the inner and outer bearing holes at the two ends of each front leg group connecting rod (31), the rolling bearings (19) at the two ends of the front leg group connecting rod (31) are hinged to the connecting rod support (16) through the connecting rod shaft (21), and shaft check rings (20) are installed at the two ends of the connecting rod shaft (21); the front leg group stepping cylinder mechanism is composed of upper cylinder support (24), lower cylinder support (25), front leg group cylinder body (28) and front leg group cylinder piston rod (29); the upper cylinder support (24) is threadedly connected to the middle part of the right side surface of the right front leg group frame vertical bar (30) of the top frame through four bolts, the lower cylinder support (25) is threadedly connected to the middle part of the top side surface of the front leg group connecting rod (34) of the bottom module through four bolts, the tail of the front leg group cylinder body (28) is hinged to the lower cylinder support (25) through a shaft, and the head of the front leg group cylinder piston rod (29) is hinged to the upper cylinder support (24) through a shaft. The rotating drive system is composed of a shaft coupling (9), deep groove ball bearings (35), clutch assembly shafts (36), electromagnetic clutch plates (37), electromagnetic clutch bodies (38), motor frames (39), T-shaped nuts (40), double-output shaft stepper motors (41), and rotating supports (42). The double-output shaft stepper motor (41) is installed on the motor frame (39) through four bolts, and the upper output shaft extends from the motor mounting hole in the center of the motor frame (39) and is connected to one end of the shaft coupling (9). The other end of the shaft coupling (9) is connected to the clutch assembly shaft (36), which is sequentially threaded through the electromagnetic clutch body (38), the electromagnetic clutch plate (37), and two deep groove ball bearings (35) from bottom to top. The electromagnetic clutch body (38) is connected to the clutch assembly shaft (36) by a pin passing through the pin slot at the bottom of the electromagnetic clutch body (38). The lower output shaft of the motor is connected to one end of another shaft coupling (9), and the other end of the shaft coupling (9) is connected to another clutch assembly shaft (36). The clutch assembly shaft (36) is sequentially threaded through the electromagnetic clutch body (38), the electromagnetic clutch plate (37), and two deep groove ball bearings (35) from top to bottom. The electromagnetic clutch plate (37) is connected to the rotating support (42) by a screw. The deep groove ball bearings (35) are assembled in the bearing holes at the bottom of the rotating support (42). The swing arm rust removal system, the rear leg group system, the front leg group system, and the rotating drive system are connected to the rotating drive system in the following manner to form a whole wall climbing robot: The two rear leg group frame crossbars (14) inside the top frame of the rear leg group system are each fastened to the motor frame (39) of the rotating drive system at the top surface through a set of bolts and T-shaped nuts (40). The front leg group frame crossbars (32) on both sides of the top frame of the front leg group system are each fastened to the rotating support (42) of the rotating drive system at the top surface through a set of bolts and T-shaped nuts (40). The two deep groove ball bearings (35) at the top of the rotating drive system are transitionally fitted with the bearing holes inside the rotating cover (1) of the swing arm rust removal system. The electromagnetic clutch plate (37) at the top of the rotating drive system is threadedly connected to the rotating cover (1) of the swing arm rust removal system by a screw.

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