Stepping Crawling Mechanism for Legs and Planetary Cruise Type Leg Cleaning and Maintenance Device

Abstract

The present application discloses a step - type crawling mechanism for a leg and a planetary cruising leg cleaning and maintenance device; the step - type crawling mechanism for the leg includes an adsorption system, and the adsorption system includes a first hydraulic clamping module and a second hydraulic clamping module respectively configured with hydraulic struts; a lead screw drive module is connected between the first hydraulic clamping module and the second hydraulic clamping module; the first hydraulic clamping module and the second hydraulic clamping module respectively establish an axial secondary adsorption relationship with the pin holes on the surface of the leg through the hydraulic struts; on the premise of maintaining the primary adsorption relationship and releasing the other secondary adsorption relationship, the lead screw drive module is driven to complete the step - type crawling; it has the characteristics of strong load - bearing capacity and stable adsorption on the leg wall surface, can adapt to both on - water and underwater operation conditions at the same time, and provides safe and stable technical support for the thorough cleaning, detection and maintenance of the leg wall surface, guide plates and pin holes.

Description

Technical Field

[0001] The present disclosure relates to a crawling mechanism for the leg of an offshore oil platform and a leg cleaning device based on the crawling mechanism. Background Art

[0002] The legs of offshore oil platforms that are long-term immersed in seawater are extremely likely to become habitats for marine organisms such as barnacles, oysters, and bryozoans. The metabolic substances such as mucus produced by them will gradually erode the steel structure of the legs, thereby reducing their bearing capacity and causing serious safety hazards. Therefore, in order to ensure the safety and stability of offshore operations, it is necessary to periodically conduct structural inspections and cleaning on the legs of offshore platforms.

[0003] Regarding the cleaning of the legs of offshore platforms, Patent CN117680416A discloses a magnetic adsorption type leg cleaning and detecting underwater robot, which specifically relies on buoyancy materials to offset part of the gravity of the robot to ensure that the robot can stably adsorb on the leg wall surface. However, it can only be used underwater. When working above the water surface, the floating materials cannot provide enough buoyancy to offset the gravity. At this time, the magnetic adsorption force provided by the magnetic adsorption unit cannot maintain the stability of the robot, and the robot is prone to overturning and slipping and detaching from the leg wall surface and causing accidents.

[0004] Currently, other wall-climbing devices, such as the power pole cleaning equipment disclosed in Patent CN117773971A, due to the slippery characteristics of the leg surface, it is difficult to simply rely on the friction between the crawler and the leg wall surface to drive the overall equipment to crawl. Therefore, this fixed crawling method is not applicable to the leg wall surface. The cable protection layer inspection robot disclosed in Patent CN117773971A, for the working condition where heavy equipment needs to be stably fixed and can crawl on the vertical and smooth leg wall surface, the crawling method in this patent is not advisable. The automatic climbing and maintenance device for wind turbine towers disclosed in Patent CN117719604A, the fixation of this device mainly relies on the friction between the clamping jaws and the tower barrel, which is not reliable on the smooth leg surface. Summary of the Invention

[0005] In view of this, the present disclosure provides a step-by-step crawling mechanism for legs and a planetary cruise type leg cleaning and maintenance device, which have the characteristics of strong load capacity and stable adsorption and fixation on the leg wall surface, and can adapt to both underwater and above-water working conditions, thereby providing safe and stable technical support for the thorough cleaning, detection, and maintenance of the leg wall surface, guide plates, and pin holes.

[0006] In a first aspect, the step-by-step crawling mechanism for legs includes an adsorption system, wherein:

[0007] The adsorption system includes a first hydraulic clamping module and a second hydraulic clamping module respectively configured with hydraulic struts;

[0008] A lead screw drive module is connected between the first hydraulic clamping module and the second hydraulic clamping module;

[0009] The first hydraulic clamping module and the second hydraulic clamping module respectively establish an axial secondary adsorption relationship with the pin holes on the surface of the pile leg through hydraulic struts;

[0010] On the premise of maintaining the primary adsorption relationship and releasing the other secondary adsorption relationship, drive the lead screw drive module to complete the step-by-step crawling.

[0011] In the present disclosure and possible embodiments, the hydraulic struts of the first hydraulic clamping module and the second hydraulic clamping module are respectively fixedly arranged on the first installation platform and the second installation platform;

[0012] The lead screw drive module is connected between the first installation platform and the second installation platform.

[0013] In the present disclosure and possible embodiments, the free end hydraulic oil circuit of the strut piston rod of the hydraulic strut is connected to a hydraulic support mechanism;

[0014] The hydraulic support mechanism includes a support piston rod;

[0015] When the free end of the strut piston rod enters the pin hole under hydraulic drive, the hydraulic pressure continues to drive the support piston rod to radially extend until it abuts against the wall surface of the pin hole.

[0016] In the present disclosure and possible embodiments, the end face of the support piston rod is configured with an elastic material.

[0017] In the present disclosure and possible embodiments, the first installation platform and the second installation platform are respectively of an annular shape and a split docking structure;

[0018] The pile leg is surrounded by the split docking structure at the center of the first installation platform and the second installation platform, so that the first hydraulic clamping module and the second hydraulic clamping module respectively establish the secondary adsorption relationship with the pin holes on the surface of the pile leg through hydraulic struts.

[0019] In the present disclosure and possible embodiments, on the premise that the first installation platform is above, a hoisting connection structure is configured on the first installation platform;

[0020] A lifting device uses the hoisting connection structure to hoist the first installation platform, so that the first hydraulic clamping module and the second hydraulic clamping module establish the secondary adsorption relationship with the pile leg.

[0021] Second aspect, the planetary cruising type pile leg cleaning and maintenance device includes:

[0022] The step - type crawling mechanism for the leg

[0023] In the present disclosure and possible embodiments, the lower - located second installation platform is connected to a planetary cruising system that runs circumferentially along the leg, and cleaning and / or maintenance equipment is configured on the planetary cruising system.

[0024] In the present disclosure and possible embodiments, a running track and a toothed guide rail are provided on the second installation platform;

[0025] The planetary cruising system includes a trolley chassis, and the trolley chassis is connected to a driving gear and wheels;

[0026] The wheels cooperate with the running track, and the driving gear cooperates with the toothed guide rail.

[0027] In the present disclosure and possible embodiments, an equipment lifting mechanism is connected to the trolley chassis;

[0028] The equipment lifting mechanism includes a lifting frame, the lifting frame is provided with a lifting platform, and the cleaning and / or maintenance equipment is carried on the lifting platform.

[0029] In the present disclosure and possible embodiments, the cleaning equipment is a high - pressure cleaning equipment, and the maintenance equipment includes a robotic arm and a detection device.

[0030] The step - type crawling mechanism for the leg and the planetary cruising - type leg cleaning and maintenance device of the present disclosure make full use of the pin holes uniformly distributed along the axial direction on the leg surface. Through two - stage hydraulic clamping modules and a lead - screw transmission module, on the one hand, step - type crawling can be achieved, and on the other hand, reliable fixed support can be provided in both water - based and underwater environments, fully meeting the stable crawling on the wet leg wall surface, improving the load - bearing capacity of the crawling mechanism, further providing a stable support for equipment such as high - pressure water jet cleaning equipment and leg maintenance, and adopting an efficient and fast planetary cruising method, ultimately achieving the purpose of safely cleaning and / or maintaining the leg. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Through the description of the embodiments of the present disclosure with reference to the following drawings, the above - mentioned and other objects, features, and advantages of the present disclosure are clearer. In the drawings:

[0032] Figure 1 is a schematic structural diagram of the step - type crawling mechanism and the planetary cruising - type leg cleaning and maintenance device of the embodiment of the present disclosure;

[0033] Wherein: 1. First installation platform; 2. Second installation platform; 3. Platform connection member; 4. Hydraulic support; 5. Planetary cruising system; 51. Running track; 52. Toothed guide rail; 6. Lead - screw transmission module; 7. Hoisting ring

[0034] Figure 2 It is a schematic structural diagram of a single hydraulic prop according to an embodiment of the present disclosure;

[0035] Among them: 41, inner mounting bracket; 42, outer mounting bracket; 43, prop cylinder; 44, cylinder seal ring; 45, fixed prop cover; 46, prop piston rod; 471, support column cover; 472, outer support column seal ring; 473, support column piston rod; 474, inner support column seal ring

[0036]

[0037] Figure 3 It is a schematic cross-sectional view of the oil circuit of the hydraulic fixing system according to an embodiment of the present disclosure;

[0038] Figure 4 It is a schematic cross-sectional view of the oil circuit of the support column according to an embodiment of the present disclosure;

[0039] Figure 5 It is a schematic structural diagram of the planetary cruise system according to an embodiment of the present disclosure;

[0040] Among them: 531, trolley chassis; 532, drive motor; 533, coupling; 534, drive gear; 535, wheel rotating shaft; 536, wheel; 537, fixed slider; 54, equipment lifting mechanism;

[0041] Figure 6 It is a schematic structural diagram of the equipment lifting mechanism according to an embodiment of the present disclosure;

[0042] Among them: 541, BK installation housing; 542, frame; 543, lifting track; 544, slider; 545, servo motor; 546, BF waterproof housing; 547, synchronous belt mounting plate; 5481, synchronous belt; 5482, synchronous belt waterproof housing; 5483, driving pulley; 5484, transmission belt; 5485, driven pulley; 549, BF bearing seat; 5410, BF installation housing; 5411, lifting platform; 5412, transmission lead screw; 5413, BK bearing seat; 5414, limit block;

[0043] Figure 7 It is a schematic structural diagram of the lead screw drive module according to an embodiment of the present disclosure;

[0044] Among them: 61, lead screw; 611, anti - detachment structure; 6111, fixing screw; 612, lead screw fixing seat; 613, lead screw support bearing base; 614, gasket; 615, anti - detachment clamp; 616, anti - detachment nut; 62, motor mounting bracket; 63, waterproof motor; 64, driving bevel gear; 65, driven bevel gear;

[0045] Figure 8a It is a schematic structural diagram of the pile leg; ​

[0046] Figure 8b It is a partial enlarged view of the leg. Specific implementation manners

[0047] The present disclosure will be described based on embodiments below. However, it is worth noting that the present disclosure is not limited to these embodiments. In the following detailed description of the present disclosure, some specific details are described in detail. However, those skilled in the art can also fully understand the present disclosure for the parts not described in detail.

[0048] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. And the terms "connection" and "coupling" as used in this application. Unless otherwise specified, both include direct and indirect connections (couplings). In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be construed as a limitation to this application.

[0049] At the same time, unless the context clearly requires otherwise, the words such as "including" and "comprising" in the whole specification and claims should be interpreted as having the meaning of inclusion rather than the meaning of exclusion or exhaustion; that is, the meaning of "including but not limited to".

[0050] For the leg of an offshore oil platform, as Figure 8a , 8b shown, it is an overall cylindrical metal structure, and pin holes are uniformly distributed along the axial direction in four directions in the circumferential direction of the leg. Usually, the diameter of the leg is 3.5 m, the total height of the leg is 166 m, the depth of the pin hole is 0.285 m, the diameter of the pin hole is 0.5 m, the inner diameter of the hole wall is 0.55 m, and the center distance between adjacent two holes is 1000 mm; from top to bottom, the center of the first pin hole is 1.95 m away from the top end of the leg, and the bottommost pin hole at the bottom is 6.05 m away from the bottom of the leg; a guide plate is installed on the outer surface of the pin hole, which is 35 mm higher than the wall surface of the leg; marine organisms and other dirt are mainly distributed in the part of the leg close to the water surface and underwater, and the part of the leg above and close to the offshore platform is relatively clean.

[0051] In view of the above structural characteristics of the leg, the step - type crawling mechanism designed by the present invention, for the adsorption method, makes full use of the longitudinal pin holes of the leg, and adopts a mechanical mechanism in cooperation with a hydraulic control method for adsorption and fixation. This adsorption and fixation scheme has a simple structure and a high safety factor, and can provide sufficient fixing force; in addition, the hydraulic rod column has good sealing performance, and can provide stable supporting force in both water - based and underwater environments, and the control method is also simple and easy to operate, with strong load - bearing capacity. For the crawling method, on the one hand, the lead screw has the advantages of strong load - bearing capacity, high transmission accuracy, and large structural stiffness. On the other hand, considering that it is necessary to accurately position at the position of each pin hole during the crawling process, the present invention sets up a two - stage adsorption system, and then adopts lead - screw transmission between the two - stage adsorption systems, using the lead - screw transmission to drive the first - stage and second - stage adsorption systems, so as to accurately control the stroke and achieve the purpose of step - type crawling.

[0052] For the cleaning and maintenance of the leg, based on the step - type crawling mechanism designed by the present invention, a circumferential planetary orbit can be arranged around the leg as the center, and a cruise trolley is used to carry cleaning and maintenance equipment for work.

[0053] In order to make the purpose, technical solution and advantages of the present invention clearer, the following further details the present invention according to the drawings and embodiments.

[0054] Figure 1 is a schematic structural diagram of the step - type crawling mechanism and the planetary cruise - type leg cleaning and maintenance device of the present disclosure embodiment; it consists of Figure 1 As shown, for the step - type crawling mechanism, its adsorption system includes a first hydraulic clamping module and a second hydraulic clamping module respectively configured with hydraulic struts; a lead - screw transmission module 6 is connected between the first hydraulic clamping module and the second hydraulic clamping module; the first hydraulic clamping module and the second hydraulic clamping module respectively establish an axial two - stage adsorption relationship with the pin holes on the surface of the leg through the hydraulic struts; obviously, on the premise of maintaining one - stage adsorption relationship and releasing the other - stage adsorption relationship, driving this lead - screw transmission module can complete the step - type crawling of the mechanism.

[0055] In Figure 1 Since pin holes are evenly distributed axially in four directions around the leg circumference, the first and second hydraulic clamping modules of the present disclosure embodiment respectively consist of four single - body hydraulic struts 4; the hydraulic struts 4 of the first and second hydraulic clamping modules are respectively installed on the first installation platform 1 and the second installation platform 2, and the first installation platform 1 and the second installation platform 2 are connected into an integral step - type crawling mechanism through two lead - screw transmission modules 6.

[0056] In order to enclose the stepping crawling mechanism outside the leg of the pile, the first installation platform 1 and the second installation platform 2 respectively adopt a split structure. After enclosing the leg of the pile at the center of the first installation platform 1 and the second installation platform 2 through a split docking structure, they are fixedly connected into a whole by using the platform connecting piece 3. Then, the first hydraulic clamping module and the second hydraulic clamping module respectively establish a secondary adsorption relationship with the pin holes on the surface of the leg of the pile through the hydraulic struts 4.

[0057] Since the center of the first pin hole is 1.95 m away from the top end of the leg of the pile from top to bottom, in order to install the stepping crawling mechanism outside the leg of the pile, a hoisting device needs to be used. Therefore, a lifting ring 7 connected to the hoisting device is configured on the first installation platform 1.

[0058] In the embodiment of the present disclosure, the hydraulic strut 4 preferably adopts Figure 2 the structure shown. In Figure 2 , the hydraulic strut 4 includes a strut cylinder 43. The strut cylinder 43 is installed on the first or second installation platform through an inner installation bracket 41 and an outer installation bracket 42. A cylinder seal ring 44 is arranged between the strut cylinder 43 and the strut cover 45. One end of the strut piston rod 46 is connected to the strut cylinder 43, and the other end is connected to the hydraulic support mechanism.

[0059] In the embodiment of the present disclosure, the hydraulic support mechanism includes a support column cover 471 and a support column piston rod 473. A support column outer seal ring 472 and a support column outer seal ring 474 are arranged between the support column piston rod 473 and the support column cover 471.

[0060] The hydraulic oil circuit of the hydraulic strut 4 is as shown in Figure 3 and Figure 4 . The oil fluid enters the strut cylinder 43 from the 1# port, pushes the strut piston rod 46 to move forward until it reaches the pin hole position and is fixed. Then, the oil fluid enters the oil passage of the hydraulic support mechanism from the oil passage of the strut piston rod 46, and pushes the support column piston rod 473 to extend outwards. Preferably, the contact surface of the support column piston rod 473 adopts an elastic material, which can adapt to the curved surface of the inner wall of the pin hole. The support column piston rod 473 presses against the inner wall of the pin hole to support and position the entire stepping crawling mechanism.

[0061] When the whole hydraulic strut 4 needs to be retracted, the oil fluid first enters from the 3# port to push the support column piston rod 473 to retract to the initial position, and then enters from the 2# port to push the strut piston rod 46 to move, so as to withdraw from the pin hole.

[0062] Figure 7 is a schematic structural diagram of the lead screw drive module in the embodiment of the present disclosure. The whole mechanism crawls up and down along the leg of the pile mainly by the cooperation of the lead screw and each component.

[0063] First, the upper end of the lead screw 61 has a fine thread for connecting with the anti - detachment structure 611 to prevent the lead screw 61 from exceeding the stroke and detaching from the first installation platform 1 during rotation. The fixing screw 6111 is used to fix the anti - detachment structure 611 to prevent it from loosening and detaching from the lead screw 61 during rotation. The lead screw 61 is connected to the first installation platform 1 through the lead screw fixing seat 612. The lead screw fixing seat 612 is fixedly installed on the first installation platform 1 by the cooperation of screws and nuts. Its inner diameter is provided with a threaded groove and can rotate along the lead screw 61.

[0064] Secondly, the lower end of the lead screw 61 is connected to the lead screw support bearing base 613 to support the lead screw 61, and the lead screw 61 rotates smoothly through the bearing in the base. An anti - detachment clamp 615 and an anti - detachment nut 616 can be assembled at the bottom of the lead screw 61. During the rotation of the lead screw 61, the second installation platform 2 is driven upward by the anti - detachment clamp 615 and the anti - detachment nut 616. The gasket 614 is used to prevent the anti - detachment clamp 615 from loosening during rotation.

[0065] The waterproof motor 63 is fixedly installed on the second installation platform 2 through the motor mounting bracket 62. The waterproof motor 63 drives the driving bevel gear 64 to drive the driven bevel gear 65 installed on the lead screw 61 to rotate, thereby driving the lead screw 61 to rotate. By controlling the forward and reverse rotation of the motor, the rotation direction of the lead screw 61 is changed, and the lead screw 61 is controlled to move up and down along the lead screw fixing seat 612.

[0066] In the embodiment of the present disclosure, for the leg cleaning and maintenance device based on the step - type crawling mechanism, a planetary cruise system is set, and then cleaning and / or maintenance equipment is further configured through the planetary cruise system; in order to connect the planetary cruise system, as Figure 1 shown, a toothed guide rail 52 and a running track 51 are provided on the second installation platform 2.

[0067] Figure 5 is a schematic structural diagram of the planetary cruise system in the embodiment of the present disclosure; in Figure 5 it, the whole planetary cruise system is a cruise trolley. The fixed slider 537 and the driving motor 532 are fixed on the trolley chassis 531. The fixed slider 537 is sleeved with the running track 51. Its function is, on the one hand, to limit the cruise trolley to move in a circular motion along the running track 51, and on the other hand, to play a fixing role to prevent the cruise trolley from detaching from the running track 51 and falling.

[0068] The wheel 536 and the wheel shaft 535 are in clearance fit. The driving gear 534 is connected to the driving motor 532 through the coupling 533. The wheel shaft 535 and the lower end of the coupling 533 have threads, and screws are used to fixedly install the wheel 536 and the driving gear 534 on the wheel shaft 535 and the coupling 533 to prevent them from disengaging during rotation.

[0069] In the embodiments of the present disclosure, a device lifting mechanism 54 is provided based on the planetary cruise system for carrying the leg cleaning device and / or the maintenance device. The device lifting mechanism 54 is installed on the cruise trolley through the BK mounting housing 541.

[0070] Figure 6 It is a schematic structural diagram of the device lifting mechanism in the embodiments of the present disclosure; the working principle of this lifting mechanism is as follows:

[0071] Start the servo motor 545, drive the synchronous belt 548 through the servo motor, and thus drive the transmission lead screw to rotate; the lifting platform 5411 is fixed in cooperation with the slider 544 through screws. The slider 544 can slide up and down along the lifting track 543. The lifting platform 5411 has threads and is driven by the rotation of the lead screw to complete the lifting movement; limit blocks 5414 are installed at both ends of the mechanism to prevent the lifting platform from colliding with the bearing seat; the servo motor 545 has a braking function, which can effectively control the lifting height of the lifting platform. Cooperating with the cruise trolley, it can accurately realize the positioning function of the device.

[0072] Equipment such as high-pressure cleaning equipment, wall thickness detection devices, and robotic arms can be installed on the lifting platform 5411 to complete the cleaning, detection, and maintenance of the leg surface and pin holes.

[0073] The working process of the step-by-step crawling mechanism and the planetary cruise type leg cleaning and maintenance device of the present invention will be described below with reference to the accompanying drawings:

[0074] I. Preparation stage:

[0075] 1) Install all the parts of the running track 51, toothed guide rail 52, hydraulic struts 4, and lead screw drive module on the first installation platform 1 and the second installation platform 2;

[0076] 2) Use a crane to connect the lifting rings 7 through steel wires to lift the two-side mechanisms to the height position of the top pin hole of the leg. Use the platform connecting piece 3 to connect the two-side mechanisms into a whole, and install the cruise trolley 53 and the device lifting mechanism 54 in the planetary cruise system;

[0077] 3) Start all the hydraulic struts 4, control the strut pistons 46 to extend into the first and second layer pin holes of the leg from top to bottom, and control the support strut pistons 474 to extend and press against the inner wall of the pin hole, so as to fix the whole device on the leg surface; withdraw the steel wire, and the device starts to work.

[0078] II. Working stage:

[0079] 4) Control the cruise trolley 53 and the cleaning equipment carried by the lifting mechanism 54 through the motor to make a circumferential movement around the leg to clean the leg wall surface and the third layer pin holes;

[0080] 5) During the operation of the lifting mechanism 54, the servo motor 545 drives the transmission lead screw to rotate through the synchronous belt 548, driving the lifting platform to move up and down. The high-pressure water gun and detection equipment on the platform are used to clean and detect the wall surface between the second and third pin holes of the leg.

[0081] 5) After the cleaning is completed, stop the movement of the cruising trolley 53, start the four hydraulic struts 4 on the second installation platform 2, retract the piston rod 473 of the support strut, and retract the piston rod 46 of the strut.

[0082] 6) Start the waterproof motors 63 on both sides. The lead screw 61 is driven to rotate along the thread groove of the lead screw fixed seat 612 through the driving bevel gear 64 and the driven bevel gear 65. At this time, the first installation platform 1 is fixed, and the rotation of the lead screw 61 drives the second installation platform 2 to move downward until it reaches the position of the third pin hole.

[0083] 7) Start the hydraulic struts 4 on the second installation platform 2, control the piston rod 46 of the strut to extend into the third pin hole, and control the piston rod 473 of the support strut to extend and press against the inner wall of the pin hole to complete the fixing work.

[0084] 8) Start the hydraulic struts 4 on the first installation platform 1, retract the piston rod 473 of the support strut and the piston rod 46 of the strut in sequence, and the first installation platform 1 is separated from the leg.

[0085] 9) Start the waterproof motor 63. At this time, the second installation platform 2 is fixed, and the first installation platform 1 is driven to move downward through the lead screw transmission module 6 until it reaches the position of the second pin hole.

[0086] 10) Start the hydraulic struts 4 on the first installation platform 1, extend the piston rod 46 of the strut and the piston rod 473 of the support strut into the second pin hole in sequence to complete the fixing work.

[0087] 11) At this point, the device completes a step-by-step crawl downward; repeat steps 4) to 10) in sequence until the leg is completely cleaned and detected.

[0088] 12) Subsequently, the device crawls upward from the bottom of the leg. When it reaches above the water surface, the steel wire rope can be lowered to separate the whole device and hoist it to the next leg to be cleaned for work.

[0089] The above embodiments are only for expressing the implementation modes of the present disclosure, and the description is relatively specific and detailed, but it should not be construed as a limitation to the patent scope of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several deformations, equivalent replacements, improvements, etc. can be made, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the patent of the present disclosure should be subject to the appended claims.

Claims

1. A planetary cruising pile leg cleaning and maintenance device, characterized in that, Comprising: A step - type crawling mechanism for a leg, and the step - type crawling mechanism for the leg includes an adsorption system; The adsorption system includes a first hydraulic clamping module and a second hydraulic clamping module respectively configured with hydraulic struts; A lead screw drive module is connected between the first hydraulic clamping module and the second hydraulic clamping module; The first hydraulic clamping module and the second hydraulic clamping module respectively establish an axial secondary adsorption relationship with the pin holes on the surface of the leg through the hydraulic struts; On the premise of maintaining a primary adsorption relationship and releasing another secondary adsorption relationship, drive the lead screw drive module to complete the step - type crawling; The hydraulic struts of the first hydraulic clamping module and the second hydraulic clamping module are respectively fixed on a first mounting platform and a second mounting platform; The lead screw drive module is connected between the first mounting platform and the second mounting platform; The free - end hydraulic oil circuit of the strut piston of the hydraulic strut is connected to a hydraulic support mechanism; The hydraulic support mechanism includes a support piston; Under hydraulic drive, when oil enters the strut cylinder and the free end of the strut piston enters the pin hole, the oil enters the oil passage of the hydraulic support mechanism from the oil passage of the strut piston, and continues to drive the support piston to radially extend until it abuts against the wall surface of the pin hole; The lower - located second mounting platform is connected to a planetary cruising system running along the circumferential direction of the leg, and cleaning and / or maintenance equipment is configured on the planetary cruising system.

2. The planetary cruising - type leg cleaning and maintenance device according to claim 1, wherein: An elastic material is configured on the end face of the support piston.

3. The planetary cruising - type leg cleaning and maintenance device according to claim 1 or 2, wherein: The first mounting platform and the second mounting platform are respectively of an annular shape and a two - half docking structure; The leg is surrounded at the center of the first mounting platform and the second mounting platform through the two - half docking structure, so that the first hydraulic clamping module and the second hydraulic clamping module respectively establish the secondary adsorption relationship with the pin holes on the surface of the leg through the hydraulic struts.

4. The planetary cruising - type leg cleaning and maintenance device according to claim 3, wherein: On the premise that the first mounting platform is above, a hoisting connection structure is configured on the first mounting platform; A lifting device uses the hoisting connection structure to hoist the first mounting platform, so that the first hydraulic clamping module and the second hydraulic clamping module establish the secondary adsorption relationship with the leg.

5. The planetary cruising - type leg cleaning and maintenance device according to claim 4, wherein: A running track and a toothed guide rail are arranged on the second mounting platform; The planetary cruising system includes a trolley chassis, and the trolley chassis is connected to a driving gear and wheels; The wheels cooperate with the running track, and the driving gear cooperates with the toothed guide rail.

6. The planetary cruising - type leg cleaning and maintenance device according to claim 5, wherein: An equipment lifting mechanism is connected to the trolley chassis; The equipment lifting mechanism includes a lifting frame, and a lifting platform is arranged on the lifting frame, and the cleaning and / or maintenance equipment is carried on the lifting platform.

7. The planetary cruising leg cleaning and maintenance device according to claim 4 or 5, characterized in that: The cleaning equipment is high-pressure cleaning equipment, and the maintenance equipment includes a robotic arm and a detection device.

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