Electromagnetic adsorption self-locking type wheeled chassis device of self-elevating offshore platform

Abstract

The application discloses a self-lifting offshore platform electromagnetic adsorption self-locking type wheeled chassis device, and belongs to the technical field of underwater cable type underwater robots (ROV), and solves the problems of low safety and poor efficiency of manual diving for pile leg operation and maintenance, unstable adsorption of conventional ROVs and magnetic adsorption robots, poor adaptability and big safety hidden troubles. The device is composed of symmetrical left and right magnetic adsorption driving mechanisms, a middle support and a curvature adjusting mechanism, the three form a stable triangular structure through a pin shaft, the curvature can be adjusted to adapt to pile legs with different diameters; the left and right magnetic adsorption driving mechanisms each contain a driving wheel, a waterproof driving motor and an electromagnetic adsorption mechanism. The device adopts double protection of power-off magnetic electromagnet and turbine worm self-locking reduction box, is matched with magnetic adsorption damping springs, realizes stable adsorption and safe walking of the pile leg, replaces manual diving, and greatly improves the operation and maintenance efficiency and safety.

Description

Technical Field

[0001] This invention patent relates to an electromagnetic adsorption self-locking wheeled walking chassis device for jacking-up marine platforms, belonging to the field of underwater tethered robots (ROV) technology. Specifically, it is applied to the operation and maintenance scenario of jacking-up marine platform legs, focusing on the adsorption, walking and related operation technologies of ROV on legs, and is used to solve the operation and maintenance needs of jacking-up marine platform legs such as marine organism cleaning and structural inspection. It belongs to the cross-technical field of marine engineering and underwater robots. Background Technology

[0002] Self-elevating offshore platforms are important devices for the development of marine oil and gas resources. They have four legs with a diameter of 3-4 meters. The offshore platform can move up and down along the legs. However, the platform operates in the ocean for a long time and is subject to problems such as marine organism attachment and seawater corrosion. Therefore, it is necessary to regularly clean and inspect the legs for marine organisms.

[0003] Currently, the cleaning and inspection of marine organisms on the legs of self-elevating offshore platforms mainly relies on manual diving operations or the use of conventional work-class ROVs and simple magnetic adsorption robots. The main problems are as follows: 1. Conventional work-class ROVs are mostly imported equipment, with high operating costs and large size. They are difficult to operate stably close to the curved surface of the legs and pose a risk of umbilical cable entanglement, making it impossible to achieve adsorption and movement on the leg surface; 2. Existing magnetic adsorption legs operation robots can achieve initial adsorption, but they lack adjustment structures adapted to legs of different diameters, reliable self-locking mechanisms, and vibration reduction designs, resulting in insufficient adsorption stability and operational safety, as shown in patent document CN202410568792.3; 3. Some magnetic adsorption devices use an energized magnetization mode, which consumes a lot of power and is prone to losing adsorption force when power is cut off, causing the device to fall and posing a serious safety hazard. Summary of the Invention

[0004] The technical problem to be solved by this invention and the proposed technical solution are summarized below:

[0005] Solving the problems of low safety and low efficiency of manual diving operations: In the existing technology, the maintenance of pile legs mostly relies on manual diving. The deep sea environment is complex and risky, and the operation efficiency is low. This technical solution uses an ROV equipped with this walking chassis device to realize the pile leg adsorption and walking operation, completely replacing manual diving and greatly improving the safety and efficiency of the operation. This solution addresses the problem of conventional ROVs and existing magnetic adsorption robots being unable to stably adhere to and move along the legs of jack-up offshore platforms. Conventional ROVs cannot get close enough to the curved surfaces of the legs for fixation, and existing magnetic adsorption robots lack an adjustment structure to adapt to the curved surfaces of the legs. This technical solution uses a curvature adjustment mechanism in conjunction with a symmetrical magnetic drive mechanism to allow the magnetic mechanism and drive wheel to fit the curved surfaces of legs of different diameters, achieving stable adsorption and movement, and adapting to the 3-4 meter diameter legs required for jack-up offshore platforms.

[0006] To address the safety hazards and high power consumption of existing devices during power outages: Most existing magnetic adsorption devices become magnetized when energized, but lose their adsorption force after power is cut off, making them prone to falling, and they also consume a lot of power; This technical solution adopts an electromagnet that becomes magnetized when power is cut off, combined with a mechanical self-locking structure of a worm gear reducer, providing double protection to ensure the device is stably fixed to the pile leg during power outages, while reducing operating power consumption.

[0007] To address the issue of unstable adsorption on uneven pile leg surfaces: Existing magnetic adsorption devices lack vibration damping design, and the adsorption force is prone to failure when encountering uneven pile leg surfaces. This technical solution incorporates magnetic vibration damping springs in the electromagnetic adsorption mechanism, and each adsorption mechanism operates independently, automatically adhering to the curved surface of the pile leg to maintain adsorption stability and ensure continuous operation.

[0008] This solution addresses the issues of unstable power transmission and slippage during driving: Existing devices have an unreasonable power transmission structure, leading to slippage during movement. This technical solution achieves a reliable connection between the drive wheel and drive shaft through a double-key connection. Combined with the textured surface design of the drive wheel, it improves power transmission stability and driving friction, thus preventing slippage. In practice, the electromagnets are activated and the drive motor is operated from the deck. When adsorption occurs, the electromagnets engage, providing the ROV with the suction force to the legs, ensuring stable adsorption. When the ROV needs to move, the drive motor operates, propelling the entire device. When the work is complete, the electromagnets are de-energized, the entire device detaches from the legs, and is finally retrieved back onto the deck.

[0009] The technical solution of the present invention is described in detail below: Basic Scheme 1: A self-elevating marine platform electromagnetic adsorption self-locking wheeled chassis device, which is unique in that it includes a left magnetic drive mechanism 1, a right magnetic drive mechanism 3, a central support 2, and a curvature adjustment mechanism 4; the left magnetic drive mechanism 1 and the right magnetic drive mechanism 3 are symmetrically structured, and the left magnetic drive mechanism 1, the central support 2, and the curvature adjustment mechanism 4 are connected by pins to form a stable triangular structure.

[0010] Based on the basic scheme 1, the left magnetic drive mechanism 1 further includes an electromagnetic adsorption mechanism 11, a worm gear reducer 12, a waterproof drive motor 13, a drive wheel 14, and a walking wheel 15. The worm gear reducer 12 and the waterproof drive motor 13 are connected by bolts, and then fixed to the rear of the left magnetic drive mechanism 1 by four bolts, thus obtaining the optimized scheme 1.

[0011] Based on the basic scheme 1, the curvature adjustment mechanism 4 is further extended and retractable. The right 21 of the middle support pin hole on the middle support 2 is connected to the upper 41 of the curvature adjustment mechanism of the curvature adjustment mechanism 4 via a pin shaft. The lower 42 of the curvature adjustment mechanism 4 is connected to the lower left 102 of the left magnetic drive mechanism 1 via a pin shaft. The upper left 101 of the left magnetic drive mechanism 1 is connected to the left 22 of the middle support pin hole of the middle support 2 via a pin shaft. By adjusting the length of the curvature adjustment mechanism 4, the relative angle between the left magnetic drive mechanism 1 and the middle support 2 is changed, adapting to pile legs 5 of different diameters, thus obtaining the optimized scheme 2.

[0012] Based on the basic scheme 1, the electromagnetic adsorption mechanism 11 further includes an electromagnet 111, a fixing nut 112, a magnetic damping spring 115, a straightening mounting shaft 114, and a fixing bolt 113. The electromagnet 111 is a magnetizing electromagnet that is de-energized. It generates an adsorption force when the power is off and releases when the power is on, thereby achieving control of adsorption and detachment, resulting in the optimized scheme 3.

[0013] In optimization scheme 3, the two fixing bolts 113 are connected to the electromagnetic adsorption mechanism 11 by threads and fixed by fixing nuts 112. The straightening mounting shaft 114 is screwed into the threaded hole in the middle of the electromagnet 111 by the lower thread. A magnetic damping spring 115 is installed in the middle of the straightening mounting shaft 114. The straightening mounting shaft 114 and the fixing bolts 113 are respectively inserted into the corresponding mounting holes in the lower part of the left magnetic drive mechanism 1. The magnetic damping spring 115 is located between the electromagnetic adsorption mechanism 11 and the left magnetic drive mechanism 1, thus obtaining optimization scheme 4.

[0014] Further in optimization scheme 1, the drive wheel 14 is connected to the drive shaft 141 via a double key connection, the drive shaft 141 is connected to the worm gear reducer 12 via a key, the worm gear reducer 12 is connected to the reducer base 19 of the left magnetic drive mechanism 1 via bolts, and the outer surface of the drive wheel 14 is provided with a pattern to increase friction, thus obtaining optimization scheme 5.

[0015] Further, in optimization scheme 1, the worm gear reducer 12 has a built-in mechanical self-locking structure, which can fix the drive shaft 141 and the drive wheel 14 after power failure to prevent the device from sliding, thus obtaining optimization scheme 6.

[0016] Further in optimization scheme 1, a walking shaft 155 is installed in the middle of the walking wheel 15. The walking shaft 155 is installed in the shaft hole 152 in front of the left magnetic drive mechanism 1 through the bearing 154 and fixed with the bearing end cover 151 and bolts, so that the walking wheel 15 can rotate freely, thus obtaining optimization scheme 7.

[0017] Beneficial effects First, it is clear that the specific structural design of this device effectively solves the following four core technical problems in the field of operation and maintenance of self-elevating offshore platform legs, as follows: (I) Solving the core problems of low safety and poor efficiency in manual diving operations In existing technologies, the cleaning of marine organisms and structural inspection of the legs (3-4 meters in diameter) of self-elevating offshore platforms mainly rely on manual diving operations. The marine environment is complex, and deep-sea operations present safety hazards such as high pressure, undercurrents, and marine organism attacks, making it difficult to fully guarantee the safety of personnel. At the same time, manual diving operations are inefficient, limited by time and physical strength, making it difficult to achieve comprehensive and efficient maintenance of the legs, thus affecting the normal operation of the offshore platform. This technical solution designs a walking chassis device adapted for ROVs, allowing the ROV to adhere to the legs and move stably using this device. Equipped with ultrasonic testing and high-pressure water cleaning equipment, it completely replaces manual diving operations, solving these problems at their root.

[0018] (ii) Solving the problems of unstable adsorption and poor adaptability of conventional ROVs and existing magnetic adsorption robots. Conventional operational ROVs are mostly imported equipment, bulky, costly to operate, and lack specific adsorption structures, making it difficult to stably operate close to the curved surfaces of jack-up offshore platform legs. They also pose a risk of umbilical cable entanglement and cannot achieve adsorption and movement on the leg surfaces. Existing magnetic adsorption jack-up platform robots, while achieving initial adsorption, lack adjustment structures to accommodate legs of different diameters, making them unable to flexibly adapt to the size differences of jack-up offshore platform legs. Furthermore, adsorption is prone to instability due to loose contact with the curved surfaces of the legs. This technical solution utilizes a triangular connection structure consisting of a left-side magnetic drive mechanism, a central support, and a curvature adjustment mechanism. The relative angle of the components can be changed through the telescopic curvature adjustment mechanism, allowing the magnetic drive mechanism to contact the curved surfaces of legs of different diameters. Simultaneously, the symmetrical structure of the two magnetic drive mechanisms further enhances adsorption stability, effectively solving the problems of poor adaptability and unstable adsorption.

[0019] (III) Solving the problems of high safety hazards and high power consumption of existing magnetic adsorption devices Existing magnetic adsorption devices utilize an energized magnetization mode, which not only consumes a lot of power during operation but also poses a serious safety hazard. Specifically, when the equipment fails and power is lost, the adsorption force disappears instantly, causing the device to fall from the pile leg, damaging the equipment and affecting the safety of offshore platform operations. This technical solution uses an electromagnet that generates an adsorption force when power is off and releases it when power is on. This significantly reduces operating power consumption and prevents the adsorption force from failing during power outages. Simultaneously, the mechanical self-locking structure of the worm gear reducer firmly secures the drive shaft and drive wheel after power failure, forming a double safety protection and completely resolving this safety hazard and power consumption problem.

[0020] (iv) Solve the problem of unstable adsorption and slippage when walking on uneven surfaces of the pile legs. Existing magnetic adsorption devices lack vibration damping design. When encountering uneven surfaces on the pile legs during movement, the adsorption mechanism cannot promptly conform to the curved surfaces, easily leading to weakened or failed adsorption force. Simultaneously, some devices suffer from unstable power transmission and insufficient surface friction in the drive wheels, causing slippage and affecting operational continuity. This technical solution adds magnetic vibration damping springs to the electromagnetic adsorption mechanism, and each adsorption mechanism operates independently. When encountering uneven surfaces, it automatically conforms to the pile leg under the spring force, maintaining stable adsorption force. The drive wheels use a double-key connection to transmit power, and the outer surface has patterns to increase friction, improving power transmission stability and anti-slip performance, ensuring continuous and smooth operation.

[0021] Secondly, in light of the above issues, the beneficial effects that this technical solution can produce are explained as follows: (i) Improve the safety and efficiency of pile leg maintenance operations and reduce operating costs. This device enables the ROV to stably adhere to and move on the legs, completely replacing manual diving operations, eliminating the safety hazards of deep-sea diving, and ensuring the personal safety of personnel. Simultaneously, the ROV can be equipped with relevant operational equipment, enabling all-around, all-weather operation on the legs, significantly improving the efficiency of marine organism removal and structural inspection, and shortening the maintenance cycle. Furthermore, the device has a simple structure and is easy to operate, requiring no complex auxiliary equipment. Compared to imported conventional ROVs, it significantly reduces equipment procurement, operation, and maintenance costs, improving the economic efficiency of offshore platform operation and maintenance.

[0022] (ii) Enhance adsorption stability and equipment compatibility, and expand the scope of application. The relative angle between the left magnetic drive mechanism and the central support can be flexibly changed by the curvature adjustment mechanism, adapting to self-elevating offshore platform legs of different diameters (3-4 meters). This eliminates the need for separate equipment design for legs of different sizes, improving the equipment's versatility. The symmetrical magnetic drive mechanisms on both sides, combined with a triangular stable connection structure, ensure a tight fit between the device and the curved surface of the leg, enhancing adsorption stability. The design of the magnetic vibration damping spring allows the adsorption mechanism to adapt to uneven surfaces on the leg, preventing adsorption failure, ensuring continuous operation, and further expanding the device's applicable scenarios.

[0023] (iii) Improve equipment operation safety, reduce power consumption, and extend equipment service life. The dual safety protection of the electromagnet that gains magnetism upon power failure and the worm gear reducer completely solves the safety hazard of falling due to power failure in existing devices, ensuring stable operation of the equipment in complex marine environments. The power failure magnetization mode significantly reduces the power consumption of the device during operation, saving energy. The magnetic damping spring not only improves the adsorption stability but also buffers the vibration during device movement, reduces component wear, extends the service life of core components such as the drive motor, drive wheel, and electromagnet, and reduces equipment maintenance costs.

[0024] (iv) Ensure stable power transmission, prevent slippage during operation, and improve operational reliability. The drive wheel and drive shaft are connected by a double key to ensure stable power transmission and avoid power loss or loosening of the connection. The tread pattern on the surface of the drive wheel increases the friction with the surface of the pile leg, effectively preventing slippage during movement and ensuring that the device moves stably along the vertical direction of the pile leg. The reasonable installation design of the traveling wheel (traveling shaft, bearing, bearing end cover fit) allows the traveling wheel to rotate freely, further improving the flexibility and reliability of the device's movement and ensuring the smooth operation of maintenance work.

[0025] (v) The structure is reasonably designed, easy to assemble and disassemble, and convenient for later maintenance and recycling. All components of this device, including the left and right magnetic drive mechanisms, the central support, and the curvature adjustment mechanism, are connected by bolts and pins, making disassembly and assembly convenient and facilitating later inspection, maintenance, and component replacement. After the operation is completed, the attraction force can be released by energizing the electromagnet, allowing the device to detach from the pile legs and be easily retrieved to the deck. The operation is simple and efficient, further enhancing the practicality of the equipment. Attached Figure Description

[0026] Figure 1 This is an overall structural diagram of the present invention. Figure 2 Location diagram of curvature adjustment mechanism Figure 3 This is a diagram showing the overall structure of the magnetic drive mechanism on the left. Figure 4 This is a diagram showing the morphology of the adsorption structure on the pile leg according to the present invention. Figure 5 Exploded view of the detailed structure of the curvature adjustment mechanism Figure 6 Exploded view of the drive wheel and its mounting method Figure 7 Exploded view of the wheels and their installation method Figure 8 Detailed sectional view of the electromagnetic adsorption mechanism mounted on the left magnetic drive mechanism. Figure 9 Detailed structural diagram of the electromagnetic adsorption mechanism mounted on the left magnetic drive mechanism. Figure 10 Detailed diagram showing the electromagnetic adsorption mechanism separately. In the diagram: 1-Left magnetic drive mechanism, 2-Middle support, 3-Right magnetic drive mechanism, 4-Curvature adjustment mechanism, 5-Pile leg, 11-Electromagnetic adsorption mechanism, 12-Worm gear reducer, 13-Waterproof drive motor, 14-Drive wheel, 15-Walking wheel, 19-Reduction gearbox base, 21-Right pin hole of middle support, 22-Left pin hole of middle support, 41-Upper hole of curvature adjustment mechanism, 42-Lower hole of curvature adjustment mechanism, 101-Upper left hole, 102-Lower left hole, 111-Electromagnet, 112-Fixing nut, 113-Fixing bolt, 114-Straightening mounting shaft, 115-Magnetic damping spring, 141-Drive shaft, 151-Bearing end cover, 152-Shaft hole, 154-Bearing, 155-Walking shaft. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings: like Figures 1 to 10 As shown, this type of self-elevating marine platform electromagnetic adsorption self-locking wheeled chassis device mainly consists of a left magnetic drive mechanism, a right magnetic drive mechanism, a central support, and a curvature adjustment mechanism.

[0028] The left-side magnetic drive mechanism mainly includes an electromagnetic adsorption mechanism, a worm gear reducer, a waterproof drive motor, a drive wheel, and a traveling wheel.

[0029] The worm gear reducer and waterproof drive motor are connected by bolts and then connected to the rear of the left magnetic drive mechanism by four bolts.

[0030] The left and right magnetic drive mechanisms are symmetrical and identical in structure.

[0031] The left magnetic drive mechanism, the middle support, and the curvature adjustment mechanism are connected by pins to form a stable triangular structure, which fixes the relative positions of the left magnetic drive mechanism and the middle support.

[0032] The right hole of the central support pin on the central support is connected to the upper hole of the curvature adjustment mechanism in the curvature adjustment mechanism via a pin shaft. The lower hole of the curvature adjustment mechanism in the curvature adjustment mechanism is connected to the lower left hole of the left magnetic drive mechanism via a pin shaft. The upper left hole of the left magnetic drive mechanism is connected to the left hole of the central support pin on the central support via a pin shaft.

[0033] The curvature adjustment mechanism can extend and retract, adjusting the distance between the lower and upper holes of the curvature adjustment mechanism, thereby adjusting the relative angle between the left magnetic drive mechanism and the middle support to adapt to different pile leg diameters.

[0034] The walking wheel has a walking axle installed in the middle. The walking axle is installed in the shaft hole in front of the magnetic drive mechanism on the left side through a bearing and is fixed with a bearing end cover and bolts, so that the walking wheel can rotate freely.

[0035] The drive wheels are connected to the drive shaft via a double-key connection to transmit drive torque. The drive shaft is connected to the worm gear reducer via a key to transmit the power from the worm gear reducer to the drive wheels.

[0036] The worm gear reducer is bolted to the gearbox base on the left side of the magnetic drive mechanism.

[0037] The electromagnetic adsorption mechanism includes an electromagnet, a fixing nut, a magnetic damping spring, a straightening mounting shaft, and fixing bolts.

[0038] Two fixing bolts are connected to the electromagnetic adsorption mechanism via threads and secured with fixing nuts. The straightening mounting shaft is screwed into the threaded hole in the middle of the electromagnet via its lower thread, thus securing the straightening mounting shaft, the electromagnetic adsorption mechanism, and the electromagnet. A magnetic damping spring is installed in the middle of the straightening mounting shaft.

[0039] The mounting shaft and fixing bolts are inserted into the three corresponding mounting holes at the bottom of the left magnetic drive mechanism to connect the electromagnetic adsorption mechanism and the left magnetic drive mechanism. The magnetic damping spring is located between the electromagnetic adsorption mechanism and the left magnetic drive mechanism to play a damping role.

[0040] The present invention will be further illustrated by specific embodiments below, but it is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0041] This embodiment provides an electromagnetic adsorption self-locking wheeled chassis device for a self-elevating offshore platform, adapted to the conventional 3.5-meter diameter legs of the platform, for cleaning marine organisms from the legs and inspecting the foundation structure. The specific structure and working process are as follows: 1. Component Selection and Connection: This device mainly consists of a left magnetic drive mechanism 1, a right magnetic drive mechanism 3, a central support 2, and a curvature adjustment mechanism 4. The left magnetic drive mechanism 1 and the right magnetic drive mechanism 3 are symmetrical mirror images with identical structures. The left magnetic drive mechanism 1 includes eight electromagnetic adsorption mechanisms 11, one worm gear reducer 12, one waterproof drive motor 13, two drive wheels 14, and two traveling wheels 15. The worm gear reducer 12 is a 90-speed ratio reducer, and the waterproof drive motor 13 is a deep-sea waterproof 86 stepper motor with a rated power of 1.5kW and a rated speed of 1500r / min. The two are connected by M8 bolts and then fixed to the rear of the left magnetic drive mechanism 1 by four M10 bolts.

[0042] 2. Core Structural Parameters: The central support 2 is made of welded aluminum alloy, with a length of 900mm and a width of 680mm. The central support pin hole 21 (right) and central support pin hole 22 (left) on the central support 2 both have a diameter of 20mm, which mates with the pin shaft (20mm diameter) of the curvature adjustment mechanism 4. The curvature adjustment mechanism 4 adopts a telescopic threaded adjustment structure with an adjustment range of 100-200mm. The upper curvature adjustment mechanism hole 41 and lower curvature adjustment mechanism hole 42 at both ends have a diameter of 20mm, which are connected to the central support pin hole 21 (right) and the lower left hole 102 of the left magnetic drive mechanism 1 via pin shafts, respectively. The upper left hole 101 of the left magnetic drive mechanism 1 is connected to the central support pin hole 22 (left) via a pin shaft. The three form a stable triangular structure.

[0043] 3. Key Component Details: The electromagnetic adsorption mechanism 11 includes an electromagnet 111, a fixing nut 112, a magnetic damping spring 115, a straightening mounting shaft 114, and a fixing bolt 113; the electromagnet 111 is a power-off type electromagnet, model FP-50, rated voltage 24V, with an adsorption force ≥500N when powered off; the magnetic damping spring 115 is a cylindrical compression spring, specification Φ25×26, with an elastic coefficient of 10N / mm; the fixing bolt 113 is an M6×35 bolt. Two fixing bolts 113 are connected to the electromagnetic adsorption mechanism 11 by threads and locked in place by fixing nuts 112; the lower part of the straightening mounting shaft 114 is provided with M6 threads, which are screwed into the threaded hole in the middle of the electromagnet 111. After the magnetic damping spring 115 is installed in the middle, it is inserted together with the fixing bolts 113 into the three corresponding mounting holes at the lower part of the left magnetic drive mechanism 1, so as to realize the connection between the electromagnetic adsorption mechanism 11 and the left magnetic drive mechanism 1. The magnetic damping spring 115 is located between the two and plays a role in damping vibration.

[0044] 4. Drive and Walking Structure: The drive wheel 14 has a diameter of 200mm and a diamond-shaped anti-slip pattern with a depth of 3mm on its outer surface. It is connected to the drive shaft 141 via a double key. The drive shaft 141 is made of stainless steel and has a diameter of 30mm. It is connected to the output shaft of the worm gear reducer 12 via a flat key. The worm gear reducer 12 is connected to the reducer base 19 of the left magnetic drive mechanism 1 via four M8 bolts. The walking wheel 15 has a diameter of 140mm and a walking shaft 155 (diameter 25mm) is installed in the middle. The walking shaft 155 is installed in the shaft hole 152 at the front of the left magnetic drive mechanism 1 via a deep groove ball bearing 154 (model 6205) and is fixed with a bearing end cap 151 and M4 bolts, allowing the walking wheel 15 to rotate freely.

[0045] 5. Working Process: Before operation, manually rotate the middle part of the curvature adjustment mechanism 4 on the deck of the offshore platform to adjust its length to 100mm, so that the triangular structure formed by the left magnetic drive mechanism 1, the middle support 2, and the curvature adjustment mechanism 4 fits the 3.5-meter diameter leg 5, ensuring that the drive wheel 14 and the traveling wheel 15 are in close contact with the curved surface of the leg 5; bring the device close to the leg 5, and control the electromagnets 111 of the left and right magnetic drive mechanisms to be de-energized, generating a strong adsorption force, so that the device is stably adsorbed on the surface of the leg 5. During operation, control the waterproof drive motor 13 to start, and the power is transmitted to the drive shaft 141 after being reduced by the worm gear reducer 12, driving the drive wheel 14 to rotate, and the drive device moves in the vertical direction of the leg 5. The anti-slip pattern of the drive wheel 14 is in close contact with the surface of the leg 5 to avoid slippage; when encountering uneven surfaces on the leg 5, the electromagnetic adsorption mechanism 11 automatically adheres to the leg 5 under the elastic force of the magnetic damping spring 115, maintaining a stable adsorption force. After the operation is completed, the electromagnet 111 is energized, the attraction force is released, and the device is retrieved to the deck; if a power failure occurs, the mechanical self-locking structure of the worm gear reducer 12 firmly fixes the drive shaft 141 and the drive wheel 14 to prevent the device from falling.

[0046] 6. Implementation Results: This embodiment can completely replace manual diving operations, increasing work efficiency by more than 5 times compared to manual operations, and eliminating safety hazards in deep-sea operations; the device has stable adsorption and smooth movement, and can be adapted to 3.5-meter diameter pile legs, meeting the needs of conventional pile leg marine organism cleaning and foundation testing; the operating power consumption is reduced by 40% compared to existing energized magnetized devices, and the equipment operates safely and reliably.

[0047] Example 2: Optimized example, adapted for large-diameter pile legs, improving operational stability. Based on Example 1, this embodiment optimizes the device structure for the large-diameter legs (4.0 meters in diameter) of the self-elevating offshore platform, further improving adsorption stability and operational reliability. The specific structure and implementation method are as follows: 1. Structural optimization design: Based on Example 1, the adjustment range of the curvature adjustment mechanism 4 is expanded to 200-300mm. A double-thread adjustment structure is adopted, and the adjustment accuracy is improved to 1mm, which facilitates precise adaptation to the 4.0-meter diameter pile leg 5. Four electromagnetic adsorption mechanisms 11 are added to the left magnetic drive mechanism 1 and the right magnetic drive mechanism 3, bringing the total to 12, further improving the adsorption force and ensuring the adsorption stability on the large-diameter pile leg.

[0048] 2. Key component optimization: The magnetic damping spring 115 is a cylindrical compression spring with a specification of Φ25×40 and an elastic coefficient of 15N / mm, which improves the damping effect and can adapt to the larger unevenness that may exist on the surface of the large-diameter pile leg; the diameter of the drive wheel 14 is increased to 250mm, and the outer surface is equipped with a trapezoidal anti-slip pattern with a pattern depth of 5mm, which further increases the friction with the surface of the pile leg 5 and prevents slippage when the large-diameter pile leg is moving; the waterproof drive motor 13 is a DC motor with a rated power of 2.0kW, which improves the power output and ensures that the device moves stably on the large-diameter pile leg.

[0049] 3. Optimized connection structure: The connecting pins between the left magnetic drive mechanism 1 and the middle bracket 2 and curvature adjustment mechanism 4 are made of titanium alloy and the diameter is increased to 22mm to improve the connection strength; the reduction ratio of the worm gear reducer 12 is increased to 100 to improve the stability of power transmission and enhance the self-locking performance, further ensuring safety in case of power failure.

[0050] 4. Implementation results: This embodiment can stably adapt to large-diameter pile legs with a diameter of 4.0 meters. The adsorption force is increased by 60% compared with Embodiment 1, the vibration reduction effect is increased by 30%, and the walking stability is significantly enhanced. The power output is sufficient and the anti-slip performance is excellent. It can meet the needs of high-intensity marine organism cleaning and precision testing operations of large-diameter pile legs. The service life of the equipment is extended by 20% compared with Embodiment 1, and the maintenance cost is further reduced.

[0051] Example 3: Lightweight embodiment, adapted for small ROVs, improving portability This embodiment addresses the mounting requirements of small ROVs, optimizing for lightweight design based on Embodiment 1. It simplifies the structure and reduces weight while retaining core technical features, and is compatible with small 3.0-meter diameter legs, as detailed below: 1. Lightweight structural design: The central support 2 is made of aluminum alloy 6061, with a length of 800mm and a width of 400mm, and the weight is reduced by 30% compared with Example 1; the left magnetic drive mechanism 1 and the right magnetic drive mechanism 3 are made of aluminum alloy in one piece, and each is equipped with 6 electromagnetic adsorption mechanisms 11, reducing the number of parts and reducing the overall weight.

[0052] 2. Component selection optimization: The waterproof drive motor 13 is a small waterproof motor with a rated power of 1.0kW, which reduces the size by 40%; the worm gear reducer 12 is a small reducer, which reduces the weight by 25%; the drive wheel 14 has a diameter of 100mm and is made of lightweight rubber, and the walking wheel 15 is made of engineering plastic, which further reduces the weight.

[0053] 3. Working process: Before operation, adjust the length of the curvature adjustment mechanism 4 to 90mm to fit a small pile leg with a diameter of 3.0 meters; the device is lightweight and easy to hoist and retrieve, and can quickly approach the pile leg and complete the adsorption; during operation, the small waterproof drive motor 13 drives the drive wheel 14 to move smoothly, the electromagnetic adsorption mechanism 11 provides sufficient adsorption force, and the magnetic damping spring 115 ensures stable adsorption, which can meet the lightweight mounting requirements of small ROVs and complete the simple inspection and cleaning of small pile legs.

[0054] 4. Implementation Results: The overall weight of this embodiment is reduced by 35% compared to Embodiment 1, significantly improving portability and making it easy to mount on small ROVs. It is also compatible with small 3.0-meter diameter legs. The core technical features are fully retained, ensuring stable adsorption and reliable movement. The power consumption is further reduced, which can meet the lightweight operation and maintenance needs of small self-elevating marine platform legs. The equipment procurement and transportation costs are reduced by 25%.

[0055] This type of chassis device includes the following processes during operation: 1. The process of the device approaching the pile leg and beginning adsorption. The left-side magnetic drive mechanism 1 and the right-side magnetic drive mechanism 3 each have eight electromagnetic adsorption mechanisms 11, which can provide sufficient adsorption force to ensure that the device can be stably adsorbed onto the pile leg 5, driving the entire ROV to operate stably. The electromagnets 111 inside the electromagnetic adsorption mechanism 11 are de-energized electromagnets, meaning that when the electromagnet 111 is de-energized, it generates a strong magnetic field, and when energized, it has no magnetic field. This is to prevent the device from falling due to the loss of adsorption force caused by a power outage. In addition, this design can significantly reduce the power consumption of the entire device during operation. When the device is close to the pile leg 5, the electromagnets 111 inside the electromagnetic adsorption mechanisms 11 in the left and right magnetic drive mechanisms are simultaneously de-energized, generating a strong attraction force to allow the device to adsorb onto the pile leg 5.

[0056] 2. The device adheres to the pile leg, and the walking process begins. After the adsorption action is completed, the waterproof drive motor 13 receives the control signal from the host computer and begins to rotate at the set speed. Its output power is transmitted to the worm gear reducer 12 via the output shaft of the waterproof drive motor 13. The worm gear reducer 12 then outputs power to the traveling shaft 155, and finally, the power is transmitted from the traveling shaft 155 to the drive wheel 14. The outer surface of the drive wheel 14 has numerous patterns to increase the friction between it and the surface of the pile leg 5, ensuring stability and preventing slippage when the entire device moves on the pile leg 5. When the entire device is not in operation or experiences a power outage, it loses power. Ordinary motors and reducers cannot provide locking force. The worm gear reducer 12 used in this invention has a built-in self-locking structure. After a power outage, the mechanical self-locking structure in the worm gear reducer 12 firmly fixes the traveling shaft 155 and the drive wheel 14, preventing them from rotating. Therefore, the entire device is fixed to the pile leg 5.

[0057] 3. The process of automatic adjustment when the device encounters unevenness on the surface of the pile legs during travel. When the device encounters uneven surfaces on the outer surface of the pile leg 5 during its movement, the entire electromagnetic adsorption mechanism 11 will remain firmly attached to the outer surface of the pile leg 5 under the elastic force of its own magnetic damping spring 115, maintaining a strong adsorption force. The electromagnetic adsorption mechanisms 11 in the magnetic drive mechanisms on both the left and right sides are independent working components, and can operate separately when encountering multiple different uneven surfaces to achieve stable adsorption.

[0058] 4. Adapting to the process of adjusting for different pile leg diameters When the device needs to operate on legs 5 of different diameters, the applicable curvature of the entire device needs to be adjusted on the offshore platform. Specifically, this is done by manually rotating the middle section of the curvature adjustment mechanism 4. The upper hole 41 and lower hole 42 of the curvature adjustment mechanism are threaded to both ends of the mechanism. Rotating the middle section of the curvature adjustment mechanism 4 increases or decreases the distance between the upper hole 41 and the lower hole 42. Ultimately, this changes the side length of the stable triangle formed by the left magnetic drive mechanism 1, the middle support 2, and the curvature adjustment mechanism 4, adjusting the included angle between the left magnetic drive mechanism 1 and the middle support 2 to accommodate different curvatures of the legs 5.

Claims

1. A self-elevating marine platform electromagnetic adsorption self-locking wheeled chassis device, characterized in that, It includes a left magnetic drive mechanism (1), a right magnetic drive mechanism (3), a central support (2), and a curvature adjustment mechanism (4); the left magnetic drive mechanism (1) and the right magnetic drive mechanism (3) are symmetrical in structure, and the left magnetic drive mechanism (1), the central support (2), and the curvature adjustment mechanism (4) are connected by a pin to form a stable triangular structure.

2. The chassis device according to claim 1, characterized in that, The left magnetic drive mechanism (1) includes an electromagnetic adsorption mechanism (11), a worm gear reducer (12), a waterproof drive motor (13), a drive wheel (14), and a walking wheel (15). The worm gear reducer (12) and the waterproof drive motor (13) are connected by bolts and then fixed to the rear of the left magnetic drive mechanism (1) by four bolts.

3. The chassis device according to claim 1, characterized in that, The curvature adjustment mechanism (4) is telescopic. The right (21) of the middle support pin hole on the middle support (2) is connected to the upper (41) of the curvature adjustment mechanism of the curvature adjustment mechanism (4) through a pin shaft. The lower (42) of the curvature adjustment mechanism of the curvature adjustment mechanism (4) is connected to the lower left (102) of the left magnetic drive mechanism (1) through a pin shaft. The upper left (101) of the left magnetic drive mechanism (1) is connected to the left (22) of the middle support pin hole of the middle support (2) through a pin shaft. By adjusting the length of the curvature adjustment mechanism (4), the relative angle between the left magnetic drive mechanism (1) and the middle support (2) can be changed to adapt to pile legs (5) of different diameters.

4. The chassis device according to claim 1, characterized in that, The electromagnetic adsorption mechanism (11) includes an electromagnet (111), a fixing nut (112), a magnetic damping spring (115), a straightening mounting shaft (114), and a fixing bolt (113). The electromagnet (111) is a magnetizing electromagnet that generates adsorption force when the power is off and releases when the power is on, thereby achieving control of adsorption and detachment.

5. The chassis device according to claim 4, characterized in that, The two fixing bolts (113) are connected to the electromagnetic adsorption mechanism (11) by threads and fixed by fixing nuts (112). The straightening mounting shaft (114) is screwed into the middle threaded hole of the electromagnet (111) by the lower thread. The magnetic damping spring (115) is installed in the middle of the straightening mounting shaft (114). The straightening mounting shaft (114) and the fixing bolts (113) are respectively inserted into the corresponding mounting holes at the lower part of the left magnetic drive mechanism (1). The magnetic damping spring (115) is located between the electromagnetic adsorption mechanism (11) and the left magnetic drive mechanism (1).

6. The chassis device according to claim 2, characterized in that, The drive wheel (14) is connected to the drive shaft (141) via a double key connection. The drive shaft (141) is connected to the worm gear reducer (12) via a key. The worm gear reducer (12) is bolted to the reducer base (19) of the left magnetic drive mechanism (1). The outer surface of the drive wheel (14) is provided with a pattern to increase friction.

7. The chassis device according to claim 2, characterized in that, The worm gear reducer (12) has a built-in mechanical self-locking structure, which can fix the drive shaft (141) and drive wheel (14) after power failure to prevent the device from sliding.

8. The chassis device according to claim 2, characterized in that, The walking wheel (15) is equipped with a walking shaft (155) in the middle. The walking shaft (155) is installed in the shaft hole (152) in front of the left magnetic drive mechanism (1) through a bearing (154) and fixed with a bearing end cap (151) and bolts, so that the walking wheel (15) can rotate freely.

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