CN106428277A - Offshore platform dry type pile leg inner wall crawling robot - Google Patents
Offshore platform dry type pile leg inner wall crawling robot Download PDFInfo
- Publication number
- CN106428277A CN106428277A CN201610874312.4A CN201610874312A CN106428277A CN 106428277 A CN106428277 A CN 106428277A CN 201610874312 A CN201610874312 A CN 201610874312A CN 106428277 A CN106428277 A CN 106428277A
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- trunk
- leg
- lower limb
- base plate
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention relates to a pure power-driven crawling robot. The overall robot is composed of an upper leg group, a lower leg group, electromagnetic suction cup, a body, motors, screw nuts and other mechanisms. Extensible movement of the robot mechanism is achieved through the motors and the screw nuts, and guiding and supporting are achieved through a guiding rail mechanism. Vertical reciprocating crawling of the robot is achieved through cooperation of extension and absorption the leg groups and extension of the body. The overall robot can freely crawl in a semicircular columnar space in a dry type pile leg and step over a flange obstacle in the joint in the middle of the pile leg through a mode of step size changing. According to the robot, a pile leg inner wall defect detecting device or an operating device can be carried, human operation can be replaced, safety of the pile leg and even a platform system is improved, and overhauling cost is saved.
Description
Technical field
The present invention relates to a kind of offshore platform dry type spud leg inwall climbing robot, belongs to mechanical design field.
Background technology
Spud leg is to maintain the firm great basic components with safety of offshore platform.In practical application, moved by plateform system
Position with take a seat, ship collision, plateform system unbalance loading, sea organism attachment, sea water, stormy waves, trend erosion etc. factor impact, spud leg
The problem of corrosion, rupture, deformation, the locally aspect such as thinning, stress concentration occurs, if these problems cannot be processed in time,
Can constantly deteriorate and expansion under internal and external factor collective effect, and then the safety of crisis spud leg or even whole plateform system.
Therefore, spud leg defect detecting system is developed, is conducive to timely discovery and the process of pile leg structure potential safety hazard.
At present, spud leg defect mainly divides Site Detection and in depressed place maintenance with the detection of hidden danger.Site Detection is main manually
Creep and the method such as perusal, the method is generally accompanied by work high above the ground, operation easier is big, and efficiency is low, with certain danger
Dangerous, and can detection range be limited；In depressed place maintenance ratio more thoroughly, but need for platform and spud leg to be dragged into dock and carry out, need to consume
Take substantial amounts of manpower, financial resources.
The present invention is with certain offshore platform dry type spud leg internal structure as prototype, and the spud leg inner cylinder space is divided into two and half
Column part, one of half cylindrical space is provided with the structures such as multilayer working platform, cat ladder, guardrail, and structure is complex, no
Suitable machine people creeps.Another half cylindrical space is upper and lower straight-through structure, and internal structure is relatively simple.Tied based on above
Structure, present invention exploitation is a kind of can to lead directly to the robot that segment space is back and forth creeped up and down in spud leg inwall, to carry spud leg inwall
Defect detection equipment, realizes the circling measurment function of spud leg inner wall defect.System is applied to platform field, can find spud leg in time
Inner wall defect, improves the safety of spud leg or even whole plateform system, saves the spud leg cost of overhaul.
Content of the invention
The present invention is with certain offshore platform dry type spud leg internal structure as applying prototype, and exploitation one kind can be reciprocal in spud leg inwall
The robot that creeps.Robot is suitable for spud leg interior semi-circular and creeps the restriction in space, and may span across two section spud leg junctions
Flange obstacle.For realizing above-mentioned target, the present invention is employed the following technical solutions：
Robot is totally made up of upper lower limb group, lower lower limb group and three part of trunk.
In robot lower limb group with move back group structure identical, mainly by magnechuck（1）, cam base plate（2）, lower limb group
" U " type push pedal（3）, lower limb group frame（16）, leg support base plate（5）, T-shape lower limb bar（10）, T-shape chute（4）, leg screw mandrel（9）, little
Motor（7）Constitute Deng part.Three T-shape lower limb bars（10）One end respectively pass through screw cam base plate（2）It is connected, and is in
Triangle-Profile.Three groups of magnechucks（1）Respectively cam base plate is fixed on by screw（2）Opposite side, and triangular in shape point
Cloth.Three groups of T-shape chutes（4）Lower limb group frame is fixed by screws in respectively（16）On, three T-shape lower limb bars（10）Can exist respectively
Corresponding T-shape chute（4）Inside slide axially.Little motor（7）By small machine support（6）It is fixed on leg support base plate（5）
End, little motor（7）Output shaft and leg screw mandrel（9）Elastic connection, leg screw mandrel（9）Two ends by leg bearing-
Bearing block（8）Support, leg bearing-bearing block（8）It is fixed by screws in leg support base plate（5）On.Lower limb group " U " type push pedal（3）
For " U " type structure, its opening is fixed by screws in leg drive nut respectively（24）Two sides, its low side face passes through
Screw is fixed on cam base plate（2）Center.Lower limb group frame（16）With leg support base plate（5）As overall structure.
Robot trunk mainly has big motor（11）, trunk base plate（13）, slide rail（14）, chute（20）, trunk " U "
Type push pedal（19）, trunk screw mandrel（18）, trunk drive nut（17）Constitute Deng part.Big motor（11）Propped up by big motor
Frame（12）It is fixed on trunk base plate（13）On, and motor output shaft and trunk screw mandrel（18）Between for flexible connection.Trunk screw mandrel
（18）Two ends are respectively by trunk bearing-bearing block（21、22）Support, trunk bearing-bearing block（21、22）It is bolted on
Trunk base plate（13）On.Trunk " U " type push pedal（19）Opening be fixed by screws in trunk drive nut respectively（17）'s
Both sides, trunk " U " type push pedal（19）Bottom be secured by bolts in lower leg assembly lower limb group frame（16）Lower plane.Two rectangles
Slide rail（14）It is symmetrically welded at trunk " U " type push pedal（19）Biside plate on.Two and slide rail（14）The chute for matching（20）
By chute installing plate（15）It is fixed on trunk base plate（13）Lower end.Trunk sole plate base（23）It is secured by bolts in lower limb
The lower limb group frame of component（16）Upper plane.
Compared with prior art, the present invention has advantages below：
1st, the flexible of robot body is realized by motor and screw mandrel-nut body, robot crawling step-length can be in screw mandrel
Arbitrarily regulate and control in maximum travel limit.Can be according to spud leg internal structure situation real-time regulation longitudinal direction information gathering density.In addition, working as
When detecting robot temporary lodging and having barrier, can be by changing the method leaping over obstacles of step-length.
2nd, legs and feet bar and magnechuck all distributions triangular in shape, mechanism stable reliability.
3rd, robot machine's drive system is pure electronic, and system controllability and measurability is strong, and No leakage pollutes, and mechanism is compact.
Description of the drawings
Fig. 1 robot entirety assembling front view
Fig. 2 robotic asssembly right view
Fig. 3 " U " type push pedal and slide block mechanism front view
Fig. 4 " U " type push pedal and slide block mechanism left view
Fig. 5 trunk chute front view
Fig. 6 trunk chute profile
Fig. 7 trunk base plate mechanism front view
Fig. 8 trunk base plate right view
Fig. 9 lower limb bar assembly front view
Figure 10 lower limb bar assembly right view
Figure 11 lower limb bar T-shape chute front view
Figure 12 lower limb bar T-shape chute left view
Figure 13 lower limb group frame front view
Figure 14 lower limb group frame left view
In figure：1st, magnechuck, 2, cam base plate, 3, lower limb group " U " type push pedal, 4, T-shape chute, 5, leg support base plate, 6, little electricity
Machine support, 7, little motor, 8, leg bearing-bearing block, 9, leg screw mandrel, 10, T-shape lower limb bar, 11, big motor,
12nd, big electric machine support, 13, trunk base plate, 14, slide rail, 15, chute installing plate, 16, lower limb group frame, 17, trunk drive nut, 18,
Trunk screw mandrel, 19, trunk " U " type push pedal, 20, chute, 21,22, trunk bearing-bearing block, 23, trunk sole plate base, 24, lower limb
Portion's drive nut.
Specific embodiment
Robot is totally made up of upper lower limb group, lower lower limb group and three part of trunk.
In robot lower limb group with move back group structure identical, mainly by magnechuck（1）, cam base plate（2）, lower limb group
" U " type push pedal（3）, lower limb group frame（16）, leg support base plate（5）, T-shape lower limb bar（10）, T-shape chute（4）, leg screw mandrel（9）, little
Motor（7）Constitute Deng part.Three T-shape lower limb bars（10）One end respectively pass through screw cam base plate（2）It is connected, and is in
Triangle-Profile.Three groups of magnechucks（1）Respectively cam base plate is fixed on by screw（2）Opposite side, and triangular in shape point
Cloth.Three groups of T-shape chutes（4）Lower limb group frame is fixed by screws in respectively（16）On, three T-shape lower limb bars（10）Can exist respectively
Corresponding T-shape chute（4）Inside slide axially.Little motor（7）By small machine support（6）It is fixed on leg support base plate（5）
End, little motor（7）Output shaft and leg screw mandrel（9）Elastic connection, leg screw mandrel（9）Two ends by leg bearing-
Bearing block（8）Support, leg bearing-bearing block（8）It is fixed by screws in leg support base plate（5）On.Lower limb group " U " type push pedal（3）
For " U " type structure, its opening is fixed by screws in leg drive nut respectively（24）Two sides, its low side face passes through
Screw is fixed on cam base plate（2）Center.Lower limb group frame（16）With leg support base plate（5）As overall structure.
Robot trunk mainly has big motor（11）, trunk base plate（13）, slide rail（14）, chute（20）, trunk " U "
Type push pedal（19）, trunk screw mandrel（18）, trunk drive nut（17）Constitute Deng part.Big motor（11）Propped up by big motor
Frame（12）It is fixed on trunk base plate（13）On, and motor output shaft and trunk screw mandrel（18）Between for flexible connection.Trunk screw mandrel
（18）Two ends are respectively by trunk bearing-bearing block（21、22）Support, trunk bearing-bearing block（21、22）It is bolted on
Trunk base plate（13）On.Trunk " U " type push pedal（19）Opening be fixed by screws in trunk drive nut respectively（17）'s
Both sides, trunk " U " type push pedal（19）Bottom be secured by bolts in lower leg assembly lower limb group frame（16）Lower plane.Two rectangles
Slide rail（14）It is symmetrically welded at trunk " U " type push pedal（19）Biside plate on.Two and slide rail（14）The chute for matching（20）
By chute installing plate（15）It is fixed on trunk base plate（13）Lower end.Trunk sole plate base（23）It is secured by bolts in lower limb
The lower limb group frame of component（16）Upper plane.
The above is an example of the present invention, and we can also carry out some conversion to its frame for movement, to be applied to
The creeping of other tubular type interior wall constructions.As long as the Design of Mechanical Structure thought of its robot with the present invention described consistent, all
Should be regarded as the scope included by the present invention.
Claims (1)
1. a kind of offshore platform dry type spud leg inwall climbing robot, it is characterised in that：Robot is overall by upper lower limb group, lower lower limb
The part such as group, trunk constitutes, and is realized the stretching motion of robot mechanism by motor plus leading screw and nut mechanism, and guide rail mechanism realizes fortune
Action-oriented and support；Robot vertical is realized by the motion cooperation that lower limb group is flexible, absorption and trunk are flexible back and forth to creep；
In robot lower limb group with move back group structure identical, mainly by magnechuck（1）, cam base plate（2）, lower limb group " U " type
Push pedal（3）, lower limb group frame（16）, leg support base plate（5）, T-shape lower limb bar（10）, T-shape chute（4）, leg screw mandrel（9）, little stepping
Motor（7）Constitute Deng part；Three T-shape lower limb bars（10）One end respectively pass through screw cam base plate（2）It is connected, and is in triangle
Shape is distributed；Three groups of magnechucks（1）Respectively cam base plate is fixed on by screw（2）Opposite side, and distribution triangular in shape；Three
Group T-shape chute（4）Lower limb group frame is fixed by screws in respectively（16）On, three T-shape lower limb bars（10）Can be respectively corresponding
T-shape chute（4）Inside slide axially；Little motor（7）By small machine support（6）It is fixed on leg support base plate（5）End,
Little motor（7）Output shaft and leg screw mandrel（9）Elastic connection, leg screw mandrel（9）Two ends pass through leg bearing-bearing block
（8）Support, leg bearing-bearing block（8）It is fixed by screws in leg support base plate（5）On；Lower limb group " U " type push pedal（3）For " U "
Type structure, its opening is fixed by screws in leg drive nut respectively（24）Two sides, its low side face is solid by screw
Due to cam base plate（2）Center；Lower limb group frame（16）With leg support base plate（5）As overall structure；
Robot trunk mainly has big motor（11）, trunk base plate（13）, slide rail（14）, chute（20）, trunk " U " type pushes away
Plate（19）, trunk screw mandrel（18）, trunk drive nut（17）Constitute Deng part；Big motor（11）By big electric machine support
（12）It is fixed on trunk base plate（13）On, and motor output shaft and trunk screw mandrel（18）Between for flexible connection；Trunk screw mandrel
（18）Two ends are respectively by trunk bearing-bearing block（21、22）Support, trunk bearing-bearing block（21、22）It is bolted on
Trunk base plate（13）On；Trunk " U " type push pedal（19）Opening be fixed by screws in trunk drive nut respectively（17）'s
Both sides, trunk " U " type push pedal（19）Bottom be secured by bolts in lower leg assembly lower limb group frame（16）Lower plane；Two rectangles
Slide rail（14）It is symmetrically welded at trunk " U " type push pedal（19）Biside plate on；Two and slide rail（14）The chute for matching（20）
By chute installing plate（15）It is fixed on trunk base plate（13）Lower end；Trunk sole plate base（23）It is secured by bolts in lower limb
The lower limb group frame of component（16）Upper plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874312.4A CN106428277B (en) | 2016-10-08 | 2016-10-08 | Offshore platform dry type spud leg inner wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874312.4A CN106428277B (en) | 2016-10-08 | 2016-10-08 | Offshore platform dry type spud leg inner wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106428277A true CN106428277A (en) | 2017-02-22 |
| CN106428277B CN106428277B (en) | 2018-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610874312.4A Active CN106428277B (en) | 2016-10-08 | 2016-10-08 | Offshore platform dry type spud leg inner wall climbing robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945741A (en) * | 2017-04-17 | 2017-07-14 | 天津职业技术师范大学 | A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people |
| CN107081788A (en) * | 2017-06-15 | 2017-08-22 | 中海油能源发展股份有限公司 | A kind of offshore platform cylindrical leg internal flaw robot detecting system |
| CN108942964A (en) * | 2018-08-15 | 2018-12-07 | 武汉科技大学 | A kind of bio-robot of column structure Surface testing |
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing Robot |
| CN110884587A (en) * | 2019-12-02 | 2020-03-17 | 太原工业学院 | Pneumatic quadruped robot |
| CN112984276A (en) * | 2021-02-26 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Mechanism capable of walking in rectangular air duct |
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| WO2009078825A2 (en) * | 2007-12-18 | 2009-06-25 | Necati Hacikadiroglu | Pumpless balancing system for bipedal or multi - legged robots |
| CN101856814A (en) * | 2010-04-28 | 2010-10-13 | 四川大学 | Manipulator device for tower climbing robot |
| CN104590418A (en) * | 2014-12-31 | 2015-05-06 | 无锡贝斯特精机股份有限公司 | Crawling robot worktable |
| CN206265182U (en) * | 2016-10-08 | 2017-06-20 | 天津职业技术师范大学 | Offshore platform dry type spud leg inwall climbing robot |
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2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5351626A (en) * | 1991-11-11 | 1994-10-04 | Ken Yanagisawa | Walking robot |
| WO2009078825A2 (en) * | 2007-12-18 | 2009-06-25 | Necati Hacikadiroglu | Pumpless balancing system for bipedal or multi - legged robots |
| CN101856814A (en) * | 2010-04-28 | 2010-10-13 | 四川大学 | Manipulator device for tower climbing robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945741A (en) * | 2017-04-17 | 2017-07-14 | 天津职业技术师范大学 | A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people |
| CN107081788A (en) * | 2017-06-15 | 2017-08-22 | 中海油能源发展股份有限公司 | A kind of offshore platform cylindrical leg internal flaw robot detecting system |
| CN107081788B (en) * | 2017-06-15 | 2023-08-29 | 中海油能源发展股份有限公司 | Robot detection system for internal defects of cylindrical spud leg of offshore platform |
| CN108942964A (en) * | 2018-08-15 | 2018-12-07 | 武汉科技大学 | A kind of bio-robot of column structure Surface testing |
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing Robot |
| CN110884587A (en) * | 2019-12-02 | 2020-03-17 | 太原工业学院 | Pneumatic quadruped robot |
| CN112984276A (en) * | 2021-02-26 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Mechanism capable of walking in rectangular air duct |
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| Publication number | Publication date |
|---|---|
| CN106428277B (en) | 2018-10-12 |
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