CN106428277B - Offshore platform dry type spud leg inner wall climbing robot - Google Patents
Offshore platform dry type spud leg inner wall climbing robot Download PDFInfo
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- CN106428277B CN106428277B CN201610874312.4A CN201610874312A CN106428277B CN 106428277 B CN106428277 B CN 106428277B CN 201610874312 A CN201610874312 A CN 201610874312A CN 106428277 B CN106428277 B CN 106428277B
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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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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of pure electric vehicle climbing robot, robot is totally made of mechanisms such as upper leg group, lower leg group, magnechuck, trunk, motor, feed screw nuts.The stretching motion of robot mechanism is realized by motor plus leading screw and nut mechanism, and is realized by guide rail mechanism and be oriented to and support.The movement cooperation that, absorption flexible by leg group and trunk stretch realizes that robot vertical is back and forth creeped.Robot integrally can freely creep in dry type spud leg interior semi-circular cylindrical space, and spud leg intermediate connections flange obstacle can be crossed over by way of variable step.Robot can carry spud leg inner wall defect detection device or apparatus for work, instead of manual work, improve the safety of spud leg or even plateform system, save the cost of overhaul.
Description
Technical field
The present invention relates to a kind of offshore platform dry type spud leg inner wall climbing robots, belong 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, seawater, stormy waves, trend erosion etc. factors influence, spud leg
The problem of will appear corrosion, rupture, deformation, local thinning, stress concentration etc., if these problems cannot get timely processing,
It can constantly deteriorate and expand under internal and external factor collective effect, and then the safety of crisis spud leg or even entire plateform system.
Therefore, spud leg defect detecting system is developed, the timely discovery and processing of pile leg structure security risk are conducive to.
Currently, the detection of spud leg defect and hidden danger mainly divides Site Detection and is overhauled in depressed place.Site Detection is mainly manually
The methods such as creep and visually observe, for this method usually along with working at height, operation difficulty is big, and efficiency is low, has certain danger
It is dangerous, and detectable range is limited；Ratio is overhauled in depressed place more thoroughly, but needs platform and spud leg being dragged into dock progress, needs to consume
Take a large amount of manpower, financial resources.
For the present invention using certain offshore platform dry type spud leg internal structure as prototype, which is divided into two and half
Column part, one of half cylindrical space are equipped with the structures such as multilayer working platform, cat ladder, guardrail, and structure is complex, no
Suitable machine people's creeps.Another half cylindrical space is upper and lower straight-through structure, and internal structure is relatively simple.Based on the above knot
Structure, the present invention develop it is a kind of the robot that segment space is back and forth creeped can be led directly to above and below spud leg inner wall, to carry spud leg inner wall
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 entire plateform system, saves the spud leg cost of overhaul.
Invention content
The present invention is using prototype with certain offshore platform dry type spud leg internal structure, and exploitation one kind can be reciprocal in spud leg inner wall
The robot creeped.Robot is suitable for spud leg interior semi-circular and creeps the limitation in space, and may span across two section spud leg junctions
Flange obstacle.To realize that above-mentioned target, the present invention use following technical scheme：
Robot is totally made of upper leg group, lower leg group and trunk three parts.
It is identical to move back group structure under for leg group in robot, mainly by magnechuck（1）, cam base plate（2）, leg group
U-typed push plate（3）, leg group frame（16）, leg support bottom plate（5）, T-shape leg bar（10）, T-shape sliding slot（4）, leg lead screw（9）, it is small
Stepper motor（7）It is formed Deng part.Three T-shape leg bars（10）One end pass through screw cam base plate respectively（2）It is connected, and is in
Triangle-Profile.Three groups of magnechucks（1）Cam base plate is fixed on by screw respectively（2）The other side, and triangular in shape point
Cloth.Three groups of T-shape sliding slots（4）It is fixed by screws in leg group frame respectively（16）On, three T-shape leg bars（10）It can exist respectively
Corresponding T-shape sliding slot（4）Inside slide axially.Small stepper motor（7）Pass through small machine holder（6）It is fixed on leg support bottom plate（5）
End, small stepper motor（7）Output shaft and leg lead screw（9）Elastic connection, leg lead screw（9）Both ends pass through leg bearing-
Bearing block（8）Support, leg bearing-bearing block（8）It is fixed by screws in leg support bottom plate（5）On.Leg group U-typed push plate（3）
For U-typed structure, open end is fixed by screws in leg driving nut respectively（24）Two sides, low side face passes through
Screw is fixed on cam base plate（2）Center at.Leg group frame（16）With leg support bottom plate（5）As overall structure.
Robot trunk mainly has big stepper motor（11）, trunk bottom plate（13）, sliding rail（14）, sliding slot（20）, trunk " U "
Type push plate（19）, trunk lead screw（18）, trunk drive nut（17）Equal components composition.Big stepper motor（11）Pass through big motor branch
Frame（12）It is fixed on trunk bottom plate（13）On, and motor output shaft and trunk lead screw（18）Between for flexible connection.Trunk lead screw
（18）Both ends are respectively by trunk bearing-bearing block（21、22）Support, trunk bearing-bearing block（21、22）It is bolted on
Trunk bottom plate（13）On.Trunk U-typed push plate（19）Open end be fixed by screws in respectively trunk driving nut（17）'s
Both sides, trunk U-typed push plate（19）Bottom end be secured by bolts in lower leg assembly leg group frame（16）Lower plane.Two rectangles
Sliding rail（14）It is symmetrically welded at trunk U-typed push plate（19）Both side plate on.Two and sliding rail（14）The sliding slot to match（20）
Pass through sliding slot mounting plate（15）It is fixed on trunk bottom plate（13）Lower end.Trunk sole plate base（23）It is secured by bolts in leg
The leg group frame of component（16）Upper plane.
Compared with prior art, the present invention has the following advantages：
1, the flexible of robot body is realized by stepper motor and lead screw-nut body, robot crawling step-length can be
Arbitrarily regulate and control in lead screw maximum travel limit.Longitudinal information collection density can be adjusted in real time according to spud leg internal structure situation.Separately
Outside, when detecting that there is barrier in robot temporary lodging, the method leaping over obstacles of change step-length can be passed through.
2, legs and feet bar and magnechuck distribution triangular in shape, mechanism stable are reliable.
3, robot machine's drive system is pure electric vehicle, and system controllability and measurability is strong, No leakage pollution, and mechanism is small and exquisite.
Description of the drawings
Fig. 1 robots entirety assembling front view
Fig. 2 robotic asssembly right views
The push plate of Fig. 3 U-typeds and slide block mechanism front view
The push plate of Fig. 4 U-typeds and slide block mechanism left view
Fig. 5 trunk sliding slot front views
Fig. 6 trunk sliding slot sectional views
Fig. 7 trunk base plate mechanism front views
Fig. 8 trunk bottom plate right views
Fig. 9 leg bar assembly front views
Figure 10 leg bar assembly right views
Figure 11 leg bar T-shape sliding slot front views
Figure 12 leg bar T-shape sliding slot left views
Figure 13 leg group frame front views
Figure 14 leg group frame left views
In figure：1, magnechuck, 2, cam base plate, 3, leg group U-typed push plate, 4, T-shape sliding slot, 5, leg support bottom plate, 6,
Small machine holder, 7, small stepper motor, 8, leg bearing-bearing block, 9, leg lead screw, 10, T-shape leg bar, 11, big stepping electricity
Machine, 12, big electric machine support, 13, trunk bottom plate, 14, sliding rail, 15, sliding slot mounting plate, 16, leg group frame, 17, trunk drive nut,
18, trunk lead screw, 19, trunk U-typed push plate, 20, sliding slot, 21,22, trunk bearing-bearing block, 23, trunk sole plate base,
24, leg drives nut.
Specific implementation mode
Robot is totally made of upper leg group, lower leg group and trunk three parts.
It is identical to move back group structure under for leg group in robot, mainly by magnechuck（1）, cam base plate（2）, leg group
U-typed push plate（3）, leg group frame（16）, leg support bottom plate（5）, T-shape leg bar（10）, T-shape sliding slot（4）, leg lead screw（9）, it is small
Stepper motor（7）It is formed Deng part.Three T-shape leg bars（10）One end pass through screw cam base plate respectively（2）It is connected, and is in
Triangle-Profile.Three groups of magnechucks（1）Cam base plate is fixed on by screw respectively（2）The other side, and triangular in shape point
Cloth.Three groups of T-shape sliding slots（4）It is fixed by screws in leg group frame respectively（16）On, three T-shape leg bars（10）It can exist respectively
Corresponding T-shape sliding slot（4）Inside slide axially.Small stepper motor（7）Pass through small machine holder（6）It is fixed on leg support bottom plate（5）
End, small stepper motor（7）Output shaft and leg lead screw（9）Elastic connection, leg lead screw（9）Both ends pass through leg bearing-
Bearing block（8）Support, leg bearing-bearing block（8）It is fixed by screws in leg support bottom plate（5）On.Leg group U-typed push plate（3）
For U-typed structure, open end is fixed by screws in leg driving nut respectively（24）Two sides, low side face passes through
Screw is fixed on cam base plate（2）Center at.Leg group frame（16）With leg support bottom plate（5）As overall structure.
Robot trunk mainly has big stepper motor（11）, trunk bottom plate（13）, sliding rail（14）, sliding slot（20）, trunk " U "
Type push plate（19）, trunk lead screw（18）, trunk drive nut（17）Equal components composition.Big stepper motor（11）Pass through big motor branch
Frame（12）It is fixed on trunk bottom plate（13）On, and motor output shaft and trunk lead screw（18）Between for flexible connection.Trunk lead screw
（18）Both ends are respectively by trunk bearing-bearing block（21、22）Support, trunk bearing-bearing block（21、22）It is bolted on
Trunk bottom plate（13）On.Trunk U-typed push plate（19）Open end be fixed by screws in respectively trunk driving nut（17）'s
Both sides, trunk U-typed push plate（19）Bottom end be secured by bolts in lower leg assembly leg group frame（16）Lower plane.Two rectangles
Sliding rail（14）It is symmetrically welded at trunk U-typed push plate（19）Both side plate on.Two and sliding rail（14）The sliding slot to match（20）
Pass through sliding slot mounting plate（15）It is fixed on trunk bottom plate（13）Lower end.Trunk sole plate base（23）It is secured by bolts in leg
The leg group frame of component（16）Upper plane.
The above is an example of the present invention, we can also carry out some transformation to its mechanical structure, to be applied to
Other tubular type interior wall constructions are creeped.As long as the Design of Mechanical Structure thought of its robot described with the present invention it is consistent,
It should be regarded as the range included by the present invention.
Claims (1)
1. a kind of offshore platform dry type spud leg inner wall climbing robot, it is characterised in that：Robot is overall by upper leg group, lower leg
The part such as group, trunk forms, and realizes that the stretching motion of robot mechanism, guide rail mechanism realize fortune by motor plus leading screw and nut mechanism
Action-oriented and support；The movement cooperation that, absorption flexible by leg group and trunk stretch realizes that robot vertical is back and forth creeped；
It is identical to move back group structure under for leg group in robot, mainly by magnechuck（1）, cam base plate（2）, leg group U-typed
Push plate（3）, leg group frame（16）, leg support bottom plate（5）, T-shape leg bar（10）, T-shape sliding slot（4）, leg lead screw（9）, small stepping
Motor（7）It is formed Deng part；Three T-shape leg bars（10）One end pass through screw cam base plate respectively（2）It is connected, and is in triangle
Shape is distributed；Three groups of magnechucks（1）Cam base plate is fixed on by screw respectively（2）The other side, and distribution triangular in shape；Three
Group T-shape sliding slot（4）It is fixed by screws in leg group frame respectively（16）On, three T-shape leg bars（10）It can be respectively corresponding
T-shape sliding slot（4）Inside slide axially；Small stepper motor（7）Pass through small machine holder（6）It is fixed on leg support bottom plate（5）End,
Small stepper motor（7）Output shaft and leg lead screw（9）Elastic connection, leg lead screw（9）Both ends pass through leg bearing-bearing block
（8）Support, leg bearing-bearing block（8）It is fixed by screws in leg support bottom plate（5）On；Leg group U-typed push plate（3）For " U "
Type structure, open end are fixed by screws in leg driving nut respectively（24）Two sides, low side face is solid by screw
Due to cam base plate（2）Center at；Leg group frame（16）With leg support bottom plate（5）As overall structure；
Robot trunk mainly has big stepper motor（11）, trunk bottom plate（13）, sliding rail（14）, sliding slot（20）, trunk U-typed pushes away
Plate（19）, trunk lead screw（18）, trunk drive nut（17）Equal components composition；Big stepper motor（11）Pass through big electric machine support
（12）It is fixed on trunk bottom plate（13）On, and motor output shaft and trunk lead screw（18）Between for flexible connection；Trunk lead screw
（18）Both ends are respectively by trunk bearing-bearing block（21、22）Support, trunk bearing-bearing block（21、22）It is bolted on
Trunk bottom plate（13）On；Trunk U-typed push plate（19）Open end be fixed by screws in respectively trunk driving nut（17）'s
Both sides, trunk U-typed push plate（19）Bottom end be secured by bolts in lower leg assembly leg group frame（16）Lower plane；Two rectangles
Sliding rail（14）It is symmetrically welded at trunk U-typed push plate（19）Both side plate on；Two and sliding rail（14）The sliding slot to match（20）
Pass through sliding slot mounting plate（15）It is fixed on trunk bottom plate（13）Lower end；Trunk sole plate base（23）It is secured by bolts in leg
The leg 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 |
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| CN201610874312.4A CN106428277B (en) | 2016-10-08 | 2016-10-08 | Offshore platform dry type spud leg inner wall climbing robot |
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| CN106428277A CN106428277A (en) | 2017-02-22 |
| CN106428277B true CN106428277B (en) | 2018-10-12 |
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Families Citing this family (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 |
| 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 |
| CN108942964B (en) * | 2018-08-15 | 2021-12-17 | 武汉科技大学 | Bionic robot for detecting surface of columnar structure |
| CN110001811B (en) * | 2019-03-11 | 2024-07-26 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Wall climbing robot |
| CN110884587B (en) * | 2019-12-02 | 2020-10-30 | 太原工业学院 | Pneumatic quadruped robot |
| CN112984276B (en) * | 2021-02-26 | 2023-03-28 | 机械工业第九设计研究院股份有限公司 | 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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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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