CN106945741A - A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people - Google Patents
A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people Download PDFInfo
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- CN106945741A CN106945741A CN201710248463.3A CN201710248463A CN106945741A CN 106945741 A CN106945741 A CN 106945741A CN 201710248463 A CN201710248463 A CN 201710248463A CN 106945741 A CN106945741 A CN 106945741A
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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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Abstract
The present invention relates to a kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people, robot is overall to be made up of flexible trunk mechanism and flexible legs and feet mechanism.By the coordination of four leg mechanisms and trunk mechanism stretching motion, realize that the reciprocal of robot is creeped and avoidance, and there is to the wall for having certain radian certain adaptivity.Relevant device and the systems such as vision, flaw detection are carried by robot, can replace artificial to jack up offshore platform cylinder spud leg inwall progress circling measurment.
Description
Technical field
The present invention relates to a kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people, belong to Machine Design neck
Domain.
Background technology
Spud leg is jack up offshore platform critical support mechanism, and the reliability of spud leg has weight to the overall security of platform
The influence wanted.Scene application in, the extraneous factors such as sea water intrusion, unbalance loading, collision act under, spud leg occur corrosion, crackle,
The defects such as deformation, are that spud leg brings serious potential safety hazard.To ensure spud leg safety, the Site Detection of spud leg and periodically enter dock
Maintenance is essential.Traditional detection operation mainly by being accomplished manually, it is detected, and dangerous property is high, enforcement difficulty is big,
The shortcoming for the aspect such as detection range is small, testing cost is high.The present invention is using cylinder spud leg inwall circling measurment as application purpose, exploitation
A kind of robot that can be back and forth creeped in spud leg inwall, relevant device and the systems such as vision, flaw detection are carried by robot, can generation
For artificial detection operation, the efficiency and precision of spud leg detection is improved, testing cost is reduced.
The content of the invention
The present invention is using the circling measurment of jack up offshore platform cylinder spud leg inwall as application, and exploitation one kind can be in stake
The robot that leg inwall is back and forth creeped.To realize above-mentioned target, the present invention uses following technical scheme：
Robot is overall to be made up of flexible trunk mechanism and flexible legs and feet mechanism.
Flexible trunk mechanism is made up of upper telescoping mechanism, lower telescoping mechanism.The structure of upper telescoping mechanism and lower telescoping mechanism
It is identical, mainly by servomotor（9）, gear tortuous decelerating machine（10）, main reducing gear seat（11）, main screw mandrel（16）, mother nut
（13）, main slide unit（14）, main screw mandrel duplex bearing supporting mechanism（12）, main screw mandrel single-bearing supporting mechanism（22）, main guide rail（15）、
Main guide rail sliding block a（20）, main guide rail sliding block b（21）, L-type main guide rail take-up housing（19）, the U-shaped plate of main guide rail（23）And trunk base
（17）Constitute.Servomotor（9）Pass through flange and gear tortuous decelerating machine（10）Input connection, gear tortuous decelerating machine
（10）Output flange and main reducing gear seat（11）It is fixed, main reducing gear seat（11）Pass through bolt and trunk base（17）Gu
It is fixed, gear tortuous decelerating machine（10）Output end and main screw mandrel（16）Input connect by being bonded.Main screw mandrel（16）Two ends point
Not by main screw mandrel duplex bearing supporting mechanism（12）With main screw mandrel single-bearing supporting mechanism（22）Support.Main screw mandrel duplex bearing supports machine
Structure（12）With main screw mandrel single-bearing supporting mechanism（22）Pass through dormant bolt and trunk base respectively（17）It is fixed.Mother nut（13）
With main screw mandrel（16）Coordinate, main slide unit（14）One side and mother nut（13）It is bolted.Main slide unit（14）Two ends
Face respectively with two main guide rails（15）The bottom surface of one end is connected, and is bolted.Two main guide rails（15）Other end bottom
Face passes through bolt and the U-shaped plate of main guide rail respectively（23）Two sides fix.Main guide rail sliding block a（20）With main guide rail sliding block b（21）
L-type main guide rail take-up housing is bolted on respectively（19）A mounting surface on, main guide rail sliding block a（20）And main guide rail is slided
Block b（21）Roller be placed in guide groove.L-type main guide rail take-up housing（19）Another mounting surface be bolted on trunk
Base（17）On.
Flexible legs and feet mechanism is by leg motor（2）, turbine and worm decelerator（1）, leg screw mandrel（28）, leg nut（26）, leg slide
Platform（27）, leg screw mandrel duplex bearing supporting mechanism（25）, leg screw mandrel single-bearing supporting mechanism（32）, leg guide rail（3）, leg guide rail slide block
a（29）, leg guide rail slide block b（30）, L-type leg guide rail slide block seat（4）, the U-shaped plate of leg guide rail（31）, leg base（33）, sucker disk seat
（5）, electromagnet base（6）, electromagnet（7）, spring（8）Constitute.Leg motor（2）Pass through flange and turbine and worm decelerator（1）'s
Input is fixedly connected, turbine and worm decelerator（1）Output flange and support（24）It is bolted, support（24）It is logical
Cross bolt and leg base（33）It is fixed.Turbine and worm decelerator（1）Output end and leg screw mandrel（28）Input by being bonded
Connect, leg screw mandrel（28）Two ends respectively by leg screw mandrel duplex bearing supporting mechanism（25）With leg screw mandrel single-bearing supporting mechanism（32）Branch
Support, leg screw mandrel duplex bearing supporting mechanism（25）With leg screw mandrel single-bearing supporting mechanism（32）Pass through dormant bolt and leg base respectively
（33）It is fixed, leg nut（26）With leg screw mandrel（28）Coordinate, leg slide unit（27）One side pass through nut and leg nut（26）Gu
It is fixed, leg slide unit（27）Both ends of the surface pass through bolt and two leg guide rails respectively（3）One end fix, two leg guide rails（3）It is another
Outer one end passes through bolt and the U-shaped plate of leg guide rail respectively（31）Two sides fix.Leg guide rail slide block a（29）And leg guide rail slide block b
（30）Roller be placed in leg guide rail（3）Groove in, leg guide rail slide block a（29）With leg guide rail slide block b（30）Underrun bolt
With L-type leg guide rail slide block seat（4）One mounting surface is fixed, L-type leg guide rail slide block seat（4）Another mounting surface pass through bolt and leg
Base（33）It is fixed.The foot of each flexible legs and feet mechanism is by five blocks of electromagnet（7）Constitute sucker, every block of electromagnet（7）
Pass through two bolts, nut and electromagnet base（6）Fixed, bolt passes through sucker disk seat（5）Upper corresponding mounting hole, and in sucker disk seat
（5）With electromagnet base（6）Connecting bolt on the spring of empty set one（8）, make every block of electromagnet（7）And electromagnet base（6）It is compressible
Corresponding spring（8）, adapt to curved wall inside spud leg.Sucker disk seat（5）Underrun bolt and the U-shaped plate of leg guide rail（31）'s
Bottom surface is fixed.
The leg base of two groups of flexible leg mechanisms（33）Respectively with trunk base（17）Pass through two groups of L-type leg involvement fishplate bars（34）
It is fixed, constitute the middle leg mechanism that lengthwise position is fixed.The leg base of another two groups flexible leg mechanisms（33）Respectively with being stretched on trunk
The U-shaped plate of main guide rail of mechanism and lower telescoping mechanism（23）It is fixed, constitute relative to main screw mandrel（16）Can longitudinal extension upper and lower leg
Mechanism.Four liftings stand frame（18）Trunk base is symmetrically arranged on by bolt respectively（17）On.
Compared with prior art, the present invention has advantages below：
1st, by the coordination of four leg mechanisms and trunk mechanism stretching motion, realize that the reciprocal of robot is creeped, in motion process,
At least sucker and wall adsorption of two legs, it is ensured that the steadiness of robot motion.
2nd, by the flexible of leg, the action of lifting and stop over of sucker can be achieved, allows the robot to cross over motion process
In flange obstacle.
3rd, sucker is made up of the electromagnet of polylith independence, the compression by each electromagnet to respective springs, can make sucker more
The good cooperation with curved wall.
Brief description of the drawings
Fig. 1 robots front view
Fig. 2 robots left view
Fig. 3 robots top view
The flexible trunk front views of Fig. 4
The flexible trunk top views of Fig. 5
The flexible legs and feet mechanism maps of Fig. 6
In figure：1st, turbine and worm decelerator, 2, leg motor, 3, leg guide rail, 4, L-type leg guide rail slide block seat, 5, sucker disk seat, 6, electricity
Magnetic receiver, 7, electromagnet, 8, spring, 9, servomotor, 10, gear tortuous decelerating machine, 11, main reducing gear seat, 12, main screw mandrel it is double
Bearings mechanism, 13, mother nut, 14, main slide unit, 15, main guide rail, 16, main screw mandrel, 17, trunk base, 18, lifting stands
Frame, 19, L-type main guide rail take-up housing, 20, main guide rail sliding block a, 21, main guide rail sliding block b, 22, main screw mandrel single-bearing supporting mechanism,
23rd, the U-shaped plate of main guide rail, 24, support, 25, leg screw mandrel duplex bearing supporting mechanism, 26, leg nut, 27, leg slide unit, 28, leg screw mandrel,
29th, leg guide rail slide block a, 30, leg guide rail slide block b, 31, the U-shaped plate of leg guide rail, 32, leg screw mandrel single-bearing supporting mechanism, 33, leg bottom
Seat, 34, L-type leg involvement fishplate bar
Embodiment
For the content of the invention, feature and effect of the present invention can be further appreciated that, following examples are hereby enumerated, and coordinate accompanying drawing
Describe in detail as follows：
It is made up of referring to Fig. 1, robot is overall flexible trunk mechanism and flexible legs and feet mechanism.
Flexible trunk mechanism is made up of upper telescoping mechanism, lower telescoping mechanism.The structure of upper telescoping mechanism and lower telescoping mechanism
It is identical, mainly by servomotor（9）, gear tortuous decelerating machine（10）, main reducing gear seat（11）, main screw mandrel（16）, mother nut
（13）, main slide unit（14）, main screw mandrel duplex bearing supporting mechanism（12）, main screw mandrel single-bearing supporting mechanism（22）, main guide rail（15）、
Main guide rail sliding block a（20）, main guide rail sliding block b（21）, L-type main guide rail take-up housing（19）, the U-shaped plate of main guide rail（23）And trunk base
（17）Constitute.Servomotor（9）Pass through flange and gear tortuous decelerating machine（10）Input connection, gear tortuous decelerating machine
（10）Output flange and main reducing gear seat（11）It is fixed, main reducing gear seat（11）Pass through bolt and trunk base（17）Gu
It is fixed, gear tortuous decelerating machine（10）Output end and main screw mandrel（16）Input connect by being bonded.Main screw mandrel（16）Two ends point
Not by main screw mandrel duplex bearing supporting mechanism（12）With main screw mandrel single-bearing supporting mechanism（22）Support.Main screw mandrel duplex bearing supports machine
Structure（12）With main screw mandrel single-bearing supporting mechanism（22）Pass through dormant bolt and trunk base respectively（17）It is fixed.Mother nut（13）
With main screw mandrel（16）Coordinate, main slide unit（14）One side and mother nut（13）It is bolted.Main slide unit（14）Two ends
Face respectively with two main guide rails（15）The bottom surface of one end is connected, and is bolted.Two main guide rails（15）Other end bottom
Face passes through bolt and the U-shaped plate of main guide rail respectively（23）Two sides fix.Main guide rail sliding block a（20）With main guide rail sliding block b（21）
L-type main guide rail take-up housing is bolted on respectively（19）A mounting surface on, main guide rail sliding block a（20）And main guide rail is slided
Block b（21）Roller be placed in guide groove.L-type main guide rail take-up housing（19）Another mounting surface be bolted on trunk
Base（17）On.
Flexible legs and feet mechanism is by leg motor（2）, turbine and worm decelerator（1）, leg screw mandrel（28）, leg nut（26）, leg slide
Platform（27）, leg screw mandrel duplex bearing supporting mechanism（25）, leg screw mandrel single-bearing supporting mechanism（32）, leg guide rail（3）, leg guide rail slide block
a（29）, leg guide rail slide block b（30）, L-type leg guide rail slide block seat（4）, the U-shaped plate of leg guide rail（31）, leg base（33）, sucker disk seat
（5）, electromagnet base（6）, electromagnet（7）, spring（8）Constitute.Leg motor（2）Pass through flange and turbine and worm decelerator（1）'s
Input is fixedly connected, turbine and worm decelerator（1）Output flange and support（24）It is bolted, support（24）It is logical
Cross bolt and leg base（33）It is fixed.Turbine and worm decelerator（1）Output end and leg screw mandrel（28）Input by being bonded
Connect, leg screw mandrel（28）Two ends respectively by leg screw mandrel duplex bearing supporting mechanism（25）With leg screw mandrel single-bearing supporting mechanism（32）Branch
Support, leg screw mandrel duplex bearing supporting mechanism（25）With leg screw mandrel single-bearing supporting mechanism（32）Pass through dormant bolt and leg base respectively
（33）It is fixed, leg nut（26）With leg screw mandrel（28）Coordinate, leg slide unit（27）One side pass through nut and leg nut（26）Gu
It is fixed, leg slide unit（27）Both ends of the surface pass through bolt and two leg guide rails respectively（3）One end fix, two leg guide rails（3）It is another
Outer one end passes through bolt and the U-shaped plate of leg guide rail respectively（31）Two sides fix.Leg guide rail slide block a（29）And leg guide rail slide block b
（30）Roller be placed in leg guide rail（3）Groove in, leg guide rail slide block a（29）With leg guide rail slide block b（30）Underrun bolt
With L-type leg guide rail slide block seat（4）One mounting surface is fixed, L-type leg guide rail slide block seat（4）Another mounting surface pass through bolt and leg
Base（33）It is fixed.The foot of each flexible legs and feet mechanism is by five blocks of electromagnet（7）Constitute sucker, every block of electromagnet（7）
Pass through two bolts, nut and electromagnet base（6）Fixed, bolt passes through sucker disk seat（5）Upper corresponding mounting hole, and in sucker disk seat
（5）With electromagnet base（6）Connecting bolt on the spring of empty set one（8）, make every block of electromagnet（7）And electromagnet base（6）It is compressible
Corresponding spring（8）, adapt to curved wall inside spud leg.Sucker disk seat（5）Underrun bolt and the U-shaped plate of leg guide rail（31）'s
Bottom surface is fixed.
The leg base of two groups of flexible leg mechanisms（33）Respectively with trunk base（17）Pass through two groups of L-type leg involvement fishplate bars（34）
It is fixed, constitute the middle leg mechanism that lengthwise position is fixed.The leg base of another two groups flexible leg mechanisms（33）Respectively with being stretched on trunk
The U-shaped plate of main guide rail of mechanism and lower telescoping mechanism（23）It is fixed, constitute relative to main screw mandrel（16）Can longitudinal extension upper and lower leg
Mechanism.Four liftings stand frame（18）Trunk base is symmetrically arranged on by bolt respectively（17）On.
Although the preferred embodiments of the present invention are described above in conjunction with accompanying drawing, the invention is not limited in upper
The embodiment stated, above-mentioned embodiment is only schematical, be not it is restricted, this area it is common
Technical staff in the case of present inventive concept and scope of the claimed protection is not departed from, may be used also under the enlightenment of the present invention
To make many forms, these are belonged within protection scope of the present invention.
Claims (1)
1. a kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people, it is characterised in that：Robot is overall by stretching
Contracting trunk mechanism and flexible legs and feet mechanism composition；By the coordination of four leg mechanisms and trunk mechanism stretching motion, robot is realized
It is reciprocal creep and avoidance, and there is to the wall for having certain radian certain adaptivity；
Described flexible trunk mechanism is made up of upper telescoping mechanism, lower telescoping mechanism；The knot of upper telescoping mechanism and lower telescoping mechanism
Structure is identical, mainly by servomotor（9）, gear tortuous decelerating machine（10）, main reducing gear seat（11）, main screw mandrel（16）, mother nut
（13）, main slide unit（14）, main screw mandrel duplex bearing supporting mechanism（12）, main screw mandrel single-bearing supporting mechanism（22）, main guide rail（15）、
Main guide rail sliding block a（20）, main guide rail sliding block b（21）, L-type main guide rail take-up housing（19）, the U-shaped plate of main guide rail（23）And trunk base
（17）Constitute；Servomotor（9）Pass through flange and gear tortuous decelerating machine（10）Input connection, gear tortuous decelerating machine
（10）Output flange and main reducing gear seat（11）It is fixed, main reducing gear seat（11）Pass through bolt and trunk base（17）Gu
It is fixed, gear tortuous decelerating machine（10）Output end and main screw mandrel（16）Input connect by being bonded；Main screw mandrel（16）Two ends point
Not by main screw mandrel duplex bearing supporting mechanism（12）With main screw mandrel single-bearing supporting mechanism（22）Support；Main screw mandrel duplex bearing supports machine
Structure（12）With main screw mandrel single-bearing supporting mechanism（22）Pass through dormant bolt and trunk base respectively（17）It is fixed；Mother nut（13）
With main screw mandrel（16）Coordinate, main slide unit（14）One side and mother nut（13）It is bolted；Main slide unit（14）Two ends
Face respectively with two main guide rails（15）The bottom surface of one end is connected, and is bolted；Two main guide rails（15）Other end bottom
Face passes through bolt and the U-shaped plate of main guide rail respectively（23）Two sides fix；Main guide rail sliding block a（20）With main guide rail sliding block b（21）
L-type main guide rail take-up housing is bolted on respectively（19）A mounting surface on, main guide rail sliding block a（20）And main guide rail is slided
Block b（21）Roller be placed in guide groove；L-type main guide rail take-up housing（19）Another mounting surface be bolted on trunk
Base（17）On；
Described flexible legs and feet mechanism is by leg motor（2）, turbine and worm decelerator（1）, leg screw mandrel（28）, leg nut（26）, leg
Slide unit（27）, leg screw mandrel duplex bearing supporting mechanism（25）, leg screw mandrel single-bearing supporting mechanism（32）, leg guide rail（3）, leg guide rail slide
Block a（29）, leg guide rail slide block b（30）, L-type leg guide rail slide block seat（4）, the U-shaped plate of leg guide rail（31）, leg base（33）, sucker disk seat
（5）, electromagnet base（6）, electromagnet（7）, spring（8）Constitute；Leg motor（2）Pass through flange and turbine and worm decelerator（1）'s
Input is fixedly connected, turbine and worm decelerator（1）Output flange and support（24）It is bolted, support（24）It is logical
Cross bolt and leg base（33）It is fixed；Turbine and worm decelerator（1）Output end and leg screw mandrel（28）Input by being bonded
Connect, leg screw mandrel（28）Two ends respectively by leg screw mandrel duplex bearing supporting mechanism（25）With leg screw mandrel single-bearing supporting mechanism（32）Branch
Support, leg screw mandrel duplex bearing supporting mechanism（25）With leg screw mandrel single-bearing supporting mechanism（32）Pass through dormant bolt and leg base respectively
（33）It is fixed, leg nut（26）With leg screw mandrel（28）Coordinate, leg slide unit（27）One side pass through nut and leg nut（26）Gu
It is fixed, leg slide unit（27）Both ends of the surface pass through bolt and two leg guide rails respectively（3）One end fix, two leg guide rails（3）It is another
Outer one end passes through bolt and the U-shaped plate of leg guide rail respectively（31）Two sides fix；Leg guide rail slide block a（29）And leg guide rail slide block b
（30）Roller be placed in leg guide rail（3）Groove in, leg guide rail slide block a（29）With leg guide rail slide block b（30）Underrun bolt
With L-type leg guide rail slide block seat（4）One mounting surface is fixed, L-type leg guide rail slide block seat（4）Another mounting surface pass through bolt and leg
Base（33）It is fixed；The foot of each flexible legs and feet mechanism is by five blocks of electromagnet（7）Constitute sucker, every block of electromagnet（7）
Pass through two bolts, nut and electromagnet base（6）Fixed, bolt passes through sucker disk seat（5）Upper corresponding mounting hole, and in sucker disk seat
（5）With electromagnet base（6）Connecting bolt on the spring of empty set one（8）, make every block of electromagnet（7）And electromagnet base（6）It is compressible
Corresponding spring（8）, adapt to curved wall inside spud leg；Sucker disk seat（5）Underrun bolt and the U-shaped plate of leg guide rail（31）'s
Bottom surface is fixed；
The leg base of two groups of flexible leg mechanisms（33）Respectively with trunk base（17）Pass through two groups of L-type leg involvement fishplate bars（34）Gu
It is fixed, constitute the middle leg mechanism that lengthwise position is fixed；The leg base of another two groups flexible leg mechanisms（33）Respectively with telescopic machine on trunk
The U-shaped plate of main guide rail of structure and lower telescoping mechanism（23）It is fixed, constitute relative to main screw mandrel（16）Can longitudinal extension upper and lower leg machine
Structure；Four liftings stand frame（18）Trunk base is symmetrically arranged on by bolt respectively（17）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710248463.3A CN106945741A (en) | 2017-04-17 | 2017-04-17 | A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710248463.3A CN106945741A (en) | 2017-04-17 | 2017-04-17 | A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people |
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| Publication Number | Publication Date |
|---|---|
| CN106945741A true CN106945741A (en) | 2017-07-14 |
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ID=59476052
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710248463.3A Withdrawn CN106945741A (en) | 2017-04-17 | 2017-04-17 | A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people |
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| CN (1) | CN106945741A (en) |
Cited By (5)
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| CN107600216A (en) * | 2017-11-13 | 2018-01-19 | 天津职业技术师范大学 | Obstacle crossing type pneumatic wall-climbing robot |
| CN108127656A (en) * | 2018-02-09 | 2018-06-08 | 张智林 | Climbing robot |
| CN108163078A (en) * | 2017-12-01 | 2018-06-15 | 苏州科爱佳自动化科技有限公司 | A kind of telescopically adjustable running gear |
| CN108466662A (en) * | 2018-05-11 | 2018-08-31 | 天津职业技术师范大学 | Offshore platform spud leg semicircular inner walls climbing robot |
| CN110077164A (en) * | 2019-06-03 | 2019-08-02 | 华北理工大学 | A kind of mobile work platform for different indoor wall Freehandhand-drawings design |
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| CN104816761A (en) * | 2015-02-15 | 2015-08-05 | 南京航空航天大学 | Walking mechanism and walking method of crawling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110077164A (en) * | 2019-06-03 | 2019-08-02 | 华北理工大学 | A kind of mobile work platform for different indoor wall Freehandhand-drawings design |
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Application publication date: 20170714 |
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| WW01 | Invention patent application withdrawn after publication |