CN1586965A - Creeping crawling device for detecting default of marine platform structure - Google Patents
Creeping crawling device for detecting default of marine platform structure Download PDFInfo
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- CN1586965A CN1586965A CN 200410066590 CN200410066590A CN1586965A CN 1586965 A CN1586965 A CN 1586965A CN 200410066590 CN200410066590 CN 200410066590 CN 200410066590 A CN200410066590 A CN 200410066590A CN 1586965 A CN1586965 A CN 1586965A
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Abstract
The creeping crawling apparatus for detecting fault in marine platform structure includes head, head rotating knuckle, creeping body, tail rotating knuckle, and tail. The head and the tail has the same structure comprising right and left arm, whisker sensor, camera and casing. The creeping body is right and left detecting arm, several magnetically telescopic ultrasonic guide transducer, six-freedom manipulator, phase control array ultrasonic transducer, body creeping telescopic oil cylinder and casing. The present invention has several freedom, can perform enclasping, raising arm, creeping, swing head and tail and other actions, and can go straightly forward or turn in pipeline. The present invention may be sued in carrying various kinds of detection equipment to perform automatic detection of welding seam, pipe, etc. in marine platform structure and other marine structure.
Description
Technical field
The present invention relates to a kind of detecting device of creeping, particularly a kind of creeping crawling device that detects offshore platform structure.Be used for the detection technique field.
Background technology
The spud leg of offshore platform structure generally is welded by the steel pipe of some kinds of specifications, it is waterborne, underwater weld position and body need carry out safety detection and maintenance, to guarantee the safety of offshore platform structure and various device, stable operation, the normal inspection method is to carry detecting device by testing staff under water to enter the operating area, realize manually detecting, the detection efficiency of this detection mode is low, labour intensity is big, competency profiling to the testing staff is very high, the testing staff need possess diver and the dual qualification of detection person under water, examined peopleware of testing result and the influence of testing environment under water are very big, detect difficult quality and are guaranteed.The intelligent distant control submersible that Britain and Norway adopt is a kind of people of detection machine under water.
Find through literature search prior art, Li Shengtian, Liu Zhiyuan are in " the modern Dynamic Non-Destruction Measurement of welded structure " (China Machine Press, 2000) make referrals on P180～181, the six degree of freedom manipulator portability ac magnetic field testing equipment butt welded seam position of its equipment is detected, but it costs an arm and a leg, the accessibility that detects also is subjected to the restriction of manipulator spread length, and can only be suitable for under-water operation, makes the application of this intelligent distant control submersible be subjected to very big restriction.
Summary of the invention
The objective of the invention is at above shortcomings in the prior art and defective, a kind of creeping crawling device that detects default of marine platform structure is provided, make its difference that can adapt to detected pipe diameter variation require, can carry different testing equipments, be used for waterborne, the underwater weld position and the body of offshore platform structure are carried out comprehensive detection, replace testing staff under water or remote-operated vehicle as the detection mode of testing equipment carrier to alleviate testing staff's labour intensity, improve detection efficiency, guarantee to detect quality.
The present invention is achieved by the following technical solutions, the present invention includes: head, head rotation joint, wriggling health, afterbody rotary joint and afterbody, head is connected with the wriggling health by the head rotation joint, afterbody is connected with the wriggling health by the afterbody rotary joint, and head rotation joint and afterbody rotary joint are driven by an oscillating oil cylinder respectively.
Head, afterbody comprise respectively: left and right arm, antenna sensor, camera and housing, wherein, left and right arm by the shoulder joint of raising one's hand, swinging joint, ancon joint, wrist joint, be connected telescopic oil cylinder between swinging joint and the ancon joint, be connected the big arm of raising one's hand between shoulder joint and the wrist joint and be connected the ancon joint and the wrist joint between paw form, left and right arm is arranged in the housing both sides symmetrically, and left and right arm is connected with housing by the shoulder joint of raising one's hand respectively.The motion of the shoulder joint of raising one's hand of left and right arm is driven by an oscillating oil cylinder.Antenna sensor and camera are installed on the housing, and the antenna sensor is arranged in the camera both sides symmetrically.Wherein, the dead ahead that the antenna sensor of head and camera are installed in housing, the rear that the antenna sensor of afterbody and camera are installed in housing.
The wriggling health comprises: manipulator, phase array transducer or the ultrasonic transducer of left and right detection arm, several magnetic deformation supersonic guide-wave sensors, six degree of freedom, wriggling health telescopic oil cylinder and wriggling health housing.Wherein left and right detection arm by the shoulder joint of raising one's hand, swinging joint, ancon joint, wrist joint, be connected telescopic oil cylinder between swinging joint and the ancon joint, be connected the big arm of raising one's hand between shoulder joint and the wrist joint and be connected the ancon joint and the wrist joint between the detection paw form, left and right detection arm is arranged in wriggling health housing both sides symmetrically, be separately installed with several magnetic deformation supersonic guide-wave sensors on the left and right detection arm, left and right detection arm is connected with wriggling health housing by the shoulder joint of raising one's hand respectively.The shoulder joint of raising one's hand of left and right detection arm is driven by an oscillating oil cylinder.The manipulator of six degree of freedom is installed in the wriggling health housing back of wriggling health, and arm end carries phase array transducer or ultrasonic transducer.Two wriggling health telescopic oil cylinders are installed in the belly of wriggling health housing side by side, and are connected with the head rotation joint.
Because the present invention has adopted above technical scheme, have a plurality of degree of freedom, can realize holding tightly, the arm of raising one's hand, wriggling, a plurality of actions such as wave end to end, satisfy the standpipe that needs when creeping get over structure on offshore platform structure, the obstacle of levelling pipe and inclined tube surface and local projection, long distance is creeped, turn round, creep vertically upward or downwards, highly difficult complex art requirements such as climbing, its detection arm and the various check implements of six degree of freedom manipulator portability are various waterborne to offshore platform structure, underwater weld position and body carry out comprehensive automatic detection, greatly alleviate operator's labour intensity, improved the accessibility that detects, improved detection efficiency, reduce the detection cost, guaranteed the detection quality.The present invention can be applicable to the big work capacity of offshore structures such as offshore platform structure, high-precision comprehensive automatic detection, has broad application prospects.
Description of drawings
Fig. 1 structural representation of the present invention;
Fig. 2 head of the present invention and tail structure scheme drawing;
Fig. 3 wriggling body structure of the present invention scheme drawing.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
As shown in Figure 1, the present invention includes: head 1, head rotation joint 2, wriggling health 3, afterbody rotary joint 4 and afterbody 5, head 1 is connected with wriggling health 3 by head rotation joint 2, afterbody 5 is connected with wriggling health 3 by afterbody rotary joint 4, and head rotation joint 2 and afterbody rotary joint 4 are driven by an oscillating oil cylinder respectively.
As shown in Figure 2, head 1, afterbody 5 comprises respectively: a left side, right arm 28 and 29, antenna sensor 13, camera 14 and housing 15, wherein, a left side, right arm 28 and 29 is by the shoulder joint 6 of raising one's hand, swinging joint 7, ancon joint 8, wrist joint 9, be connected the telescopic oil cylinder 10 between swinging joint 7 and the ancon joint 8, be connected the big arm 11 of raising one's hand between shoulder joint 6 and the wrist joint 9 and be connected ancon joint 8 and wrist joint 9 between paw 12 form, a left side, right arm 28 and 29 is arranged in housing 15 both sides, a left side symmetrically, right arm 28 is connected with housing 15 by the shoulder joint 6 of raising one's hand respectively with 29.The motion of shoulder joint 6 of raising one's hand is driven by an oscillating oil cylinder.Left and right arm 28 and 29 also can be installed many suckers that are made of permanent magnet, to increase the adhesive ability of arm to tubing string.Antenna sensor 13 and camera 14 are installed on the housing 15, and antenna sensor 13 is arranged in camera 14 both sides symmetrically.Wherein, the antenna sensor 13 of head 1 and camera 14 are installed in the dead ahead of housing 15, and the antenna sensor 13 of afterbody 5 and camera 14 are installed in the rear of housing 15.
As shown in Figure 3, wriggling health 3 comprises manipulator 24, phase array transducer or ultrasonic transducer 25, wriggling health telescopic oil cylinder 26 and the wriggling health housing 27 of left and right detection arm 30 and 31, several magnetic deformation supersonic guide-wave sensors 23, six degree of freedom.Wherein left, the right arm 30 and 31 that detects is by the shoulder joint 16 of raising one's hand, swinging joint 17, ancon joint 18, wrist joint 19, be connected the telescopic oil cylinder 20 between swinging joint 17 and the ancon joint 18, be connected the big arm 21 of raising one's hand between shoulder joint 16 and the wrist joint 19 and be connected ancon joint 18 and wrist joint 19 between detection paw 22 form, a left side, the right arm 30 and 31 that detects is arranged in wriggling health housing 27 both sides symmetrically, a left side, the right detection on the arm 30 and 31 is separately installed with several magnetic deformation supersonic guide-wave sensors 23, a left side, the right arm 30 that detects is connected with wriggling health housing 27 by the shoulder joint 16 of raising one's hand respectively with 31.The shoulder joint 16 of raising one's hand is driven by an oscillating oil cylinder.The manipulator 24 of six degree of freedom is installed in wriggling health housing 27 backs of wriggling health 3, and manipulator 24 ends carry phase array transducer or ultrasonic transducer 25.Manipulator 24 has the space six degree of freedom, and position control requirement in phase array transducer or ultrasonic transducer 25 planes is realized in three joints, and phase array transducer or ultrasonic transducer 25 attitudes control requirement are realized in three joints.Two wriggling health telescopic oil cylinders 26 are installed in the belly of wriggling health housing 27 side by side, and are connected with head rotation joint 2.
The present invention has a plurality of degree of freedom, the arm of realizing holding tightly, raising one's hand, wriggling, a plurality of actions such as waves end to end, by cooperatively interacting of these actions, can finish on body the two kinds of motions of advancing of straight ahead and turning.The head 1 of creeping crawling device and afterbody 5 are equipped with antenna sensor 13, illumination and camera 14, realize the control to creeping crawling device position and track route.
The present invention's motion process of straight ahead on tubing string is as follows:
When straight ahead, the left and right arm 28 of its head 1 and afterbody 5 and 29 athletic performance cooperatively interact under the same conditions, and the left and right arm 28 and 29 of head 1 opens then the left and right arm 28 and 29 of afterbody 5 to be held tightly, and vice versa.The cycle in one step of creeping motion type straight ahead is that the left and right arm 28 and 29 of afterbody 5 is held tightly, the left and right arm 28 and 29 of head 1 opens, 26 elongations of wriggling health telescopic oil cylinder, the left and right arm 28 and 29 of head 1 is held tightly, the left and right arm 28 and 29 of afterbody 5 opens, wriggling health telescopic oil cylinder 26 shortens, and the left and right arm 28 and 29 of head 1 and afterbody 5 is held tightly simultaneously.
The motion process that the present invention turns on another endowel from an endowel is as follows:
When turning was advanced, the left and right arm 28 of its head 1 and afterbody 5 and 29 athletic performance cooperatively interacted under the same conditions, and the left and right arm 28 and 29 of head 1 opens then the left and right arm 28 and 29 of afterbody 5 to be held tightly, and vice versa.The cycle that the creeping motion type turning takes a step forward is when being turning, the left side of afterbody 5, right arm 28 and 29 is held tightly, the left side of head 1, right arm 28 and 29 opens and lifts, 26 elongations of wriggling health telescopic oil cylinder, the oscillating oil cylinder of head rotation joint 2 and afterbody rotary joint 4 turns an angle respectively, the left side of head 1, right arm 28 and 29 is held tightly, the left side of afterbody 5, right arm 28 and 29 opens, wriggling health telescopic oil cylinder 26 shortens, the oscillating oil cylinder of head rotation joint 2 and afterbody rotary joint 4 turns an angle respectively, forward another tubing string to, the left side of head 1 and afterbody 5, right arm 28 and 29 is held tightly simultaneously.
When body crackle to offshore platform structure, when defectives such as corrosion detect, the discriminatory analysis of the information that the present invention obtains by antenna sensor 13 and camera 14 to head 1 and afterbody 5, need to determine the body of detection, the present invention turns and advances to an end of the body that needs detection then, the left side of head 1 and afterbody 5, right arm 28 and 29 is held body simultaneously tightly, realize that the present invention is at the positioning action that detects the position, the left side of wriggling health 3, the right arm 30 and 31 that detects is held tightly simultaneously, drive is installed in a left side, right several magnetic deformation supersonic guide-wave sensors 23 that detect on the arm 30 and 31, realization is to the obvolvent of detected body, and finishes the detection to a body.Repeat this testing process, until the detection of finishing all bodys.
When the tubular joint weld defective to offshore platform structure detects, the discriminatory analysis of the information that the present invention obtains by antenna sensor 13 and camera 14 to head 1 and afterbody 5, need to determine the tubular joint weld of detection, the present invention advances to the contiguous position of the tubular joint weld that needs detection then, the left side of head 1 and afterbody 5, right arm 28 and 29 is held body simultaneously tightly, realize the present invention at the positioning action that detects the position, phase array transducer or 25 pairs of tubular joint welds of ultrasonic transducer that manipulator 24 its ends of drive of six degree of freedom carry detect.Repeat this testing process, until the detection of finishing all tubular joint welds.
With the present invention as the guiding carrier, with the magnetic deformation supersonic guide-wave, the integrated checking system of multiple method of inspection such as phased array supersonic is as detection means, creep on the body of offshore platform structure by the present invention, the mode that the location combines with checking system enforcement detection is finished the detection to platform structure, promptly adopt the body crackle of 23 pairs of platform structures of magnetic deformation supersonic guide-wave sensor, defectives such as corrosion are carried out detection rapidly and efficiently, adopt the waterborne of phase array transducer or 25 pairs of platform structures of ultrasonic transducer, detection is scanned at the underwater weld position.
Claims (5)
1, a kind of creeping crawling device that detects default of marine platform structure, it is characterized in that, comprise: head (1), head rotation joint (2), wriggling health (3), afterbody rotary joint (4) and afterbody (5), head (1) is connected with wriggling health (3) by head rotation joint (2), afterbody (5) is connected with wriggling health (3) by afterbody rotary joint (4), and head rotation joint (2) and afterbody rotary joint (4) are driven by an oscillating oil cylinder respectively.
2, the creeping crawling device of detection default of marine platform structure as claimed in claim 1, it is characterized in that, head (1), afterbody (5) comprises respectively: a left side, right arm (28,29), antenna sensor (13), camera (14) and housing (15), a left side, right arm (28,29) by the shoulder joint of raising one's hand (6), swinging joint (7), ancon joint (8), wrist joint (9), be connected the telescopic oil cylinder (10) between swinging joint (7) and ancon joint (8), be connected the big arm (11) between the shoulder joint of raising one's hand (6) and wrist joint (9) and be connected ancon joint (8) and wrist joint (9) between paw (12) form, a left side, right arm (28,29) be arranged in housing (15) both sides symmetrically, a left side, right arm (28,29) be connected with housing (15) by the shoulder joint of raising one's hand (6) respectively, antenna sensor (13) and camera (14) are located on the housing (15), and antenna sensor (13) is arranged in camera (14) both sides symmetrically.
3, the creeping crawling device that is used for the default of marine platform structure detection as claimed in claim 2, it is characterized in that, the antenna sensor (13) of head (1) and camera (14) are located at the dead ahead of housing (15), and the antenna sensor (13) of afterbody (5) and camera (14) are located at the rear of housing (15).
4, the creeping crawling device of detection default of marine platform structure as claimed in claim 2 is characterized in that, left and right arm (28,29) or many suckers that are made of permanent magnet are set.
5, the creeping crawling device of detection default of marine platform structure as claimed in claim 1, it is characterized in that, wriggling health (3) comprising: a left side, the right arm (30 that detects, 31), several magnetic deformation supersonic guide-wave sensors (23), the manipulator of six degree of freedom (24), phase array transducer or ultrasonic transducer (25), wriggling health telescopic oil cylinder (26) and wriggling health housing (27), a left side, the right arm (30 that detects, 31) by the shoulder joint of raising one's hand (16), swinging joint (17), ancon joint (18), wrist joint (19), be connected the telescopic oil cylinder (20) between swinging joint (17) and ancon joint (18), be connected the big arm (21) between the shoulder joint of raising one's hand (16) and wrist joint (19) and be connected ancon joint (18) and wrist joint (19) between detection paw (22) form, a left side, the right arm (30 that detects, 31) be arranged in wriggling health housing (27) both sides symmetrically, a left side, the right arm (30 that detects, 31) be respectively arranged with several magnetic deformation supersonic guide-wave sensors (23) on, a left side, the right arm (30 that detects, 31) be connected with wriggling health housing (27) by the shoulder joint of raising one's hand (16) respectively, the manipulator of six degree of freedom (24) is located at wriggling health housing (27) back of wriggling health (3), manipulator (24) end carries phase array transducer or ultrasonic transducer (25), two wriggling health telescopic oil cylinders (26) are located at the belly of wriggling health housing (27) side by side, and are connected with head rotation joint (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410066590 CN1586965A (en) | 2004-09-23 | 2004-09-23 | Creeping crawling device for detecting default of marine platform structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410066590 CN1586965A (en) | 2004-09-23 | 2004-09-23 | Creeping crawling device for detecting default of marine platform structure |
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| Publication Number | Publication Date |
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| CN1586965A true CN1586965A (en) | 2005-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410066590 Pending CN1586965A (en) | 2004-09-23 | 2004-09-23 | Creeping crawling device for detecting default of marine platform structure |
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| CN (1) | CN1586965A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101788535A (en) * | 2010-03-19 | 2010-07-28 | 鞍山长风无损检测设备有限公司 | Spiral welded pipe weld seam probe frame |
| CN105730540A (en) * | 2016-02-05 | 2016-07-06 | 国家电网公司 | Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot |
| CN106224690A (en) * | 2016-07-26 | 2016-12-14 | 佛山科学技术学院 | A kind of pipeline detection robot |
| CN109113709A (en) * | 2018-10-19 | 2019-01-01 | 中国石油大学(北京) | It is installed on the drill string damage well head on-Line Monitor Device for boring disk |
| CN110953440A (en) * | 2020-01-02 | 2020-04-03 | 刘廷馨 | Body section device of peristaltic pipeline robot |
| CN114962944A (en) * | 2022-05-15 | 2022-08-30 | 浙江大学 | Three-dimensional high-precision rapid detection device for submarine pipeline suitable for complex sea area |
-
2004
- 2004-09-23 CN CN 200410066590 patent/CN1586965A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101788535A (en) * | 2010-03-19 | 2010-07-28 | 鞍山长风无损检测设备有限公司 | Spiral welded pipe weld seam probe frame |
| CN101788535B (en) * | 2010-03-19 | 2011-05-11 | 鞍山长风无损检测设备有限公司 | Spiral welded pipe weld seam probe frame |
| CN105730540A (en) * | 2016-02-05 | 2016-07-06 | 国家电网公司 | Transformer substation patrol and inspection robot with rod climbing function and drive method for transformer substation patrol and inspection robot |
| CN105730540B (en) * | 2016-02-05 | 2018-09-07 | 国家电网公司 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
| CN106224690A (en) * | 2016-07-26 | 2016-12-14 | 佛山科学技术学院 | A kind of pipeline detection robot |
| CN106224690B (en) * | 2016-07-26 | 2018-07-31 | 佛山科学技术学院 | A kind of pipeline detection robot |
| CN109113709A (en) * | 2018-10-19 | 2019-01-01 | 中国石油大学(北京) | It is installed on the drill string damage well head on-Line Monitor Device for boring disk |
| CN109113709B (en) * | 2018-10-19 | 2023-10-17 | 中国石油大学(北京) | Drill string damage wellhead on-line monitoring device mounted on drilling disc surface |
| CN110953440A (en) * | 2020-01-02 | 2020-04-03 | 刘廷馨 | Body section device of peristaltic pipeline robot |
| CN110953440B (en) * | 2020-01-02 | 2022-04-05 | 刘廷馨 | Body section device of peristaltic pipeline robot |
| CN114962944A (en) * | 2022-05-15 | 2022-08-30 | 浙江大学 | Three-dimensional high-precision rapid detection device for submarine pipeline suitable for complex sea area |
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