Detection mechanism based on adhesive disc of crawling robot on inner wall of offshore platform pile leg

Abstract

The invention discloses a detection mechanism based on an adhesive disc of a crawling robot on the inner wall of an offshore platform pile leg. The mechanism comprises a basic sucking disc mechanism, an ultrasonic probe mechanism and a laser distance measure mechanism, wherein the basic sucking disc mechanism includes a plurality of suction modules separated from each other; the ultrasonic probe mechanism is fixedly connected with the basic sucking disc mechanism through a connecting pin, and are composed of an ultrasonic probe, a solution inlet, a solution injecting hole and a through hole, and meanwhile, the solution inlet, solution injecting hole and through hole are used for injecting coupling agents; the laser distance measure mechanism is fixedly connected with the ultrasonic probe mechanism through the connecting pin, and provided with a laser distance measure sensor. In the detection mechanism based on an adhesive disc of a crawling robot on the inner wall of an offshore platform pile leg, the sucking disc can achieve controllable suction on vertical, horizontal, oblique and multiple types of wall surfaces, and adapt to load and the wall curvature of inner wall of pile legs at a certain degree; a detection mechanism of ultrasound and laser, which adopts the sucking disc mechanism as a carrier, can detect thickness of wall surfaces and barriers in the way as the robot sets foot down. The detection mechanism based on the adhesive disc of the crawling robot on the inner wall of the offshore platform pile leg has the advantages of enlarging the application range of detection robots and expanding functions of sucking disc mechanisms of robots.

Description

technical field [0001] The invention relates to the technical field of mechatronics engineering, in particular to a detection mechanism based on a suction cup of a crawling robot on the inner wall of an offshore platform leg. Background technique [0002] The pile leg is an important basic component to maintain the stability and safety of the offshore platform. In practical application, affected by factors such as the displacement and seating of the platform system, ship collision, partial load of the platform system, marine organisms, seawater, wind and waves, tidal current erosion and other factors, the pile legs will be rusted, cracked, deformed, partially thinned, Stress concentration and other problems, if these problems are not dealt with in time, will continue to deteriorate and expand under the joint action of internal and external factors, and then endanger the safety of the legs and even the entire platform system. [0003] At present, the on-site inspection of th...

AI Technical Summary

Problems solved by technology

The manual detection process belongs to high-altitude operations, which is dangerous; the coverage of detection is low, and it is easy to miss detection; at the same time, there are problems such as low detection efficiency and strong subjectivity.

The pipeline detection system based on the robot has been applied to a certain extent, but the walking mechanism of the robot mostly adopts a wheel and crawler structure, which is mostly suitable for the detection of horizontal pipeline systems

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