The invention designs an offshore platform deck derusting and supporting quadruped robot. The robot is mainly composed of a main box, leg assemblies, a material box, a hoisting mechanism, a mechanicalarm type polishing assembly and a bearing pulley yoke. The robot controls four robot legs to move alternately through rotation of a steering engine to achieve advancing, retreating and transverse movement of the robot. The material box is installed on the back of the robot, and power supply and traction protection of the wall-climbing robot are achieved through a winch and the bearing pulley yoke. The robot controls extension and retraction of the mechanical arm through the steering engine, and the motor drives a grinding head to grind the deck wall surface of the offshore platform when the robot advances. The designed robot has good adaptability to complex environmental conditions of an offshore platform, has the functions of offshore platform deck wall surface crawling and operation, and also has the functions of providing power supply for a vertical wall surface crawling and operation robot and supporting in the aspects of traction.
本发明设计了海上平台甲板除锈与支援四足机器人,机器人主要由主体箱、腿部组件、物料箱、卷扬机构、机械臂式打磨组件、承重滑轮架组成。机器人通过舵机的旋转,控制四条机器人腿交替运动实现机器人的前进、后退和横向移动。机器人背部装有物料箱,通过卷扬机和承重滑轮架实现对爬壁机器人的电源供给和牵引保护。机器人通过舵机控制机器械臂的伸出和收缩,在机器人行进时电机驱动打磨头对海上平台甲板壁面进行打磨作业。所设计机器人对海上平台复杂的环境条件具有很好的适应性,除具备海上平台甲板壁面爬行与作业功能外,还具备为垂直壁面爬行与作业机器人提供电源、牵引方面的支援功能。
Offshore platform deck derusting and supporting quadruped robot
海上平台甲板除锈与支援四足机器人
2021-02-19
Patent
Electronic Resource
Chinese