王东辉 张仕海 胡子宇 李威徵

摘要：针对海上平台人工除锈作业所存在的作业效率低、风险高、劳动强度大等方面问题，设计了一种可代替人工作业的爬壁除锈机器人结构。根据海上平台实际工况，对机器人吸附方式及爬行方式分析后，确定了机器人爬行运动方案。以机器人爬行运动原理为依据，完成了机器人前后腿组机构、作业臂机构、旋转驱动机构3个部分的结构设计;为防止机器人出现失稳情况，针对机器人实际作业工况进行了3种常见失稳状态下的稳定性分析，计算出机器人稳定吸附于平台壁面所需电磁吸附力参数，进而得出了选用的电磁铁吸力所能满足的实际工况范围。所研究设计的爬壁机器人具有结构紧凑、驱动灵活、吸附可靠等特点，为海上平台外壁面除锈作业提供了技术方案。

关键词：海上平台;爬壁机器人;结构设计;稳定性分析

中图分类号：TP242文献标志码：A文章编号：1009-9492（2021）11-0054-05

Structure Design of a Rust-removing Robot on the Outer Wall of Offshore Platform

Wang Donghui，Zhang Shihai，Hu Ziyu，Li Weizheng

（School of Mechanical Engineering， Tianjin University of Technology and Education， Tianjin 300222， China）

Abstract： Aiming at the problems of low efficiency， high risk， and high labor intensity in manual rust removal operations on offshore platforms， the structure of a wall climbing derusting robot which can replace manual operation was designed. The crawling motion scheme of the robot was determined based on the analysis of the adsorption and crawling modes of the robot in the actual working conditions of the offshore platform. Based on the principle of crawling motion of the robot， the structure design of the front and back legs of the robot， the working arm and the rotating drive mechanism were completed. In order to prevent the instability of the robot， the stability analysis of the robot under three common instability states was carried out according to the actual working conditions. The parameters of the electromagnetic adsorption force required for stable adsorption of the robot on the platform wall were calculated， and then the range of the actual working conditions which can be satisfied by the suction force of the selected electromagnet was obtained. The wall climbing robot has the characteristics of compact structure， flexible driving and reliable adsorption， which provides a technical scheme for the derusting operation of the outer wall of offshore platform. Key words： offshore platforms; wall-climbing robot; structure design; stability analysis

0 引言

受海洋環境的影响，移动或固定平台在工作现场不可避免地产生不同程度的内外腐蚀，从而增加安全隐患。因此，海上平台设施需要定期或不定期地进行除锈和重新喷漆防腐作业。传统的人工除锈方式存在作业效率低、风险高、劳动强度大等方面的问题。随着机器人技术的发展及应用的拓展，爬壁机器人已实现了对高层建筑壁面的检测与擦洗，实现了对船舶外壁面除锈、喷漆与检测，在一些应用领域部分或全部代替了人工作业，但应用于海上平台壁面的打磨与喷涂尚处于研究实验阶段，且在技术上存在较大的空缺。……