The invention relates to an offshore pile foundation anti-corrosion operation method based on a wall-climbing robot. According to the method, the wall-climbing robot arranged on the outer wall of an offshore steel structure pile foundation is included; the robot walks and works in the transverse direction, the oblique direction and the longitudinal direction, and the construction processes of surface treatment of the coating petrolatum coating anti-corrosion technology, petrolatum anti-corrosion paste brushing, petrolatum anti-corrosion belt winding and the like are completed. In order to enable the surface smoothness of the steel structure to meet the requirement, the robot is provided with a high-pressure pump set and a grinding roller mechanism, and the high-pressure pump set conducts high-pressure water flow jetting rust removal through a high-pressure pipeline; for construction environments with low adhesion degree of surface floating rust, bumps, marine organisms and the like, surface treatment can be performed through the polishing mechanism; a paste spraying and belt winding mechanism is arranged, petrolatum anti-corrosion paste is sprayed to the surface of the pile foundation from a paste spraying pipeline through a paste pump, and then the petrolatum anti-corrosion paste is wrapped and wound through an anti-corrosion belt roller; an electric control device is configured, an industrial personal computer communicates with a wall-climbing robot body, and motion control, rust removal control and machine body function module control of the wall-climbing robot are achieved in a continuous control mode and an intelligent control mode; the offshore pile foundation anti-corrosion operation robot is mainly designed for the construction technology of the multi-layer petrolatum coating anti-corrosion technology of offshore steel piles, and aims at reducing the labor load of on-site constructors, reducing the operation risk of the constructors, reducing the labor and material cost, improving the construction efficiency and quality and achieving man-machine combined automatic operation.
本发明涉及一种基于爬壁机器人的海上桩基防腐作业的方法,包括配置在海上钢构桩基外壁上的爬壁机器人;所述机器人以横向、斜向、纵向行走作业,完成覆层矿脂包覆防腐技术的表面处理、涂刷矿脂防蚀膏、缠绕矿脂防蚀带等施工工艺;为使钢结构表面光洁度达到要求,所述机器人配置高压泵组和打磨辊机构,高压泵组通过高压管路进行高压水流喷射除锈;对于表面浮锈、鼔包、海生物等附着程度低的施工环境,可以通过打磨机构进行表面处理;配置喷膏和缠带机构,通过膏体泵将矿脂防蚀膏由喷膏管路喷射至桩基表面,再由防蚀带辊筒进行包覆缠绕;配置电气控制装置,工控机与爬壁机器人本体实现通信,采用连续控制形式,智能控制方式,实现爬壁机器人的运动控制、除锈控制以及机体功能模块控制;海上桩基防腐作业机器人主要为海上钢桩的复层矿脂包覆防腐技术施工工艺而设计,作用旨在减轻现场施工人员的劳动负荷,降低施工人员的作业风险,降低人工及材料成本,提高施工效率和质量,并实现人机结合的自动化作业。
Offshore pile foundation anti-corrosion operation method based on wall-climbing robot
基于爬壁机器人的海上桩基防腐作业的方法
2024-04-02
Patent
Electronic Resource
Chinese
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