Offshore platform pile leg inner wall variable-step-size automatic crawling robot

The invention relates to an offshore platform pile leg inner wall variable-step-size automatic crawling robot. The robot is composed of an upper leg set, a lower leg set, a middle plate, a body upper stretching and contracting oil cylinder, a body lower stretching and contracting oil cylinder, an inner guide sleeve, an outer guide sleeve, a control cabinet, an oil tank and other mechanisms as a whole. The robot can freely crawl in a semicircular cylindrical space in a pile leg and can step over a flange barrier at the middle joint position of the pile leg in a variable-step-size mode. The robot can carry a pile leg inner wall defect detection device or a work device to replace manual operation, improves the safety of the pile leg and even a platform system and saves the maintenance cost. 本发明涉及种海上平台桩腿内壁可变步长爬行机器人，机器人总体由上腿组、下腿组、中板、本体上伸缩油缸、本体下伸缩油缸、内导向套筒、外导向套筒、控制柜、油箱等机构组成。机器人可在桩腿内部半圆形柱状空间内自由爬行，并可通过变步长的方式跨越桩腿中间连接处凸缘障碍。机器人可携带桩腿内壁缺陷检测装置或作业装置，代替人工作业，提高桩腿乃至平台系统的安全性，节省检修成本。