Wall-climbing robot with tunnel wall adsorption function and inspection method for water diversion and power generation tunnel of hydropower station

A wall-climbing robot and robot technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of not being able to stick to the wall for inspection, and achieve the effects of high inspection efficiency, true and comprehensive information, and a large inspection range

Active Publication Date: 2017-03-15
CHINA POWER CONSRTUCTION GRP GUIYANG SURVEY & DESIGN INST CO LTD
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  • Summary
  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a cave wall adsorption climbing robot and an inspection method for water diversion and power generation tunnels of hydropower stations. The underwater cave wall adsorption wall climbing robot is equipped with an underwater camera to inspect the diversion tunnels of hydropower stations without manual diving. , can inspect underwater tunnels of any water depth and length. The robot

Method used

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  • Wall-climbing robot with tunnel wall adsorption function and inspection method for water diversion and power generation tunnel of hydropower station
  • Wall-climbing robot with tunnel wall adsorption function and inspection method for water diversion and power generation tunnel of hydropower station
  • Wall-climbing robot with tunnel wall adsorption function and inspection method for water diversion and power generation tunnel of hydropower station

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Embodiment Construction

[0036] Such as figure 1 As shown, an adsorption wall-climbing robot for inspection of underwater caverns and steep walls includes an adsorption device for adsorbing the robot on the cave wall 12. The adsorption device includes an adsorption crawler 1, which is a whole non-splicing Plastic tracks. The inner side of the adsorption track 1 is in communication with the negative pressure chamber 2, and the negative pressure chamber 2 is connected with the water pump 7.

[0037] Such as figure 2 , 3 , 4 and 5, the adsorption track 1 includes several connected adsorption chamber units 10, the outer edge of the adsorption chamber unit 10 is provided with a closed adsorption skirt 6, the outline of the adsorption skirt 6 is rectangular, and the inner side of the adsorption skirt 6 is an adsorption Chamber 3, there is a smooth surface 11 inside the adsorption chamber 3, and there is a water absorption hole 4 on the smooth surface 10, the water absorption hole 4 communicates with the...

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Abstract

The invention discloses a wall-climbing robot with a tunnel wall adsorption function and an inspection method for a water diversion and power generation tunnel of a hydropower station. The robot cooperates with a negative pressure chamber (2) and a water suction pump (7) to realize adsorption of the robot on a tunnel wall by virtue of an adsorption crawler (1), and cooperates with a posture control device to realize posture adjustment and movement of the robot by virtue of a drive wheel (9). The underwater adsorption-type wall-climbing television inspection robot designed by the invention has no need of manual diving inspection, and is safe, capable of inspecting each direction of image coverage for a whole tunnel section, large in inspection range, clear in image, real and comprehensive in information, high in inspection efficiency, and capable of being widely used for underwater inspection working for water diversion tunnels and dam surfaces of large and medium-sized hydropower stations.

Description

technical field [0001] The invention relates to an inspection method of a water diversion power generation tunnel and a cave wall adsorption wall-climbing robot used for the inspection method, belonging to the field of engineering inspection. Background technique [0002] The water diversion and power generation tunnel is an important building of the hydropower station. Since the water diversion and power generation tunnel is located underwater for a long time when the power station is working, the tunnel lining is subjected to high pressure and high water flow erosion. In order to ensure the safety of the water diversion and power generation tunnel, it must be inspected frequently. [0003] The existing inspection method mainly adopts diver's diving inspection, and manual diving inspection can only inspect the part within the depth range of 50 meters, and there is also a relatively large safety risk. There is also an underwater robot for inspection, but the underwater robot...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J13/08
CPCB25J5/005B25J13/08
Inventor 王波
Owner CHINA POWER CONSRTUCTION GRP GUIYANG SURVEY & DESIGN INST CO LTD
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