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

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...

AI Technical Summary

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 has the functions of adsorption crawling on the cave wall and inclination sensing. It can conduct inspections according to the designed inspection route, solve the shortcomings and safety risks of manual diving inspections, and overcome the inability of propeller-propelled robots to stick It can be used for automatic, fast, clear and accurate inspection of underwater man caves and buildings such as hydropower diversion and power generation tunnels, dams, etc.

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