Long-distance non-pressure automatic patrol and inspection robot of water conveying tunnel and method

Abstract

The invention discloses a long-distance non-pressure automatic patrol and inspection robot of a water conveying tunnel and a method. The robot comprises air cushions, driving wheels, suckers, top plates, patrol and inspection devices, a control box, a ventilation hole, a protection device and a hydraulic energy storer; the air cushions, the driving wheels and the suckers are fixed on the top plates; the control box is fixed under the top plates; the patrol and inspection devices are fixed on the front and back sides of the top plates; the protection device is fixed at the lower part of the control box; the hydraulic energy storer is fixed at the tail parts of the top plates, and penetrates through the top plates, the control box and the protection device; and the top plates, the control box and the protection device are provided with holes to form the ventilation hole. The robot can climb on the wall surface of the tunnel to realize a long-distance automatic patrol and inspection operation target.

Description

technical field [0001] The invention relates to the field of inspection and management of underground water conveyance tunnels, in particular to an automatic inspection robot for long-distance non-pressure water conveyance tunnels on the internal structure surface of long-distance water conveyance tunnels during operation. Background technique [0002] With the advancement of modern science and technology, the monitoring and testing of engineering buildings has gradually realized automation from manual work. Various automated mechanical equipment have the characteristics of lightness, automation, and intelligence, high work efficiency, low cost, and can replace manual labor in some dangerous situations. Work in an environment that avoids the dangers faced by workers. [0003] Water conveyance tunnels are usually buried deep underground, with a length of several kilometers to more than ten kilometers. During the excavation and construction period, people can enter the interio...

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Problems solved by technology

[0003] Water conveyance tunnels are usually buried deep underground, with a length of several kilometers to more than ten kilometers. During the excavation and construction period, people can enter the interior of the tunnel for inspection and inspection. However, during the normal operation period, there is water flow inside the tunnel, and the water flow must be stopped. Otherwise, it is difficult for personnel to enter for on-site inspection, testing and inspection

[0004] In these dangerous areas, it is necessary to use automatic robots or automatic equipment to replace human work. The existing inspection equipment needs guide rails or hanging rails to facilitate equipment walking, or needs to ensure that the surface is basically flat, clean and smooth, which are difficult to adapt to the harsh conditions inside the tunnel. conditions; at the same time, tunnels are usually more than ten kilometers deep, and equipment power supply and manual real-time control also have limitations

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