Apparatus and method for horizontal and high angle of deviation section water conduit maintenance

Abstract

The application discloses a kind of equipment and method for horizontal section and large inclination section water conduit maintenance operation, including center force bearing structure, support mechanism, tension applying mechanism, movement coordination mechanism and operation platform system, tension applying mechanism and movement coordination mechanism cooperate, make all support arm form a stable support system that can adapt to water conduit shape and posture.The application is modularized, lightweight design, and the support arm can be folded, so that the maintenance operation equipment can pass through the narrow entrance, and after being unfolded in the water conduit, a large-size, high-rigidity stable operation platform is formed, and the maintenance operation equipment can also move in the horizontal section and large inclination section of the water conduit, solving the problem of water conduit maintenance.

Description

Technical Field

[0001] This invention relates to the field of hydropower station maintenance equipment technology, and in particular to a maintenance equipment and method for water diversion channels in horizontal and steeply inclined sections. Background Technology

[0002] The water intake channels of large hydropower stations and pumping stations are key structures for realizing the conversion of hydraulic energy. These channels typically feature large diameters (usually exceeding 10 meters), steep slopes (up to 50° or more), and long lengths, and may contain internal bends. See details... Figure 7 The inner wall of the flow channel is constantly subjected to erosion by high-speed sand-laden water flow, cavitation, and pressure changes, making it prone to defects such as damage and cracks, requiring regular inspection and maintenance.

[0003] However, the interior of the water diversion channel is a typical restricted, harsh, and high-risk working environment. The space to be inspected is large and steep, and there may be leaks due to damage to the tunnel walls. The entrance door is usually only about 1 meter by 1 meter in size, making it impossible for large machinery to enter and operate. Moreover, all machinery that has entered must be dismantled after maintenance. In existing technologies, maintenance personnel manually carry a large number of scaffolding pipes and fasteners into the channel and erect scaffolding layer by layer from the bottom to the working height. The use of scaffolding for the maintenance of water diversion channels has the following disadvantages: First, the erection and dismantling of scaffolding itself takes several weeks, severely encroaching on the valuable window of opportunity for generator operation, resulting in huge economic costs. Second, performing high-intensity physical labor in the sloping, slippery tunnels greatly increases the risk of accidents such as falls from heights and being struck by falling objects. Third, each scaffolding erection only serves a localized area; if other areas need maintenance, the entire scaffolding must be dismantled and re-erected, resulting in extremely poor flexibility. Fourth, scaffolding cannot be erected in the sloping sections of the water diversion channel, relying primarily on hoisting operations using ropes similar to those used by Spider-Man, posing certain safety hazards. Due to these disadvantages, the maintenance of water diversion channels has long been a major challenge.

[0004] To address this issue, Chinese patent document CN118270673A, published on July 2, 2024, proposes a water diversion channel maintenance equipment and its usage method. The equipment includes a mobile chassis, a personnel access passage, a climbing operation mechanism, a personnel-carrying operation mechanism, a first pulley block, a second pulley block, a large winch, and a small winch. The small winch is installed at one end of the mobile chassis. One end of the personnel access passage is hinged to the mobile chassis via a connecting frame, and the other end of the personnel access passage is connected to the bottom of the climbing operation mechanism. The large winch is fixedly installed on the mobile chassis. The large winch leads out a traction cable that passes through the first and second pulley blocks in sequence before being fixedly connected to the personnel-carrying operation mechanism. The small winch leads out a personnel traction cable that passes through the first and second pulley blocks in sequence before being connected to the workers. Both the first and second pulley blocks are anchored to the top of the water diversion channel. Its advantages are: using water diversion channel maintenance equipment to increase the coverage area of ​​maintenance work and improve the quality of maintenance work; its disadvantages are: firstly, the structure is complex, installation and transportation are inconvenient, and it is not possible to enter the water diversion channel through a narrow entrance when in use; secondly, although it can be used to maintain longitudinal slope sections, it is not applicable to horizontal sections and steep slope sections. Summary of the Invention

[0005] To address the aforementioned shortcomings in existing technologies, this invention provides an equipment and method for maintenance of water diversion channels in both horizontal and steeply inclined sections. Through modular and lightweight design, and with a retractable support arm, the maintenance equipment can be deployed within the water diversion channel through narrow access doors, forming a large-sized, highly rigid, and stable working platform. Furthermore, the maintenance equipment can move and travel between horizontal and steeply inclined sections of the water diversion channel, thus solving the problem of water diversion channel maintenance.

[0006] To achieve the above objectives, this application provides equipment for maintenance work on horizontal and steeply inclined water diversion channels, comprising:

[0007] Centrally load-bearing structure; Support mechanism, at least two sets of support mechanisms are radially installed on the central load-bearing structure, each set of support mechanism includes two support arms, one end of the support arm is hinged to the central load-bearing structure, and the other end is equipped with a walking mechanism; A tension application mechanism is installed between the two support arms of the support mechanism to control the opening and closing movements of the two support arms; At least one motion coordination mechanism is installed between the two support arms of the designated support mechanism; The work platform system is installed on the central load-bearing structure and is used to carry personnel and / or goods; The tension application mechanism and the motion coordination mechanism work together to make all the support arms form a stable support system that can adapt to the shape and attitude of the water diversion channel.

[0008] The support arm can be extended and retracted to adjust its length.

[0009] The support mechanism has two sets, which are symmetrically arranged.

[0010] The tension application mechanism includes a traction component and a power source. One end of the traction component is connected to a support arm on one side, and the other end is connected to the power source, which is mounted on the support arm on the other side.

[0011] The tension application mechanism also includes a guide device, which is mounted on a support arm on one side of the power source. The power source is a winch, and the traction component is a traction rope that passes around the guide device.

[0012] The motion coordination mechanism includes two gears. One end of the support arm is hinged to the central load-bearing structure and is fixedly connected to a slotted seat. The central load-bearing structure has support shafts fixed on both sides corresponding to each support arm. Hinge holes are provided on both sides of the slotted seat. The support shafts on both sides rotate through the hinge holes on the slotted seat. The two gears are fixedly installed on the slotted seats on both sides and mesh with each other.

[0013] The work platform system includes a support rod and a work platform. One end of the support rod is connected to the central load-bearing structure, and the other end is equipped with the work platform, which is used to carry personnel and goods.

[0014] The support rod is rotatably connected to the central load-bearing structure, and the work platform system can rotate around the axis of the water diversion channel.

[0015] One end of the support rod is fixedly connected to the pivot on the central load-bearing structure. The other end of the support rod is rotatably mounted with a support fork. Pins are rotatably mounted on both ends of the support fork. The two pins are fixed to the working platform and are connected to the upper side of the center of gravity of the working platform so that the working platform always remains upright.

[0016] A short shaft is fixed at one end of the support fork connected to the support rod. The short shaft is inserted into the support rod and is rotatably connected by a bearing. A damping bolt is radially screwed onto the support rod. The damping bolt abuts against the short shaft to control the swaying of the work platform.

[0017] A drive motor is also installed on the central load-bearing structure. The output shaft of the drive motor is connected to the rotating shaft for transmission, so as to drive the rotating shaft to rotate.

[0018] It also includes a counterweight mechanism, which includes a counterweight rod and a counterweight body mounted on the counterweight rod. One end of the counterweight rod is connected to the pivot, and the other end extends away from the support rod.

[0019] The counterweight is slidably mounted on the counterweight rod, and a drive device is installed at the end of the counterweight rod. The power output end of the drive device is connected to the counterweight to drive the counterweight to slide and adjust its position on the counterweight rod, so that the work platform can maintain balance and stability in any position.

[0020] The driving device is a motor, and the output shaft of the motor is equipped with a screw, which is screwed into the counterweight.

[0021] The screw is located inside the counterweight rod, which has a sliding groove. A traction block is installed on the counterweight body, and the traction block extends into the counterweight rod from the sliding groove. The screw and the traction block are screwed together.

[0022] A limit baffle is installed on the central load-bearing structure between the two support arms of each support mechanism.

[0023] The walking mechanism uses an omnidirectional wheel, the central shaft of which is rotatably mounted on a support arm. A motor is also mounted on the support arm, and the output shaft of the motor is connected to the central shaft of the omnidirectional wheel for transmission.

[0024] It also includes a protective device, which is located on the side of the central load-bearing structure away from the work platform system. The protective device is connected to and supported by the support arm on the corresponding side.

[0025] The protective device uses an airbag, the edge of which is connected to the support arm. Multiple traction ropes are also installed on the airbag, and the traction ropes are connected to the central load-bearing structure.

[0026] A method for maintenance of horizontal and steeply inclined water diversion channels, employing the aforementioned maintenance equipment, includes the following steps: S1. Entering and taking position: The various components of the maintenance equipment are transported through the access door to the predetermined work starting point inside the water diversion channel, and assembled on-site around the central load-bearing structure. S2, Deployment and Stabilization Support: The tension application mechanism is activated, and the two support arms of each support mechanism gradually close together. When the traveling mechanism contacts the inner wall of the water diversion channel, the tension application mechanism switches to tensioning mode, supporting the maintenance equipment in the water diversion channel. S3. Self-propelled movement and positioning: When maintenance equipment needs to be moved, the traveling mechanism is activated, and the speed and direction of each traveling mechanism are independently adjusted through the central controller to synthesize the required motion vector; S4. Adjustment and execution of work posture: Upon arrival at the work site, the work platform system begins operation, and maintenance work is carried out on the water diversion channel through the work platform system.

[0027] Compared with the prior art, the above-conceptual technical solution conceived in this application has the following beneficial effects: 1. In use, the maintenance equipment, folded into a straight line, is transported into the water diversion channel through the access door. Upon reaching the work point, the support arms are pushed or pulled outwards and erected vertically until the traveling mechanisms at the ends of the upper and lower support arms abut against the inner wall of the water diversion channel. At this point, the upper and lower tension applying mechanisms activate, applying force to the support arms until the traveling mechanisms at the ends are firmly against the inner wall of the water diversion channel, thus anchoring the entire equipment within the channel. During this process, the motion coordination mechanism ensures that the support arms do not interfere with each other and can adapt collaboratively to the shape and orientation of the water diversion channel. At this point, the equipment forms a stable aerial work platform. The traveling mechanism can drive the maintenance equipment to move along the water diversion channel. This invention, through its modular and lightweight design and retractable support arm, allows maintenance equipment to pass through narrow access doors and unfold within the water diversion channel, forming a large-sized, high-rigidity, stable working platform. Furthermore, the maintenance equipment can move and travel in both horizontal and steeply inclined sections of the water diversion channel, thus solving the problem of water diversion channel maintenance.

[0028] 2. The maintenance equipment of the present invention also includes a counterweight mechanism, which enables the work platform system to be balanced and improves the stability of the work platform system during circumferential operation. The counterweight body is driven by a drive device to slide and adjust its position on the counterweight rod, achieving adaptive balancing.

[0029] 3. In this invention, the two support arms swing freely to their limit positions and lock under the constraint of the limiting baffle. Since the limiting baffle adopts a spring limiting plate structure, the two support arms can also close and make minor adjustments when locked, thereby adapting to irregular conditions in the water diversion channel.

[0030] 4. The walking mechanism of this invention uses omnidirectional wheels to achieve omnidirectional movement of the equipment within the water diversion channel by vector control of the rotational speed and direction of each omnidirectional wheel, thereby generating a resultant force in different directions. This greatly improves the mobility of the equipment in narrow water diversion channels, allowing for flexible obstacle avoidance, passage through curves, and precise adjustment of the working position.

[0031] 5. The maintenance equipment of the present invention also includes a protective device, which is deployed below the work area when working on inclined water diversion channel sections. The protective device provides a last line of defense, effectively absorbing the impact energy when personnel or tools accidentally fall, preventing major safety accidents. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0033] Figure 1This is a schematic diagram of the overall front view structure of the present invention.

[0034] Figure 2 This is a three-dimensional structural diagram of the entire invention.

[0035] Figure 3 This is a schematic diagram showing the connection between the central load-bearing structure and the support arm of the present invention.

[0036] Figure 4 for Figure 3 Enlarged diagram of point B in the middle.

[0037] Figure 5 This is a three-dimensional structural diagram of the operating platform system of the present invention.

[0038] Figure 6 for Figure 2 Enlarged diagram of point A in the middle.

[0039] Figure 7 This is a state diagram for the use of the present invention.

[0040] Figure label: Water diversion channel 1; The central load-bearing structure 10, the support shaft 11, the rotating shaft 12, the drive motor 13, and the limit baffle 14 are included. Support arm 20, slotted seat 21; Walking mechanism 30; Tension application mechanism 40, traction component 41, guiding device 42, power source 43; Motion coordination mechanism 50, gear 51; Support rod 60, short shaft 61, support fork 62, pin 63; Operating platform 70; Counterweight mechanism 80, counterweight rod 81, counterweight body 82, drive device 83, traction block 84, slide 85; Protective device 90, traction rope 91. Detailed Implementation

[0041] To more clearly illustrate the purpose, technical solution, and beneficial effects of this application, a further detailed description of this application is provided below in conjunction with illustrations and specific embodiments. It should be specifically noted that the specific embodiments described below are only for illustrating the technical content of this application and do not constitute a limitation on the scope of protection of this application.

[0042] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0043] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating a connection between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection via an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] Example 1: See Figures 1-6 This invention provides equipment for maintenance work on horizontal and steeply inclined water diversion channels, comprising: A central load-bearing structure 10 serves as the central load-bearing body for maintenance equipment.

[0045] Support mechanism, at least two sets of support mechanisms are radially installed on the central load-bearing structure 10, each set of support mechanism includes two support arms 20, one end of the support arm 20 is hinged to the central load-bearing structure 10, and the other end is equipped with a walking mechanism 30.

[0046] In this embodiment, there are two sets of support mechanisms, which are hinged to each other on the outer wall of the central load-bearing structure 10. Each set of support mechanisms includes two support arms 20. See also the section on the radial direction of the central load-bearing structure 10. Figure 1 The four support arms 20 of the two support mechanisms form an X-shaped structure. The traveling mechanism 30 is used to drive the maintenance equipment to move and adjust its position.

[0047] A tension application mechanism 40 is installed between the two support arms 20 of the support mechanism to control the opening and closing movements of the two support arms 20. When the support arms 20 of the support mechanism are closed, the traveling mechanism 30 presses against the inner wall of the water diversion channel, thereby anchoring the entire maintenance equipment in the water diversion channel 1.

[0048] At least one motion coordination mechanism 50 is installed between the two support arms 20 of the designated support mechanism. The motion coordination mechanism 50 is used to coordinate the motion relationship of each support arm 20 during the unfolding and adaptation of the water diversion channel, so as to keep the maintenance equipment as a whole stable.

[0049] The work platform system is installed on the central load-bearing structure 10 and is used to carry personnel and / or goods.

[0050] The tension application mechanism 40 and the motion coordination mechanism 50 work together to make all the support arms 20 form a stable support system that can adapt to the shape and attitude of the water diversion channel.

[0051] In use, the maintenance equipment, folded into a straight line, is transported into the water diversion channel 1 through the access door. Upon reaching the work point, the support arms 20 are pushed or pulled outwards and erected vertically until the traveling mechanisms 30 at the ends of the upper and lower support arms 20 press against the inner wall of the water diversion channel 1. At this point, the upper and lower tension applying mechanisms 40 are activated, applying force to the support arms 20, forming an X-shaped structure with the four support arms 20 until the traveling mechanisms 30 at the ends are firmly pressed against the inner wall of the water diversion channel, thus anchoring the entire equipment within the water diversion channel 1. During this process, the motion coordination mechanism 50 ensures that the support arms 20 do not interfere with each other and can adapt collaboratively to the shape of the water diversion channel 1, such as roundness errors, and its orientation, such as tilt angles. At this point, the equipment forms a stable aerial work platform. The traveling mechanisms 30 can drive the maintenance equipment to move along the water diversion channel 1. This invention, through its modular and lightweight design and retractable support arm, allows maintenance equipment to pass through narrow access doors and unfold within the water diversion channel, forming a large-sized, high-rigidity, stable working platform. Furthermore, the maintenance equipment can move and travel in both horizontal and steeply inclined sections of the water diversion channel, thus solving the problem of water diversion channel maintenance.

[0052] Of course, it should be noted that the working equipment of this application can be assembled inside the water diversion channel 1 with the parts inside, or a part can be assembled outside the water diversion channel 1. That is, the motion coordination mechanism 50 is not installed first, because it is not convenient to retract the support arm 20 after the working equipment is transported into the water diversion channel 1. The motion coordination mechanism 50 is installed after the working equipment is transported into the water diversion channel 1.

[0053] In this embodiment, the central load-bearing structure 10 can be a closed cylinder, which is conducive to the arrangement of built-in equipment and force transmission, or it can be an open space truss structure or a box beam structure.

[0054] The number of support arms 20 can be four, arranged in an X shape, which is optimal in terms of stability and control complexity. Alternatively, three sets of support mechanisms with six support arms 20 can be used. The three sets of support mechanisms are evenly hinged in a ring and installed on the outer wall of the central load-bearing structure 10 for ultra-large water diversion channels, providing more uniform support.

[0055] In this embodiment, to provide a preferred solution in terms of both stability and control complexity, two sets of support mechanisms are provided, symmetrically arranged with four support arms 20. These two sets are positioned vertically opposite each other, forming an X-shaped arrangement. The X-shaped arrangement constitutes a statically indeterminate structure, operating in a circular water channel with a circular cross-section. Designed based on the geometric characteristics of a circle, the X-shaped arrangement, after deployment, locks onto the longitudinal section containing the diameter of the water channel, providing optimal lateral stability and torsional resistance. During deployment and movement, the two support arms 20 of the lower support mechanism are equipped with motion coordination mechanisms 50, forcing the two lower support arms 20 to open and close completely synchronously, ensuring stable support at the bottom of the assembly during maintenance and preventing instability due to uneven footing. The X-shaped support arm structure achieves a passive adaptive suspension; when switching between horizontal and inclined water channels, the upper and lower support arms 20 automatically adjust their force and angle, maintaining stable support at all times, exhibiting extremely high reliability and environmental adaptability.

[0056] To accommodate different water diversion channel diameters, the support arm 20 can be extended and retracted to adjust its length. For example, each of the two sections has a through hole, and the two sections are fixed together by bolts placed in the overlapping through holes. When it is necessary to adjust the length of the two sections, the bolts are first removed, adjusted to the appropriate position, and then tightened with bolts. By using a simple pin positioning or screw locking mechanism, the extension length of the support arm 20 can be changed, thereby changing the outer diameter of the equipment after deployment.

[0057] See Figure 1 In this embodiment, each of the two support arms 20 of the upper and lower support mechanisms is equipped with a tension application mechanism 40.

[0058] The tension application mechanism 40 includes a traction member 41 and a power source 43. One end of the traction member 41 is connected to a support arm 20 on one side, and the other end is connected to the power source 43. The power source 43 is mounted on the support arm 20 on the other side.

[0059] Each tension application mechanism 40 can independently control its tension output. For example, in a horizontal water diversion channel, the tension applied by the upper and lower tension application mechanisms 40 can be the same; in an inclined water diversion channel, the tension of the lower support arm 20 can be appropriately increased to provide greater support and prevent slippage; when passing through a bend, the tension on both sides can be dynamically adjusted to assist in steering.

[0060] The tension application mechanism 40 can be an electric push rod, an electric cylinder, or other telescopic mechanism. The power source 43 is the electric cylinder body, and the traction component 41 is the telescopic end of the electric cylinder.

[0061] In this embodiment, the tension applying mechanism 40 further includes a guide device 42, which is mounted on a support arm 20 on one side of the power source 43. The power source 43 is a winch, and the traction member 41 is a traction rope that passes around the guide device 42. Taking the traction of the upper support arm 20 as an example, the winch is mounted on one of the upper support arms 20. The traction rope is released, passes around the guide device 42 fixed on the same support arm 20, and then connects to the other upper support arm 20 on the opposite side. When the rope is wound up, the two upper arms are pulled towards the middle to achieve winding; when the rope is released, the two upper arms unfold under their own weight. The guide device 42 can be a fixed pulley.

[0062] The distributed layout of the tension application mechanism 40 greatly simplifies the design of the central load-bearing structure 1, avoiding the complexity and bulkiness caused by concentrating all power lines and transmission mechanisms in the central body. It features a short force transmission path, high efficiency, and a compact structure.

[0063] In one alternative embodiment, the traction member 41 is a composite rope made of Kevlar fiber or a steel wire rope.

[0064] See Figure 3 , 4 The motion coordination mechanism 50 includes two gears 51. A slotted seat 21 is fixedly connected to one end of the support arm 20, which is hinged to the central load-bearing structure 10. Support shafts 11 are fixedly mounted on both sides of each support arm 20. Hinge holes are provided on the side walls of the slotted seat 21, and the support shafts 11 on both sides rotate through these hinge holes. The two gears 51 are fixedly mounted on the slotted seats 21 on both sides and mesh with each other. The motion coordination mechanism 50 ensures that the rotation angles of the two lower support arms 20 are perfectly synchronized.

[0065] In this embodiment, see Figure 4 The two gears 51 are two opposing sector gears, respectively fixed above the two lower support arms 5. The gear synchronization is reliable and precise.

[0066] See Figure 1 , 2 5. The work platform system includes a support rod 60 and a work platform 70. One end of the support rod 60 is connected to the central load-bearing structure 10, and the other end is equipped with the work platform 70, which is used to carry personnel and goods.

[0067] Furthermore, the support rod 60 is rotatably connected to the central load-bearing structure 10, and the working platform system can rotate around the axis of the water diversion channel, thereby being able to rotate circumferentially within the water diversion channel 1. Thus, with each movement of the maintenance equipment, a 360° inspection and maintenance of the inner wall of the water diversion channel 1 can be performed.

[0068] In one of the solutions, see Figure 5 One end of the support rod 60 is fixedly connected to the rotating shaft 12 on the central load-bearing structure 10. The other end of the support rod 60 is equipped with a support fork 62 via a rotating structure. Pins 63 are rotatably mounted on both ends of the support fork 62. The two pins 63 are fixedly connected to the working platform 70 and positioned above the center of gravity of the working platform 70, ensuring that the working platform 70 remains upright. In this embodiment, the working platform 70 is a suspended platform structure.

[0069] Furthermore, a short shaft 61 is fixed at one end of the support fork 62 that is connected to the support rod 60. The short shaft 61 is inserted into the support rod 60 and is rotatably connected by a bearing. A damping bolt is radially screwed onto the support rod 60. The damping bolt abuts against the short shaft 61 to form damping, which is used to control the swaying of the work platform 70.

[0070] The working platform 70 achieves gravity-locked self-suspension through the above-mentioned structure, the support rod 60 achieves circumferential work coverage, the support fork 62 ensures that the working platform 70 always remains horizontal, and the pin 63 ensures that the working platform 70 always remains upright.

[0071] Further, see Figure 4 A drive motor 13 is also installed on the central load-bearing structure 10. The output shaft of the drive motor 13 is connected to the rotating shaft 12 for transmission, so as to drive the rotating shaft 12 to rotate. In this embodiment, the drive motor 13 can be a servo motor or a stepper motor.

[0072] See Figure 2 The maintenance equipment of the present invention also includes a counterweight mechanism 80, which enables the work platform system to be balanced and improves the stability of the work platform system in circumferential operation.

[0073] Specifically, the counterweight mechanism 80 also includes a counterweight rod 81 and a counterweight body 82 mounted on the counterweight rod 81. One end of the counterweight rod 81 is connected to the rotating shaft 12, and the other end extends away from the support rod 60. In this embodiment, the counterweight rod 81 and the support rod 60 are symmetrically arranged.

[0074] See Figure 6 The counterweight 82 is slidably mounted on the counterweight rod 81. A drive device 83 is installed at the end of the counterweight rod 81. The drive device 83 can be an electric push rod. The power output end of the drive device 83 is connected to the counterweight 82 to drive the counterweight 82 to slide and adjust its position on the counterweight rod 81, thereby ensuring that the working platform 70 can maintain balance and stability in any position. By driving the counterweight 82 to slide and adjust its position on the counterweight rod 81 through the drive device 83, adaptive balancing is achieved, ensuring that the drive motor 13 and the corresponding reducer always operate normally under low torque conditions, meeting the movement speed of 1 r / min.

[0075] In this embodiment, the driving device 83 is a motor, which includes a servo motor or a stepper motor. The output shaft of the motor is equipped with a screw, which is screwed into the counterweight 82.

[0076] Further, see Figure 6 The screw is located inside the counterweight rod 81. The counterweight rod 81 is provided with a sliding groove 85. The counterweight body 82 is equipped with a traction block 84. The traction block 84 extends from the sliding groove 85 into the counterweight rod 81. The screw and the traction block 84 are screwed together.

[0077] Before the operation, the weight of the operator is collected, and then the drive device 83 is controlled to move through calculations, thereby pushing the counterweight slider to the appropriate position. Of course, the weight balance at both ends does not need to be very precise, that is, the weight of materials and related instruments can be ignored.

[0078] In another embodiment, if real-time balancing is required to achieve a very precise effect, a torque sensor can be installed at the rotating shaft 12 to collect torque data at the working platform 70 in real time and transmit it to the controller. The controller then sends action data to the drive device 83 in real time to control the displacement of the counterweight 823, thereby achieving real-time balancing at both ends.

[0079] See Figure 3 , 4 On the central load-bearing structure 10, between the two support arms 20 of each support mechanism, a limit baffle 14 is installed. The limit baffle 14 provides buffering and rigid restraint when the support arms 20 swing to their extreme positions, effectively absorbing impact energy and preventing hard impacts on the structure.

[0080] In this embodiment, the limiting baffle 14 can be a slotted spring limiting plate made of stainless steel; such as Figure 4 As shown, the two ends of the spring limiting plate are bent, and the middle part of the spring limiting plate is fixedly attached to the central load-bearing structure 10. In use, the two support arms 20 swing freely to the limit position and lock under the constraint of the limiting baffle 14. Since the limiting baffle 14 adopts a spring limiting plate structure, the two support arms 20 can also be closed and finely adjusted when locked, so as to adapt to the irregular situation in the water diversion channel 1.

[0081] In this embodiment, the walking mechanism 30 adopts an omnidirectional wheel, the central shaft of which is rotatably mounted on the support arm 20. A motor is also mounted on the support arm 20, and the output shaft of the motor is connected to the central shaft of the omnidirectional wheel for transmission.

[0082] In one alternative implementation, the omnidirectional wheels employ Mecanum wheel sets, each including a drive motor. By controlling the rotational speed and direction of each omnidirectional wheel, differential movement of the equipment within the water diversion channel is achieved. Based on this structure, vector control of the rotational speed and direction of each omnidirectional wheel can generate resultant forces in different directions, thereby enabling omnidirectional movement of the equipment within the water diversion channel. This significantly improves the equipment's maneuverability within narrow water diversion channels, allowing for flexible obstacle avoidance, curve navigating, and precise adjustment of the operating position.

[0083] Example 2: Based on Example 1, see Figure 1 , 2 The maintenance equipment of the present invention also includes a protective device 90, which is deployed below the work area when working on an inclined water diversion channel section.

[0084] Specifically, the protective device 90 is located on the side of the central load-bearing structure 10 away from the work platform system, and the protective device 90 is connected to and supported by the support arm 20 on the corresponding side.

[0085] In this embodiment, see Figure 2 The protective device 90 uses an airbag, the edge of which is connected to the support arm 20. Multiple traction ropes 91 are also installed on the airbag, and the traction ropes 91 are connected to the central load-bearing structure 10.

[0086] Before operation, the airbags inflate and deploy, forming a large safety air cushion below the work platform 70 when working on the inclined section, ensuring the safety of personnel during installation. A passageway is provided in the center of the airbags to ensure that tools and materials can still be hoisted through the central area.

[0087] It should be noted that the upper and lower sides of the airbag are horizontal, meaning that the airbag is not a complete circle after inflation. This will not affect the movement of the walking mechanism 30 at the end of the support arm 20. In addition, a wear-resistant layer is provided around the airbag.

[0088] The protective device 90 provides the last line of defense, effectively absorbing the impact energy when personnel or tools accidentally fall, preventing major safety accidents.

[0089] Example 2: This invention also proposes a method for maintenance of horizontal and steeply inclined water diversion channels, employing the maintenance equipment described in Example 1 or Example 2. The maintenance method includes the following steps: S1. Entering and taking position: The various components of the maintenance equipment are transported through the access door to the predetermined work starting point inside the water diversion channel 1, and assembled on-site around the central load-bearing structure 10. S2, Deployment and Stabilization Support: When the tension application mechanism 40 is activated, the two support arms 20 of each support mechanism gradually close together. When the traveling mechanism 30 contacts the inner wall of the water diversion channel 1, the tension applying mechanism 40 switches to tensioning mode to support the maintenance equipment in the water diversion channel 1. S3. Self-propelled movement and positioning: When maintenance equipment needs to be moved, the traveling mechanism 30 is activated, and the speed and direction of each traveling mechanism 30 are independently adjusted through the central controller to synthesize the required motion vector; S4. Adjustment and execution of work posture: Upon arrival at the work site, the work platform system begins operation, and maintenance work is carried out on the water diversion channel 1 through the work platform system.

[0090] Specifically, the working principle of the maintenance equipment described in this invention follows a standardized process of entry, deployment, movement, operation, and withdrawal. The collaborative working process of its core system is as follows: Entry and Positioning: All equipment modules are transported through a narrow access door to the vicinity of the designated work start point inside the water diversion channel 1. On-site assembly is carried out around the central load-bearing structure 10. First, the four support arms 20 are hinged to it and temporarily laterally secured using temporary support struts to prevent overturning.

[0091] Deployment and Stable Support: Activate the tension application mechanisms 40 on both the upper and lower sides, and the winch in the system will work to release the composite rope. Under the influence of gravity or external assistance, the support arm 20 will deploy outward.

[0092] When the traveling mechanism 30 contacts the inner wall of the water diversion channel 1, the winch switches to tension mode and applies sufficient tension to the support arm 20 through the traction composite rope, so that the equipment is firmly anchored in the water diversion channel.

[0093] During this process, the lower support arm 20 maintains absolutely synchronized movement through the motion coordination mechanism 50, ensuring the symmetry and stability of the bottom support; the upper support arm 20, under the constraint of the limiting baffle 14, swings freely to its limit position and locks. At this point, the adaptive suspension system is complete, and the equipment is in a stable state.

[0094] Self-propelled and positioning: When the equipment needs to move, the walking mechanism 30 starts working under the drive of the motor. The speed and direction of each omnidirectional wheel are independently adjusted by the central controller to synthesize the required motion vector.

[0095] When it is necessary to move along the axial direction of the water diversion channel, all wheels rotate in the same direction, i.e., differential speed movement; when it is necessary to adjust the circumferential angle, the left and right wheels rotate in opposite directions, i.e., rotation in place; when it is necessary to fine-tune the distance to the tunnel wall, the front and rear wheels move differentially, i.e., lateral translation.

[0096] Work posture adjustment and execution: Upon reaching the work point, the work platform system begins operation. Drive motor 13 drives shaft 12 to rotate, thereby controlling the circumferential coverage of support rod 60. Support fork 62 ensures the work platform 70 remains horizontal, and pin 63 ensures the work platform 70 remains upright. This process benefits from a gravity-locking self-suspension scheme, naturally stabilizing the work platform 70. After moving to the appropriate position, maintenance work begins.

[0097] See Figure 7 In combination Figure 2 Before entering the inclined section, the protective device 90 deploys below the work area to form a fall-prevention buffer zone. Of course, it can also be deployed from the beginning.

[0098] Evacuation: After the operation is completed, reverse the above process. First, retract the work platform, retract the support arm 20, disassemble the equipment into modular units, and finally transport all components out of the water diversion channel 1.

[0099] In summary, this invention achieves an integrated solution covering the entire process from entry, support, movement, operation, and safety through deep coupling and collaborative work of the various subsystems in terms of structure and function.

[0100] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0101] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An equipment for maintenance work on horizontal and steeply inclined water diversion channels, characterized in that, include: Central load-bearing structure (10); Support mechanism, at least two sets of support mechanisms are radially installed on the central load-bearing structure (10), each set of support mechanism includes two support arms (20), one end of the support arm (20) is hinged to the central load-bearing structure (10), and the other end is equipped with a walking mechanism (30). A tension application mechanism (40) is installed between two support arms (20) of the support mechanism to control the opening and closing movements of the two support arms (20); At least one motion coordination mechanism (50) is installed between the two support arms (20) of the designated support mechanism; The work platform system is installed on the central load-bearing structure (10) and is used to carry personnel and / or goods; The tension application mechanism (40) and the motion coordination mechanism (50) work together to make all the support arms (20) form a stable support system that can adapt to the shape and attitude of the water diversion channel.

2. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1, characterized in that, The support arm (20) can be extended and retracted to adjust its length.

3. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1 or 2, characterized in that, The support mechanism has two sets, which are symmetrically arranged.

4. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1, characterized in that, The tension application mechanism (40) includes a traction member (41) and a power source (43). One end of the traction member (41) is connected to a support arm (20) on one side, and the other end is connected to the power source (43). The power source (43) is mounted on the support arm (20) on the other side.

5. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 4, characterized in that, The tension application mechanism (40) also includes a guide device (42), which is mounted on a support arm (20) on one side of the power source (43), the power source (43) being a winch, and the traction member (41) being a traction rope, which passes around the guide device (42).

6. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1, characterized in that, The motion coordination mechanism (50) includes two gears (51). One end of the support arm (20) is hinged to the central load-bearing structure (10) and fixed with a slotted seat (21). The central load-bearing structure (10) has a support shaft (11) fixed on both sides corresponding to each support arm (20). The slotted seat (21) has hinge holes on both sides. The support shafts (11) on both sides rotate through the hinge holes on the slotted seat (21). The two gears (51) are fixedly installed on the slotted seats (21) on both sides and mesh with each other.

7. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1, characterized in that, The work platform system includes a support rod (60) and a work platform (70). One end of the support rod (60) is connected to the central load-bearing structure (10), and the other end is equipped with a work platform (70). The work platform (70) is used to carry personnel and goods.

8. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 7, characterized in that, The support rod (60) is rotatably connected to the central load-bearing structure (10), and the operating platform system can rotate around the axis of the water diversion channel.

9. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 8, characterized in that, One end of the support rod (60) is connected and fixed to the pivot (12) on the central load-bearing structure (10). The other end of the support rod (60) is rotatably mounted with a support fork (62). The two ends of the support fork (62) are respectively rotatably mounted with pins (63). The two pins (63) are respectively fixed on the working platform (70), and the two pins (63) are connected to the upper side of the center of gravity of the working platform (70) so that the working platform (70) always remains upright.

10. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 9, characterized in that, A short shaft (61) is fixed at one end of the support fork (62) connected to the support rod (60). The short shaft (61) is inserted into the support rod (60) and is rotatably connected by a bearing. A damping bolt is radially screwed onto the support rod (60). The damping bolt abuts against the short shaft (61) to control the swaying of the work platform (70).

11. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 9, characterized in that, A drive motor (13) is also installed on the central load-bearing structure (10). The output shaft of the drive motor (13) is connected to the rotating shaft (12) for transmission, so as to drive the rotating shaft (12) to rotate.

12. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 9, 10, or 11, characterized in that, It also includes a counterweight mechanism (80), which includes a counterweight rod (81) and a counterweight body (82) mounted on the counterweight rod (81). One end of the counterweight rod (81) is connected to the rotating shaft (12), and the other end extends away from the support rod (60).

13. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 12, characterized in that, The counterweight (82) is slidably mounted on the counterweight rod (81). A drive device (83) is installed at the end of the counterweight rod (81). The power output end of the drive device (83) is connected to the counterweight (82) to drive the counterweight (82) to slide and adjust its position on the counterweight rod (81), so that the working platform (70) can maintain balance and stability in any position.

14. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 13, characterized in that, The driving device (83) is a motor, and the output shaft of the motor is equipped with a screw, which is screwed into the counterweight (82).

15. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 14, characterized in that, The screw is located inside the counterweight rod (81), and a groove (85) is provided on the counterweight rod (81). A traction block (84) is installed on the counterweight body (82). The traction block (84) extends from the groove (85) into the counterweight rod (81), and the screw and the traction block (84) are screwed together.

16. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1, characterized in that, A limit baffle (14) is installed on the central load-bearing structure (10) between the two support arms (20) of each support mechanism.

17. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1, characterized in that, The walking mechanism (30) adopts an omnidirectional wheel, the central shaft of which is rotatably mounted on the support arm (20). A motor is also mounted on the support arm (20), and the output shaft of the motor is connected to the central shaft of the omnidirectional wheel for transmission.

18. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 1, characterized in that, It also includes a protective device (90), which is located on the side of the central load-bearing structure (10) away from the work platform system. The protective device (90) is connected to and supported by the support arm (20) on the corresponding side.

19. The equipment for maintenance of horizontal and steeply inclined water diversion channels according to claim 18, characterized in that, The protective device (90) uses an airbag, the edge of which is connected to the support arm (20). Multiple traction ropes (91) are also provided on the airbag, and the traction ropes (91) are connected to the central load-bearing structure (10).

20. A method for maintenance of horizontal and steeply inclined water diversion channels, characterized in that: The maintenance operation equipment described in any one of claims 1 to 19 is used, and the maintenance operation method includes the following steps: S1. Entering and taking position: The various components of the maintenance equipment are transported through the access door to the predetermined starting point inside the water diversion channel (1) and assembled on-site around the central load-bearing structure (10). S2, Deployment and Stabilization Support: The tension application mechanism (40) is activated, and the two support arms (20) of each support mechanism gradually close together. When the walking mechanism (30) contacts the inner wall of the water diversion channel (1), the tension application mechanism (40) switches to tension mode to support the maintenance equipment in the water diversion channel (1); S3. Self-propelled movement and positioning: When maintenance equipment needs to be moved, the walking mechanism (30) is started, and the speed and direction of each walking mechanism (30) are independently adjusted by the central controller to synthesize the required motion vector; S4. Adjustment and execution of work posture: Upon arrival at the work site, the work platform system begins operation, and maintenance work is carried out on the water diversion channel (1) through the work platform system.

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