Power unit water diversion channel overhauling operation equipment and method

Abstract

This invention discloses a maintenance equipment and method for a power plant unit's water intake channel, comprising: two support mechanisms for alternately providing adaptive support and friction within the channel; a walking mechanism connected at both ends to the two support mechanisms, which moves by alternately changing support points during movement; and a work platform installed on one of the support mechanisms for carrying personnel and tools for mobile maintenance operations. This invention achieves full automation and standardization of the water intake channel maintenance process through a three-step core workflow: support positioning, walking, and maintenance operation. It replaces traditional scaffolding erection and manual suspension work, significantly shortening the maintenance period and improving maintenance efficiency and operational safety.

Description

Technical Field

[0001] This invention relates to the field of hydropower station maintenance technology, and in particular to a maintenance equipment and method for the water intake channel of a power station unit. 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 1 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 confined, 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 access door is typically only about 1 meter wide, making it impossible for large machinery to enter and operate. Furthermore, all machinery that entered after maintenance needs to be dismantled. Current technology involves maintenance personnel manually transporting a large number of scaffolding pipes and fasteners into the channel and erecting them layer by layer from the bottom to the working height. This method has the following drawbacks: Extremely inefficient and time-consuming: The erection and dismantling of scaffolding alone takes several weeks, severely squeezing the precious window of opportunity for the unit to generate electricity, resulting in huge economic costs.

[0004] High safety risks: Performing strenuous physical work in sloping, slippery caves greatly increases the risk of accidents such as falls from heights and being struck by objects.

[0005] Limited coverage: erecting scaffolding once can only serve a local area. If other areas need to be inspected, the entire scaffolding must be dismantled and re-erected, resulting in extremely poor flexibility.

[0006] The inclined section of the water diversion channel relies mainly on hoisting operations using composite ropes similar to those used by Spider-Man, which poses certain safety hazards.

[0007] In general, maintenance has long been a major challenge. Summary of the Invention

[0008] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a maintenance equipment and method for the water diversion channel of a power plant unit, so as to solve the problems mentioned in the background art.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a maintenance equipment for the water intake channel of a power plant unit, comprising: Two support mechanisms are used to alternately provide adaptive support and friction within the flow channel; The traveling mechanism is connected to two support mechanisms at both ends. The traveling mechanism moves by alternately changing the support points during the traveling process. The work platform, installed on one of the support structures, is used to carry personnel and tools for mobile maintenance work.

[0010] Preferably, the support mechanism includes a plurality of circumferentially distributed airbag units, which are controlled by air pressure or hydraulic pressure to adhere to the flow channel wall and provide the frictional force.

[0011] Preferably, the airbag unit includes an airbag bracket and an airbag disposed on the airbag bracket. The surface of the airbag is covered with a friction-enhancing and wear-resistant layer. The inner side of the airbag bracket is connected to one end of a hydraulic telescopic column, and the other end of the hydraulic telescopic column is connected to the surface of a support ring located at the center. When the hydraulic telescopic column extends and retracts, it achieves radial extension and retraction, and adjusts the clamping force between the airbag and the flow channel wall.

[0012] Preferably, the airbag support is also connected to one end of the support diagonal brace, and the other end of the support diagonal brace is connected to the hydraulic telescopic column.

[0013] Preferably, the walking mechanism includes multiple telescopic drive mechanisms, each of which is hinged to two support rings at both ends.

[0014] Preferably, the number of telescopic drive mechanisms is 6, wherein the heads of 3 telescopic drive mechanisms are hinged to the front support ring and the tails are hinged to the rear support ring, and the heads of the other 3 telescopic drive mechanisms are hinged to the rear support ring and the tails are hinged to the front support ring; the ends of the telescopic drive mechanisms are evenly distributed on the support rings.

[0015] Preferably, the telescopic drive mechanism is a hydraulic telescopic rod, a pneumatic telescopic rod, or an electric telescopic rod structure; the head and tail of the telescopic drive mechanism are alternately fixed and moved, enabling the walking mechanism to walk in a stepping manner.

[0016] Preferably, the working platform includes a ring track unit and a basket mounted on the ring track unit. The ring track unit is fixedly connected to the surface of one of the support rings by a support rod, and the basket is driven by a winch to rotate circumferentially on the ring track unit.

[0017] Preferably, the annular track unit includes an inner ring track and an outer ring track fixedly mounted on a support rod, and a mounting base slidably mounted on the inner ring track and the outer ring track. The mounting base includes a fixing frame, and both the inner and outer sides of the fixing frame are hinged to arc-shaped wheels via shaft arms. The arc-shaped wheels on the inner and outer sides are slidably engaged with the inner ring track and the outer ring track, respectively. A large, hollow gear is fixedly mounted on the fixing frame, and a rotary shaft arm is rotatably connected to the fixing frame located in the central area of ​​the large gear. A small gear meshes with the large gear on the rotary shaft arm, and a drive motor for driving the small gear to rotate is also mounted on the rotary shaft arm. The basket is hinged to the rotary shaft arm.

[0018] Preferably, there are two winches, which are symmetrically arranged on both sides of one of the support rings. The drive end of the winch is connected to one end of the rope, and the other end of the rope is connected to the basket.

[0019] Preferably, the inner and outer ring tracks are also provided with multiple guide wheels at intervals. One end of the rope is connected to the basket, and the other end of the rope passes through the guide wheels on the inner or outer ring track in sequence and is connected to the winch drive end. When one winch performs the rope release operation, the other winch performs the rope reeling operation.

[0020] In addition, this invention discloses a method for overhauling the water intake channel of a power plant unit, applied to the aforementioned equipment for overhauling the water intake channel of a power plant unit, comprising the following steps: S1. Support and positioning: Control the two support mechanisms to adaptively fit against the wall of the water diversion channel, and provide friction through the airbag unit to fix the working equipment in the channel; S2, Step-by-step movement: The fixed / moving states of the two support mechanisms are alternately switched by the telescopic drive mechanism of the walking mechanism to drive the working equipment to move in the flow channel in a step-by-step manner. S3. Maintenance Operation: Control the basket of the work platform to rotate circumferentially along the circular track unit, adjust the working posture, and carry personnel and tools to complete the maintenance of the inner wall of the flow channel.

[0021] Furthermore, the support positioning in step S1 specifically includes the following process: Control the radial extension of the hydraulic telescopic column to push the airbag bracket and cause the airbag to contact the flow channel wall; Inflate the airbag to make the friction-enhancing and wear-resistant layer on the surface of the airbag fit tightly against the wall, and strengthen the support rigidity through the bracket diagonal brace to form an anti-slip fixation.

[0022] Furthermore, the specific steps in step S2 include the following processes: Lock one of the support mechanisms as a fixed support, and release the other support mechanism from the wall surface; Control six telescopic drive mechanisms to extend and retract in uncoordinated manner, pushing the unsupported support mechanism to move a preset step distance; Once in place, the support mechanism is re-fitted to the wall and locked, then the previous support mechanism is switched to the moving state, and the cycle is repeated to achieve continuous stepping.

[0023] Furthermore, the maintenance work in step S3 specifically includes the following processes: By using two symmetrically arranged winches to coordinate the raising and lowering of ropes, the basket is driven to move circumferentially along the inner and outer ring tracks, enabling comprehensive inspection of the inner wall of the flow channel. The drive motor is started, which drives the small gear and the large gear to mesh, driving the slewing shaft arm to rotate and precisely adjust the working angle of the suspended platform, thereby keeping the suspended platform in a vertical working posture.

[0024] Beneficial effects of this invention: 1. Achieved comprehensive, blind-spot-free maintenance of the water diversion channel: This invention innovatively uses a telescopic drive mechanism (i.e., a 6-DOF parallel mechanism) as the core of its movement, combined with circumferential airbag unit support technology, enabling the equipment to safely and stably enter and move within the inclined and curved sections of the channel with large slopes (e.g., 50°) and large diameters (e.g., 10 meters). This completely solves the global problem that traditional maintenance methods can only handle horizontal sections and cannot reach inclined and curved sections, achieving full coverage of maintenance operations.

[0025] 2. Enhanced operational and work safety: This invention, through the combination of airbag units and hydraulic telescopic columns, provides strong friction against the wall surface, fundamentally preventing equipment slippage and overturning on steep slopes. The stepping-style walking strategy ensures reliable support points throughout the equipment's movement, avoiding the risk of overall instability. The multi-degree-of-freedom design of the work platform allows for dynamic attitude adjustment, providing personnel with an initially vertical and stable working platform on both straight and curved sections, reducing safety risks associated with working at heights and on inclines.

[0026] 3. Environmental adaptability and maneuverability: The equipment adopts a fully modular assembly design, and the dimensions and weight of each component meet the requirements for passage through narrow entrances (φ800mm), solving the problem of "not being able to get in." The airbag support system is insensitive to the unevenness of the wall surface and has strong self-adaptability; the 6-DOF parallel mechanism itself has the characteristics of high rigidity and high precision, and the error does not accumulate, making it particularly suitable for precise movement and positioning inside welded steel pipes with low manufacturing precision.

[0027] 4. Significantly improved maintenance efficiency and economy: Rapid on-site assembly and debugging of the equipment significantly shortens the maintenance period. The circumferential rotation and radial movement capabilities of the work platform allow for a wide coverage area at individual work points, reducing the overall frequency of equipment movement and improving operational efficiency after each positioning. The deployment of this equipment can replace high-risk manual suspension operations or drone inspections with limited effectiveness, fundamentally improving maintenance quality and reducing long-term maintenance costs and safety risks.

[0028] 5. This invention automates and standardizes the entire process of water diversion channel maintenance through three core steps: support positioning, step-by-step movement, and maintenance operation. It replaces traditional scaffolding erection and manual suspension work, significantly shortening the maintenance period and improving efficiency and safety. The support positioning step utilizes hydraulic telescopic movement, airbag inflation, and diagonal bracing to achieve self-adaptive and secure fixing of the equipment to the channel wall, strengthening support rigidity and eliminating the risk of equipment slippage in steep channels. The step-by-step movement step employs alternating locking, coordinated telescopic movement, and cyclical stepping, maintaining stable support throughout equipment movement. It can continuously adapt to straight and curved sections of the channel, offering strong maneuverability and eliminating the risk of instability. The maintenance operation step uses a double winch to achieve full circumferential movement of the suspended platform, with gear transmission precisely adjusting the working angle to maintain the platform's vertical posture, enabling thorough maintenance of the channel wall without blind spots, while ensuring personnel safety and maintenance quality. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a power plant unit water diversion channel maintenance equipment used in the water diversion channel. Figure 2 A schematic diagram of a power plant unit water intake channel maintenance equipment; Figure 3 This is a schematic diagram of the structure of a single airbag unit; Figure 4 This is a schematic diagram of a circular track unit; Figure 5 for Figure 4 A schematic diagram of the guide wheel structure within the middle circle area; Figure 6 This is a schematic diagram of the working platform. Figure 7 This is a schematic diagram of the working platform from another perspective. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] Example 1: As Figures 2 to 3 As shown, a maintenance equipment for the water intake channel of a power plant unit includes: Two support mechanisms 1 are used to alternately provide adaptive support and friction within the flow channel; The walking mechanism 2 is connected to two support mechanisms 1 at both ends. The walking mechanism 2 moves by alternately changing the support points during the walking process. The work platform 3 is installed on one of the support mechanisms 1 and is used to carry personnel and tools for mobile maintenance operations.

[0032] The support mechanism 1 includes a plurality of circumferentially distributed airbag units, which are controlled by air pressure or hydraulic pressure to adhere to the flow channel wall and provide the frictional force.

[0033] The airbag unit includes an airbag support 4 and an airbag mounted on the support 4. The surface of the airbag is covered with a friction-enhancing and wear-resistant layer. The inner side of the airbag support 4 is connected to one end of a hydraulic telescopic column 6, and the other end of the hydraulic telescopic column 6 is connected to the surface of a support ring 1.1 located at the center. When the hydraulic telescopic column 6 extends and retracts, it achieves radial extension and retraction, adjusting the clamping force between the airbag and the flow channel wall. After the airbag is inflated, it expands and fits tightly against the flow channel wall, providing normal support force through internal pressure and preventing slippage in conjunction with the surface friction material. There are multiple airbag units, each fan-shaped, circumferentially distributed, forming a circle. They are connected to the control system through pneumatic or hydraulic lines. The hydraulic telescopic column pushes the airbag support to move radially, pressing the airbag against the flow channel wall; the friction-enhancing and wear-resistant layer (such as nitrile rubber) generates high friction with the wall; the clamping force can be changed by adjusting the stroke of the hydraulic cylinder. It should be noted that the friction-enhancing and wear-resistant layer can be made of other high-friction materials (such as polyurethane coating or composite materials); the hydraulic telescopic column can be replaced with an electric push rod or a pneumatic cylinder; and the clamping force control can be achieved through closed-loop adjustment via pressure sensor feedback.

[0034] The airbag support 4 is also connected to one end of the support diagonal brace 5, and the other end of the support diagonal brace 5 is connected to the hydraulic telescopic column 6. To enhance the stability and load-bearing capacity of the airbag support and prevent deformation under high pressure, in an optional embodiment, a support diagonal brace is also included. One end of the support diagonal brace is connected to the airbag support, and the other end is connected to the hydraulic telescopic column. The support diagonal brace distributes the load borne by the airbag support to the hydraulic telescopic column and the main structure, reducing stress concentration and ensuring the stability of the support. The two ends of the support diagonal brace are hinged or fixedly connected to the airbag support and the hydraulic telescopic column, respectively, forming a triangular support structure. This arrangement provides additional support and improves the rigidity and strength of the overall structure.

[0035] Of course, the diagonal bracing of the support can be replaced with tie rods or support plates; the connection method can be bolts, pins or welding.

[0036] The walking mechanism 2 includes multiple telescopic drive mechanisms 2.1, each of which is hinged to two support rings 1.1 at both ends.

[0037] The telescopic drive mechanism 2.1 comprises six units, of which the heads of three telescopic drive mechanisms 2.1 are hinged to the front support ring 1.1 and the tails are hinged to the rear support ring 1.1, while the heads of the other three telescopic drive mechanisms 2.1 are hinged to the rear support ring 1.1 and the tails are hinged to the front support ring 1.1; the ends of the telescopic drive mechanisms 2.1 are evenly distributed on the support rings 1.1.

[0038] The telescopic drive mechanism 2.1 is a hydraulic telescopic rod, a pneumatic telescopic rod, or an electric telescopic rod structure; the head and tail of the telescopic drive mechanism 2.1 are alternately fixed and moved, enabling the walking mechanism 2 to walk in a stepping manner.

[0039] In this embodiment, the walking mechanism is a 6-DOF parallel mechanism. Specifically, the system adopts a Stewart parallel mechanism. The Stewart structure consists of a fixed support, a movable support, and six variable-length links. These six links are connected to the two supports via ball joints. The Stewart mechanism achieves the six-DOF movement of the movable support by changing the length of the six legs. As a parallel mechanism, the Stewart 6-DOF mechanism has the characteristics of high stiffness and high load-to-weight ratio. The error of the Stewart mechanism does not accumulate due to multiple links, resulting in high control accuracy.

[0040] Therefore, this system is suitable for operation in confined workspaces; Stewart's parallel mechanism has 6 control cylinders, all of which use electric push rods as power sources. The presence of airbags against the wall facilitates the force distribution of the parallel mechanism.

[0041] To ensure the equipment remains stable and supported during movement and prevent tipping, in one optional embodiment, the walking mechanism achieves stepping movement by alternately fixing and moving the fixed and movable supports. This configuration mimics the principle of multi-legged walking, ensuring that at least one support point provides stable support at all times.

[0042] During the walking cycle, some fixed supports remain locked, while the other moving supports adjust their positions via drive rods; after the movement is completed, the roles are reversed to achieve continuous stepping.

[0043] The work platform 3 includes a ring track unit and a basket 17 mounted on the ring track unit. The ring track unit is fixedly connected to the surface of one of the support rings 1.1 via a support rod 3.1. The basket 17 is driven by a winch 8 to rotate circumferentially on the ring track unit.

[0044] like Figure 4 , 6 As shown in Figure 7, the annular track unit includes an inner ring track 9 and an outer ring track 7 fixedly mounted on the support rod 3.1, and a mounting base slidably mounted on the inner ring track 9 and the outer ring track 7. The mounting base includes a fixing frame 13, and both the inner and outer sides of the fixing frame 13 are hinged to arc-shaped wheels 14 through shaft arm supports 12. The arc-shaped wheels 14 located on the inner and outer sides are respectively in sliding engagement with the inner ring track 9 and the outer ring track 7. A hollow large gear 18 is fixedly mounted on the fixing frame 13, and a rotary shaft arm 15 is rotatably connected to the fixing frame 13 located in the central area of ​​the large gear 18. A small gear 19 that meshes with the large gear 18 is provided on the rotary shaft arm 15, and a drive motor 16 for driving the small gear 19 to rotate is provided on the rotary shaft arm 15. The basket 17 is hinged to the rotary shaft arm 15.

[0045] There are two winches 8, which are symmetrically arranged on both sides of one of the support rings 1.1. The drive end of the winch 8 is connected to one end of the rope 10, and the other end of the rope 10 is connected to the basket 17.

[0046] like Figure 5 As shown, multiple guide wheels 11 are spaced apart on the inner ring track 9 and the outer ring track 7. One end of the rope 10 is connected to the basket 17, and the other end of the rope 10 passes through the guide wheels 11 on the inner ring track 9 or the outer ring track 7 in sequence and is connected to the drive end of the winch 8. When one winch 8 performs the line release operation on the rope 10, the other winch 8 performs the line reeling operation on the rope 10.

[0047] In this embodiment, to adjust the specific position of the suspended platform on the circular track and expand the working range, in one optional implementation, the position of the suspended platform on the inner and outer circular tracks is changed by the contraction of the winch-driven rope. The winch winds up and unwinds the rope, which pulls the suspended platform along the track; by controlling the forward and reverse rotation of the winch, the reciprocating motion of the suspended platform is achieved.

[0048] Specifically, each of the four corners of the mounting base is equipped with an arc-shaped wheel, and each of the four corners is connected to a rope, resulting in four ropes distributed on the inner and outer ring tracks. Each rope is controlled by a corresponding winch. The ropes can be made of aramid fiber, and the winches can be driven by an electric winch or a hydraulic motor.

[0049] To ensure smooth rope operation and reduce friction and wear, in one optional implementation, the guide sheave is fixed to the inner and outer ring tracks by a bracket. After the rope is led out from the winch, it passes over the guide sheave before connecting to the suspended platform. By passing the guide sheave, the direction of tension is changed, allowing the winch tension to be effectively transmitted to the suspended platform while reducing rope wear. This arrangement guides the rope direction via the guide sheave, preventing direct friction between the rope and the tracks.

[0050] Example 2: This invention discloses a method for overhauling the water intake channel of a power plant unit, applied to the aforementioned equipment for overhauling the water intake channel of a power plant unit, comprising the following steps: S1, Support and Positioning: Control the two support mechanisms 1 to adaptively fit with the wall of the water diversion channel, and provide friction through the airbag unit to fix the working equipment in the channel; S2, Step-by-step movement: The telescopic drive mechanism 2.1 of the walking mechanism 2 alternately switches the fixed / moving states of the two support mechanisms 1 to drive the working equipment to move in the flow channel in a step-by-step manner. S3, Maintenance Operation: Control the suspended basket 17 of the control work platform 3 to make circumferential rotation along the circular track unit, adjust the working posture, and carry personnel and tools to complete the maintenance of the inner wall of the flow channel.

[0051] Furthermore, the support positioning in step S1 specifically includes the following process: The hydraulic telescopic column 6 extends radially, pushing the airbag bracket 4 to cause the airbag to contact the flow channel wall. Inflate the airbag to make the friction-enhancing and wear-resistant layer on the surface of the airbag fit tightly against the wall surface, and strengthen the support rigidity through the bracket diagonal brace 5 to form an anti-slip fixation.

[0052] Furthermore, the specific steps in step S2 include the following processes: Lock one of the support mechanisms 1 as a fixed support, and release the other support mechanism 1 from the wall surface; Control the coordinated extension and retraction of 6 telescopic drive mechanisms 2.1 (i.e., 6-DOF parallel mechanisms) to push the unsupported support mechanism 1 to move a preset step distance; After moving into position, the support mechanism 1 is re-fitted to the wall and locked, and then the previous support mechanism 1 is switched to the moving state, and the continuous stepping is achieved in a loop.

[0053] Furthermore, the maintenance work in step S3 specifically includes the following processes: By using two symmetrically arranged winches 8 to coordinate the raising and lowering of ropes 10, the basket 17 is driven to move circumferentially along the inner ring track 9 and the outer ring track 7, so as to achieve all-round inspection of the inner wall of the flow channel. The drive motor 16 is started to drive the small gear 19 to mesh with the large gear 18, driving the slewing shaft arm 15 to rotate, and precisely adjusting the working angle of the suspended platform 17, thereby keeping the suspended platform 17 in a vertical working posture.

[0054] Specifically, in this embodiment, the overall working principle of the power plant unit water diversion channel maintenance equipment of the present invention can be summarized as "adaptive support, stepping movement, and omnidirectional operation". Its core working process is based on the coordinated operation of three major subsystems: support mechanism 1, walking mechanism 2, and working platform 3, as detailed below: 1. Adaptive support and fixation Process: After the equipment is positioned within the flow channel, support mechanism 1 is activated. Multiple circumferentially distributed airbags, supported by their brackets, extend radially driven by hydraulic telescopic columns 6, bringing the airbags into contact with the flow channel wall. Subsequently, the airbags inflate, and their friction-enhancing and wear-resistant layers (such as nitrile rubber) adhere tightly to the steel wall, generating significant friction. Simultaneously, the bracket's diagonal struts 5 enhance the rigidity of the support structure, ensuring it can withstand the equipment's own weight, operational loads, and the downward force from a steep incline, firmly locking the equipment in its current position and providing a stable foundation for subsequent operations.

[0055] 2. Walking and obstacle crossing Process: Walking is performed by six telescopic drive mechanisms 2.1 (i.e., a 6-DOF parallel mechanism). Its working mode mimics the gait of a myriapod. Support phase: The fixed support of a part of the parallel mechanism is held in place by its corresponding airbag group against the wall, and serves as a stable fulcrum for the entire equipment.

[0056] Moving phase: The airbag assembly to which the moving support of another part of the parallel mechanism belongs is depressurized or released, releasing it from the lock to the wall. Subsequently, the parallel mechanism pushes the main body of the equipment (including the fixed parts) to move one step by precisely changing the length of its multiple drive rods.

[0057] Alternating Cycle: After moving into position, the previously moved support unit is pressed against the wall again to fix it, and then the previously fixed unit is released and moved. Through this alternating cycle, the equipment can achieve safe and stable stepping autonomous movement while always maintaining at least a part of the mechanism firmly supported by the wall, and can adapt to the curved sections and uneven parts of the flow channel.

[0058] 3. Comprehensive and precise operations Process: When the equipment is moving or stationary, the work platform 3 starts working.

[0059] Circumferential positioning: The suspended platform 17 can move along the inner ring track 9 and the outer ring track 7 by raising and lowering the rope 10 through the winch system 8, achieving a wide range of circumferential position adjustments. By driving the small gear 19 to mesh with the large gear 18 through the drive motor 16, the slewing shaft arm 15 is rotated, which can achieve precise rotation of the suspended platform 17 in a local position, so that the working surface is directly facing the maintenance point.

[0060] Posture maintenance and approach: Throughout the process, the multi-degree-of-freedom adjustment capability of the suspended platform 17 (such as rotation and pitch) can compensate for the tilt and curvature of the flow channel, keeping the platform 17 in a vertical position at all times, ensuring the comfort and safety of the workers. At the same time, the platform can move radially as a whole, allowing personnel to approach or move away from the tunnel wall, facilitating different operations.

[0061] The above three processes are coordinated by the control system and powered by the energy management system (such as batteries), forming a complete intelligent equipment system that can operate autonomously and perform maintenance tasks in complex flow channels.

[0062] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A maintenance equipment for the water intake channel of a power plant unit, characterized in that, include: Two support mechanisms (1) are used to alternately provide adaptive support and friction within the flow channel; The walking mechanism (2) is connected to two support mechanisms (1) at both ends. The walking mechanism (2) moves by alternating the support points during the walking process. The work platform (3) is installed on one of the support structures (1) and is used to carry personnel and tools for mobile maintenance operations.

2. The maintenance equipment for the water intake channel of a power plant unit according to claim 1, characterized in that, The support mechanism (1) includes a plurality of circumferentially distributed airbag units, which are controlled by air pressure or hydraulic pressure to adhere to the flow channel wall and provide the friction force.

3. The maintenance equipment for the water intake channel of a power plant unit according to claim 2, characterized in that, The airbag unit includes an airbag bracket (4) and an airbag mounted on the airbag bracket (4). The surface of the airbag is covered with a friction-enhancing and wear-resistant layer. The inner side of the airbag bracket (4) is connected to one end of a hydraulic telescopic column (6), and the other end of the hydraulic telescopic column (6) is connected to the surface of a support ring (1.1) located at the center. When the hydraulic telescopic column (6) extends and retracts, it achieves radial extension and retraction, and adjusts the clamping force between the airbag and the flow channel wall.

4. The maintenance equipment for the water intake channel of a power plant unit according to claim 3, characterized in that, The airbag support (4) is also connected to one end of the support diagonal brace (5), and the other end of the support diagonal brace (5) is connected to the hydraulic telescopic column (6).

5. The maintenance equipment for the water intake channel of a power plant unit according to claim 3, characterized in that, The walking mechanism (2) includes multiple telescopic drive mechanisms (2.1), each of which is hinged to two support rings (1.1) at both ends.

6. The power plant unit water intake channel maintenance equipment according to claim 5, characterized in that, The telescopic drive mechanism (2.1) consists of 6 units, of which 3 telescopic drive mechanisms (2.1) have their heads hinged to the front support ring (1.1) and their tails hinged to the rear support ring (1.1), and the other 3 telescopic drive mechanisms (2.1) have their heads hinged to the rear support ring (1.1) and their tails hinged to the front support ring (1.1); the ends of the telescopic drive mechanisms (2.1) are evenly distributed on the support ring (1.1).

7. The power plant unit water intake channel maintenance equipment according to claim 6, characterized in that, The telescopic drive mechanism (2.1) is a hydraulic telescopic rod, a pneumatic telescopic rod, or an electric telescopic rod structure; the head and tail of the telescopic drive mechanism (2.1) are alternately fixed and moved so that the walking mechanism (2) can walk in a stepping manner.

8. The maintenance equipment for the water intake channel of a power plant unit according to claim 3, characterized in that, The work platform (3) includes a ring track unit and a basket (17) mounted on the ring track unit. The ring track unit is fixedly connected to the surface of one of the support rings (1.1) by a support rod (3.1). The basket (17) is driven by a winch (8) to rotate circumferentially on the ring track unit.

9. The maintenance equipment for the water intake channel of a power plant unit according to claim 8, characterized in that, The annular track unit includes an inner ring track (9) and an outer ring track (7) fixedly mounted on a support rod (3.1), and a mounting base slidably mounted on the inner ring track (9) and the outer ring track (7). The mounting base includes a fixed frame (13). The inner and outer sides of the fixed frame (13) are hinged to arc wheels (14) through shaft arm supports (12). The arc wheels (14) located on the inner and outer sides are respectively slidably engaged with the inner ring track (9) and the outer ring track (7). A hollow large gear (18) is fixedly mounted on the fixed frame (13). A rotary shaft arm (15) is rotatably connected to the fixed frame (13) located in the central area of ​​the large gear (18). A small gear (19) meshing with the large gear (18) is provided on the rotary shaft arm (15), and a drive motor (16) for driving the small gear (19) to rotate is provided on the rotary shaft arm (15). The basket (17) is hinged to the rotary shaft arm (15).

10. The maintenance equipment for the water intake channel of a power plant unit according to claim 8, characterized in that, There are two winches (8), which are symmetrically arranged on both sides of one of the support rings (1.1). The drive end of the winch (8) is connected to one end of the rope (10), and the other end of the rope (10) is connected to the basket (17).

11. The maintenance equipment for the water intake channel of a power plant unit according to claim 9, characterized in that, Multiple guide wheels (11) are spaced apart on the inner ring track (9) and the outer ring track (7). One end of the rope (10) is connected to the basket (17), and the other end of the rope (10) passes through the guide wheels (11) on the inner ring track (9) or the outer ring track (7) in sequence and is connected to the drive end of the winch (8). When one winch (8) performs the line release operation on the rope (10), the other winch (8) performs the line reeling operation on the rope (10).

12. A method for overhauling the water intake channel of a power plant unit, characterized in that, The equipment used for overhauling the water intake channel of a power plant unit as described in any one of claims 1 to 11 includes the following steps: S1, Support and Positioning: Control the two support mechanisms (1) to adaptively fit with the wall of the water diversion channel, and provide friction through the airbag unit to fix the working equipment in the channel; S2, Step-by-step movement: The fixed / moving states of the two support mechanisms (1) are alternately switched by the telescopic drive mechanism (2.1) of the walking mechanism (2) to drive the working equipment to move in the flow channel in a step-by-step manner; S3, Maintenance Operation: Control the basket (17) of the work platform (3) to rotate around the circular track unit, adjust the working posture, and carry personnel and tools to complete the maintenance of the inner wall of the flow channel.

13. The method for overhauling the water intake channel of a power plant unit according to claim 12, characterized in that, The support positioning in step S1 specifically includes the following process: Control the hydraulic telescopic column (6) to extend radially, push the airbag bracket (4) to drive the airbag to contact the flow channel wall; Inflate the airbag to make the friction-enhancing and wear-resistant layer on the surface of the airbag fit tightly against the wall. Strengthen the support rigidity through the bracket diagonal brace (5) to form an anti-slip fixation.

14. The method for overhauling the water intake channel of a power plant unit according to claim 12, characterized in that, The specific steps in step S2 include the following processes: Lock one of the support mechanisms (1) as a fixed support, and release the other support mechanism (1) from the wall surface; Control the six telescopic drive mechanisms (2.1) to extend and retract in coordination, and push the unsupported support mechanism (1) to move a preset step distance; After the movement is in place, the support mechanism (1) is re-fitted to the wall and locked, and then the previous support mechanism (1) is switched to the moving state, and continuous stepping is achieved in a cycle.

15. The method for overhauling the water intake channel of a power plant unit according to claim 12, characterized in that, The maintenance work in step S3 specifically includes the following processes: By using two symmetrically arranged winches (8) to coordinate the release and retraction of ropes (10), the basket (17) is driven to move circumferentially along the inner ring track (9) and the outer ring track (7), so as to achieve all-round inspection of the inner wall of the flow channel; Start the drive motor (16) to drive the small gear (19) to mesh with the large gear (18), drive the slewing shaft arm (15) to rotate, and precisely adjust the working angle of the basket (17) so as to keep the basket (17) in a vertical working posture.

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