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요약정보
引水隧洞系留检查机器人设计与应用 / Design and Application of a Tethered Inspection Robot for Headrace Tunnel
Resource Type
Academic Journal
Authors
邱华
;
武彬
;
董吉林
;
万科
;
李天智
;
李佳龙
;
QIU Hua
;
WU Bin
;
DONG Jilin
;
WAN Ke
;
LI Tianzhi
;
LI Jialong
Source
机床与液压 / Machine Tool & Hydraulics
. 51(6):92-147
Subject
引水隧洞
放空检查
履带底盘
系留机器人
表观缺陷
Language
Chinese
ISSN
1001-3881
Online Access
Find it @ DONGA
초록
水电站引水隧洞混凝土表观检查需求大,传统检查方式存在人身安全风险高、缺陷信息判断主观、大坡度斜井段人员不易达等问题.对于此种情况,提出引水隧洞系留检查机器人系统,利用高摩擦因数的材料研制履带式移动机器人主体,使机器人具备强环境适应性.采用三维激光与多自由度云台相机相结合的缺陷检查技术,保证缺陷检查的准确性.阐述了机器人在隧洞环境中系留供电通信方式,设计了完善的长距离直流供电系统.最后搭建了机器人原理样机,并在500 m长放空状态下引水隧洞中开展了示范应用.试验结果表明:机器人可以替代人工在复杂结构引水隧洞中完成全覆盖表观缺陷巡检任务.
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