設(shè)計(jì)概述 Introduction

水下多功能作業(yè)機(jī)器入從目前流域梯級(jí)電站檢修需求出發(fā)，開(kāi)發(fā)制造的一款可出入水電站庫(kù)區(qū)、尾水、流道、涵洞等多種環(huán)境的水電站水下檢修專用有纜型機(jī)器人。主機(jī)單元攜帶了水下攝像、導(dǎo)航聲吶、側(cè)掃聲吶、超短基線定位等多功能性搭載件，可實(shí)現(xiàn)水下定位、自視檢查、聲波檢查等。整套系統(tǒng)采用多個(gè)加裝層組合的獨(dú)創(chuàng)方式，分別設(shè)置機(jī)械臂層、清洗打磨層、子機(jī)層、履帶層，根據(jù)實(shí)際需要主機(jī)單元可分別與加裝層單層或兩層的組合使用，拆裝方便�？杉�成實(shí)現(xiàn)攝像、聲吶掃描、打撈、清障、清洗、打磨、剪切、管道檢查等多種功能，實(shí)用的水下檢修功能可在一定程度上代替潛水員，保障入身安全，提高工作效率。

Based on the current maintenance requirements of cascade hydropower stations in the basin,  the underwater multi-functional operation machine is developed and manufactured as a special cable type robot for underwater maintenance of hydropower stations, which can enter and leave the reservoir area, tail water, flow channel, culvert and other environments. The main unit carries the multi-functional carrying parts such as underwater camera, navigation sonar, side scan sonar and ultra short baseline positioning, which can realize underwater positioning, self-examination and acoustic inspection. The whole system adopts the original way of combination of multiple adding layers, including the mechanical arm layer, cleaning and grinding layer, sub machine layer and track layer. According to the actual needs, the main unit can be used with single or two layers of adding layer respectively, which is convenient for disassembly and assembly. It can integrate camera, sonar scanning, salvaging, obstacle clearing, cleaning, polishing, shearing, pipeline inspection and other functions. Practical underwater maintenance functions can replace divers to a certain extent to ensure personal safety and improve work efficiency.

突破短板 Advantage

• 多功能作業(yè)機(jī)器人能夠在大流速下進(jìn)行水下作業(yè)，實(shí)現(xiàn)了機(jī)組檢修期間相鄰機(jī)組的不間斷作業(yè)，利用組合式結(jié)構(gòu)，完成水電站各區(qū)域位置檢修作業(yè)；

• 子機(jī)層的應(yīng)用可實(shí)現(xiàn)管道口等狹小部位作業(yè)點(diǎn)的檢查作業(yè)，

• 清洗打磨采用吸附式打磨設(shè)計(jì)，解決了清洗打磨時(shí)機(jī)器人帶來(lái)的反作用力問(wèn)題，

• 履帶加裝層，實(shí)現(xiàn)高質(zhì)量、大范圍底板檢查作業(yè)，滿足邊檢查、邊測(cè)量、邊記錄的作業(yè)要求。

• The multi-functional operation robot can carry out underwater operation at high flow rate, realize the continuous operation of adjacent units during unit maintenance, and complete the location maintenance of hydropower station by using combined structure;

• The application of the sub machine layer can realize the inspection of the operation point at the narrow position such as the pipe mouth,

• Adsorption grinding design is adopted for cleaning and grinding, which solves the problem of reaction force caused by robot during cleaning and grinding,

• Add a layer to the track to realize high-quality and large-scale floor inspection, and meet the operation requirements of inspection, measurement and recording at the same time.

應(yīng)用領(lǐng)域 Application

水下勘察水下打撈、水下作業(yè)，水下切割，水下探測(cè)，大壩檢測(cè)，水電站緊窄區(qū)域勘察、水   下設(shè)備打磨等領(lǐng)域。

Underwater exploration underwater salvage, underwater operation, underwater cutting, underwater detection, dam detection, survey of tight area of hydropower station, underwater equipment grinding and other fields.

應(yīng)用場(chǎng)景 Application scenario

三峽、洛溪渡水電站水下檢修工程

Underwater maintenance project of Three Gorges and luoxidu hydropower stations

技術(shù)參數(shù)

整備質(zhì)量：1300mm*900mm*650mm 350kg

驅(qū)動(dòng)系統(tǒng)：8 個(gè)無(wú)刷推進(jìn)器，4 個(gè)水平推進(jìn)器，4 個(gè)垂直升降推進(jìn)器；

觀測(cè)系統(tǒng)：前 200 萬(wàn)高清網(wǎng)絡(luò)相機(jī)，最低照度 0.001lux, 聲吶、圖像同步掃描，雙軸云臺(tái)轉(zhuǎn)角式±60° ;

照明系統(tǒng)：前端 4*50W LED 燈，左、右，后端各—個(gè) 15W 燈 ； 纜控系統(tǒng)：500m 中性零浮力承重電纜，采用電動(dòng)纜車，

甲板單元：17 處理器，硬盤容量 1T;視頻疊加功能；

作業(yè)能力：深度等級(jí) 300m, 航行速度水 3 節(jié)，下潛 2 節(jié)； 傳感系統(tǒng)：三維電子羅盤，深度傳感器、溫度傳感器，

機(jī)械手：開(kāi)口最大長(zhǎng)度為 180mm; 開(kāi)角為 90°; 最大抓取重量為 15kg, 機(jī)械手軸向 360°重復(fù)旋轉(zhuǎn)

履帶車加裝層： 行進(jìn)速度 0-20m/min;通過(guò)搭載履帶單元實(shí)現(xiàn)水底行走， 可實(shí)現(xiàn)對(duì)泄能區(qū)地面進(jìn)行觀察；

子母機(jī)加裝層： 尺寸 230x400mm, 自重為 6Kg,水中零重力， 推力為 1Kg 搭載子母機(jī)單元， 釋放子機(jī)進(jìn)入坑洞進(jìn)行觀察 ；

機(jī)械臂加裝層： 前端可用卡爪式、 鉗式、 剪切器互換， 舉升力 16Kg,夾取力 78Kg,破斷力100Kg, 液壓剪直徑 30mm 軟繩

清洗打磨加裝層打磨機(jī)構(gòu)繞軸 45°旋轉(zhuǎn)， 打磨頭可做 100mm 伸縮， 打磨頭部位與打磨旋轉(zhuǎn)軸為柔性連接， 自動(dòng)補(bǔ)償。

Technical parameter

Size& weight: 1300mm * 900mm * 650mm 350kg

Drive system: 8 brushless thrusters, 4 horizontal thrusters, 4 vertical lifting thrusters;

Observation system: the first 2 million HD network cameras, with a minimum illuminance of 0.001lux, sonar and image synchronous scanning, double axis pan tilt angle ± 60 °;

Lighting system: front 4 * 50W LED light, left, right, rear 15W light respectively;

Cable control system: 500M neutral zero buoyancy load-bearing cable, with electric cable winch,

Deck unit: 17 processor, hard disk capacity 1T; video&text overlay function; Operation capacity: Depth 300m, navigation speed 3 knots, submergence 2 knots;

Sensing system: three dimensional electronic compass, depth sensor, temperature sensor Manipulator: the maximum opening length is 180mm; the opening angle is 90°; the maximum grabbing weight is 15kg, and the manipulator rotates 360°repeatedly in axial direction

Adding layer of crawler: Traveling speed is 0-20 M/min; underwater traveling can be realized by carrying crawler unit to observe the ground in energy discharge area;

The additional layer of the sub master machine: the size is 230x400mm, the self weight is 6kg,  the water has zero gravity, the thrust is 1kg to carry the sub master machine unit, release the sub machine into the pit for observation;

Additional layer of mechanical arm: The front end can be interchanged with claw type, clamp type and shear type, with lifting force of 16KG, clamping force of 78kg, breaking force of 100kg, and hydraulic shear diameter of 30mm soft rope

The grinding mechanism of cleaning and grinding additional layer rotates 45°around the shaft, the grinding head can be expanded by 100mm, and the grinding head part and the grinding rotating shaft are flexibly connected with automatic compensation.