水下吸附机器人系统及其应用研究

Research on underwater adhesion robot system and its application

重力坝长期运行过程中,大坝可能出现渗漏、结构破损等病害。对于大坝上游面水下部分的病害,为提高检测的安全性和效率,降低检测成本,研发了一套具备沿坝面吸附爬行和在水中浮游两种工作模式的水下吸附机器人系统,并开展了应用研究。笔者介绍了水下吸附机器人系统的组成部分和功能特点,并研究了该系统在重力坝水下检测中的应用方案,通过工程应用验证了水下吸附机器人系统可用于重力坝渗漏、结构破损、拦污栅锈蚀和坝前淤积等病害的检测,为类似工程检测提供了参考。

During the operation of gravity dams,diseases such as leakage and structure damage may occur.For the underwater diseases upstream of the dam,an underwater adhesion robot system with two working modes——adhesion and climbing along dam surface as well as floating in water is developed to improve the safety and efficiency of detection and reduce the detection cost.Firstly,the components and functional characteristics of the underwater adhesion robot system are introduced.And the application scheme of this system in underwater detection of gravity dam is studied.It is verified that the underwater adhesion robot system can be used for the detection of gravity dam leakage,structure damage,trash rack corrosion and sedimentation upstream of the dam,which is worth reference for similar projects.