CN116689420A - Scale removing robot for inner wall of tap water pipeline and scale removing method - Google Patents

Abstract

The invention discloses a scale removing robot for the inner wall of a tap water pipeline and a scale removing method; the robot comprises a travelling mechanism, a main body structure, a cleaning mechanism and a scale collecting module; the main body structure comprises a supporting pipe fitting, a filter screen and a supporting bracket, and two cleaning and sealing rings fixed at two ends of the outer side surface of the supporting pipe fitting; the two cleaning sealing rings are provided with filter tanks; the filter screen is arranged in the filter tank; the two ends of the inner wall of the supporting pipe fitting are fixedly provided with supporting brackets; the power generation module is arranged on the support bracket; the scale collecting module comprises a scale collecting filter screen bag; a sewage outlet communicated with the cleaning cavity is arranged on the main body structure; the drain outlet with the fixed bag mouth of the scale collection filter screen bag enables the scale in the collection cavity to enter the scale collection filter screen bag. The invention cleans the scale on the wall of the tap water pipe through the cleaning mechanism; on the premise of not affecting the use of tap water by users, the wall of the tap water pipe is cleaned up.

Description

A scale removal robot on the inner wall of a tap water pipeline and a scale removal method

technical field

The invention belongs to the technical field of cleaning robots, and in particular relates to a scale removal robot on the inner wall of a tap water pipeline and a scale removal method.

Background technique

During the process of transporting tap water in urban tap water pipelines, the minerals contained in the tap water will deposit scale on the inner wall. These scales will become thicker and thicker if they are not cleaned in time, making the effective delivery diameter of the pipeline smaller and the quality of the tap water transported worse. Difference. Therefore, scale deposits on the inner wall of the pipeline will cause great losses when the pipeline transports the liquid medium, increase the transportation cost, and even fail to transport normally, forming a major safety hazard.

One of the conventional methods for cleaning the scale inside the water pipe is to knock the pipe to cause the scale to vibrate and fall off. However, the main pipelines in the city are generally buried underground or in the wall, and sufficient vibration cannot easily occur. Moreover, the cleaning personnel cannot evaluate the effect of the knocking vibration; in addition, the scale that falls off due to the vibration will flow to the users along with the flowing tap water, endangering the water safety of residents. The other is to use chemicals to dissolve the scale and remove it. However, this method is often expensive and is only suitable for short-length and small-diameter pipes, and it is not suitable for some pipes with food safety requirements. There are some pipe cleaning robots in the prior art, but they cannot ensure the circulation of tap water in the pipe while working, nor can they collect and process the removed scale.

Contents of the invention

The object of the present invention is to provide a scale removal robot and scale removal method on the inner wall of a tap water pipeline.

In a first aspect, the present invention provides a scale removal robot on the inner wall of a tap water pipeline, which includes a traveling mechanism, a main structure, a cleaning mechanism, a scale collection module, and a power generation module; the main structure includes a supporting pipe, a filter screen, a supporting bracket, and Two cleaning closed rings fixed on both ends of the outer surface of the supporting pipe fitting; the outer surface of the supporting pipe fitting and the opposite sides of the two cleaning closed rings encircle to form a cleaning chamber; filter tanks are opened on the two cleaning closed rings; the filter screen is installed in the filter tank Inside; during the working process, the outer peripheral edge of the cleaning closed ring is against the inner wall of the water pipe.

Both ends of the inner wall of the supporting pipe are fixed with supporting brackets; the power generation module is installed on the supporting bracket; the power generating module generates power through the water flow in the tap water pipeline; Tube walls are cleaned.

The traveling mechanism is installed at one end of the scale collection module to drive the robot forward; the scale collection module includes a scale collection filter bag; the main structure is provided with a sewage outlet connected to the cleaning chamber; the scale collection filter bag The fixed sewage outlet of the pocket allows the scale in the collection chamber to enter the scale collection filter bag.

Preferably, the cleaning mechanism includes a rotating sleeve, a first driving assembly and a plurality of cleaning assemblies; the rotating sleeve is sleeved on the supporting pipe, and forms a rotating pair with the supporting pipe; the rotating sleeve is driven by the first driving assembly Rotation; one or more cleaning components are installed on the rotating sleeve; the cleaning component includes a scrubbing module and a knocking module; the scrubbing module is used for scrubbing the wall of the water pipe; the knocking module is used for knocking the wall of the water pipe.

Preferably, the percussion module includes a percussion hammer, an electromagnet fixed on the rotating sleeve and an installation base; the end of the percussion hammer away from the hammer head and the installation base form a rotating pair; the hammer head of the percussion hammer A permanent magnet is provided; the electromagnet is located on the movement path of the hammer head of the hammer, and is used to push the hammer to turn outward through magnetic repulsion.

Preferably, the scrubbing module includes a cleaning brush, a spring and a brush handle sleeve; the brush handle sleeve arranged radially along the rotating sleeve is fixed on the rotating sleeve; the cleaning brush and the inner wall of the brush handle sleeve form a sliding Vice; the spring is installed in the brush handle sleeve, and the two ends of the spring are against the end of the inner wall of the brush handle sleeve and the inner end of the cleaning brush respectively.

Preferably, the scale collection module is installed at one end of the cleaning chamber away from the direction of travel of the robot; the scale collection module also includes a scale collection piece and a second drive assembly; the scale collection piece is slidably connected along the circumferential direction of the support pipe On the outer surface of the supporting pipe; the second drive assembly is used to drive the scale collecting part to rotate around the supporting pipe; the scale collecting part is provided with a collecting cavity, and the side wall of the scale collecting part close to its own movement direction is provided with a first dirt inlet; The side of the scale collecting part close to the supporting pipe is provided with a sewage outlet; the first sewage inlet, the collecting chamber, and the sewage outlet are connected in sequence; the sewage outlet of the main structure is arranged on the supporting pipe, and connected with the sewage outlet of the scale collecting part corresponding to the position.

As a preference, a liquid-filled elastic body is installed on the outer edge of the cleaning closed ring; the liquid-filled elastic body can resist the inner wall of the tap water pipes with different inner diameters, so that the scale in the cleaning chamber can only leave the cleaning chamber through the sewage outlet.

Preferably, the travel mechanism includes a travel bracket and a plurality of actuators; the travel bracket corresponds to one of the support brackets; the middle part of the travel bracket is connected to the corresponding support bracket through a ball joint; multiple actuators are installed on the travel On the bracket; the executive mechanism includes the first roller bracket, the traveling wheel, the third motor, the first torsion spring and the transmission assembly; one end of the first roller bracket and the traveling bracket constitute a revolving pair; the first roller bracket and the traveling bracket are provided with The first torsion spring; the first torsion spring is used to drive the first roller bracket to rotate in a direction away from the central axis of the main structure; the traveling wheel is rotatably connected to the other end of the first roller bracket; the third motor is fixed on the first roller bracket; The output shaft of the third motor is in transmission connection with the rotation shaft of the traveling wheel through the transmission assembly.

Preferably, the robot also includes a guide module; the guide module is installed on the end of the main structure away from the traveling mechanism; the guide mechanism includes a guide bracket, a second roller bracket, a guide wheel and a second torsion spring; the guide bracket The middle part of the center is connected with the corresponding support bracket through a ball joint; one end of a plurality of second roller brackets forms a rotating pair with the guide bracket; a second torsion spring is arranged between the second roller bracket and the guide bracket; the second torsion spring is used for The second roller bracket is driven to rotate in a direction away from the central axis of the main structure; the guide wheel is rotated and arranged at the other end of the second roller bracket.

Preferably, the power generation module includes fan blades and a generator; the generator is fixed on the support bracket; the fan blades are fixedly connected to the output shaft of the generator.

In a second aspect, the present invention provides a method for removing scale from the inner wall of a tap water pipeline, which is characterized in that it includes the following steps:

Step 1. Put the aforementioned descaling robot on the inner wall of the tap water pipe into the cleaned tap water pipe.

Step 2: Pass water to the water pipe, and the direction of the water flow is opposite to the direction of the robot; the water flow drives the power generation module to generate electricity.

Step 3. The traveling module drives the robot to travel along the water pipe; at the same time, the cleaning mechanism cleans the scale attached to the wall of the water pipe; the scale separated from the wall of the water pipe is driven by the water flow and gathers in the cleaning chamber away from the direction of the robot. side, and discharge to the scale collection filter bag through the sewage outlet connected with the cleaning chamber.

Step 4: After the robot passes through the end of the cleaned water pipe, remove the scale in the scale collection filter bag.

The beneficial effects that the present invention has are:

1. The present invention adopts the support pipe fitting as the main structure, and a generator is arranged in the support pipe fitting; the setting of the support pipe fitting allows tap water to flow through the pipe of the support pipe fitting; it does not affect the water consumption of the user; at the same time, the water flow flowing in the tap water pipeline The generator will be used to generate electricity, increasing the endurance of the robot.

2. The present invention uses ball joints to connect the traveling mechanism, the guiding mechanism and the main structure, so that the traveling mechanism and the guiding mechanism can rotate at a certain angle, which is convenient for the robot to clean the scale on the inner wall of the curved pipe.

3. The present invention sets a scrubbing module and a knocking module in the cleaning mechanism. For the scale firmly attached to the pipe wall of the tap water pipe, the knocking hammer in the knocking module is used to knock and loosen; the cleaning brush in the scrubbing module is for loosening. The scale is brushed off; the robot can remove the scale attached to the wall of the water pipe more thoroughly.

4. In the present invention, a spring is arranged at the bottom of the cleaning brush, and the spring provides elastic force to the cleaning brush, so that the brush head of the cleaning brush is close to the inner wall of the cleaning pipeline, thereby more carefully scrubbing the inner wall of the pipeline.

5. The present invention forms a circular closed space (that is, the cleaning chamber) in the tap water pipeline, so that the scale that is inclined down will not move to the user end with the water flow. At the same time, the scale collection module is set in the present invention to collect the scale in the cleaning chamber , to avoid the situation that the cleaning chamber is filled with scale, and improve the cleaning ability of the robot for long pipelines.

6. In the present invention, a liquid-filled elastic body is provided at the edge of the outer ring of the cleaning closed ring, which can radially expand through pressurization, so that the two cleaning closed rings can seal pipes with different inner diameters; at the same time, the traveling mechanism and the guiding mechanism The rollers in the robot, as well as the scrubbing module and the knocking module in the cleaning assembly can also be adapted to pipes with different inner diameters; therefore, the robot provided by the present invention has adaptability to pipes with different inner diameters.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a structural schematic diagram of the main structure in the present invention.

Fig. 3 is a structural schematic diagram of the cleaning mechanism in the present invention (partial enlarged view of part A in Fig. 2).

Fig. 4 is a schematic diagram of the position of the scale collection module in the main structure in the present invention.

Fig. 5 is a schematic structural view of the scale collection module in the present invention (partial enlarged view of part B in Fig. 4).

Fig. 6 is a schematic structural view of the scale collection module in the main structure of the present invention.

Fig. 7 is a schematic diagram of the relative positions of the scale collecting part and the supporting pipe part in the present invention (partial enlarged view of part C in Fig. 6).

Fig. 8 is a schematic structural diagram of the traveling mechanism in the present invention.

Fig. 9 is a schematic diagram of the present invention traveling in a tap water pipeline.

Among them, 1, traveling mechanism; 1-1, traveling bracket, 1-2, executive mechanism; 1-2-1, first roller bracket; 1-2-2, traveling wheel; 1-2-3, third motor ; 1-2-4, synchronous belt; 1-2-5, synchronous pulley; 2, main structure; 2-1, support pipe; 2-2, filter screen; 2-3, support bracket; 2-4, Cleaning closed ring; 3. Cleaning mechanism; 3-1. Rotating sleeve; 3-2. First ring gear; 3-3. Cleaning assembly; 3-3-1. Cleaning brush; 3-3-2. Brush handle Sleeve; 3-3-3, percussion hammer; 3-3-4, electromagnet; 3-3-5, installation base; 3-4, first motor, 3-5, first gear; 4, scale Collection module; 4-1, scale collection piece; 4-2, second ring gear; 4-3, second gear; 4-4, second motor; 4-5, scale collection filter bag; 5, power generation module ; 5-1, fan blade; 6, guide mechanism; 6-1, guide bracket; 6-2, second roller bracket; 6-3, guide wheel.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

As shown in FIGS. 1 and 2 , a robot for descaling the inner wall of a tap water pipeline includes a traveling mechanism 1 , a main structure 2 , a cleaning mechanism 3 , a scale collection module 4 , a power generation module 5 , a control integration module and a guiding mechanism 6 . The main structure 2 includes a support pipe 2-1, a filter screen 2-2, two support brackets 2-3, and two cleaning closed rings 2-4 fixed at both ends of the support pipe 2-1. The outer side of the supporting pipe and the opposite sides of the two cleaning closed rings are surrounded to form a cleaning chamber. The support bracket 2-3 is fixed at both ends in the support pipe fitting 2-1. A filter tank is provided on the cleaning closed ring 2-4. Filter screen 2-2 is installed in the filter tank. During the working process, the water flow in the pipeline can flow through the robot provided by this embodiment through the inner wall of the supporting pipe fitting or the filters on the two cleaning closed rings; therefore, the working process of this embodiment does not affect the normal water supply of the tap water pipe.

A liquid-filled elastic body is installed at the edge of the outer ring of the cleaning closed ring 2-4. The liquid-filled elastomer can be filled and drained by using an external liquid-filled pump to realize the diameter adjustment of the liquid-filled elastomer, and the volume of the liquid-filled elastomer is continuously increased during the process of continuously filling the liquid; making the cleaning closed ring 2-4 It can form a seal with the inner wall of pipes with different inner diameters to prevent the cleaned scale from entering the water source. The traveling mechanism 1 and the guiding mechanism 6 are respectively installed on the away sides of the two cleaning closed rings 2-4. The cleaning mechanism 3 is installed on the outer surface of the support pipe 2-1. The scale collection module 4 is installed on the end of the support pipe 2 - 1 away from the guide mechanism 6 . The scale collecting module 4 is used to collect the scale generated by the cleaning mechanism 3 and attached to the filter screen 2-2. The power generation module 5 and the integrated control module are respectively installed on two support brackets 2-3. During the working process, the water flows in from one end of the supporting pipe fitting 2-1, drives the power generation module 5 to generate electricity, and then flows out from the other end of the supporting pipe fitting 2-1. Simultaneously, water flows in from the filter screen 2-2 of one of the cleaning closed rings 2-4, flows through the cleaning chamber, and flows out from the filter screen 2-2 of the other cleaning closed ring 2-4. The scale in the cleaning chamber remains on the filter screen.

As shown in Figures 2 and 3, the cleaning mechanism 3 includes a rotating sleeve 3-1, a first driving assembly and a plurality of cleaning assemblies 3-3. The rotating sleeve 3-1 is coaxially sleeved on the supporting pipe 2-1, and forms a rotating pair with the supporting pipe 2-1. The first drive assembly includes a first ring gear 3-2, a first motor 3-4 and a first gear 3-5. The first motor 3-4 is fixed on the cleaning closed ring 2-4; the first gear 3-5 is fixed to the output shaft of the first motor 3-4. The first ring gear 3-2 is fixed on the outer surface of the rotating sleeve 3-1. The first gear 3-5 meshes with the first ring gear 3-2. A plurality of cleaning assemblies 3-3 are installed on the outer surface of the rotating sleeve 3-1, and are evenly distributed along the circumferential direction of the axis of the rotating sleeve 3-1. The cleaning assembly 3-3 includes a plurality of scrubbing modules and a plurality of knocking modules, and the scrubbing modules and knocking modules are arranged alternately along the axial direction of the rotating sleeve 3-1. The scrubbing module includes a spring, a cleaning brush 3-3-1 and a brush handle sleeve 3-3-2. Brush handle sleeve 3-3-2 is fixed on the rotating sleeve 3-1. The spring is installed in the brush handle sleeve 3-3-2, and one end of the spring is fixed to the inner wall of the brush handle sleeve 3-3-2. The inwall of cleaning brush 3-3-1 and brush handle sleeve 3-3-2 constitutes a sliding pair. The inner end of cleaning brush 3-3-1 is fixed with the other end of spring. The spring provides elastic force to the cleaning brush 3-3-1, so that the brush head of the cleaning brush 3-3-1 is close to the inner wall of the cleaning pipeline, thereby scrubbing the inner wall of the pipeline more carefully.

As shown in FIG. 3 , the knocking module includes a knocking hammer 3-3-3, an electromagnet 3-3-4 and an installation base 3-3-5 fixed on the rotating sleeve 3-1. The end of the percussion hammer 3-3-3 away from the tup and the mounting base 3-3-5 form a revolving pair. A permanent magnet is arranged in the tup of the percussion hammer 3-3-3. In the initial situation, the tup of the hammer 3-3-3 fits with the rotating sleeve 3-1. The electromagnet 3-3-4 is arranged on the position where the tup of the percussion hammer 3-3-3 is attached to the surface of the rotating sleeve 3-1. When the robot encounters scale that is difficult to remove, the electromagnet 3-3-4 is energized, and when the electromagnet 3-3-4 is connected to the alternating current, an alternating magnetic field will be generated, which will produce a hammer that strikes the hammer 3-3-3. The repulsive force of the permanent magnet in the head; thereby pushing the hammer 3-3-3 to rotate around the rotation axis, and knock the scale inside the pipe of the hammer head of the hammer 3-3-3; after the knock is completed, the repulsive force disappears and the knock Hammer 3-3-3 automatic reset.

As shown in Fig. 4-7, the scale collection module 4 includes a scale collection part 4-1, a second drive assembly and a scale collection filter bag 4-5. The scale collecting piece 4-1 forms a sliding pair with the outer surface of the supporting pipe 2-1, and slides along the circumferential surface of the supporting pipe 2-1. The second drive assembly includes a second ring gear 4-2, a second gear 4-3 and a second motor 4-4. The second ring gear 4-2 is fixed to the support pipe 2-1. The second motor 4-4 is fixed on the scale collecting part 4-1. The second gear 4-3 is fixed on the output shaft of the second motor 4-4, and meshes with the second ring gear 4-2. The second motor 4-4 and the second gear 4-3 are used to drive the scale collecting part 4-1 to move along the circumferential surface of the supporting pipe part 2-1.

A collecting cavity is opened in the scale collecting part 4-1, and a first dirt inlet opening connected with the collecting cavity is opened on one side of the moving direction of the scale collecting part 4-1. In the process that the scale collecting part 4-1 slides along the circumferential surface of the supporting pipe part 2-1, the scale matter attached to the surface of the filter screen 2-2 will be scraped off, and the scale matter will enter from the first step of the scale collecting part 4-1. The dirty port enters the collection chamber. A dirt outlet is provided on the lower wall of the collecting cavity in the scale collecting part 4-1. The mouth of the scale collecting filter screen bag 4-5 is fixed on the inner ring of the supporting pipe fitting 2-1. On the sliding track of the scale collecting part 4-1, the supporting pipe part 2-1 is provided with a second dirt inlet communicating with the pocket of the scale collecting filter bag 4-5. When the scale collecting part 4-1 runs around the circumferential surface of the supporting pipe part 2-1, the dirt outlet on the scale collecting part 4-1 communicates with the second dirty inlet on the supporting pipe part 2-1. The scale matter in the collection cavity will enter the scale collection filter bag 4-5 through the dirt outlet and the second dirt inlet, and be collected by the scale collection filter bag 4-5.

As shown in Figures 1 and 8, the travel mechanism 1 includes a travel bracket 1-1 and three actuators 1-2. The traveling support 1-1 is disc-shaped. The traveling bracket 1-1 is connected with the corresponding supporting bracket 2-3 through a ball joint. The three actuators 1-2 are installed on the side of the travel bracket 1-1 away from the closed cleaning ring 2-4, and the three actuators 1-2 are evenly distributed along the circumference of the axis of the travel bracket 1-1. The actuator 1-2 includes a first roller bracket 1-2-1, a traveling wheel 1-2-2, a third motor 1-2-3, a pin shaft, a first torsion spring and a transmission assembly. One end of the first roller support 1-2-1 and the traveling support 1-1 constitute a rotating pair. The first torsion spring is sleeved on the rotating shaft of the first roller bracket 1-2-1. The pin shaft is rotatably connected to the other end of the first roller bracket 1-2-1. Traveling wheel 1-2-2 is fixed with bearing pin. The first torsion spring exerts elastic force on the first roller bracket 1-2-1, so that the traveling wheel 1-2-2 is attached to the water pipe. The third motor 1-2-3 is fixed on the first roller support 1-2-1. The transmission assembly includes a synchronous belt 1-2-4 and two synchronous pulleys 1-2-5. Two synchronous pulleys 1-2-5 are respectively fixed with the pin shaft and the second output shaft. The synchronous belt 1-2-4 is used to transmit the torque between the two synchronous pulleys 1-2-5.

As shown in FIG. 1 , the guide mechanism 6 includes a guide bracket 6 - 1 and three guide mechanisms 6 . The guide bracket 6-1 is disc-shaped. The guide bracket 6-1 is connected with the corresponding support bracket 2-3 through a ball joint. Three guide mechanisms 6 are installed on the side of the travel bracket 1-1 away from the closed cleaning ring 2-4, and the three guide mechanisms 6 are evenly distributed along the circumference of the axis of the guide bracket 6-1. The guide mechanism 6 includes a second roller bracket 6-2, a guide wheel 6-3 and a second torsion spring. One end of the second roller support 6-2 and the guide support 6-1 constitute a rotating pair. The second torsion spring is sleeved on the rotating shaft of the second roller bracket 6-2, and is used to drive the second roller bracket 6-2 rotating around the rotating shaft to reset. The guide wheel 6-3 is rotatably arranged at the other end of the second roller bracket 6-2.

The power generation module 5 includes fan blades 5-1 and a generator. The generator adopts an electromagnetic generator; the generator is fixed on one of the support brackets 2-3. The fan blade 5-1 is fixed to the input of the generator. When the robot is working in the pipeline that normally transports water, the water flow impacts on the fan blade 5-1, driving the fan blade 5-1 to rotate, so that the generator 5-1 generates electricity.

The control integration module includes a bluetooth communication module, a battery, and a control panel. The Bluetooth communication module is used to determine the position of the robot and transmit some control signals. The control panel is used to control the work of each motor and electromagnet 3-3-4.

The working principle of the present invention is as follows:

Step 1, as shown in Figure 9, according to the inner diameter of the water pipe, use the liquid filling pump to adjust the volume of the liquid-filled elastic body in advance, so that the outer diameter of the liquid-filled elastic body is consistent with the inner diameter of the water pipe; after that, close the liquid-filled elastic body ; Put the descaling robot on the inner wall of the water pipe from the mouth of the water pipe. The current flowing in the water pipe impacts on the generator 5-1, and the generator 5-1 generates electricity.

Step 2. The control panel controls the intermittent rotation of the output shaft of the third motor 1-2-3, and drives the traveling wheel 1-2-2 through the synchronous belt 1-2-4 and two synchronous belt 1-2-4 wheels. turn. The descaling robot on the inner wall of the water pipe advances intermittently along the water pipe. During the stopping process of the robot, the control panel controls the first motor 3-4 to start. The output shaft of the first motor 3-4 drives the first gear 3-5 to rotate; the first ring gear 3-2 meshed with the first gear 3-5 rotates. The rotating sleeve 3-1 is driven to rotate by the first ring gear 3-2. During the rotation of the rotating sleeve 3-1, the cleaning brush 3-3-1 in the cleaning mechanism 3 brushes off the scale on the pipe wall of the water pipe. At the same time, the control panel energizes the electromagnet 3-3-4; the electromagnet 3-3-4 produces a repulsive force to the permanent magnet in the hammer head of the hammer 3-3-3, pushing the hammer 3-3-3 Rotate around the rotating shaft to knock the scale inside the pipe of the hammer head of the hammer 3-3-3. The scale on the pipe wall of the tap water pipe is knocked and loosened by the hammer 3-3-3; the cleaning brush 3-3-1 brushes the loose scale. The scale that comes off from the pipe wall of the water pipe is attached to the filter screen 2-2 of the cleaning closed ring 2-4 on one side away from the direction of travel of the robot.

Step 3: The control panel controls the start of the second motor 4-4, and the rotation of the output shaft of the second motor 4-4 drives the rotation of the second gear 4-3. Through the second gear 4-3 meshing with the second ring gear 4-2, the scale collecting part 4-1 is driven to slide along the circumferential surface of the supporting pipe part 2-1. During the sliding process of the scale collecting part 4-1, the scale matter attached to the surface of the filter screen 2-2 will be scraped off, and the scale matter will enter the collecting cavity from the first dirt inlet of the scale collecting part 4-1. When the scale collecting part 4-1 runs around the circumferential surface of the supporting pipe part 2-1, the dirt outlet on the scale collecting part 4-1 communicates with the second dirty inlet on the supporting pipe part 2-1. The scale matter in the collection cavity will enter the scale collection filter bag 4-5 through the dirt outlet and the second dirt inlet, and be collected by the scale collection filter bag 4-5.

Step 4, after the robot passes through the end of the cleaned water pipe; remove the scale collection filter bag 4-5, and remove the scale in the scale collection filter bag 4-5.

Claims (10)

1. The scale removing robot for the inner wall of the tap water pipeline comprises a travelling mechanism (1), a main body structure (2), a cleaning mechanism (3), a scale collecting module (4) and a power generation module (5); the method is characterized in that: the main body structure (2) comprises a supporting pipe fitting (2-1), a filter screen (2-2), a supporting bracket (2-3) and two cleaning and sealing rings (2-4) fixed at two ends of the outer side surface of the supporting pipe fitting (2-1); the outer side surface of the supporting pipe fitting (2-1) and the opposite side surfaces of the two cleaning sealing rings (2-4) are surrounded to form a cleaning cavity; the two cleaning sealing rings (2-4) are provided with filter tanks; the filter screen (2-2) is arranged in the filter tank; in the working process, the outer circumferential edge of the cleaning sealing ring (2-4) props against the inner wall of the tap water pipe;

the two ends of the inner wall of the supporting pipe fitting (2-1) are fixedly provided with supporting brackets (2-3); the power generation module (5) is arranged on the support bracket (2-3); the power generation module (5) generates power through water flow in a tap water pipeline; the cleaning mechanism (3) is arranged on the outer side surface of the supporting pipe fitting (2-1) and can clean the wall of the tap water pipe;

the advancing mechanism (1) is arranged at one end of the scale collecting module (4) and is used for driving the robot to advance; the scale collection module (4) comprises a scale collection filter screen bag; a sewage outlet communicated with the cleaning cavity is arranged on the main body structure (2); the drain outlet with the fixed bag mouth of the scale collection filter screen bag enables the scale in the collection cavity to enter the scale collection filter screen bag.

2. The tap water pipe inner wall scale removal robot of claim 1, wherein: the cleaning mechanism (3) comprises a rotary sleeve (3-1), a first driving assembly and a plurality of cleaning assemblies (3-3); the rotary sleeve (3-1) is sleeved on the supporting pipe fitting (2-1) and forms a rotary pair with the supporting pipe fitting (2-1); the rotating sleeve (3-1) is driven to rotate by the first driving component; one or more cleaning assemblies (3-3) are mounted on the rotating sleeve (3-1); the cleaning component (3-3) comprises a brushing module and a knocking module; the washing module is used for washing the wall of the tap water pipe; the knocking module is used for knocking the wall of the tap water pipe.

3. The tap water pipe inner wall scale removal robot according to claim 2, wherein: the knocking module comprises a knocking hammer (3-3-3), an electromagnet (3-3-4) and a mounting base (3-3-5), wherein the electromagnet is fixed on the rotating sleeve (3-1); one end of the knocking hammer (3-3-3) far away from the hammer head and the mounting base (3-3-5) form a revolute pair; a permanent magnet is arranged on the hammer head of the knocking hammer (3-3-3); the electromagnet (3-3-4) is positioned on the movement path of the hammer head of the knocking hammer (3-3-3) and is used for pushing the knocking hammer (3-3-3) to turn outwards through magnetic repulsive force.

4. The tap water pipe inner wall scale removal robot according to claim 2, wherein: the washing module comprises a washing brush (3-3-1), a spring and a brush handle sleeve (3-3-2); a brush handle sleeve (3-3-2) arranged along the radial direction of the rotating sleeve (3-1) is fixed on the rotating sleeve (3-1); the cleaning brush (3-3-1) and the inner wall of the brush holder sleeve (3-3-2) form a sliding pair; the spring is arranged in the brush holder sleeve (3-3-2), and two ends of the spring respectively prop against the end part of the inner wall of the brush holder sleeve (3-3-2) and the inner end of the cleaning brush (3-3-1).

5. The tap water pipe inner wall scale removal robot of claim 1, wherein: the scale collection module (4) is arranged at one end of the cleaning cavity, which is away from the travelling direction of the robot; the scale collection module (4) also comprises a scale collection piece (4-1) and a second driving component; the scale collecting piece (4-1) is connected to the outer side surface of the supporting pipe (2-1) in a sliding manner along the circumferential direction of the supporting pipe (2-1); the second driving component is used for driving the scale collecting piece (4-1) to rotate around the supporting pipe fitting (2-1); a collecting cavity is arranged in the scale collecting piece (4-1), and a first sewage inlet is formed in the side wall of one end, close to the motion direction of the scale collecting piece (4-1), of the scale collecting piece; a sewage outlet is formed in one side of the scale collecting piece (4-1) close to the supporting pipe fitting (2-1); the first sewage inlet, the collecting cavity and the sewage outlet are sequentially communicated; the sewage outlet of the main body structure (2) is arranged on the supporting pipe fitting (2-1) and corresponds to the sewage outlet of the scale collecting piece (4-1).

6. The tap water pipe inner wall scale removal robot of claim 1, wherein: the outer edge of the cleaning sealing ring (2-4) is provided with a liquid filling elastomer; the liquid-filled elastomer can prop against the inner wall of the tap water pipeline, so that the scale in the cleaning cavity can only leave the cleaning cavity from the sewage outlet.

7. The tap water pipe inner wall scale removal robot of claim 1, wherein: the travelling mechanism (1) comprises a travelling bracket (1-1) and a plurality of executing mechanisms (1-2); the advancing bracket (1-1) corresponds to one of the supporting brackets (2-3); the middle part of the travelling bracket (1-1) is connected with the corresponding supporting bracket (2-3) through a ball joint; the actuating mechanisms (1-2) are arranged on the travelling bracket (1-1); the actuating mechanism (1-2) comprises a first roller bracket (1-2-1), a travelling wheel (1-2-2), a third motor (1-2-3), a first torsion spring and a transmission component; one end of the first roller bracket (1-2-1) and the travelling bracket (1-1) form a revolute pair; a first torsion spring is arranged between the first roller bracket (1-2-1) and the travelling bracket (1-1); the first torsion spring is used for driving the first roller bracket (1-2-1) to rotate in a direction away from the central axis of the main body structure (2); the travelling wheel (1-2-2) is rotatably connected to the other end of the first roller bracket (1-2-1); the third motor (1-2-3) is fixed on the first roller bracket (1-2-1); the output shaft of the third motor (1-2-3) is in transmission connection with the rotating shaft of the traveling wheel (1-2-2) through a transmission assembly.

8. The tap water pipe inner wall scale removal robot of claim 1, wherein: the device also comprises a guide module; the guide module is arranged at the end part of the main body structure (2) which is away from the travelling mechanism (1); the guide mechanism (6) comprises a guide bracket (6-1), a second roller bracket (6-2), a guide wheel (6-3) and a second torsion spring; the middle part of the guide bracket (6-1) is connected with the corresponding support bracket (2-3) through a ball joint; one end of each of the plurality of second roller brackets (6-2) and the guide bracket (6-1) form a revolute pair; a second torsion spring is arranged between the second roller bracket (6-2) and the guide bracket (6-1); the second torsion spring is used for driving the second roller bracket (6-2) to rotate in a direction away from the central axis of the main body structure (2); the guide wheel (6-3) is rotatably arranged at the other end of the second roller bracket (6-2).

9. The tap water pipe inner wall scale removal robot of claim 1, wherein: the power generation module (5) comprises fan blades (5-1) and a power generation motor; the power generation motor is fixed on the support bracket (2-3); the fan blade (5-1) is fixedly connected with the output shaft of the power generation motor.

10. A method for removing scale on the inner wall of a tap water pipeline is characterized in that: the method comprises the following steps:

step one, putting the scale removing robot on the inner wall of the tap water pipeline in the cleaned tap water pipeline;

step two, water is led into the tap water pipe, and the water flow direction is opposite to the running direction of the robot; the water flow drives the power generation module (5) to generate power;

step three, the traveling module drives the robot to travel along the tap water pipeline; meanwhile, the cleaning mechanism (3) cleans the scale attached to the wall of the tap water pipe; the scale separated from the wall of the tap water pipe is driven by water flow, converged to one side of the cleaning cavity away from the advancing direction of the robot, and discharged to a scale collection filter screen bag (4-5) through a sewage outlet communicated with the cleaning cavity;

and fourthly, after the robot passes out from the end part of the cleaned tap water pipe, removing the scale in the scale collecting filter screen bag (4-5).