CN116689420A - Scale removing robot for inner wall of tap water pipeline and scale removing method - Google Patents
Scale removing robot for inner wall of tap water pipeline and scale removing method Download PDFInfo
- Publication number
- CN116689420A CN116689420A CN202310824669.1A CN202310824669A CN116689420A CN 116689420 A CN116689420 A CN 116689420A CN 202310824669 A CN202310824669 A CN 202310824669A CN 116689420 A CN116689420 A CN 116689420A
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- China
- Prior art keywords
- scale
- tap water
- wall
- cleaning
- bracket
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000008399 tap water Substances 0.000 title claims abstract description 71
- 235000020679 tap water Nutrition 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims abstract description 104
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 239000010865 sewage Substances 0.000 claims abstract description 28
- 238000007789 sealing Methods 0.000 claims abstract description 23
- 238000010248 power generation Methods 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 239000007788 liquid Substances 0.000 claims description 16
- 229920001971 elastomer Polymers 0.000 claims description 12
- 239000000806 elastomer Substances 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000005406 washing Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000001680 brushing effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 description 7
- 239000000126 substance Substances 0.000 description 5
- 206010044565 Tremor Diseases 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000005201 scrubbing Methods 0.000 description 2
- 241000883990 Flabellum Species 0.000 description 1
- 241000251131 Sphyrna Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013043 chemical agent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
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
Technical Field
The invention belongs to the technical field of cleaning robots, and particularly relates to a scale removal robot for an inner wall of a tap water pipeline and a scale removal method.
Background
In the process of transporting tap water, mineral substances contained in the tap water deposit scale on the inner wall of the urban tap water pipeline, and the scale is thicker and thicker in cleaning when the scale is not cleaned in time, so that the effective transport diameter of the pipeline is reduced, and the quality of the transported tap water is poor. Therefore, scale deposits on the inner wall of the pipeline, so that great loss is formed when the pipeline conveys liquid medium, the conveying cost is increased, even normal conveying is not realized, and great potential safety hazards are formed.
One of the conventional methods for cleaning scale in tap water pipes is to knock the pipe to make the scale tremble off, but the main pipeline in cities is generally buried under the ground or in a wall body, and enough tremble cannot easily occur. Moreover, the cleaning personnel cannot evaluate the effect generated by the knocking vibration; in addition, the scale removed by trembling can flow to users along with flowing tap water, so that the safety of resident water is endangered. The other is to use chemical agents to dissolve and remove the scale, but the method is usually high in cost, is only suitable for pipelines with short length and small caliber, and is not suitable for certain pipelines with food safety requirements. Some pipeline cleaning robots exist in the prior art, but the pipeline cleaning robots cannot ensure running water in a pipe to circulate while working, and cannot collect and treat the removed scale.
Disclosure of Invention
The invention aims to provide a scale removing robot for the inner wall of a tap water pipeline and a scale removing method.
In a first aspect, the invention provides a scale removal robot for an inner wall of a tap water pipeline, which comprises a travelling mechanism, a main body structure, a cleaning mechanism, a scale collection module and a power generation 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 outer side surface of the supporting pipe fitting and the opposite side surfaces of the two cleaning sealing rings are surrounded to form a cleaning cavity; the two cleaning sealing rings are provided with filter tanks; the filter screen is arranged in the filter tank; in the working process, the outer circumferential edge of the cleaning sealing ring is propped against the inner wall of the tap water pipe.
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 power generation module generates power through water flow in a tap water pipeline; the cleaning mechanism is arranged on the outer side face of the supporting pipe fitting and can clean the wall of the tap water pipe.
The advancing mechanism is arranged at one end of the scale collecting module and is used for driving the robot to advance; 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.
Preferably, the cleaning mechanism comprises a rotating sleeve, a first driving assembly and a plurality of cleaning assemblies; the rotating sleeve is sleeved on the supporting pipe fitting and forms a rotating pair with the supporting pipe fitting; the rotating sleeve is driven to rotate by the first driving assembly; one or more cleaning assemblies are mounted on the rotating sleeve; the cleaning component comprises a scrubbing 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.
Preferably, the knocking module comprises a knocking hammer, an electromagnet and a mounting base, wherein the electromagnet and the mounting base are fixed on the rotating sleeve; one end of the knocking hammer far away from the hammer head and the mounting base form a revolute pair; a permanent magnet is arranged on the hammer head of the knocking hammer; the electromagnet is positioned on the movement path of the hammer head of the knocking hammer and is used for pushing the knocking hammer to turn outwards through magnetic repulsive force.
Preferably, the brushing module comprises a cleaning brush, a spring and a brush holder sleeve; the brush handle sleeve arranged along the radial direction of the rotating sleeve is fixed on the rotating sleeve; the cleaning brush and the inner wall of the brush handle sleeve form a sliding pair; the spring is arranged in the brush holder sleeve, and two ends of the spring respectively prop against the end part of the inner wall of the brush holder sleeve and the inner end of the cleaning brush.
Preferably, the scale collection module is arranged at one end of the cleaning cavity, which is far away from the travelling direction of the robot; the scale collection module further comprises a scale collection piece and a second driving assembly; the scale collecting piece is connected to the outer side surface of the supporting pipe in a sliding manner along the circumferential direction of the supporting pipe; the second driving component is used for driving the scale collecting piece to rotate around the supporting pipe fitting; a collecting cavity is arranged in the scale collecting piece, and a first sewage inlet is formed in the side wall of one end of the scale collecting piece, which is close to the self motion direction; a sewage outlet is formed in one side of the scale collecting piece, which is close to the supporting pipe fitting; the first sewage inlet, the collecting cavity and the sewage outlet are sequentially communicated; the drain outlet of the main body structure is arranged on the supporting pipe fitting and corresponds to the position of the drain outlet of the scale collecting piece.
Preferably, the outer edge of the cleaning sealing ring is provided with a liquid-filled elastomer; the liquid-filled elastomer can prop against the inner walls of tap water pipelines with different inner diameters, so that the scale in the cleaning cavity can only leave the cleaning cavity from the sewage outlet.
Preferably, the travelling mechanism comprises a travelling bracket and a plurality of executing mechanisms; the advancing support corresponds to one of the supporting supports; the middle part of the advancing bracket is connected with the corresponding supporting bracket through a ball joint; the actuating mechanisms are arranged on the travelling bracket; the actuating mechanism comprises a first roller bracket, a travelling wheel, a third motor, a first torsion spring and a transmission assembly; one end of the first roller bracket and the travelling bracket form a revolute pair; a first torsion spring is arranged between the first roller bracket and the travelling bracket; the first torsion spring is used for driving the first roller bracket to rotate in a direction away from the central axis of the main body structure; the travelling wheel is rotationally 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 rotating shaft of the travelling wheel through a transmission assembly.
Preferably, the robot further comprises a guide module; the guide module is arranged at the end part of the main body structure, which is away from the travelling mechanism; the guide mechanism comprises a guide bracket, a second roller bracket, a guide wheel and a second torsion spring; the middle part of the guide bracket is connected with the corresponding support bracket through a ball joint; one end of each of the plurality of second roller brackets and the guide bracket form a revolute pair; a second torsion spring is arranged between the second roller bracket and the guide bracket; the second torsion spring is used for driving the second roller bracket to rotate in a direction away from the central axis of the main body structure; the guide wheel is rotatably arranged at the other end of the second roller bracket.
Preferably, the power generation module comprises fan blades and a generator; the generator is fixed on the support bracket; the fan blade is fixedly connected with the output shaft of the generator.
In a second aspect, the invention provides a method for removing scale on the inner wall of a tap water pipeline, which 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 into 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 to generate power.
Step three, the traveling module drives the robot to travel along the tap water pipeline; meanwhile, the cleaning mechanism 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, is converged to one side of the cleaning cavity, which is away from the advancing direction of the robot, and is discharged to the scale collecting filter screen bag through a sewage outlet communicated with the cleaning cavity.
And fourthly, after the robot penetrates out from the end part of the cleaned tap water pipe, removing the scale in the scale collection filter screen bag.
The invention has the beneficial effects that:
1. the invention adopts the supporting pipe fitting as a main body structure, and a generator is arranged in the supporting pipe fitting; the support pipe fitting is arranged so that tap water can flow through the inside of the pipe of the support pipe fitting; the water consumption of the user is not affected; meanwhile, the water flowing in the tap water pipeline can generate electricity for the generator, so that the cruising ability of the robot is improved.
2. According to the invention, the joint of the travelling mechanism, the guide mechanism and the main body structure is connected by adopting the ball joint, so that the travelling mechanism and the guide mechanism can rotate at a certain angle, and the robot can conveniently clean the scale on the inner wall of the bent pipeline.
3. The cleaning mechanism is provided with the washing module and the knocking module, and scales firmly attached to the wall of a tap water pipe are knocked and loosened through a knocking hammer in the knocking module; the cleaning brush in the brushing module brushes loose scale; so that the robot is more thorough for removing scale adhering to the wall of the running water pipe.
4. According to the invention, the spring is arranged at the bottom of the cleaning brush and provides elasticity for the cleaning brush, so that the brush head of the cleaning brush is clung to the inner wall of the cleaning pipeline, and the inner wall of the pipeline is brushed more carefully.
5. According to the invention, a circular closed space (namely the cleaning cavity) is formed in the tap water pipeline, so that the inclined scale cannot move to the user side along with water flow, and meanwhile, the scale collecting module is arranged in the invention, so that the scale in the cleaning cavity can be collected, the condition that the cleaning cavity is filled with the scale is avoided, and the cleaning capability of the robot on the long pipeline is improved.
6. According to the invention, the liquid-filled elastomer is arranged at the edge of the outer ring of the cleaning and sealing ring, and radial expansion can be generated through pressurization, so that the two cleaning and sealing rings can seal pipelines with different inner diameters; meanwhile, the rollers in the travelling mechanism and the guide mechanism, and the washing module and the knocking module in the cleaning assembly can adapt to pipelines with different inner diameters; therefore, the robot provided by the invention has the adaptability to pipelines with different inner diameters.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic structural view of a main structure in the present invention.
Fig. 3 is a schematic structural view of a cleaning mechanism according to the present invention (a partially enlarged view of a portion a in fig. 2).
FIG. 4 is a schematic view of the position of the scale collection module in the main structure according to the present invention.
Fig. 5 is a schematic structural view of a scale collection module according to the present invention (a partially enlarged view of a portion B in fig. 4).
FIG. 6 is a schematic view of the scale collection module of the present invention in a main structure.
FIG. 7 is a schematic view of the relative positions of the scale collector and the support tube (enlarged view of portion C in FIG. 6).
Fig. 8 is a schematic structural view of a traveling mechanism in the present invention.
FIG. 9 is a schematic view of the running of the present invention in a tap water pipeline.
1, a travelling mechanism; 1-1, a travelling bracket, 1-2 and an executing mechanism; 1-2-1, a first roller bracket; 1-2-2, a travelling wheel; 1-2-3, a third motor; 1-2-4, synchronous belt; 1-2-5, synchronous belt wheels; 2. a main body structure; 2-1, supporting the pipe fitting; 2-2, a filter screen; 2-3, supporting the bracket; 2-4, cleaning the closed ring; 3. a cleaning mechanism; 3-1, rotating the sleeve; 3-2, a first gear ring; 3-3, cleaning the assembly; 3-3-1, cleaning brush; 3-3-2, brush handle sleeve; 3-3-3, knocking a hammer; 3-3-4, an electromagnet; 3-3-5, mounting a base; 3-4 parts of a first motor, 3-5 parts of a first gear; 4. a scale collection module; 4-1, a scale collection member; 4-2, a second gear ring; 4-3, a second gear; 4-4, a second motor; 4-5, a scale collection filter screen bag; 5. a power generation module; 5-1, flabellum; 6. a guide mechanism; 6-1, a guide bracket; 6-2, a second roller bracket; 6-3, a guide wheel.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, a scale removing robot for an inner wall of a tap water pipe comprises a travelling mechanism 1, a main body structure 2, a cleaning mechanism 3, a scale collecting module 4, a power generating module 5, a control integration module and a guiding mechanism 6. The main body structure 2 comprises a supporting pipe fitting 2-1, a filter screen 2-2 and two supporting brackets 2-3, and two cleaning and sealing rings 2-4 fixed at two ends of the supporting pipe fitting 2-1. The outer side surface of the supporting pipe fitting and the opposite side surfaces of the two cleaning sealing rings are surrounded to form a cleaning cavity. The support brackets 2-3 are fixed at two ends in the pipe of the support pipe fitting 2-1. The 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, water flow in the pipeline can flow through the robot provided by the embodiment through the filter screen on the inner wall of the supporting pipe fitting or the two cleaning and sealing rings; therefore, the normal water supply of the tap water pipe is not affected in the working process of the embodiment.
The outer ring edge of the cleaning and sealing ring 2-4 is provided with liquid-filled elastomer. The liquid-filled elastomer can be filled and discharged by using an external liquid-filled pump, so that the diameter of the liquid-filled elastomer is adjusted, and the volume is continuously increased in the process that the liquid-filled elastomer is continuously filled with liquid; the cleaning and sealing rings 2-4 can form sealing with the inner walls of pipelines with different inner diameters, and the cleaned scale is prevented from entering a water source. The travelling mechanism 1 and the guide mechanism 6 are mounted on the facing sides of the two cleaning closure rings 2-4, respectively. The cleaning mechanism 3 is mounted on the outer surface of the support pipe 2-1. The scale collection module 4 is mounted at the end of the support tube 2-1 remote from the guide mechanism 6. The scale collection module 4 is used for collecting scale attached to the filter screen 2-2 generated by the cleaning mechanism 3. The power generation module 5 and the control integration module are mounted on the two support brackets 2-3, respectively. In the working process, water flows in from one end of the supporting pipe fitting 2-1, drives the power generation module 5 to generate power, and flows out from the other end of the supporting pipe fitting 2-1. Meanwhile, water flows in from the filter screen 2-2 of one of the cleaning and sealing rings 2-4, flows through the cleaning cavity, and flows out from the filter screen 2-2 of the other cleaning and sealing ring 2-4. The scale in the cleaning chamber remains on the filter screen.
As shown in fig. 2 and 3, the cleaning mechanism 3 includes a rotating sleeve 3-1, a first drive assembly, and a plurality of cleaning assemblies 3-3. The rotary sleeve 3-1 is coaxially sleeved on the support pipe fitting 2-1 and forms a rotary pair with the support pipe fitting 2-1. The first drive assembly comprises 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 loop 2-4; the first gear 3-5 is fixed with the output shaft of the first motor 3-4. The first ring gear 3-2 is fixed to the outer surface of the rotating sleeve 3-1. The first gear 3-5 is meshed with the first ring gear 3-2. The cleaning assemblies 3-3 are mounted on the outer surface of the rotating sleeve 3-1 and are uniformly 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, which are alternately arranged in sequence along the axial direction of the rotating sleeve 3-1. The brushing module comprises a spring, a cleaning brush 3-3-1 and a brush holder sleeve 3-3-2. The brush holder sleeve 3-3-2 is fixed on the rotating sleeve 3-1. The spring is arranged in the brush holder sleeve 3-3-2, and one end of the spring is fixed with the inner wall of the brush holder sleeve 3-3-2. The cleaning brush 3-3-1 and the inner wall of the brush holder sleeve 3-3-2 form a sliding pair. The inner end of the cleaning brush 3-3-1 is fixed with the other end of the spring. The spring provides elasticity for the cleaning brush 3-3-1, so that the brush head of the cleaning brush 3-3-1 is clung to the inner wall of the cleaning pipeline, and the inner wall of the pipeline is scrubbed more carefully.
As shown in fig. 3, the striking module includes a striking hammer 3-3-3, and an electromagnet 3-3-4 and a mounting base 3-3-5 fixed to a rotating sleeve 3-1. The end of the knocking hammer 3-3 far away from the hammer head and the mounting base 3-3-5 form a revolute pair. A permanent magnet is arranged in the hammer head of the knocking hammer 3-3-3. In the initial situation, the hammer head of the striking hammer 3-3-3 is attached to the rotating sleeve 3-1. The electromagnet 3-3-4 is arranged at the position where the hammer head of the knocking hammer 3-3 is attached to the surface of the rotating sleeve 3-1. When the robot encounters scale which is difficult to remove, the electromagnet 3-3-4 is electrified, and when the electromagnet 3-3-4 is connected with alternating current, an alternating magnetic field is generated, and repulsive force of permanent magnets in the hammer heads of the hammer 3-3-3 is generated; thereby pushing the knocking hammer 3-3-3 to rotate around the rotating shaft, and knocking scale inside the hammer head pipeline of the knocking hammer 3-3-3; after the knocking is completed, the repulsive force disappears, and the knocking hammer 3-3-3 is automatically reset.
As shown in fig. 4-7, the scale collection module 4 comprises a scale collection member 4-1, a second drive assembly and a scale collection filter bag 4-5. The scale collector 4-1 and the outer surface of the support pipe 2-1 form a sliding pair, and slide along the circumferential surface of the support 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 to the scale collection member 4-1. The second gear 4-3 is fixed to an 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 collector 4-1 to move along the circumferential surface of the support tube 2-1.
A collecting cavity is arranged in the scale collecting piece 4-1, and a first sewage inlet communicated with the collecting cavity is arranged on one side of the moving direction of the scale collecting piece 4-1. During the process that the scale collecting piece 4-1 slides along the circumferential surface of the supporting pipe fitting 2-1, the scale substances adhered to the surface of the filter screen 2-2 are scraped off, and enter the collecting cavity from the first dirt inlet of the scale collecting piece 4-1. The lower wall of the collecting cavity in the scale collecting piece 4-1 is provided with a sewage outlet. The bag mouth of the scale collection filter screen bag 4-5 is fixed on the inner ring of the supporting pipe fitting 2-1. The support pipe fitting 2-1 is provided with a second sewage inlet communicated with the bag opening of the scale collection filter screen bag 4-5 on the sliding track of the scale collection piece 4-1. When the scale collecting member 4-1 runs along the circumferential surface of the supporting pipe member 2-1 for one circle, the sewage outlet on the scale collecting member 4-1 is communicated with the second sewage inlet on the supporting pipe member 2-1. The scale substances in the collecting cavity enter the scale collecting filter screen bag 4-5 through the sewage outlet and the second sewage inlet, and are collected through the scale collecting filter screen bag 4-5.
As shown in fig. 1 and 8, the traveling mechanism 1 includes a traveling bracket 1-1 and three actuators 1-2. The travelling 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 actuating mechanisms 1-2 are arranged on one side of the travelling support 1-1, which faces away from the cleaning closed ring 2-4, and the three actuating mechanisms 1-2 are uniformly distributed along the circumferential direction of the axis of the travelling support 1-1. The executing mechanism 1-2 comprises a first roller bracket 1-2-1, a travelling wheel 1-2-2, a third motor 1-2-3, a pin shaft, a first torsion spring and a transmission component. One end of the first roller support 1-2-1 and the travelling support 1-1 form a revolute 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 with the other end of the first roller bracket 1-2-1. The travelling wheel 1-2-2 is fixed with the pin shaft. The first torsion spring is used for elastic force of the first roller bracket 1-2-1, so that the travelling wheel 1-2-2 is attached to the tap water pipe. The third motor 1-2-3 is fixed on the first roller bracket 1-2-1. The transmission assembly comprises a synchronous belt 1-2-4 and two synchronous pulleys 1-2-5. The two synchronous pulleys 1-2-5 are respectively fixed with the pin shaft and the second output shaft. The timing belt 1-2-4 is used to transmit torque between two timing 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 has a disk shape. 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 one side of the traveling bracket 1-1, which faces away from the cleaning closed ring 2-4, and the three guide mechanisms 6 are uniformly distributed along the circumferential direction 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 bracket 6-2 and the guide bracket 6-1 form a revolute pair. The second torsion spring is sleeved on the rotating shaft of the second roller bracket 6-2 and is used for driving 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 blades 5-1 and a generator. The generator adopts an electromagnetic generator; the generator is fixed to one of the support brackets 2-3. The fan blade 5-1 is fixed to the input of the generator. When the robot works in a pipeline for normally conveying water, water flow impacts on the fan blades 5-1 to drive the fan blades 5-1 to rotate, so that the generator 5-1 generates electricity.
The control integrated module comprises a Bluetooth communication module, a battery and a control panel. The Bluetooth communication module is used for determining the position of the robot and transmitting some control signals. The control panel is used for controlling the work of each motor and the electromagnet 3-3-4.
The working principle of the invention is as follows:
step one, as shown in fig. 9, according to the inner diameter of a tap water pipe, adjusting the volume of the liquid-filled elastomer by using a liquid-filled pump in advance so that the outer diameter of the liquid-filled elastomer is consistent with the inner diameter of the tap water pipe; then, closing the liquid-filled elastomer; the scale removing robot on the inner wall of the tap water pipeline is put in from the pipe orifice of the tap water pipeline. The water flowing in the tap water pipe impinges on the generator 5-1, and the generator 5-1 generates electricity.
Step two, the control panel controls the output shaft of the third motor 1-2-3 to intermittently rotate, and the travelling wheel 1-2-2 is driven to rotate through the synchronous belt 1-2-4 and the two synchronous belts 1-2-4. The scale removing robot on the inner wall of the tap water pipeline intermittently advances along the tap water pipe. During the stopping of the travel 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 gear ring 3-2. During the rotation of the rotating sleeve 3-1, the cleaning brush 3-3-1 in the cleaning mechanism 3 brushes away the scale on the wall of the tap water pipe. Simultaneously, the control panel electrifies the electromagnets 3-3-4; the electromagnet 3-3-4 generates repulsive force to the permanent magnet in the hammer head of the knocking hammer 3-3, so that the knocking hammer 3-3 is pushed to rotate around the rotating shaft, and scale is removed from the inner part of the hammer head pipeline of the knocking hammer 3-3. The scale on the wall of the tap water pipe is knocked and loosened through a knocking hammer 3-3-3; the cleaning brush 3-3-1 brushes loose scale. Scale falling off from the wall of the tap water pipe is attached to the filter screen 2-2 of the cleaning closed loop 2-4 on the side far from the running direction of the robot.
And thirdly, the control panel controls the second motor 4-4 to start, and the output shaft of the second motor 4-4 rotates to drive the second gear 4-3 to rotate. The scale collecting member 4-1 is driven to slide along the circumferential surface of the support pipe member 2-1 by the engagement of the second gear 4-3 with the second ring gear 4-2. During the sliding process of the scale collecting piece 4-1, the scale substances adhered to the surface of the filter screen 2-2 are scraped off, and enter the collecting cavity from the first dirt inlet of the scale collecting piece 4-1. When the scale collecting member 4-1 runs along the circumferential surface of the supporting pipe member 2-1 for one circle, the sewage outlet on the scale collecting member 4-1 is communicated with the second sewage inlet on the supporting pipe member 2-1. The scale substances in the collecting cavity enter the scale collecting filter screen bag 4-5 through the sewage outlet and the second sewage inlet, and are collected through the scale collecting filter screen bag 4-5.
Step four, the robot penetrates out from the end part of the cleaned tap water pipe; removing the scale collecting filter screen bag 4-5, and removing the scale in the scale collecting filter screen 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310824669.1A CN116689420A (en) | 2023-07-06 | 2023-07-06 | Scale removing robot for inner wall of tap water pipeline and scale removing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310824669.1A CN116689420A (en) | 2023-07-06 | 2023-07-06 | Scale removing robot for inner wall of tap water pipeline and scale removing method |
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| CN116689420A true CN116689420A (en) | 2023-09-05 |
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| CN202310824669.1A Pending CN116689420A (en) | 2023-07-06 | 2023-07-06 | Scale removing robot for inner wall of tap water pipeline and scale removing method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117225838A (en) * | 2023-11-13 | 2023-12-15 | 中铁三局集团建筑安装工程有限公司 | Self-propelled robot for cleaning operation of ultra-long large-diameter heating pipeline |
-
2023
- 2023-07-06 CN CN202310824669.1A patent/CN116689420A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117225838A (en) * | 2023-11-13 | 2023-12-15 | 中铁三局集团建筑安装工程有限公司 | Self-propelled robot for cleaning operation of ultra-long large-diameter heating pipeline |
| CN117225838B (en) * | 2023-11-13 | 2024-01-23 | 中铁三局集团建筑安装工程有限公司 | Self-propelled robot for cleaning operation of ultra-long large-diameter heating pipeline |
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