A pipe descaling robot and method for phosphogypsum scale.

Abstract

This invention provides a robot and method for descaling phosphogypsum-contaminated pipes, comprising a grinding device, a radial support mechanism, a traveling mechanism, a power unit, an integral frame plate, a spiral spindle, a coupling, a collection device, a camera, sensors, and a control system. The grinding device is installed at the front end of the integral frame plate and is used for grinding the pipes. The traveling mechanism is installed at the lower rear of the integral frame plate and is used for the robot's movement. The power unit is installed in the middle of the integral frame plate and provides power to the entire robot. The collection device is fixed to the middle integral frame plate with screws. At least one camera is installed on the grinding device. The control system performs visual recognition based on images captured by the camera and uses pressure sensing from sensors to control the radial support mechanism, traveling mechanism, and power unit to operate according to a planned path and actions. This robot is well-suited for descaling phosphogypsum-contaminated pipes.

Description

Technical Field

[0001] This invention belongs to the field of pipeline descaling, specifically a pipeline descaling robot and method for phosphogypsum scale. Background Technology

[0002] With societal development, the substances in underground sewers are becoming increasingly complex, making cleaning more difficult. Therefore, pipe descaling has become an urgent need. Impurities settle in pipes, and over time, scale accumulates. While traditional descaling methods—chemical descaling—have some effect, they also damage pipes and are relatively inefficient. Furthermore, rust on pipes exacerbates corrosion; if not treated promptly, pipes can become riddled with holes and eventually become unusable. The thickness of scale varies in different sections, and conventional machines cannot adequately adapt to different pipe sizes, posing significant challenges to pipe descaling. To address these problems, this invention proposes a solution.

[0003] Patent publication number CN 115971180 A discloses a denitrification pipeline descaling robot, but this device cannot operate smoothly in pipelines with different wall diameters in the front and rear wheel sections. In general, the existing technology has the following technical defects: most current inventions cannot automatically adapt to the size of the pipe wall, and the grinding device cannot extend and retract well to adapt to different pipe wall sizes, and the device will not be able to cope with complex pipeline environments. Summary of the Invention

[0004] To address the existing technical problems, the main objective of this invention is to provide a robot and method for descaling phosphogypsum pipes. This robot is well-suited for descaling phosphogypsum pipes and can achieve automated transfer of descaled phosphogypsum pipes.

[0005] To achieve the aforementioned technical features, the present invention aims to provide a pipe descaling robot for phosphogypsum scale, comprising a grinding device, a radial support mechanism, a traveling mechanism, a power unit, an integral frame plate, a spiral spindle, a coupling, a collection device, a camera, a sensor, and a control system. The grinding device is installed at the front end of the integral frame plate and is used for grinding the pipe. The traveling mechanism is installed at the lower rear of the integral frame plate and is used for the robot's movement. The power unit is installed in the middle of the integral frame plate and provides power to the entire robot. The collection device is fixed to the middle integral frame plate with screws. At least one camera is installed on the grinding device. The control system performs visual recognition based on images captured by the camera and uses pressure sensing from sensors to control the radial support mechanism, traveling mechanism, and power unit to operate according to a planned path and actions.

[0006] The grinding device includes flexible curved abrasive blades, a first working plate, a second working plate, a first connecting plate, a second connecting plate, and triangular prism tips. The first connecting plate and the second connecting plate are installed between the first working plate and the second working plate and form the overall frame of the grinding device. Multiple flexible curved abrasive blades are evenly distributed on the grinding circumference. The grinding device is mounted on a shaft via bushings and its installation position is fixed by pins. The triangular prism tips are evenly distributed on the first connecting plate, and each triangular prism tip has threaded holes and is fixed to the first connecting plate by bolts.

[0007] The radial support mechanism includes a main connecting plate, a spring sleeve, a spring, a telescopic rod, a pressure sensor, a first parallel plate frame, a second parallel plate frame, a hub support plate, a hub frame, and a hub. The main connecting plate is installed in the middle of the overall frame plate to connect the side panels on both sides of the frame and maintain the stability of the entire device. The spring sleeve is installed on the main connecting plate and has a spring in the middle. A telescopic rod is sleeved inside the spring. The entire radial support mechanism is used to push the radial movement of the front hub to adapt to pipes of different diameters. The first and second parallel plate frames are used to connect the hub frame and the main connecting plate. A spring is added to the second parallel plate frame to reduce vibration during contraction and make the telescopic device run smoothly. The hub is installed on the hub frame, and the hub frame is fixed to the hub support plate by screws. The pressure sensor is installed on the side of the hub support plate to sense the pressure on the hub caused by the movement of the device.

[0008] The overall frame plate includes a front circular plate, a middle circular plate, a rear circular plate, and a wheel frame plate. The front circular plate, the middle circular plate, and the rear circular plate are fixed on the main connecting plate to form the overall frame of the device. The wheel frame plate is installed on the middle circular plate and is used for subsequent installation of the traveling mechanism.

[0009] The traveling mechanism includes a running wheel, a worm gear, a worm, a rotating shaft, a fixing nut, a fixing pin, a rolling bearing, a transmission cover, and a battery pack. The rotating shaft is mounted on the wheel frame plate, and the running wheel is fixedly mounted on the rotating shaft via the intermediate rolling bearing. The fixing pin connects the running wheel and the worm gear to transmit their motion. The transmission cover is mounted on the wheel frame plate to protect the worm gear and worm from external dirt. A battery pack is also installed on the transmission cover, which powers the grinding device, radial support mechanism, traveling mechanism, power unit, camera, and control system.

[0010] The power unit includes a motor one and a motor two; the motor one and motor two are mounted on the flat plate of the intermediate circular plate, and the motors are connected to two electrodes for the battery pack to power the motors; couplings are respectively mounted on the shafts of motor one and motor two, one coupling is used to transmit the rotational torque of the motor to the screw spindle, and the other coupling is used to transmit the rotational torque of the motor to the worm gear, which in turn drives the forward movement of the traveling mechanism; the coupling includes a flanged half coupling one and a flanged half coupling two and a gasket between them, and the half coupling one and half coupling two are fixedly connected by bolts.

[0011] The overall frame plate is equipped with an mounting plate and an overall cover. The mounting plate is fixed to the front circular plate with screws, and the overall cover is symmetrically installed on both sides of the mounting plate. The front circular plate and the rear circular plate have concentric holes, in which rolling bearings are installed. The spiral spindle is installed in the rolling bearing holes to prevent the device from operating unevenly. The sensor is installed on the rear circular plate to control the normal operation of the entire descaling device.

[0012] The spiral spindle and the grinding device are connected by a key to transmit torque; the radial support mechanism consists of three strip-shaped wheels at 120 degrees to each other, which fix the entire device by the friction between the wheel hub and the pipe wall, increasing the stability of the entire device; the collecting device is concentrically installed below the middle circular plate and fixed to the middle circular plate by three evenly spaced screws; the two ends of the overall cover are connected to the front circular plate and the rear circular plate respectively by rotatable hinges, and can be opened or closed according to the specific working conditions.

[0013] The collection device is an arc-shaped mesh collector that can collect dirt and grime after polishing over a large area. The front edge of the polishing device is composed of several flexible curved abrasive blades. The working plate one adopts a spoke structure, and the tension of the spokes is adjusted to determine whether the polishing device rotates on the same plane. The polishing device is divided into working plate one and working plate two, which are connected in the middle by connecting plate one and connecting plate two, and the space between the two plates is hollow.

[0014] The method for removing phosphogypsum scale using the aforementioned pipeline descaling robot includes the following steps:

[0015] S1: The user places the device into the designated sewer opening using a tower crane, turns on the main power supply, and the front-end grinding device starts working. The user can remotely control the device using a remote control.

[0016] S2: When the entire device enters the sewer, the radial support mechanism automatically senses the size of the pipe wall and, through the telescopic spring and telescopic rod, drives the rotation of parallel plate frame one and parallel plate frame two to adapt to the size of the pipe wall; secondly, motor one on the middle circular plate drives the rotation of the spiral spindle through the connection with the coupling; the spiral spindle transmits torque to the grinding device through the key, thereby enabling the grinding device to work normally.

[0017] S3: When passing through a pipe section with a small diameter, the radial support mechanism contracts radially due to the pipe's limitation; at the same time, the spring is further compressed, thus adapting to the small pipe and allowing the device to operate smoothly in the pipe; in addition, the flexible bending abrasive blade of the grinding device can contract to adapt to the small pipe wall, preventing wear between the abrasive blade and the pipe wall.

[0018] S4: When the device travels to a section of pipe with thicker scale, the sensor located at the edge of the grinding device will detect it and then activate the triangular prism tip to grind the pipe.

[0019] S5: During operation, the collection device located at the bottom of the device will collect the dirt after grinding. After the descaling of the pipeline is completed, the collection device will be removed and the scale residue will be poured out.

[0020] S6: After the work is completed, the sensor located on the tail plate will identify the end of the pipe, and then the control system will control the overall cover to close. Next, the motor in the middle will stop working, and the device will be taken up by the tower crane.

[0021] The present invention has the following beneficial effects:

[0022] 1. This invention provides a method for descaling pipes that differs from traditional methods. The machine operates automatically without human intervention, reducing labor costs and wear on pipes.

[0023] 2. This invention employs protective devices to protect the spring, grinding device, and power device. Spring sleeves are used to prevent spring corrosion, flexible sandpaper is used to reduce wear on the grinding device, and the transmission cover and overall cover are used to protect the entire device from the influence of the external environment.

[0024] 3. The device of the present invention adopts a multi-wheel structure, which has a large contact area with the pipe wall and makes the movement more stable.

[0025] 4. The present invention adds a pipe dirt collection device in the middle to collect the scale residue after grinding, so as to prevent the pipe from being blocked and to hinder the subsequent pipe descaling work.

[0026] 5. The support device of the present invention is a sliding door structure, which can automatically adapt to the size of the pipe and make the movement more stable.

[0027] 6. The telescopic mechanism of the present invention differs from that of previous inventions. The present invention uses the extension and retraction of a spring to change the radial dimension of the support device. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0030] Figure 2 This is a partial cross-sectional view of the present invention.

[0031] Figure 3 This is a front view of the grinding device of the present invention.

[0032] Figure 4 This is a top view of the grinding device of the present invention.

[0033] Figure 5 This is a three-dimensional schematic diagram of the radial support mechanism of the present invention.

[0034] Figure 6 This is a cross-sectional view of the coupling of the present invention.

[0035] Figure 7 This is a partial structural diagram of the traveling mechanism of the present invention.

[0036] In the figure: grinding device 1, flexible bending sanding disc 11, working plate one 12, working plate two 13, connecting plate one 14, connecting plate two 15, bushing 16, triangular prism tip 17.

[0037] Radial support mechanism 2, main connecting plate 21, spring sleeve 22, spring 23, telescopic rod 24, pressure sensor 25, parallel plate frame one 26, parallel plate frame two 27, hub support plate 28, hub frame 29, hub 30;

[0038] The following components are included: a traveling mechanism 3, a running wheel 31, a worm gear 32, a worm 33, a rotating shaft 34, a fixing nut 35, a fixing pin 36, a rolling bearing 37, a transmission cover 38, and a battery pack 39.

[0039] Power unit 4, motor 1 41, motor 2 42;

[0040] Overall frame plate 5, front round plate 51, middle round plate 52, rear round plate 53, wheel frame plate 54, mounting plate 56, overall machine cover 57;

[0041] Spiral spindle 6;

[0042] Coupling 7, half coupling one 71, half coupling two 72, bolt 73, washer 74;

[0043] Collection device 8;

[0044] Camera 9;

[0045] Sensor 10. Detailed Implementation

[0046] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0047] Example 1:

[0048] See Figure 1-7 A pipe descaling robot for phosphogypsum scale includes a grinding device 1, a radial support mechanism 2, a traveling mechanism 3, a power unit 4, an integral frame plate 5, a spiral spindle 6, a coupling 7, a collection device 8, a camera 9, a sensor 10, and a control system. The grinding device 1 is mounted at the front end of the integral frame plate 5, the traveling mechanism 3 is mounted at the lower rear of the integral frame plate 5, the power unit 4 is mounted in the middle of the inner side of the integral frame plate, and the collection device 8 is fixed to the middle frame plate with screws. At least one camera 9 is mounted on the grinding device 1. The control system performs visual recognition based on images captured by the camera 9 and uses pressure sensing from the sensors to control the radial support mechanism 2, the traveling mechanism 3, and the power unit 4 to operate according to a planned path and actions. This descaling robot can be used for pipe descaling.

[0049] See Figure 3-4 The grinding device 1 includes flexible curved abrasive blades 11, a first working plate 12, a second working plate 13, a first connecting plate 14, a second connecting plate 15, and triangular prism tips 17. The first connecting plate 14 and the second connecting plate 15 are installed between the first working plate 12 and the second working plate 13, forming the overall frame of the grinding device. The multiple flexible curved abrasive blades 11 are evenly distributed on the grinding circumference. The grinding device is mounted on a shaft via bushings 16 and its position is fixed by pins. The triangular prism tips 17 are evenly distributed on the first connecting plate 12, and each triangular prism tip 17 has threaded holes for fixing it to the connecting plate.

[0050] See Figure 5The radial support mechanism 2 includes a main connecting plate 21, a spring sleeve 22, a spring 23, a telescopic rod 24, a pressure sensor 25, a first parallel plate frame 26, a second parallel plate frame 27, a hub support plate 28, a hub frame 29, and a hub 30. The main connecting plate 21 is installed in the middle of the overall frame plate 5 to connect the side panels on both sides of the frame and to stabilize the entire device. The spring sleeve 22 is installed on the main connecting plate 21, with a spring 23 in the middle. The telescopic rod 24 is fitted inside the spring 23. The entire telescopic device is used to push the radial movement of the front hub 30 to accommodate pipes of different diameters. The first parallel plate frame 26 and the second parallel plate frame 27 connect the hub frame 29 and the main connecting plate 21. The second parallel plate frame 27 has a spring to reduce vibration during contraction, ensuring smooth operation of the telescopic device. The hub 30 is installed on the hub frame 29, which is fixed to the hub support plate 28 by screws. The pressure sensor 25 is mounted on the side of the hub support plate 28 to sense the pressure on the hub caused by the movement of the device.

[0051] See Figure 2 The overall frame plate 5 includes a front circular plate 51, a middle circular plate 52, a rear circular plate 53, and a wheel frame plate 54. The front circular plate 51, the middle circular plate 52, and the rear circular plate 53 are fixed on the main connecting plate 21 to form the overall frame of the device. The wheel frame plate 54 is mounted on the middle circular plate 52 for subsequent installation of the traveling mechanism 3.

[0052] See Figure 7 The traveling mechanism 3 includes a running wheel 31, a worm gear 32, a worm 33, a rotating shaft 34, a fixing nut 35, a fixing pin 36, a rolling bearing 37, a transmission cover 38, and a battery pack 39. The rotating shaft 34 is mounted on the wheel frame plate 54. The running wheel 31 is fixedly mounted on the rotating shaft 34 via the intermediate rolling bearing 37. The fixing pin 36 connects the running wheel 31 and the worm gear 32 to transmit their motion. The transmission cover 38 is mounted on the wheel frame plate 54 to protect the worm gear 32 and worm 33 from external dirt. The battery pack 39 is also mounted on the transmission cover 38, providing power to the grinding device 1, the radial support mechanism 2, the traveling mechanism 3, the power unit 4, the camera 6, and the control system.

[0053] Specifically, the power unit 4 includes a first motor 41 and a second motor 42, which are mounted on the flat plate of the intermediate circular plate 52. Two electrodes are connected to the motors for the battery pack 39 to supply power. There are two couplings, each mounted on the shaft of one motor. One coupling transmits the rotational torque of the motor to the screw shaft 6. The other coupling transmits the rotational torque of the motor to a worm gear, which in turn drives the forward movement of the traveling device. The coupling 7 includes a flanged half-coupling 71 and a flanged half-coupling 72, with a gasket 74 between them. The two half-couplings are fixedly connected by bolts 73.

[0054] Furthermore, an mounting plate 56 and an integral cover 57 are mounted on the overall frame plate 5. The mounting plate 56 is fixed to the front circular plate 51 with screws, and the integral cover 57 is symmetrically mounted on both sides of the mounting plate 56. The front circular plate 51 and the rear circular plate 53 have concentric holes, in which rolling bearings are installed. The spiral spindle 6 is installed in the rolling bearing holes to prevent unstable operation of the device. The sensor 10 is mounted on the rear circular plate 53 to control the normal operation of the entire descaling device.

[0055] Furthermore, the spiral spindle 6 and the grinding device 1 are connected by a key to transmit torque. The radial support mechanism 2 consists of three strip-shaped wheels spaced 120 degrees apart, which fix the entire device by the friction between the wheel hubs and the pipe wall, increasing the stability of the entire device. The collecting device 8 is concentrically mounted below the intermediate circular plate 52 and fixed to the intermediate circular plate 52 by three evenly spaced screws. The two ends of the integral cover 57 are respectively connected to the front circular plate 51 and the rear circular plate 53 by rotatable hinges, and can be opened or closed according to specific working conditions.

[0056] See Figure 2 The collection device is an arc-shaped mesh collector, capable of collecting large areas of polished residue. The edge of the front-end polishing device consists of numerous flexible, curved abrasive blades 11, and the working plate 12 adopts a spoke structure. Adjusting the tension of the spokes allows the polishing device to rotate on the same plane. This makes the polishing device more stable and reduces unnecessary vibration. Furthermore, the polishing device consists of a working plate 12 and a working plate 23, connected by a connecting plate 14 and a connecting plate 25. The space between the two plates is hollow, reducing the weight of the polishing device.

[0057] Example 2:

[0058] A method for descaling pipes using a robotic system for phosphogypsum scale includes the following steps:

[0059] S1: The user places the device into the designated sewer opening using a tower crane, turns on the main power supply of the device, and the front-end grinding device 1 starts working. The user can remotely control the device using a remote control.

[0060] S2: When the entire device enters the sewer, the radial support mechanism 2 automatically senses the size of the pipe wall and, through the telescopic spring 23 and telescopic rod 24, drives the rotation of the parallel plate frame 1 26 and the parallel plate frame 27 to adapt to the size of the pipe wall; secondly, the motor 41 on the intermediate circular plate 52 drives the rotation of the spiral spindle 6 through the connection with the coupling 7. The spiral spindle 6 transmits torque to the grinding device 1 through the key, thereby enabling the grinding device 1 to work normally.

[0061] S3: When passing through a pipe section with a small diameter, the radial support mechanism 2 contracts radially due to the pipe's limitation; simultaneously, the spring 23 is further compressed, thus adapting to the small pipe and allowing the device to operate smoothly within the pipe. Additionally, the flexible bending abrasive blade 11 of the grinding device can contract to adapt to the small pipe wall, preventing wear between the abrasive blade and the pipe wall.

[0062] S4: When the device travels to a section of pipe with thick scale, the sensor located at the edge of the polishing device will detect it and then activate the triangular prism tip 17 to polish it.

[0063] S5: During operation, the collection device 8 located at the bottom of the device can collect the dirt after grinding. After the descaling of the pipeline is completed, the collection device 8 can be removed and the scale residue can be poured out.

[0064] S6: When the work is completed, the sensor located on the tail circular plate 53 will identify the end of the pipe, and then control the overall cover 57 to close through the control system. Next, the intermediate generator stops working, and the device is taken up by the tower crane.

Claims

1. A pipe descaling robot for phosphogypsum scale, characterized in that, The system includes a grinding device (1), a radial support mechanism (2), a traveling mechanism (3), a power unit (4), an integral frame plate (5), a spiral spindle (6), a coupling (7), a collection device (8), a camera (9), a sensor (10), and a control system. The grinding device (1) is installed at the front end of the integral frame plate (5) and is used for grinding the pipe. The traveling mechanism (3) is installed at the rear lower part of the integral frame plate (5) and is used for the walking of the entire robot. The power unit (4) is installed in the middle of the interior of the integral frame plate (5) and is used to provide power to the entire robot. The collection device (8) is fixed to the middle integral frame plate (5) with screws. At least one camera (9) is installed on the grinding device (1). The control system performs visual recognition through the image captured by the camera (9) and controls the radial support mechanism (2), the traveling mechanism (3), and the power unit (4) to run according to the planned path and actions through the pressure sensing of the sensor (10). The radial support mechanism (2) includes a main connecting plate (21), a spring sleeve (22), a spring (23), a telescopic rod (24), a pressure sensor (25), a parallel plate frame one (26), a parallel plate frame two (27), a hub support plate (28), a hub frame (29), and a hub (30). The main connecting plate (21) is installed in the middle of the overall frame plate (5) to connect the side panels on both sides of the frame and maintain the stability of the entire device. The spring sleeve (22) is installed on the main connecting plate (21), with a spring (23) in the middle, and a telescopic rod (24) is sleeved inside the spring (23). The entire radial support mechanism (2) is used to push the front hub (30) to move radially to adapt to pipes of different diameters; the parallel plate frame one (26) and the parallel plate frame two (27) are used to connect the hub frame (29) and the main connecting plate (21). A spring is added to the parallel plate frame two (27) to reduce vibration during contraction and make the telescopic device run smoothly; the hub (30) is installed on the hub frame (29), and the hub frame (29) is fixed to the hub support plate (28) by screws; the pressure sensor (25) is installed on the side of the hub support plate (28) to sense the pressure of the hub when the device moves.

2. The pipe descaling robot for phosphogypsum scale as described in claim 1, characterized in that: The grinding device (1) includes flexible curved abrasive discs (11), working plate one (12), working plate two (13), connecting plate one (14), connecting plate two (15), and triangular prism tip (17). The connecting plate one (14) and connecting plate two (15) are installed between the working plate one (12) and the working plate two (13) and form the overall frame of the grinding device. Multiple flexible curved abrasive discs (11) are evenly distributed on the grinding circumference. The grinding device (1) is installed on the shaft through bushing (16) and the installation position is fixed by pins. The triangular prism tip (17) is evenly distributed on the connecting plate one (14). The triangular prism tip (17) has threaded holes and is fixed to the connecting plate one (14) by bolts.

3. The pipe descaling robot for phosphogypsum scale as described in claim 2, characterized in that: The overall frame plate (5) includes a front circular plate (51), a middle circular plate (52), a rear circular plate (53) and a wheel frame plate (54). The front circular plate (51), the middle circular plate (52) and the rear circular plate (53) are fixed on the main connecting plate (21) to form the overall frame of the device. The wheel frame plate (54) is installed on the middle circular plate (52) and is used to subsequently install the traveling mechanism (3).

4. The pipe descaling robot for phosphogypsum scale as described in claim 3, characterized in that: The traveling mechanism (3) includes a running wheel (31), a worm gear (32), a worm (33), a rotating shaft (34), a fixing nut (35), a fixing pin (36), a rolling bearing (37), a transmission cover (38), and a battery pack (39). The rotating shaft (34) is mounted on the wheel frame plate (54), and the running wheel (31) is fixedly mounted on the rotating shaft (34) through the intermediate rolling bearing (37). The fixing pin (36) connects the running wheel (31) and the worm gear (32) to transmit their motion. The transmission cover (38) is mounted on the wheel frame plate (54) to protect the worm gear (32) and the worm (33) from external dirt. The transmission cover (38) is also equipped with a battery pack (39), which is used to power the grinding device (1), the radial support mechanism (2), the traveling mechanism (3), the power unit (4), the camera (9), and the control system.

5. The pipe descaling robot for phosphogypsum scale according to claim 4, characterized in that: The power unit (4) includes a motor one (41) and a motor two (42); the motor one (41) and the motor two (42) are mounted on the flat plate of the intermediate circular plate (52), and the motor has two electrodes connected to the outside for the battery pack (39) to supply power to the motor; the shafts of the motor one (41) and the motor two (42) are respectively equipped with couplings, one of which is used to transmit the rotational torque of the motor to the screw spindle (6), and the other coupling is used to transmit the rotational torque of the motor to the worm, which in turn drives the forward movement of the traveling mechanism (3); the coupling (7) includes a flanged half coupling one (71) and a flanged half coupling two (72) and a gasket (74) between them, and the half coupling one (71) and the half coupling two (72) are fixedly connected by bolts (73).

6. The pipe descaling robot for phosphogypsum scale according to claim 5, characterized in that: The overall frame plate (5) is equipped with an mounting plate (56) and an overall cover (57). The mounting plate (56) is fixed to the front circular plate (51) by screws. The overall cover (57) is symmetrically installed on both sides of the mounting plate (56). The front circular plate (51) and the tail circular plate (53) have concentric holes, in which rolling bearings are installed. The spiral spindle (6) is installed in the rolling bearing holes to prevent the device from operating unevenly. The sensor (10) is installed on the tail circular plate (53) to control the normal operation of the entire descaling device.

7. The pipe descaling robot for phosphogypsum scale according to claim 6, characterized in that: The spiral spindle (6) and the grinding device (1) are connected by a key to transmit torque; the radial support mechanism (2) consists of three strip wheels at 120 degrees to each other, which fix the entire device by the friction between the wheel hub and the pipe wall, thereby increasing the stability of the entire device; the collecting device (8) is concentrically installed below the middle circular plate (52) and fixed to the middle circular plate (52) by three evenly spaced screws; the two ends of the overall cover (57) are connected to the front circular plate (51) and the rear circular plate (53) respectively by rotatable hinges, and can be opened or closed according to the specific working conditions.

8. The pipe descaling robot for phosphogypsum scale according to claim 7, characterized in that: The collecting device (8) is an arc-shaped mesh collector that can collect the dirt after polishing over a large area; the front edge of the polishing device (1) is composed of several flexible curved sanding discs (11), and the working plate one (12) adopts a spoke structure. The tension of the spokes is adjusted to determine whether the polishing device rotates on the same plane; the polishing device is divided into working plate one (12) and working plate two (13), which are connected in the middle by connecting plate one (14) and connecting plate two (15), and the two plates are hollow.

9. A method for removing phosphogypsum scale using the pipe descaling robot described in claim 8, characterized in that, Includes the following steps: S1: The user places the device into the designated sewer opening using a tower crane, turns on the main power supply of the device, and the front grinding device (1) starts working. The user can remotely control the device using a remote control. S2: When the entire device enters the sewer, the radial support mechanism (2) automatically senses the size of the pipe wall and, through the telescopic spring (23) and telescopic rod (24), drives the rotation of the parallel plate frame one (26) and the parallel plate frame two (27) to adapt to the size of the pipe wall; secondly, the motor one (41) on the middle circular plate (52) drives the rotation of the spiral spindle (6) through the connection with the coupling (7); the spiral spindle (6) transmits torque to the grinding device (1) through the key, thereby enabling the grinding device (1) to work normally; S3: Through the pipe section with a small pipe diameter, the radial support mechanism (2) is radially contracted due to the limitation of the pipe; at the same time, the spring (23) is further compressed, thus adapting to the small pipe and making the device run smoothly in the pipe; in addition, the flexible bending abrasive (11) of the grinding device can contract to adapt to the small pipe wall and prevent wear between the abrasive and the pipe wall. S4: When traveling to a pipe section with thicker scale, the sensor located at the edge of the polishing device will detect it and then activate the triangular prism tip (17) to polish; S5: During operation, the collection device (8) located at the bottom of the device collects the dirt after grinding. After the descaling of the pipeline is completed, the collection device (8) is removed and the scale residue is poured out. S6: When the work is completed, the sensor located on the tail plate (53) will identify the end of the pipe, and then control the overall cover (57) to close through the control system. Next, the motor in the middle stops working and the device is taken up by the tower crane.

Images