Device and method for cleaning wall of water pipe in water pool

Abstract

The invention discloses a pool inner water pipe wall cleaning device which comprises a walking robot and a pipe wall cleaning mechanism, the pipe wall cleaning mechanism comprises a cleaning seat and two half hoop bodies, one ends of the two half hoop bodies are hinged to the cleaning seat, the other ends of the two half hoop bodies can be in butt joint in an opening and closing mode, sweeping assemblies are arranged on the inner sides of the half hoop bodies, and propellers are arranged on the half hoop bodies. An opening and closing driving mechanism is arranged on the cleaning seat, a butt joint part is further arranged on the cleaning seat, an electric clamping and fixing mechanism is arranged on the walking robot, a control center and a position sensor are further arranged on the walking robot, and power components of the propeller, the opening and closing driving mechanism, the electric clamping and fixing mechanism, the position sensor and the walking robot are all in signal connection with the control center. The invention further discloses a cleaning method of the cleaning device for the pipe wall of the water pipe in the water pool. The water pipe wall cleaning device in the pool and the cleaning method thereof can meet the cleaning requirement of the water pipe in the water environment in the pool, reduce energy consumption, and are convenient to operate and high in cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of water pipe cleaning equipment, and particularly relates to a cleaning device for the inner wall of a water pipe in a pool and a cleaning method therefor. Background Art

[0002] The cleaning work of the inner wall of the water pipes in the cooling water pool of a UHV converter station is a key link in modern facility maintenance and water quality management. With the acceleration of the urbanization process and the extensive construction of various water body facilities, the water pipe network in the pool is becoming increasingly complex and huge, and its cleaning work faces unprecedented challenges. Currently, the cleaning of the inner wall of the water pipes in the cooling water pool mostly relies on general underwater cleaning robots, but there are very few robots specifically for cleaning the inner wall of the water pipes.

[0003] Due to the diversity of the pool structure and the complexity of the water pipe layout, many areas are difficult to be effectively reached by traditional cleaning methods. Especially in deep pools. At the same time, general underwater cleaning robots often have difficulty in completely removing the dirt and sediment on the inner wall of the water pipes. Long-term accumulation may lead to water quality deterioration and affect its industrial use.

[0004] The Chinese patent document with the application number 202211002867.1 discloses a cleaning claw for a pollution cleaning robot for converter station insulators, including a pushing module, a clamping module, a revolving module, a brush rotating module and a leaning module, supporting variable-diameter movement of the brush. Among them, the pushing module is used to change the distance that the cleaning claw extends outward, so as to adapt to insulators at various distances; the clamping module is used to control the opening or closing of the left and right holding arms at the head of the cleaning claw; the revolving module is used to control the left and right holding arms at the head of the cleaning claw to revolve around the insulator for cleaning after holding the insulator; the brush rotating module is used to control the rotation of the cleaning brush on the cleaning claw to realize the brushing work on the insulator; the leaning module is used to lean on the insulator after the cleaning claw holds the insulator to provide a supporting force. On the one hand, although the cleaning claw has a clamping function and is convenient for cleaning the upper and lower surfaces of the insulator, it does not know how to cooperate with external mechanisms and cannot meet the cleaning requirements of the water pipes in the pool. On the other hand, it has no power mechanism itself and needs to rely on an external power mechanism to move. The overall cleaning structure is complex, with high energy consumption, complex operation and low efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a cleaning device for the inner wall of a water pipe in a pool and a cleaning method therefor that can meet the cleaning requirements of the water pipes in the water environment of the pool, reduce energy consumption, are convenient to operate, and have high cleaning efficiency.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions: A device for cleaning the walls of water pipes in a pool comprises a walking robot and a pipe wall cleaning mechanism, the pipe wall cleaning mechanism comprising a cleaning seat and two half-hoops, one end of each of the two half-hoops being hinged to the cleaning seat and the other end being openable and dockable, a cleaning assembly being provided on the inner side of the half-hoops, a propeller being provided on the half-hoops, an opening and closing drive mechanism being provided on the cleaning seat for opening and closing the two half-hoops, a docking portion being further provided on the cleaning seat, an electric clamping mechanism being provided on the walking robot for clamping and releasing the docking portion, a control center and a position sensor being further provided on the walking robot, the position sensor being used to detect the orientation and distance relative to the water pipe, the propeller, the opening and closing drive mechanism, the electric clamping mechanism, the position sensor and the power components of the walking robot being all signal-connected to the control center.

[0007] As a further improvement of the above technical solution: The docking part is provided with a card hole, and the walking robot is provided with a docking slot for inserting the docking part. The electric fastening mechanism includes a card tongue and a card release drive component. The card tongue is movably arranged on the side wall of the docking slot. The card release drive component is arranged on the walking robot and connected to the card tongue for driving the card tongue to insert and move out of the card hole. The card release drive component is connected to the control center signal.

[0008] The latch tongue is slidably arranged on the walking robot, and an elastic reset component is arranged between the latch tongue and the walking robot.

[0009] The card-release driving assembly includes a cam and a card-release motor both provided on the walking robot. The card-release motor is connected to the cam and is used to drive the cam to rotate. The latch tongue abuts against the cam.

[0010] There are two card holes, which are respectively located on both sides of the docking part; there are two card tongues, which are respectively located on both sides of the docking groove; each card tongue is provided with a push rod, which abuts against the cam, and the card discharger is connected to the control center signal.

[0011] The opening and closing drive mechanism includes a slider and a linear drive assembly. The slider is slidably mounted on the cleaning seat. The linear drive assembly is mounted on the cleaning seat and is used to drive the slider to slide. A connecting rod is hinged between each half hoop and the slider. The linear drive assembly is connected to the control center signal.

[0012] The linear drive assembly includes a drive motor provided on the cleaning seat and a gear provided on the drive shaft of the drive motor. The slider is provided with a rack, the rack is engaged with the gear, and the drive motor is connected to the control center signal.

[0013] A swing rod is hinged on the half hoop body, and a guide wheel is provided at the overhanging end of the swing rod. A swing drive component for driving the swing rod to swing inward and outward is provided between the half hoop body and the swing rod, and the swing drive component is connected to the control center signal.

[0014] The cleaning assembly includes a plurality of tripod frames. One corner of each tripod frame is hinged to the inner wall of the semi-hoop body. The tripod frames are arranged at intervals around the center of the semi-hoop body. A connecting plate is hinged between adjacent corners of adjacent tripod frames. An elastic support member is provided between the tripod frame and the connecting plate. Cleaning brushes are provided on one side of both the tripod frame and the connecting plate facing the center of the semi-hoop body.

[0015] A cleaning method for the water pipe wall cleaning device in the pool as described above includes the following steps: S1. The walking robot is located on the bottom surface of the cooling pool; S2. The position sensor detects the orientation and distance relative to the water pipe, and the control center makes the walking robot walk to a specified position away from the water pipe according to the detection result of the position sensor; S3. The control center controls the opening and closing drive mechanism to act to open the two semi-hoop bodies; S4. The control center controls the walking robot to walk until the water pipe enters between the two semi-hoop bodies; S5. The control center controls the opening and closing drive mechanism to act to close the two semi-hoop bodies, so that the cleaning assembly is pressed tightly against the wall of the water pipe; S6. The control center makes the electric clamping mechanism release the clamping effect on the docking part; S7. The control center controls the walking robot to walk until the walking robot separates from the docking part; S8. The control center controls the propeller to operate to make the pipe wall cleaning mechanism move along the axial direction of the water pipe to clean the outer wall of the water pipe; S9. The control center controls the propeller to operate to make the pipe wall cleaning mechanism return to the initial position at the bottom of the water pipe; S10. The control center controls the walking robot to walk until the walking robot docks with the docking part; S11. The control center makes the electric clamping mechanism apply the clamping effect on the docking part; S12. The control center controls the opening and closing drive mechanism to act to open the two semi-hoop bodies; S13. The control center controls the walking robot to walk to drive the pipe wall cleaning mechanism to the next place.

[0016] Compared with the prior art, the advantages of the present invention are as follows: The pipe wall cleaning mechanism of the present invention has an opening and closing function, as well as a function of being fixedly combined with and released from the walking robot. The pipe wall cleaning mechanism is transported by the walking robot and held tightly outside the water pipe, and then it realizes cleaning along the water pipe through its own power (propeller). On the one hand, it can meet the cleaning requirements of the water pipe in the water environment of the pool. On the other hand, the pipe wall cleaning mechanism has a function of being fixedly combined with and released from the walking robot. It is only transported to the water pipe by the walking robot, and the movement and cleaning along the water pipe are driven by its own power, reducing energy consumption. Moreover, when the pipe wall cleaning mechanism moves and cleans along the water pipe, it is not restricted by the walking robot, is convenient to operate, and has high cleaning efficiency.

[0017] The cleaning method of the present invention is carried out by using the water pipe wall cleaning device in the pool, and has all the advantages of the water pipe wall cleaning device in the pool, that is, on the one hand, it can meet the cleaning requirements of the water pipe in the water environment of the pool. On the other hand, the pipe wall cleaning mechanism has a function of being fixedly combined with and released from the walking robot. It is only transported to the water pipe by the walking robot, and the movement and cleaning along the water pipe are driven by its own power, reducing energy consumption. Moreover, when the pipe wall cleaning mechanism moves and cleans along the water pipe, it is not restricted by the walking robot, is convenient to operate, and has high cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional structural schematic diagram of the water pipe wall cleaning device in the pool of the present invention.

[0019] Figure 2 is a separated state diagram of the walking robot and the pipe wall cleaning mechanism of the water pipe wall cleaning device in the pool of the present invention.

[0020] Figure 3 is Figure 2 an enlarged structural schematic diagram of part A in

[0021] Figure 4 is a structural schematic diagram of the pipe wall cleaning mechanism of the water pipe wall cleaning device in the pool of the present invention from the first perspective.

[0022] Figure 5 is a structural schematic diagram of the pipe wall cleaning mechanism of the water pipe wall cleaning device in the pool of the present invention from the second perspective.

[0023] Figure 6 is a usage state diagram of the water pipe wall cleaning device in the pool of the present invention.

[0024] Each label in the figure represents: 1. Cleaning base; 2. Semi-hoop body; 21. Propeller; 3. Cleaning assembly; 31. Tripod; 32. Connecting plate; 33. Elastic support member; 34. Cleaning brush; 4. Opening and closing drive mechanism; 41. Slide block; 411. Rack; 42. Linear drive assembly; 421. Drive motor; 422. Gear; 43. Link; 5. Electric clamping mechanism; 51. Tongue; 511. Pushing rod; 52. Clamping and releasing drive assembly; 521. Cam; 53. Elastic reset member; 6. Water pipe; 7. Swing rod; 71. Guide wheel; 8. Swing drive assembly; 9. Cooling water pool; 91. Bottom surface; 10. Mobile robot; 101. Docking groove; 11. Docking part; 111. Locking hole. Detailed implementation manners

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0026] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more, unless otherwise specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "assembly", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Embodiment 1: Figures 1 to 6An embodiment of the cleaning device for the inner wall of the water pipe in the pool of the present invention is shown. The cleaning device for the inner wall of the water pipe in the pool of this embodiment includes a walking robot 10 and a wall cleaning mechanism. The wall cleaning mechanism includes a cleaning seat 1 and two semi-hoop bodies 2. One end of each of the two semi-hoop bodies 2 is hinged to the cleaning seat 1, and the other ends can be opened and closed and docked. A cleaning component 3 is provided on the inner side of the semi-hoop body 2. A propeller 21 is provided on the semi-hoop body 2. An opening and closing driving mechanism 4 for opening and closing the two semi-hoop bodies 2 is provided on the cleaning seat 1. A docking part 11 is also provided on the cleaning seat 1. An electric clamping mechanism 5 for clamping and releasing the docking part 11 is provided on the walking robot 10. A control center and a position sensor are also provided on the walking robot 10. The position sensor is used to detect the orientation and distance relative to the water pipe 6. The propeller 21, the opening and closing driving mechanism 4, the electric clamping mechanism 5, the position sensor, and the power components of the walking robot 10 are all connected to the control center in signal.

[0030] The working process of the cleaning device for the inner wall of the water pipe in this pool: First step, the walking robot 10 is located on the bottom surface 91 of the cooling pool 9; Second step, the position sensor detects the orientation and distance relative to the water pipe 6, and the control center makes the walking robot 10 walk to the designated position relative to the water pipe 6 according to the detection result of the position sensor; Third step, the control center controls the opening and closing driving mechanism 4 to act, so that the two semi-hoop bodies 2 are opened; Fourth step, the control center controls the walking robot 10 to walk until the water pipe 6 enters between the two semi-hoop bodies 2; Fifth step, the control center controls the opening and closing driving mechanism 4 to act, so that the two semi-hoop bodies 2 are closed, so that the cleaning component 3 is pressed against the inner wall of the water pipe 6; Sixth step, the control center makes the electric clamping mechanism 5 release the clamping effect on the docking part 11; Seventh step, the control center controls the walking robot 10 to walk until the walking robot 10 is separated from the docking part 11; Eighth step, the control center controls the propeller 21 to run, so that the wall cleaning mechanism moves along the axial direction of the water pipe 6 to clean the outer wall of the water pipe 6; Ninth step, the control center controls the propeller 21 to run, so that the wall cleaning mechanism returns to the initial position at the bottom of the water pipe 6; Tenth step, the control center controls the walking robot 10 to walk until the walking robot 10 is docked with the docking part 11; Eleventh step, the control center makes the electric clamping mechanism 5 apply the clamping effect on the docking part 11; Twelfth step, the control center controls the opening and closing driving mechanism 4 to act, so that the two semi-hoop bodies 2 are opened; Thirteenth step, the control center controls the walking robot 10 to walk, driving the wall cleaning mechanism to the next place.

[0031] This pipe wall cleaning mechanism has an opening and closing function, as well as a function of clamping and combining with and releasing and separating from the walking robot 10. The pipe wall cleaning mechanism is transported by the walking robot 10 and clamped outside the water pipe 6, and then realizes cleaning along the water pipe 6 through its own power (propeller 21). On the one hand, it can meet the cleaning requirements of the water pipe 6 in the water environment of the pool. On the other hand, the pipe wall cleaning mechanism has a function of clamping and combining with and releasing and separating from the walking robot 10. It is only transported to the water pipe 6 by the walking robot 10, and the movement and cleaning along the water pipe 6 are driven by its own power, reducing energy consumption. Moreover, when the pipe wall cleaning mechanism moves and cleans along the water pipe 6, it is not restricted by the walking robot 10, is convenient to operate, and has high cleaning efficiency.

[0032] Further, as Figure 2 and Figure 3 shown, in this embodiment, the docking part 11 is provided with a clamping hole 111, and the walking robot 10 is provided with a docking groove 101 for the docking part 11 to insert. The electric clamping mechanism 5 includes a clamping tongue 51 and a clamping and releasing driving component 52. The clamping tongue 51 is movably arranged on the side wall of the docking groove 101. The clamping and releasing driving component 52 is arranged on the walking robot 10 and connected to the clamping tongue 51, and is used to drive the clamping tongue 51 to insert into and move out of the clamping hole 111. The clamping and releasing driving component 52 is signal-connected to the control center.

[0033] During docking, the docking part 11 inserts into the docking groove 101, and the clamping and releasing driving component 52 drives or under the elastic force of the elastic resetting member 53, the clamping tongue 51 inserts into the clamping hole 111 to realize the clamping of the docking part 11. During separation, the clamping and releasing driving component 52 drives the clamping tongue 51 to move out of the clamping hole 111 to release the clamping effect on the docking part 11, and then the walking robot 10 and the pipe wall cleaning mechanism can be separated. The structural design is reasonable, and the docking and separation of the walking robot 10 and the pipe wall cleaning mechanism are convenient.

[0034] Further, as Figure 3 shown, in this embodiment, the clamping tongue 51 is slidably arranged on the walking robot 10 and an elastic resetting member 53 is arranged between the clamping tongue 51 and the walking robot 10. During docking, the docking part 11 inserts into the docking groove 101, the clamping and releasing driving component 52 releases the acting force on the clamping tongue 51, and the clamping tongue 51 inserts into the clamping hole 111 under the elastic force of the elastic resetting member 53 to realize the clamping of the docking part 11. During separation, the clamping and releasing driving component 52 drives the clamping tongue 51 to move out of the clamping hole 111 against the elastic force of the elastic resetting member 53 to release the clamping effect on the docking part 11.

[0035] Further, in this embodiment, the card placement driving assembly 52 includes a cam 521 and a card placement motor (not shown in the drawings), both of which are provided on the walking robot 10. The card placement motor is connected to the cam 521 and is used to drive the cam 521 to rotate. The latch 51 abuts against the cam 521, and the card placement motor is signal-connected to the control center. The card placement motor drives the cam 521 to rotate, and the cam 521 pushes against the latch 51 to move, realizing insertion into and removal from the card hole 111. The structure is simple and the operation is convenient.

[0036] Further, as Figure 3 shown, in this embodiment, there are two card holes 111, which are respectively located on both sides of the docking part 11. There are two latches 51, which are respectively located on both sides of the docking groove 101. A push rod 511 is provided on each latch 51, and the push rod 511 abuts against the cam 521. The cam 521 rotates to push the two latches 51 to move, so that the two latches 51 are inserted into and removed from the card holes 111 at the same time. Specifically, sliding grooves are respectively provided on both sides of the docking groove 101, and the latches 51 are slidably arranged in the corresponding sliding grooves.

[0037] Further, as Figure 3 and Figure 4 shown, in this embodiment, the opening and closing driving mechanism 4 includes a slider 41 and a linear driving assembly 42. The slider 41 is slidably arranged on the cleaning base 1. The linear driving assembly 42 is provided on the cleaning base 1 and is used to drive the slider 41 to slide. A connecting rod 43 is hinged between each half hoop 2 and the slider 41, and the linear driving assembly 42 is signal-connected to the control center. The linear driving assembly 42 drives the slider 41 to push the half hoop 2 outwards through the connecting rod 43, realizing the opening of the two half hoops 2; the linear driving assembly 42 drives the slider 41 to pull the half hoop 2 inwards through the connecting rod 43, realizing the closing of the two half hoops 2.

[0038] Further, in this embodiment, the linear driving assembly 42 includes a driving motor 421 provided on the cleaning base 1 and a gear 422 provided on the driving shaft of the driving motor 421. A rack 411 is provided on the slider 41, and the rack 411 meshes with the gear 422. The driving motor 421 is signal-connected to the control center. The driving motor 421 drives the gear 422 to rotate, and the gear 422 drives the slider 41 to slide through the cooperation with the rack 411.

[0039] Further, as Figure 4As shown in the figure, in this embodiment, a swing rod 7 is hinged to the semi-hoop 2. A guide wheel 71 is provided at the overhanging end of the swing rod 7. A swing drive assembly 8 for driving the swing rod 7 to swing in and out is provided between the semi-hoop 2 and the swing rod 7. The swing drive assembly 8 is signal-connected to the control center. Before the pipe wall cleaning mechanism moves along the axial direction of the water pipe 6, the swing drive assembly 8 drives the swing rod 7 to swing inwards, so that the guide wheel 71 abuts against the pipe wall, playing a role in guiding and circumferential limiting the movement of the pipe wall cleaning mechanism, and improving the stability of the movement of the pipe wall cleaning mechanism. The swing drive assembly 8 includes a telescopic drive member, such as an oil cylinder, a cylinder, an electric cylinder, etc., and drives the swing rod 7 to swing in and out through the telescopic movement of the telescopic drive member. The telescopic drive member is signal-connected to the control center, and automatic control is realized by the control center signal.

[0040] Further, in the embodiment, the cleaning assembly 3 includes a plurality of triangular frames 31. One corner of the triangular frame 31 is hinged to the inner wall of the semi-hoop 2. The triangular frames 31 are arranged at intervals around the center of the semi-hoop 2. A connecting plate 32 is hinged between the adjacent corners of the adjacent triangular frames 31. An elastic support member 33 is provided between the triangular frame 31 and the connecting plate 32. Cleaning brushes 34 are provided on one side of the triangular frame 31 and the connecting plate 32 facing the center of the semi-hoop 2. The structure of the cleaning assembly 3 can, on the one hand, achieve flexible contact with the pipe wall and avoid damaging the pipe wall. On the other hand, the adjacent corners of the adjacent triangular frames 31 are hinged through the connecting plate 32. The moving range of the connecting plate 32 outwards is limited, and the extrusion of the cleaning brush 34 is also very rigid, and the overall cleaning effect is good.

[0041] Further, in the embodiment, the adjacent corners of the two triangular frames 31 at the hinge of the two semi-hoops 2 are also hinged through the connecting plate 32. In this way, the cleaning assemblies 3 of the two semi-hoops 2 are connected into a whole, which not only does not affect the opening and closing actions of the two semi-hoops 2, but also improves the overall extrusion effect on the pipe wall.

[0042] Further, in the embodiment, the inner surface of the semi-hoop 2 is an arc surface. When the two semi-hoops 2 are closed outside the pipe wall, the cleaning assemblies 3 of the two semi-hoops 2 are connected into a circle and held tightly outside the pipe wall.

[0043] Embodiment Two: The cleaning method of the water pipe wall cleaning device in the pool of Embodiment One includes the following steps: S1. The walking robot 10 is located on the bottom surface 91 of the cooling pool 9; S2. The position sensor detects the orientation and distance relative to the water pipe 6, and the control center makes the walking robot 10 walk to the specified position away from the water pipe 6 according to the detection result of the position sensor; S3. The control center controls the opening and closing drive mechanism 4 to act, so that the two semi-hoops 2 are opened; S4. The control center controls the walking robot 10 to walk until the water pipe 6 enters between the two semi-hoops 2; S5. The control center controls the opening and closing drive mechanism 4 to act, causing the two semi-hoops 2 to close, so that the cleaning assembly 3 presses tightly against the pipe wall of the water pipe 6; S6. The control center causes the electric clamping mechanism 5 to release the clamping effect on the docking part 11; S7. The control center controls the walking robot 10 to walk until the walking robot 10 separates from the docking part 11; S8. The control center controls the operation of the propeller 21, causing the pipe wall cleaning mechanism to move axially along the water pipe 6 to clean the outer wall of the water pipe 6; S9. The control center controls the operation of the propeller 21 to make the pipe wall cleaning mechanism return to the initial position at the bottom of the water pipe 6; S10. The control center controls the walking robot 10 to walk until the walking robot 10 docks with the docking part 11; S11. The control center causes the electric clamping mechanism 5 to exert a clamping effect on the docking part 11; S12. The control center controls the opening and closing drive mechanism 4 to act, causing the two semi-hoops 2 to open; S13. The control center controls the walking robot 10 to walk, driving the pipe wall cleaning mechanism to the next place.

[0044] This cleaning method is carried out by using the device for cleaning the pipe wall of the water pipe in the pool, and has all the advantages of the device for cleaning the pipe wall of the water pipe in the pool. That is, on the one hand, it can meet the cleaning requirements of the water pipe 6 in the water environment in the pool. On the other hand, the pipe wall cleaning mechanism has the functions of clamping and combining with and loosening and separating from the walking robot 10, and is only transported to the water pipe 6 by means of the walking robot 10. The movement and cleaning along the water pipe 6 are driven by its own power, reducing energy consumption. Moreover, when the pipe wall cleaning mechanism moves and cleans along the water pipe 6, it is not restricted by the walking robot 10, is convenient to operate, and has high cleaning efficiency.

[0045] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the above-disclosed technical content, or modify it into an equivalent embodiment with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A cleaning device for the pipe wall of the water pipe in the pool, characterized in that: The invention comprises a walking robot (10) and a pipe wall cleaning mechanism, wherein the pipe wall cleaning mechanism comprises a cleaning seat (1) and two half hoop bodies (2), one end of each of the two half hoop bodies (2) is hinged to the cleaning seat (1) and the other end can be opened and closed for docking, a cleaning assembly (3) is provided on the inner side of the half hoop body (2), a propeller (21) is provided on the half hoop body (2), an opening and closing drive mechanism (4) for opening and closing the two half hoop bodies (2) is provided on the cleaning seat (1), a docking portion (11) is further provided on the cleaning seat (1), an electric clamping mechanism (5) for clamping and releasing the docking portion (11) is provided on the walking robot (10), and a control center and a position sensor are further provided on the walking robot (10), the position sensor is used to detect the direction and distance relative to the water pipe (6), and the propeller (21), the opening and closing drive mechanism (4), the electric clamping mechanism (5), the position sensor and the power components of the walking robot (10) are all connected to the control center signal.

2. The water pipe wall cleaning device in the pool according to claim 1, characterized in that: The docking portion (11) is provided with a latch hole (111), and the walking robot (10) is provided with a docking slot (101) for inserting the docking portion (11). The electric latching mechanism (5) comprises a latch tongue (51) and a latching drive assembly (52). The latch tongue (51) is movably arranged on a side wall of the docking slot (101). The latching drive assembly (52) is provided on the walking robot (10) and connected to the latch tongue (51) for driving the latch tongue (51) to insert into and move out of the latch hole (111). The latching drive assembly (52) is connected to a control center signal.

3. The water pipe wall cleaning device in the pool according to claim 2, characterized in that: The latch tongue (51) is slidably mounted on the walking robot (10), and an elastic reset member (53) is provided between the latch tongue (51) and the walking robot (10).

4. The water pipe wall cleaning device in the pool according to claim 3, characterized in that: The card release drive assembly (52) comprises a cam (521) and a card release motor both provided on the walking robot (10); the card release motor is connected to the cam (521) and is used to drive the cam (521) to rotate; the latch tongue (51) abuts against the cam (521); and the card release motor is connected to a control center signal.

5. The water pipe wall cleaning device in the pool according to claim 4, characterized in that: There are two clamping holes (111), which are respectively located on both sides of the docking portion (11); there are two clamping tongues (51), which are respectively located on both sides of the docking groove (101); each clamping tongue (51) is provided with a push rod (511), and the push rod (511) is in contact with the cam (521).

6. The water pipe wall cleaning device in the pool according to claim 1, characterized in that: The opening and closing drive mechanism (4) comprises a slider (41) and a linear drive assembly (42), wherein the slider (41) is slidably mounted on the cleaning seat (1), and the linear drive assembly (42) is mounted on the cleaning seat (1) and is used to drive the slider (41) to slide. A connecting rod (43) is hinged between each of the half hoop bodies (2) and the slider (41), and the linear drive assembly (42) is connected to a control center signal.

7. The cleaning device for the pipe wall of the water pipe in the pool according to claim 6, characterized in that: The linear drive assembly (42) includes a drive motor (421) provided on the cleaning base (1) and a gear (422) provided on the drive shaft of the drive motor (421). A rack (411) is provided on the slider (41), and the rack (411) meshes with the gear (422). The drive motor (421) is signal-connected to the control center.

8. The water pipe wall cleaning device in the pool according to any one of claims 1 to 7, characterized in that: A swing rod (7) is hinged on the semi-hoop body (2). A guide wheel (71) is provided at the overhanging end of the swing rod (7). A swing drive assembly (8) for driving the swing rod (7) to swing in and out is provided between the semi-hoop body (2) and the swing rod (7), and the swing drive assembly (8) is signal-connected to the control center.

9. The water pipe wall cleaning device in the pool according to any one of claims 1 to 7, characterized in that: The cleaning assembly (3) includes a plurality of triangular frames (31). One corner of the triangular frame (31) is hinged to the inner wall of the semi-hoop body (2). The triangular frames (31) are arranged at intervals around the center of the semi-hoop body (2). A connecting plate (32) is hinged between adjacent corners of adjacent triangular frames (31). An elastic support member (33) is provided between the triangular frame (31) and the connecting plate (32). Cleaning brushes (34) are provided on one side of the triangular frame (31) and the connecting plate (32) facing the center of the semi-hoop body (2).

10. A cleaning method for the cleaning device of the inner pipe wall of the water pipe in the pool according to any one of claims 1 to 9, characterized in that, It includes the following steps: S1. The walking robot (10) is located on the bottom surface (91) of the cooling water pool (9); S2. The position sensor detects the orientation and distance relative to the water pipe (6), and the control center makes the walking robot (10) walk to a specified position relative to the water pipe (6) according to the detection result of the position sensor; S3. The control center controls the opening and closing drive mechanism (4) to act, so that the two semi-hoop bodies (2) are opened; S4. The control center controls the walking robot (10) to walk until the water pipe (6) enters between the two semi-hoop bodies (2); S5. The control center controls the opening and closing drive mechanism (4) to act, so that the two semi-hoop bodies (2) are closed, so that the cleaning assembly (3) is pressed against the pipe wall of the water pipe (6); S6. The control center makes the electric clamping mechanism (5) release the clamping action on the docking part (11); S7. The control center controls the walking robot (10) to walk until the walking robot (10) is separated from the docking part (11); S8. The control center controls the operation of the propeller (21), so that the pipe wall cleaning mechanism moves along the axial direction of the water pipe (6) to clean the outer wall of the water pipe (6); S9. The control center controls the operation of the propeller (21), so that the pipe wall cleaning mechanism returns to the initial position at the bottom of the water pipe (6); S10. The control center controls the walking robot (10) to walk until the walking robot (10) is docked with the docking part (11); S11. The control center makes the electric clamping mechanism (5) apply the clamping action on the docking part (11); S12. The control center controls the opening and closing drive mechanism (4) to act, so that the two semi-hoop bodies (2) are opened; S13. The control center controls the walking robot (10) to walk, driving the pipe wall cleaning mechanism to the next place.

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