A device for cleaning the walls of a water pipe in a pool and a method of cleaning the same

Abstract

The application discloses a kind of pool inner water pipe wall cleaning device, including walking robot and pipe wall cleaning mechanism, pipe wall cleaning mechanism includes cleaning seat and two half hoop bodies, one end of two half hoop bodies is hinged with cleaning seat, the other end can be opened and closed butt joint, the inside of half hoop body is equipped with cleaning assembly, half hoop body is equipped with propeller, cleaning seat is equipped with opening and closing drive mechanism, cleaning seat is also equipped with butt joint, walking robot is equipped with electric clamping mechanism, walking robot is also equipped with control center and position sensor, propeller, opening and closing drive mechanism, electric clamping mechanism, position sensor and the power component of walking robot are connected with control center signal.The cleaning method of the pool inner water pipe wall cleaning device is also disclosed.The pool inner water pipe wall cleaning device and its cleaning method can meet the cleaning requirements of water pipes in the water environment of the pool, reduce energy consumption, easy to operate, and high cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of water pipe cleaning equipment technology, specifically to a water pipe wall cleaning device and cleaning method for a water tank. Background Technology

[0002] Cleaning the walls of water pipes within the cooling water tanks of ultra-high voltage converter stations is a crucial aspect of modern facility maintenance and water quality management. With accelerated urbanization and the widespread construction of various water facilities, the water pipe networks within these tanks are becoming increasingly complex and extensive, posing unprecedented challenges to their cleaning. Currently, cleaning the walls of cooling water tank pipes largely relies on general-purpose underwater cleaning robots, but robots specifically designed for cleaning water pipe walls are extremely rare.

[0003] Due to the diversity of pool structures and the complexity of water pipe layouts, many areas are difficult to reach effectively using traditional cleaning methods, especially in deep pools. Furthermore, general-purpose underwater cleaning robots often struggle to thoroughly remove dirt and deposits from the inner walls of water pipes, which can lead to water quality deterioration over time and affect their industrial applications.

[0004] Chinese patent document with application number 202211002867.1 discloses a cleaning gripper for a converter station insulator cleaning robot, including a pushing module, an opening and closing module, a revolution module, a brush rotation module, and a leaning module. It supports variable-diameter brush movement. The pushing module adjusts the outward extension distance of the cleaning gripper to accommodate insulators of various distances. The opening and closing module controls the opening and closing of the left and right arms of the cleaning gripper head. The revolution module controls the left and right arms of the cleaning gripper head to revolve around the insulator after gripping it tightly, cleaning the insulator. The brush rotation module controls the rotation of the cleaning brush on the cleaning gripper to perform the brushing work on the insulator. The leaning module provides support by allowing the cleaning gripper to lean against the insulator after gripping it tightly. On the one hand, although the cleaning gripper has an opening and closing function, which makes it easy to clean the upper and lower surfaces of the insulator, it is unknown how it will cooperate with external mechanisms, and it cannot meet the cleaning requirements of the water pipes in the pool. On the other hand, it has no power mechanism of its own and needs to rely on an external power mechanism to move. The overall cleaning structure is complex, energy consumption is high, operation is complicated, and efficiency is low. Summary of the Invention

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

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A water pipe wall cleaning device for a water tank includes a walking robot and a pipe wall cleaning mechanism. The pipe wall cleaning mechanism includes a cleaning seat and two semi-hoops. One end of each semi-hoop is hinged to the cleaning seat, and the other end is openable and dockable. A cleaning component is provided on the inner side of each semi-hoop. A propeller is provided on each semi-hoop. The cleaning seat is provided with an opening and closing drive mechanism for opening and closing the two semi-hoops. The cleaning seat is also provided with a docking part. The walking robot is provided with an electric locking mechanism for locking and releasing the docking part. The walking robot is also provided with a control center and a position sensor. The position sensor is used to detect the orientation and distance relative to the water pipe. The propeller, opening and closing drive mechanism, electric locking mechanism, position sensor, and power components of the walking robot are all signal-connected to the control center.

[0007] As a further improvement to the above technical solution: The docking part is provided with a locking hole, and the walking robot is provided with a docking groove for the docking part to be inserted. The electric locking mechanism includes a locking tongue and a locking and releasing drive assembly. The locking tongue is movably disposed on the side wall of the docking groove. The locking and releasing drive assembly is disposed on the walking robot and connected to the locking tongue, and is used to drive the locking tongue to be inserted into and removed from the locking hole. The locking and releasing drive assembly is signal connected to the control center.

[0008] The latch is slidably mounted on the walking robot and is provided with an elastic reset component between it and the walking robot.

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

[0010] The device has two locking holes, located on both sides of the docking part, and two locking tongues, located on both sides of the docking groove. Each locking tongue is equipped with a push rod, which abuts against the cam. The device is connected to the control center for signal transmission.

[0011] The opening and closing drive mechanism includes a slider and a linear drive assembly. The slider is slidably mounted on the cleaning seat, and the linear drive assembly is mounted on the cleaning seat to drive the slider to slide. Each of the half-hoops is hinged to the slider with a connecting rod, and the linear drive assembly is signal-connected to the control center.

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

[0013] A swing arm is hinged to the semi-hoop, and a guide wheel is provided at the overhanging end of the swing arm. A swing drive assembly for driving the swing arm to swing in and out is provided between the semi-hoop and the swing arm, and the swing drive assembly is signal-connected to the control center.

[0014] The cleaning assembly includes multiple tripods, one corner of which is hinged to the inner wall of the semi-hoop. Each tripod is arranged at intervals around the center of the semi-hoop. A connecting plate is hinged between adjacent corners of adjacent tripods. An elastic support is provided between the tripod and the connecting plate. A cleaning brush is provided on the side of the tripod and the connecting plate facing the center of the semi-hoop.

[0015] A cleaning method for the above-mentioned water pipe wall cleaning device in a water tank includes the following steps: S1. The walking robot is located on the bottom surface of the cooling water tank; S2. The position sensor detects the orientation and distance relative to the water pipe. The control center uses the detection structure of the position sensor to make the walking robot walk to the designated position at a distance from the water pipe. S3. The control center controls the opening and closing drive mechanism to open the two half-hoops; S4. The control center controls the walking robot to move until the water pipe enters between the two halves of the hoop. S5. The control center controls the opening and closing drive mechanism to close the two half-hoops, thereby pressing the cleaning assembly against the wall of the water pipe. S6. The control center releases the electric locking mechanism from the locking action of the docking part; S7. The control center controls the walking robot to move until the walking robot separates from the docking part; S8. The control center controls the propeller to move the pipe wall cleaning mechanism 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 return the pipe wall cleaning mechanism to its initial position at the bottom of the water pipe. S10. The control center controls the walking robot to move until the walking robot docks with the docking unit; S11. The control center causes the electric locking mechanism to apply a locking action to the docking part; S12. The control center controls the opening and closing drive mechanism to open the two half-hoops. S13. The control center controls the walking robot to move, driving the pipe wall cleaning mechanism to the next location.

[0016] Compared with the prior art, the advantages of the present invention are as follows: The pipe wall cleaning mechanism of this invention has an opening and closing function as well as a locking and unlocking function with a walking robot. The pipe wall cleaning mechanism is conveyed and held tightly to the outside of the water pipe by the walking robot, and then cleans along the water pipe by its own power (propeller). On the one hand, it can meet the cleaning requirements of water pipes in the water environment of the pool. On the other hand, the pipe wall cleaning mechanism has a locking and unlocking function with the walking robot. It is only transported to the water pipe by the walking robot, and the cleaning along the water pipe is driven by its own power, which reduces energy consumption. Moreover, when the pipe wall cleaning mechanism moves and cleans along the water pipe, it is not constrained by the walking robot, making it easy to operate and highly efficient in cleaning.

[0017] The cleaning method of the present invention uses a water pipe wall cleaning device inside a water tank, which has all the advantages of the water pipe wall cleaning device inside a water tank. On the one hand, it can meet the cleaning requirements of water pipes in the water environment inside the water tank. On the other hand, the pipe wall cleaning mechanism has the function of locking and releasing with the walking robot. It only needs to be transported to the water pipe by the walking robot and moved along the water pipe for cleaning. It is driven by its own power, which reduces energy consumption. Furthermore, when the pipe wall cleaning mechanism moves along the water pipe for cleaning, it is not constrained by the walking robot, making it easy to operate and highly efficient in cleaning. Attached Figure Description

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

[0019] Figure 2 This is a diagram showing the separation of the walking robot and the pipe wall cleaning mechanism of the water pipe wall cleaning device in the pool according to the present invention.

[0020] Figure 3 yes Figure 2 A magnified structural diagram of point A in the middle.

[0021] Figure 4 This is a first-view structural schematic diagram of the pipe wall cleaning mechanism of the water pipe wall cleaning device in the water tank of the present invention.

[0022] Figure 5 This is a second-view structural schematic diagram of the pipe wall cleaning mechanism of the water pipe wall cleaning device in the water tank of the present invention.

[0023] Figure 6 This is a diagram showing the usage status of the water pipe wall cleaning device in the water tank according to the present invention.

[0024] The labels in the diagram represent: 1. Cleaning seat; 2. Semi-hoop; 21. Propeller; 3. Sweeping assembly; 31. Tripod; 32. Connecting plate; 33. Elastic support; 34. Cleaning brush; 4. Opening and closing drive mechanism; 41. Slider; 411. Rack; 42. Linear drive assembly; 421. Drive motor; 422. Gear; 43. Connecting rod; 5. Electric locking mechanism; 51. Clamping tongue; 511. Push rod; 52. Locking and releasing drive assembly; 521. Cam; 53. Elastic reset component; 6. Water pipe; 7. Swing arm; 71. Guide wheel; 8. Swing drive assembly; 9. Cooling water tank; 91. Bottom surface; 10. Walking robot; 101. Docking groove; 11. Docking part; 111. Locking hole. Detailed Implementation

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

[0026] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] In this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] Example 1: Figures 1 to 6This invention illustrates an embodiment of the water pipe wall cleaning device for a water tank according to the present invention. The water pipe wall cleaning device in this embodiment includes a walking robot 10 and a pipe wall cleaning mechanism. The pipe wall cleaning mechanism includes a cleaning seat 1 and two half-hoops 2. One end of each half-hoop 2 is hinged to the cleaning seat 1, and the other end can be opened and closed. A cleaning component 3 is provided on the inner side of the half-hoop 2. A propeller 21 is provided on the half-hoop 2. An opening and closing drive mechanism 4 for opening and closing the two half-hoops 2 is provided on the cleaning seat 1. A docking part 11 is also provided on the cleaning seat 1. An electric locking mechanism 5 for locking 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 drive mechanism 4, the electric locking mechanism 5, the position sensor, and the power components of the walking robot 10 are all signal connected to the control center.

[0030] The working process of the pipe wall cleaning device in this water tank is as follows: First, the walking robot 10 is positioned on the bottom surface 91 of the cooling water tank 9; Second, the position sensor detects the orientation and distance relative to the water pipe 6, and the control center, based on the detection structure of the position sensor, causes the walking robot 10 to move to a designated position at a distance from the water pipe 6; Third, the control center controls the opening and closing drive mechanism 4 to open the two half-hoops 2; Fourth, the control center controls the walking robot 10 to move until the water pipe 6 enters between the two half-hoops 2; Fifth, the control center controls the opening and closing drive mechanism 4 to close the two half-hoops 2, thereby causing the cleaning component 3 to press against the pipe wall of the water pipe 6; Sixth, the control center causes the electric locking mechanism 5 to release the locking effect on the docking part 11; Seventh... Step 1: The control center controls the walking robot 10 to move until it separates from the docking part 11. Step 8: The control center controls the propeller 21 to move, causing the pipe wall cleaning mechanism to move along the axial direction of the water pipe 6 to clean the outer wall of the water pipe 6. Step 9: The control center controls the propeller 21 to move, causing the pipe wall cleaning mechanism to return to the initial position at the bottom of the water pipe 6. Step 10: The control center controls the walking robot 10 to move until it docks with the docking part 11. Step 11: The control center causes the electric locking mechanism 5 to apply a locking action on the docking part 11. Step 12: The control center controls the opening and closing drive mechanism 4 to open the two half-hoops 2. Step 13: The control center controls the walking robot 10 to move, driving the pipe wall cleaning mechanism to the next location.

[0031] This pipe wall cleaning mechanism has an opening and closing function as well as a locking and unlocking function with the walking robot 10. The pipe wall cleaning mechanism is conveyed and held tightly to the outside of the water pipe 6 by the walking robot 10, and then sweeps along the water pipe 6 by 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 locking and unlocking function with the walking robot 10. It is only transported to the water pipe 6 by the walking robot 10, and the movement and sweeping along the water pipe 6 is driven by its own power, which reduces energy consumption. Moreover, when the pipe wall cleaning mechanism moves and sweeps along the water pipe 6, it is not constrained by the walking robot 10, which makes it easy to operate and has high cleaning efficiency.

[0032] Furthermore, such as Figure 2 and Figure 3 As shown, in this embodiment, the docking part 11 is provided with a locking hole 111, and the walking robot 10 is provided with a docking groove 101 for the docking part 11 to be inserted into. The electric locking mechanism 5 includes a locking tongue 51 and a locking and releasing drive assembly 52. ​​The locking tongue 51 is movably disposed on the side wall of the docking groove 101. The locking and releasing drive assembly 52 is disposed on the walking robot 10 and connected to the locking tongue 51, and is used to drive the locking tongue 51 to insert into and move out of the locking hole 111. The locking and releasing drive assembly 52 is signal connected to the control center.

[0033] During docking, the docking part 11 is inserted into the docking groove 101. The locking and releasing drive assembly 52 drives the latch 51 to insert into the locking hole 111 under the elastic force of the elastic reset member 53, thereby securing the docking part 11. During separation, the locking and releasing drive assembly 52 drives the latch 51 to move out of the locking hole 111, releasing the locking effect on the docking part 11. 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] Furthermore, such as Figure 3 As shown, in this embodiment, the latch 51 is slidably mounted on the walking robot 10, and an elastic reset member 53 is provided between the latch 51 and the walking robot 10. During docking, the docking part 11 is inserted into the docking groove 101, and the latching drive assembly 52 releases the force on the latch 51. Under the elastic force of the elastic reset member 53, the latch 51 is inserted into the latch hole 111, thereby securing the docking part 11. During separation, the latching drive assembly 52 drives the latch 51 to move out of the latch hole 111 against the elastic force of the elastic reset member 53, thereby releasing the securing effect on the docking part 11.

[0035] Furthermore, in this embodiment, the card release drive assembly 52 includes a cam 521 and a card release motor (not shown in the figures) both mounted 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 card tongue 51 abuts against the cam 521, and the card release motor is signal-connected to the control center. The card release motor drives the cam 521 to rotate, and the cam 521 pushes the card tongue 51 to move, realizing the insertion and removal of the card hole 111. The structure is simple and the operation is convenient.

[0036] Furthermore, such as Figure 3 As shown, in this embodiment, there are two locking holes 111, located on both sides of the mating portion 11, and two locking tongues 51, located on both sides of the mating groove 101. Each locking tongue 51 is provided with a push rod 511, which abuts against the cam 521. The cam 521 rotates and pushes the two locking tongues 51 to move, causing the two locking tongues 51 to simultaneously insert into and move out of the locking hole 111. Specifically, each side of the mating groove 101 is provided with a sliding groove, and the locking tongue 51 slides in the corresponding sliding groove.

[0037] Furthermore, such as Figure 3 and Figure 4 As shown, in this embodiment, the opening and closing drive mechanism 4 includes a slider 41 and a linear drive assembly 42. The slider 41 is slidably mounted on the cleaning seat 1, and the linear drive assembly 42 is mounted on the cleaning seat 1 to drive the slider 41 to slide. Each half-hoop 2 is hinged to the slider 41 by a connecting rod 43. The linear drive assembly 42 is signal-connected to the control center. The linear drive assembly 42 drives the slider 41 to push the half-hoops 2 outward through the connecting rod 43, thereby opening the two half-hoops 2; the linear drive assembly 42 also drives the slider 41 to pull the half-hoops 2 inward through the connecting rod 43, thereby closing the two half-hoops 2.

[0038] Furthermore, in this embodiment, the linear drive assembly 42 includes a drive motor 421 mounted on the cleaning seat 1 and a gear 422 mounted on the drive shaft of the drive motor 421. A rack 411 is mounted on the slider 41, and the rack 411 meshes with the gear 422. The drive motor 421 is signal-connected to the control center. The drive motor 421 drives the gear 422 to rotate, and the gear 422, through its interaction with the rack 411, causes the slider 41 to slide.

[0039] Furthermore, such as Figure 4As shown, in this embodiment, a swing rod 7 is hinged to the semi-hoop 2. A guide wheel 71 is provided at the protruding end of the swing rod 7. A swing drive assembly 8 for driving the swing rod 7 to swing inwards and outwards is provided between the semi-hoop 2 and the swing rod 7. The swing drive assembly 8 is connected to the control center via a signal. Before the pipe wall cleaning mechanism moves axially along the water pipe 6, the swing drive assembly 8 drives the swing rod 7 to swing inwards, causing the guide wheel 71 to abut against the pipe wall. This guides and circumferentially limits the movement of the pipe wall cleaning mechanism, improving its stability. The swing drive assembly 8 includes a telescopic drive component, such as a hydraulic cylinder, pneumatic cylinder, or electric cylinder. The telescopic movement of the telescopic drive component drives the swing rod 7 to swing inwards and outwards. The telescopic drive component is connected to the control center via a signal, enabling automated control via the control center signal.

[0040] Furthermore, in this embodiment, the cleaning assembly 3 includes multiple tripods 31, each tripod 31 having one corner hinged to the inner wall of the semi-hoop 2. The tripods 31 are spaced apart around the center of the semi-hoop 2, and connecting plates 32 are hinged between adjacent corners of adjacent tripods 31. An elastic support member 33 is provided between the tripod 31 and the connecting plate 32. Cleaning brushes 34 are provided on the side of both the tripods 31 and the connecting plate 32 facing the center of the semi-hoop 2. This structure of the cleaning assembly 3, on the one hand, enables flexible contact with the pipe wall, avoiding damage; on the other hand, the connecting plates 32, which are hinged between adjacent corners of adjacent tripods 31, limit the outward movement of the connecting plates 32, and provide good rigidity for squeezing the cleaning brushes 34, resulting in a good overall cleaning effect.

[0041] Furthermore, in the embodiment, the two half-hoops 2 are also hinged between adjacent corners of the two triangular frames 31 at the hinge point by a connecting plate 32. In this way, the cleaning components 3 of the two half-hoops 2 are connected into a whole, which does not affect the opening and closing action of the two half-hoops 2, and also improves the overall squeezing effect on the pipe wall.

[0042] Furthermore, in this 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 components 3 of the two semi-hoops 2 are connected to form a circle and tightly hug the outside of the pipe wall.

[0043] Example 2: The cleaning method of the water pipe wall cleaning device in Example 1 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. The control center uses the detection structure of the position sensor to make the walking robot 10 walk to the designated position at a distance from the water pipe 6. S3. The control center controls the opening and closing drive mechanism 4 to open the two half-hoops 2; 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 close the two half-hoops 2, thereby making the cleaning component 3 press against the pipe wall of the water pipe 6. S6. The control center releases the electric locking mechanism 5 from locking 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 propeller 21 to move, 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 propeller 21 to run, 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 docks with the docking unit 11; S11, The control center causes the electric locking mechanism 5 to apply a locking action on the docking part 11; S12, The control center controls the opening and closing drive mechanism 4 to open the two half-hoops 2; S13, The control center controls the walking robot 10 to move, driving the pipe wall cleaning mechanism to the next location.

[0044] This cleaning method uses a pipe wall cleaning device inside the water tank, which has all the advantages of such devices. On the one hand, it can meet the cleaning requirements of the water pipe 6 in the water environment inside the water tank. On the other hand, the pipe wall cleaning mechanism has the function of locking and releasing with the walking robot 10. It is only transported to the water pipe 6 by the walking robot 10 and moves along the water pipe 6 for cleaning, which is driven by its own power, reducing energy consumption. Furthermore, when the pipe wall cleaning mechanism moves along the water pipe 6 for cleaning, it is not constrained by the walking robot 10, making it easy to operate and highly efficient in cleaning.

[0045] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A device for cleaning the walls of water pipes inside a water tank, characterized in that: The system includes a walking robot (10) and a pipe wall cleaning mechanism. The pipe wall cleaning mechanism includes a cleaning seat (1) and two semi-hoops (2). One end of each of the two semi-hoops (2) is hinged to the cleaning seat (1), and the other end can be opened and closed. A cleaning component (3) is provided on the inner side of each semi-hoop (2). A propeller (21) is provided on each semi-hoop (2). An opening and closing drive mechanism (4) for opening and closing the two semi-hoops (2) is provided on the cleaning seat (1). A docking part (11) is also provided on the cleaning seat (1). An electric locking mechanism (5) for locking 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 drive mechanism (4), the electric locking mechanism (5), the position sensor, and the power components of the walking robot (10) are all connected to the control center. The control center is connected to the signal, and the control center controls the propeller (21) to run, so that the pipe wall cleaning mechanism moves along the axial direction of the water pipe (6); a swing rod (7) is hinged on the half hoop (2), and a guide wheel (71) is provided at the overhang 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 half hoop (2) and the swing rod (7). The swing drive assembly (8) is connected to the control center; the cleaning assembly (3) includes multiple tripods (31). One corner of the tripod (31) is hinged to the inner wall of the half hoop (2). Each tripod (31) is arranged at intervals around the center of the half hoop (2). A connecting plate (32) is hinged between adjacent corners of adjacent tripods (31). An elastic support (33) is provided between the tripod (31) and the connecting plate (32). A cleaning brush (34) is provided on the side of the tripod (31) and the connecting plate (32) facing the center of the half hoop (2).

2. The water pipe wall cleaning device in the water tank according to claim 1, characterized in that: The docking part (11) is provided with a locking hole (111), and the walking robot (10) is provided with a docking groove (101) for the docking part (11) to be inserted. The electric locking mechanism (5) includes a locking tongue (51) and a locking and releasing drive assembly (52). The locking tongue (51) is movably disposed on the side wall of the docking groove (101). The locking and releasing drive assembly (52) is disposed on the walking robot (10) and connected to the locking tongue (51) for driving the locking tongue (51) to insert into and move out of the locking hole (111). The locking and releasing drive assembly (52) is connected to the control center signal.

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

4. The water pipe wall cleaning device in the water tank according to claim 3, characterized in that: The card release drive assembly (52) includes a cam (521) and a card release motor, both mounted 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 card tongue (51) abuts against the cam (521). The card release motor is connected to the control center signal.

5. The water pipe wall cleaning device in the water tank according to claim 4, characterized in that: Two slots (111) are provided, located on both sides of the docking part (11). Two tongues (51) are provided, located on both sides of the docking groove (101). Each tongue (51) is provided with a push rod (511), which abuts against the cam (521).

6. The water pipe wall cleaning device in the water tank according to claim 1, characterized in that: The opening and closing drive mechanism (4) includes a slider (41) and a linear drive assembly (42). The slider (41) is slidably mounted on the cleaning seat (1). The linear drive assembly (42) is mounted on the cleaning seat (1) and is used to drive the slider (41) to slide. Each of the half-hoops (2) and the slider (41) are hinged with a connecting rod (43). The linear drive assembly (42) is connected to the control center signal.

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

8. A cleaning method for a water pipe wall cleaning device according to any one of claims 1 to 7, characterized in that, 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). The control center makes the walking robot (10) walk to the designated position at a distance from the water pipe (6) according to the detection structure of the position sensor. S3. The control center controls the opening and closing drive mechanism (4) to open the two half-hoops (2); S4. The control center controls the walking robot (10) to walk until the water pipe (6) enters between the two half-hoops (2); S5. The control center controls the opening and closing drive mechanism (4) to close the two half-hoops (2), thereby making the cleaning assembly (3) press against the wall of the water pipe (6); S6. The control center causes the electric locking mechanism (5) to release its locking 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 propeller (21) to run, 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 propeller (21) to run, 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) docks with the docking unit (11); S11, The control center causes the electric locking mechanism (5) to apply a locking action to the docking part (11); S12, The control center controls the opening and closing drive mechanism (4) to open the two half-hoops (2); S13. The control center controls the walking robot (10) to walk, driving the pipe wall cleaning mechanism to the next location.

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