Automatic derusting and collecting device for vertical line pipe of hydropower station dam

Abstract

The invention relates to the technical field of vertical line pipe rust removal, and particularly discloses an automatic rust removal and collection device for a vertical line pipe of a hydropower station dam. The walking element is located at the end of the rust removal element; the collecting element is used for blocking the bottom end of the vertical line pipe; wherein the walking element is in transmission fit with the rust removal element and used for driving the rust removal element to stably move in the axial direction of the vertical line pipe so as to achieve rust removal operation of the rust removal element on different areas of the inner wall of the vertical line pipe, and a closed rust slag bearing space is formed through a magnetic attraction type sealing bearing structure of the collecting element in combination with the lower bearing type rust slag collecting design; all rust slag shoveled by the rust removal element can be accurately received, the problem that the rust slag freely falls to pollute a precision monitoring instrument below the vertical line pipe is solved, monitoring data deviation or instrument damage caused by the rust slag is avoided, and continuous and reliable operation of a dam safety monitoring system is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of rust removal technology for vertical pipes, and in particular to an automatic rust removal and collection device for vertical pipes in hydropower station dams. Background Technology

[0002] The vertical pipe of the power station dam is a core infrastructure of the dam safety monitoring system. Its inner wall is in a humid and dusty enclosed environment for a long time, making it extremely susceptible to corrosion. Corrosion not only leads to a reduction in the inner diameter of the pipe and a decrease in structural strength, but it can also cause rust slag to fall off, directly contaminating the precision monitoring instruments located below the pipe, affecting the accuracy of monitoring data, and thus threatening the safe operation of the dam.

[0003] Currently, rust removal operations on vertical pipes of hydropower station dams mainly rely on traditional methods and some existing technical solutions, but all of them have significant drawbacks: manual rust removal using wire brushes or chemical agents is not only inefficient and labor-intensive, but also incomplete and prone to omissions, and chemical agents can cause secondary pollution; some publicly available rust removal devices for water conservancy engineering pipe fittings, such as those using dust bags to collect rust residue, suffer from low collection efficiency and insufficient capacity in deep and long vertical pipes tens of meters deep; devices using water spraying or high-pressure gas blowing cause rust dust to fly and the vertical pipe to sway, and the water flow may damage the monitoring instruments below, making them unsuitable for the operation scenario of closed vertical pipes; there are also rust removal devices designed for short or horizontal pipes, but they lack specific designs for stable positioning and reliable movement in deep and long vertical pipes, making it difficult to meet the special operational needs of dam vertical pipes. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that corrosion not only leads to a reduction in the inner diameter of the pipe and a decrease in structural strength, but may also cause rust residue to fall off and directly contaminate the precision monitoring instruments located below the pipe.

[0005] The above-mentioned technical problems are solved by the following technical solution: The present invention proposes an automatic rust removal and collection device for the vertical pipe of a hydropower station dam, which includes a walking element; A rust-removing element, wherein the traveling element is located at the end of the rust-removing element; and A collecting element for sealing the bottom end of a vertical pipe; The traveling element is driven by the rust removal element and is used to drive the rust removal element to move stably along the axial direction of the vertical pipe, so as to realize the rust removal operation of the rust removal element on different areas of the inner wall of the vertical pipe; the collecting element is adapted to be installed at the bottom of the vertical pipe body, and forms a rust slag receiving space through a sealing fit with the inner wall of the vertical pipe body, so as to accurately receive the rust slag removed by the rust removal element from the pipe wall and prevent the rust slag from scattering and contaminating the equipment inside the vertical pipe body.

[0006] In a preferred embodiment of the automatic rust removal and collection device for the vertical pipe of a hydropower station dam according to the present invention: the traveling element includes a housing, the housing is divided into two parts surrounding the middle steel wire, and the two housings are fixed together by screws.

[0007] In a preferred embodiment of the automatic rust removal and collection device for vertical pipes of hydropower station dams described in this invention: a telescopic cylinder is provided on the side wall of the housing, and the telescopic cylinder drives the slider to move within the stroke range of the slide groove, and the slider slides to drive the connecting rod to move.

[0008] In a preferred embodiment of the automatic rust removal and collection device for vertical pipes of hydropower station dams described in this invention: the end of the connecting rod away from the slider is connected to the walking track, and one end of the walking track is connected to the housing, and the walking track is driven by a drive motor.

[0009] In a preferred embodiment of the automatic rust removal and collection device for the vertical pipe of a hydropower station dam according to the present invention: the rust removal element includes a servo motor disposed on the side wall of the housing, a drive gear is installed at the output end of the servo motor, and a driven gear meshing with the drive gear is disposed on the side wall of the drive gear.

[0010] In a preferred embodiment of the automatic rust removal and collection device for the vertical pipe of a hydropower station dam described in this invention: a through hole is provided in the middle position of the driven gear for wrapping the middle steel wire, and the driven gear can drive the disc to rotate synchronously when it rotates.

[0011] In a preferred embodiment of the automatic rust removal and collection device for vertical pipes of hydropower station dams described in this invention: a cleaning brush is installed on the circumferential sidewall of the disc body, and the cleaning brush is distributed in a circular array with the midpoint of the disc body. When the disc body rotates, it can drive the cleaning brush to perform rust removal operation on the inner wall of the vertical pipe body.

[0012] In a preferred embodiment of the automatic rust removal and collection device for vertical pipes of hydropower station dams described in this invention: the collection element includes a receiving plate, which is disposed at the bottom end of the vertical pipe body and is detachably connected to the vertical pipe body by magnetic attraction, for receiving rust residue generated during rust removal operations.

[0013] In a preferred embodiment of the automatic rust removal and collection device for vertical pipes of hydropower station dams described in this invention: a camera and a control module are provided on the side wall of the housing; the signal output terminal of the camera is electrically connected to the signal input terminal of the control module; the control module is used to receive the pipe operation image information collected by the camera and transmit the information to an external mobile phone terminal to realize remote monitoring of the operation status.

[0014] In a preferred embodiment of the automatic rust removal and collection device for vertical pipes of hydropower station dams described in this invention: the control module is also electrically connected to the drive motor of the walking element, the telescopic cylinder, and the servo motor of the rust removal element, for receiving control commands from an external mobile phone terminal, adjusting the operating parameters of the drive motor, the telescopic cylinder, and the servo motor, and realizing remote automated control of the device.

[0015] The beneficial effects of this invention are as follows: by using the magnetic sealing and receiving structure of the collecting element, combined with the bottom-bearing rust collection design, a closed rust collection space is formed, which can accurately collect all the rust removed by the rust removal element, reduce the problem of rust falling freely and contaminating the precision monitoring instruments below the vertical pipe, avoid monitoring data deviation or instrument damage caused by rust, ensure the continuous and reliable operation of the dam safety monitoring system, and effectively solve the core technical problem of asynchronous rust removal and collection in the prior art.

[0016] Addressing the unique challenges of deep, narrow, and centrally located vertical pipes in hydropower dams, this invention utilizes telescopic and adjustable tracks and a centering design in its walking components to adapt to vertical pipes of varying diameters and ensure stable axial movement. The rust-removing components, with their encircling cleaning brush array and adjustable-speed servo motor, achieve uniform rust removal across the entire circumference and length of the pipe wall, avoiding omissions caused by manual rust removal or traditional methods. Furthermore, the through-hole design avoids the central steel wire, eliminating structural interference and effectively resolving the shortcomings of existing devices that struggle to adapt to long, vertical pipes and achieve incomplete rust removal.

[0017] This invention integrates a camera and a control module to build a remote monitoring and control system. Operators can observe the rust removal effect and adjust the travel speed and rust removal speed in real time via their mobile phones without entering the pipe or having close contact with the work area. This significantly reduces the labor intensity of manual labor and the safety risks of working at heights and in confined spaces. At the same time, the automated operation mode is 3-5 times more efficient than manual rust removal, reduces manpower input, lowers long-term operation and maintenance costs, and solves the problems of low efficiency, high risk and poor economy of traditional manual rust removal.

[0018] This invention utilizes a servo motor with stepless speed regulation to precisely control the rust removal intensity based on the thickness of the pipe wall rust, avoiding excessive grinding that could damage the pipe body. The lightweight aluminum alloy shell and wear-resistant track design of the walking element prevents it from scratching the pipe wall during movement. The magnetic installation of the collecting element 3 eliminates the need for drilling, welding, or other modifications to the vertical pipe, maximizing the protection of the original pipe structure's integrity, reducing secondary damage caused by rust removal operations, and extending the overall service life of the vertical pipe in the hydropower station dam.

[0019] The walking element of this invention adopts a detachable shell design, which facilitates assembly and debugging at the inlet of the vertical pipe and is compatible with intermediate steel wires of different diameters. The magnetic detachable structure of the collecting element makes installation and rust removal simple and requires no special tools. The control module supports wireless communication, adapts to the complex signal environment of the dam, and can be quickly switched for rust removal operations on different vertical pipes. It has strong versatility and solves the problems of complex installation and poor scene adaptability of existing special devices, meeting the batch operation and maintenance needs of multiple vertical pipes in hydropower stations. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 A schematic diagram of the overall structure of an automatic rust removal and collection device for vertical pipes of hydropower station dams is shown. Figure 2 A schematic diagram of the walking element, rust removal element, and collection element of an automatic rust removal and collection device for vertical pipes of hydropower station dams is shown. Figure 3 A side view of the structure of the walking element, the rust removal element, and the collection element of the automatic rust removal and collection device for the vertical pipe of a hydropower station dam is shown; Figure 4 A schematic diagram of the rust removal element drive results is shown in the automatic rust removal and collection device used for the vertical pipe of a hydropower station dam. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0022] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terminology used in this specification should not be construed as simple names, but rather based on the meaning of the terms and the overall description of the invention.

[0023] Reference Figures 1-2This embodiment provides an automatic rust removal and collection device for vertical pipes in hydropower station dams. Specifically designed for vertical pipes in hydropower station dams that can reach depths of tens of meters, have narrow internal spaces, and contain precision monitoring instruments, this device aims to solve the technical pain points of existing rust removal devices, such as difficulty in adapting to long vertical pipes, easy contamination of equipment by rust, and high risks associated with manual operation. It achieves integrated operation of automated rust removal, simultaneous rust collection, and remote visual control. The device comprises three core components: a traveling element 1, a rust removal element 2, and a collection element 3. These components work together to efficiently clean and protect the inner wall of the vertical pipe.

[0024] Walking component 1; Rust removal element 2 and traveling element 1 are located at the end of rust removal element 2. They are connected via a mechanical transmission structure. Their core function is to provide stable moving power along the axial direction of the vertical pipe, ensuring that rust removal element 2 can cover all rust-removing areas on the inner wall of the vertical pipe from top to bottom, avoiding missed rust removal or excessive localized grinding due to unstable movement. The collecting element 3 is used to seal the bottom of the vertical pipe. As a dedicated receiving structure for rust, it forms a closed rust receiving space through a sealing fit with the inner wall of the vertical pipe body 4. It can accurately receive the rust removed from the pipe wall by the rust removal element 2, including blocky rust scale and powdery rust dust, etc., reducing the free fall of rust and contamination of the monitoring instruments inside the vertical pipe body 4, such as displacement sensors and settlement monitors, and ensuring the continuous and reliable operation of the dam safety monitoring system.

[0025] The traveling element 1 is driven by the rust removal element 2, which is used to drive the rust removal element 2 to move stably along the axial direction of the vertical pipe, so as to realize the rust removal operation of the rust removal element 2 on different areas of the inner wall of the vertical pipe; the collecting element 3 is adapted to be installed at the bottom of the vertical pipe body 4, and forms a rust slag receiving space through a sealing fit with the inner wall of the vertical pipe body 4, which is used to accurately receive the rust slag removed from the pipe wall by the rust removal element 2, and avoid the rust slag from falling and contaminating the equipment inside the vertical pipe body 4.

[0026] Reference Figures 2-3 As an optional embodiment, the walking element 1 includes a housing 11, which is divided into two parts surrounding the central steel wire 12. The two housings 11 are fixed together by screws. The housing 11 is made of high-strength aluminum alloy, which combines lightweight and impact resistance, making it suitable for operation in narrow spaces inside pipes. The overall structure consists of two symmetrical half-shells. When the two half-shells are closed, they can surround the central steel wire 12 inside the vertical pipe. The two housings 11 are detachably fixed together by high-strength screws. This detachable structure facilitates the installation and debugging of the device at the entrance of the vertical pipe, and can accommodate central steel wires 12 of different diameters, ranging from 2 to 15 mm, thus avoiding device jamming due to differences in the diameter of the central steel wire 12.

[0027] A telescopic cylinder 13 is provided on the side wall of the housing 11. The telescopic cylinder 13 drives the slider 14 to move within the stroke range of the slide groove. The slider 14 slides and drives the connecting rod 15 to move. Two sets of telescopic cylinders 13 are symmetrically arranged on the outer side wall of the housing 11. Small micro cylinders are selected, with a cylinder diameter of 20-30mm and a stroke of 10-20mm, which are suitable for the limited installation space inside the pipe. The piston rod end of each set of telescopic cylinders 13 is fixedly connected to the slider 14, and the slider 14 slides within the pre-set slide groove on the side wall of the housing 11. The slide groove adopts a linear guide rail structure to ensure the movement accuracy of the slider 14. One end of the connecting rod 15 is hinged to the slider 14 by a pin, and the other end is connected to the slide groove. The support of the track 16 is hinged, and one end of the track 16 is rotatably connected to the housing 11 through a rotating shaft. When the piston rod of the telescopic cylinder 13 extends or retracts, it can drive the slider 14 to move back and forth along the slide groove. The slider 14 further pushes the track 16 to rotate around the rotating shaft through the connecting rod 15, thereby adjusting the contact pressure between the track 16 and the inner wall of the vertical pipe, adapting to different pipe diameters, such as vertical pipes of 100-300mm, ensuring that the track 16 is always in close contact with the pipe wall and avoiding slippage.

[0028] The end of the connecting rod 15 furthest from the slider 14 is connected to the walking track 16, and one end of the walking track 16 is connected to the housing 11. The walking track 16 is driven by the drive motor 17. The drive motor 17 is a DC geared motor with a rated voltage of 24V, a speed of 50-100rpm, and an output torque of 5-10N·m, which meets the requirements for low-speed stable travel inside the pipe. Its output shaft is connected to the drive wheel of the walking track 16 through a coupling. When the drive motor 17 starts, it can drive the drive wheel of the walking track 16 to rotate, thereby driving the walking track 16 to travel at a constant speed along the inner wall of the vertical pipe. The traveling speed can be steplessly adjusted from 0.5-2m / min through the subsequent control module 6 to adapt to the pipe wall cleaning needs of different degrees of rust. The speed can be reduced in severely rusted areas to ensure thorough rust removal; the speed can be increased in lightly rusted areas to improve work efficiency.

[0029] Reference Figures 2-4In one embodiment provided in this application, the rust removal element 2 includes a servo motor 21 disposed on the side wall of the housing 11, a drive gear 22 is installed at the output end of the servo motor 21, and a driven gear 23 meshing with the drive gear 22 is disposed on the side wall of the drive gear 22. The servo motor 21 is a high-precision servo motor with a rated power of 300-500W, an adjustable speed of 0-1500rpm, and a control accuracy of ±0.1rpm, ensuring uniform rust removal force. It is fixedly installed on the side wall of the housing 11 by a motor bracket, and the motor output shaft is set radially along the vertical tube. The drive gear 22 is fixedly installed on the output end of the servo motor 21 by a key connection, and the drive gear 22 meshes with the driven gear 23. The gear module is 1-2mm and the number of teeth is 20-30, ensuring smooth transmission and low noise. A through hole 27 is opened in the middle of the driven gear 23. The diameter of the hole is 2-5mm larger than the diameter of the middle steel wire 12 to avoid friction interference between the two. The through hole 27 is sleeved on the outside of the middle steel wire 12, and the driven gear 23 is rotatably connected to the housing 11 by a bearing. This design not only realizes the stable transmission of power from the servo motor 21 to the driven gear 23, but also avoids the middle steel wire 12 through the through hole 27, ensuring that the driven gear 23 can rotate freely around the middle steel wire 12 and avoid structural interference.

[0030] A through hole 27 is provided in the middle position of the driven gear 23 to wrap the middle steel wire 12. When the driven gear 23 rotates, it can drive the disc body 24 to rotate synchronously.

[0031] Cleaning brushes 25 are installed on the circumferential sidewalls of the disc body 24. The cleaning brushes 25 are arranged in a circular array around the midpoint of the disc body 24. When the disc body 24 rotates, it drives the cleaning brushes 25 to remove rust from the inner wall of the vertical pipe body 4. The disc body 24 is made of stainless steel, with a diameter 5-50mm smaller than the inner diameter of the vertical pipe to avoid collision with the pipe wall. One end face of the disc body 24 is fixedly connected to the end face of the driven gear 23 by bolts, rotating synchronously with the driven gear 23. The cleaning brushes 25 are made of high-carbon steel wire brushes with bristle lengths of 10-20mm and diameters of 0.2-0.3mm. They are wear-resistant and have strong rust-removing capabilities. They are evenly installed on the circumferential sidewalls of the disc body 24 via brush holders, and the cleaning brushes 25 are arranged in a circular array around the midpoint of the disc body 24, with 4-8 groups in the array to ensure... The servo motor 21 covers the entire circumference of the pipe wall. When the servo motor 21 is started, it drives the driven gear 23 to rotate through the drive gear 22. The driven gear 23 further drives the disc 24 and the cleaning brush 25 to rotate at high speed. The rotating cleaning brush 25 contacts the inner wall of the vertical pipe and can thoroughly remove the rust layer on the pipe wall, including oxide scale and loose rust. Since the speed of the servo motor 21 is adjustable, the speed can be adjusted according to the thickness of the rust on the pipe wall. When the rust is thick, 1000-1500 rpm can be selected, and when the rust is thin, 500-1000 rpm can be selected to avoid excessive grinding and damage to the pipe wall.

[0032] Reference Figures 1-3In some embodiments, the collecting element 3 includes a receiving plate 31, which is disposed at the bottom end of the vertical pipe body 4 and is detachably connected to the vertical pipe body 4 by magnetic attraction, for receiving rust residue generated during rust removal operations. The receiving plate 31 is made of stainless steel with a diameter that matches the inner diameter of the vertical pipe body 4, with an error of ±2mm. An annular groove is provided on its top edge, into which a wear-resistant sealing ring made of nitrile rubber is embedded. This ring is oil-resistant, aging-resistant, and suitable for the humid environment inside the pipe. The top surface of the receiving plate 31 also has 3-4 magnetic suction elements evenly distributed, using neodymium iron boron magnets with a suction force of 10-20kg to ensure a stable connection. The magnetic suction elements are embedded inside the receiving plate 31 and adhere to the metal wall of the vertical pipe body 4. This magnetic detachable connection method eliminates the need for drilling or welding modifications to the vertical pipe body 4, making installation and disassembly convenient. Simultaneously, the sealing ring 32 can tightly fit against the inner wall of the vertical pipe, forming a sealed rust-receiving space and preventing rust from leaking out from the gap between the receiving plate 31 and the pipe wall. The top surface of the receiving plate 31 has a funnel-shaped structure with a low center and high edges, and an inclination angle of 5-10°, which facilitates the collection of rust residue in the central area of ​​the receiving plate 31. After the rust removal operation is completed, the operator can remove the receiving plate 31 from the bottom of the plumb line pipe, directly clean the rust residue collected inside, and reinstall it after cleaning for the next operation. The operation is simple and the reuse rate is high.

[0033] A camera 5 and a control module 6 are installed on the side wall of the housing 11. The signal output terminal of the camera 5 is electrically connected to the signal input terminal of the control module 6. The control module 6 is used to receive the pipe operation image information collected by the camera 5 and transmit the information to an external mobile phone terminal to realize remote monitoring of the operation status. The camera 5 is a miniature industrial endoscope camera with a resolution of 1080P, a viewing angle of 120°, and night vision function, which is suitable for the dim environment inside the pipe. Its lens is pointed towards the inner wall of the vertical pipe, which can collect the rust removal process of the cleaning brush 25, the cleaning effect of the pipe wall, and the rust collection in real time. The signal output terminal of the camera 5 is electrically connected to the signal input terminal of the control module 6 through a shielded cable. The control module 6 has a built-in wireless communication module, such as a 4G or WiFi module, which is suitable for the complex signal environment of the dam. It can transmit the pipe operation image information collected by the camera 5 to an external mobile phone or computer monitoring platform in real time. Operators can remotely observe the rust removal effect without entering the pipe, and promptly find areas that have not been cleaned and adjust the operation parameters.

[0034] The control module 6 is also electrically connected to the drive motor 17 of the walking element 1, the telescopic cylinder 13, and the servo motor 21 of the rust removal element 2. It is used to receive control commands from an external mobile phone, adjust the operating parameters of the drive motor 17, the telescopic cylinder 13, and the servo motor 21, and realize remote automated control of the device. The control module 6 uses an industrial-grade PLC controller, such as the Siemens S7-200SMART, which has anti-interference capabilities and is suitable for the electromagnetic environment inside the pipe. Its signal output terminals are electrically connected to the drive motor 17 of the walking element 1, the telescopic cylinder 13, and the servo motor 21 of the rust removal element 2, respectively. The operator can send control commands via a mobile phone, such as adjusting the traveling speed, adjusting the rust removal speed, and adjusting the pressure of the walking track 16. After receiving the commands, the control module 6 drives the corresponding actuators to perform actions. For example, when a certain area is found to be severely rusted, a command to reduce the traveling speed and increase the rust removal speed can be sent. The control module 6 will then adjust the speed of the drive motor 17 to decrease and the speed of the servo motor 21 to increase, ensuring that the rust removal in that area is thorough. If abnormal situations such as device jamming occur, an emergency stop command can also be sent. The control module 6 will immediately cut off the power supply to each motor to ensure the safety of the device.

[0035] When the device is reused, the telescopic cylinder 13 is activated to move the slider 14 in the groove. The moving slider 14 causes the track 16 on the connecting rod 15 to press against the inner wall of the vertical tube. Then, the drive motor 17 is activated to move the track 16 inside the vertical tube. At the same time, the servo motor 21 is activated, which drives the drive gear 22 to rotate. The rotating drive gear 22 drives the driven gear 23 to rotate. The rotation of the driven gear 23 drives the cleaning brush 25 on the disc 24 to clean the inner wall of the vertical tube. Since there is a central steel wire 12 inside the vertical tube, the device is designed to surround the central steel wire 12. The rust generated during cleaning will fall into the receiving disc 31 and will not fall onto the precision monitoring instrument and damage or contaminate it.

[0036] The operator first installs the receiving plate 31 of the collecting element 3 onto the bottom end of the vertical pipe body 4 using magnetic attraction, ensuring that the sealing ring fits against the pipe wall; then, the two housings 11 of the traveling element 1 are closed and wrapped around the middle steel wire 12, and fixed with screws to complete the assembly of the device body; finally, the communication connection between the camera 5, the control module 6 and the external mobile phone is checked to confirm that the power supply of each component is normal.

[0037] The device sends parameter commands to the control module 6 via a mobile phone to set the contact pressure between the walking track 16 and the pipe wall, the device's traveling speed, and the rust removal speed. After receiving the commands, the control module 6 drives the telescopic cylinder 13 to move, so that the walking track 16 is in close contact with the pipe wall, thus completing the parameter debugging before operation.

[0038] The drive motor 17 and servo motor 21 are started, and the device moves upward (or downward) at a constant speed along the vertical pipe axis under the drive of the walking track 16. At the same time, the servo motor 21 drives the cleaning brush 25 to rotate at high speed to remove rust from the pipe wall. During the process, the camera 5 transmits the operation video in real time, and the operator monitors the rust removal effect through the mobile phone. If severe local rust is found, the travel speed can be remotely reduced to ensure thorough rust removal. The rust residue produced by rust removal falls into the receiving plate 31 at the bottom under the action of gravity and is collected by the sealed receiving space, so as not to contaminate the monitoring instruments below.

[0039] After the device completes the rust removal operation of the entire pipe section, a stop command is sent via mobile phone to shut down the drive motor 17 and servo motor 21. Then, the operator removes the receiving plate 31 from the bottom of the vertical pipe, cleans the internal rust, and checks whether the components of the device are intact. If other vertical pipes need to be operated, the above steps can be repeated without large-scale adjustments to the device, which significantly improves the efficiency of the operation.

[0040] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. An automatic rust removal and collection device for vertical pipes in hydropower station dams, characterized in that: include, Walking component (1); Rust removal element (2), wherein the traveling element (1) is located at the end of the rust removal element (2); and A collecting element (3) is used to seal the bottom end of the vertical pipe; The walking element (1) is driven and adapted to the rust removal element (2) to drive the rust removal element (2) to move stably along the axial direction of the vertical pipe, so as to realize the rust removal operation of the rust removal element (2) on different areas of the inner wall of the vertical pipe; the collecting element (3) is adapted to be installed at the bottom of the vertical pipe body (4), and forms a rust slag receiving space through the sealing cooperation with the inner wall of the vertical pipe body (4), so as to accurately receive the rust slag removed by the rust removal element (2) from the pipe wall, and avoid the rust slag from falling and polluting the equipment inside the vertical pipe body (4).

2. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 1, characterized in that: The walking element (1) includes a housing (11), which is divided into two parts surrounding the middle steel wire (12), and the two housings (11) are fixed together by screws.

3. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 2, characterized in that: The side wall of the housing (11) is provided with a telescopic cylinder (13). The telescopic cylinder (13) drives the slider (14) to move within the stroke range of the slide groove. The slider (14) slides and drives the connecting rod (15) to move.

4. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 3, characterized in that: The end of the connecting rod (15) away from the slider (14) is connected to the walking track (16), and the end of the walking track (16) is connected to the housing (11), and the walking track (16) is driven by the drive motor (17).

5. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 4, characterized in that: The rust removal element (2) includes a servo motor (21) disposed on the side wall of the housing (11). A drive gear (22) is installed at the output end of the servo motor (21), and a driven gear (23) meshing with the drive gear (22) is disposed on the side wall of the drive gear (22).

6. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 5, characterized in that: The driven gear (23) has a through hole (27) in the middle position for wrapping the middle steel wire (12). When the driven gear (23) rotates, it can drive the disc (24) to rotate synchronously.

7. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 6, characterized in that: The circumferential sidewall of the disc (24) is equipped with a cleaning brush (25). The cleaning brush (25) is arranged in a circular array with the center of the disc (24). When the disc (24) rotates, it can drive the cleaning brush (25) to perform rust removal on the inner wall of the vertical pipe body (4).

8. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 7, characterized in that: The collecting element (3) includes a receiving plate (31), which is located at the bottom end of the vertical pipe body (4) and is detachably connected to the vertical pipe body (4) by magnetic attraction, for receiving rust residue generated during rust removal operations.

9. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 8, characterized in that: The side wall of the housing (11) is provided with a camera (5) and a control module (6). The signal output terminal of the camera (5) is electrically connected to the signal input terminal of the control module (6). The control module (6) is used to receive the on-site operation information collected by the camera (5) and transmit the information to an external mobile phone terminal to realize remote monitoring of the operation status.

10. The automatic rust removal and collection device for vertical pipes of hydropower station dams according to claim 9, characterized in that: The control module (6) is also electrically connected to the drive motor (17) of the walking element (1), the telescopic cylinder (13) and the servo motor (21) of the rust removal element (2), and is used to receive control commands from an external mobile phone terminal, adjust the operating parameters of the drive motor (17), the telescopic cylinder (13) and the servo motor (21), and realize remote automated control of the device.

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