阅读说明：本技术 一种用于多尺寸内径管道内壁清洗的装置 (Be used for abluent device of many sizes internal diameter pipeline inner wall ) 是由 杨焕 曹宇 郑秀宏 何承志 王萌 李春波 杨灿 伍叶全 于 2021-09-17 设计创作，主要内容包括：本发明提供了一种用于多尺寸内径管道内壁清洗的装置,包括运动控制单元和激光传输扫描单元；所述运动控制单元包括可移动主机平台、垂直固定支杆、水平支杆、第一伺服电机和第一滚珠丝杆；所述激光传输扫描单元包括光纤激光器、传输光纤、激光头、支架、凹透镜、凸透镜、第二伺服电机、第二滚珠丝杆、丝杠滑块、镜架、反射镜、反射镜架、扫描振镜、锥反镜、石英罩、支板和可调节旋钮。本发明采用新颖的基于前聚焦振镜系统的管道内表面激光清洗新技术,结合锥反镜将激光焦平面转换成为沿管道内侧的环形面,巧妙地将三维曲面加工分解成二维扫描,将整个加工过程进行简化,解决了传统激光清洗技术难以应用于管道内表面清洗的瓶颈难题。(The invention provides a device for cleaning the inner wall of a pipeline with multiple inner diameters, which comprises a motion control unit and a laser transmission scanning unit, wherein the motion control unit is connected with the laser transmission scanning unit; the motion control unit comprises a movable host platform, a vertical fixed supporting rod, a horizontal supporting rod, a first servo motor and a first ball screw; the laser transmission scanning unit comprises a fiber laser, a transmission fiber, a laser head, a support, a concave lens, a convex lens, a second servo motor, a second ball screw, a screw rod sliding block, a mirror bracket, a reflecting mirror bracket, a scanning vibrating mirror, a cone reflecting mirror, a quartz cover, a support plate and an adjustable knob. The invention adopts a novel pipeline inner surface laser cleaning technology based on a front focusing galvanometer system, combines a cone reflecting mirror to convert a laser focal plane into an annular surface along the inner side of the pipeline, ingeniously processes and decomposes a three-dimensional curved surface into two-dimensional scanning, simplifies the whole processing process, and solves the bottleneck problem that the traditional laser cleaning technology is difficult to be applied to pipeline inner surface cleaning.)

1. The device for cleaning the inner wall of the pipeline with the inner diameters of multiple sizes is characterized by comprising a motion control unit and a laser transmission scanning unit;

the motion control unit comprises a movable host platform (1), a vertical fixed support rod (2), a horizontal support rod (3), a first servo motor (4) and a first ball screw (5);

the laser cleaning device is characterized in that the vertical fixed supporting rod (2) is fixed on the movable host platform (1), the horizontal supporting rod (3) is located at the central axis of the laser cleaning pipeline (20), the first servo motor (4) is fixed on the horizontal supporting rod (3) and is connected with one end of the first ball screw (5) through a coupler, the first ball screw (5) is connected with the vertical fixed supporting rod (2) through a screw rod sliding block, and the first ball screw (5) is driven by the first servo motor (4) to enable the horizontal supporting rod (3) to move horizontally;

the laser transmission scanning unit comprises a fiber laser (6), a transmission fiber (7), a laser head (8), a support (9), a concave lens (10), a convex lens (14), a second servo motor (11), a second ball screw (12), a screw rod sliding block (13), a mirror frame (15), a reflecting mirror (17), a reflecting mirror frame (18), a scanning galvanometer (19), a cone reflecting mirror (21), a quartz cover (22), a support plate (23) and an adjustable knob (24);

the optical fiber laser (6) is fixedly installed on the movable host platform (1), a laser beam (16) is guided into the laser head (8) through a transmission optical fiber (7), the transmission optical fiber (7) is fixed on the horizontal supporting rod (3), the laser head (8) is fixed on the horizontal supporting rod (3) through a support (9), and the laser beam (16) is emitted by the laser head (8), expanded by the concave lens (10) and focused by the convex lens (14); the concave lens (10) is arranged on the ball screw (12) through a screw rod sliding block (13), the convex lens (14) is fixed on the horizontal supporting rod (3) through a lens bracket (15), and the distance between the concave lens (10) and the convex lens (14) can be controlled by driving the second ball screw (12) to rotate through a second servo motor (11) fixed on the horizontal supporting rod (3), so that the focusing angle of the laser beam (16) after passing through the convex lens (14) is controlled, and the final spot size and the final focusing position of the laser beam (16) are controlled;

the scanning galvanometer (19) is arranged at one end of the horizontal support rod (3), and the zero optical axis of the scanning galvanometer (19) is superposed with the central axis of the electric horizontal support rod (3);

the reflecting mirror (17) is fixedly arranged on the scanning galvanometer (19) through a reflecting mirror bracket (18), a laser beam (16) axially transmitted along the pipeline (20) is reflected by the reflecting mirror (17) to enter the scanning galvanometer (19), and the movement control of a focusing light spot of the laser beam (16) is realized through the scanning galvanometer (19);

the conical reflecting mirror (21) is conical, the conical surface is plated with a reflecting film, and the reflecting film requires that the reflectivity of the laser beam (16) is higher than 99.5%; after a focused light beam emitted by the scanning galvanometer (19) is reflected by the cone reflecting mirror (21) along the radial direction of the pipeline (20), the focusing of the light beam on the inner wall of the pipeline (20) is realized;

the quartz cover (22) is a quartz tube with a single-side opening and the other side being closed, the transmittance of the side wall to a laser beam (16) is higher than 99%, the closed end on the right side of the quartz cover (22) is used for fixing the cone reflecting mirror (21), the open end on the left side of the quartz cover (22) is connected with two adjustable knobs (24), one adjustable knob (24) is directly fixed on the scanning galvanometer (19), the other adjustable knob (24) is fixed on the scanning galvanometer (19) through a support plate (23), and the distance between the cone reflecting mirror (21) and the scanning galvanometer (19) can be controlled through the adjustable knob (24), so that the cleaning of pipelines with different inner diameter sizes is realized.

Technical Field

The invention belongs to the technical field of laser processing, and particularly relates to a device for cleaning the inner wall of a pipeline with multiple sizes and inner diameters, which is used for removing coatings, dirt, oxide layers and other harmful substances on the inner wall of the pipeline.

Background

The cleaning technology for the inner surface of the pipeline is widely applied to the fields of maintenance of equipment in current life or industrial production and the like. Such as the cleaning of the inner surface of a pipeline of urban water supply and heating equipment, the cleaning of modern industrial oil pipelines and chemical reaction pipelines, the cleaning of bonding residues in the bore of a gun barrel, the cleaning of radiation of a nuclear reaction circulating pipeline and the like. The laser technology has the advantages of high cleaning quality, no material consumption, high efficiency, no pollution to waste water and the like, and gradually replaces the traditional cleaning technology of the inner wall of the pipeline, such as dry ice spraying cleaning, gas blasting cleaning, high-pressure water jet cleaning, chemical acid cleaning and the like.

The common characteristic of the application cases of the laser cleaning engineering is that the cleaned object has an open surface which is easy to perform laser filling scanning, and for the inner surface of the pipeline, the pipe diameter size and the non-open type rotary inner wall shape are limited, and a common laser cleaning processing head is difficult to extend into the pipeline due to the large size of a complex beam scanning movement mechanism. The existing pipeline inner wall laser cleaning technology generally adopts a free-form surface projection type laser splicing processing scheme or a processing scheme of matching pipeline rotation with galvanometer scanning, wherein the scheme needs to acquire point cloud data of the pipeline inner wall, splicing cleaning processing needs to be adopted for the large-area pipeline inner wall, time is consumed, the requirement on splicing accuracy is high, and the processing cost is increased; in the latter scheme, the inner wall of the pipe is cleaned by completely depending on the rotation of the pipeline driven by the servo motor, and the scheme has low processing efficiency due to the limitation of the rotation speed of the pipeline and cannot achieve the aim of efficiently cleaning the inner wall. And some pipelines are inconvenient to disassemble, and the scheme is limited by certain application objects.

Disclosure of Invention

Aiming at the defects of the existing laser cleaning technology, the invention provides a device for cleaning the inner wall of a pipeline with multiple sizes and inner diameters; the novel pipeline inner surface laser cleaning technology based on the front focusing galvanometer system is adopted, a cone reflecting mirror is combined to convert a laser focal plane into an annular surface along the inner side of a pipeline, three-dimensional curved surface processing is ingeniously decomposed into two-dimensional scanning, the problem of how to decompose and process complex curved surfaces is solved, a laser scanning head is driven to move longitudinally through an external platform, layer-by-layer annular scanning along the longitudinal depth of the pipeline can be realized, the technology completely abandons the idea of traditional three-dimensional processing, the whole processing process is simplified, a processing head is not needed or the pipeline spins in the whole processing process, and the bottleneck problem that the traditional laser cleaning technology is difficult to apply to pipeline inner surface cleaning is solved.

The invention is realized by the following technical scheme:

a device for cleaning the inner wall of a pipeline with multiple inner diameters comprises a motion control unit and a laser transmission scanning unit;

the motion control unit comprises a movable host platform, a vertical fixed supporting rod, a horizontal supporting rod, a first servo motor and a first ball screw;

the laser cleaning device comprises a movable host platform, a vertical fixed support rod, a horizontal support rod, a first servo motor, a first ball screw, a screw rod slide block, a second ball screw, a second servo motor, a second ball screw and a third servo motor, wherein the vertical fixed support rod is fixed on the movable host platform, the horizontal support rod is positioned at the central axis of a laser cleaning pipeline, the first servo motor is fixed on the horizontal support rod and is connected with one end of the first ball screw through the coupling, the first ball screw is connected with the vertical fixed support rod through the screw rod slide block, and the first servo motor drives the first ball screw to enable the horizontal support rod to move horizontally;

the laser transmission scanning unit comprises a fiber laser, a transmission fiber, a laser head, a support, a concave lens, a convex lens, a second servo motor, a second ball screw, a screw rod sliding block, a mirror bracket, a reflecting mirror bracket, a scanning galvanometer, a cone reflecting mirror, a quartz cover, a support plate and an adjustable knob;

the laser device is fixedly arranged on the movable host platform, laser beams are guided into the laser head through the transmission optical fibers, the transmission optical fibers are fixed on the horizontal supporting rod, the laser head is fixed on the horizontal supporting rod through a support, and the laser beams are emitted by the laser head, expanded through the concave lens and focused through the convex lens; the concave lens is arranged on the ball screw through the screw rod sliding block, the convex lens is fixed on the horizontal supporting rod through the mirror bracket, and the distance between the concave lens and the convex lens can be controlled by driving the second ball screw to rotate through a second servo motor fixed on the horizontal supporting rod, so that the focusing angle of the laser beam after passing through the convex lens is controlled, and the final light spot size and the final focusing position of the laser beam are controlled;

the scanning galvanometer is arranged at one end of the horizontal supporting rod, and a zero optical axis of the scanning galvanometer is superposed with a central axis of the electric horizontal supporting rod;

the reflecting mirror is fixedly arranged on the scanning galvanometer through a reflecting mirror bracket, a laser beam propagating along the axial direction of the pipeline enters the scanning galvanometer through reflection of the reflecting mirror, and the motion control of a laser beam focusing light spot is realized through the scanning galvanometer;

the conical reflecting mirror is conical, the conical surface is plated with a reflecting film, and the reflecting film requires that the reflectivity of the laser beam is higher than 99.5%; after a focused light beam emitted by the scanning galvanometer is reflected by the cone reflecting mirror along the radial direction of the pipeline, the focusing of the light beam on the inner wall of the pipeline is realized;

the quartz cover is a quartz tube with a single-side opening and the other side closed, the transmittance of the side wall to laser beams is higher than 99%, the closed end of the right side of the quartz cover is used for fixing the cone reflecting mirror, the open end of the left side of the quartz cover is connected with two adjustable knobs, one of the adjustable knobs is directly fixed on the scanning galvanometer, the other adjustable knob is fixed on the scanning galvanometer through a support plate, and the distance between the cone reflecting mirror and the scanning galvanometer can be controlled through the adjustable knobs, so that the pipelines with different inner diameter sizes are cleaned.

The invention has the following beneficial effects:

1. according to the invention, the laser focal plane is converted into the annular surface along the inner side of the pipeline through the cone reflecting mirror, the vibrating mirror is driven by combining the servo motor to move along the axial direction of the pipeline while performing annular scanning, so that the complex three-dimensional curved surface is ingeniously decomposed into two-dimensional graphs for processing, and the problem of how to decompose and process the complex curved surface is solved;

2. in the conventional laser cleaning system, the focal plane is an arc surface due to optical aberration of a focusing system, and the change of the size of a light spot in the scanning and cleaning process can cause different cleaning thicknesses of different areas;

3. the invention has two modes to realize the cleaning of the inner walls of pipelines with different inner diameters, the system has strong adaptability, one mode is that the position of a cone reflecting mirror is moved, the size of a laser focusing spot is not changed in the mode, the other mode is that a three-dimensional module of a vibrating mirror is adopted, the focusing position of the laser is changed by changing the focusing angle of the laser passing through the rear part of a convex lens in a front focusing system, and the size of the laser focusing spot is also changed in the mode;

4. according to the invention, the real-time control of the focusing position along the axial direction can be realized through the movement of the three-dimensional module of the galvanometer, the inner wall cleaning of an oval pipeline, a square pipeline or any irregular pipeline can be realized by converting a circular scanning pattern of the galvanometer into an irregular pattern of an oval, a square or any shape, and the system compatibility is strong;

5. according to the invention, the annular scanning is changed into partial arc scanning, and the cleaning of a local area at any position of the inner wall of the pipeline can be realized by changing the length of the arc, so that the cleaning difficulty caused by uneven distribution of pollutants is overcome, and the method has excellent adaptability;

5. the invention meets the technical requirements of cleaning the inner walls of various pipelines, and has the advantages of high precision, high cleaning efficiency, good processing quality, simple and clear equipment principle, good applicability and simple operation.

Drawings

FIG. 1 is a schematic structural diagram of an apparatus for cleaning the inner wall of a multi-sized inner diameter pipeline according to the present invention;

FIG. 2 is a schematic diagram of a cleaning strategy of the device for cleaning the inner wall of the multi-size inner diameter pipeline;

FIG. 3 is a first cleaning strategy after the inner diameter of the pipeline is changed;

FIG. 4 shows a second cleaning strategy after the change of the inner diameter of the pipeline.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; the components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations; the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in figures 1 and 2, the invention provides a device for cleaning the inner wall of a multi-size inner diameter pipeline, which comprises a motion control unit and a laser transmission scanning unit.

The motion control unit comprises a movable host platform 1, a vertical fixed supporting rod 2, a horizontal supporting rod 3, a first servo motor 4 and a first ball screw 5.

The movable host platform 1 is used for bearing the whole laser cleaning system, and a rubber wheel with a locking function is installed at the bottom of the platform, so that the whole system is simply moved and fixed.

The vertical fixing support rod 2 is fixed on the movable host platform 1, the horizontal support rod 3 is located at the central axis of the laser cleaning pipeline 20, the first servo motor 4 is fixed on the horizontal support rod 3 and connected with one end of the first ball screw 5 through a coupler, the first ball screw 5 is connected with the vertical fixing support rod 2 through a screw rod sliding block, and the first ball screw 5 is driven by the first servo motor 4 to enable the horizontal support rod 3 to move horizontally.

The laser transmission scanning unit comprises a fiber laser 6, a transmission fiber 7, a laser head 8, a support 9, a concave lens 10, a convex lens 14, a second servo motor 11, a second ball screw 12, a screw slide block 13, a mirror frame 15, a reflecting mirror 17, a reflecting mirror frame 18, a scanning galvanometer 19, a cone reflecting mirror 21, a quartz cover 22, a support plate 23 and an adjustable knob 24.

The optical fiber laser 6 is fixedly installed on the movable host platform 1, laser beams 16 are guided into the laser head 8 through the transmission optical fibers 7, the transmission optical fibers 7 are fixed on the horizontal supporting rod 3, the laser head 8 is fixed on the horizontal supporting rod 3 through a support 9, the laser beams 16 are expanded through the concave lens 10 after being emitted out through the laser head 8 and then are focused through the convex lens 14, the concave lens 10 is installed on the ball screw 12 through the screw rod sliding block 13, the convex lens 14 is fixed on the horizontal supporting rod 3 through the mirror bracket 15, the second ball screw 12 is driven by the second servo motor 11 fixed on the horizontal supporting rod 3 to rotate to control the distance between the concave lens 10 and the convex lens 14, so that the focusing angle of the laser beams 16 after passing through the convex lens 14 is controlled, and the final spot size and the focusing position of the laser beams 16 are controlled.

The scanning galvanometer 19 is shown mounted at one end of the horizontal strut 3, and the zero optical axis of the scanning galvanometer 19 coincides with the central axis of the motorized horizontal strut 3.

The reflector 17 is fixed on the scanning galvanometer 19 through a reflector bracket 18, the laser beam 16 axially transmitted along the pipeline 20 is reflected by the reflector 17 to enter the scanning galvanometer 19, and the movement control of the focusing light spot of the laser beam 16 is realized through the scanning galvanometer 19.

The cone-shaped reflecting mirror 21 is cone-shaped, a reflecting film with extremely high reflectivity (the reflectivity is higher than 99.5%) to the laser beam 16 is plated on the cone surface, and the focusing light beam emitted by the scanning vibrating mirror 19 is reflected by the cone-shaped reflecting mirror 21 along the radial direction of the pipeline 20, so that the focusing of the light beam on the inner wall of the pipeline 20 is realized.

The quartz cover 22 is a quartz tube with a single-side opening and the other side being closed, the side wall has extremely high transmittance (the transmittance requirement is higher than 99%) to the laser beam 16, the right closed end of the quartz cover 22 is used for fixing the cone reflecting mirror 21, the left open end of the quartz cover 22 is connected with two adjustable knobs 24, one adjustable knob 24 is directly fixed on the scanning galvanometer 19, the other adjustable knob 24 is fixed on the scanning galvanometer 19 through a support plate 23, the distance between the cone reflecting mirror 21 and the scanning galvanometer 19 can be controlled through the adjustable knob 24, so that the cleaning of the pipelines with different inner diameter sizes is realized, when the distance between the two is far, the inner diameter of the corresponding pipeline 20 is small, and when the inner diameter of the pipeline 20 is increased, the distance between the cone reflecting mirror 21 and the scanning galvanometer 19 can be reduced.

The specific steps of cleaning the dirt on the inner wall of the pipeline by using the device are as follows:

(1) horizontally placing and fixing the pipeline 20 to enable the horizontal support rod 3 to be positioned at the central shaft of the pipeline 20;

(2) adjusting an adjustable knob 24 according to the inner diameter data of the pipeline 20, and controlling the distance between the cone reflecting mirror 21 and the scanning galvanometer 19, so that the facula of the laser beam 16 is focused on the inner wall of the pipeline 20, as shown in fig. 3; or the second servo motor 11 is controlled according to the inner diameter data of the pipeline 20 to adjust the distance between the concave lens 10 and the convex lens 14, thereby controlling the focusing angle of the laser beam 16 after passing through the convex lens 14, and enabling the spot of the laser beam 16 to be focused on the inner wall of the pipeline 20, as shown in fig. 4.

(3) The first servo motor 4 is controlled by a program to drive the horizontal support rod 3 to move, so that the focal plane of the laser beam 16 is positioned at the starting point of the dirt 25, the laser beam 16 is emitted, the scanning galvanometer 19 is started, the focused light spot of the laser beam 16 is controlled to do annular movement, the focused light spot is scanned on the inner wall of the pipeline 20, and the dirt 25 is removed. If the pipeline 20 is a square pipeline or an oval pipeline, in the cleaning process, in a single annular scanning period of the laser beam 16, the second servo motor 11 can be controlled to move to drive the concave lens 10 to move back and forth, so that the control of the focusing angle of the laser beam 16 after passing through the convex lens 14 is realized, further the real-time control of the radial position of a focusing spot along the pipeline 20 is realized, the focusing track of the laser beam 16 is changed into a square or circular arc shape from a circular ring, and the cleaning of the inner wall of the square or oval pipeline is realized.

(4) After the pipeline is replaced and cleaned, when the inner diameter of the pipeline 20 changes, the steps from (2) to (3) are repeated, and high-quality cleaning of the inner wall of the pipeline can be realized.

The invention may be modified in many ways, which will be apparent to a person skilled in the art, without such modifications being considered as a departure from the scope of the invention. All such modifications as would be obvious to one skilled in the art are intended to be included within the scope of this claim.