Portable Laser Cleaning Collaborative Operation Device for Complex Structures within Ship Restricted Areas

Abstract

A portable laser cleaning collaborative operation device for complex structures within a restricted area of a ship, comprising a pipe joint. The pipe joint is connected to a conduit, and the conduit is connected to another conduit through a connecting pipe, and they are connected in this way successively. The pipe joint and the conduit, as well as the conduit and the connecting pipe, are connected by a transmission device placed at the intersection inside the pipe. Optical path control devices are installed at the internal corner positions of the pipe joint, the conduit, and the connecting pipe. The end conduit is threadedly connected to the cleaning collaborative operation joint; Optical path control devices are installed at the internal corner positions of the pipe joint, the conduit, and the connecting pipe, which can ensure the stable reflection and transmission of the laser within the transmission pipe and ensure the stability of the transmission optical path. By controlling the reciprocating rotation of the reflecting mirror through the galvanometer motor in the end conduit, the laser cleaning area emitted through the light outlet hole can be changed from independent point cleaning to line scanning cleaning, and combined with the translation of the laser cleaning collaborative operation device to achieve surface scanning cleaning operation, greatly improving the laser cleaning efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of laser cleaning in the ship industry, and in particular to a portable laser cleaning collaborative operation device for complex structures in a restricted area of ​​a ship. Background Art

[0002] In recent years, as the pollutant emission standards of the shipping industry have become increasingly stringent, the high energy consumption and heavy pollution problems caused by ship construction and maintenance have become more prominent. The surface cleaning of the structure in the cabin is an important part of the pre-treatment process in the ship construction and emergency maintenance process, and it is also one of the most labor-intensive and polluting processes. Laser portable cleaning equipment has been widely used in the complex environment of ship cabins due to its advantages of portability, environmental protection, high efficiency and non-destructiveness.

[0003] However, unlike cleaning operations in open areas such as the outer wall of the hull, there are special restricted areas in the ship's cabin where various structural components and pipe equipment are intertwined and blocked by obstacles. The space is small and the accessibility of laser cleaning operations is poor. At the same time, in the process of cleaning the surfaces of typical complex ship components such as cabin longitudinal bones, shaft parts, T-profiles, etc., the instability of the laser cleaning gun's movement on the complex surface increases the difficulty of manual cleaning operations. It is difficult to ensure the vertical incidence of the laser on the surface of the structure to be cleaned and the stability of the laser focus position for a long time, and the best cleaning effect and cleaning efficiency cannot be achieved.

[0004] Therefore, during the portable laser cleaning operation on the complex structure surface in the restricted area of ​​the ship, how to accurately control the incident angle of the laser beam, maintain the stability of the focus position, reduce the intensity of manual labor, and improve the accessibility, stability, cleaning quality and efficiency of the portable laser cleaning equipment operation are important issues that need to be solved in the practical application of portable laser cleaning equipment in the field of ship construction and emergency maintenance. Summary of the invention

[0005] In view of the shortcomings in the above-mentioned existing production technologies, the applicant provides a portable laser cleaning collaborative operation device for complex structures in restricted areas of ships, thereby improving the accessibility of portable laser cleaning equipment in restricted areas of ships, maintaining the stability of the laser focus position during the cleaning of the surface of complex structures and accurately controlling the incident angle of the laser beam. The portable laser cleaning collaborative operation device for complex structures in restricted areas of ships is applied to portable laser cleaning operations in the fields of ship construction and emergency repair, which can significantly improve the accessibility and stability of portable laser cleaning equipment operations, improve cleaning quality and efficiency, and reduce manual labor intensity.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A portable laser cleaning collaborative operation device for complex structures within a restricted area of a ship, including a pipe joint. The pipe joint is connected to a conduit, and the conduit is connected to another conduit through a connecting pipe, and they are connected in this way successively. The pipe joint and the conduit, and the conduit and the connecting pipe are all connected by a transmission device placed at the intersection inside the pipe. Optical path adjustment devices are installed at the internal corner positions of the pipe joint, the conduit, and the connecting pipe. The end conduit is threadedly connected to the cleaning collaborative operation joint;

[0008] The structure of the cleaning collaborative operation joint is as follows: It includes a support plate. A through hole with the same diameter as the inner diameter of the connecting pipe is opened in the middle position of the support plate. A laser light outlet hole is fixedly installed on the outside of the support plate. Motor supports are fixed on the support plate on both sides of the laser light outlet hole. A first motor is installed on a single motor support. The output end of the first motor is connected to a connecting rod through a transmission gear. The middle and end of the connecting rod are connected to the bottom of a connecting cylinder and a support cylinder through a first pin shaft. The connecting cylinder and the support cylinder are connected through a second pin shaft. A moving roller is installed at the end of the support cylinder;

[0009] The structure of the transmission device is as follows: It includes a pipe rack. A motor platform is fixedly installed on the upper surface of the middle of the pipe rack. A second motor is installed on the motor platform. The output end of the second motor is connected to an external gear through a pin. A roller outer ring is sleeved on one end of the pipe rack. An annular turntable is installed on the pipe rack inside the roller outer ring. The annular turntable is arranged opposite to the roller outer ring, and balls are installed between the annular turntable and the roller outer ring. Positioning pin holes are opened on the inner wall of the conduit at the outer edge of the annular turntable. Telescopic positioning pins are installed in the positioning pin holes. The annular turntable and the conduit are axially fixed through the telescopic positioning pins. An external gear ring is installed on the pipe rack beside the annular turntable. An axial retaining ring is installed between the external gear ring and the motor platform. External threads for connecting the connecting pipe are machined on the outer surface of the other end of the pipe rack.

[0010] As a further improvement of the above technical solution:

[0011] The roller outer ring and the pipe rack are fixed by welding. Annular grooves are opened at the same inner diameter position on the roller outer ring and the annular turntable. The diameters of the two annular grooves are the same, and the inner diameter of the annular groove is 5 mm larger than the diameter of the ball. The ball contacts the inner walls of the annular grooves of the roller outer ring and the annular turntable, and the annular turntable rotates freely around the pipe rack.

[0012] The inner diameter of the external gear ring is larger than the outer diameter of the pipe rack. The external gear ring rotates freely around the pipe rack. The inner diameter of the conduit is equal to the outer diameter of the internal gear ring of the external gear ring, and the two are fixed by welding. The external gear ring of the external gear ring, the internal gear ring of the conduit, and the external gear of the second motor are connected by gears.

[0013] A notch is opened at the end of the connecting pipe, and internal threads are machined in the notch. The internal threads are connected to the external threads.

[0014] The optical path adjustment device is installed at the center position of the inner wall of the corners of the pipe joint, the conduit, and the connecting pipe.

[0015] The structure of the optical path adjustment device is as follows: It includes a rotating shaft support, which is fixed at the inner wall of the corner of the pipe joint, the conduit, and the connecting pipe. A galvanometer motor and a rotating shaft are installed on the rotating shaft support. A reflecting mirror is fixed on the rotating shaft, and the galvanometer motor is connected to the rotating shaft through an end galvanometer gear.

[0016] The acute angle between the initial position of the reflecting mirror and the axes of the pipe joint, the conduit, and the connecting pipe is 45°, and the reflecting mirror is flush with the center position of the light outlet hole in the vertical direction.

[0017] The outer diameters of the pipe joint, the conduit, and the connecting pipe are equal, and lithium-based lubricating, sealing, and waterproof grease is applied to the contact surfaces between the pipe joint and the conduit, and between the ends of the conduit and the connecting pipe.

[0018] The pipe joint, the conduit, the connecting pipe, the pipe support, the motor platform, the motor support, the support plate, the light outlet hole, and the connecting rod are all made of lightweight and easily bondable non-metallic materials.

[0019] The beneficial effects of the present invention are as follows:

[0020] The structure of the present invention is compact and reasonable, and the operation is convenient. The transmission device drives the outer gear through the second motor, and controls the relative rotation of the conduit and the connecting pipe through the outer gear ring and the inner gear ring, so that the portable laser cleaning collaborative operation device can freely rotate around the X, Y, and Z axes. Cooperating with the optical path adjustment device installed at the corner of the pipe joint, the conduit, and the connecting pipe, it can change the laser transmission path, while increasing the working distance of the conventional portable cleaning equipment, and improving the accessibility of the equipment for cleaning operations in complex restricted spaces on ships such as pipeline intersections and obstacle blockages. At the same time, by installing the outer ring of the roller and the axial retaining ring to limit the axial displacement of the outer gear ring and the annular turntable, the annular turntable is connected to the outer ring of the roller through the balls in their grooves. At the same time, the annular turntable is connected to the conduit through a telescopic positioning pin, and the connecting pipe is connected to the transmission device through a threaded connection. Therefore, while being able to limit the axial relative displacement between the conduit and the connecting pipe, the two can rotate relative to each other. Moreover, lithium-based lubricating, sealing, and waterproof grease is applied to the contact surfaces between the pipe joint and the conduit, and between the ends of the conduit and the connecting pipe, ensuring the internal sealing of the portable laser cleaning collaborative operation device while improving the stability and reliability of the device rotation.

[0021] Meanwhile, the present invention adjusts the telescopic lengths of two groups of connecting cylinders to change the angle between the connecting rod and the support cylinder, and cooperates with the first motor to adjust the opening angle of the connecting rod, so as to control the relative parallelism between the laser light outlet hole and the surfaces of typical complex structures of ships such as shaft parts and T-shaped profiles to be cleaned, make the laser beam vertically incident on the structure surface, realize the precise control of the incident angle of the laser beam, achieve the optimal cleaning effect and cleaning efficiency of the laser cleaning operation, and control the distance between the laser light outlet hole and the surface of the structure to be cleaned by adjusting the telescopic length of the support cylinder, thereby adjusting the laser focal length, so that the focal point position of the handheld cleaning device remains stable during long-term operation, ensuring the energy conversion rate and stable energy output of the laser at the optimal focal length, while improving the cleaning quality, efficiency and stability of the manually operated handheld cleaning device, reducing the operation difficulty and labor intensity of personnel.

[0022] The present invention installs optical path control devices at the internal corner positions of the pipe joint, conduit and connecting pipe, which can ensure the stable reflection and transmission of the laser in the transmission pipe and ensure the stability of the transmission optical path. By controlling the reciprocating rotation of the reflecting mirror by the galvanometer motor in the end conduit, the laser cleaning area emitted through the light outlet hole can be changed from independent point cleaning to line scanning cleaning, and surface scanning cleaning operation can be realized by cooperating with the translation of the laser cleaning collaborative operation device, greatly improving the laser cleaning efficiency.

[0023] The present invention is mainly applied to the cleaning operation of dirt such as rust on the surfaces of complex structures in restricted areas during shipbuilding and emergency repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the present invention.

[0025] Figure 2 is a schematic structural diagram (partial cross-section) of the present invention.

[0026] Figure 3 is a cross-sectional view of the connection position of the transmission device, conduit and connecting pipe of the present invention.

[0027] Figure 4 is a cross-sectional view of the optical path control device of the present invention.

[0028] Wherein: 1, pipe joint; 2, conduit; 3, connecting pipe; 4, cleaning collaborative operation joint; 5, transmission device; 6, optical path control device;

[0029] 201, internal gear ring;

[0030] 301, internal thread;

[0031] 401. Support plate; 402. Motor support; 403. Light outlet hole; 404. First motor; 405. Connecting rod; 406. Transmission gear; 407. First pin shaft; 408. Connecting cylinder; 409. Support cylinder; 410. Second pin shaft; 411. Moving roller

[0032] 501. Motor platform; 502. Second motor; 503. External gear; 504. Outer ring of roller; 505. Ball; 506. Ring-shaped turntable; 507. Telescopic positioning pin; 508. External gear ring; 509. Axial retaining ring; 510. Pipe support; 511. External thread

[0033] 601. Rotating shaft support; 602. Galvo motor; 603. Galvo gear; 604. Rotating shaft; 605. Reflective lens Specific implementation manners

[0034] The following combines with the drawings to illustrate the specific implementation manners of the present invention

[0035] As Figures 1-4 shown, the portable laser cleaning collaborative operation device for complex structures within the restricted area of a ship in this embodiment includes a pipe joint 1. The pipe joint 1 is connected to a conduit 2. The conduit 2 is connected to another conduit 2 through a connecting pipe 3 in this connection manner and is connected in sequence. Between the pipe joint 1 and the conduit 2, and between the conduit 2 and the connecting pipe 3, they are all connected by a transmission device 5 placed at the intersection inside the pipe. Optical path regulating devices 6 are installed at the internal corner positions of the pipe joint 1, the conduit 2, and the connecting pipe 3. The end conduit 2 is threadedly connected to the cleaning collaborative operation joint 4

[0036] The structure of the cleaning collaborative operation joint 4 is as follows: It includes a support plate 401. A through hole with the same inner diameter as the connecting pipe 3 is opened at the middle position of the support plate 401. A laser light outlet hole 403 is fixedly installed on the outside of the support plate 401. Motor supports 402 are fixed on the support plate 401 on both sides of the laser light outlet hole 403. A first motor 404 is installed on a single motor support 402. The output end of the first motor 404 is connected to the connecting rod 405 through a transmission gear 406. The middle and end of the connecting rod 405 are connected to the bottom of the connecting cylinder 408 and the support cylinder 409 through a first pin shaft 407. The connecting cylinder 408 and the support cylinder 409 are connected through a second pin shaft 410. A moving roller 411 is installed at the end of the support cylinder 409

[0037] The structure of the transmission device 5 is as follows: It includes a pipe rack 510. On the upper surface of the middle part of the pipe rack 510, a motor platform 501 is fixed. A second motor 502 is installed on the motor platform 501. The output end of the second motor 502 is connected to an external gear 503 through a pin. One end of the pipe rack 510 is sleeved with a roller outer ring 504. An annular turntable 506 is installed on the pipe rack 510 inside the roller outer ring 504. The annular turntable 506 is arranged opposite to the roller outer ring 504, and balls 505 are installed between the annular turntable 506 and the roller outer ring 504. Positioning pin holes are opened on the inner wall of the conduit 2 at the outer edge of the annular turntable 506. A telescopic positioning pin 507 is installed in the positioning pin holes. The annular turntable 506 and the conduit 2 are axially fixed by the telescopic positioning pin 507. An external gear ring 508 is installed on the pipe rack 510 beside the annular turntable 506. An axial retaining ring 509 is installed between the external gear ring 508 and the motor platform 501. External threads 511 for connecting with the connecting pipe 3 are machined on the outer surface of the other end of the pipe rack 510.

[0038] The roller outer ring 504 is fixed to the pipe rack 510 by welding. Annular grooves are opened at the same inner diameter position on the roller outer ring 504 and the annular turntable 506. The diameters of the two annular grooves are the same, and the inner diameter of the annular groove is 5 mm larger than the diameter of the ball 505. The ball 505 contacts the inner walls of the annular grooves of the roller outer ring 504 and the annular turntable 506, and the annular turntable 506 rotates freely around the pipe rack 510.

[0039] The inner diameter of the external gear ring 508 is larger than the outer diameter of the pipe rack 510, and the external gear ring 508 rotates freely around the pipe rack 510. The inner diameter of the conduit 2 is equal to the outer diameter of the internal gear ring 201, and the two are fixed by welding. The external gear ring 508 is connected to the internal gear ring 201 of the conduit 2 and the external gear 503 of the second motor 502 through gears.

[0040] A notch is opened at the end of the connecting pipe 3, and internal threads 301 are machined in the notch. The internal threads 301 are connected to the external threads 511.

[0041] The optical path adjustment device 6 is installed at the center position of the inner wall at the corner of the pipe joint 1, the conduit 2, and the connecting pipe 3.

[0042] The structure of the optical path adjustment device 6 is as follows: It includes a rotating shaft support 601. The rotating shaft support 601 is fixed at the inner wall at the corner of the pipe joint 1, the conduit 2, and the connecting pipe 3. A galvanometer motor 602 and a rotating shaft 604 are installed on the rotating shaft support 601. A reflecting lens 605 is fixed on the rotating shaft 604. The galvanometer motor 602 is connected to the rotating shaft 604 through an end galvanometer gear 603.

[0043] The acute angle between the initial position of the reflecting lens 605 and the axes of the pipe joint 1, the conduit 2, and the connecting pipe 3 is 45°. The reflecting lens 605 is kept flush with the center position of the light outlet hole 403 in the vertical direction.

[0044] The outer diameters of the pipe joint 1, the conduit 2, and the connecting pipe 3 are equal, and lithium-based lubricating, sealing, and waterproof grease is applied to the contact surfaces between the pipe joint 1 and the conduit 2, and between the end of the conduit 2 and the connecting pipe 3.

[0045] The pipe joint 1, the conduit 2, the connecting pipe 3, the pipe support 510, the motor platform 501, the motor support 402, the support plate 401, the light outlet hole 403, and the connecting rod 405 are all made of lightweight and easily bondable non-metallic materials.

[0046] The motor supports 402, the first motor 404, the connecting rod 405, the transmission gear 406, the first pin shaft 407, the connecting cylinder 408, the support cylinder 409, the second pin shaft 410, and the moving roller 411 on both sides of the support plate 401 are symmetrically distributed.

[0047] Both ends of the connecting cylinder 408 are connected to the middle positions of the connecting rod 405 and the support cylinder 409 through the first pin shaft 407 and the second pin shaft 410 respectively.

[0048] Both ends of the connecting rod 405 are provided with U-shaped grooves, and the transmission gear 406 and the support cylinder 409 in the U-shaped grooves at its ends are connected through pin shafts.

[0049] The light outlet hole 403 is located at the center of the support plate 401, and its length is greater than the stroke of the reciprocating swing of the laser-irradiated reflecting lens 605 in the length direction.

[0050] A rubber ring is installed on the outer surface of the moving roller 411.

[0051] In the portable laser cleaning collaborative operation device with complex structures within the restricted area of the ship in this embodiment, the second motor 502 drives the outer gear 503, and through the outer gear ring 508 and the inner gear ring 201, the relative rotation of the conduit 2 and the connecting pipe 3 is controlled, enabling the portable laser cleaning collaborative operation device to freely rotate around the X, Y, and Z axes. Cooperating with the optical path control device 6 installed at the corner of the pipe joint 1, the conduit 2, and the connecting pipe 3, the laser transmission path can be changed, increasing the operation distance of the conventional portable cleaning equipment while improving the accessibility of the equipment for cleaning operations in complex restricted spaces of ships such as pipeline intersections and obstacle blockages.

[0052] In the complex-structure portable laser cleaning collaborative operation device within the restricted area of the ship in this embodiment, the axial displacement of the outer gear ring 508 and the annular turntable 506 is restricted by installing the outer roller ring 504 and the axial retaining ring 509. The annular turntable 506 is connected to the outer roller ring 504 through the balls 505 in their grooves. At the same time, the annular turntable 506 is connected to the conduit 2 through the telescopic positioning pin 507. The connecting pipe 3 is threadedly connected to the transmission device 5. Therefore, while being able to restrict the axial relative displacement between the conduit 2 and the connecting pipe 3, the two can rotate relative to each other. Moreover, lithium-based lubricating, sealing, and waterproof grease is applied to the contact surfaces between the pipe joint 1 and the conduit 2, and between the end of the conduit 2 and the connecting pipe 3, ensuring the internal sealing of the portable laser cleaning collaborative operation device while improving the stability and reliability of the device rotation.

[0053] At the same time, in this embodiment, by adjusting the telescopic lengths of the two groups of connecting cylinders 408, changing the angle between the connecting rod 405 and the support cylinder 409, and cooperating with the first motor 404 to adjust the opening angle of the connecting rod 405, the laser light outlet 403 is controlled to be relatively parallel to the surfaces of typical complex structures of the ship such as shaft parts and T-sections to be cleaned, so that the laser beam is perpendicularly incident on the structure surface, realizing the precise control of the incident angle of the laser beam, enabling the laser cleaning operation to achieve the optimal cleaning effect and cleaning efficiency. And by adjusting the telescopic length of the support cylinder 409, the distance between the laser light outlet 403 and the surface of the structure to be cleaned is controlled, thereby adjusting the laser focal length, so that the focal point position of the handheld cleaning device remains stable during long-term operation, ensuring the energy conversion rate and stable energy output of the laser at the optimal focal length. While improving the cleaning quality, efficiency, and stability of the manually operated handheld cleaning device, the operation difficulty and labor intensity of personnel are reduced.

[0054] During the installation process of this embodiment, optical path control devices 6 are installed at the internal corner positions of the pipe joint 1, the conduit 2, and the connecting pipe 3, which can ensure the stable reflection and transmission of the laser in the transmission pipe and ensure the stability of the transmission optical path. By controlling the reciprocating rotation of the reflecting mirror 605 through the galvanometer motor 602 in the end conduit 2, the laser cleaning area emitted through the light outlet 403 can be changed from independent point cleaning to line scanning cleaning, and combined with the translation of the laser cleaning collaborative operation device to achieve surface scanning cleaning operation, greatly improving the laser cleaning efficiency.

[0055] For shaft parts and T-sections in the restricted area inside the ship's cabin, first judge the material type and rust degree of the cleaning object. Based on the laser cleaning threshold and process database for different materials and rust degrees developed by the project team in the early stage, determine the laser cleaning process parameters, including laser power, repetition frequency, pulse width, etc., so that the laser cleaning quality of the structure to be cleaned meets the standard requirements of Sa2.5. For example, for EH36 material with B-class rust, the laser rust removal threshold and substrate damage threshold are 11.14W / cm respectively. 2, 19.49W / cm 2 , the formulated laser cleaning process parameters are: average power 210W, repetition frequency 250kHz, pulse width 300ns. Subsequently, the second motor 502 is controlled to drive the external gear 503, and through the external gear ring 508 and the internal gear ring 201, the relative rotation of the conduit 2 and the connecting pipe 3 is controlled, enabling the portable laser cleaning collaborative operation device to freely rotate around the X, Y, and Z axes. In cooperation with the optical path adjustment device 6 installed at the corners of the pipe joint 1, the conduit 2, and the connecting pipe 3, the laser transmission path is changed, which can significantly increase the operation distance of conventional portable cleaning equipment. By avoiding the occlusion of the staggered pipelines and obstacles in the restricted area of the ship, the cleaning joint can reach near the surface of the shaft parts and T-shaped profiles to be cleaned. Next, by adjusting the telescopic lengths of the two sets of connecting cylinders 408, the angle between the connecting rod 405 and the support cylinder 409 is changed, and in cooperation with the first motor 404, the opening angle of the connecting rod 405 is adjusted to control the laser light outlet 403 to be relatively parallel to the surfaces of the shaft parts, T-shaped profiles, and other typical complex structures of the ship to be cleaned, so that the laser beam is perpendicular to the structure surface. By adjusting the telescopic length of the support cylinder 409, the distance between the laser light outlet 403 and the surface of the structure to be cleaned is controlled, and then the laser focal length is adjusted, ensuring the energy conversion rate and stable energy output of the laser at the optimal focal length, reducing the operation difficulty and labor intensity of personnel, and realizing the efficient and non-destructive laser cleaning of shaft parts, T-shaped profiles, and other complex structures in the restricted area of the ship.

[0056] The above description is an explanation of the present invention, not a limitation of the invention. The scope defined by the present invention can be seen in the claims, and any form of modification can be made within the protection scope of the present invention.

Claims

1. A portable laser cleaning collaborative operation device for complex structures within the restricted area of a ship, Characterized in that: It includes a pipe joint, the pipe joint is connected to a conduit, the conduit is connected to another conduit through a connecting pipe, and they are connected in this way in sequence. The pipe joint and the conduit, and the conduit and the connecting pipe are all connected by a transmission device placed at the intersection inside the pipe. Optical path regulating devices are installed at the inner corner positions of the pipe joint, the conduit, and the connecting pipe. The end conduit is threadedly connected to the cleaning collaborative operation joint; The structure of the cleaning collaborative operation joint is: It includes a support plate, a through hole with the same diameter as the inner diameter of the connecting pipe is opened in the middle of the support plate. A laser light outlet hole is fixedly installed on the outside of the support plate. Motor supports are fixed on the support plate on both sides of the laser light outlet hole. A first motor is installed on a single motor support. The output end of the first motor is connected to a connecting rod through a transmission gear. The middle and end of the connecting rod are connected to the bottom of a connecting cylinder and a support cylinder through a first pin shaft. The connecting cylinder and the support cylinder are connected through a second pin shaft. A moving roller is installed at the end of the support cylinder; The structure of the transmission device is: It includes a pipe rack, a motor platform is fixedly installed on the upper surface of the middle of the pipe rack. A second motor is installed on the motor platform. The output end of the second motor is connected to an external gear through a pin. A roller outer ring is sleeved on one end of the pipe rack. An annular turntable is installed on the pipe rack inside the roller outer ring. The annular turntable is arranged opposite to the roller outer ring, and balls are installed between the annular turntable and the roller outer ring. Positioning pin holes are opened on the inner wall of the conduit at the outer edge of the annular turntable. Telescopic positioning pins are installed in the positioning pin holes. The annular turntable and the conduit are axially fixed through the telescopic positioning pins. An external gear ring is installed on the pipe rack beside the annular turntable. An axial retaining ring is installed between the external gear ring and the motor platform. External threads for connecting to the connecting pipe are machined on the outer surface of the other end of the pipe rack; The inner diameter of the external gear ring is larger than the outer diameter of the pipe rack. The external gear ring rotates freely around the pipe rack. The inner diameter of the conduit is equal to the outer diameter of the internal gear ring, and the two are welded and fixed. The external gear ring is connected to the internal gear ring of the conduit and the external gear of the second motor through gears.

2. The portable laser cleaning collaborative operation device for complex structures within the restricted area of a ship according to claim 1, Characterized in that: The roller outer ring and the pipe rack are fixed by welding. The roller outer ring and the annular turntable are provided with annular grooves at the same inner diameter position. The diameters of the two annular grooves are the same, and the inner diameter of the annular groove is 5 mm larger than the diameter of the ball. The ball contacts the inner walls of the annular grooves of the roller outer ring and the annular turntable. The annular turntable rotates freely around the pipe rack.

3. The portable laser cleaning collaborative operation device for complex structures within the restricted area of a ship according to claim 1, Characterized in that: A notch is opened at the end of the connecting pipe, and internal threads are machined in the notch. The internal threads are connected to the external threads.

4. The portable laser cleaning collaborative operation device for complex structures within the restricted area of a ship according to claim 1, Characterized in that: The optical path regulating device is installed at the center position of the inner wall of the corner of the pipe joint, the conduit, and the connecting pipe.

5. The portable laser cleaning collaborative operation device for complex structures within the restricted area of a ship according to claim 1, Characterized in that: The structure of the optical path control device is as follows: it includes a rotating shaft support, which is fixed at the inner wall of the corner of the pipe joint, the conduit and the connecting pipe. A galvanometer motor and a rotating shaft are installed on the rotating shaft support, and a reflecting lens is fixed on the rotating shaft. The galvanometer motor is connected to the rotating shaft through an end galvanometer gear.

6. The portable laser cleaning collaborative operation device with complex structure within the restricted area of a ship as claimed in claim 5, characterized in that: The acute angle between the initial position of the reflecting lens and the axes of the pipe joint, the conduit and the connecting pipe is 45°, and the reflecting lens and the center position of the light outlet hole are flush in the vertical direction.

7. The portable laser cleaning collaborative operation device with complex structure within the restricted area of a ship as claimed in claim 1, characterized in that: The outer diameters of the pipe joint, the conduit and the connecting pipe are equal, and lithium-based lubricating, sealing and waterproof grease is applied to the contact surfaces at the ends of the pipe joint and the conduit, and the conduit and the connecting pipe.

8. The portable laser cleaning collaborative operation device with complex structure within the restricted area of a ship as claimed in claim 1, characterized in that: The pipe joint, the conduit, the connecting pipe, the pipe rack, the motor platform, the motor support, the support plate, the light outlet hole and the connecting rod are all made of lightweight and easily bondable non-metallic materials.

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