On-site laser shock peening equipment used after pipeline repair welding and use method of on-site laser shock peening equipment

Abstract

The invention discloses laser shock peening equipment after field pipeline repair welding and a using method, the laser shock peening equipment comprises a laser device, a focal length adjusting module, a steering swing module, a pipeline clamping rotation module and a shock constraint water layer supply module, the laser device is installed in the focal length adjusting module, one end of the steering swing module is connected with the focal length adjusting module, and the other end of the steering swing module is connected with the pipeline clamping rotation module. The impact constraint water layer supply module comprises a water pipe, and the impact constraint water layer supply module is connected with the focal length adjusting module through the water pipe; compared with the prior art, the laser shock peening process is flexibly and efficiently applied to surface treatment and maintenance after repair welding of pipeline and tank equipment, so that the service life of the equipment is effectively prolonged, the repair reliability of the equipment is effectively improved, and the purposes of reducing cost and improving efficiency are finally achieved; and through independent / cooperative control such as front-back movement, plane swinging, fixed-axis rotation, pipe winding turnover and vertical lifting of the laser, the laser is adapted to different pipeline welding maintenance tracks.

Description

Technical Field

[0001] The invention relates to the field of pipeline repair tools, and in particular to a laser shock strengthening device for on-site pipeline welding repair and a use method thereof. Background Art

[0002] As an advanced surface processing technology, laser shock peening technology can effectively improve the damage resistance, roughness and hardness of metal material surfaces, improve the tensile (compressive) strength, fatigue life and residual stress distribution of workpieces, and is widely used in metal material machining, additive manufacturing, welding, and surface treatment after cladding.

[0003] The laser energy and peak power required for laser shock peening are relatively high, which are difficult to meet with commonly used fiber lasers. However, the solid-state laser used in laser shock peening equipment has high requirements for the stability and reliability of the processing environment and mechanical structure, and is generally large in size and weight. This makes on-site processing of laser shock peening equipment full of challenges. In addition, the working mode of traditional laser shock peening equipment often uses a fixed laser to move the workpiece to achieve processing, in order to ensure that the output laser can effectively act on the part to be processed of the workpiece, but on-site operations often cannot meet this working state.

[0004] Regarding the maintenance status of pipelines and tubular facilities after they are put into operation: First, pipelines, tubular facilities, and storage and transportation tank equipment often need to operate efficiently and continuously for a long time after being put into use. Once problems such as damage and cracking occur, it may involve large-scale and large-scale production stagnation, causing great economic losses and safety hazards. Therefore, the number of repairs and the reliability after repair are particularly important.

[0005] Secondly, pipelines, tubular facilities, and storage tanks face challenges such as high-temperature fatigue, corrosion, and impact of high-pressure fluids in actual applications. After being repaired by welding, welding repair, and cladding, these problems will result in uneven distribution of residual stress, leading to large tensile stress at the weld, which is prone to cracking and damage. Laser shock strengthening can effectively improve the distribution of residual stress after welding.

[0006] Finally, laser shock peening technology belongs to surface processing technology, and its characteristic is that it acts on the surface modification of workpiece materials. This is also suitable for thin-walled equipment such as pipelines, tubular facilities, and storage tanks. Applying it to manufacturing and repair can significantly improve the reliability and service life of such equipment. Summary of the invention

[0007] The purpose of the present invention is to address the shortcomings of existing laser shock peening equipment, which is large in size and weight and requires moving workpieces for processing, and is not suitable for pipeline manufacturing and repair. To address this shortcoming, an on-site pipeline post-welding laser shock peening device and a method of use are proposed.

[0008] In order to achieve the above object, the present invention adopts the following technical solution: A laser shock strengthening device for on-site pipeline welding repair and a use method thereof, comprising a laser, a focus adjustment module, a steering swing module, a pipeline clamping and rotating module, and an impact constraint water layer supply module, wherein the laser is installed in the focus adjustment module, one end of the steering swing module is connected to the focus adjustment module, and the other end is connected to the pipeline clamping and rotating module, and the impact constraint water layer supply module comprises a water pipe, and the impact constraint water layer supply module is connected to the focus adjustment module through the water pipe; The pipeline clamping and rotating module is used to fix the device on the pipeline and drive the device to rotate along the outer wall of the pipeline, while adjusting the position height of the laser; The steering and swinging module is used to adjust the angle of the laser; The focal length adjustment module is used to adjust the distance between the laser and the tube wall; The impact constrained water layer supply module is used to provide the constrained water layer required for laser impact.

[0009] As a further preferred embodiment of the present invention, the focal length adjustment module includes a first base plate, two first bearing seats are arranged on the first base plate, and a first lead screw is fixed through the first bearing seat, one end of the first lead screw is connected to the output end of the first motor, a first slider is arranged on the first lead screw, a slide table is fixed on the first slider, the laser is fixed on the slide table, two first guide rails are fixed under the slide table, the first guide rails are installed on two guide blocks, the two guide blocks are installed on the first base plate, a front baffle is stacked front and back above the slide table, two side panels are fixed on both sides of the first base plate, a top plate is fixed above the two side panels, and a control box assembly is fixed outside one side panel.

[0010] As a further preferred embodiment of the present invention, the steering swing module includes a motor, a swing arm, a second motor, a rotating shaft and a support mounting seat, the motor is fixed on the top plate, the swing arm is installed on the motor, the support mounting seat and the swing arm are connected by a rotating shaft, the second motor is fixedly arranged on the outside of the support mounting seat, and the output end of the second motor is connected to the rotating shaft.

[0011] As a further preferred embodiment of the present invention, wiring brackets are respectively installed on the swing arm and the support mounting seat.

[0012] As a further preferred embodiment of the present invention, the pipeline clamping and rotating module includes a lifting mechanism and a locking mechanism, the lifting mechanism is respectively provided with connecting plates above and below, an annular slider is fixed on the connecting plate, two annular sliders are respectively slidably arranged on two annular slide rails, the two annular slide rails are respectively installed on two planetary gears, the locking mechanism is arranged between the two planetary gears, a plurality of locking bolts are arranged on the locking mechanism, a third motor is fixed on the upper annular slider, the output end of the third motor is connected to a rotating shaft, the other end of the rotating shaft is fixed to the lower annular slider through a bearing, two pinion gears are installed on the rotating shaft, and the pinion gears are meshed with adjacent planetary gears.

[0013] As a further preferred embodiment of the present invention, a plurality of top screw gaskets are arranged between the locking mechanism and the two planetary gears, and locking bolts are installed on the top screw gaskets.

[0014] As a further preferred embodiment of the present invention, the upgrading mechanism includes a second base plate, two second bearing seats are arranged on the second point, a second screw rod is arranged between the two second bearing seats, one end of the second screw rod is connected to the output end of the fourth motor, the fourth motor is fixed to the second base plate, a second slider is arranged on the second screw rod, a cover plate is fixed on the second slider, two slide plates are fixed under the cover close to the second base plate, the two slide plates are respectively fixed to two third sliders, the third slider is mounted on the second guide rail, the second guide rail is mounted on the second base plate, and the cover plate is connected to the support mounting seat on the side away from the second base plate.

[0015] As a further preferred embodiment of the present invention, the planetary gear, the annular slide rail and the locking mechanism are all configured as separate structures.

[0016] As a further preferred embodiment of the present invention, the impact constrained water layer supply module includes a water tank body, a soft pump assembly, a flow equalizing filter and a water supply pipeline. A liquid level display, a pressure display and a temperature display are arranged above the water tank body. One end of the soft pump assembly is connected to the top of the water tank body, and the other end is fixed to the top of the focal length adjustment module and connected to the water supply pipeline. The flow equalizing filter is fixed to the top of the focal length adjustment module, and the other end of the water supply pipeline is connected to the flow equalizing filter. A bamboo water pipe is connected to the flow equalizing filter.

[0017] A method for using a laser shock peening device after on-site pipeline welding repair comprises the following steps: S1. Confirm the location of the pipeline that needs to be repaired; S2. The pipe clamping and rotating module in the laser shock peening equipment is manually mounted on the pipe, and the laser shock peening equipment is brought to the pipe repairing site by a pipe climbing robot; S3, fix the laser shock peening device on the pipeline by means of locking bolts, and drive the laser shock peening device to rotate along the outer wall of the pipeline by means of a third motor, so that the laser is close to the position of the pipeline that needs to be repaired; S4, driving the upgrading mechanism to move by the fourth motor, so that the laser is close to the position of the pipeline that needs to be repaired again; S5, the second motor in the steering swing module drives the swing arm to swing to adjust the emission angle of the laser; S6, the first motor in the focal length adjustment module drives the laser to move forward and backward to adjust the focal length of the laser; S7. After the focusing is completed, the laser emits laser to repair the repaired part of the pipeline; S8. After the repair is completed, the laser shock peening equipment is recovered by the tube-climbing robot. Beneficial Effects

[0018] The laser shock strengthening equipment and use method for on-site pipeline welding repair proposed by the present invention have the following beneficial effects compared with the prior art: 1. The present invention flexibly and efficiently applies the laser shock peening process to the surface treatment and maintenance of pipelines and tank equipment after welding and repair, thereby effectively improving the service life of the equipment and the repair reliability, and ultimately achieving the purpose of reducing costs and increasing efficiency; 2. The laser shock peening equipment involved in the present invention can be independently / coordinatedly controlled by adjusting the forward and backward movement, plane swing, fixed axis rotation, pipe rotation, vertical lifting, etc. of the laser to adapt to different pipeline welding maintenance trajectories; 3. The laser shock peening equipment involved in the present invention can be used in conjunction with an existing large-load climbing robot to achieve long-distance, high-dimensional, multi-pipeline, and large-scale continuous processing capabilities; 4. The pipe clamping and rotating module in the laser shock peening equipment involved in the present invention is removed and replaced with a heavy-load wall-climbing robot for combined use, so that large tanks, cabins, and shell equipment can be processed; 5. The laser shock peening equipment involved in the present invention can be used in conjunction with a mobile device equipped with an integrated water tank to realize a movable shock peening device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a laser shock strengthening device for pipelines after welding repair according to the present invention; Figure 2 It is a structural schematic diagram of another perspective of a laser shock strengthening device for pipeline welding repair according to the present invention; Figure 3 is a structural schematic diagram of a focus adjustment module; Figure 4 This is a schematic diagram of the internal structure of the focus adjustment module; Figure 5 is another internal structure schematic diagram of the focus adjustment module; Figure 6 It is a schematic diagram of the connection relationship between the steering swing module and the focal length adjustment module; Figure 7 It is a structural schematic diagram of the pipeline clamping rotation module; Figure 8 It is a structural schematic diagram of the lifting mechanism; Fig. 9 Another structural schematic diagram of the pipeline clamping rotation module; Fig.10 It is a structural schematic diagram of the impact constrained water layer supply module; Fig.11 Schematic diagram of the split structure of the locking mechanism.

[0020] Meaning of the reference numerals in the figures: 1. Laser; 2. Focus adjustment module; 201. First motor; 202. Slide; 203. First guide rail; 204. Guide block; 205. First bottom plate; 206. First lead screw; 207. First slider; 208. First bearing seat; 209. Front baffle; 210. Side plate; 211. Top plate; 3. Steering and swinging module; 301. Motor; 302. Swing arm; 303. Second motor; 304. Wiring bracket; 305. Support mounting seat; 306. Rotating shaft; 4. Pipe clamping and rotating module; 401. Lifting mechanism; 402. Pinion; 403. Third motor; 404. Ring slider; 4 05. Annular slide rail; 406. Top screw pad; 407. Planetary gear; 408. Locking mechanism; 409. Connecting plate; 410. Second bottom plate; 411. Second bearing seat; 412. Second screw rod; 413. Fourth motor; 414. Second slider; 415. Slide plate; 416. Third slider; 417. Second guide rail; 418. Cover plate; 419. Locking bolt; 5. Impact constraint water layer supply module; 501. Water tank body; 502. Liquid level / pressure / temperature display; 503. Flexible shaft pump assembly; 504. Water supply pipeline; 505. Flow equalizing filter; 506. Bamboo water pipe; 6. Control box assembly. DETAILED DESCRIPTION

[0021] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Embodiment 1: Combination Figure 1-6A laser shock strengthening device for on-site pipeline after welding repair and a use method thereof, comprising a laser 1, a focus adjustment module 2, a steering swing module 3, a pipeline clamping and rotating module 4 and an impact constrained water layer supply module 5, wherein the laser 1 is installed in the focus adjustment module 2, one end of the steering swing module 3 is connected to the focus adjustment module 2, and the other end is connected to the pipeline clamping and rotating module 4, and the impact constrained water layer supply module 5 comprises a water pipe, and the impact constrained water layer supply module 5 is connected to the focus adjustment module 2 through the water pipe.

[0023] Among them, laser 1 is a miniaturized solid laser 1, which consists of a solid laser 1 and a power supply control chassis, and is a light energy source for the production and processing of laser shock strengthening equipment. The total weight of the miniaturized solid laser 1 is not higher than 20Kg, the working environment temperature is -50℃~60℃, the laser energy is not higher than 1J, the working frequency range is 1~100Hz adjustable, the pulse width is FWHM5~10ns, the internal optoelectronic hybrid structure, the shell and the laser 1 motion module are provided with connection fixing holes, and the parameters and internal structure design of the solid laser 1 can be replaced and adjusted according to the applied equipment and processing conditions.

[0024] The pipeline clamping and rotating module 4 is used to fix the device on the pipeline and drive the device to rotate along the outer wall of the pipeline, while adjusting the position height of the laser 1, thereby providing a clamping and supporting function for the entire device. The pipeline clamping and rotating module 4 includes a lifting mechanism 401 and a locking mechanism 408. The lifting mechanism 401 is respectively provided with connecting plates 409, and an annular slider 404 is fixed on the connecting plate 409. The two annular sliders 404 are respectively slidably arranged on two annular slide rails 405, and the two annular slide rails 405 are respectively installed on two planetary gears 407. The locking mechanism 408 is arranged between the two planetary gears 407. A plurality of locking bolts 419 are arranged on the locking mechanism 408. A third motor 403 is fixed on the upper annular slider 404, and the output end of the third motor 403 is connected to a rotating shaft, and the other end of the rotating shaft is fixed to the lower annular slider 404 through a bearing. Two pinions 402 are installed on the rotating shaft, and the pinions 402 are meshed with adjacent planetary gears 407. A plurality of top screw pads 406 are arranged between the locking mechanism 408 and the two planetary gears 407, and locking bolts 419 are installed on the top screw pads 406. The planetary gear 407, the annular slide rail 405 and the locking mechanism 408 are all configured as split structures. Fig.11 As shown, the planetary gear 407 and the annular slide rail 405 are fixed to the corresponding locking mechanism 408 by bolts in sequence, and the two split locking mechanisms 408 are fixed by bolts. Fig.11The four bolt holes in the red frame are locked and fixed with long bolts; the locking mechanism 408 is fastened and clamped by the locking bolt 419 and the top screw pad 406. The screw-in length of the locking bolt 419 can be adjusted to clamp pipes of different diameters. The height of the top screw pad 406 can be adjusted to control the clamping length of the pipe, so as to adjust the support structure between the overall equipment and the pipe and improve the stability of the equipment during movement.

[0025] The upgrading mechanism includes a second base plate 410, two second bearing seats 411 are arranged on the second point, a second screw rod 412 is arranged between the two second bearing seats 411, one end of the second screw rod 412 is connected to the output end of the fourth motor 413, the fourth motor 413 is fixed on the second base plate 410, a second slider 414 is arranged on the second screw rod 412, a cover plate 418 is fixed on the second slider 414, two slide plates 415 are fixed on the side of the cover close to the second base plate 410, the two slide plates 415 are respectively fixed on two third sliders 416, the third slider 416 is installed on the second guide rail 417, the second guide rail 417 is installed on the second base plate 410, and the cover plate 418 is connected to the support mounting seat 305 away from the second base plate 410.

[0026] The steering swing module 3 is used to adjust the angle of the laser; the steering swing module 3 includes a motor 301, a swing arm 302, a second motor 303, a rotating shaft 306 and a support mounting seat 305. The motor 301 is fixed on the top plate 211. The motor 301 is suitable for the steering positioning of the laser 1 due to its high load, fast response and precise positioning characteristics; the swing arm 302 is installed on the motor 301, the support mounting seat 305 and the swing arm 302 are connected through the rotating shaft 306, the second motor 303 is fixedly set on the outside of the support mounting seat 305, and the output end of the second motor 303 is connected to the rotating shaft 306; the swing arm 302 and the support mounting seat 305 are respectively installed with a wiring bracket 304. The steering swing module 3 drives the laser 1 and the focal length adjustment module 2 to swing forward and backward, and rotate on a fixed axis to meet the functions of pitch impact, plane steering, etc.

[0027] The focus adjustment module 2 is used to adjust the distance between the laser 1 and the tube wall; the focus adjustment module 2 includes a first base plate 205, two first bearing seats 208 are arranged on the first base plate 205, and a first lead screw 206 is fixed through the first bearing seat 208, one end of the first lead screw is connected to the output end of the first motor 201, a first slider 207 is arranged on the first lead screw, a slide 202 is fixed on the first slider 207, the laser 1 is fixed on the slide 202, two first guide rails 203 are fixed below the slide 202, the first guide rails 203 are installed on two guide blocks 204, the two guide blocks 204 are installed on the first base plate 205, a front baffle 209 is stacked front and back above the slide 202, two side plates 210 are fixed on both sides of the first base plate 205, a top plate 211 is fixed above the two side plates 210, and a control box assembly 6 is fixed outside the side plates 210 on one side.

[0028] The focal length adjustment module 2 is used to control the forward and backward movement of the laser 1, and then adjust the distance between the laser 1 and the pipe to obtain a better impact effect; according to the actual processing situation, a beam expander and a beam shrinker can be installed on the first base plate 205 to perform secondary adjustment on the laser.

[0029] The impact constrained water layer supply module 5 is used to provide the constrained water layer required for laser impact. The impact constrained water layer supply module 5 includes a water tank body 501, a soft pump assembly, a flow equalizing filter 505 and a water supply pipeline 504. A liquid level display, a pressure display and a temperature display are arranged on the top of the water tank body 501. One end of the soft pump assembly is connected to the top of the water tank body 501, and the other end is fixed to the top of the focus adjustment module 2 and connected to the water supply pipeline 504. The flow equalizing filter 505 is fixed to the top of the focus adjustment module 2, and the other end of the water supply pipeline 504 is connected to the flow equalizing filter 505. The flow equalizing filter 505 is connected to a bamboo joint water pipe 506. The liquid level and liquid pressure can be displayed instantly inside the water tank body 501; the flexible shaft pump assembly 503 is compact and has a large suction range, which can effectively reduce the weight of the mechanism cantilever and can be extended with the pipeline; the pipeline is fixed by a drag chain, and the extracted water flow is evenly refined and impurities in the water are filtered out through the flow equalizing filter 505 to ensure that the water flow thickness impacting the constrained water layer is uniform and the flow rate is stable.

[0030] Embodiment 2: A method for using a laser shock peening device after on-site pipeline welding repair, comprising the following steps: S1. Confirm the location of the pipeline that needs to be repaired; S2. The pipe clamping and rotating module 4 in the laser shock peening equipment is manually mounted on the pipe, and the laser shock peening equipment is brought to the pipe repairing site by a pipe climbing robot; S3, fix the laser shock peening device on the pipeline by means of the locking bolt 419, and drive the laser shock peening device to rotate along the outer wall of the pipeline by means of the third motor 403, so that the laser 1 is close to the position of the pipeline that needs to be repaired; S4, driving the upgrading mechanism to move by the fourth motor 413, so that the laser 1 is again close to the position of the pipeline that needs to be repaired; S5, the second motor 303 in the steering swing module 3 drives the swing arm 302 to swing, so as to adjust the emission angle of the laser 1; S6, the first motor 201 in the focal length adjustment module 2 drives the laser 1 to move forward and backward to adjust the focal length of the laser 1; S7, after the focusing is completed, the laser 1 emits laser to repair the repaired part of the pipeline; S8. After the repair is completed, the laser shock peening equipment is recovered by the tube-climbing robot.

[0031] Several motors in the laser shock strengthening equipment involved in the present invention work in coordination to complete the shock strengthening on the curved surface; in the later stage, intelligent control can be performed through software algorithms.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A laser shock peening equipment for on-site pipeline welding repair, characterized in that: The invention comprises a laser (1), a focal length adjustment module (2), a steering swing module (3), a pipeline clamping rotation module (4) and an impact constrained water layer supply module (5), wherein the laser (1) is installed in the focal length adjustment module (2), one end of the steering swing module (3) is connected to the focal length adjustment module (2), and the other end is connected to the pipeline clamping rotation module (4), and the impact constrained water layer supply module (5) comprises a water pipe, and the impact constrained water layer supply module (5) is connected to the focal length adjustment module (2) via the water pipe; The pipeline clamping and rotating module (4) is used to fix the device on the pipeline and drive the device to rotate along the outer wall of the pipeline, while adjusting the position height of the laser (1); The steering and swinging module (3) is used to adjust the angle of the laser; The focal length adjustment module (2) is used to adjust the distance between the laser (1) and the tube wall; The impact constrained water layer supply module (5) provides the constrained water layer required for laser impact.

2. The on-site laser shock peening equipment for pipeline welding repair according to claim 1 is characterized in that: The focal length adjustment module (2) comprises a first base plate (205), two first bearing seats (208) are arranged on the first base plate (205), and a first lead screw (206) is fixed via the first bearing seat (208), one end of the first lead screw is connected to the output end of the first motor (201), a first slider (207) is arranged on the first lead screw, a slide table (202) is fixed on the first slider (207), the laser (1) is fixed on the slide table (202), and the slide table (202) is fixed on the first slide table (207). 02), two first guide rails (203) are fixed below, the first guide rails (203) are installed on two guide blocks (204), the two guide blocks (204) are installed on the first bottom plate (205), a front baffle (209) is stacked front and back above the slide (202), two side plates (210) are fixed on both sides of the first bottom plate (205), a top plate (211) is fixed above the two side plates (210), and a control box assembly (6) is fixed outside one side of the side plate (210).

3. The on-site laser shock peening equipment for pipeline welding repair according to claim 2 is characterized in that: The steering swing module (3) comprises a motor (301), a swing arm (302), a second motor (303), a rotating shaft (306) and a support mounting seat (305); the motor (301) is fixed on a top plate (211); the swing arm (302) is mounted on the motor (301); the support mounting seat (305) and the swing arm (302) are connected via a rotating shaft (306); the second motor (303) is fixedly arranged on the outside of the support mounting seat (305); and the output end of the second motor (303) is connected to the rotating shaft (306).

4. The on-site laser shock peening equipment for pipeline welding repair according to claim 3 is characterized in that: A wiring bracket (304) is respectively mounted on the swing arm (302) and the support mounting seat (305).

5. The on-site laser shock peening equipment for pipeline welding repair according to claim 3 is characterized in that: The pipeline clamping and rotating module (4) comprises a lifting mechanism (401) and a locking mechanism (408). The lifting mechanism (401) is respectively provided with connecting plates (409) at the top and the bottom. An annular slider (404) is fixed on the connecting plate (409). The two annular sliders (404) are respectively slidably arranged on two annular slide rails (405). The two annular slide rails (405) are respectively installed on two planetary gears (407). The locking mechanism (408) is arranged between the two planetary gears (407). The locking mechanism (408) is provided with a plurality of locking bolts (419). A third motor (403) is fixed on the upper annular slider (404). The output end of the third motor (403) is connected to a rotating shaft. The other end of the rotating shaft is fixed to the lower annular slider (404) through a bearing. Two pinions (402) are installed on the rotating shaft, and the pinions (402) are meshed with adjacent planetary gears (407).

6. The on-site laser shock peening equipment for pipeline welding repair according to claim 5 is characterized in that: A plurality of top screw gaskets (406) are arranged between the locking mechanism (408) and the two planetary gears (407), and locking bolts (419) are installed on the top screw gaskets (406).

7. The on-site laser shock peening equipment for pipeline welding repair according to claim 5 is characterized in that: The upgrading mechanism comprises a second base plate (410), two second bearing seats (411) are arranged on the second point, a second screw rod (412) is arranged between the two second bearing seats (411), one end of the second screw rod (412) is connected to the output end of a fourth motor (413), the fourth motor (413) is fixed on the second base plate (410), a second slider (414) is arranged on the second screw rod (412), a cover plate (418) is fixed on the second slider (414), two slide plates (415) are fixed on the side of the cover close to the second base plate (410), the two slide plates (415) are respectively fixed on two third sliders (416), the third sliders (416) are installed on a second guide rail (417), the second guide rail (417) is installed on the second base plate (410), and the cover plate (418) is connected to the support mounting seat (305) on the side away from the second base plate (410).

8. The on-site laser shock peening equipment for pipeline welding repair according to claim 5 is characterized in that: The planetary gear (407), the annular slide rail (405) and the locking mechanism (408) are all configured as separate structures.

9. The on-site laser shock peening equipment for pipeline welding repair according to claim 1 is characterized in that: The impact constrained water layer supply module (5) comprises a water tank body (501), a soft pump assembly, a flow equalizing filter (505) and a water supply pipeline (504); a liquid level display, a pressure display and a temperature display are arranged above the water tank body (501); one end of the soft pump assembly is connected to the top of the water tank body (501); the other end is fixed to the top of the focal length adjustment module (2) and connected to the water supply pipeline (504); the flow equalizing filter (505) is fixed to the top of the focal length adjustment module (2); the other end of the water supply pipeline (504) is connected to the flow equalizing filter (505); and a bamboo joint water pipe (506) is connected to the flow equalizing filter (505).

10. A method for using a laser shock peening device for on-site pipeline welding repair according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Confirm the location of the pipeline that needs to be repaired; S2, manually putting the pipe clamping and rotating module (4) in the laser shock peening equipment on the pipe, and bringing the laser shock peening equipment to the pipe repairing location by means of a pipe climbing robot; S3, fixing the laser shock peening device on the pipeline by means of a locking bolt (419), and driving the laser shock peening device to rotate along the outer wall of the pipeline by means of a third motor (403), so that the laser (1) is close to the position of the pipeline that needs to be repaired; S4, driving the upgrading mechanism to move by the fourth motor (413), so that the laser (1) is again close to the position of the pipeline that needs to be repaired; S5, the second motor (303) in the steering swing module (3) drives the swing arm (302) to swing, thereby adjusting the emission angle of the laser (1); S6, the first motor (201) in the focal length adjustment module (2) drives the laser (1) to move forward and backward to adjust the focal length of the laser (1); S7, after the focusing is completed, the laser (1) emits laser light to repair the repaired part of the pipeline; S8. After the repair is completed, the laser shock peening equipment is recovered by the tube-climbing robot.

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