Laser cleaning system for inner wall of pipeline

Abstract

The invention provides a pipeline inner wall laser cleaning system, and relates to the field of pipeline inner wall laser cleaning. The pipeline inner wall laser cleaning system comprises a chuck assembly; the connecting rod driving device capable of being spliced is arranged on one side of the chuck assembly; one end of the splicing connecting rod is arranged in the splicing connecting rod driving device, and the other end of the splicing connecting rod penetrates through the chuck assembly and is arranged on the other side of the chuck assembly; the laser irradiation tool main body is arranged on the other side of the chuck assembly, and one end of the laser irradiation tool main body is connected with the other end of the continuous connecting rod through a push-pull interface ring; a first accommodating cavity penetrating through the whole laser irradiation tool main body is formed in the laser irradiation tool main body, and a frameless torque motor and a laser output device are arranged in the first accommodating cavity; and the reflection type laser cleaning head or the refraction type laser cleaning head is arranged at the other end of the laser irradiation tool main body and is rotationally connected with the frameless torque motor through a hollow-core connecting shaft. According to the scheme, rapid cleaning of the inner wall of the pipeline is achieved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of laser cleaning of pipeline inner walls, and in particular to a laser cleaning system for pipeline inner walls. Background Art

[0002] The existing laser cleaning system for the inner wall of a pipeline has a problem of insufficient driving torque when cleaning the inner wall of the pipeline, resulting in an inability to quickly clean the inner wall of the pipeline; when a structure of multiple motors and planetary gears is used to transmit torque, although the driving torque can be increased, there is heat loss in the original gear transmission process, causing the motor to heat up, resulting in the cleaning system being unable to work for a long time, resulting in the existing laser cleaning system for the inner wall of a pipeline having problems such as low cleaning efficiency and severe motor heating. Summary of the invention

[0003] The present invention provides a pipeline inner wall laser cleaning system, which solves the problem that the motor of the existing pipeline inner wall laser cleaning system is seriously heated and cannot work for a long time when cleaning the pipeline inner wall, resulting in low cleaning efficiency.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] The present invention provides a pipeline inner wall laser cleaning system, comprising:

[0006] A chuck assembly arranged at the pipe opening of the pipe to be cleaned;

[0007] A connectable connecting rod driving device disposed on one side of the chuck assembly;

[0008] A connectable connecting rod, one end of which is disposed in the connectable connecting rod driving device, and the other end of which passes through the chuck assembly and is disposed on the other side of the chuck assembly;

[0009] A laser irradiation tool body is arranged on the other side of the chuck assembly, one end of the laser irradiation tool body is connected to the other end of the connectable connecting rod through a push-pull interface ring;

[0010] The laser irradiation tool body is provided with a first accommodating cavity that runs through the entire laser irradiation tool body, and the first accommodating cavity is provided with a frameless torque motor and a laser output device;

[0011] A reflective laser cleaning head or a refractive laser cleaning head is arranged at the other end of the laser irradiation tool body and is rotationally connected to the frameless torque motor through a hollow connecting shaft.

[0012] Optionally, the pipeline inner wall laser cleaning system further includes:

[0013] A first telescopic support device and a second telescopic support device are sleeved on the laser irradiation device body.

[0014] Optionally, the first telescopic support device and the second telescopic support device both include:

[0015] An annular support plate sleeved on the main body of the laser irradiator, wherein a plurality of mounting grooves are arranged on the side of the annular support plate, and a spring and a telescopic rod are arranged in each mounting groove;

[0016] One end of the telescopic rod is arranged in the installation groove and connected to the spring, and the other end is arranged on the outside of the installation groove and connected to a supporting rolling bearing.

[0017] Optionally, the connectable connecting rod driving device comprises:

[0018] A mounting shell is arranged on one side of the chuck assembly, wherein a first pushing wheel and a first clamping wheel are arranged in the mounting shell;

[0019] A connecting rod propulsion motor is arranged outside the installation shell, and the output end of the connecting rod propulsion motor is connected to the first propulsion wheel in the installation shell;

[0020] One end of the connectable connecting rod is arranged in the installation shell and is located between the first pushing wheel and the first clamping wheel.

[0021] Optionally, the frameless torque motor comprises:

[0022] A motor stator disposed in the first accommodating cavity of the laser irradiation tool body;

[0023] The motor rotor is arranged in the motor stator, the motor rotor is spaced from the motor stator by a preset distance and can rotate relative to the motor stator.

[0024] Optionally, the reflective laser cleaning head includes:

[0025] A reflection type laser cleaning head body connected to the other end of the laser irradiation tool body through a hollow connecting shaft, wherein the reflection type laser cleaning head body is provided with a second accommodating cavity communicating with the shaft core of the hollow connecting shaft;

[0026] The second accommodating cavity is provided with a first focusing mirror, a second focusing mirror and a reflecting mirror arranged in sequence, and a first laser emission outlet and a reflecting output protective mirror for blocking the first laser emission outlet are provided on the reflective laser cleaning head body on one side of the reflecting mirror.

[0027] Optionally, the refractive laser cleaning head includes:

[0028] A refractive laser cleaning head body connected to the other end of the laser irradiation tool body through a hollow connecting shaft, wherein a third accommodating cavity communicating with the shaft core of the hollow connecting shaft is provided in the refractive laser cleaning head body;

[0029] The third accommodating cavity is provided with a first refraction mirror, a second refraction mirror and a refraction focusing mirror arranged in sequence, and a second laser emission outlet and a refraction output protection mirror for blocking the second laser emission outlet are provided on the refraction type laser cleaning head body on one side of the refraction focusing mirror.

[0030] Optionally, the laser output device includes:

[0031] A laser output head disposed in the first accommodating cavity of the laser irradiation tool body;

[0032] An optical fiber cable, one end of which passes through a push-pull interface ring to be electrically connected to the laser output head, and the other end passes through a chuck assembly to be arranged on one side of the chuck assembly.

[0033] Optionally, the pipeline inner wall laser cleaning system further includes:

[0034] Two first mounting plates and a second mounting plate arranged opposite to each other;

[0035] A first mounting plate and a second mounting plate are arranged on one side of the connectable connecting rod driving device, the first mounting plate and the second mounting plate are arranged opposite to each other and are located on both sides of the optical fiber cable;

[0036] A second pushing wheel and a second clamping wheel are arranged between the first mounting plate and the second mounting plate and are rotatably connected to the first mounting plate and the second mounting plate;

[0037] An optical fiber cable propulsion motor is arranged on one side of the first mounting plate, and an output end of the optical fiber cable propulsion motor is connected to the second propulsion wheel;

[0038] The other end of the optical fiber cable is arranged between the second pushing wheel and the second clamping wheel.

[0039] Optionally, the pipeline inner wall laser cleaning system further includes:

[0040] A pull rope encoding device is arranged on one side of the connecting rod driving device, wherein a pull rope encoding and a pull rope are arranged in the pull rope encoding device, one end of the pull rope is connected to the pull rope encoding, and the other end passes through the chuck assembly and is connected to the push-pull interface ring.

[0041] The above solution of the present invention includes at least the following beneficial effects:

[0042] The pipeline inner wall laser cleaning system of the present invention comprises: a chuck assembly; a connectable connecting rod driving device arranged on one side of the chuck assembly; a connectable connecting rod, one end of which is arranged in the connectable connecting rod driving device, and the other end passes through the chuck assembly and is arranged on the other side of the chuck assembly; a laser irradiation tool body arranged on the other side of the chuck assembly, one end of which is connected to the other end of the connectable connecting rod through a push-pull interface ring; a first accommodating cavity that runs through the entire laser irradiation tool body is arranged in the laser irradiation tool body, and a frameless torque motor and a laser output device are arranged in the first accommodating cavity; a reflective laser cleaning head or a refractive laser cleaning head that is arranged at the other end of the laser irradiation tool body and is rotatably connected to the frameless torque motor through a hollow connecting shaft. Rapid cleaning of the inner wall of the pipeline is achieved, the heating of the motor is reduced, the cleaning efficiency is improved, and the structure is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of the pipeline inner wall laser cleaning system of the present invention installed on the pipeline;

[0044] Figure 2 It is a schematic diagram of the outer structure of the variable diameter chuck of the pipeline inner wall laser cleaning system of the present invention;

[0045] Figure 3 It is a structural schematic diagram of a first telescopic support device of a pipeline inner wall laser cleaning system of the present invention;

[0046] Figure 4 It is a cross-sectional view of the laser irradiation device body of the pipeline inner wall laser cleaning system of the present invention after the reflective laser cleaning head is installed;

[0047] Figure 5 is a cross-sectional view of a reflective laser cleaning head of a pipeline inner wall laser cleaning system of the present invention;

[0048] Figure 6 It is a cross-sectional view of the laser irradiation device body of the pipeline inner wall laser cleaning system of the present invention after the refractive laser cleaning head is installed;

[0049] Figure 7 It is a cross-sectional view of a refractive laser cleaning head of a pipeline inner wall laser cleaning system of the present invention;

[0050] Figure 8 It is a structural schematic diagram of a frameless torque motor of a pipeline inner wall laser cleaning system of the present invention;

[0051] Fig. 9 It is a schematic diagram of the internal structure of the installation housing of the pipeline inner wall laser cleaning system of the present invention;

[0052] Description of reference numerals:

[0053] 1. Pipeline; 10. Optical fiber cable propulsion motor; 100. Mounting shell; 101. First mounting plate; 102. Second mounting plate; 11. Connectable connecting rod; 12. Second driving wheel; 13. Optical fiber cable; 14. Second clamping wheel; 15. Adjusting bolt; 16. Support rolling bearing; 17. Telescopic rod; 18. Spring; 19. Annular supporting plate; 2. Laser irradiation device body; 20. Front supporting bearing; 21. Rear supporting bearing; 22. Hollow connecting shaft; 23. Laser output head; 24. Reflective laser cleaning head body; 25. Reflector; 26. Second focusing mirror; 27. First focusing mirror; 28. Reflection output protection mirror; 29. ​​Refraction output protection mirror; 3. First telescopic support device; 301. Refraction type laser cleaning head body; 30. Refraction focusing mirror; 31. Second refraction mirror; 32. First refraction mirror; 33. Frameless torque motor; 34. Motor rotor; 35. Motor stator; 36. Drive line; 4. Second telescopic support device; 5. Push-pull interface ring; 6. Variable diameter chuck; 7. Chuck adjustment handle; 8. Connectable connecting rod propulsion motor; 81. First push wheel; 82. First clamping wheel; 83. Adjustment block; 9. Pull rope encoding device. DETAILED DESCRIPTION

[0054] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0055] like Figures 1 to 9 As shown, an embodiment of the present invention provides a pipeline inner wall laser cleaning system, comprising:

[0056] A chuck assembly arranged at the pipe opening of the pipe 1 to be cleaned;

[0057] A connectable connecting rod driving device disposed on one side of the chuck assembly;

[0058] A connectable connecting rod 11, one end of which is disposed in the connectable connecting rod driving device, and the other end of which passes through the chuck assembly and is disposed on the other side of the chuck assembly;

[0059] A laser irradiation tool body 2 is arranged on the other side of the chuck assembly, one end of the laser irradiation tool body 2 is connected to the other end of the connectable connecting rod 11 through a push-pull interface ring 5;

[0060] The laser irradiation device body 2 is provided with a first accommodating cavity that runs through the entire laser irradiation device body 2, and the first accommodating cavity is provided with a frameless torque motor 33 and a laser output device;

[0061] A reflective laser cleaning head or a refractive laser cleaning head is arranged at the other end of the laser irradiation device body 2 and is rotationally connected to the frameless torque motor 33 through a hollow connecting shaft 22 .

[0062] The chuck assembly comprises:

[0063] A reducing chuck 6 and a chuck adjusting handle 7 arranged on the reducing chuck 6 .

[0064] In this embodiment, the push-pull interface ring 5 is sleeved on one end of the laser irradiation device body 2, and the other end of the connectable connecting rod 11 is connected to the end face of the push-pull interface ring 5; the frameless torque motor 33, the laser output device and the hollow connecting shaft 22 are all arranged on a straight line and coaxially arranged, and the shaft core of the frameless torque motor 33 is a through-hole structure; the shaft core of the hollow connecting shaft 22 is a light-through hole that runs through the entire connecting shaft, and the frameless torque motor 33 is installed at the tail end of the light-through hole, that is, one end close to the laser output device, and the end of the hollow connecting shaft 22 away from the laser output device is fixed to the first end of the laser irradiation device body 2 through two bearing supports of the front support bearing 20 and the rear support bearing 21. In the accommodating cavity, the front support bearing 20 and the rear support bearing 21 are fixedly connected to the first accommodating cavity of the laser irradiation device body 2, and the hollow connecting shaft 22 is rotatably connected to the front support bearing 20 and the rear support bearing 21; the laser emitted by the laser output device can be input into the reflective laser cleaning head or the refractive laser cleaning head through the shaft core of the frameless torque motor 33 and the shaft core of the hollow connecting shaft 22, and irradiated onto the inner wall of the pipeline 1 through the reflective laser cleaning head or the refractive laser cleaning head to clean the inner wall of the pipeline 1; the laser emitted by the laser output device is collimated light, which can be a standard collimator or optical isolator, or a collimated light formed after the divergent light passes through the collimation system;

[0065] In this embodiment, the pipeline inner wall laser cleaning system is mainly used to clean the inner wall of the pipeline. When in use, the laser irradiation device body 2 is first inserted into the pipeline 1, and then the reducing chuck 6 is clamped at the inlet of the pipeline 1 through the chuck adjustment handle 7. The reducing range of the reducing chuck 6 can be selected from a diameter range of 50-180 mm. For larger diameters, other reducing range chucks can be selected; then the laser output device emits laser and irradiates the inner wall of the pipeline 1 through a reflective laser cleaning head or a refractive laser cleaning head. At the same time, the frameless torque motor 33 drives the hollow connecting shaft 22 to rotate, thereby driving the reflective laser cleaning head or the refractive laser cleaning head to rotate, thereby achieving cleaning of the entire inner wall of the pipeline 1 at the current position. At the same time, during the cleaning process, the connectable connecting rod driving device pushes the connectable connecting rod 11 to move in the transverse length direction of the pipeline 1, so that the connectable connecting rod 11 pushes the laser irradiation device body 2 to move along the transverse length direction of the pipeline 1, so that the reflective laser cleaning head or the refractive laser cleaning head on the laser irradiation device body 2 can move in the transverse length direction of the pipeline 1 while rotating. The extendable connecting rod 11 can move in the same direction as the connecting rod 11, thereby cleaning the inner wall of the entire pipeline 1; after the cleaning is completed, the extendable connecting rod 11 can be retracted to the initial position by reversing the extendable connecting rod driving device, thereby driving the laser irradiation device body 2 to return to the initial position. During use, the pushing speed and direction of the extendable connecting rod 11 can be adjusted by the rotation speed and direction of the extendable connecting rod driving device; the extendable connecting rod 11 can be composed of a plurality of connecting rods with threaded joints. This design can change the length of the extendable connecting rod 11 in real time according to the cleaning length of the pipeline 1, so that the pipeline inner wall laser cleaning system can adapt to pipelines 1 of different lengths; in this embodiment, the pipeline inner wall laser cleaning system adopts the design of a frameless torque motor 33 and a hollow connecting shaft 22, which solves the problem that the existing pipeline inner wall laser cleaning system has a serious motor heating and cannot work for a long time due to the design of planetary gears, resulting in low cleaning efficiency; it realizes rapid cleaning of the inner wall of the pipeline, reduces the heating of the motor, improves the cleaning efficiency, and has the advantage of simple structure.

[0066] In an optional embodiment of the present invention, the pipeline inner wall laser cleaning system further includes:

[0067] A first telescopic support device 3 and a second telescopic support device 4 are sleeved on the laser irradiation device body 2.

[0068] The first telescopic support device 3 and the second telescopic support device 4 both include:

[0069] An annular support plate 19 is sleeved on the laser irradiation device body 2, and a plurality of mounting grooves are arranged on the side of the annular support plate 19, and a spring 18 and a telescopic rod 17 are arranged in each mounting groove;

[0070] One end of the telescopic rod 17 is disposed in the mounting groove and connected to the spring 18 , and the other end is disposed outside the mounting groove and connected to a supporting rolling bearing 16 .

[0071] In this embodiment, the design of the first telescopic support device 3 and the second telescopic support device 4 can effectively improve the cleaning effect of the laser cleaning system for the inner wall of the pipeline; during the process of laser cleaning of the pipeline, the inner diameter of the pipeline 1 is not fixed. Through the design of the first telescopic support device 3 and the second telescopic support device 4, the laser irradiation device body 2 can always be in the center of the pipeline 1, so that the cleaning device can adapt to a certain degree of pipe diameter changes, avoiding the poor cleaning effect at different angles due to the laser irradiation device body 2 not being in the center; specifically, a support rolling bearing 16 is installed at the outer end of the telescopic rod 17, and a spring 18 is installed inside the telescopic rod 17, and the spring 18 is used to adapt to the change of the inner diameter of the pipeline; when in use, the support rolling bearing 16 is in contact with the inner wall of the pipeline 1, and the annular support plate 19 moves with the laser irradiation device body 2. During the movement, when the pipeline becomes smaller, each support rolling bearing 16 compresses the spring 18 through the telescopic rod 17 to adapt to the reduced pipeline 1, and at the same time ensures that the laser irradiation device body 2 is always located at the center of the pipeline 1;

[0072] In this embodiment, the number of the installation slots can be set to multiple. When in use, the number of telescopic rods 17 can be installed according to the size of the inner diameter of the pipeline 1. During installation, each telescopic rod 17 needs to be arranged at equal intervals; for example, when the inner diameter of the pipeline 1 is 4 inches 100 mm, 6 telescopic rods 17 can be installed, and the number of telescopic rods 17 is increased by 2 for every 2 inches increase to ensure the stability of the support.

[0073] In a preferred embodiment, for pipes with a diameter of less than 125 mm, the number of telescopic rods 17 is 6, and for pipes with a diameter of 125-175 mm, 8 telescopic rods 17 are selected. Thereafter, the number of telescopic supports increases by 2 for every 50 mm increase in diameter.

[0074] In an optional embodiment of the present invention, the connectable connecting rod driving device comprises:

[0075] A mounting housing 100 disposed on one side of the chuck assembly, wherein a first pushing wheel 81 and a first clamping wheel 82 are disposed in the mounting housing 100;

[0076] A connecting rod propulsion motor 8 is arranged outside the installation housing 100, and an output end of the connecting rod propulsion motor 8 is connected to a first propulsion wheel in the installation housing 100;

[0077] One end of the connectable connecting rod 11 is disposed in the mounting housing 100 and is located between the first pushing wheel 81 and the first clamping wheel 82 .

[0078] In this embodiment, the first clamping wheel 82 is arranged on the adjustment block 83 and is connected to the side wall inside the mounting shell 100 through the adjustment block 83; the adjustment block 83 is used to adjust the distance between the first clamping wheel 82 and the first pushing wheel 81, so as to achieve the clamping of the connectable connecting rod 11. When in use, the connecting rod propulsion motor 8 drives the rotation of the first pushing wheel 81 to push the connectable connecting rod 11 along the horizontal length direction of the pipeline 1.

[0079] In an optional embodiment of the present invention, the frameless torque motor 33 includes:

[0080] A motor stator 35 disposed in the first accommodating cavity of the laser irradiation device body 2;

[0081] The motor rotor 34 is disposed in the motor stator 35 , and the motor rotor 34 is spaced from the motor stator 35 by a preset distance, and can rotate relative to the motor stator 35 .

[0082] The frameless torque motor 33 also includes:

[0083] The driver and the driving wire 36 are arranged on the motor stator 35, and the motor stator 35 is electrically connected to the driver through the driving wire 36; when in use, the driver can be arranged on the outside of the chuck assembly, and then connected to the driving wire 36 through the driving wire or cable passing through the center of the chuck assembly.

[0084] In this embodiment, the frameless torque motor 33 is an inner rotor frameless torque motor composed of a motor rotor 34 and a motor stator 35. The motor rotor 34 and the motor stator 35 do not contact each other, and the gap between them is very small. In a preferred embodiment, the gap between them is 0.3 mm. The non-direct contact design between the motor rotor 34 and the motor stator 35 can reduce friction heat loss and improve the transmission efficiency of the system; the motor stator 35 has a magnetic coil and a drive line 36, and the motor rotor 34 has a magnetic pole; the driver can be a three-phase DC brushless Hall-free motor controller, and the drive board only needs to give three motor voltage drive signals UVW, which can drive the frameless torque motor 33 through the drive line 36 and detect the rotor rotation speed of the motor, and output the frequency of the R signal on the drive board; the pipeline inner wall laser cleaning system reduces the Hall sensor and the transmission cable of the Hall signal through the design of the three-phase DC brushless Hall-free motor controller, and can provide the simplest motor driving mode and speed detection method; the design of the driver realizes the measurement of three-wire drive motor and motor speed, and simplifies the front-end design.

[0085] In a preferred embodiment, the frameless torque motor 33 is a YT28-12-A type motor with a stator outer diameter of 28 mm, a rotor inner diameter of 13 mm, a no-load speed of 8000 r / min, and a rated torque of 60 m.Nm; the frameless torque motor controller is a three-phase DC brushless Hall-less motor controller with an operating voltage of 12 V. The driver can be selected according to demand, as long as it can control the rotation of the motor and can feedback the motor speed. The input voltage and frequency of the motor are controlled by analog voltage, and the motor speed is finally controlled. The speed is fed back by the controller, and PID adjustment is adopted to keep the motor speed constant, thereby finally ensuring the effect of laser cleaning.

[0086] In an optional embodiment of the present invention, the reflective laser cleaning head comprises:

[0087] A reflection type laser cleaning head body 24 connected to the other end of the laser irradiation device body 2 through a hollow connecting shaft 22, wherein a second accommodating cavity communicating with the shaft core of the hollow connecting shaft 22 is provided in the reflection type laser cleaning head body 24;

[0088] The second accommodating cavity is provided with a first focusing mirror 27, a second focusing mirror 26 and a reflective mirror 25 arranged in sequence. The reflective laser cleaning head body 24 on one side of the reflective mirror 25 is provided with a first laser emission outlet and a reflective output protection mirror 28 for blocking the first laser emission outlet.

[0089] In this embodiment, the laser output by the laser output device passes through the hollow core of the hollow connecting shaft 22 and then passes through the first focusing mirror 27 and the second focusing mirror 26 for focusing processing, and then irradiates the reflector 25, is reflected to the first laser emission outlet by the reflector 25, and irradiates the inner wall of the pipe 1 to clean the inner wall. At the same time, it rotates driven by the hollow connecting shaft 22 to form a cleaning halo on the inner wall of the pipe 1 to complete the laser cleaning of the entire pipe 1; the reflective output protective mirror 28 is used to isolate the laser from the outside to protect the first focusing mirror 27, the second focusing mirror 26 and the reflector 25 from dust pollution.

[0090] In a preferred embodiment, the first focusing mirror 27 is fixed in the reflective laser cleaning head body 24, and the second focusing mirror 26 can change its position through a thread. By changing the distance between the first focusing mirror 27 and the second focusing mirror 26, the total focal length of the reflective laser cleaning head is changed, so that the focal length of the reflective laser cleaning head is adapted to the diameter of the pipe to be cleaned, and the cleaning focused light spot is allowed to fall on the pipe wall. Through the rotation of the reflective laser cleaning head, a cleaning halo is formed on the inner wall of the pipe. This design of adjusting the distance does not require replacing the focusing mirror, and only changes the distance between the two lenses to change the focal length of the reflective laser cleaning head.

[0091] In an optional embodiment of the present invention, the refractive laser cleaning head comprises:

[0092] A refractive laser cleaning head body 301 connected to the other end of the laser irradiation device body 2 via a hollow connecting shaft 22, wherein a third accommodating cavity communicating with the core of the hollow connecting shaft 22 is provided in the refractive laser cleaning head body 301;

[0093] The third accommodating cavity is provided with a first refraction mirror 32, a second refraction mirror 31 and a refraction focusing mirror 30 arranged in sequence, and a refraction type laser cleaning head body 301 on one side of the refraction focusing mirror 30 is provided with a second laser emission outlet and a refraction output protection mirror 29 for blocking the second laser emission outlet.

[0094] In this embodiment, the laser output by the laser output device passes through the hollow core of the hollow connecting shaft 22 and then passes through the first refraction mirror 32 and the second refraction mirror 31 for refraction processing, and then is focused by the refraction focusing mirror 30, and is emitted through the second laser emission outlet, and irradiates the inner wall of the pipe 1 to clean the inner wall; wherein, the maximum deflection angle that can be produced by the two refractions is 20 degrees. When in use, the total deflection angle of the refraction laser cleaning head can be changed by changing the angle between the first refraction mirror 32 and the second refraction mirror 31, and the deflection angle is adjustable from 0 to 20 degrees; the refraction output protection mirror 29 is used to isolate the laser from the outside and protect the first refraction mirror 32, the second refraction mirror 31, and the refraction focusing mirror 30 from dust pollution.

[0095] In a preferred embodiment, when the inner diameter of the pipe 1 is 2-5 inches and 50-125 mm in diameter, a refractive laser cleaning head can be selected; when the inner diameter of the pipe 1 is 4 inches and 100 mm in diameter or above, a reflective laser cleaning head can be selected; when the inner diameter of the pipe 1 is between 4 and 5 inches, both laser cleaning heads can be selected; both laser cleaning heads are cylindrical in structure, with an outer diameter of 35 mm and an outer length of 350±30 mm;

[0096] In an optional embodiment of the present invention, the laser output device comprises:

[0097] A laser output head 23 disposed in the first accommodating cavity of the laser irradiation device body 2;

[0098] The optical fiber cable 13 has one end passing through the push-pull interface ring 5 to be electrically connected to the laser output head 23, and the other end passing through the chuck assembly to be arranged on one side of the chuck assembly.

[0099] In this embodiment, the optical fiber cable 13 includes an optical fiber and a control cable. The optical fiber is used to generate laser light, and the control cable is used to connect to the frameless torque motor 33 .

[0100] In an optional embodiment of the present invention, the pipeline inner wall laser cleaning system further includes:

[0101] Two first mounting plates 101 and second mounting plates 102 arranged opposite to each other;

[0102] A first mounting plate 101 and a second mounting plate 102 are arranged on one side of the connectable connecting rod driving device, the first mounting plate 101 and the second mounting plate 102 are arranged opposite to each other and are located on both sides of the optical fiber cable 13;

[0103] A second pushing wheel 12 and a second clamping wheel 14 are disposed between the first mounting plate 101 and the second mounting plate 102 and are rotatably connected to the first mounting plate 101 and the second mounting plate 102;

[0104] An optical fiber cable propulsion motor 10 is arranged on one side of the first mounting plate 101, and an output end of the optical fiber cable propulsion motor 10 is connected to a second propulsion wheel 12;

[0105] The other end of the optical fiber cable 13 is disposed between the second pushing wheel 12 and the second clamping wheel 14 .

[0106] In an optional embodiment of the present invention, the pipeline inner wall laser cleaning system further includes:

[0107] An adjusting bolt 15 is arranged at the bottom of the first mounting plate 101 and the second mounting plate 102, and the adjusting bolt 15 is used to adjust the distance between the second pushing wheels 12 and the second clamping wheel 14, so as to clamp the optical fiber cable 13; the second clamping wheel 14 is movably arranged between the first mounting plate 101 and the second mounting plate 102, and the second pushing wheel 12 is fixedly arranged between the first mounting plate 101 and the second mounting plate 102.

[0108] In this embodiment, since the laser irradiation device body 2 carries the optical fiber and the control cable at the back, the optical fiber and the control cable need to be introduced and pulled out when the laser irradiation device body 2 moves inside the cleaning pipe 1. The present invention adopts the design of the optical fiber cable propulsion motor 10, and adopts the second pushing wheel 12 and the second clamping wheel 14 to clamp the optical fiber and the control cable thereon. The second clamping wheel 14 is designed to be concave, and the tightness of the clamping can be adjusted by adjusting the bolt 15. The propulsion speed and direction of the entire optical fiber and control cable are controlled by the optical fiber cable propulsion motor 10. During the laser cleaning process, the laser irradiation device body 2 and the optical fiber cable 13 move at the same speed, and the optical fiber cable 13 moves forward or backward synchronously with the laser irradiation device body 2, which solves the problem of the optical fiber cable 13 being retained in the pipe.

[0109] In an optional embodiment of the present invention, the pipeline inner wall laser cleaning system further includes:

[0110] A pull rope encoding device 9 is arranged on one side of the connecting rod driving device, and a pull rope encoding and a pull rope are arranged in the pull rope encoding device 9. One end of the pull rope is connected to the pull rope encoding, and the other end passes through the chuck assembly and is connected to the push-pull interface ring 5.

[0111] In this embodiment, in order to detect the position of the laser cleaning head on the laser irradiation device body 2 in the pipeline 1, a pull rope encoder 9 is designed outside the pipeline 1. The pull rope adopts an absolute value encoder, which can accurately measure the absolute position of the laser cleaning head on the laser irradiation device body 2 in the pipeline 1.

[0112] The pipeline inner wall laser cleaning system described in the present invention adopts a frameless torque motor, cancels the planetary gear transmission mode, realizes motor drive and motor speed detection simultaneously through the drive plate, and reduces the number of cables; at the same time, through the design of the first telescopic support device 3 and the second telescopic support device 4, the pipeline inner wall laser cleaning system can adapt to a certain degree of pipe diameter change; through the optical fiber and control cable forward and backward assist devices, the problem of optical fiber and control cable being retained in the pipeline is solved; through the drive of the frameless motor, the speed of the cleaning head can be adjusted to 5-50 rpm, and the total power consumption for the cleaning head is less than 15 watts. The heat can be quickly distributed to the three-phase DC brushless Hall-free motor controller, the frameless torque motor 33, and the front support bearing 20 and the rear support bearing 21. The motor rotates stably and generates little heat. No additional heat dissipation device is required. The stable start-up of the motor can realize rapid cleaning of the inner wall of the pipeline, reduce the heat generation of the motor, improve the cleaning efficiency, and have the advantage of simple structure.

[0113] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pipeline inner wall laser cleaning system, characterized in that: include: A chuck assembly arranged at the pipe opening of the pipe (1) to be cleaned; A connectable connecting rod driving device disposed on one side of the chuck assembly; A connectable connecting rod (11), one end of which is arranged in the connectable connecting rod driving device, and the other end of which passes through the chuck assembly and is arranged on the other side of the chuck assembly; A laser irradiation tool body (2) is arranged on the other side of the chuck assembly, one end of the laser irradiation tool body (2) is connected to the other end of the connectable connecting rod (11) via a push-pull interface ring (5); The laser irradiation device body (2) is provided with a first accommodating cavity which runs through the entire laser irradiation device body (2), and the first accommodating cavity is provided with a frameless torque motor (33) and a laser output device; A reflective laser cleaning head or a refractive laser cleaning head is arranged at the other end of the laser irradiation device body (2) and is rotationally connected to the frameless torque motor (33) via a hollow connecting shaft (22).

2. The pipeline inner wall laser cleaning system according to claim 1, characterized in that: Also includes: A first telescopic support device (3) and a second telescopic support device (4) are sleeved on the laser irradiation device body (2).

3. The pipeline inner wall laser cleaning system according to claim 2, characterized in that: The first telescopic support device (3) and the second telescopic support device (4) both comprise: An annular support plate (19) sleeved on the laser irradiation device body (2), wherein a plurality of mounting grooves are arranged on the side of the annular support plate (19), and a spring (18) and a telescopic rod (17) are arranged in each mounting groove; One end of the telescopic rod (17) is arranged in the installation groove and connected to the spring (18), and the other end is arranged outside the installation groove and connected to a supporting rolling bearing (16).

4. The pipeline inner wall laser cleaning system according to claim 1, characterized in that: The connectable connecting rod driving device comprises: A mounting shell (100) disposed on one side of the chuck assembly, wherein a first pushing wheel (81) and a first clamping wheel (82) are disposed in the mounting shell (100); A connecting rod propulsion motor (8) disposed outside the installation shell (100), wherein an output end of the connecting rod propulsion motor (8) is connected to a first propulsion wheel inside the installation shell (100); One end of the connectable connecting rod (11) is arranged in the installation housing (100) and is located between the first pushing wheel (81) and the first clamping wheel (82).

5. The pipeline inner wall laser cleaning system according to claim 1, characterized in that: The frameless torque motor (33) comprises: A motor stator (35) disposed in a first accommodating cavity of the laser irradiation device body (2); A motor rotor (34) is arranged inside the motor stator (35); the motor rotor (34) is spaced a preset distance from the motor stator (35) and is capable of rotating relative to the motor stator (35).

6. The pipeline inner wall laser cleaning system according to claim 1, characterized in that: The reflective laser cleaning head comprises: A reflection type laser cleaning head body (24) connected to the other end of the laser irradiation device body (2) via a hollow connecting shaft (22), wherein a second accommodating cavity communicating with the shaft core of the hollow connecting shaft (22) is provided in the reflection type laser cleaning head body (24); A first focusing mirror (27), a second focusing mirror (26) and a reflective mirror (25) are arranged in sequence in the second accommodating cavity, and a first laser emission outlet and a reflective output protection mirror (28) for blocking the first laser emission outlet are arranged on a reflective laser cleaning head body (24) on one side of the reflective mirror (25).

7. The pipeline inner wall laser cleaning system according to claim 1, characterized in that: The refractive laser cleaning head comprises: A refractive laser cleaning head body (301) connected to the other end of the laser irradiation tool body (2) via a hollow connecting shaft (22), wherein a third accommodating cavity communicating with the core of the hollow connecting shaft (22) is provided in the refractive laser cleaning head body (301); A first refraction mirror (32), a second refraction mirror (31) and a refraction focusing mirror (30) are sequentially arranged in the third accommodating cavity, and a second laser emission outlet and a refraction output protection mirror (29) for blocking the second laser emission outlet are arranged on a refraction type laser cleaning head body (301) on one side of the refraction focusing mirror (30).

8. The pipeline inner wall laser cleaning system according to claim 1, characterized in that: The laser output device comprises: A laser output head (23) disposed in a first accommodating cavity of the laser irradiation device body (2); An optical fiber cable (13), one end of which passes through a push-pull interface ring (5) to be electrically connected to the laser output head (23), and the other end of which passes through a chuck assembly to be arranged on one side of the chuck assembly.

9. The pipeline inner wall laser cleaning system according to claim 8, characterized in that: Also includes: Two first mounting plates (101) and a second mounting plate (102) arranged opposite to each other; A first mounting plate (101) and a second mounting plate (102) are arranged on one side of the connectable connecting rod driving device, wherein the first mounting plate (101) and the second mounting plate (102) are arranged opposite to each other and are located on both sides of the optical fiber cable (13); A second pushing wheel (12) and a second clamping wheel (14) are arranged between the first mounting plate (101) and the second mounting plate (102) and are rotatably connected to the first mounting plate (101) and the second mounting plate (102); An optical fiber cable propulsion motor (10) is arranged on one side of the first mounting plate (101), and an output end of the optical fiber cable propulsion motor (10) is connected to a second propulsion wheel (12); The other end of the optical fiber cable (13) is arranged between the second pushing wheel (12) and the second clamping wheel (14).

10. The pipeline inner wall laser cleaning system according to claim 1, characterized in that: Also includes: A pull rope encoding device (9) is arranged on one side of the connecting rod driving device, wherein a pull rope encoding and a pull rope are arranged in the pull rope encoding device (9), one end of the pull rope is connected to the pull rope encoding, and the other end passes through the chuck assembly and is connected to the push-pull interface ring (5).

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