Pipeline inner wall cleaning device and method

Abstract

The invention discloses a pipeline inner wall cleaning device which comprises an inner wall machining head, an inner wall cleaning device and an outer wall cleaning device. The walking mechanism is arranged on the inner wall machining head and used for supporting the inner wall machining head in the pipeline and driving the inner wall machining head to move along the axis of the pipeline; the walking mechanism comprises a driving unit and an adjusting mechanism, and the adjusting mechanism is used for adjusting the driving unit to make contact with the inner walls of pipelines with different diameters. And the rotating lens is arranged at the end part of the inner wall processing head and is used for refracting the laser emitted by the light path mechanism on the inner wall of the pipeline for cleaning. The walking mechanism drives the inner wall machining head to move forwards or backwards in the pipeline in the axial direction, the inner wall machining head is provided with the rotating lens, laser sequentially passes through an inner light path system of the inner wall machining head to form two laser beams to irradiate the inner wall of the pipeline, and high-speed rotation of the rotating lens is matched with the walking mechanism to conduct feeding in the axial direction. Spiral scanning lines are formed on the inner wall of the pipeline, and the machining process is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline laser cleaning, and particularly relates to a pipeline inner wall cleaning device and method. Background Art

[0002] The statements herein only provide the background art related to the present invention and do not necessarily constitute the prior art.

[0003] At present, during the long-term use of pipeline-like workpieces, rust or oil stains will be generated, and at this time, cleaning and grinding operations are required; for example, after the use of a gun barrel, residues will adhere to its inner wall, and these residues will reduce the inner wall smoothness and increase the frictional resistance. Therefore, corresponding equipment is needed to clean its inner wall, and the inner wall of the gun barrel can be effectively decontaminated by laser cleaning.

[0004] However, the existing laser cleaning equipment usually has the following deficiencies: relying on an external gas source; an air compressor and air pipes need to be equipped, and it is difficult to carry and deploy the gas source during field operations, especially it cannot be used in an environment without stable power supply; the equipment is difficult to debug, and it is necessary to adjust the laser focus and make adaptive adjustments to the cleaning equipment, and the process is complex. In view of the above problems, a pipeline inner wall cleaning device and method are proposed to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a pipeline inner wall cleaning device and method for the above-mentioned deficiencies at present.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions: A pipeline inner wall cleaning device, comprising:

[0007] An inner wall processing head, in which an optical path structure is arranged.

[0008] A traveling mechanism, which is arranged on the inner wall processing head to support the inner wall processing head in the pipeline and drive it to move along the pipeline axis.

[0009] The traveling mechanism includes a driving unit and an adjusting mechanism, and the adjusting mechanism is used to adjust the driving unit to contact the inner wall of pipelines with different diameters.

[0010] A rotating lens, which is arranged at the end of the inner wall processing head to refract the laser emitted by the optical path mechanism onto the inner wall of the pipeline for cleaning.

[0011] The optical path mechanism includes an output optical cable, a protective mirror, a beam expander and a focusing mirror. The beam expander or the focusing mirror is movably arranged in the inner wall processing head and is transmission-connected to the adjustment mechanism, so as to synchronously adjust the distance between the beam expander and the focusing mirror during the process in which the adjustment mechanism adjusts the contact between the driving unit and the inner wall of the pipeline so that the laser focus is concentrated on the inner wall of the pipeline.

[0012] Furthermore, the number of the walking mechanisms is at least two groups;

[0013] The driving unit comprises a moving bracket, a plurality of driving wheels are arranged inside the moving bracket, and contact tracks are arranged on the outer surfaces of the plurality of driving wheels for transmission.

[0014] Furthermore, the adjustment mechanism includes an articulated rod disposed between the movable bracket and the inner wall processing head and articulated with both of them respectively;

[0015] The adjustment mechanism also includes a movable slip ring and an adjustment knob sleeved on the inner wall processing head, and the movable slip ring is rotatably connected to a hinged secondary rod hinged to the hinged rod;

[0016] The adjusting knob is threadedly connected to the inner wall processing head, and the movable slip ring is rotationally connected to the adjusting knob. The rotation of the adjusting knob is used to drive the movable slip ring to move axially, so as to drive the hinged secondary rod arranged thereon to resist the rotation of the hinged rod and push the driving unit to contact the inner wall of the pipeline.

[0017] Furthermore, a focusing ring for adjusting the beam expander or the focusing lens is rotatably provided on the inner wall processing head;

[0018] A feed ring is arranged on one group of the hinged rods, the feed ring and the focus ring are vertically distributed and both are provided with matching progressive teeth;

[0019] The progressive latching teeth are conical latching teeth, and the conical latching teeth on the feed ring and the focusing ring are in opposite directions;

[0020] The focusing ring is also provided with a calibration magnetic block corresponding to the progressive teeth provided thereon, and the inner wall processing head is provided with a magnetic attraction block corresponding to the calibration magnetic block. The magnetic attraction block and the calibration magnetic block are used to adjust the position of the focusing ring when the feed ring rotates with the hinge rod and the progressive teeth drive the focusing ring to rotate accordingly.

[0021] Furthermore, a hollow shaft motor is provided in the rotating lens, and the hollow shaft motor is used to drive the rotating lens to perform circular rotation;

[0022] A reflective lens is also provided in the rotating lens, and the reflective lens is used to refract the laser emitted by the optical path mechanism to clean the inner wall of the pipe;

[0023] A beam splitter is also provided inside the rotating lens, and the beam splitter is used to split the laser beam emitted by the optical path mechanism into two laser beams;

[0024] There are two groups of reflecting lenses for refracting the two laser beams to clean the inner wall of the pipeline.

[0025] Furthermore, a protective lens is also provided inside the rotating lens, and the protective lens is used to block the flue gas from entering the rotating lens.

[0026] Furthermore, a wind curtain mechanism is also included. The wind curtain mechanism is arranged around the rotating lens, and the wind curtain mechanism is used to form an annular air curtain to protect the rotating lens and reduce dust pollution.

[0027] Furthermore, the wind curtain mechanism includes a first annular ring, a second annular ring and a third annular ring sleeved in sequence. An inner annular air duct is arranged between the first annular ring and the second annular ring, and an outer annular air duct is arranged between the second annular ring and the third annular ring;

[0028] The wind curtain mechanism also includes a fan. The number of fans is at least three. The output ends of at least two fans are communicated with the inner annular air duct, and the output ends of the remaining fans are communicated with the outer annular air duct.

[0029] Furthermore, a control unit is also included. A wiring part is arranged at one end of the inner wall processing head away from the rotating lens, and the control unit is connected to the inner wall processing head through a connecting cable;

[0030] A monitoring unit is arranged on the inner wall processing head, and the monitoring unit is used to obtain the inner wall cleaning image in real time and transmit it to the control unit.

[0031] A usage method of a pipeline inner wall cleaning device includes the following steps:

[0032] S1. Pre-cleaning: The personnel manually clean the inner wall of the pipeline inlet end, measure the pipeline diameter, and observe whether there are obvious obstacles in the pipeline;

[0033] S2. Debugging: According to the measured pipeline diameter in step S1, adjust the traveling mechanism on the inner wall processing head so that the diameter after the traveling mechanism expands is slightly smaller than the pipeline diameter;

[0034] S3. Assembly: Place the inner wall processing head after debugging into the pipeline, and continue to adjust the expansion of the traveling mechanism so that it fits tightly against the inner wall of the pipeline;

[0035] S4. Testing: Connect the cable to the wiring part, and ensure that the inner wall processing head, the rotating lens, the wind curtain mechanism and the monitoring unit are in normal working states;

[0036] S5. Cleaning: After the laser passes through the internal optical path system of the inner wall processing head in sequence, two laser beams are formed and irradiated on the inner wall of the pipeline. Through the high-speed rotation of the hollow shaft motor and the axial feeding of the traveling mechanism, a spiral scanning line is formed on the inner wall of the pipeline for inner wall cleaning. During the cleaning process, an annular air curtain is formed by the air curtain mechanism to protect the rotating lens, and the monitoring unit is used to monitor in real time whether the inner wall cleaning quality meets the requirements.

[0037] The beneficial effects of the present invention are reflected in:

[0038] In the present invention, the traveling mechanism drives the inner wall processing head to move forward or backward axially in the pipeline. The inner wall processing head is provided with a rotating lens. After the laser passes through the internal optical path system of the inner wall processing head in sequence, two laser beams are formed and irradiated on the inner wall of the pipeline. Through the high-speed rotation of the rotating lens and the axial feeding of the traveling mechanism, a spiral scanning line is formed on the inner wall of the pipeline to complete the processing process. Description of the Drawings

[0039] Figure 1 is the three-dimensional view of the present invention;

[0040] Figure 2 is the structural sectional view of the present invention;

[0041] Figure 3 is the side view of the present invention;

[0042] Figure 4 is the Figure 3 partial enlarged view at A in the present invention;

[0043] Figure 5 is the structural sectional view of the focusing ring of the present invention.

[0044] In the figure:

[0045] 1. Inner wall processing head; 11. Output optical cable; 12. Protective mirror; 13. Beam expander; 14. Focusing lens; 15. Focusing ring; 151. Progressive gear teeth; 152. Calibration magnet; 153. Magnetic attracting block;

[0046] 2. Traveling mechanism; 21. Driving unit; 211. Moving bracket; 212. Driving wheel; 213. Contact track; 22. Adjusting mechanism; 221. Hinge rod; 2211. Feed ring; 222. Hinge secondary rod; 223. Moving slip ring; 224. Adjusting knob;

[0047] 3. Rotating lens; 31. Hollow shaft motor; 32. Reflective lens;

[0048] 4. Air curtain mechanism; 41. Inner ring air duct; 42. Outer ring air duct; 43. Fan;

[0049] 5. Wiring part;

[0050] 6. Monitoring unit. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0052] See also Figures 1-5 The present invention discloses a pipeline inner wall cleaning device, comprising:

[0053] An inner wall processing head 1, wherein an optical path structure is arranged inside the inner wall processing head 1, and the inner wall processing head 1 is in a circular tube shape, and its axis is arranged to coincide with the tube;

[0054] A walking mechanism 2, wherein the walking mechanism 2 is arranged on the inner wall processing head 1, and is used to support the inner wall processing head 1 in the pipeline and drive it to move along the pipeline axis;

[0055] The walking mechanism 2 includes a driving unit 21 and an adjusting mechanism 22, wherein the adjusting mechanism 22 is used to adjust the contact between the driving unit 21 and the inner wall of pipes with different diameters;

[0056] A rotating lens 3, which is arranged at the end of the inner wall processing head 1, and is used to refract the laser emitted by the optical path mechanism to clean the inner wall of the pipeline;

[0057] The optical path mechanism includes an output optical cable 11, a protective mirror 12, a beam expander 13 and a focusing mirror 14. The beam expander 13 or the focusing mirror 14 is movably arranged in the inner wall processing head 1 and is transmission-connected to the adjustment mechanism 22, so as to synchronously adjust the distance between the beam expander 13 and the focusing mirror 14 during the process in which the adjustment mechanism 22 adjusts the contact between the driving unit 21 and the inner wall of the pipeline so that the laser focus is concentrated on the inner wall of the pipeline.

[0058] When the present application is in use, the walking mechanism 2 drives the inner wall processing head 1 to move forward or backward axially in the pipe. The inner wall processing head 1 is provided with a rotating lens 3. After the laser passes through the internal optical path system of the inner wall processing head 1 in sequence, two laser beams are formed to irradiate the inner wall of the pipe. The high-speed rotation of the rotating lens 3 cooperates with the axial feeding of the walking mechanism 2 to form a spiral scanning line on the inner wall of the pipe to complete the processing process.

[0059] In the above process, in order to make the equipment applicable to pipes of different diameters, the equipment can adjust the driving unit 21 on the inner wall processing head 1 through the adjusting mechanism 22 to expand or contract, contact with pipes of different diameters, and realize walking in the pipe. In the above process, the beam expander 13 or the focusing lens 14 is movably arranged in the inner wall processing head 1 and is connected to the adjusting mechanism 22 by transmission, so as to synchronously adjust the distance between the beam expander 13 and the focusing lens 14 during the process of adjusting the driving unit 21 to contact with the inner wall of the pipe by the adjusting mechanism 22, so that the laser focus is concentrated on the inner wall of the pipe.

[0060] Specifically, the number of the walking mechanisms 2 is at least two. In a preferred embodiment, the number of the walking mechanisms 2 is three. The three walking mechanisms 2 are distributed in a circular shape and are equidistantly distributed outside the inner wall processing head 1.

[0061] The driving unit 21 includes a moving bracket 211 , in which a plurality of driving wheels 212 are disposed. The outer surfaces of the plurality of driving wheels 212 are provided with contact tracks 213 for transmission.

[0062] Furthermore, the adjustment mechanism 22 includes an articulated rod 221 which is arranged between the movable bracket 211 and the inner wall processing head 1 and is respectively hinged to the two. It should be supplemented that the adjustment mechanism 22 of each group of the walking mechanism 2 includes three groups of articulated rods 221 which are hinged to the inner wall processing head 1, such as Figure 1 As shown;

[0063] The adjustment mechanism 22 also includes a moving slip ring 223 and an adjustment knob 224 sleeved on the inner wall processing head 1, and the moving slip ring 223 is rotatably connected to a hinged secondary rod 222 hinged to the hinged rod 221. It should be supplemented that the moving slip ring 223 is arranged at an end away from the rotating lens 3;

[0064] The adjusting knob 224 is threadedly connected to the inner wall processing head 1, and the movable slip ring 223 is rotatably connected to the adjusting knob 224. The adjusting knob 224 is rotated to drive the movable slip ring 223 to move axially, so as to drive the hinged sub-rod 222 arranged thereon to rotate against the hinged rod 221 and push the driving unit 21 to contact the inner wall of the pipe. It should be noted that in the present application, the adjusting knob 224 is manually adjusted, and in a preferred embodiment, the inner wall processing head 1 can also be provided with a transmission unit for driving the adjusting knob 224 to rotate, so as to achieve the purpose of automatically adapting to the pipe wall.

[0065] It is further necessary to supplement that a focus ring 15 for adjusting the beam expander 13 or the focusing lens 14 is rotatably provided on the inner wall processing head 1;

[0066] like Figure 4As shown, a feed ring 2211 is provided on one set of the hinge rods 221. The feed ring 2211 is perpendicularly distributed to the focusing ring 15, and progressive engaging teeth 151 are provided on both of them;

[0067] The progressive engaging teeth 151 are conical engaging teeth, and the directions of the conical engaging teeth on the feed ring 2211 and the focusing ring 15 are opposite;

[0068] The focusing ring 15 is further provided with calibration magnets 152 corresponding one by one to the progressive engaging teeth 151 provided thereon. A magnetic attracting block 153 corresponding to the calibration magnet 152 is provided on the inner wall processing head 1. The magnetic attracting block 153 and the calibration magnet 152 are used to adjust the position of the focusing ring 15 when the feed ring 2211 drives the corresponding rotation of the focusing ring 15 through the progressive engaging teeth 151 as the hinge rod 221 rotates. The above setting is to avoid the problem that the progressive engaging teeth 151 on the focusing ring 15 cannot engage with the progressive engaging teeth 151 on the feed ring 2211 during the rotation process.

[0069] Through the above structural setting, during the process of rotating the adjustment knob 224 to adapt to different pipes, multiple hinge rods 221 synchronously tilt towards the pipe wall. Correspondingly, the feed ring 2211 provided on the hinge rod 221 will also drive the focusing ring 15 to rotate through the corresponding progressive engaging teeth 151. It should be added that an adjustment pin is provided inside the focusing ring 15, and the corresponding beam expander 13 or the focusing lens 14 is arranged inside the inner wall processing head 1 through a sliding sleeve. An adjustment thread groove corresponding to the adjustment pin is provided on the sliding sleeve. When the adjustment pin rotates with the focusing ring 15, the sliding sleeve can be driven to move along the axial direction of the inner wall processing head 1 through the engagement between it and the adjustment thread groove, achieving the purpose of adjusting the distance between the beam expander 13 and the focusing lens 14. It should be noted that the adjustment pin, the sliding sleeve, and the adjustment thread groove are not shown in the figure. Further, the above adjustment structure can also be replaced by other structures that can be easily thought of by those skilled in the art.

[0070] In this application, a hollow shaft motor 31 is provided inside the rotating lens 3. The hollow shaft motor 31 is used to drive the rotating lens 3 to perform circular rotation;

[0071] A reflecting lens 32 is further provided inside the rotating lens 3. The reflecting lens 32 is used to refract the laser emitted by the optical path mechanism onto the inner wall of the pipe for cleaning.

[0072] It should be further noted that a beam splitter is also provided inside the rotating lens 3. The beam splitter is used to divide the laser emitted by the optical path mechanism into two beams of laser;

[0073] The number of the reflecting lenses 32 is two groups, which are used to refract the two beams of laser for cleaning on the inner wall of the pipe.

[0074] In a preferred embodiment, a protective lens is further disposed in the rotating lens 3, and the protective lens is used to block the entry of flue gas into the rotating lens 3.

[0075] Furthermore, a wind curtain mechanism 4 is further included. The wind curtain mechanism 4 is disposed around the rotating lens 3, and the wind curtain mechanism 4 is used to form an annular air curtain to protect the rotating lens 3 and reduce dust pollution.

[0076] Furthermore, the wind curtain mechanism 4 includes a first annular ring, a second annular ring, and a third annular ring sleeved in sequence. An inner annular air duct 41 is provided between the first annular ring and the second annular ring, and an outer annular air duct 42 is provided between the second annular ring and the third annular ring;

[0077] The wind curtain mechanism 4 further includes a fan 43. The number of the fans 43 is at least three groups. The output ends of at least two groups of the fans 43 are communicated with the inner annular air duct 41, and the output ends of the remaining fans 43 are communicated with the outer annular air duct 42.

[0078] Through the above structural arrangement, the device does not need to be connected to an external air source. During the operation of the device, the inner annular air duct 41 can form an air duct outside the rotating lens 3 to avoid the normal operation of the device being affected by the covering of the soot generated during the cleaning process, while the outer annular air duct 42 can drive the air flow inside the pipeline to clear the soot generated during the laser cleaning process.

[0079] In this application, a control unit is further included. A wiring part 5 is provided at one end of the inner wall processing head 1 away from the rotating lens 3, and the control unit is connected to the inner wall processing head 1 through a connecting cable;

[0080] A monitoring unit 6 is provided on the inner wall processing head 1. The monitoring unit 6 is used to obtain the inner wall cleaning image in real time and transmit it to the control unit. The control unit can control the laser on / off, the forward and reverse rotation of the hollow shaft motor 31, the feeding of the traveling mechanism 2, the rotation of the fan 43, and the communication of the monitoring component 6.

[0081] This application also needs to describe a usage method of a pipeline inner wall cleaning device, including the following steps:

[0082] S1. Pre-cleaning. The operator manually cleans the inner wall of the pipeline inlet end, measures the pipeline diameter, and observes whether there are obvious obstacles in the pipeline. In this step, the manual cleaning of the pipeline inlet is because the device has a certain length and cannot clean the inlet end, and the pipeline diameter obtained during the cleaning process is also convenient for the subsequent debugging and use of the device;

[0083] S2. Debugging. Adjust the traveling mechanism 2 on the inner wall processing head 1 according to the pipeline diameter measured in step S1, so that the diameter after the expansion of the traveling mechanism 2 is slightly smaller than the pipeline diameter;

[0084] S3. Assembly: Place the inner wall processing head 1 after debugging in the pipeline, and continue to adjust the expansion of the traveling mechanism 2 to make it fit tightly against the inner wall of the pipeline.

[0085] S4. Testing: Connect the cable to the wiring part 5 and ensure that the inner wall processing head 1, the rotating lens 3, the air curtain mechanism 4, and the monitoring unit 6 are in a normal working state.

[0086] S5. Cleaning: After the laser passes through the internal optical path system of the inner wall processing head 1 in sequence, two laser beams are formed and irradiated on the inner wall of the pipeline. Through the high-speed rotation of the hollow shaft motor 31 and the axial feeding of the traveling mechanism 2, a spiral scanning line is formed on the inner wall of the pipeline for inner wall cleaning. During the cleaning process, an annular air curtain is formed by the air curtain mechanism 4 to protect the rotating lens 3, and the monitoring unit 6 is used to monitor in real time whether the inner wall cleaning quality meets the requirements.

[0087] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0088] In addition, if there are descriptions such as "first" and "second" involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0089] In addition, "a plurality" means more than two.

[0090] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pipeline inner wall cleaning device, characterized in that: include: An inner wall processing head (1), wherein an optical path structure is arranged inside the inner wall processing head (1); A walking mechanism (2), the walking mechanism (2) being arranged on the inner wall processing head (1) and being used for supporting the inner wall processing head (1) in the pipeline and driving it to move along the pipeline axis; The walking mechanism (2) comprises a driving unit (21) and an adjusting mechanism (22), wherein the adjusting mechanism (22) is used to adjust the contact between the driving unit (21) and the inner wall of a pipe with different diameters; A rotating lens (3), the rotating lens (3) being arranged at the end of the inner wall processing head (1) and being used for refracting the laser light emitted by the optical path mechanism to clean the inner wall of the pipeline; The optical path mechanism comprises an output optical cable (11), a protective mirror (12), a beam expander (13) and a focusing mirror (14); the beam expander (13) or the focusing mirror (14) is movably arranged in the inner wall processing head (1) and is transmission-connected to the adjustment mechanism (22) so as to synchronously adjust the distance between the beam expander (13) and the focusing mirror (14) during the process of the adjustment mechanism (22) adjusting the contact between the driving unit (21) and the inner wall of the pipeline so that the laser focus is concentrated on the inner wall of the pipeline.

2. A pipeline inner wall cleaning device according to claim 1, characterized in that: The number of the walking mechanisms (2) is at least two; The driving unit (21) comprises a moving bracket (211), a plurality of sets of driving wheels (212) are arranged inside the moving bracket (211), and contact tracks (213) are arranged on the outer surfaces of the plurality of sets of driving wheels (212) for transmission.

3. A pipeline inner wall cleaning device according to claim 2, characterized in that: The adjustment mechanism (22) comprises a hinged rod (221) which is arranged between the movable bracket (211) and the inner wall processing head (1) and is respectively hinged to the two. The adjustment mechanism (22) further comprises a movable slip ring (223) sleeved on the inner wall processing head (1) and an adjustment knob (224); the movable slip ring (223) is rotatably connected to a hinged secondary rod (222) hinged to the hinged rod (221); The adjusting knob (224) is threadedly connected to the inner wall processing head (1), and the movable slip ring (223) is rotationally connected to the adjusting knob (224). The adjusting knob (224) is rotated to drive the movable slip ring (223) to move axially, thereby driving the hinged secondary rod (222) arranged thereon to rotate against the hinged rod (221) and push the driving unit (21) to contact the inner wall of the pipeline.

4. A pipeline inner wall cleaning device according to claim 3, characterized in that: The inner wall processing head (1) is rotatably provided with a focus ring (15) for adjusting the beam expander (13) or the focusing lens (14); A feeding ring (2211) is arranged on one group of the hinged rods (221), the feeding ring (2211) and the focusing ring (15) are vertically distributed and both are provided with matching progressive locking teeth (151); The progressive latching teeth (151) are conical latching teeth, and the conical latching teeth on the feed ring (2211) and the focus ring (15) are in opposite directions; The focus ring (15) is further provided with a calibration magnetic block (152) corresponding to the progressive latch teeth (151) provided thereon, and the inner wall processing head (1) is provided with a magnetic attraction block (153) corresponding to the calibration magnetic block (152). The magnetic attraction block (153) and the calibration magnetic block (152) are used to adjust the position of the focus ring (15) when the feed ring (2211) rotates with the hinge rod (221) and the progressive latch teeth (151) drive the focus ring (15) to rotate accordingly.

5. A pipeline inner wall cleaning device according to claim 1, characterized in that: A hollow shaft motor (31) is arranged inside the rotating lens (3), and the hollow shaft motor (31) is used to drive the rotating lens (3) to perform circular rotation; A reflective lens (32) is also provided inside the rotating lens (3), and the reflective lens (32) is used to refract the laser light emitted by the optical path mechanism to clean the inner wall of the pipeline.

6. A pipeline inner wall cleaning device according to claim 5, characterized in that: The rotating lens (3) is also provided with a beam splitter, which is used to split the laser light emitted by the optical path mechanism into two beams of laser light; The reflective lenses (32) are provided in two groups for refracting two laser beams to clean the inner wall of the pipeline. A protective lens is also provided inside the rotating lens (3), and the protective lens is used to prevent smoke from entering the rotating lens (3).

7. A pipeline inner wall cleaning device according to claim 1, characterized in that: It also comprises an air curtain mechanism (4), which is arranged around the rotating lens (3) and is used to form an annular air curtain to protect the rotating lens (3) and reduce dust pollution.

8. A pipeline inner wall cleaning device according to claim 7, characterized in that: The air curtain mechanism (4) comprises a first annular ring, a second annular ring and a third annular ring which are sequentially sleeved, an inner annular air passage (41) is provided between the first annular ring and the second annular ring, and an outer annular air passage (42) is provided between the second annular ring and the third annular ring; The wind curtain mechanism (4) further comprises fans (43), the number of the fans (43) being at least three groups, the output ends of at least two groups of the fans (43) being in communication with the inner ring air duct (41), and the output ends of the remaining fans (43) being in communication with the outer ring air duct (42).

9. A pipeline inner wall cleaning device according to claim 5, characterized in that: It also includes the control unit, and a wiring portion (5) is provided at one end of the inner wall processing head (1) away from the rotating lens (3), and the control unit is connected to the inner wall processing head (1) via a connecting cable; The inner wall processing head (1) is provided with a monitoring unit (6), and the monitoring unit (6) is used to obtain the inner wall cleaning image in real time and transmit it to the control unit.

10. A method for using a pipeline inner wall cleaning device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Pre-cleaning: personnel manually clean the inner wall of the pipeline inlet and measure the pipeline diameter, and observe whether there are obvious obstructions in the pipeline; S2, debugging, adjusting the walking mechanism (2) on the inner wall processing head (1) according to the pipe diameter measured in step S1, so that the diameter of the walking mechanism (2) after expansion is slightly smaller than the pipe diameter; S3, assembling, placing the inner wall processing head (1) after debugging in the pipeline, and continuing to adjust the expansion of the walking mechanism (2) so that it fits tightly against the inner wall of the pipeline; S4, testing, connecting the cables to the wiring part (5), and ensuring that the inner wall processing head (1), the rotating lens (3), the air curtain mechanism (4) and the monitoring unit (6) are in normal working condition; S5, cleaning. After the laser passes through the internal optical path system of the inner wall processing head (1) in sequence, two laser beams are formed to irradiate the inner wall of the pipe. Through the high-speed rotation of the hollow shaft motor (31) and the axial feeding of the walking mechanism (2), a spiral scanning line is formed on the inner wall of the pipe to clean the inner wall. During the cleaning process, a ring-shaped air curtain is formed through the air curtain mechanism (4) to protect the rotating lens (3). The monitoring unit (6) is used to monitor in real time whether the inner wall cleaning quality meets the requirements.

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