Laser cleaning device for decontaminating inner wall of pipeline

Abstract

The invention relates to the field of laser cleaning, in particular to a laser cleaning device for decontaminating the inner wall of a pipeline, which comprises a cleaning machine, a control panel is mounted above the cleaning machine, a cleaning head is placed on one side of the cleaning machine, a cable is connected between the cleaning head and the cleaning machine, and a laser head is arranged on one side, far away from the cable, of the cleaning head. Through meshing transmission of the rack and the gear, the change, sensed by the first roller, of the inner diameter of the pipeline is converted into linear displacement of the push rod, then the gear is driven to rotate, the power of the laser head is adjusted in real time in linkage with the knob type frequency converter, self-adaptive adjustment of the power along with the pipe diameter is achieved, and pipe wall damage or incomplete cleaning is prevented. Meanwhile, under pushing of a second spring, a sliding block drives a second roller to extend out in the radial direction through a connecting arm and to be attached to the pipe wall, a connecting frame enables a first roller to rotate synchronously and abut against the first roller, the double-roller system is always in close contact with the inner wall under assistance of a limiting groove, stable walking is guaranteed, and continuous and accurate pipe diameter feedback is provided for power adjustment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser cleaning, in particular to a laser cleaning device for removing dirt from the inner wall of a pipeline. BACKGROUND

[0002] Laser cleaning is an advanced surface treatment technology that uses high-energy laser beams to interact with the surface of materials to remove contaminants, coatings or oxide layers through physical or chemical processes. Its core principle is to achieve efficient, precise and non-contact cleaning by taking advantage of the energy concentration, good directionality and high monochromaticity of laser, while avoiding environmental pollution, substrate damage or low efficiency that may be caused by traditional cleaning methods.

[0003] In the invention patent application with the application publication number CN119926909A, the application publication date 2025-05-06 and the name of "A pipeline inner wall laser cleaning system", a pipeline inner wall laser cleaning system is disclosed, which relates to the field of pipeline inner wall laser cleaning. The pipeline inner wall laser cleaning system comprises: a chuck assembly; a continuously connectable connecting rod driving device arranged on one side of the chuck assembly; one end of the continuously connectable connecting rod is arranged in the continuously 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 device main body is arranged on the other side of the chuck assembly, and one end of the laser irradiation device main body is connected with the other end of the continuously connectable connecting rod through a push-pull interface ring; a first accommodating cavity penetrating through the entire laser irradiation device main body is arranged in the laser irradiation device main 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 is arranged at the other end of the laser irradiation device main body and is rotationally connected with the frameless torque motor through a hollow connecting shaft. The scheme of the present application realizes the rapid cleaning of the inner wall of the pipeline and improves the cleaning efficiency.

[0004] In the above-mentioned patent or prior art, when the laser cleaning device cleans the inner wall of the pipeline, due to the differences in the diameters of the groups of pipelines, if a fixed laser intensity is used, when cleaning a pipeline with a smaller diameter, the inner wall may be overheated or damaged. In addition, during the cleaning process, if the inner diameter of the pipeline suddenly expands or shrinks, the system cannot automatically adjust the laser intensity in real time according to the change in the inner diameter, thereby affecting the consistency and integrity of the cleaning effect.

[0005] Therefore, it is necessary to invent a laser cleaning device for removing dirt from the inner wall of a pipeline to solve the above-mentioned problems. SUMMARY

[0006] The purpose of the present application is to provide a pipeline inner wall decontamination laser cleaning device, by setting up a cooperative control scheme composed of a mechanical feedback type self-adaptive adjustment system and a synchronous fitting walking mechanism, to solve the problem that in the prior art, when the laser cleaning device is used in variable-diameter or irregular pipelines, the fixed laser intensity leads to easy damage to the pipeline wall, uneven cleaning effect, and lack of real-time and automatic response capability to changes in the pipeline diameter, thereby affecting the cleaning safety and work efficiency.

[0007] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a pipeline inner wall decontamination laser cleaning device, comprising a cleaning machine, a control panel is installed above the cleaning machine, a cleaning head is placed on one side of the cleaning machine, and a cable is connected between the cleaning head and the cleaning machine, a laser head is arranged on the side of the cleaning head away from the cable, a swing cleaning assembly is arranged between the cleaning head and the laser head, a handle is symmetrically installed on the surface of the cleaning head, a driving assembly is arranged on the surface of the cleaning head, two groups of baffles are sequentially installed inside the cleaning head, and a self-adaptive adjustment assembly is arranged between the two groups of baffles.

[0008] As a preferred scheme of the present application, the swing cleaning assembly comprises a rotating head, the rotating head is rotatably connected in the cleaning head, and the laser head is divided into four groups and arranged in a ring-shaped equal division array on the surface of the rotating head, one side of the rotating head is connected with the output shaft of a small servo motor, and the small servo motor is fixedly connected with one side of one group of baffles.

[0009] As a preferred scheme of the present application, the surface of the rotating head is symmetrically installed with a touch rod, the inside of the cleaning head is symmetrically installed with a limiting seat one, the inside of the cleaning head is symmetrically installed with a limiting seat two, and there is a forty-five-degree angle between the limiting seat two and the adjacent limiting seat one.

[0010] As a preferred scheme of the present application, the limiting seat one and the limiting seat two in each group are both installed with a touch button, the touch buttons in each group are in the same horizontal position with the touch rod, the touch buttons are electrically connected with the small servo motor, the surface of the rotating head is symmetrically provided with a wiring hole, and the wiring hole is arranged on the surface of the two groups of baffles.

[0011] As a preferred scheme of the present application, the self-adaptive adjustment assembly comprises a gear, the gear is sequentially installed between the two groups of baffles, four groups of push rods are installed in a ring-shaped equal division array on the inner wall of the cleaning head, one side of each group of push rods is installed with a rack, and the two groups of racks arranged in opposite directions are meshed with the gears in the same group.

[0012] As a preferred scheme of the present application, four groups of guide rods are sequentially installed on the inner wall of the cleaning head, and the guide rods are connected with the corresponding push rods, a spring one is sleeved on each group of guide rods, and the two ends of the spring one are respectively attached to the corresponding push rod and the inner wall of the cleaning head.

[0013] As a preferred scheme of the present application, the side away from the rotating head of the partition plate is provided with a knob-type frequency converter, the control knob end of the knob-type frequency converter is connected with the two sets of gear shafts, the knob-type frequency converter is electrically connected with the cable, the knob-type frequency converter is electrically connected with the laser head through the wiring hole, and each set of the push rod is unidirectionally limited rotationally connected with a roller one on the side away from the rack.

[0014] As a preferred scheme of the present application, the driving assembly comprises a sliding groove, the sliding groove is arranged in an annular equidistribution array on the surface of the cleaning head, four sets of the sliding grooves are arranged, each set of the sliding grooves is provided with a sliding rod, each set of the sliding rods is provided with a sliding block sleeved and mounted thereon, each set of the sliding rods is provided with a spring two sleeved thereon, the spring two is located on the side close to the cable, and the two ends of the spring two are respectively attached to the corresponding sliding block and the inner wall of the sliding groove, and the elastic force of the spring two is greater than that of the spring one.

[0015] As a preferred scheme of the present application, each set of the sliding blocks is provided with a connecting arm one, the inner wall of each set of the sliding grooves away from the spring two is symmetrically provided with a limiting groove, each set of the limiting grooves is slidably connected with a connecting arm two, and the connecting arm one and the connecting arm two in the same set of the sliding grooves are rotationally connected with a connecting seat.

[0016] As a preferred scheme of the present application, each set of the connecting seats is provided with a roller two, each set of the connecting seats is provided with a driving motor on one side, the driving motor is connected with the corresponding roller two, and each set of the connecting seats is rotationally connected with a connecting frame between the corresponding roller one.

[0017] In the above technical scheme, compared with the prior art, the present application has the following technical effects and advantages: 1. Through the meshing of the rack and the gear, when the cleaning head is placed in the pipeline, the roller one is kept in contact with the inner wall of the pipeline under the pre-tightening force of the spring one. The actual size of the inner diameter of the pipeline directly determines the radial position of the roller one: the smaller the pipe diameter, the greater the displacement of the roller being pressed inward; on the contrary, the larger the pipe diameter, the greater the outward extension of the roller under the action of the spring. This radial displacement is converted into linear motion through the push rod, which drives the rack to produce displacement, and the linear motion of the rack drives the gear in meshing to produce precise rotary motion. The rotary shaft of the gear is directly coupled with the control knob of the knob-type frequency converter, thereby converting the angular displacement of the gear into the adjustment action of the knob. The knob-type frequency converter changes its output parameters in real time according to the knob position, and finally accurately controls the output power of the laser head. Thus, the laser energy intensity and the inner diameter of the pipeline establish a direct mechanical linkage: the smaller the inner diameter, the lower the power is automatically adjusted to prevent the pipe wall from being burned by high energy density; the larger the inner diameter, the higher the power is automatically adjusted to ensure sufficient cleaning energy and avoid incomplete cleaning due to the decrease of energy density; 2. Under the continuous elastic force of spring two, the sliding block slides outward along the slide rod, and then drives the roller two to extend radially through the connecting arm one and the connecting seat until it contacts the inner wall of the pipeline. At the same time, through the linkage of the connecting frame, the roller one rotates and synchronously abuts against the inner wall. The design of the limiting groove provides an additional sliding stroke for the connecting arm two, ensuring that the roller one can be rotated to the correct working position under the action of the spring force, realizing the synchronous and reliable lamination of the double-roller system and the pipe wall. When the inner diameter of the pipeline suddenly expands or shrinks, the roller two can always maintain close contact with the inner wall under the action of spring two and mechanical linkage, thereby ensuring stable walking and accurate measurement, and providing continuous and true pipe diameter feedback signals for the power adjustment assembly. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0019] Figure 1 It is a schematic diagram of the overall structure of the cleaning machine of the present application. Figure 2 It is a schematic diagram of the cross-sectional structure of the cleaning head of the present application. Figure 3 It is a schematic diagram of the cross-sectional layout structure of the cleaning head of the present application. Figure 4 It is a schematic diagram of the laser head structure of the present application. Figure 5 It is a schematic diagram of the layout structure of the limiting seat one and the limiting seat two of the present application. Figure 6 It is a schematic diagram of the roller layout structure of the present application. Figure 7 It is a schematic diagram of the gear and rack layout folding structure of the present application. Figure 8 It is a schematic diagram of the roller folding structure of the present application. Figure 9 It is a schematic diagram of the roller unfolding structure of the present application.

[0020] Explanation of reference signs: 001, cleaning machine; 101, control panel; 102, cable; 103, cleaning head; 104, laser head; 105, handle; 106, partition; 002, swing cleaning assembly; 201, rotating head; 202, small servo motor; 203, touch rod; 204, limiting seat one; 205, touch button; 206, limiting seat two; 207, wiring hole; 003, adaptive adjustment assembly; 301, gear; 302, push rod; 303, rack; 304, guide rod; 305, spring one; 306, knob type frequency converter; 307, roller one; 004, driving assembly; 401, sliding groove; 402, sliding rod; 403, sliding block; 404, spring two; 405, connecting arm one; 406, connecting seat; 407, connecting arm two; 408, roller two; 409, driving motor; 410, connecting frame; 411, limiting groove. DETAILED DESCRIPTION

[0021] In order to make the technical personnel in the art better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings.

[0022] The present application provides a kind of laser cleaning device for removing dirt from pipeline inner wall as shown in Figures 1-9 The present application provides a kind of laser cleaning device for removing dirt from pipeline inner wall as shown in

[0023] The laser head 104 is used for laser cleaning of the inner wall of the pipeline. The driving assembly 004 can control the cleaning head 103 to move uniformly in the pipeline, and the swing cleaning assembly 002 can drive the laser head 104 to swing, so as to realize the cleaning of the inner wall of the pipeline without dead angle. The adaptive adjustment assembly 003 can adjust the laser output intensity in real time according to the change of the inner diameter of the pipeline, so as to ensure the cleaning effect and avoid damage to the inner wall.

[0024] Further, in the above structure, the swing cleaning assembly 002 includes a rotating head 201, which is rotatably connected in the cleaning head 103, and the laser head 104 is divided into four groups and arranged in a ring-shaped equal division array on the surface of the rotating head 201, one side of the rotating head 201 is connected with the output shaft of a small servo motor 202, and the small servo motor 202 is fixedly connected with one side of a group of partitions 106.

[0025] The rotating head 201 is driven to reciprocate by the small servo motor 202, so as to drive the laser head 104 on the surface to swing, so as to expand the cleaning coverage.

[0026] Further, in the above structure, the rotating head 201 is symmetrically provided with the touch rod 203, the cleaning head 103 is symmetrically provided with the limiting seat one 204 and the limiting seat two 206, and the limiting seat two 206 and the limiting seat one 204 adjacent to each other form an angle of 45 degrees.

[0027] The touch rod 203 cooperates with the limiting seat one 204 and the limiting seat two 206 arranged at an angle of 45 degrees, so that the swing angle of the rotating head 201 can be accurately limited to 45 degrees. Combined with the four groups of laser heads 104 uniformly distributed in a ring shape, the cleaning of the entire inner wall of the pipeline can be completed.

[0028] Further, in the above structure, the touch button 205 is installed in each group of limiting seat one 204 and limiting seat two 206, and each group of touch button 205 is at the same horizontal position with the touch rod 203, and the touch button 205 is electrically connected with the small servo motor 202, and the rotating head 201 is symmetrically provided with the wiring hole 207, and the wiring hole 207 is provided on the surface of the two groups of partition plates 106.

[0029] The touch rod 203 on the rotating head 201 triggers the corresponding touch button 205 during the swing process, and the signal can control the small servo motor 202 to change direction, so as to realize the automatic reciprocating swing of the rotating head 201 and the laser head 104.

[0030] Further, in the above structure, the adaptive adjusting assembly 003 includes a gear 301, the gear 301 is installed between the two groups of partition plates 106 in sequence, four groups of push rods 302 are installed in a ring shape on the inner wall of the cleaning head 103, each group of push rods 302 is provided with a gear rack 303 on one side, and the two groups of gear racks 303 arranged in opposite directions are engaged with the same group of gears 301.

[0031] The linear motion of the push rod 302 can drive the gear rack 303 engaged therewith to move, and further drive the gear 301 to rotate.

[0032] Further, in the above structure, four groups of guide rods 304 are installed in sequence on the inner wall of the cleaning head 103, and the guide rods 304 are connected with the corresponding push rods 302, each group of guide rods 304 is provided with a spring one 305, and the two ends of the spring one 305 are respectively attached to the corresponding push rod 302 and the inner wall of the cleaning head 103.

[0033] The movement of the push rod 302 is guided by the guide rod 304. The pre-tightening force of the spring 305 always makes the push rod 302 have a tendency to move towards the inner wall of the pipeline, ensuring that the roller 307 keeps in contact with the inner wall.

[0034] Further, in the above structure, the side away from the rotating head 201 of the partition plate 106 is provided with a knob-type frequency converter 306, and the control knob end of the knob-type frequency converter 306 is connected with the two sets of gears 301, and the knob-type frequency converter 306 is electrically connected with the cable 102, and is electrically connected with the laser head 104 through the wiring hole 207, and each set of push rod 302 is unidirectionally limited rotationally connected with a roller 307 away from the side of the rack 303.

[0035] The rotation of the gear 301 drives the control knob of the knob-type frequency converter 306, so as to adjust the output power of the laser head 104. The knob-type frequency converter 306 obtains power through the cable 102, and is connected with the laser head 104 through the line in the wiring hole 207.

[0036] Further, in the above structure, the driving assembly 004 includes a sliding groove 401, which is annularly and equally divided and arranged on the surface of the cleaning head 103, and four groups of sliding grooves 401 are arranged, each group of sliding grooves 401 is provided with a sliding rod 402, each group of sliding rods 402 is provided with a sliding block 403, each group of sliding rods 402 is provided with a spring 404, and the spring 404 is located on the side close to the cable 102, and the spring 404 is in contact with the inner wall of the corresponding sliding block 403 and the sliding groove 401 at both ends, and the elastic force of the spring 404 is greater than that of the spring 305.

[0037] The sliding block 403 can slide along the sliding rod 402, and the elastic force of the spring 404 provides a pushing force to the sliding block 403 and its associated mechanism in the direction of the inner wall of the pipeline, and the elastic force of the spring 404 is greater than that of the spring 305, so that the spring 305 can continuously push the sliding block 403 when it is compressed.

[0038] Further, in the above structure, each group of sliding blocks 403 is provided with a connecting arm 405, and the inner wall of each group of sliding grooves 401 away from the spring 404 is symmetrically provided with a limiting groove 411, each group of limiting grooves 411 is slidably connected with a connecting arm 407, and the connecting arm 405 and the connecting arm 407 in the same group of sliding grooves 401 are rotationally connected with a connecting seat 406.

[0039] When the sliding block 403 is pushed by the spring force, the connecting arm 405 will be actuated, and then the connecting arm 407 will be pushed to slide in the limiting groove 411 through the connecting seat 406, so that the whole walking mechanism is finally unfolded outward until the roller 408 contacts the inner wall of the pipeline.

[0040] Further, in the above structure, each group of connecting seats 406 is installed with a roller two 408, each group of connecting seats 406 is installed with a driving motor 409 on one side, and the driving motor 409 is connected with the corresponding roller two 408, and the connecting frame 410 is rotationally connected between each group of connecting seats 406 and the corresponding roller one 307.

[0041] The driving motor 409 drives the roller two 408 to rotate, providing power for the cleaning head 103 to travel in the pipeline. The connecting frame 410 links the walking mechanism with the adaptive adjustment assembly 003, ensuring that while the roller two 408 contacts the inner wall, the push rod 302 and the roller one 307 can also be adaptively pressed against the inner wall under the action of the spring one 305. The design of the limiting groove 411 provides the necessary sliding stroke for the connecting arm two 407, ensuring that when the connecting seat 406 does not move the roller one 307 into place, the limiting groove 411 can move a certain distance at this time, thereby ensuring that the roller one 307 is rotated into place and adapts to different pipeline inner wall environments.

[0042] As shown in Figures 1-9 When it is necessary to clean the inner wall of the pipeline, first press any one of the connecting seats 406 to drive the roller two 408 to fold towards the main body of the cleaning head 103. At the same time, under the linkage action of the connecting frame 410, the roller one 307 will be folded upward by 90 degrees around the push rod 302. The remaining several groups of connecting seats 406 are also folded in the same way, so that the overall shape of the cleaning head 103 is reduced, facilitating entry into the pipeline.

[0043] Subsequently, the end of the cleaning head 103 with the roller one 307 is placed into the inside of the pipeline to be cleaned. Loosen the connecting seat 406, and under the elastic force of the spring two 404, the sliding block 403 slides outward along the sliding rod 402. Through the transmission of the connecting arm one 405, the roller two 408 is pushed to the inner wall of the pipeline and adheres to it. After the roller two 408 is in place, the continuous pushing force of the spring two 404 will make the connecting arm two 407 continue to slide a certain distance along the limiting groove 411 until the roller one 307 also fully adheres to the inner wall of the pipeline. The guiding action of the limiting groove 411 ensures that the roller one 307 is finally rotated into place.

[0044] Then, the roller one 307 radially extrudes the push rod 302, forcing the push rod 302 to drive the rack 303 to move downward. The rack 303 drives the gear 301 to rotate, thereby adjusting the knob type frequency converter 306, so as to set the initial output power of the laser head 104.

[0045] After starting the cleaning program, the small servo motor 202 drives the rotating head 201 to rotate. The touch rod 203 on the rotating head 201 alternately triggers the touch button 205 in the limiting seat one 204 and the limiting seat two 206 with swinging, forming a feedback signal, so that the rotating head 201 realizes automatic reciprocating swing. Since the four groups of laser heads 104 are evenly distributed in a ring shape, the swinging range can cover the entire inner wall of the pipeline. At the same time, the driving motor 409 drives the roller two 408 to rotate, and pushes the cleaning head 103 to move forward along the inner wall of the pipeline at a slow and uniform speed.

[0046] When the inner diameter of the pipeline suddenly expands or shrinks, the roller one 307 will displace with the change of the wall position, and through the meshing transmission of the rack 303 and the gear 301, the rotary knob type frequency converter 306 is adjusted in real time. The system can automatically adjust the output power of the laser head 104 with the change of the inner diameter, so as to adapt to different pipe diameters, ensure the cleaning effect and prevent the damage of the pipe wall.

[0047] The above only describes some exemplary embodiments of the present application by way of illustration, and it is needless to say that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present application. Therefore, the above drawings and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A laser cleaning device for removing contaminants from the inner wall of a pipe, comprising a cleaning machine (001), characterized in that: A control panel (101) is installed on top of the cleaning machine (001). A cleaning head (103) is placed on one side of the cleaning machine (001), and a cable (102) is connected between the cleaning head (103) and the cleaning machine (001). A laser head (104) is provided on the side of the cleaning head (103) away from the cable (102). A swing cleaning assembly (002) is provided between the cleaning head (103) and the laser head (104). Handles (105) are symmetrically installed on the surface of the cleaning head (103). A drive assembly (004) is provided on the surface of the cleaning head (103). Two sets of partitions (106) are installed sequentially inside the cleaning head (103). An adaptive adjustment assembly (003) is provided between the two sets of partitions (106). The adaptive adjustment component (003) includes a gear (301), which is sequentially installed between two sets of partitions (106). Four sets of push rods (302) are installed in a circular, equally spaced array on the inner wall of the cleaning head (103). Each set of push rods (302) has a rack (303) installed on one side, and two opposing racks (303) mesh with the gears (301) in the same set. Four sets of guide rods (304) are sequentially installed on the inner wall of the cleaning head (103), and each guide rod (304) is connected to its corresponding push rod (302). A spring (304) is sleeved on each set of guide rods (304). 05), and the two ends of the spring (305) are respectively attached to the inner wall of the corresponding push rod (302) and the cleaning head (103). A rotary inverter (306) is installed on the side of the partition (106) away from the rotating head (201). The control knob end of the rotary inverter (306) is connected to the shaft of the two sets of gears (301). The rotary inverter (306) is electrically connected to the cable (102). The rotary inverter (306) is electrically connected to the laser head (104) through the wiring hole (207). Each set of push rods (302) is connected to a roller (307) on the side away from the rack (303) in a one-way limited rotation.

2. The laser cleaning device for removing contaminants from the inner wall of a pipeline according to claim 1, characterized in that: The oscillating cleaning assembly (002) includes a rotating head (201), which is rotatably connected inside the cleaning head (103). The laser head (104) is arranged in four groups in a ring-shaped array on the surface of the rotating head (201). One side of the rotating head (201) is axially connected to the output end of a small servo motor (202), and the small servo motor (202) is fixedly connected to one side of a set of partitions (106).

3. The laser cleaning device for removing contaminants from the inner wall of a pipeline according to claim 2, characterized in that: The rotating head (201) is symmetrically equipped with touch rods (203), the cleaning head (103) is symmetrically equipped with a first limiting seat (204), the cleaning head (103) is symmetrically equipped with a second limiting seat (206), and there is a 45-degree angle between the second limiting seat (206) and the adjacent first limiting seat (204).

4. The laser cleaning device for removing contaminants from the inner wall of a pipeline according to claim 3, characterized in that: Each of the limiting seats 1 (204) and limiting seat 2 (206) is equipped with a touch button (205), and each set of touch buttons (205) and touch rods (203) are at the same horizontal position. The touch buttons (205) are electrically connected to small servo motors (202). The rotating head (201) has symmetrical wiring holes (207) on its surface, and the wiring holes (207) are provided on the surfaces of both sets of partitions (106).

5. The laser cleaning device for removing contaminants from the inner wall of a pipeline according to claim 1, characterized in that: The drive assembly (004) includes a slide groove (401), which is arranged in a ring-shaped array on the surface of the cleaning head (103). The slide groove (401) is provided in four groups. Each group of slide grooves (401) is equipped with a slide rod (402). Each group of slide rods (402) is fitted with a slider (403). Each group of slide rods (402) is fitted with a second spring (404). The second spring (404) is located on the side closer to the cable (102). The two ends of the second spring (404) are respectively attached to the corresponding slider (403) and the inner wall of the slide groove (401). The elastic force of the second spring (404) is greater than that of the first spring (305).

6. The laser cleaning device for removing contaminants from the inner wall of a pipeline according to claim 5, characterized in that: Each slider (403) in each group is equipped with a connecting arm (405), and each slide groove (401) in each group is symmetrically provided with a limiting groove (411) on the inner wall away from the spring (404). Each limiting groove (411) in each group is slidably connected with a connecting arm (407), and a connecting seat (406) is rotatably connected between the connecting arm (405) and the connecting arm (407) in the same slide groove (401).

7. The laser cleaning device for removing contaminants from the inner wall of a pipeline according to claim 6, characterized in that: Each of the connecting seats (406) is equipped with a second roller (408), and a drive motor (409) is installed on one side of each of the connecting seats (406). The drive motor (409) is axially connected to the corresponding second roller (408). A connecting frame (410) is rotatably connected between each of the connecting seats (406) and the corresponding first roller (307).

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