CN113798275A - Pipeline inner wall laser cleaning device based on side wall projection - Google Patents
Pipeline inner wall laser cleaning device based on side wall projection Download PDFInfo
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- CN113798275A CN113798275A CN202111095939.7A CN202111095939A CN113798275A CN 113798275 A CN113798275 A CN 113798275A CN 202111095939 A CN202111095939 A CN 202111095939A CN 113798275 A CN113798275 A CN 113798275A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 239000000835 fiber Substances 0.000 claims abstract description 8
- 239000013307 optical fiber Substances 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 abstract description 18
- 238000000034 method Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 230000001902 propagating effect Effects 0.000 abstract description 2
- 230000001788 irregular Effects 0.000 description 4
- 239000000126 substance Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011086 high cleaning Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 235000011089 carbon dioxide Nutrition 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
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- 231100000719 pollutant Toxicity 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/047—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention provides a pipeline inner wall laser cleaning device based on side wall projection, which comprises a motion control unit and a laser transmission scanning unit, wherein the motion control unit is used for controlling the motion of a pipeline inner wall; the motion control unit comprises a movable host platform, an automatic rotating shaft, a horizontal moving platform, a height adjusting unit, an electric horizontal supporting rod, a first servo motor, a first ball screw and a rotatable laser range finder; the laser transmission scanning unit comprises a fiber laser, a transmission fiber, a laser head, a support, a concave lens, a convex lens, a second servo motor, a second ball screw, a screw rod sliding block, a mirror bracket, a reflecting mirror support, a scanning galvanometer and a field lens; the laser beam propagating along the axial direction of the pipeline is emitted and then enters the scanning galvanometer after passing through the concave lens, the convex lens and the reflector, and the laser is focused on dirt on the inner wall of the pipeline after passing through the field lens by the scanning galvanometer. The whole processing process of the invention does not need to spin the processing head or the pipeline, thus solving the bottleneck problem that the traditional laser cleaning technology is difficult to be applied to cleaning the inner surface of the pipeline.
Description
Technical Field
The invention belongs to the technical field of laser processing, and particularly relates to a pipeline inner wall laser cleaning device based on side wall projection, which is used for removing coatings, dirt, oxide layers and other harmful substances on the inner wall of a pipeline.
Background
The cleaning technology for the inner surface of the pipeline is widely applied to the fields of maintenance of equipment in current life or industrial production and the like. Such as the cleaning of the inner surface of a pipeline of urban water supply and heating equipment, the cleaning of modern industrial oil pipelines and chemical reaction pipelines, the cleaning of bonding residues in the bore of a gun barrel, the cleaning of radiation of a nuclear reaction circulating pipeline and the like. The laser technology has the advantages of high cleaning quality, no material consumption, high efficiency, no pollution to waste water and the like, and gradually replaces the traditional cleaning technology of the inner wall of the pipeline, such as dry ice spraying cleaning, gas blasting cleaning, high-pressure water jet cleaning, chemical acid cleaning and the like.
The common characteristic of the application cases of the laser cleaning engineering is that the cleaned object has an open surface which is easy to perform laser filling scanning, and for the inner surface of the pipeline, the pipe diameter size and the non-open type rotary inner wall shape are limited, and a common laser cleaning processing head is difficult to extend into the pipeline due to the large size of a complex beam scanning movement mechanism. The existing pipeline inner wall laser cleaning technology generally adopts a free-form surface projection type laser splicing processing scheme or a processing scheme of matching pipeline rotation with galvanometer scanning, wherein the scheme needs to acquire point cloud data of the pipeline inner wall, splicing cleaning processing needs to be adopted for the large-area pipeline inner wall, time is consumed, the requirement on splicing accuracy is high, and the processing cost is increased; in the latter scheme, the inner wall of the pipe is cleaned by completely depending on the rotation of the pipeline driven by the servo motor, and the scheme has low processing efficiency due to the limitation of the rotation speed of the pipeline and cannot achieve the aim of efficiently cleaning the inner wall. And some pipelines are inconvenient to disassemble, and the scheme is limited by certain application objects.
Disclosure of Invention
Aiming at the defects of the existing laser cleaning technology, the invention provides a pipeline inner wall laser cleaning device based on side wall projection; the novel technology for cleaning the inner surface of the pipeline based on the front focusing galvanometer system is adopted, the three-dimensional curved surface is processed and decomposed into two-dimensional scanning ingeniously, the difficult problem of how to decompose and process the complex curved surface is solved, the laser scanning head is driven to move longitudinally through an external platform, layer-by-layer annular scanning in the longitudinal depth of the pipeline can be realized, the technology completely abandons the thought of traditional three-dimensional processing, the whole processing process is simplified, in addition, the projection of a high-pulse-energy circular light spot on the side wall of the pipeline can be obtained, an axial elliptical light spot can be obtained, the processing efficiency can be further improved, no processing head or pipeline spinning is needed in the whole processing process, and the problem that the traditional laser cleaning technology is difficult to be applied to the inner surface cleaning of the pipeline is solved.
The invention is realized by the following technical scheme:
a pipeline inner wall laser cleaning device based on side wall projection comprises a motion control unit and a laser transmission scanning unit;
the motion control unit comprises a movable host platform, an automatic rotating shaft, a horizontal moving platform, a height adjusting unit, an electric horizontal supporting rod, a first servo motor, a first ball screw and a rotatable laser range finder;
the first servo motor is fixed on the electric horizontal supporting rod and is connected with one end of a first ball screw through a coupler, the first ball screw is connected with the height adjusting unit through a screw rod sliding block, and the first servo motor is used for driving the first ball screw to enable the electric horizontal supporting rod to horizontally move;
the rotatable laser range finder is arranged on the electric horizontal supporting rod and used for detecting the spatial position of the electric horizontal supporting rod in the laser cleaning pipeline;
the height adjusting unit is installed on the horizontal moving platform, the horizontal moving platform is installed on the automatic rotating shaft, the automatic rotating shaft is installed on the movable host platform, and the height adjusting unit, the horizontal moving platform and the movable host platform are all used for controlling the spatial position of the electric horizontal supporting rod, so that the electric horizontal supporting rod is always located at the central axis of the laser cleaning pipeline;
the laser transmission scanning unit comprises a fiber laser, a transmission fiber, a laser head, a support, a concave lens, a convex lens, a second servo motor, a second ball screw, a screw rod sliding block, a mirror bracket, a reflecting mirror support, a scanning galvanometer and a field lens;
the optical fiber laser is fixedly arranged on the movable host platform, laser beams are guided into the laser head through the transmission optical fiber, the transmission optical fiber is fixed on the inner side of the electric horizontal supporting rod, and the laser head is fixed on the electric horizontal supporting rod through a support; the concave lens is arranged on the second ball screw through a screw rod sliding block, and the convex lens is fixed on the electric horizontal support rod through the mirror bracket; the second servo motor is used for controlling the distance between the concave lens and the convex lens by driving the ball screw to rotate; one end of the scanning galvanometer is arranged on the electric horizontal supporting rod, a zero optical axis of the scanning galvanometer is superposed with a central axis of the electric horizontal supporting rod, and the other end of the scanning galvanometer is connected with the field lens through threads; the reflector is fixedly arranged on the scanning galvanometer through a reflector bracket; the laser beam propagating along the axial direction of the pipeline is emitted by the laser head, then expanded by the concave lens, collimated by the convex lens, reflected by the reflector and then enters the scanning galvanometer, and the laser is focused on dirt on the inner wall of the pipeline after passing through the field lens by controlling the scanning galvanometer to the laser beam.
The invention has the following beneficial effects:
1. the invention drives the ball screw by the servo motor to enable the galvanometer to move along the axial direction of the pipeline and simultaneously carry out annular scanning, skillfully decomposes the complex three-dimensional curved surface into two-dimensional graphs for processing, solves the problem of how to decompose and process the complex curved surface, and compared with the existing curved surface laser processing system, the invention does not need complex multi-axis three-dimensional control or plane projection, has simple data division and extremely simple and convenient system control.
2. Under normal conditions, a processing surface corresponding to laser is a focal plane, and is vertical to a light beam of the laser at the zero point of a vibrating mirror, and the focal plane is usually a cambered surface due to the aberration of an optical system.
3. According to the invention, the inner wall of the oval pipeline, the square pipeline or any irregular pipeline can be cleaned by converting the scanning pattern of the galvanometer from a circle to an irregular pattern in an oval, square or any shape, and the system compatibility is strong.
4. According to the invention, the rotary annular scanning is changed into arc scanning, and the cleaning of the local area at any position of the inner wall of the pipeline can be realized by changing the length of the arc, so that the cleaning difficulty caused by uneven distribution of pollutants is overcome, and the method has excellent adaptability.
5. The invention meets the technical requirements of cleaning the inner walls of various pipelines, has the advantages of high precision, high cleaning efficiency, good processing quality, real-time full closed loop control function, simple and clear equipment principle, good applicability and simple operation.
Drawings
Fig. 1 is a structural diagram of a pipeline inner wall laser cleaning device based on side wall projection.
FIG. 2 is a schematic diagram of a cleaning strategy of the pipeline inner wall laser cleaning device based on side wall projection according to the invention;
FIG. 3 is a schematic side laser projection view of the pipe inner wall laser cleaning device based on side wall projection according to the present invention;
FIG. 4 is a schematic illustration of cleaning the inner wall of an oval pipe;
FIG. 5 is a schematic view of cleaning the inner wall of a square pipe;
FIG. 6 is a schematic view of cleaning the inner wall of the special-shaped pipe;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; the components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations; the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the present invention provides a pipe inner wall laser cleaning device based on sidewall projection, which comprises a motion control unit and a laser transmission scanning unit.
The motion control unit comprises a movable host platform 19, an automatic rotating shaft 18, a horizontal moving platform 17, a height adjusting unit 16, an electric horizontal support rod 12, a first servo motor 20, a first ball screw 21, a rotatable laser range finder 9 and the pipeline 1.
The movable host platform 19 is used for bearing the whole laser cleaning device, and a rubber wheel with a locking function is arranged at the bottom of the platform, so that the whole system can be moved and fixed simply.
The first servo motor 20 is fixed on the electric horizontal supporting rod 12 and connected with one end of a first ball screw 21 through a coupler, the first ball screw 21 is connected with the height adjusting unit 16 through a screw slider, and the first ball screw 21 is driven by the first servo motor 20 to enable the electric horizontal supporting rod 12 to move horizontally.
The laser transmission scanning unit comprises a fiber laser 10, a transmission fiber 11, a laser head 8, a support 22, a concave lens 6, a convex lens 7, a second servo motor 13, a second ball screw 14, a screw slide block 25, a mirror frame 23, a reflecting mirror 4, a reflecting mirror support 24, a scanning galvanometer 2 and a field lens 3.
The optical fiber laser 10 is fixedly installed on a movable host platform 19, a laser beam 5 is guided into a laser head 8 through a transmission optical fiber 11, the transmission optical fiber 11 is fixed on the inner side of an electric horizontal supporting rod 12, the laser head 5 is fixed on the electric horizontal supporting rod 12 through a support 22, the laser beam 5 is emitted by the laser head 8 and then expanded through a concave lens 6, collimation is carried out through a convex lens 7, the concave lens 6 is installed on a second ball screw 14 through a screw rod sliding block 25, the convex lens 7 is fixed on the electric horizontal supporting rod 12 through a lens frame 23, the ball screw 14 is driven by a second servo motor 13 to rotate, so that the distance between the concave lens 6 and the convex lens 7 can be controlled, the divergence angle of the laser beam 5 after passing through the convex lens 7 is controlled, and the size of a focusing light spot 26 of the laser beam 5 finally acting on the side wall of the pipeline 1 is controlled.
One end of the scanning galvanometer 2 is arranged on the electric horizontal supporting rod 12, the zero optical axis of the scanning galvanometer 2 is superposed with the central axis of the electric horizontal supporting rod 12, and the other end of the scanning galvanometer 2 is connected with the field lens 3 through threads.
The reflecting mirror 4 is fixedly arranged on the scanning vibrating mirror 2 through a reflecting mirror support 24, a laser beam 5 axially transmitted along the pipeline 1 is reflected by the reflecting mirror 4 to enter the scanning vibrating mirror 2, the laser is focused on the dirt 15 (paint, rust and residual chemical substances) on the inner wall of the pipeline 1 after passing through the field lens 3 under the control of the scanning vibrating mirror 2 on the laser beam 5, so that the dirt 15 is cleaned, the scanning tracks of the scanning vibrating mirror 2 are different in the cleaning process, the cleaning of the inner parts of a circular pipeline, a square pipeline, an oval pipeline and any irregular pipeline can be realized, and the local cleaning of an area can be realized by controlling the laser beam 5 to move through the vibrating mirror 2 to form an arc or other non-closed patterns. As shown in fig. 4-6, which are schematic views of cleaning of round pipes, square pipes, and any irregular pipes, respectively.
The specific steps of cleaning the dirt on the inner wall of the pipeline by using the device are as follows:
(1) the pipeline 1 is horizontally placed and fixed, and the electric horizontal support rod 12 is approximately horizontal to the central shaft of the pipeline 1 by moving the host platform 19;
(2) the fixed host platform 19 controls a first servo motor 20 to drive the electric horizontal supporting rod 12 to move back and forth along the pipeline through a program, and the rotatable laser range finder 9 continuously rotates and collects the spatial orientation of the electric horizontal supporting rod 12 in the movement process of the pipeline 1 in the movement process;
(3) according to the spatial orientation data of the horizontal strut 12 in the pipeline 1 detected by the laser range finder, the electric horizontal strut 12 is positioned at the central shaft of the pipeline 1 through the combined motion of the automatic rotating shaft 18, the horizontal moving platform 17 and the height adjusting unit 16;
(4) the inner diameter data of the pipeline 1 and the position and area data of dirt 15 on the inner wall of the pipeline are input into a cleaning system, a first servo motor 20 is controlled through a program to drive an electric horizontal support rod 12 to move so that a focal plane of a field lens 3 is located at the starting point of the dirt 15, a laser beam 5 is emitted and a scanning galvanometer 2 is started, so that the movement of a focusing light spot 26 on the inner wall of the pipeline is realized, the dirt 15 is removed, and in the cleaning process, a second servo motor 13 can be controlled to move to drive a concave lens 6 to move back and forth so that the real-time control of the size of the focusing light spot 26 is realized, and the maximum utilization of laser power is realized.
The invention may be modified in many ways, which will be apparent to a person skilled in the art, without such modifications being considered as a departure from the scope of the invention. All such modifications as would be obvious to one skilled in the art are intended to be included within the scope of this claim.
Claims (1)
1. A pipeline inner wall laser cleaning device based on side wall projection is characterized by comprising a motion control unit and a laser transmission scanning unit;
the motion control unit comprises a movable host platform (19), an automatic rotating shaft (18), a horizontal moving platform (17), a height adjusting unit (16), an electric horizontal support rod (12), a first servo motor (20), a first ball screw (21) and a rotatable laser range finder (9);
the first servo motor (20) is fixed on the electric horizontal supporting rod (12) and is connected with one end of a first ball screw (21) through a coupler, the first ball screw (21) is connected with the height adjusting unit (16) through a screw slider, and the first servo motor (20) is used for driving the first ball screw (21) to enable the electric horizontal supporting rod (12) to move horizontally;
the rotatable laser range finder (9) is arranged on the electric horizontal support rod (12) and is used for detecting the spatial position of the electric horizontal support rod (12) in the laser cleaning pipeline (1);
the height adjusting unit (16) is installed on a horizontal moving platform (17), the horizontal moving platform (17) is installed on an automatic rotating shaft (18), the automatic rotating shaft (18) is installed on a movable host platform (19), and the height adjusting unit (16), the horizontal moving platform (17) and the movable host platform (19) are all used for controlling the spatial position of the electric horizontal supporting rod (12) so that the electric horizontal supporting rod (12) is always located at the central axis of the laser cleaning pipeline (1);
the laser transmission scanning unit comprises a fiber laser (10), a transmission fiber (11), a laser head (8), a support (22), a concave lens (6), a convex lens (7), a second servo motor (13), a second ball screw (14), a screw rod slide block (25), a mirror frame (23), a reflector (4), a reflector support (24), a scanning galvanometer (2) and a field lens (3);
the optical fiber laser (10) is fixedly installed on a movable host platform (19), a laser beam (5) is guided into the laser head (8) through a transmission optical fiber (11), the transmission optical fiber (11) is fixed on the inner side of the electric horizontal supporting rod (12), and the laser head (5) is fixed on the electric horizontal supporting rod (12) through a support (22); the concave lens (6) is arranged on the second ball screw (14) through a screw rod sliding block (25), and the convex lens (7) is fixed on the electric horizontal supporting rod (12) through a lens bracket (23); the second servo motor (13) is used for controlling the distance between the concave lens (6) and the convex lens (7) by driving the ball screw (14) to rotate; one end of the scanning galvanometer (2) is arranged on the electric horizontal support rod (12), the zero optical axis of the scanning galvanometer (2) is superposed with the central axis of the electric horizontal support rod (12), and the other end of the scanning galvanometer is connected with the field lens (3) through threads; the reflector (4) is fixedly arranged on the scanning galvanometer (2) through a reflector bracket (24); laser beams (5) axially transmitted along the pipeline (1) are emitted by a laser head (8), expanded by a concave lens (6), collimated by a convex lens (7) and reflected by a reflector (4) and then enter a scanning galvanometer (2), and the laser beams are focused on dirt (15) on the inner wall of the pipeline (1) after passing through a field lens (3) by controlling the scanning galvanometer (2) to the laser beams (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111095939.7A CN113798275B (en) | 2021-09-17 | 2021-09-17 | Pipeline inner wall laser cleaning device based on side wall projection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111095939.7A CN113798275B (en) | 2021-09-17 | 2021-09-17 | Pipeline inner wall laser cleaning device based on side wall projection |
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| CN113798275B CN113798275B (en) | 2022-06-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115921437A (en) * | 2022-11-18 | 2023-04-07 | 合肥正阳光电科技有限责任公司 | Small-size pulse laser belt cleaning device |
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| CN113798275B (en) | 2022-06-17 |
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