WO2022148118A1

WO2022148118A1 - Radiation-resistant laser cleaning device and use method

Info

Publication number: WO2022148118A1
Application number: PCT/CN2021/128976
Authority: WO
Inventors: 姜潮; 田万一
Original assignee: 湖南大学
Priority date: 2021-01-05
Filing date: 2021-11-05
Publication date: 2022-07-14
Also published as: CN112756337B; CN112756337A

Abstract

The present application provides a radiation-resistant laser cleaning device and a use method. The radiation-resistant laser cleaning device comprises a moving positioning mechanism, an entering mechanism, a cleaning mechanism, and a laser transmission mechanism; the laser transmission mechanism penetrates through the moving positioning mechanism and the entering mechanism in sequence, and the front end of the laser transmission mechanism is connected to the cleaning mechanism; the moving positioning mechanism comprises a moving platform, a hollow shaft motor, a bearing seat, and a hollow shaft; the entering mechanism comprises a positioning mechanism, a pipe thread, and a soft steel skin; the cleaning mechanism comprises a field lens, a field lens supporting plate, a screw rod, a guide rod, and a pneumatic motor; and the laser transmission mechanism comprises an optical fiber laser, an optical fiber air pipe, a beam expander, and a galvanometer. Firstly, the cleaning mechanism, as a whole, enters a container to be cleaned; then the position of the cleaning mechanism is adjusted; then the angle of the cleaning mechanism is adjusted; and finally, the optical fiber laser is started for cleaning till cleaning is finished. When performing field cleaning operation in a space having a high radiation dose rate, the laser cleaning device of the present application is low in failure rate, high in reliability and small in overall size, and can conveniently and directly enter fields for operation.

Description

Radiation-resistant laser cleaning device and method of use

Related applications

This application claims the priority of the Chinese invention patent application: 202110008526.4 filed on January 5, 2021 and entitled "A Radiation-resistant Laser Cleaning Device and Using Method".

technical field

The present application relates to the field of laser cleaning, and in particular, to a radiation-resistant laser cleaning device and a method of using the same.

Background technique

At present, laser cleaning, as a new cleaning method, has received extensive attention in recent years. Compared with traditional chemical cleaning and mechanical cleaning, laser cleaning has the advantages of non-contact, no thermal effect, wide application range, and no environmental pollution, so it has been widely used. The existing laser cleaning technology mainly adopts the form of machine tool, that is, the laser cleaning head is installed on the machine tool, and the workpiece to be cleaned is transported to the machine tool for cleaning, and only a small number of cleaning heads can realize on-site cleaning operations.

In the prior art, there are the following problems: 1) There are a large number of motors and control components in the laser cleaning device used for on-site cleaning. When entering a space with a high radiation dose rate for cleaning operations, the failure rate of the motor and control components It is very high and cannot adapt to this working environment; 2) The high-radiation space cleaning operation requires closed operation, so the laser cleaning device must enter the site as a whole, and the space for cleaning is limited. The existing laser cleaning device is very large as a whole, on the one hand It is impossible to directly enter the site for construction, and it is inconvenient to carry out work even if the construction space is limited.

SUMMARY OF THE INVENTION

The purpose of this application is to solve the problems of high failure rate, low reliability, and large overall volume of the existing laser cleaning device that cannot directly enter the site when the laser cleaning device performs on-site cleaning operations in a space with a high radiation dose rate.

In order to achieve the above object, the application provides the following technical solutions: a radiation-resistant laser cleaning device, comprising a mobile positioning mechanism, an entry mechanism, a cleaning mechanism and a laser transmission mechanism,

The laser transmission mechanism sequentially penetrates the moving positioning mechanism and enters the interior of the mechanism, and is connected with the cleaning mechanism at its front end;

The laser transmission mechanism includes a fiber laser, a fiber gas pipe, a beam expander and a galvanometer,

The emitting side of the fiber laser and the galvanometer are connected by an optical fiber trachea that runs through the moving positioning mechanism and the inside of the mechanism in turn, and the beam expander is arranged in the optical fiber trachea and is close to the rear side of the galvanometer;

The mobile positioning mechanism includes a mobile platform, a hollow shaft motor, a plurality of bearing seats and a hollow shaft,

The hollow shaft motor and a plurality of bearing seats are fixed directly above the mobile platform. One end of the hollow shaft motor is connected to the fiber laser through an optical fiber gas pipe, and the other end is connected to one end of the hollow shaft. Each bearing seat is provided with a shaft hole. , the shaft hole fixes the hollow shaft on the moving platform, and the other end of the hollow shaft is connected with the entry mechanism;

The entry mechanism includes a positioning mechanism, pipe threads and a mild steel skin,

The outer wall of the mild steel skin is provided with the pipe thread, the mild steel skin covers the surface of the positioning mechanism, one end of the positioning mechanism is welded with the hollow shaft, and the other end is connected with the cleaning mechanism;

The cleaning mechanism includes a field lens, a field lens support plate, a screw rod, a guide rod and an air motor;

The air motor is provided with a coupling, and the air motor is connected with the mild steel skin at the end close to the cleaning mechanism through bolts;

One end of the screw rod is connected with the air motor through the coupling, and the other end is connected with the screw hole on the field lens support plate through the external thread of the screw rod;

The field lens is arranged on the field lens support plate, and its protrusion faces the front end direction of the field lens support plate, and the two guide rods are welded on the front end surface of the pipe thread along the entry mechanism.

Based on the same inventive concept, the present application also proposes a method for using a radiation-resistant laser cleaning device. The implementation of the radiation-resistant laser cleaning device described in any of the above includes the following steps:

S1. The cleaning mechanism enters the container to be cleaned as a whole;

S2, the position adjustment of the cleaning mechanism;

S3, the angle adjustment of the cleaning mechanism;

S4, turn on the fiber laser for cleaning until the cleaning is completed.

In any of the above technical solutions, further, step S1 includes:

Move the mobile platform close to the container to be cleaned, align the pipe threads with the threaded holes of the container to be cleaned, turn on the hollow shaft motor to drive the hollow shaft and the mild steel skin to rotate, and rotate the entry mechanism and the cleaning mechanism in turn through the pipe threads on the outer wall of the mild steel skin. into the container to be cleaned, and at the same time, due to the engagement of the external thread serrations provided on the outer wall of the pipe thread with the inner thread of the inner wall of the container to be cleaned, a sealing effect is formed to prevent the leakage of radioactive substances from the container to be cleaned, and the hollow shaft motor is turned off after entering the specified depth.

In any of the above technical solutions, further, step S2 includes:

According to the cleaning position of the container to be cleaned, adjust the working state of the cylinder of each moving unit in the pipeline according to a certain rule, control the arbitrary transformation of various angles of the support plate in the moving space through the movement of the three cylinder piston rods, and then control the cleaning mechanism in the waiting area. Clean the position in the container space and move the cleaning mechanism to the range of the part to be cleaned.

In any of the above technical solutions, further, step S3 includes:

The two air motors on the front surface of the mild steel skin are activated to rotate and output torque. The air motor controls the moving direction of the field lens support plate along the guide rod through the rotation direction of the connected screw, and moves the field lens along the guide rod for the field lens. Adjustment of the focal length of the mirror.

In any of the above technical solutions, further, step S4 includes:

The fiber laser is turned on, and the laser is transmitted to the beam expander through the hollow shaft motor and the fiber trachea of the small hole in the center of the inner support plate of the pipe thread. The beam expander expands the laser beam, improves the focusing effect, and distributes the laser energy evenly. The laser continues to be transmitted through the galvanometer and field lens, and is focused on the cleaning part to perform the cleaning task until the cleaning is completed, turn off the fiber laser, and withdraw the cleaning device from the container to be cleaned.

Compared with the prior art, the beneficial effects of the present application are:

1. In the radiation-resistant laser cleaning device of the present application, by replacing the motor and control components in the prior art with a cylinder, the radiation-resistant laser cleaning device of the present application can operate in a working environment with a high radiation dose rate.

2. The radiation-resistant laser cleaning device of the present application, through the engagement of the outer thread serrations provided on the outer wall of the pipe thread with the inner thread of the inner wall of the container to be cleaned, can meet the closed operation of the high-radiation laser cleaning space, and the sealing effect will not bring radiation. leakage.

3. The radiation-resistant laser cleaning device of the present application is small in size, convenient for on-site work, and also has accurate control, low cleaning failure rate, and high reliability.

Description of drawings

The advantages of the above and/or additional aspects of the present application will become apparent and readily understood from the following description of embodiments in conjunction with the accompanying drawings, wherein:

1 is a schematic structural diagram of an embodiment of a radiation-resistant laser cleaning device according to the present application;

Fig. 2 is a schematic diagram of the arrangement structure of the screw and guide rod according to an embodiment of a radiation-resistant laser cleaning device of the present application;

FIG. 3 is a schematic diagram of the arrangement of cylinders according to an embodiment of a radiation-resistant laser cleaning device according to the present application.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features of the embodiments may be combined with each other unless there is conflict.

In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not subject to the following disclosure. Restrictions to specific embodiments.

Example 1:

As shown in Figures 1-3, the present application provides a radiation-resistant laser cleaning device, including a mobile positioning mechanism 1, an entry mechanism 2, a cleaning mechanism 3, and a laser transmission mechanism 4,

The laser transmission mechanism 4 sequentially penetrates the interior of the moving positioning mechanism 1 and the entry mechanism 2, and is connected to the cleaning mechanism 3 at its front end;

The laser transmission mechanism 4 includes a fiber laser 41, an optical fiber gas pipe 42, a beam expander 43 and a galvanometer 44. Between the emission side of the fiber laser 41 and the galvanometer 44, the positioning mechanism 1 and the entry mechanism 2 are sequentially passed through. The optical fiber gas tube 42 is connected to the optical fiber gas tube 42, and the beam expander 43 is arranged in the optical fiber gas tube 42 and is close to the rear side of the galvanometer mirror 44.

The mobile positioning mechanism 1 includes a mobile platform 11, a hollow shaft motor 12, two bearing seats 13 and a hollow shaft 14,

The hollow shaft motor 12 and the two bearing seats 13 are fixed directly above the mobile platform 11 , wherein the two bearing seats 13 are connected with bolts and fastened on the mobile platform 11 for supporting the hollow shaft 14 . Bearings, the hollow shaft motor 12 is connected with the moving platform 11 through its own support.

One end of the hollow shaft motor 12 is connected to the fiber laser 41 through the optical fiber gas pipe 42, and the other end is connected to one end of the hollow shaft 14 through a coupling. Each bearing seat 13 is provided with a shaft hole, and the shaft hole fixes the hollow shaft 14 at Above the moving platform 11 , the other end of the hollow shaft 14 is connected with the entry mechanism 2 .

The entry mechanism 2 includes a positioning mechanism, a pipe thread 21 and a mild steel skin 22. The positioning mechanism includes: a support plate 201 and a cylinder 202. The mild steel skin 22 covers the surface connected by the cylinder 202 and the support plate 201. into the surface of the positioning mechanism.

The outer wall of the mild steel skin 22 is provided with the pipe thread 21, the outer side of the pipe thread 21 is provided with external thread serrations, and the external thread serrations cooperate with the internal threads of the wall surface of the container to be cleaned; The other end connected with the shaft motor 12 is welded with the mild steel skin 22 on the surface of the positioning mechanism.

The mild steel skin 22 covers the surface of the positioning mechanism formed by connecting the cylinder 202 and the support plate 201, one end of the positioning mechanism is welded with the hollow shaft 14, and the other end is connected with the cleaning mechanism 3;

The inside of the mild steel skin 22 includes multiple motion units connected in sequence, each motion unit includes a support plate 201 and three hydraulic cylinders, two ends of the hydraulic cylinder are provided with hinge heads 203, and the hinge heads 203 are relatively small. The thick end faces back, and the thinner end faces forward; the hinge joint 203 is hinged with the front and rear support plates 201 respectively, and the support plates 201 are welded to the inner wall of the hollow mild steel skin 22 provided on the entry mechanism 2 to be fixed without relative motion.

A small hole is provided in the center of the support plate 201, and the optical fiber trachea 42 passes through the small hole, and the small hole is used for the optical fiber and the trachea 42 to pass through.

In each motion unit, when the piston rod set on the cylinder 202 is extended and retracted, the hinge head 203 of the cylinder 202 drives the support plate 201 to move through three hinge points, and the plane where the support plate 201 is located passes through the combination of the three hinge points , which can be used for various angle transformations of the support plate 201 in the movement space. Under the driving of the cylinder 202, the mild steel skin 22 can expand and contract back and forth and bend left and right along with the driving movement of the cylinder 202 and the hollow shaft 14. The surface of the positioning mechanism becomes radially enlarged and deformed.

Driven by the output torque of the hollow shaft motor 12, when the hollow shaft 14 and the mild steel skin 22 are driven to rotate, the pipe threads 21 on the outer wall of the mild steel skin 22 can mesh with the inner threads on the inner wall of the container to be cleaned during the rotation. Moving forward, when the moving platform 11 outputs torque on the hollow shaft motor 12, the cleaning mechanism 3 is correspondingly screwed into the cleaning space of the container to be cleaned as the pipe thread 21 moves forward along the bearing axis, and the pipe thread 21 is The 55-degree sealing pipe thread seals the space between the cleaning mechanism 3 and the inner wall of the container to be cleaned, so as to effectively avoid leakage of radiation substances inside the container.

The cleaning mechanism 3 includes a field lens 31, a field lens support plate 32, a screw rod 33, a guide rod 34 and an air motor 35. One end of the screw rod 33 is connected to the air motor 35 through the coupling, and the other end is connected to the air motor 35 through the screw rod. The external thread of 33 is matched and connected with the screw hole on the field lens support plate 32 , and a ball bearing is arranged at the matched place to synchronize the movement.

The air motor 35 is provided with a coupling, and the air motor 35 is connected with the mild steel skin 22 at the end close to the cleaning mechanism 3 through the bolts provided on the support of the hollow shaft motor 12. The air motor 35 is: At least two are arranged around the mild steel skin 22 at 180° intervals.

The air motor 35 transmits the torque to the connected screw 33 , engages with the thread of the field lens support plate 32 through the screw rod 33 , and converts the rotational motion of the screw 33 into a linear motion of the field lens support plate 32 along the guide rod 34 .

The field lens 31 is arranged on the field lens support plate 32, and its protrusion faces the front end direction of the field lens support plate 32, and the two guide rods 34 are welded on the front end surface of the pipe thread 21 along the entry mechanism 2, As shown in FIG. 2 , the two guide rods 34 surround the mild steel skin 22 and are arranged at a distance of 90° from the screw rod 33 . The guide rods 34 are in clearance fit with the light holes provided on the field lens support plate 32 for controlling The stability of the linear motion of the field lens support plate 32 avoids vibration caused by the thread rotation process, and improves the accuracy of laser cleaning.

The air motor 35 transmits the torque to the screw 33 to drive the screw 33 to rotate. The rotation and direction of rotation of the air motor 35 are used to control the movement and direction of the field lens support plate 32 connected to it through the screw 33. The moving direction adjusts the distance between the field lens 31 and the lens of the galvanometer 44 along the guide rod 34 , and is used to adjust the focus of the field lens 31 . The field lens 31 receives the laser light emitted by the galvanometer 44 and focuses it on a plane to clean the cleaning target part of the external container to be cleaned.

The optical fiber air tube 42 passes through the hollow shaft motor 12 and the hollow shaft 14 connected to the hollow shaft motor 12 and the hollow shaft provided in the side of the hollow shaft 14 and a plurality of the small holes in the center of the support plate 201 in the pipe thread 21 in turn, and enters with the pipe thread 21. In the container to be cleaned, a beam expander 43 is provided in the front section of the other end of the optical fiber gas pipe 42, and the top end of the optical fiber gas pipe 42 where the beam expander 43 is located is provided with a galvanometer 44, and the center of the support plate 201 at the front end of the pipe thread 21 A central hole is provided, and the galvanometer 44 is fixed at the central hole.

The beam expander 43 is used to expand the laser beam, improve the focusing effect of the laser, and uniformly disperse the laser energy. The circular galvanometer receives the position signal transmitted by the screw 33 and the guide rod 34 , swings a certain angle range according to the conversion ratio of the working voltage and the rotation angle, and transmits the laser energy to the field mirror 31 .

Under the action of the connected five-stage motion unit along the bearing axis direction, the movement control of the cleaning mechanism 3 at any position along the bearing axis direction in the space of each motion unit is realized, according to the cleaning part of the container to be cleaned. Adjust the cleaning mechanism 3 to carry out the cleaning operation until the cleaning task is completed.

Example 2:

The technical solutions of the present application have been described in detail above with reference to the accompanying drawings. Based on the same inventive concept, the present application also proposes a method for using a radiation-resistant laser cleaning device. The method of using the device during operation includes the following steps:

S1. The cleaning mechanism 3 enters the container to be cleaned as a whole;

Move the mobile platform 11 close to the container to be cleaned, align the pipe thread 21 outside the mild steel skin 22 with the threaded hole of the container to be cleaned, turn on the hollow shaft motor 12 to drive the hollow shaft 14 and the mild steel skin 22 to rotate, and pass the mild steel skin 22. 22 The pipe thread 21 on the outer wall of the pipe thread 21 will screw the entry mechanism 2 and the cleaning mechanism 3 into the container to be cleaned in turn, and the moving platform 11 will reciprocate linearly accordingly. Meshing, forming a sealing effect to prevent the leakage of radioactive substances from the container to be cleaned, and shutting down the hollow shaft motor 12 after entering the designated working depth.

S2, the position adjustment of the cleaning mechanism 3;

According to the spatial position range of the container to be cleaned, the working state of the cylinders 202 of each motion unit in the pipeline is adjusted according to a certain rule. As shown in FIG. 3 , the movement of the piston rods of the three cylinders 202 controls the amount of the support plate 201 in the motion space. Any change of the angle, the movement of the cylinder piston rod is converted into the back and forth movement of the cleaning mechanism 3 in the cleaning space of the container to be cleaned, and then the position of the cleaning mechanism 3 in the space of the container to be cleaned is controlled, and the cleaning mechanism 3 is moved to within the area to be cleaned.

S3, the focal length adjustment of the cleaning mechanism 3;

The two air motors 35 on the front surface of the mild steel skin 22 are activated to rotate and output torque. The rotation direction of the air motor 35 determines the moving distance and moving direction of the field lens 31 , and the field lens 31 is moved along the guide rod 34 to adjust the focal length of the field lens 31 .

S4, turn on the fiber laser 41 for cleaning until the cleaning is completed;

The fiber laser 41 is turned on, and the laser passes through the hollow shaft motor 12 and the fiber air pipe 42 of the small hole in the center of the support plate 201 in the pipe thread 21 and is transmitted to the beam expander 43. The beam expander 43 expands the laser beam and improves the focusing effect. Disperse the laser energy evenly. The laser continues to be transmitted through the galvanometer 44 and the field mirror 31, and is focused on the cleaning part to perform the cleaning task until the cleaning is completed, then the fiber laser 41 is turned off, and the cleaning device is withdrawn from the container to be cleaned.

The steps in this application can be adjusted, combined and deleted in sequence according to actual needs.

The units in the device of the present application can be combined, divided and deleted according to actual needs.

Although the present application has been disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and are not intended to limit the application of the present application. The protection scope of the present application is defined by the appended claims, and may include various modifications, alterations and equivalent solutions for the invention without departing from the protection scope and spirit of the present application.

Claims

A radiation-resistant laser cleaning device, characterized in that it comprises a moving positioning mechanism (1), an entry mechanism (2), a cleaning mechanism (3) and a laser transmission mechanism (4),

The laser transmission mechanism (4) sequentially penetrates the interior of the moving positioning mechanism (1) and the entry mechanism (2), and is connected to the cleaning mechanism (3) at the front end thereof;

The laser transmission mechanism (4) comprises a fiber laser (41), a fiber gas pipe (42), a beam expander (43) and a galvanometer (44),

The emitting side of the fiber laser (41) and the galvanometer (44) are connected by an optical fiber trachea (42) that runs through the moving positioning mechanism (1) and the entry mechanism (2) in turn, and the beam expander (43) is arranged on the inside the optical fiber trachea (42), and close to the rear side of the galvanometer (44);

The mobile positioning mechanism (1) comprises a mobile platform (11), a hollow shaft motor (12), a plurality of bearing seats (13) and a hollow shaft (14),

The hollow shaft motor (12) and the plurality of bearing seats (13) are fixed directly above the moving platform (11), and one end of the hollow shaft motor (12) is connected to the fiber laser (41) through a fiber optic gas pipe (42) , the other end is connected with one end of the hollow shaft (14), each bearing seat (13) is provided with a shaft hole, the shaft hole fixes the hollow shaft (14) on the moving platform (11), the hollow shaft (14) The other end is connected with the entry mechanism (2);

The entry mechanism (2) includes a positioning mechanism, a pipe thread (21) and a mild steel skin (22),

The outer wall of the mild steel skin (22) is provided with the pipe thread (21), the mild steel skin (22) covers the surface of the positioning mechanism, and one end of the positioning mechanism is welded with the hollow shaft (14), The other end is connected with the cleaning mechanism (3);

The cleaning mechanism (3) comprises a field lens (31), a field lens support plate (32), a screw (33), a guide rod (34) and an air motor (35);

The air motor (35) is provided with a coupling, and the air motor (35) is connected with the mild steel skin (22) at the end close to the cleaning mechanism (3) through bolts;

One end of the screw rod (33) is connected with the air motor (35) through the coupling, and the other end is connected with the screw hole on the field lens support plate (32) through the external thread of the screw rod (33);

The field lens (31) is arranged on the field lens support plate (32), and its protrusion faces the front end direction of the field lens support plate (32), and the two guide rods (34) are welded to the pipe thread (21) Along the forward facing end face of the entry mechanism (2).
The radiation-resistant laser cleaning device according to claim 1, wherein the positioning mechanism comprises: a support plate (201) and a cylinder (202),

The mild steel skin (22) covers the surface of the positioning mechanism formed by connecting the cylinder (202) and the support plate (201).
The radiation-resistant laser cleaning device according to claim 2, wherein the mild steel skin (22) includes a plurality of motion units connected in sequence, and each motion unit includes a support plate (201) and three motion units. Hydraulic cylinder, two ends of the hydraulic cylinder are provided with hinge joints (203), and are respectively hinged with the front and rear support plates (201) through the hinge joints (203), and the support plates (201) are connected with the entry mechanism (2) The inner wall of the hollow mild steel skin (22) provided above is welded and fixed.
The radiation-resistant laser cleaning device according to claim 3, characterized in that, a small hole is arranged in the center of the support plate (201), and the optical fiber gas pipe (42) penetrates the small hole,

In each motion unit, when the piston rod provided on the cylinder (15) is extended and retracted, the cylinder (15) drives the support plate (201) to move through a plurality of hinge points, and the plane on which the support plate (201) is located is connected by three hinges The combination of points is used for various angle transformations of the support plate (201) in the movement space, and under the driving of the cylinder (202), the mild steel skin (22) can move and hollow with the driving of the cylinder (202). The shaft (14) stretches back and forth and bends left and right, and the surface of the positioning mechanism becomes larger and deformed in the radial direction.
The radiation-resistant laser cleaning device according to claim 4, wherein the optical fiber gas pipe (42) passes through the hollow shaft and the pipe thread (21) provided in the hollow shaft (14) of the hollow shaft motor (12). The small hole in the center of the middle support plate (201).
The radiation-resistant laser cleaning device according to claim 1, wherein one end of the hollow shaft (14) of the entry mechanism (2) is connected to the motor shaft of the hollow shaft motor (12) through a coupling, and the other end is connected to the motor shaft of the hollow shaft motor (12). The mild steel skin (22) on the surface of the positioning mechanism is welded;

When the hollow shaft motor (12) drives the hollow shaft (14) and the mild steel skin (22) to rotate, the pipe thread (21) on the outer wall of the mild steel skin (22) is provided with external thread saw teeth, and the external thread The serrations engage with the inner thread of the wall of the container to be cleaned.
The radiation-resistant laser cleaning device according to claim 3, characterized in that, the air motor (35) transmits the torque to the connected screw (33) through the screw (33) and the thread of the field lens support plate (32). engage and convert the rotational motion of the screw (33) into the linear motion of the field lens support plate (32) along the guide rod (34);

The air motor (35) drives the screw (33) to rotate by its own rotation and rotation direction, and controls the movement and movement direction of the field lens support plate (32) connected to the screw (33), and through the movement The direction adjusts the distance between the field lens (31) and the lens of the galvanometer (44) along the guide rod (34), so as to adjust the focus of the field lens (31).
The radiation-resistant laser cleaning device according to claim 1, characterized in that there are at least two air motors (35), which are arranged around the mild steel skin (22) at intervals of 180°; 34) Surrounding the mild steel skin (22) and being arranged at a distance of 90° from the screw (33), the guide rod (34) is in clearance fit with the light hole provided on the field lens support plate (32) for controlling the field lens support The stability of the linear movement of the plate (32).
A method for using a radiation-resistant laser cleaning device, implemented by the radiation-resistant laser cleaning device according to any one of claims 1 to 8, is characterized in that, comprising the following steps:

S1. The cleaning mechanism (3) enters the container to be cleaned as a whole;

S2, the position adjustment of the cleaning mechanism (3);

S3, the angle adjustment of the cleaning mechanism (3);

S4. Turn on the fiber laser (41) for cleaning until the cleaning is completed.
The method for using a radiation-resistant laser cleaning device according to claim 9, wherein step S1 comprises:

Move the mobile platform (11) close to the container to be cleaned, align the pipe thread (21) with the threaded hole of the container to be cleaned, and turn on the hollow shaft motor (12) to drive the hollow shaft (14) and the mild steel skin (22) to rotate. The pipe threads (21) on the outer wall of the steel skin (22) screw the entry mechanism (2) and the cleaning mechanism (3) into the container to be cleaned in turn, and at the same time, the external thread serrations provided on the outer wall of the pipe thread (21) are connected to the container to be cleaned. The engagement of the inner thread of the inner wall (5) forms a sealing effect to prevent the radiation material from leaking from the container to be cleaned, and the hollow shaft motor (12) is closed after entering the specified depth.
The method for using the radiation-resistant laser cleaning device according to claim 9, wherein step S2 comprises:

According to the cleaning position of the container to be cleaned, the working state of the cylinders (202) of each motion unit in the pipeline is adjusted according to certain rules, and the movement of the piston rods of the three cylinders (202) is used to control the various angles of the support plate (201) in the motion space. Arbitrarily change, and then control the position of the cleaning mechanism (3) in the space of the container to be cleaned, and move the cleaning mechanism (3) to the range of the part to be cleaned.
The method for using the radiation-resistant laser cleaning device according to claim 9, wherein step S3 comprises:

Activate the two air motors (35) on the front surface of the mild steel skin (22) to perform rotational motion and output torque. The air motor (35) controls the field lens support plate (32) along the guide rod through the rotation direction of the connected screw (33). In the moving direction of (34), the field lens (31) is moved along the guide rod to adjust the focal length of the field lens (31).
The method for using the radiation-resistant laser cleaning device according to claim 9, wherein step S4 comprises:

The fiber laser (41) is turned on, and the laser is transmitted to the beam expander (43) through the hollow shaft motor (12), the fiber trachea (42) of the small hole in the center of the support plate (201) in the pipe thread (21), and the The beam expander (43) expands the laser beam, improves the focusing effect, and makes the laser energy disperse evenly. The laser continues to be transmitted through the galvanometer (44) and the field lens (31), and is focused on the cleaning part to perform the cleaning task until the cleaning is completed, the fiber laser (41) is turned off, and the cleaning device is withdrawn from the container to be cleaned.