WO2024061299A1 - 一种用于输油管道内壁清洗的激光清洗装置 - Google Patents

一种用于输油管道内壁清洗的激光清洗装置 Download PDF

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Publication number
WO2024061299A1
WO2024061299A1 PCT/CN2023/120254 CN2023120254W WO2024061299A1 WO 2024061299 A1 WO2024061299 A1 WO 2024061299A1 CN 2023120254 W CN2023120254 W CN 2023120254W WO 2024061299 A1 WO2024061299 A1 WO 2024061299A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
support
wall
electromagnet
traveling
Prior art date
Application number
PCT/CN2023/120254
Other languages
English (en)
French (fr)
Inventor
王蔚
江清宇
刘伟军
卞宏友
苑泽伟
魏游
李相锦
Original Assignee
沈阳工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 沈阳工业大学 filed Critical 沈阳工业大学
Publication of WO2024061299A1 publication Critical patent/WO2024061299A1/zh

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Classifications

    • 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
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
    • B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
    • 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
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
    • 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
    • B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing

Definitions

  • the invention belongs to the technical field of laser cleaning, and specifically relates to a laser cleaning device used for cleaning the inner wall of an oil pipeline.
  • the chemical cleaning method requires different cleaning solutions for different pollutants, which has poor versatility.
  • a large amount of wastewater and waste liquid are usually produced during the preparation of the cleaning solution, which pollutes the environment.
  • Chemical reagents will also pollute the environment during the cleaning process.
  • the inner wall of the pipeline has a certain corrosion effect and chemical reagent residues are difficult to clean, which will bring great difficulties to future work.
  • the radio frequency plasma cleaning method achieves the removal of pollutants at the molecular level through physical and chemical effects.
  • the pollutants cleaned can be organic matter, oxides, etc.
  • the radio frequency plasma cleaning method is a high-precision cleaning method. Different cleaning processes are required to correspond to different pollutants, which require long cleaning times, high power consumption, and high costs.
  • the existing pipeline cleaning device not only damages and pollutes the pipeline during cleaning, but also cannot be changed according to the diameter of the pipeline, which is inconvenient to use and has poor versatility.
  • the technical problem to be solved by the present invention is to provide a laser cleaning device for cleaning the inner wall of oil pipelines, which can solve the problem that the existing pipeline cleaning device not only damages and contaminates the pipeline during cleaning, but also the cleaning device cannot change according to the diameter of the pipeline. And changes, inconvenience to use, versatility issues.
  • the present invention provides a laser cleaning method for cleaning the inner wall of an oil pipeline.
  • the device includes a pipeline, a traveling structure, a driving structure, a cleaning structure, a dust removal structure and a supporting shell;
  • the driving structure is arranged in the inner cavity of the support housing.
  • the traveling structure is connected to one end of the driving structure. Both the traveling structure and the supporting housing are in contact with the inner wall of the pipeline, so that the driving structure drives the traveling structure to move inside the pipeline.
  • the driving structure and the cleaning structure are connected, so that the driving structure drives the cleaning structure to rotate and clean the inner wall of the pipeline, and the dust removal structure is arranged on the pipeline.
  • the traveling structure includes a transmission shaft, a rotating shaft core, a plurality of traveling wheel lobes, a plurality of support rods, a sleeve, a plurality of wheel diameter adjusting claws, a threaded rod and an adjusting nut;
  • One end of the inner cavity of the support shell is connected to the sleeve, the adjusting nut is installed on the inner wall of the sleeve, the transmission shaft moves through the adjusting nut, one end located in the inner cavity of the support shell is connected to the driving structure, and the other end located outside the support shell is connected to the rotating shaft Core, a plurality of support rods are evenly arranged in the circumferential direction of the rotation axis core.
  • One end of the support rods is connected to the traveling wheel petals.
  • the traveling wheel petals correspond to the supporting rods one by one.
  • the traveling wheel petals are in contact with the inner wall of the pipe, and the supporting rods are away from the traveling wheel petals.
  • One end of the wheel petals are all in contact with the wheel diameter adjustment claw, one end of the wheel diameter adjustment claw is connected to one end of the threaded rod, the threaded rod is threadedly connected to the adjusting nut, and the other end of the threaded rod is connected to the circumferential direction of the transmission shaft. .
  • the traveling structure also includes a support ring.
  • the support ring is arranged on the transmission shaft, and the support ring is located between the rotating shaft core and the sleeve.
  • the support rings are all slidingly connected with the threaded rod.
  • the driving structure includes a slideway, a sliding base, a first motor, a first support base and a second motor;
  • the slideway is set on one end side wall of the inner cavity of the support housing, the sliding base is slidably set on the slideway, the first motor is installed on the sliding base, the output end of the first motor is connected to the traveling structure, and the first support seat is located on the support On the other end side wall of the inner cavity of the housing, the second motor is installed on the first support base, and the output end of the second motor is connected to the cleaning structure.
  • a plurality of support wheels are evenly arranged on the outer wall of the support housing along the circumferential direction, and the support wheels and the support housing are connected through spring steel sheets.
  • the cleaning structure includes a laser cleaning structure and a focus adjustment structure.
  • One end of the laser cleaning structure is connected to the driving structure, and the other end of the laser cleaning structure is connected to the focus adjustment structure, so that the focus adjustment structure adjusts the reflection of the laser cleaning structure to The size of the light spot on the inner wall of the pipe.
  • the laser cleaning structure includes cleaning the housing, cylinder, push rod, second support base, third support base and reflective lens;
  • the cleaning shell is connected to the driving structure.
  • the second support seat and the third support seat are both arranged on the side wall of the inner cavity of the cleaning shell.
  • the second support seat is located in front of the third support seat.
  • the cylinder is connected to the second support seat.
  • the output end of the cylinder is connected to the push rod
  • the reflective lens is set on the third support seat
  • one end of the push rod is connected to the reflector
  • the back side of the lens is slidably connected.
  • the focus adjustment structure includes a connection housing, a focus lens, a focus barrel, a lens barrel slide, a flexible rack, a spring, a focus adjustment piece, a spring push piece and a fixing piece;
  • One end of the connecting shell is connected to the laser cleaning structure, the fixing part is fixed in the inner cavity of the connecting shell, the focus adjusting part is connected to the fixing part, the focus adjusting part is provided with threads inside, and the focus adjustment part is provided with gears and focusing mirrors on the outside
  • the outside of the barrel is threadedly connected to the inside of the focal length adjustment piece.
  • the outer gears of the focal length adjustment piece mesh with the flexible racks up and down respectively.
  • the flexible racks on the upper and lower sides are connected to the cylindrical cylinder. One end of the cylindrical cylinder passes through the outside of the connecting shell.
  • a focusing lens is arranged inside the focusing barrel, the lens barrel slide is arranged inside the connecting housing, and the focusing lens is slidingly connected to the lens barrel slide.
  • the dust removal structure includes a jet dust removal block, a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet, a rotating disk, a vibration pick, a telescopic vibration disk, a first adjustment member, and an adjustment screw. , the third motor and dust removal housing;
  • the jet dust removal block is connected to the cleaning structure.
  • the first electromagnet is installed inside the cleaning structure.
  • the second electromagnet is installed on the jet dust removal block.
  • the third electromagnet and the fourth electromagnet are installed on the outer wall of the pipe.
  • the electromagnet and the fourth electromagnet are located between the first electromagnet and the second electromagnet.
  • the dust removal shell is arranged on the outer wall of the pipe and is located between the third electromagnet and the fourth electromagnet.
  • the inner upper end of the dust removal shell is installed There is a third motor, the output end of the third motor is connected to the rotating disk, the inner lower end of the dust removal shell is connected to the telescopic vibration plate, the lower end of the rotating disk and the upper end of the telescopic vibration plate are equipped with multiple vibration paddles, and the upper and lower vibration paddles interact with each other.
  • the telescopic vibration plate is provided with a first adjusting member, and the first adjusting member is threadedly connected to an adjusting screw.
  • the embodiment of the present invention provides a laser cleaning device for cleaning the inner wall of an oil pipeline.
  • the driving structure drives the traveling structure forward, and also drives the cleaning structure to rotate to clean the inner wall of the pipeline.
  • the dust removal structure cleans the pipeline. Dust is removed after the inner wall is cleaned, thereby solving the problems of existing pipe cleaning devices that not only damage and contaminate the pipes during cleaning, but also that the cleaning device cannot change according to the diameter of the pipe, making it inconvenient to use and versatile.
  • the present invention uses a laser cleaning structure to clean the inside of the pipeline, which has a large cleaning area and good cleaning effect.
  • the outer contour of the traveling structure can better fit the inner wall of the pipeline, making its operation more stable and improving the quality of pipeline cleaning.
  • the automatic focusing device in the cleaning mold structure can perform automatic mechanical focusing according to the different inner diameters of the pipes to ensure the consistency of the spot size irradiated on the inner walls of pipes with different inner diameters and improve the cleaning quality.
  • the device is equipped with a dust removal structure, which makes cleaning residues fall off through vibration and air flow.
  • the device is equipped with an exhaust gas treatment module so that the cleaned exhaust gas does not pollute the air or damage the environment, and meets the requirements of green, energy-saving and environmental protection.
  • the laser cleaning technology applied in this device can be used to clean a variety of different pollutants.
  • the device has a simple structure, is easy to use and facilitates later maintenance, and its stable operation enables efficient cleaning.
  • Figure 1 is a schematic structural diagram of a laser cleaning device according to an embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of a front cross-section of the laser cleaning device according to the embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a cleaning structure in a front and cross-sectional view according to an embodiment of the present invention
  • Figure 4 is a right structural schematic diagram of the focal length adjustment structure according to the embodiment of the present invention.
  • Figure 5 is a schematic structural diagram of a traveling structure according to an embodiment of the present invention.
  • FIG6 is a schematic diagram of the structure of the traveling structure according to an embodiment of the present invention from the right side;
  • Figure 7 is a schematic structural diagram of the dust removal structure according to the embodiment of the present invention.
  • Driving structure 30. Slideway; 31. Sliding base; 32. First motor; 33. First support base; 34. Second motor;
  • Dust removal structure 50. Jet dust removal block; 51. First electromagnet; 52. Second electromagnet; 53. The third electromagnet; 54. The fourth electromagnet; 55. Rotating plate; 56. Vibration pick; 57. Telescopic vibration plate; 58. The first adjusting member; 59. Adjusting screw; 510. The third motor; 511. Dust removal casing;
  • a laser cleaning device for cleaning the inner wall of an oil pipeline includes a pipeline 1, a traveling structure 2, a driving structure 3, Cleaning structure 4, dust removal structure 5 and support housing 6;
  • the driving structure 3 is arranged in the inner cavity of the supporting housing 6, the traveling structure 2 is connected to one end of the driving structure 3, the traveling structure 2 and the supporting housing 6 are both connected to the inside of the pipe 1
  • the walls are in contact, so that the driving structure 3 drives the traveling structure 2 to move inside the pipeline 1.
  • the driving structure 3 is connected with the cleaning structure 4, so that the driving structure 3 drives the cleaning structure 4 to rotate and clean the inner wall of the pipeline 1.
  • the dust removal structure 5 is arranged on On pipe 1.
  • the driving structure 3 drives the traveling structure 2 forward respectively, and at the same time drives the cleaning structure 4 to rotate to clean the inner wall of the pipeline 1, and the dust removal structure 5 removes dust from the inner wall of the pipeline 1 cleaned by the cleaning structure 4, thereby realizing the cleaning of the pipeline 1
  • the pipeline 1 is an oil pipeline with an inner diameter of 400 mm to 600 mm.
  • the traveling structure 2 is located on the front side in the forward direction
  • the cleaning structure 4 is located on the rear side in the forward direction
  • the driving structure 3 is located between the traveling structure 2 and the cleaning structure 4
  • part of the dust removal structure 5 is installed on the cleaning structure 4.
  • one part is located on the outside of the pipe 1, that is, it is used to remove dust on the inside and outside of the dust pipe 1.
  • the driving structure 3 is used to drive the traveling structure 2 forward, and at the same time drives the cleaning structure 4 to clean the pipeline 1.
  • the traveling structure 2 drives the entire device to move forward, and the dust removal structure 5 is used to remove the dust that remains on the inner wall of the pipeline 1 after cleaning.
  • the cleaning product is detached through vibration and air flow.
  • the cleaning structure 4 is used to generate laser light and perform parallel output to clean the inner wall of the pipeline 1 .
  • the traveling structure 2 includes a transmission shaft 20, a rotating shaft core 21, a plurality of traveling wheel lobes 22, a plurality of support rods 23, a sleeve 25, a plurality of wheel diameter adjusting claws 26, a threaded rod 27 and Adjusting nut 28; one end of the inner cavity of the supporting housing 6 is connected to the sleeve 25.
  • the adjusting nut 28 is installed on the inner wall of the sleeve 25.
  • the transmission shaft 20 moves through the adjusting nut 28 and is located in the driving shaft 20 of the inner cavity of the supporting housing 6. One end is connected to the driving structure 3, and one end of the transmission shaft 20 located outside the support housing 6 is connected to the rotation axis 21.
  • a plurality of support rods 23 are evenly arranged in the circumferential direction of the rotation axis 21, and one end of the support rods 23 is connected to the traveling wheel petals 22.
  • the advancing wheel lobe 22 corresponds to the support rod 23 one by one.
  • One end of the support rod 23 away from the traveling wheel lobe 22 is in contact with the wheel diameter adjusting claw 26.
  • One end of the wheel diameter adjusting claw 26 is connected to one end of the threaded rod 27, and the threaded rod 27 is both connected to the wheel diameter adjusting claw 26. It is threadedly connected with the adjusting nut 28 , and the other end of the threaded rod 27 is rotatably connected with the transmission shaft 20 in the circumferential direction.
  • the first motor 32 in the drive structure 3 drives the transmission shaft 20 to rotate, thereby driving the traveling wheel petals 22 to contact the pipe 1 and advance along the inner wall of the pipe 1, thereby pushing the entire device forward.
  • the forward direction of this device is from right to left with reference to Figure 2, that is, left is the forward direction.
  • the inner cavity is a cavity, which facilitates the installation of the traveling structure 2, the driving structure 3, and the cleaning structure 4.
  • one end of the transmission shaft 20 located in the inner cavity of the support housing 6 is fixedly connected to the output end of the first motor 32 , and the first motor 32 drives the transmission shaft 20 to rotate.
  • One end of the transmission shaft 20 located outside the support housing 6 is keyed to the rotation axis core 21, which not only ensures a stable connection, but also improves rotational stability.
  • four grooves are evenly provided on the outside of the rotation axis core 21 along the circumferential direction, and support rods 23 are provided in the grooves, that is, one groove corresponds to one support rod 23, and there is a gap between each support rod 23 and the groove. It's a sliding connection.
  • One end of the support rod 23 away from the groove is connected to the traveling wheel petal 22 , that is, the outer wall of the traveling wheel petal 22 is in contact with the inner wall of the pipe 1 , thereby realizing the movement of the traveling wheel petal 22 along the inner wall of the pipe 1 .
  • a wheel diameter adjustment claw 26 is movably arranged at one end of the groove cavity and in contact with the support rod 23, that is, one support rod 23 corresponds to one wheel diameter adjustment claw 26, and the end of the support rod 23 directly presses against the wheel diameter adjustment claw 26.
  • the end of the wheel diameter adjustment claw 26 close to the support shell 6 is fixedly connected to the threaded rod 27, and the threaded rod 27 and the wheel diameter adjustment claw 26 are connected at 165 degrees, that is, the wheel diameter adjustment claw 26 is horizontally arranged, that is, the threaded rod 27 is inclined, wherein the end of the threaded rod 27 close to the forward direction is fixedly connected to the wheel diameter adjustment claw 26, and the end of the threaded rod 27 away from the forward direction is close to the transmission shaft 20, that is, it can rotate around the transmission shaft 20. Then, the threaded connection between the threaded rod 27 and the adjusting nut 28 is realized, and the threaded rod 27 rotates. Under the action of the adjusting nut 28, the threaded rod 27 can drive the transmission shaft 20 to move linearly left and right along the rotating shaft core 21, that is, to move linearly along the forward direction and the backward direction.
  • the other ends of the support rods 23 are fixedly connected to the traveling wheel lobes 22, and the outer surfaces of the traveling wheel lobes 22 are provided with threads, that is, the friction between the traveling wheel lobes 22 and the inner wall of the pipe 1 is increased, and then through the traveling wheel lobes 22 22 comes into contact with pipe 1 and drives the device forward.
  • traveling wheel lobes 22 are arc-shaped and the number is four, which facilitates fitting with the pipe 1 and facilitating movement.
  • the rear end of the support housing 6 in the forward direction is fixedly connected to a sleeve 25.
  • the sleeve 25 is used to install an adjusting nut 28, and the adjusting nut 28 is used to threadly connect the threaded rod 27.
  • the four wheel diameter adjusting claws 26 are hingedly connected to one end of the transmission shaft 20 and the first motor 32, thereby realizing the rotation of the threaded rod 27 and the threaded connection with the adjusting nut 28, driving the wheel diameter adjusting claws 26 according to the inner diameter of the pipe 1 Make adjustments.
  • a support ring 24 is slidably installed on the transmission shaft 20 and close to the sleeve 25.
  • the support ring 24 is also slidingly connected to the threaded rod 27, which not only supports the wheel diameter adjustment claw 26, but also supports the wheel diameter adjustment claw 26 when adjusting the wheel diameter.
  • the wheel diameter adjusting claw 26 closes and opens under the pressure of the inner tapered thread of the adjusting nut 28 until the traveling wheel petal 22 completely fits the inner diameter of the pipe 1, thus realizing different applications. Cleaning of inner diameter oil pipelines.
  • the sleeve 25 is a fixed torque sleeve to ensure that the entire cleaning system can travel stably on the inner wall of the oil pipeline 1. It is necessary that the traveling wheel petal 22 and the inner wall of the oil pipeline 1 have a certain extrusion force.
  • the extrusion force is The size can be realized by the fixed torque sleeve 25.
  • the adjusting nut 28 and the wheel diameter adjusting claw 26 are relatively stationary and rotate together under the drive of the first motor 32. At this time, the cleaning system can be in the traveling structure 2 Run forward under the traction.
  • the traveling structure 2 needs to be started after the cleaning structure 4 completes the cleaning of the inner wall of the pipeline 1 for a length of L, and travels a distance of length L within a time t to ensure the connection of the two cleaning sections. Since the threaded part of the traveling wheel flap 22 is made of rubber material, it will be subjected to the squeezing force and tangential force of the pipe wall during the traveling process, thereby causing deformation and pitch change. Therefore, for different inner diameter oil pipelines 1, the speed v of the traveling structure 2 must be adjusted while ensuring that the traveling speed v remains unchanged.
  • the wheel diameter adjusting claw 26 is driven by the first motor 32 When rotating downward, opening and closing are achieved under the joint action of the adjusting nut 28 and the support ring 24.
  • the support ring 24 supports the wheel diameter adjusting claw 26.
  • the wheel diameter adjusting claw 26 rotates and retracts to the right, the wheel diameter adjusting claw 26 retracts under the pressure of the inner tapered thread of the adjusting nut 28, and the support ring 24 moves along the wheel diameter adjusting claw 26 under the extrusion force of the wheel diameter adjusting claw 26.
  • the transmission shaft 20 slides to the left, thereby reducing the traveling wheel diameter; when the wheel diameter adjusting claw 26 rotates to the left and extends, the wheel diameter adjusting claw 26 opens under the support of the support ring until the traveling wheel petal 22 and the pipe 1
  • the inner diameter is completely fitted to adapt to the cleaning of oil pipelines 1 with different inner diameters.
  • the direction of rotation to the right is relative to To the right of the forward direction, the direction of left rotation is to the left relative to the forward direction.
  • the driving structure 3 includes a slide 30, a sliding base 31, a first motor 32, a first support base 33 and a second motor 34; the slide 30 is provided on one end side wall of the inner cavity of the support housing 6,
  • the sliding base 31 is slidably disposed on the slideway 30 .
  • the first motor 32 is installed on the sliding base 31 .
  • the output end of the first motor 32 is connected to the traveling structure 2 .
  • the first support base 33 is located in the inner cavity of the support housing 6 .
  • the second motor 34 is installed on the first support base 33 , and the output end of the second motor 34 is connected to the cleaning structure 4 .
  • the first motor 32 drives the transmission shaft 20 to rotate, thereby achieving linear motion of the transmission shaft 20
  • the second motor 34 drives the cleaning structure 4 to rotate, realizing the rotation of the cleaning structure 4 to clean the inner wall of the pipeline 1 .
  • the slideway 30 is installed under the inner wall of the support housing 6 and is located in front of the forward direction.
  • the sliding base 31 is slidingly connected to the slideway 30.
  • the first motor 32 is fixedly installed on the sliding base 31, thereby realizing the third step.
  • a motor 32 rotates to drive the transmission shaft 20, and the threaded rod 27 slides the base 31 along the slideway 30 under the action of the adjusting nut 28.
  • first support seat 33 is installed below the inner wall of the support shell 6 and is located at the rear end in the forward direction.
  • the function of the first support seat 33 is to fix the second motor 34, and the output end of the second motor 34 is connected to the cleaning shell 410.
  • multiple support wheels 7 are evenly arranged on the outer wall of the support shell 6 along the circumferential direction.
  • the support wheels 7 are connected to the support shell through spring steel sheets. The connection relies on the elasticity of the spring steel sheets to adapt to different inner diameter pipes 1 and to support the entire system.
  • the cleaning structure 4 includes a laser cleaning structure 41 and a focus adjustment structure 42.
  • One end of the laser cleaning structure 41 is connected to the driving structure 3, and the other end of the laser cleaning structure 41 is connected to the focus adjustment structure 42, so that the focus
  • the adjustment structure 42 adjusts the size of the light spot reflected by the laser cleaning structure 41 onto the inner wall of the pipeline 1 .
  • the laser cleaning structure 41 includes a cleaning shell 410, a cylinder 411, a push rod 412, a second support seat 413, a third support seat 414 and a reflective mirror 415; the cleaning shell 410 is connected to the driving structure 3, and the second support seat 413 and the third support seat 415 are connected to the driving structure 3.
  • the support seats 414 are all arranged on the side wall of the inner cavity of the cleaning shell 410, and the second support seat 413 is located in front of the third support seat 414.
  • the cylinder 411 is connected to the second support seat 413, and the output end of the cylinder 411 is connected to the push rod. 412.
  • the reflective lens 415 is disposed on the third support base 414, and one end of the push rod 412 is slidably connected to the back of the reflective lens 415.
  • the focal length adjustment structure 42 includes a connecting housing 420, a focusing lens 421, a focusing barrel 422, a barrel slide 423, a flexible rack 424, a spring 425, a focal length adjusting member 426, a spring push piece 427 and a fixing member 428; One end is connected to the laser cleaning structure 41, the fixing member 428 is fixed in the inner cavity of the connecting shell 420, and the focus adjustment
  • the joint member 426 is connected to the fixing member 428, the focal length adjustment member 426 is provided with threads inside, and the focus adjustment member 426 is provided with a gear outside.
  • the upper and lower external gears mesh with the flexible racks 424 respectively.
  • the upper and lower flexible racks 424 are connected to the cylindrical cylinder.
  • One end of the cylindrical cylinder passes through the outside of the connecting shell 420.
  • One end of the cylindrical cylinder is connected to the ball.
  • the ball and The inner wall of the pipe 1 contacts, a spring 425 is provided in the cylindrical cylinder, the spring push piece 427 is connected to the outside of the connecting shell 420, and one end of the spring push piece 427 passes through the cylindrical cylinder and is engaged with the spring 425, and the focusing lens barrel 422
  • a focusing lens 421 is provided inside, a barrel slide 423 is provided inside the connecting housing 420, and the focusing lens 421 is slidingly connected to the barrel slide 423.
  • the laser cleaning structure 41 generates a laser beam and emits it in parallel, and the focus adjustment structure 42 adjusts the laser spot according to the different inner diameters of the pipes 1, thereby achieving laser cleaning of the inner walls of different pipes 1.
  • the cleaning shell 410 plays a supporting and fixing role.
  • the second support seat 413 and the third support seat 414 are both fixedly installed on the lower inner wall of the cleaning shell 410 and are located at one end of the cleaning shell 410 close to the driving structure 3. .
  • the cylinder 411 is fixedly connected to the second support seat 413, the push rod 412 is connected to the cylinder 411 through a thread, the other end of the push rod 412 is connected to the slider, the slider is slidingly connected to the reflective lens 415, and the reflective lens 415 rotates.
  • the movement of the cylinder 411 drives the push rod 412 to slide and drive the reflective lens 415 to rotate.
  • the cylinder 411 expands and contracts through the connecting nut to drive the push rod to move.
  • the connection part between the push rod 412 and the slider is spherical. Therefore, as the push rod 412 pushes the slider, the reflective mirror 415 will revolve around the connection with the third support base 414. The point rotates within a range of ⁇ 20°, thereby changing the reflection angle of the laser to achieve an array of laser spots. With the rotation of the cleaning module, a large area of the inner wall of the pipe 1 can be cleaned, greatly improving the cleaning efficiency.
  • the original design of the laser cleaning structure for cleaning the inner wall of the oil pipeline 1 is suitable for cleaning the inner walls of the oil pipeline 1 with different inner diameters of the pipeline 1 . Therefore, due to the different inner diameters of the pipeline 1, the size of the light spots illuminated on the inner wall of the pipeline 1 after being reflected by the reflective lens 415 will be different. Therefore, the same process parameters have different cleaning effects on the oil pipelines 1 with different inner diameters. Therefore, it is necessary to clean the oil pipelines with different inner diameters. 1. Design corresponding process parameters, which greatly reduces the efficiency of the cleaning system. Therefore, in order to solve the problem that the spot size of the laser irradiated on the inner wall of the oil pipeline 1 with different inner diameters is different, a focus adjustment structure 42 that can self-adjust the spot size according to the inner diameter is designed.
  • the connecting shell 420 is fixedly connected to the cleaning shell 410, and the connecting shell 420 plays a role of fixing and supporting.
  • the fixing part 428 is to install the focus adjustment part 426, and the number of the fixing parts 428 is two.
  • the focus adjustment member 426 is a focus adjustment nut, which is used to adjust the focus lens 421 and the focus barrel 422 .
  • the interior of the focal length adjustment member 426 is connected to the focusing lens barrel 422 through threads, thereby facilitating the rotation of the focal length adjustment member 426 and driving the focusing lens barrel 422 to rotate.
  • the focusing lens 421 is fixedly connected to the interior of the focusing lens barrel 422, and the focusing lens barrel 422 rotates.
  • the focusing lens 421 is driven to rotate, and at the same time, the focusing lens 421 is slidingly connected with the lens barrel slide 423, and slides along the lens barrel slide 423 while rotating.
  • a gear is set on the outside of the focal length adjustment member 426, which is meshed with the gear through a flexible rack 424, that is, the flexible rack 424 is divided into an upper part and a lower part, and the flexible rack 424 is semicircular, that is, one side is provided with teeth and the other side is provided without teeth, and the toothed part is meshed with the gear.
  • the outside of the flexible rack 424 is fixedly connected to the cylindrical cylinder, and a spring 425 is provided inside.
  • the size of the laser spot can be adjusted according to different inner diameters of the pipe 1.
  • the focus adjustment member 426 has threads inside and a threaded focus outside.
  • the lens barrel 422 is screwed together.
  • a focusing lens 421 is installed inside the focusing lens 422 and the top hexagonal structure can be fixed in the cleaning housing 410 along the edge.
  • the lens barrel slide 423 slides left and right, that is, slides along the forward direction and the backward direction, thereby adjusting the size of the light spot reflected by the cleaning module to the inner wall of the oil pipeline 1.
  • the dust removal structure 5 includes a jet dust removal block 50, a first electromagnet 51, a second electromagnet 52, a third electromagnet 53, a fourth electromagnet 54, a rotating disk 55, a vibration paddle 56, and a telescopic vibration
  • the jet dust removal block 50 is connected to the cleaning structure 4,
  • the first electromagnet 51 is arranged inside the cleaning structure 4, and the second electromagnet 52 is installed on the jet dust removal block 50
  • the third electromagnet 53 and the fourth electromagnet 54 are installed on the outer wall of the pipe 1, the third electromagnet 53 and the fourth electromagnet 54 are located between the first electromagnet 51 and the second electromagnet
  • the dust removal housing 511 is arranged on the outer wall of the pipe 1, and is located between the third electromagnet 53 and the fourth electromagnet 54.
  • a third motor 510 is installed on the inner upper end of the dust removal housing 511.
  • the third motor 510 The output end is connected to the rotating disk 55, and the inner lower end of the dust removal housing 511 is connected to the telescopic vibration plate 57.
  • the lower end of the rotating disk 55 and the upper end of the telescopic vibration plate 57 are provided with multiple vibration paddles 56, and the upper and lower vibration paddles 56 are in contact with each other.
  • the telescopic vibration plate 57 is provided with a first adjusting member 58, and the first adjusting member 58 is threadedly connected to the adjusting screw 59.
  • the dust removal structure 5 is driven to move, so that the dust on the inner wall of the cleaned pipeline 1 is removed. clean.
  • the air jet dust removal block 50 is used for air jet dust removal, and is located outside the pipe 1 at the same time. The dust is removed between the vibration paddles 56 of the wall, thereby achieving dust removal on the inner wall of the pipe 1.
  • first electromagnet 51 and the second electromagnet 52 install the dust removal housing 511 on the outer wall of the pipe 1. At the same time, the action of the first electromagnet 51 and the second electromagnet 52 can drive the dust removal housing 511 along with the cleaning structure. 4. Move and move.
  • the rotating plate 55 is stepped, that is, the lower end is stepped, and the upper end of the telescopic vibration plate 57 is stepped, that is, both of them correspond to the rotating plate 55 .
  • the lower end of the rotating disk 55 is provided with a vibration paddle 56 on each layer
  • the upper end of the telescopic vibration disk 57 is also provided with a vibration paddle 56
  • the vibration paddle 56 on the rotating disk 55 and the telescopic vibration disk The vibration picks 56 on the dust collector contact each other, thereby realizing vibration dust removal.
  • the vibration can be performed according to different frequencies, and then the first adjusting member 58 is driven to rotate through the adjusting screw 59, which in turn drives the telescopic vibration plate 57 to move, thereby adjusting the distance between the telescopic vibration plate 57 and the rotating plate 55, and thus The vibration frequency has been adjusted.
  • the vibration is transmitted to the oil pipeline wall through contact, causing the pipe wall to vibrate, which facilitates the removal of cleaning waste adsorbed on the inner wall or embedded in the welding joint of the pipeline after cleaning.
  • ⁇ -Displacement hysteresis coefficient of vibration dust removal device ⁇ 0 -Magnetic permeability, 4 ⁇ 10 -7 Henry/meter; S 0 -Air gap area mm 2 ; ⁇ -Air gap area error coefficient; d-Enameled wire diameter mm; L-Winding Line width mm; D 1 - winding inner diameter mm; D 2 - winding inner diameter mm; ⁇ - air gap length mm; k - proportional coefficient between magnetic force and distance.
  • the jet dust removal block 50 is fixedly connected to the cleaning structure 4 and rotates with the cleaning structure 4.
  • One end of the air inlet is connected to the air pump outlet and is aligned with the cleaning position.
  • the cleaning waste is blown down by the action of the airflow.
  • the cleaning waste adsorbed on difficult-to-clean places such as welds can be effectively removed.
  • the laser cleaning device is also equipped with an exhaust gas treatment device for purifying the exhaust gas after cleaning the pipeline 1.
  • the exhaust fan is used to suck the waste gas in the cleaned pipe into the interior of the waste gas treatment device.
  • the filter is used to filter the large particle residues in the cleaned waste gas.
  • the filter should be cleaned or replaced regularly.
  • the electrostatic dust removal plate uses the electrostatic principle to absorb the waste gas. Preliminarily filter small particles of dust in the exhaust gas and perform secondary purification of the exhaust gas.
  • the air filter element is used for final filtration of the waste.
  • the air filter element should also be replaced regularly to ensure the purification effect of the exhaust gas.
  • the function of the spray nozzle is to every certain time Clean the surface of the air filter element once to clean the pollutants adsorbed on the surface from the surface of the air filter element.
  • the wetted filter element also enhances the adsorption of dust to a certain extent, and the residue after filtration is processed uniformly.

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  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Cleaning In General (AREA)

Abstract

一种用于输油管道内壁清洗的激光清洗装置，包括管道（1）、行进结构（2）、驱动结构（3）、清洗结构（4）、除尘结构（5）和支撑壳体（6）；驱动结构（3）设置在支撑壳体（6）内腔，行进结构（2）与驱动结构（3）的一端相连接，行进结构（2）和支撑壳体（6）均与管道（1）内侧壁相接触，以使驱动结构（3）带动行进结构（2）在管道（1）内侧移动，驱动结构（3）与清洗结构（4）相连接，以使驱动结构（3）带动清洗结构（4）旋转清洗管道（1）内侧壁，除尘结构（5）设置在管道（1）上；行进结构（2）包括传动轴（20）、转动轴芯（21）、多个行进轮瓣（22）、多个支撑杆（23）、套筒（25）、多个轮径调节爪（26）、螺纹杆（27）和调节螺母（28）。

Description

一种用于输油管道内壁清洗的激光清洗装置 技术领域
本发明属于激光清洗技术领域，具体涉及一种用于输油管道内壁清洗的激光清洗装置。
背景技术
所有的石油输油管道全部为Q235等板材焊接而来的焊管，管道焊接过程中或长时间的使用后内壁上通常会附着一些杂质，为保证经石油管道运输的石油的品质不受影响，需要对石油输送管道进行定期的清洗。传统的输油管道清洗方法主要有机械清洗法、超声波清洗、化学清洗法、射频等离子清洗法，机械清洗主要是以对待清洗表面进行机械打磨的方式来实现污染物的去除，过程费时费力且受到管道尺寸限制严重清洗效率低，且打磨会对基体造成损伤，损伤处易造成二次锈蚀。超声波清洗法能耗大，对水资源的浪费较为严重。化学清洗法则需要针对不同的污染物配置不同的清洗液，通用性较差，另外在清洗液的配置过程中通常会产生大量废水、废液对环境造成污染，在清洗过程中化学试剂还会对管道内壁有一定的腐蚀作用且化学试剂残留不易清洁，这会给未来工作带来极大困难。射频等离子体清洗法是通过物理、化学作用实现分子水平的污染物去除，清洗的污染物可以是有机物、氧化物等，射频等离子体清洗法是一种高精密清洗法。对应不同的污染物需要采用不同的清洗工艺，清洗时间长、耗电高、成本较高。
因此现有清洗管道装置不仅清洗时对管道有损伤和污染，且清洗装置不能根据管道的直径变化而变化，不方便使用，通用性。
发明内容
因此，本发明要解决的技术问题在于提供一种用于输油管道内壁清洗的激光清洗装置，能够解决现有清洗管道装置不仅清洗时对管道有损伤和污染，且清洗装置不能根据管道的直径变化而变化，不方便使用，通用性的问题。
为了解决上述问题，本发明提供了一种用于输油管道内壁清洗的激光清洗 装置，包括管道、行进结构、驱动结构、清洗结构、除尘结构和支撑壳体；
驱动结构设置在支撑壳体内腔，行进结构与驱动结构的一端相连接，行进结构和支撑壳体均与管道内侧壁相接触，以使驱动结构带动行进结构在管道内侧移动，驱动结构与清洗结构相连接，以使驱动结构带动清洗结构旋转清洗管道内侧壁，除尘结构设置在管道上。
可选的，行进结构包括传动轴、转动轴芯、多个行进轮瓣、多个支撑杆、套筒、多个轮径调节爪、螺纹杆和调节螺母；
支撑壳体的内腔一端连接套筒，调节螺母安装在套筒的内侧壁，传动轴活动穿过调节螺母，位于支撑壳体内腔的一端连接驱动结构，位于支撑壳体外侧的一端连接转动轴芯，转动轴芯周向方向均匀设置多个支撑杆，支撑杆的一端均连接行进轮瓣，行进轮瓣与支撑杆一一对应，行进轮瓣与管道的内侧壁相接触，支撑杆远离行进轮瓣的一端均接触设置轮径调节爪，轮径调节爪的一端均连接螺纹杆的一端，螺纹杆均与调节螺母螺纹连接，且螺纹杆的另一端均与传动轴的周向方向转动连接。
可选的，行进结构还包括支撑环，支撑环设置在传动轴上，且支撑环位于转动轴芯和套筒之间，支撑环均与螺纹杆滑动连接。
可选的，驱动结构包括滑道、滑动底座、第一电机、第一支撑座和第二电机；
滑道设置在支撑壳体内腔的一端侧壁上，滑动底座滑动设置在滑道上，第一电机安装在滑动底座上，第一电机的输出端与行进结构相连接，第一支撑座设在支撑壳体内腔的另一端侧壁上，第二电机安装在第一支撑座上，第二电机的输出端与清洗结构相连接。
可选的，支撑壳体的外侧壁沿周向方向均匀设置多个支撑轮，支撑轮与支撑壳体之间通过弹簧钢片相连接。
可选的，清洗结构包括激光清洗结构和焦距调节结构，激光清洗结构的一端与驱动结构相连接，激光清洗结构的另一端与焦距调节结构相连接，以使焦距调节结构调节激光清洗结构反射到管道内侧壁上的光斑大小。
可选的，激光清洗结构包括清洗外壳、气缸、推杆、第二支撑座、第三支撑座和反射镜片；
清洗外壳与驱动结构相连接，第二支撑座和第三支撑座均设置在清洗外壳的内腔侧壁上，且第二支撑座位于第三支撑座的前方，气缸与第二支撑座相连接，气缸的输出端连接推杆，反射镜片设置在第三支撑座上，推杆的一端与反 射镜片的背面滑动连接。
可选的，焦距调节结构包括连接外壳、聚焦透镜、聚焦镜筒、镜筒滑道、柔性齿条、弹簧、焦距调节件、弹簧推片和固定件；
连接外壳的一端与激光清洗结构相连接，固定件固定在连接外壳的内腔，焦距调节件与固定件相连接，焦距调节件的内部设置有螺纹，焦距调节件的外部设置有齿轮，聚焦镜筒的外部与焦距调节件的内部螺纹连接，焦距调节件的外部齿轮上下分别啮合柔性齿条，上下侧的柔性齿条均连接筒状圆柱，筒状圆柱的一端的一端穿过连接外壳的外侧，筒状圆柱的一端均连接滚珠，滚珠与管道内侧壁接触，筒状圆柱内设置有弹簧，弹簧推片与连接外壳的外侧相连接，且弹簧推片的一端穿过筒状圆柱与弹簧卡接，聚焦镜筒的内部设置聚焦透镜，镜筒滑道设置在连接外壳的内部，聚焦透镜与镜筒滑道滑动连接。
可选的，除尘结构包括喷气除尘块、第一电磁铁、第二电磁铁、第三电磁铁、第四电磁铁、转动盘、震动拨片、伸缩式振动盘、第一调节件、调节螺杆、第三电机和除尘外壳；
喷气除尘块与清洗结构相连接，第一电磁铁设置在清洗结构的内部，第二电磁铁安装在喷气除尘块上，第三电磁铁和第四电磁铁安装在管道的外侧壁上，第三电磁铁和第四电磁铁位于第一电磁铁和第二电磁铁之间，除尘外壳设置在管道的外侧壁上，且位于第三电磁铁和第四电磁铁之间，除尘外壳的内侧上端安装有第三电机，第三电机的输出端连接转动盘，除尘外壳的内侧下端连接伸缩式振动盘，转动盘下端和伸缩式振动盘的上端均设置有多个震动拨片，上下震动拨片相互接触，伸缩式振动盘上设置有第一调节件，第一调节件上螺纹连接调节螺杆。
有益效果
本发明的实施例中所提供的一种用于输油管道内壁清洗的激光清洗装置，通过驱动结构分别带动行进结构前行，还带动清洗结构转动对管道内侧壁环视清洗，同时通过除尘结构对管道内侧壁清洗后进行除尘，进而解决了现有清洗管道装置不仅清洗时对管道有损伤和污染，且清洗装置不能根据管道的直径变化而变化，不方便使用，通用性的问题。
优点：
1、本发明利用激光清洗结构对管道内部进行清洗，其清洗面积大，清洗效果好。
2、适用于不同尺寸管道内壁的清洗。
3、行进结构外轮廓可以更好的贴合管道内壁，使之运行更加稳定，提高管道清洗的质量。
4、清洗模结构中的自动调焦装置可根据管道内径的不同进行自动式的机械调焦，以保正照射在不同内径管道内壁光斑大小的一致性，提高清洗质量。
5、该装置设有除尘结构，通过震动、气流使得清洗残留物脱落。
6、该装置设有废气处理模块，使得清洗后的废气对空气不造成污染不破坏环境，满足绿色、节能、环保的要求。
7、该装置应用的激光清洗技术可适用于多种不同污染物的的清洗。
8、该装置结构简单、使用方便便于后期的维护保养，且运行稳定可做到高效清洗。
附图说明
图1为本发明实施例的激光清洗装置的结构示意图；
图2为本发明实施例的激光清洗装置主视剖面的结构示意图；
图3为本发明实施例的清洗结构主视剖视的结构示意图；
图4为本发明实施例的焦距调节结构的右视结构示意图；
图5为本发明实施例的行进结构的结构示意图；
图6为本发明实施例的行进结构右视的结构示意图；
图7为本发明实施例的除尘结构的结构示意图。
附图标记表示为：
1、管道；
2、行进结构；20、传动轴；21、转动轴芯；22、行进轮瓣；23、支撑杆；24、支撑环；25、套筒；26、轮径调节爪；27、螺纹杆；28、调节螺母；
3、驱动结构；30、滑道；31、滑动底座；32、第一电机；33、第一支撑座；34、第二电机；
4、清洗结构；41、激光清洗结构；410、清洗外壳；411、气缸；412、推杆；413、第二支撑座；414、第三支撑座；415、反射镜片；42、焦距调节结构；420、连接外壳；421、聚焦透镜；422、聚焦镜筒；423、镜筒滑道；424、柔性齿条；425、弹簧；426、焦距调节件；427、弹簧推片；428、固定件；
5、除尘结构；50、喷气除尘块；51、第一电磁铁；52、第二电磁铁；53、 第三电磁铁；54、第四电磁铁；55、转动盘；56、震动拨片；57、伸缩式振动盘；58、第一调节件；59、调节螺杆；510、第三电机；511、除尘外壳；
6、支撑壳体；7、支撑轮。
具体实施方式
结合参见图1至图7所示，根据本发明的实施例，一种用于输油管道内壁清洗的激光清洗装置，请参照图1和图2，包括管道1、行进结构2、驱动结构3、清洗结构4、除尘结构5和支撑壳体6；驱动结构3设置在支撑壳体6内腔，行进结构2与驱动结构3的一端相连接，行进结构2和支撑壳体6均与管道1内侧壁相接触，以使驱动结构3带动行进结构2在管道1内侧移动，驱动结构3与清洗结构4相连接，以使驱动结构3带动清洗结构4旋转清洗管道1内侧壁，除尘结构5设置在管道1上。通过驱动结构3分别带动行进结构2前进，同时带动清洗结构4旋转实现对管道1的内侧壁进行清洗，并通过除尘结构5对清洗结构4清洗的管道1内侧壁进行除尘，进而实现对管道1的内侧壁无损伤，无污染的进行清洗，解决现有清洗管道装置不仅清洗时对管道有损伤和污染，且清洗装置不能根据管道的直径变化而变化，不方便使用，通用性差的问题。
进一步的，管道1为输油管道，内径尺寸为400mm～600mm的输油管道。
进一步的，行进结构2是位于前进方向的前侧，清洗结构4是位于前进方向的后侧，驱动结构3是位于行进结构2和清洗结构4之间，除尘结构5一部分是安装在清洗结构4上，一部分是位于管道1的外侧，即用于除尘管道1的内外侧的灰尘。
进一步的，驱动结构3是用于带动行进结构2前进，同时带动清洗结构4对管道1进行清洗，行进结构2是带动整个装置前进，除尘结构5用于将清洗过后仍停留在管道1内壁的清洗产物通过震动和气流使其脱落。清洗结构4是用于产生激光并进行平行输出，对管道1内侧壁进行清洗。
请参照图5和图6，行进结构2包括传动轴20、转动轴芯21、多个行进轮瓣22、多个支撑杆23、套筒25、多个轮径调节爪26、螺纹杆27和调节螺母28；支撑壳体6的内腔一端连接套筒25，调节螺母28安装在套筒25的内侧壁，传动轴20活动穿过调节螺母28，位于支撑壳体6内腔的传动轴20一端连接驱动结构3，位于支撑壳体6外侧的传动轴20一端连接转动轴芯21，转动轴芯21周向方向均匀设置多个支撑杆23，支撑杆23的一端均连接行进轮瓣22，行 进轮瓣22与支撑杆23一一对应，支撑杆23远离行进轮瓣22的一端均接触设置轮径调节爪26，轮径调节爪26的一端均连接螺纹杆27的一端，螺纹杆27均与调节螺母28螺纹连接，且螺纹杆27的另一端均与传动轴20的周向方向转动连接。通过驱动结构3中的第一电机32带动传动轴20转动，进而实现带动行进轮瓣22与管道1相接触，沿着管道1的内侧壁前进，进而推动整个装置前进。本装置的前进方向是参照图2从右向左运动，即向左是前进的方向。
进一步的，支撑壳体6是两端均是连通的，即内腔是空腔，便于安装行进结构2和驱动结构3以及清洗结构4。
进一步的，传动轴20的位于支撑壳体6内腔的一端与第一电机32的输出端固定连接，第一电机32带动传动轴20转动。传动轴20位于支撑壳体6的外侧的一端与转动轴芯21键连接，不仅连接稳固，且提高转动的稳定性。
进一步的，转动轴芯21的外侧沿周向方向均匀设置有四个凹槽，凹槽内设置有支撑杆23，即一个凹槽对应一个支撑杆23，每个支撑杆23与凹槽之间是滑动连接。支撑杆23远离凹槽的一端均连接行进轮瓣22，即行进轮瓣22的外侧壁与管道1的内侧壁相接触，进而实现行进轮瓣22沿着管道1内侧壁运动。
进一步的，位于凹槽内腔且接触支撑杆23的一端活动设置轮径调节爪26，即一个支撑杆23对应一个轮径调节爪26，支撑杆23的端部直接顶着轮径调节爪26。轮径调节爪26靠近支撑壳体6的一端均固定连接螺纹杆27，且螺纹杆27与轮径调节爪26之间成165°连接，即轮径调节爪26是水平设置，即螺纹杆27是倾斜设置，其中，螺纹杆27靠近前进方向的一端均是与轮径调节爪26固定连接，螺纹杆27远离前进方向的一端是靠拢的与传动轴20转动连接，即可以绕着传动轴20转动。进而实现螺纹杆27与调节螺母28之间的螺纹连接，螺纹杆27转动，螺纹杆27在调节螺母28的作用下，可以带动传动轴20沿着转动轴芯21进行左右直线运动，即是沿着前进方向和后退方向进行直线运动。
进一步的，支撑杆23的另一端均固定连接行进轮瓣22，行进轮瓣22的外表面设置螺纹，即增大行进轮瓣22与管道1内侧壁之间的摩擦力，进而通过行进轮瓣22与管道1接触，带动装置前行。
进一步的，行进轮瓣22为弧形，数量为4个，即便于与管道1贴合，便于运动。
进一步的，支撑壳体6的前进方向后方端固定连接套筒25，套筒25是用于安装调节螺母28，调节螺母28用于螺纹连接螺纹杆27。
进一步的，四个轮径调节爪26与传动轴20与第一电机32连接的一端铰接连接，进而实现螺纹杆27转动与调节螺母28螺纹连接，带动轮径调节爪26根据管道1的内径大小进行调整。
进一步的，传动轴20上且靠近套筒25处滑动安装有支撑环24，支撑环24也是均与螺纹杆27滑动连接，不仅起到对轮径调节爪26起支撑作用，且当轮径调节爪26旋转缩回或者伸出时，轮径调节爪26在调节螺母28内锥螺纹的压力作用下収合和张开，直至行进轮瓣22与管道1的内径完全贴合，进而实现应用不同内径的输油管道的清洗。
进一步的，套筒25为定扭矩套筒，是为了保证整个清洗系统在输油管道1内壁可以稳定的行进，需要行进轮瓣22与输油管道1内壁有着一定的挤压力，该挤压力的大小可以通过定扭矩套筒25来实现，挤压力达到要求时调节螺母28与轮径调节爪26相对静止并在第一电机32的驱动下一同旋转，此时，清洗系统可在行进结构2的牵引下向前运行。
进一步的，行进结构2需要在清洗结构4对管道1内壁完成长度为L的清洗后启动，在t时间内行进长度为L的距离以保证两段清洗的衔接，由于行进轮瓣22螺纹部位为橡胶材料在行进过程中会受到管壁挤压力和切向力从而发生变形导致螺距变化，故针对不同内径输油管道1保证行进结构2行进速度v不变的情况下需要对第一电机32转速进行调整，需调第一电机32转速n计算如下：
n＝9550P/[9550P·d(1+η)·t/(2R·tan(20°+c)+T1)]
式中P-电机的额定功率W；d-行进轮表面螺距mm；η-螺纹螺距变形系数；R-输油管道内径mm；c-反射镜绕镜片支座旋转的转角误差°；T1-电机需要克服的行进轮转动时的扭矩N·mm。
进一步的，在第一电机32的驱动下转动，由于轮径调节爪26外表面带有螺纹且与内部带有锥形螺纹的调节螺母28旋合，轮径调节爪26在第一电机32驱动下转动时在调节螺母28与支撑环24的共同作用下实现张合，支撑环24对轮径调节爪26起支撑作用。
进一步的，当轮径调节爪26向右旋转缩回时轮径调节爪26在调节螺母28内锥螺纹的压力作用下收合，支撑环24在轮径调节爪26挤压力的作用下沿传动轴20向左滑动，从而使得行进轮径减小；当轮径调节爪26向左旋转伸出时轮径调节爪26在支撑环的支撑作用下张开，直至行进轮瓣22与管道1内径完全贴合，以此来适应不同内径输油管道1的清洗。其中向右旋转的方向是相对 于前进方向的右侧，向左旋转的方向是相对于前进方向的左侧。
请参照图2，驱动结构3包括滑道30、滑动底座31、第一电机32、第一支撑座33和第二电机34；滑道30设置在支撑壳体6内腔的一端侧壁上，滑动底座31滑动设置在滑道30上，第一电机32安装在滑动底座31上，第一电机32的输出端与行进结构2相连接，第一支撑座33设在支撑壳体6内腔的另一端侧壁上，第二电机34安装在第一支撑座33上，第二电机34的输出端与清洗结构4相连接。通过第一电机32带动传动轴20转动，实现传动轴20直线运动，第二电机34带动清洗结构4转动，实现清洗结构4转动，对管道1内侧壁进行清洗。
进一步的，滑道30安装在支撑壳体6的内侧壁下方，且位于前进方向的前方处，滑动底座31与滑道30滑动连接，第一电机32固定安装在滑动底座31上，进而实现第一电机32转动，带动传动轴20，螺纹杆27在调节螺母28的作用下滑动底座31沿着滑道30直线运动。
进一步的，第一支撑座33安装在支撑壳体6的内侧壁下方，位于前进方向后端处，第一支撑座33的作用是固定安装第二电机34，第二电机34的输出端与清洗外壳410连接。
进一步的，同时便于支撑壳体6在管道1内侧壁进行移动，进而在支撑壳体6的外侧壁沿着周向方向均匀设置多个支撑轮7，支撑轮7通过弹簧钢片与支撑壳体连接，依靠弹簧钢片的弹性可实现对不同内径管道1的的适应，以及对整个系统的支撑作用。
请参照图3，清洗结构4包括激光清洗结构41和焦距调节结构42，激光清洗结构41的一端与驱动结构3相连接，激光清洗结构41的另一端与焦距调节结构42相连接，以使焦距调节结构42调节激光清洗结构41反射到管道1内侧壁上的光斑大小。激光清洗结构41包括清洗外壳410、气缸411、推杆412、第二支撑座413、第三支撑座414和反射镜片415；清洗外壳410与驱动结构3相连接，第二支撑座413和第三支撑座414均设置在清洗外壳410的内腔侧壁上，且第二支撑座413位于第三支撑座414的前方，气缸411与第二支撑座413相连接，气缸411的输出端连接推杆412，反射镜片415设置在第三支撑座414上，推杆412的一端与反射镜片415的背面滑动连接。焦距调节结构42包括连接外壳420、聚焦透镜421、聚焦镜筒422、镜筒滑道423、柔性齿条424、弹簧425、焦距调节件426、弹簧推片427和固定件428；连接外壳420的一端与激光清洗结构41相连接，固定件428固定在连接外壳420的内腔，焦距调 节件426与固定件428相连接，焦距调节件426的内部设置有螺纹，焦距调节件426的外部设置有齿轮，聚焦镜筒422的外部与焦距调节件426的内部螺纹连接，焦距调节件426的外部齿轮上下分别啮合柔性齿条424，上下侧的柔性齿条424均连接筒状圆柱，筒状圆柱的一端的一端穿过连接外壳420的外侧，筒状圆柱的一端均连接滚珠，滚珠与管道1内侧壁接触，筒状圆柱内设置有弹簧425，弹簧推片427与连接外壳420的外侧相连接，且弹簧推片427的一端穿过筒状圆柱与弹簧425卡接，聚焦镜筒422的内部设置聚焦透镜421，镜筒滑道423设置在连接外壳420的内部，聚焦透镜421与镜筒滑道423滑动连接。通过激光清洗结构41产生激光束并平行射出，焦距调节结构42根据管道1内径的不同调节激光的光斑，进而实现对不同管道1内侧壁进行激光清洗。
进一步的，清洗外壳410起到支撑和固定的作用，第二支撑座413和第三支撑座414均固定安装在清洗外壳410的下端内侧壁上，且是位于清洗外壳410靠近驱动结构3的一端。
进一步的，气缸411与第二支撑座413固定连接，推杆412与气缸411之间通过螺纹连接，推杆412的另一端连接滑块，滑块滑动连接在反射镜片415上，反射镜片415转动连接在第三支撑座414上，进而实现通过气缸411运动带动推杆412滑动带动反射镜片415转动。
进一步的，气缸411伸缩通过连接螺母带动推杆行进，推杆412与滑块的连接部位为球形因此随着推杆412对滑块的推动反射镜片415会绕着与第三支撑座414的连接点±20°范围内旋转，从而改变激光的反射角度实现对激光光斑的阵列，配合清洗模块的旋转，可实现对管道1内壁大面积清洗，大大的提高了清洗效率。
进一步的，该输油管道1内壁清洗的激光清洗结构设计初衷在于适用于不同管道1内径的输油管道1内壁的清洗。因此，由于管道1内径尺寸的不同，会使得经反射镜片415反射后照射在管道1内壁的光斑大小不同，从而同一工艺参数针对不同内径输油管道1清洗效果不同，故需要针对不同内径的输油管道1设计相应的工艺参数，这大大的降低了清洗系统的效率。因此，针对激光照射在不同内径输油管道1内壁上的光斑大小不同的问题设计了可以针对内径大小自行调节自行调节光斑大小的焦距调节结构42。
进一步的，连接外壳420与清洗外壳410固定连接，连接外壳420起到固定和支撑的作用。
进一步的，固定件428是安装焦距调节件426，固定件428的数量为两个， 其中焦距调节件426为焦距调节螺母，即用于调节聚焦透镜421和聚焦镜筒422。
进一步的，焦距调节件426的内部通过螺纹与聚焦镜筒422连接，进而便于焦距调节件426转动，带动聚焦镜筒422转动，同时聚焦镜筒422内部固定连接聚焦透镜421，聚焦镜筒422转动带动聚焦透镜421转动，同时聚焦透镜421与镜筒滑道423滑动连接，在转动的同时沿着镜筒滑道423滑动。
请参照图4，进一步的，焦距调节件426的外部设置齿轮，通过柔性齿条424与齿轮啮合，即柔性齿条424分为上部分和下部分，柔性齿条424为半圆弧形，即一侧是设置有齿的，另一侧是设置无齿的，有齿的部分与齿轮啮合。
进一步的，柔性齿条424的外侧固定连接筒状圆柱，内部设置弹簧425，通过弹簧425和弹簧推片427之间的作用，进而可以根据管道1不同的内径进而调整激光光斑的大小。
进一步的，柔性齿条424在弹簧425的作用下向外伸出时柔性齿条424有齿的一侧会拉动焦距调节件426旋转，焦距调节件426内部带有螺纹与外部带有螺纹的聚焦镜筒422旋合，焦距调节件426转动时聚焦镜筒422会相对焦距调节件426旋进旋出，聚焦镜筒422内部安装有聚焦透镜421顶部六边形结构可沿固定在清洗外壳410内的镜筒滑道423左右滑动，即沿着前进方向和后退方向滑动，以此实现对经清洗模块反射到输油管道1内壁光斑的大小的调节。
请参照图7，除尘结构5包括喷气除尘块50、第一电磁铁51、第二电磁铁52、第三电磁铁53、第四电磁铁54、转动盘55、震动拨片56、伸缩式振动盘57、第一调节件58、调节螺杆59、第三电机510和除尘外壳511；喷气除尘块50与清洗结构4相连接，第一电磁铁51设置在清洗结构4的内部，第二电磁铁52安装在喷气除尘块50上，第三电磁铁53和第四电磁铁54安装在管道1的外侧壁上，第三电磁铁53和第四电磁铁54位于第一电磁铁51和第二电磁铁52之间，除尘外壳511设置在管道1的外侧壁上，且位于第三电磁铁53和第四电磁铁54之间，除尘外壳511的内侧上端安装有第三电机510，第三电机510的输出端连接转动盘55，除尘外壳511的内侧下端连接伸缩式振动盘57，转动盘55下端和伸缩式振动盘57的上端均设置有多个震动拨片56，上下震动拨片56相互接触，伸缩式振动盘57上设置有第一调节件58，第一调节件58上螺纹连接调节螺杆59。通过第一电磁铁51、第二电磁铁52、第三电磁铁53以及第四电磁铁54之间的作用力，进而带动除尘结构5的运动，实现对清洗后的管道1内侧壁的灰尘进行清洁。
进一步的，喷气除尘块50用于喷气进行除尘，同时结合位于管道1外侧 壁的震动拨片56之间的除尘，进而实现对管道1内侧壁的除尘。
进一步的，第一电磁铁51和第二电磁铁52将除尘外壳511安装在管道1外侧壁上，同时通过第一电磁铁51和第二电磁铁52的作用可以带动除尘外壳511随着清洗结构4移动而移动。
进一步的，转动盘55为阶梯式，即下端为阶梯式，伸缩式振动盘57的上端为阶梯式，即均与转动盘55相互对应。
进一步的，转动盘55的下端每层均设置有震动拨片56，伸缩式振动盘57的上端每层也设置有震动拨片56，且转动盘55上的震动拨片56和伸缩式振动盘上的震动拨片56相互接触，进而实现震动除尘。
进一步的，可以根据不同的频率进行震动，进而通过调节螺杆59带动第一调节件58转动，进而带动伸缩式振动盘57运动，调节了伸缩式振动盘57与转动盘55之间的距离，进而调整了振动频率。震动通过接触传递给输油管壁使管壁产生震动，便于使清洗后吸附在内壁上或嵌在管道焊接处的的清洗废物脱落。
进一步的，其中除尘结构5中，为保证除尘在工作过程中电磁铁之间可以有足够推动、牵引整个除尘结构的力，故需要根据管道1的内径来调整，通过第一电磁铁51、第二电磁铁52、第三电磁铁53和第四电磁铁54内线圈中的电流强度。相邻两块电磁铁中电流I计算公式如下：

式中U-电磁铁电源电压V；R-电磁铁线圈电阻Ω；F-相邻两块电磁铁间所需的牵引、推动力N；a-相邻两块电磁铁间的水平距离mm；r-输油管道内径mm；b-除尘装置电磁铁中心距管道内壁最短距离mm；
ξ-震动除尘装置位移滞后系数；μ0-导磁率，4π×10-7亨/米；S0-气隙面积mm2；α-气隙面积误差系数；d-漆包线直径mm；L-绕线宽度mm；D1-绕线内径mm；D2-绕线内径mm；δ-气隙长度mm；k-磁力与距离间的比例系数。
进一步的，喷气除尘块50与清洗结构4固定连接随着清洗结构4转动，进气口一端接有气泵出气口对准清洗位置，通过气流作用将清洗废物吹下，配合震动除尘装置可有效将吸附在焊缝等难以清洁处的清洗废料清除。
激光清洗装置还设置有废气处理装置，用于将管道1清洗后的废气进行净化处理。抽风机用于将清洗后管道内的废气吸进废气处理装置内部，过滤网用于将清洗后废气中的大颗粒残渣进行过滤，过滤网应定期清理或更换，静电除尘板利用静电原理吸附经过初步过滤废气中的小颗粒粉尘，对废气进行二次净化，空气滤芯用于对废弃进行最后的过滤，空气滤芯也应定期更换以保证对废气的净化效果，喷淋嘴作用在于每隔一定时间对空气滤芯表面进行一次清洗，将吸附在表面的污染物从空气滤芯表面清洗下来，被打湿的滤芯一定程度上也增强了对粉尘的吸附作用，过滤后残渣做统一处理。
本领域的技术人员容易理解的是，在不冲突的前提下，上述各有利方式可以自由地组合、叠加。

Claims (9)

  1. 一种用于输油管道内壁清洗的激光清洗装置，其特征在于，包括管道(1)、行进结构(2)、驱动结构(3)、清洗结构(4)、除尘结构(5)和支撑壳体(6)；
    驱动结构(3)设置在支撑壳体(6)内腔，行进结构(2)与驱动结构(3)的一端相连接，行进结构(2)和支撑壳体(6)均与管道(1)内侧壁相接触，以使驱动结构(3)带动行进结构(2)在管道(1)内侧移动，驱动结构(3)与清洗结构(4)相连接，以使驱动结构(3)带动清洗结构(4)旋转清洗管道(1)内侧壁，除尘结构(5)设置在管道(1)上。
  2. 根据权利要求1所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，行进结构(2)包括传动轴(20)、转动轴芯(21)、多个行进轮瓣(22)、多个支撑杆(23)、套筒(25)、多个轮径调节爪(26)、螺纹杆(27)和调节螺母(28)；
    支撑壳体(6)的内腔一端连接套筒(25)，调节螺母(28)安装在套筒(25)的内侧壁，传动轴(20)活动穿过调节螺母(28)，位于支撑壳体(6)内腔的传动轴(20)一端连接驱动结构(3)，位于支撑壳体(6)外侧的传动轴(20)一端连接转动轴芯(21)，转动轴芯(21)周向方向均匀设置多个支撑杆(23)，支撑杆(23)的一端均连接行进轮瓣(22)，行进轮瓣(22)与支撑杆(23)一一对应，行进轮瓣(22)与管道(1)的内侧壁相接触，支撑杆(23)远离行进轮瓣(22)的一端均接触设置轮径调节爪(26)，轮径调节爪(26)的一端均连接螺纹杆(27)的一端，螺纹杆(27)均与调节螺母(28)螺纹连接，且螺纹杆(27)的另一端均与传动轴(20)的周向方向转动连接。
  3. 根据权利要求2所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，行进结构(2)还包括支撑环(24)，支撑环(24)设置在传动轴(20)上，且支撑环(24)位于转动轴芯(21)和套筒(25)之间，支撑环(24)均与螺纹杆(27)滑动连接。
  4. 根据权利要求1所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，驱动结构(3)包括滑道(30)、滑动底座(31)、第一电机(32)、第一支撑座(33)和第二电机(34)；
    滑道(30)设置在支撑壳体(6)内腔的一端侧壁上，滑动底座(31)滑动设置在滑道(30)上，第一电机(32)安装在滑动底座(31)上，第一电机(32)的输出端与行进结构(2)相连接，第一支撑座(33)设在支撑壳体(6) 内腔的另一端侧壁上，第二电机(34)安装在第一支撑座(33)上，第二电机(34)的输出端与清洗结构(4)相连接。
  5. 根据权利要4所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，支撑壳体(6)的外侧壁沿周向方向均匀设置多个支撑轮(7)，支撑轮(7)与支撑壳体(6)之间通过弹簧钢片相连接。
  6. 根据权利要求1所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，清洗结构(4)包括激光清洗结构(41)和焦距调节结构(42)，激光清洗结构(41)的一端与驱动结构(3)相连接，激光清洗结构(41)的另一端与焦距调节结构(42)相连接，以使焦距调节结构(42)调节激光清洗结构(41)反射到管道(1)内侧壁上的光斑大小。
  7. 根据权利要求6所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，激光清洗结构(41)包括清洗外壳(410)、气缸(411)、推杆(412)、第二支撑座(413)、第三支撑座(414)和反射镜片(415)；
    清洗外壳(410)与驱动结构(3)相连接，第二支撑座(413)和第三支撑座(414)均设置在清洗外壳(410)的内腔侧壁上，且第二支撑座(413)位于第三支撑座(414)的前方，气缸(411)与第二支撑座(413)相连接，气缸(411)的输出端连接推杆(412)，反射镜片(415)设置在第三支撑座(414)上，推杆(412)的一端与反射镜片(415)的背面滑动连接。
  8. 根据权利要求6所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，焦距调节结构(42)包括连接外壳(420)、聚焦透镜(421)、聚焦镜筒(422)、镜筒滑道(423)、柔性齿条(424)、弹簧(425)、焦距调节件(426)、弹簧推片(427)和固定件(428)；
    连接外壳(420)的一端与激光清洗结构(41)相连接，固定件(428)固定在连接外壳(420)的内腔，焦距调节件(426)与固定件(428)相连接，焦距调节件(426)的内部设置有螺纹，焦距调节件(426)的外部设置有齿轮，聚焦镜筒(422)的外部与焦距调节件(426)的内部螺纹连接，焦距调节件(426)的外部齿轮上下分别啮合柔性齿条(424)，上下侧的柔性齿条(424)均连接筒状圆柱，筒状圆柱的一端的一端穿过连接外壳(420)的外侧，筒状圆柱的一端均连接滚珠，滚珠与管道(1)内侧壁接触，筒状圆柱内设置有弹簧(425)，弹簧推片(427)与连接外壳(420)的外侧相连接，且弹簧推片(427)的一端穿过筒状圆柱与弹簧(425)卡接，聚焦镜筒(422)的内部设置聚焦透镜(421)，镜筒滑道(423)设置在连接外壳(420)的内部，聚焦透镜(421)与镜筒滑 道(423)滑动连接。
  9. 根据权利要求1所述的用于输油管道内壁清洗的激光清洗装置，其特征在于，除尘结构(5)包括喷气除尘块(50)、第一电磁铁(51)、第二电磁铁(52)、第三电磁铁(53)、第四电磁铁(54)、转动盘(55)、震动拨片(56)、伸缩式振动盘(57)、第一调节件(58)、调节螺杆(59)、第三电机(510)和除尘外壳(511)；
    喷气除尘块(50)与清洗结构(4)相连接，第一电磁铁(51)设置在清洗结构(4)的内部，第二电磁铁(52)安装在喷气除尘块(50)上，第三电磁铁(53)和第四电磁铁(54)安装在管道(1)的外侧壁上，第三电磁铁(53)和第四电磁铁(54)位于第一电磁铁(51)和第二电磁铁(52)之间，除尘外壳(511)设置在管道(1)的外侧壁上，且位于第三电磁铁(53)和第四电磁铁(54)之间，除尘外壳(511)的内侧上端安装有第三电机(510)，第三电机(510)的输出端连接转动盘(55)，除尘外壳(511)的内侧下端连接伸缩式振动盘(57)，转动盘(55)下端和伸缩式振动盘(57)的上端均设置有多个震动拨片(56)，上下震动拨片(56)相互接触，伸缩式振动盘(57)上设置有第一调节件(58)，第一调节件(58)上螺纹连接调节螺杆(59)。
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