CN113857122A

CN113857122A - Confining pressure cavitation water jet cleaning device

Info

Publication number: CN113857122A
Application number: CN202111117646.4A
Authority: CN
Inventors: 何凯; 崔聪; 徐耀辉; 薛哲
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2021-12-31
Anticipated expiration: 2041-09-23
Also published as: CN113857122B

Abstract

The application provides a confining pressure cavitation water jet cleaning device, which comprises a cleaning unit; the cleaning unit comprises a cleaning arm and a plurality of nozzles; one side of the cleaning arm is provided with a water inlet end, and the other side of the cleaning arm is connected with the plurality of nozzles; the nozzles are arranged in an arc line interval; the cleaning arm is internally provided with a cavity, and the water inlet end is communicated with the nozzle through the cavity. According to the confining pressure cavitation water jet cleaning device, the plurality of nozzles are arranged, so that the cleaning range is expanded, and the cleaning efficiency is improved; a plurality of nozzles are pitch arc interval and arrange on the wash rack, can make every nozzle keep unanimous to the distance of jacket, have reduced and have washd the dead angle, have improved the effective cleaning area of jacket, have reduced the waste of manpower and material resources for abluent effect is better.

Description

Confining pressure cavitation water jet cleaning device

Technical Field

The application belongs to the technical field of cleaning equipment, and more specifically relates to a confining pressure cavitation water jet cleaning device.

Background

Huge energy is stored in the ocean bottom, and the ocean bottom has extremely important status on economic development, social and civil life, national safety and the like of China, such as submarine oil gas energy. The development and utilization of seabed oil and gas energy needs to build an offshore drilling platform, but the attachment of marine organisms can increase the load of important facilities such as a jacket and the like, accelerate the corrosion process of the jacket, generate defects, influence the stress balance of the jacket, even cause serious accidents such as collapse and the like, and therefore the jacket needs to be cleaned and maintained regularly. At present, the traditional cleaning equipment can only clean the part of the conduit frame under water, but can not effectively clean the part exposed in the air and attached with the marine organisms such as barnacles and the like.

The prior cleaning device has the following defects: (1) the existing cleaning device can not well clean the curved surface object; (2) the cleaning area is small. The existing cleaning disc has limited working area and low efficiency in the face of large-area cleaning work; (3) the prior cleaning device can not clean the jacket flexibly and conveniently.

Disclosure of Invention

An object of the embodiment of the application is to provide a confining pressure cavitation water jet cleaning device to solve the technical problems that a cleaning device in the prior art is poor in cleaning effect on a curved object, small in cleaning range and inflexible in movement of the cleaning device.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: the confining pressure cavitation water jet cleaning device comprises a cleaning unit; the cleaning unit comprises a cleaning arm and a plurality of nozzles; one side of the cleaning arm is provided with a water inlet end, and the other side of the cleaning arm is connected with the plurality of nozzles; the nozzles are arranged in an arc line interval; the cleaning arm is internally provided with a cavity, and the water inlet end is communicated with the nozzle through the cavity.

Optionally, the nozzle comprises an enclosure, a jet tube and a housing; the shell is arranged on the cleaning arm and is communicated with the cavity; the first end of the injection pipe is inserted into the confining pressure box and is connected with the confining pressure box, and the second end of the injection pipe is connected with the shell; the confining pressure box is provided with an emergent port.

Optionally, the injection pipe is movably connected with the housing; the shell is provided with a sliding groove towards one end of the confining pressure box, and the injection pipe can swing along the sliding groove.

Optionally, the second end of the injection pipe is provided with a rotating ball, and the rotating ball is rotatably disposed in the housing to connect the injection pipe with the rotating ball.

Optionally, the nozzle further comprises a first stopper and a second stopper; the first limiting piece and the second limiting piece are convexly arranged on the inner wall of the shell and are arranged at intervals along the axial direction of the shell; the rotating ball is arranged between the first limiting part and the second limiting part along the axial direction of the shell, and the first limiting part and the second limiting part are used for blocking the rotating ball along two opposite sides of the axial direction of the shell.

Optionally, the outer diameter of the rotating ball is adapted to the inner diameter of the housing; the nozzle further includes a sealing member connected to an inner wall of the housing and located at a position where the housing approaches the inner wall of the rotary ball, the sealing member being for sealing a gap between the housing and the rotary ball.

Optionally, the nozzle further includes an elastic member, one end of the elastic member is connected to the housing, the other end of the elastic member is connected to the rotating ball, a plane of the elastic member in the telescopic direction is coplanar with a plane of the sliding groove in the length direction, and when the elastic member is in a natural state, the axis of the injection pipe and the axis of the housing are inclined.

Optionally, the housing comprises a lower shell and an upper shell; the lower shell is arranged on the cleaning arm, and the first limiting piece is arranged on the inner wall of the lower shell; the upper shell is connected with the lower shell; the second limiting piece and the sealing piece are arranged on the inner wall of the upper shell; the sliding groove is formed in the closed end of the upper shell.

Optionally, the confining pressure cavitation water jet cleaning device further comprises a motion unit; the cleaning unit is mounted to the motion unit.

Optionally, the confining pressure cavitation water jet cleaning device further comprises a pitching unit; one end of the pitching unit is connected to the moving unit, and the other end of the pitching unit is connected with the cleaning unit.

The application provides a confined pressure cavitation water jet belt cleaning device's beneficial effect lies in: compared with the prior art, the confining pressure cavitation water jet cleaning device has the advantages that the cleaning range is enlarged and the cleaning efficiency is improved by arranging the plurality of nozzles; a plurality of nozzles are pitch arc interval and arrange on the wash rack, can make every nozzle keep unanimous to the distance of jacket, have reduced and have washd the dead angle, have improved the effective cleaning area of jacket, have reduced the waste of manpower and material resources for abluent effect is better.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a confining pressure cavitation water jet cleaning device provided in an embodiment of the present application;

fig. 2 is a schematic perspective view of a cleaning unit in the confining pressure cavitation water jet cleaning device provided in the embodiment of the present application;

FIG. 3 is a schematic structural diagram of a top view of a cleaning unit in the confining pressure cavitation water jet cleaning device provided by the embodiment of the application;

FIG. 4 is a schematic side view of a nozzle in the confining pressure cavitation water jet cleaning device provided by the embodiment of the application;

FIG. 5 is a schematic sectional view taken along line A-A in FIG. 4;

fig. 6 is a schematic perspective view of a pitching unit in the confining pressure cavitation water jet cleaning device provided in the embodiment of the present application;

fig. 7 is a front view structural schematic diagram of a moving unit in the confining pressure cavitation water jet cleaning device provided by the embodiment of the application.

Wherein, in the figures, the respective reference numerals:

1-a cleaning unit; 11-a wash arm; 12-a nozzle; 13-high pressure water pipe; 121-confining pressure box; 1211-an exit port; 122-an injection pipe; 123-a housing; 1231-inferior shell; 1232-upper shell; 124-a chute; 125-rolling ball; 126-a first stop; 127-a second stop; 128-a seal; 129-an elastic member;

2-a motion unit; 21-a frame; 22-a rack module; 23-a propeller; 24-a pressure resistant cabin; 25-load rejection;

3-a pitching unit; 31-a first arm support; 311-a mounting plate; 312-connecting rod; 32-a second arm support; 33-a first motor; 34-a second motor; and 35, fixing blocks.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 to 7 together, a confining pressure cavitation water jet cleaning device provided by an embodiment of the present application will be described. The confining pressure cavitation water jet cleaning device comprises a cleaning unit 1; the washing unit 1 includes a washing arm 11 and a plurality of nozzles 12; one side of the cleaning arm 11 is provided with a water inlet end, and the other side of the cleaning arm 11 is connected with a plurality of nozzles 12; the plurality of nozzles 12 are arranged at intervals of an arc; the cleaning arm 11 has a cavity therein, and the water inlet end is communicated with the nozzle 12 through the cavity. The water inlet end is connected with a water source through a high-pressure water pipe 13.

Compared with the prior art, the confining pressure cavitation water jet cleaning device has the advantages that the cleaning range is expanded and the cleaning efficiency is improved by arranging the plurality of nozzles 12; a plurality of nozzles 12 are pitch arc interval and arrange on the wash rack, can make every nozzle 12 keep unanimous to the distance of jacket, have reduced and have washd the dead angle, have improved the effective cleaning area of jacket, have reduced the waste of manpower and material resources for abluent effect is better.

In one embodiment of the present application, referring to fig. 1 to 5, the nozzle 12 includes a confining pressure box 121, an injection pipe 122 and a housing 123; the shell 123 is arranged on the cleaning arm 11 and communicated with the cavity, and the shell is cylindrical; a first end of the injection pipe 122 is inserted into the confining pressure box 121 and connected with the confining pressure box 121, and a second end of the injection pipe 122 is connected with the shell 123; the confining pressure box 121 is provided with an exit 1211. After the high-pressure water enters the confining pressure tank 121 through the injection pipe 122, the first end of the injection pipe 122 is always in an immersed state, and cavitation jet is formed. Cavitation jets, cavitation bubbles, either air or submerged, create a region of pressure below the local vapor pressure in the fluid by various means, thus exciting bubbles in the growth fluid of cavitation nuclei, which are entrained in the jet for further growth until they are near the surface being cleaned or cut and are thus disrupted by retardation. During rupture, very high pressures and micro-jets are generated, and the target surface stress is higher than the tensile strength of most materials. Although the destruction caused by cavitation alone is small, such phenomena, which continue to increase, propagate the extension of the material to failure. The advantages of cavitation jets over continuous jets are as follows: the working pressure required by the hard article is greatly reduced; prolonging the service life of the nozzle 12 and other high-pressure components; the kerf is much wider than the continuous jet, which is an advantage for surface cleaning; and fourthly, the performance of the underwater jet is improved compared with that of the underwater continuous jet.

In one embodiment of the present application, referring to fig. 1 to 5, the injection pipe 122 is movably connected to the housing 123; one end of the housing 123 facing the confining pressure box 121 is opened with a sliding groove 124, and the injection pipe 122 can swing along the sliding groove 124. By designing the sliding groove 124, the injection pipe 122 can swing in the sliding groove 124, the larger the swing amplitude is, the larger the cleaning range is, the cleaning area of the jacket is enlarged, and the cleaning efficiency is improved.

In an embodiment of the present application, referring to fig. 1 to 5, a rotating ball 125 is disposed at a second end of the injection pipe 122, and the rotating ball 125 is rotatably disposed in the housing 123 to movably connect the injection pipe 122 and the rotating ball 125. The rotating ball 125 can drive the injection pipe 122 to swing flexibly in the housing 123.

In an embodiment of the present application, referring to fig. 1 to 5, the nozzle 12 further includes a first limiting member 126 and a second limiting member 127; the first retaining member 126 and the second retaining member 127 are protrudingly disposed on an inner wall of the housing 123 and are arranged at intervals in an axial direction of the housing 123; the rotating ball 125 is disposed between the first limiting member 126 and the second limiting member 127 along the axial direction of the housing 123, and the first limiting member 126 and the second limiting member 127 are used for blocking opposite sides of the rotating ball (125) along the axial direction of the housing (123). The first limiting member 126 and the second limiting member 127 both adopt a snap ring structure, the outer diameter of the snap ring is equal to the inner diameter of the housing, and the inner diameter of the snap ring is smaller than the diameter of the rotating ball. By providing the first limiting member 126 and the second limiting member 127, the rotation ball 125 is limited from moving in the housing 123, and it is ensured that the rotation ball 125 can only rotate along the sliding slot 124.

In one embodiment of the present application, referring to fig. 1 to 5, the outer diameter of the rotating ball 125 is adapted to the inner diameter of the housing 123); the nozzle 12 further includes a sealing member 128, the sealing member 128 being attached to an inner wall of the housing 123 and located at an inner wall of the housing 123 near the rotating ball 125, the sealing member 128 serving to seal a gap between the inner wall of the housing 123 and the rotating ball 125. The sealing member is a rubber packing, and by providing the sealing member, high-pressure water can be prevented from leaking out from the gap between the housing 123 and the rotating ball 125.

In an embodiment of the present application, referring to fig. 1 to 5, the nozzle 12 further includes an elastic member 129, one end of the elastic member 129 is connected to the housing 123, the other end of the elastic member 129 is connected to the rotating ball 125, a plane of a stretching direction of the elastic member 129 is coplanar with a plane of a length direction of the sliding groove 124, and an axis of the injection pipe 122 is inclined with an axis of the housing 123 when the elastic member 129 is in a natural state (i.e., when the elastic member does not receive an external force). The elastic member 129 is a spring, and after the housing 123 is filled with high-pressure water, the rotating ball 125 rotates under the combined action of the high-pressure water flow and the elastic force of the spring, so as to drive the injection pipe 122 to swing back and forth in the chute 124, thereby expanding the cleaning range; a part of water in the shell 123 enters the confining pressure tank 121 through the injection pipe 122, so that the first end of the injection pipe 122 is always in an immersed state to form cavitation jet, and the cleaning efficiency is improved.

In one embodiment of the present application, referring to fig. 1 to 5, the housing 123 includes a lower housing 1231 and an upper housing 1232; the lower housing 1231 is mounted on the cleaning arm 11, and the first limiting member 126 is disposed on the inner wall of the lower housing 1231; the upper housing 1232 is connected to the lower housing 1231; the second retaining member 127 and the sealing member 128 are disposed on the inner wall of the upper housing 1232; the chute 124 opens into the closed end of the upper housing 1232. Through adopting the split type design of epitheca 1232 and inferior valve 1231, made things convenient for the installation of internals such as rolling ball 125, injection pipe 122, elastic component 129, sealing washer, epitheca 1232 and inferior valve 1231 adopt threaded connection, and the outside of epitheca 1232 is the polygon shape, for example: quadrangle, pentagon, hexagon etc. conveniently with the help of instruments such as adjustable spanner, tighten upper shell 1232.

In one embodiment of the present application, referring to fig. 1 and 7 together, the confining pressure cavitation water jet cleaning device further includes a motion unit 2; the cleaning unit 1 is mounted to the moving unit 2. The moving unit 2 employs an ROV (remote operated unmanned vehicle) including a frame 21, and a frame module 22, a propeller 23, a pressure-resistant chamber 24, and a payload 25 mounted on the frame 21. The rack module 22 includes a camera and a lamp mounted at the front end of the rack 21. The pusher 23 is provided in plural, and ten are preferably provided in this embodiment. The pressure-resistant cabin contains various electric elements.

In this embodiment, the working principle of the ROV (remotely operated unmanned vehicle) is as follows: after the confining pressure cavitation water jet cleaning device is placed into water, all modules installed on a rack 21 work, and firstly, a pressure-resistant cabin 24 provides electric power for a rack module 22 and a propeller 23 and transmits control signals, and exchanges electric signals between an overwater console and an ROV (remote-control unmanned underwater vehicle). If power failure occurs, the load 25 can be automatically thrown out, so that the buoyancy of an ROV (remote-control unmanned submersible vehicle) is larger than the gravity, and the ROV can float out of the water surface. Flexible underwater motion of an ROV (remotely operated unmanned vehicle) can be achieved by controlling the ten thrusters 23. The rack module 22 containing the camera and the light can feed back underwater conditions in time, which can help to plan the motion track of the ROV (remote unmanned vehicle) and avoid the ROV (remote unmanned vehicle) from colliding with objects such as a jacket and the like. The cleaning unit 1 is mounted on an ROV (remote operated unmanned vehicle) so that it can be flexibly moved underwater by the ROV (remote operated unmanned vehicle), thereby improving the flexibility of cleaning. The problems of inflexibility and inconvenience in cleaning are solved, the working efficiency is improved, and the cost is saved.

In one embodiment of the present application, referring to fig. 1 and 6 together, the confining pressure cavitation water jet cleaning device further includes a pitching unit 3; one end of the pitching unit 3 is connected to the moving unit 2, and the other end of the pitching unit 3 is connected to the cleaning unit 1. The pitching unit 3 adopts a mechanical arm which comprises a plurality of movably connected arm supports; the arm support comprises two mounting plates 311 and a plurality of connecting rods 312 connecting the two mounting plates 311; the two mounting plates 311 and the plurality of connecting rods 312 form a frame structure, so that the mechanism is firm and reliable, and the stability is good.

In this embodiment, two arm supports are preferably adopted, and the mechanical arm in this embodiment includes a first arm support 31, a second arm support 32, a first motor 33, a second motor 34, and a fixed block 35. The fixed block 35 is installed on a frame 21 of an ROV (remote operated unmanned vehicle), one end of the first arm support 31 is rotatably connected with the fixed block 35 through a first rotating shaft, and the first motor 33 is connected with the first rotating shaft and used for driving the first arm support 31 to rotate around the axis of the first rotating shaft; the other end of the first arm support 31 is rotatably connected with the first end of the second arm support 32 through a second rotating shaft, and the second motor 34 is connected with the second rotating shaft and used for driving the second arm support 32 to rotate around the axis of the second rotating shaft; the second end of the second arm support 32 is connected to the wash arm 11. The cleaning unit 1 can be driven to do up-and-down pitching motion by arranging the mechanical arm, so that cleaning operation is performed. The number of the arm supports is not limited to two, but may be three, four or more, and the greater the number of the arm supports, the higher the movement precision of the mechanical arm, and accordingly, the manufacturing cost and the overall weight of the cleaning device may also be increased.

In an embodiment of the present application, referring to fig. 1 to 3, the cleaning arm 11 may also be designed to be curved, that is, the mounting surface for connecting the nozzles 12 is a curved surface, the nozzles 12 are arranged along the curved direction of the cleaning arm 11, and in essence, the nozzles 12 are also arranged in an arc pitch. The radius of curvature of the arc is substantially equal to the radius of the tubes in the jacket, and may be adjusted to different sizes to maintain a consistent distance from each nozzle 12 to the jacket, depending on the application. The number of nozzles 12 is preferably four, but may be two, three, five, six or even more, and the number of nozzles 12 may be designed and planned differently according to actual conditions.

The confining pressure cavitation water jet cleaning device provided by the embodiment has the following working principle: after high-pressure water flows into the cleaning arm 11 from the water inlet end through the high-pressure water pipe 13, the water flows are shunted and enter the shell 123 of each nozzle 12, and a part of the high-pressure water in the shell 123 generates water pressure which is combined with the elastic force of the spring to rotate the rotating ball 125, so that the injection pipe 122 is driven to swing in the sliding groove 124 in a reciprocating manner; the other part of the high-pressure water in the shell 123 enters the confining pressure tank 121 through the injection pipe 122, so that the first end of the injection pipe 122 is always in an immersed state to form cavitation jet, and the jacket cleaning operation is started. The plurality of nozzles 12 are arranged on the cleaning rack in an arc-shaped interval, so that the distance from each nozzle 12 to the jacket can be kept consistent, and the cleaning effect is better. The robot arm controls the cleaning unit 1 mounted thereon by its own motion to perform the up-and-down cleaning operation. The ROV (remote control unmanned submersible) can drive the cleaning device to move to any position near the jacket through the overall motion control of the cleaning device, can more flexibly and conveniently clean the jacket, and can effectively clean the jacket exposed in the air and attached to marine organism parts such as barnacles and the like. The jacket cleaning device is not limited to jacket cleaning, and good cleaning can be achieved for any curved surface object.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A confining pressure cavitation water jet cleaning device is characterized by comprising a cleaning unit (1); the washing unit (1) comprises a washing arm (11) and a plurality of nozzles (12); a water inlet end is arranged on one side of the cleaning arm (11), and the other side of the cleaning arm (11) is connected with the plurality of nozzles (12); the nozzles (12) are arranged in an arc line interval; the cleaning arm (11) is internally provided with a cavity, and the water inlet end is communicated with the nozzle (12) through the cavity.

2. The confined pressure cavitation water jet cleaning device according to claim 1, characterized in that the nozzle (12) comprises a confined pressure tank (121), a jet pipe (122) and a housing (123); the housing (123) is mounted on the cleaning arm (11) and is in communication with the cavity; the first end of the injection pipe (122) is inserted into the confining pressure box (121) and is connected with the confining pressure box (121), and the second end of the injection pipe (122) is connected with the shell (123); an exit port (1211) is formed in the confining pressure box (121).

3. The confined pressure cavitation water jet cleaning device according to claim 2, characterized in that the injection pipe (122) is movably connected with the housing (123); one end of the shell (123) facing the confining pressure box (121) is provided with a sliding groove (124), and the injection pipe (122) can swing along the sliding groove (124).

4. The confined pressure cavitation waterjet cleaning device according to claim 3, characterized in that the second end of the ejector tube (122) is provided with a rotating ball (125), the rotating ball (125) being rotatably arranged within the housing (123) to movably connect the ejector tube (122) with the housing (123).

5. The confined pressure cavitation waterjet cleaning device according to claim 4, characterized in that the nozzle (12) further comprises a first stop (126) and a second stop (127); the first retaining piece (126) and the second retaining piece (127) are arranged on the inner wall of the shell (123) in a protruding mode and are arranged at intervals in the axial direction of the shell (123); the rotating ball (125) is disposed between the first limiting member (126) and the second limiting member (127) along the axial direction of the housing (123), and the first limiting member (126) and the second limiting member (127) are used for blocking opposite sides of the rotating ball (125) along the axial direction of the housing (123).

6. The confined pressure cavitation water jet cleaning device according to claim 5, characterized in that the outer diameter of the rotating ball (125) is adapted to the inner diameter of the housing (123); the nozzle (12) further comprises a sealing member (128), the sealing member (128) is connected to the inner wall of the housing (123) and is located at the inner wall of the housing (123) close to the rotating ball (125), and the sealing member (128) is used for sealing a gap between the inner wall of the housing (123) and the rotating ball (125).

7. The confined pressure cavitation water jet cleaning device according to claim 4, characterized in that the nozzle (12) further comprises an elastic member (129), one end of the elastic member (129) is connected with the housing (123), the other end of the elastic member (129) is connected with the rotating ball (125), the plane of the elastic member (129) in the stretching direction is coplanar with the plane of the sliding chute (124) in the length direction, and the axis of the injection pipe (122) is obliquely arranged with the axis of the housing (123) in the natural state of the elastic member (129).

8. The confined pressure cavitation waterjet cleaning device according to claim 6, characterized in that the housing (123) comprises:

a lower shell (1231) mounted on the cleaning arm (11), the first limiting member (126) being disposed on an inner wall of the lower shell (1231); and

an upper case (1232) connected to the lower case (1231); the second retaining member (127) and the sealing member (128) are disposed on an inner wall of the upper housing (1232); the chute (124) is opened at the closed end of the upper shell (1232).

9. The confining pressure cavitation water jet cleaning device according to any one of claims 1 to 8, characterized in that it further comprises a motion unit (2); the cleaning unit (1) is mounted to the movement unit (2).

10. The confined pressure cavitation water jet cleaning device according to claim 9, characterized in that the confined pressure cavitation water jet cleaning device further comprises a pitching unit (3); one end of the pitching unit (3) is connected to the moving unit (2), and the other end of the pitching unit (3) is connected to the cleaning unit (1).