CN112935554B - Laser surface treatment device and method for key structure of ice skate of port icebreaker - Google Patents
Laser surface treatment device and method for key structure of ice skate of port icebreaker Download PDFInfo
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- CN112935554B CN112935554B CN202110216812.XA CN202110216812A CN112935554B CN 112935554 B CN112935554 B CN 112935554B CN 202110216812 A CN202110216812 A CN 202110216812A CN 112935554 B CN112935554 B CN 112935554B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/352—Working by laser beam, e.g. welding, cutting or boring for surface treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/08—Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor
- B63B35/12—Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor having ice-cutters
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Abstract
The invention discloses a laser surface treatment device and method for a key structure of an ice skate of a port ice breaker, and relates to the technical field of ice breakers. The invention also discloses a processing method of the laser surface processing device of the key structure of the ice skate blade of the port icebreaker. The invention can repair the cracks of the ice skate without disassembling the structure of the bow ice skate, improves the strength and the service life of the ice skate and has wide application range.
Description
Technical Field
The invention relates to the technical field of icebreakers, in particular to a laser surface treatment device and method for a key structure of an ice skate of a port icebreaker.
Background
Due to the special working particularity of the ice breaker, the ice breaker has high requirements on the material strength of the bow ice blade structure, and the damage of the bow ice blade structure is easily caused by exposure to air and water outside a ship body, so that the surface repair and strengthening treatment of the ice breaker are needed. The ice blade structure in the icebreaker is comparatively complicated, and current surface treatment means is difficult to satisfy the demand, in addition, is difficult to carry out surface treatment in time, real-time at the long-range navigation in-process.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a method.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a laser surface treatment device of harbour icebreaker skates key structure, is including installing the laser generator in the hull and being used for the laser reflection to the optical path system on skates surface that laser generator sent, optical path system includes first leaded light arm of fixed mounting on the hull and demountable installation in the second leaded light arm of skates one side, the axis of the income light mouth of first leaded light arm with the axis coincidence of laser generator light outlet, the axis of the income light mouth of second leaded light arm with the axis coincidence of first leaded light arm light outlet, the light outlet orientation of second leaded light arm the skates surface.
The invention relates to a preferable scheme of a laser surface treatment device of a key structure of an ice blade of a port icebreaker, wherein: slidable mounting has the installation container that can extend outside the hull or retract in the hull on the hull, first leaded light arm install in the installation container, wherein, first leaded light arm is including leaded light arm an and the leaded light arm b that communicates each other, just leaded light arm an with contained angle between the leaded light arm b is adjustable, leaded light arm an's axis with the axis coincidence of laser generator light-emitting window, leaded light arm an rotate along its axis install in the installation container, leaded light arm b orientation the lateral wall of installation container, be provided with the transparent window that supplies the laser to jet out on the lateral wall of installation container.
The invention relates to a preferable scheme of a laser surface treatment device of a key structure of an ice blade of a port icebreaker, wherein: second leaded light arm through installation department demountable installation in skates one side, the one end of installation department rotates installs the slide rail, slidable mounting has the sliding seat on the slide rail, second leaded light arm fixed mounting in on the sliding seat.
The invention relates to a preferable scheme of a laser surface treatment device of a key structure of an ice blade of a port icebreaker, wherein: the second light guide arm comprises a light guide arm c and a light guide arm d which are mutually communicated, an included angle between the light guide arm c and the light guide arm d is adjustable, the axis of the light guide arm c is overlapped with the axis of the light guide arm b, and the light guide arm d faces the surface of the ice skate.
As an optimal scheme of the laser surface treatment device for the key structure of the port icebreaker blade, the invention comprises the following steps: and a focusing device which slides along the axial direction of the light guide arm d is arranged at one end of the light guide arm d, which faces the ice skate blade in a sliding manner.
As an optimal scheme of the laser surface treatment device for the key structure of the port icebreaker blade, the invention comprises the following steps: the skates are blade type skates, the installation department including adsorb in the adsorption equipment of skates one side.
The invention relates to a preferable scheme of a laser surface treatment device of a key structure of an ice blade of a port icebreaker, wherein: the adsorption device is a magnetic adsorption device or a pressure adsorption device.
The invention relates to a preferable scheme of a laser surface treatment device of a key structure of an ice blade of a port icebreaker, wherein: the skates are cutting skates, and the installation part comprises a sleeve sleeved at one end of a driving shaft of the cutting skates.
The invention also provides a processing method of the laser surface processing device of the key structure of the port icebreaker blade, which comprises the following steps:
s1: after the icebreaker stops icebreaking work, a second light guide arm is arranged on one side of the ice skate, and a light outlet of the second light guide arm faces to an area to be processed on the surface of the ice skate;
s2: extending the installation container to the outside of the ship body, and then adjusting the positions of the first light guide arm and the second light guide arm to enable the axis of the light inlet of the second light guide arm to be superposed with the axis of the light outlet of the first light guide arm;
s3: opening a laser generator, and processing an area to be processed of the ice skate;
s4: after the processing is finished, the laser generator is closed, the installation container is reset to the initial position, and the second light guide arm is detached.
The invention has the beneficial effects that:
(1) According to the invention, the laser beam is guided by the first light guide arm and the second light guide arm, and then the ice skate is subjected to surface treatment by the laser beam, so that cracks on the surface of the ice skate can be repaired, the strength and the service life of the ice skate are improved, and meanwhile, the second light guide arm is detachably mounted, so that the cracks of the ice skate can be repaired on the premise of not dismounting the structure of the bow ice skate.
(2) According to the ice skate blade, the light guide arm a can rotate around the axis of the light guide arm a, the included angle between the light guide arm b and the light guide arm a and the included angle between the light guide arm c and the light guide arm d are adjustable, so that when the second light guide arm is arranged at different positions on the surface of the ice skate blade, a laser beam emitted by the first light guide arm can always enter the second light guide arm, and the guiding requirement of the laser beam is met.
(3) According to the ice skate blade, the second light guide arm is arranged on the sliding seat, the position of the second light guide arm can be adjusted through sliding movement of the sliding seat, meanwhile, the sliding rail can rotate around the axis of the installation part, so that the position and the orientation of a light outlet of the second light guide arm can be adjusted, the requirements for processing different positions of the surface of the ice skate blade are met, and the ice skate blade is wide in application range.
(4) The mounting part can be replaced according to the form of the ice blade, so that the processing device can be suitable for an ice breaker with a blade type ice blade or a cutting type ice blade, and the application range is wider.
(5) According to the invention, the laser generator with larger weight and more complexity is fixedly arranged inside the ship body, and the second light guide arm with simple and light structure is manually arranged outside the ship body, so that the operation is more convenient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, 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 structural diagram of a laser generator and a first optical path system in a laser surface treatment device of a key structure of an ice blade of a port icebreaker provided by the invention;
fig. 2 is a schematic structural diagram of a second optical path system in the laser surface treatment device of the key structure of the ice blade of the port icebreaker provided in embodiment 1;
fig. 3 is a schematic structural diagram of a second optical path system in the laser surface treatment device of the key structure of the ice blade of the port icebreaker provided in embodiment 2;
wherein: 1. a laser generator; 2. a hull; 3. installing a container; 4. a transparent window; 5. a first light guide arm; 6. a light guide arm a; 7. a light guide arm b; 8. a first position sensor; 9. mounting a bracket; 10. a second light guide arm; 11. a light guide arm c; 12. a light guide arm d; 13. a sliding seat; 14. a second position sensor; 15. a slide rail; 16. an installation part; 17. a revolute pair; 18. cutting the ice cutter shaft; 19. a focusing device; 20. a key.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1:
the embodiment provides a laser surface treatment device of key 20 structures of a port icebreaker ice blade, which is suitable for an icebreaker with a blade type ice blade structure and mainly comprises a laser generator 1 and a light path system, wherein a laser beam emitted by the laser generator 1 acts on a to-be-processed area on the surface of the ice blade after passing through the light path system, so that the purposes of repairing cracks on the surface of the ice blade and improving the surface strength of the ice blade are achieved.
Specifically, the laser generator 1 is fixedly installed inside the hull 2 for emitting a laser beam.
The optical path system comprises a first optical path system and a second optical path system. Wherein the first optical path system comprises a hollow cylindrical mounting container 3 arranged outside the hull 2. The mounting container 3 is slidably mounted on the hull 2 such that the mounting container 3 can be extended outwardly of the hull 2 or retracted inwardly into the hull 2. The first light guide arm 5 is mounted on the mounting container 3, the first light guide arm 5 includes a light guide arm a6 and a light guide arm b7, and one end of the light guide arm a6 is communicated with one end of the light guide arm b 7. The other end of the light guide arm a6 is a light inlet of the first light guide arm 5, the axis of the light guide arm coincides with the axis of the light outlet of the laser generator 1, and the other end of the light guide arm b7 is a light outlet of the first light guide arm 5 and faces the side wall of the mounting container 3. A transparent window 4 made of a transparent material is provided on a side wall of the mounting container 3. The laser beam can reach the outside of the installation container 3 through the transparent window 4 after being emitted from the light outlet of the first light guide arm 5.
Preferably, a mounting bracket 9 is fixedly mounted in the mounting container 3, and the light guide arm a6 is rotatably mounted on the mounting bracket 9, so that the light guide arm a6 can rotate around its own axis. Because the one end of leaded light arm b7 and leaded light arm a6 intercommunication, consequently can drive leaded light arm b7 and rotate around the axis of leaded light arm a6 when leaded light arm a6 rotates around self axis to adjust the light-emitting port of first leaded light arm 5.
The second optical path system includes a second light guide arm 10 and a mounting portion 16 for detachably mounting the second light guide arm 10 on one side of the ice blade. In the present embodiment, the mounting portion 16 is a suction device, and the suction device can be a magnetic suction device or an air pressure suction device (such as a suction cup). The adsorption device is fixedly adsorbed on one side of the ice skate blade. And a sliding rail 15 is rotatably arranged at one end of the adsorption device, which is far away from the ice skate blade, through a rotating pair 17, so that the sliding rail 15 can rotate around the axial direction of the adsorption device. A slide base 13 is slidably mounted on the slide rail 15, and the second light guide arm 10 is fixedly mounted on the slide base 13. Wherein, second light guide arm 10 includes light guide arm c11 and light guide arm d12, and the one end of light guide arm c11 and the tip intercommunication that sliding seat 13 kept away from skates one side, the end connection of the one end of light guide arm d12 and the adjacent skates one side of sliding seat 13, light guide arm c11 and light guide arm d12 all communicate with sliding seat 13 is inside promptly, and sliding seat 13 is inside also to set up to lead the optical part. The other end of light guide arm c11 is the light inlet of second light guide arm 10, and the other end of light guide arm d12 is the light outlet of second light guide arm 10. The axis of the light guide arm c11 is coincident with the axis of the light guide arm b7, and the laser beam emitted through the first light guide arm 5 can enter the second light guide arm 10, and is guided by the second light guide arm 10 to act on the region to be processed on the surface of the ice skate so as to process the surface of the ice skate.
In order to ensure that the second light guide arm 10 is installed at different positions on the surface of the ice skate blade, the laser beam emitted from the first light guide arm 5 can always enter the second light guide arm 10, the included angles between the light guide arms a6 and b7 are set to be adjustable, and the included angles between the light guide arms c11 and d12 and the sliding seat 13 are also set to be adjustable.
Preferably, a first position sensor 8 is fixedly mounted at one end of the light guide arm b7 far away from the light outlet, a second position sensor 14 is fixedly mounted at one end of the light guide arm c11 far away from the light inlet, the two position sensors are electrically connected with a controller of the laser surface treatment device, and whether the axes of the light guide arm b7 and the light guide arm c11 coincide or not can be accurately identified through the controller.
In addition, a focusing device 19 is slidably mounted on one end of the light guide arm d12 adjacent to the ice blade, the focusing device 19 is slidable in the axial direction of the light guide arm d12, and the laser beam can be focused by adjusting the position of the focusing device 19. When the laser beam is emitted from the light outlet of the second light guide arm 10, the laser beam is focused by the focusing device 19 and acts on the surface of the ice skate blade, so that the processing effect of the laser beam on the surface of the ice skate blade is ensured.
The embodiment also provides a processing method of the laser surface processing device of the key 20 structure of the ice blade of the port icebreaker, which comprises the following steps:
s1: after the icebreaker stops icebreaking work, the second light guide arm 10 is installed on one side of the ice skate through the adsorption device, and then the orientation of the light guide arm d12 is adjusted, so that the light outlet of the second light guide arm 10 faces to an area to be processed on the surface of the ice skate;
s2: extending the installation container 3 to the outside of the ship body 2, and then adjusting the positions of the light guide arm b7 and the light guide arm c11 to ensure that the axis of the light inlet of the second light guide arm 10 is superposed with the axis of the light outlet of the first light guide arm 5;
s3: opening the laser generator 1, enabling laser beams emitted by the laser generator 1 to enter the light guide arm a6, guiding the laser beams by the light guide arm a6, then entering the light guide arm b7, then entering the light guide arm c11, and finally being emitted by the light guide arm d12 to process a region to be processed of the ice skate;
s4: after the processing is finished, the laser generator 1 is closed, the installation container 3 is reset to the initial position, and the second light guide arm 10 is detached.
The processing method can repair the cracks of the ice skate on the premise of not disassembling the structure of the bow ice skate, and improves the strength and the service life of the ice skate.
Example 2:
the embodiment provides a laser surface treatment device of key 20 structures of a port icebreaker ice blade, which is suitable for an icebreaker with a cutting type ice blade structure and mainly comprises a laser generator 1 and a light path system, wherein a laser beam emitted by the laser generator 1 acts on a to-be-processed area on the surface of the ice blade after passing through the light path system, so that the purposes of repairing cracks on the surface of the ice blade and improving the surface strength of the ice blade are achieved.
Specifically, the laser generator 1 is fixedly installed inside the hull 2 for emitting a laser beam.
The optical path system comprises a first optical path system and a second optical path system. Wherein the first optical path system comprises a hollow cylindrical mounting container 3 arranged outside the hull 2. The mounting container 3 is slidably mounted on the hull 2 such that the mounting container 3 can be extended out of the hull 2 or retracted inwardly into the hull 2. The first light guide arm 5 is installed on the installation container 3, the first light guide arm 5 comprises a light guide arm a6 and a light guide arm b7, and one end of the light guide arm a6 is communicated with one end of the light guide arm b 7. The other end of the light guide arm a6 is a light inlet of the first light guide arm 5, the axis of the light guide arm is overlapped with the axis of the light outlet of the laser generator 1, and the other end of the light guide arm b7 is a light outlet of the first light guide arm 5 and faces the side wall of the installation container 3. A transparent window 4 made of a transparent material is provided on the side wall of the mounting container 3. The laser beam can reach the outside of the installation container 3 through the transparent window 4 after being emitted from the light outlet of the first light guide arm 5.
Preferably, a mounting bracket 9 is fixedly mounted in the mounting container 3, and the light guide arm a6 is rotatably mounted on the mounting bracket 9, so that the light guide arm a6 can rotate around its own axis. Because one end of the light guide arm b7 is communicated with the light guide arm a6, when the light guide arm a6 rotates around the axis of the light guide arm b 6, the light guide arm b7 can be driven to rotate around the axis of the light guide arm a6, and therefore the light outlet of the first light guide arm 5 is adjusted.
The second optical path system includes a second light guide arm 10 and a mounting portion 16 for detachably mounting the second light guide arm 10 on the ice blade side. In this embodiment, the ice blade is a cutting type ice blade, and thus the mounting portion 16 is a sleeve that mates with the cutting blade shaft 18, which sleeve is fixedly secured to one end of the cutting blade shaft 18 and is prevented from axial rotation by a spline 20 arrangement, i.e., a key 20 is provided between the sleeve and the cutting blade shaft 18. And a sliding rail 15 is rotatably arranged at one end of the sleeve far away from the ice skate blade through a rotating pair 17, so that the sliding rail 15 can rotate around the axial direction of the adsorption device. A slide base 13 is slidably mounted on the slide rail 15, and the second light guide arm 10 is fixedly mounted on the slide base 13. Wherein, second light guide arm 10 includes light guide arm c11 and light guide arm d12, and the one end of light guide arm c11 and the tip intercommunication of the slide holder 13 side of keeping away from the skates, and the one end of light guide arm d12 and the end connection of the slide holder 13 neighbouring skates one side, and light guide arm c11 and light guide arm d12 all communicate with slide holder 13 is inside promptly, and slide holder 13 is inside also to set up to lead the light portion. The other end of light guide arm c11 is the light inlet of second light guide arm 10, and the other end of light guide arm d12 is the light outlet of second light guide arm 10. The axis of the light guide arm c11 coincides with the axis of the light guide arm b7, and the laser beam emitted through the first light guide arm 5 enters the second light guide arm 10, and is guided by the second light guide arm 10 to act on the region to be processed on the surface of the ice skate, thereby processing the surface of the ice skate.
In order to ensure that the second light guide arm 10 is installed at different positions on the surface of the ice skate blade, the laser beam emitted by the first light guide arm 5 can always enter the second light guide arm 10, the included angles between the light guide arms a6 and b7 are set to be adjustable, and the included angles between the light guide arms c11 and d12 and the sliding seat 13 are also set to be adjustable.
Preferably, a first position sensor 8 is fixedly mounted at one end of the light guide arm b7 far away from the light outlet, a second position sensor 14 is fixedly mounted at one end of the light guide arm c11 far away from the light inlet, the two position sensors are electrically connected with a controller of the laser surface treatment device, and whether the axes of the light guide arm b7 and the light guide arm c11 coincide or not can be accurately identified through the controller.
In addition, a focusing device 19 is slidably mounted on one end of the light guide arm d12 close to the ice blade, the focusing device 19 can slide along the axial direction of the light guide arm d12, and the laser beam can be focused by adjusting the position of the focusing device 19. When the laser beam is emitted from the light outlet of the second light guide arm 10, the laser beam is focused by the focusing device 19 and acts on the surface of the ice skate blade, so that the processing effect of the laser beam on the surface of the ice skate blade is ensured.
The embodiment also provides a processing method of the laser surface processing device of the key 20 structure of the ice blade of the port icebreaker, which comprises the following steps:
s1: after the icebreaker stops icebreaking, the second light guide arm 10 is arranged on one side of the ice skate through the sleeve, and then the orientation of the light guide arm d12 is adjusted, so that the light outlet of the second light guide arm 10 faces to a region to be processed on the surface of the ice skate;
s2: extending the installation container 3 to the outside of the ship body 2, and then adjusting the positions of the light guide arm b7 and the light guide arm c11 to ensure that the axis of the light inlet of the second light guide arm 10 is superposed with the axis of the light outlet of the first light guide arm 5;
s3: opening the laser generator 1, enabling laser beams emitted by the laser generator 1 to enter the light guide arm a6, guiding the laser beams by the light guide arm a6, then entering the light guide arm b7, then entering the light guide arm c11, and finally being emitted by the light guide arm d12 to process a region to be processed of the ice skate;
s4: after the processing is finished, the laser generator 1 is closed, the installation container 3 is reset to the initial position, and the second light guide arm 10 is detached.
The processing method can repair the cracks of the ice skate on the premise of not disassembling the structure of the bow ice skate, and improves the strength and the service life of the ice skate.
In addition to the above embodiments, the present invention may have other embodiments; all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (6)
1. The utility model provides a harbour icebreaker skates key structure's laser surface treatment device which characterized in that: comprises a laser generator (1) arranged in a ship body (2) and a light path system used for reflecting laser emitted by the laser generator (1) to the surface of an ice skate,
the optical path system comprises a first light guide arm (5) fixedly mounted on a ship body (2) and a second light guide arm (10) detachably mounted on one side of the ice skate, the axis of a light inlet of the first light guide arm (5) is overlapped with the axis of a light outlet of the laser generator (1), the axis of a light inlet of the second light guide arm (10) is overlapped with the axis of the light outlet of the first light guide arm (5), and the light outlet of the second light guide arm (10) faces the surface of the ice skate;
the installation container (3) capable of extending out of the ship body (2) or retracting into the ship body (2) is slidably installed on the ship body (2), the first light guide arm (5) is installed in the installation container (3), the first light guide arm (5) comprises a light guide arm a (6) and a light guide arm b (7) which are communicated with each other, an included angle between the light guide arm a (6) and the light guide arm b (7) is adjustable, the axis of the light guide arm a (6) is overlapped with the axis of a light outlet of the laser generator (1), the light guide arm a (6) is rotatably installed in the installation container (3) along the axis of the light guide arm a, the light guide arm b (7) faces to the side wall of the installation container (3), and a transparent window (4) for laser to emit is arranged on the side wall of the installation container (3);
second leaded light arm (10) through installation department (16) demountable installation in skates one side, the one end of installation department (16) is rotated and is installed slide rail (15), slidable mounting has sliding seat (13) on slide rail (15), second leaded light arm (10) fixed mounting in on sliding seat (13), second leaded light arm (10) are including leaded light arm c (11) and leaded light arm d (12) that communicate each other, just leaded light arm c (11) with contained angle between leaded light arm d (12) is adjustable, the axis of leaded light arm c (11) with the axis coincidence of leaded light arm b (7), leaded light arm d (12) orientation skates surface.
2. The laser surface treatment device for the key structure of the ice blade of the port icebreaker as claimed in claim 1, wherein: and a focusing device (19) which slides along the axial direction of the light guide arm d (12) is arranged at one end of the light guide arm d (12) facing the ice skate in a sliding way.
3. The laser surface treatment device for the key structure of the ice blade of the port icebreaker according to claim 1, wherein the laser surface treatment device comprises: the skates are blade type skates, and the mounting part (16) comprises an adsorption device adsorbed on one side of the skates.
4. The laser surface treatment device for the key structure of the ice blade of the port icebreaker as claimed in claim 3, wherein: the adsorption device is a magnetic adsorption device or a pressure adsorption device.
5. The laser surface treatment device for the key structure of the ice blade of the port icebreaker according to claim 1, wherein the laser surface treatment device comprises: the skates are cutting skates, and the mounting part (16) comprises a sleeve sleeved at one end of a driving shaft of the cutting skates.
6. The processing method of the laser surface treatment device for the key structure of the port icebreaker blade according to any one of claims 1 to 5, wherein the processing method comprises the following steps: the method comprises the following steps:
s1: after the icebreaker stops icebreaking work, a second light guide arm (10) is arranged on one side of the ice skate, and a light outlet of the second light guide arm (10) faces to an area to be processed on the surface of the ice skate;
s2: extending the installation container (3) to the outside of the ship body (2), and then adjusting the positions of the first light guide arm (5) and the second light guide arm (10) to ensure that the axis of the light inlet of the second light guide arm (10) is superposed with the axis of the light outlet of the first light guide arm (5);
s3: opening a laser generator (1) and processing an area to be processed of the ice skate;
s4: after the processing is finished, the laser generator (1) is closed, the installation container (3) is reset to the initial position, and the second light guide arm (10) is detached.
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| CN107322158A (en) * | 2017-08-15 | 2017-11-07 | 温州大学 | Light-conducting arm |
| CN209850103U (en) * | 2019-04-23 | 2019-12-27 | 安徽科技学院 | Underwater laser additive repairing device |
| CN110216373A (en) * | 2019-05-16 | 2019-09-10 | 广东镭奔激光科技有限公司 | Light-conducting system outside the robot of intense pulse laser |
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2021
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