CN105598592A - Underwater laser cutting device and underwater laser cutting method - Google Patents
Underwater laser cutting device and underwater laser cutting method Download PDFInfo
- Publication number
- CN105598592A CN105598592A CN201610179839.5A CN201610179839A CN105598592A CN 105598592 A CN105598592 A CN 105598592A CN 201610179839 A CN201610179839 A CN 201610179839A CN 105598592 A CN105598592 A CN 105598592A
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- Prior art keywords
- gas
- silk
- aerogenesis
- casket
- cutting
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Classifications
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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
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- 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
- B23K26/12—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure
- B23K26/1224—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure in vacuum
Abstract
The invention discloses an underwater laser cutting device. The device comprises a cutting head (100), a gas box (20) arranged on the outer surface of the cutting head (100), a small-power laser (22) arranged above the gas box (20), a wire feeding device (14) arranged under the gas box (20), and a buffer chamber (12) arranged between the wire feeding device (14) and the outer surface of the cutting head, wherein the cutting head (100) comprises an end cover (1), a convex lens (2), an optical fiber (3), a lens rack (4), a rubber gasket (5), a plurality of transition parts (6), a concave lens (7), an explosion-proof lens (8), a drainage hood (9), a cutting nozzle (10), a rubber ring (11), a gas box base (16), a spring clamp device (17), a locking device (25), a slide rail (38), a transverse grab handle (26) and an assistant handle (30). The device can be used for saving water working space and improving efficiency.
Description
Technical field
The present invention relates to field of laser processing, refer in particular to a kind of method and apparatus that is applicable to underwater laser cutting, mainBe applicable to seabed waste and old platform dismounting cutting.
Background technology
Submerged structure cutting technique mainly contains the cutting of oxygen electric arc, thermic lance cutting, diamond saw cutting, shot-drilling cableCutter cutting, cumulative charge, abradant jet cutting etc. Subsea cutting technology can be divided into earnestly substantiallyCut with cold cut and cut two large classes, oxidation cutting, fusing cutting and the cutting of fusing carbon monoxide etc. belong to thermal cutting, waterLower thermal cutting has that cutting speed is fast, efficiency is high, equipment is simple, low cost and other advantages, but has following lackingPoint: (1) workpiece heat affecting greatly, even gross distortion occurs, and kerf quality is poor; (2) poor stability, holdsEasy explosion caused accident; (3) larger etc. to the harm of the marine eco-environment. From protection of the environment and personal safetyAngle consider, current cutting operation trend is tended to non-blasting type cutting method. At present popular in the worldNon-explosion cutting method has machine cuts, the cutting of shot-drilling cable, diamond saw cutting etc.
Deep-sea underwater laser cuts compared with traditional subsea cutting technology, and its tool has the following advantages: cut (1)Cut that efficiency is high, cut quality good; (2) noncontact cutting, does not have machine cut power; It is (3) adaptable,Without material requirements; (4) safety, environmental protection, energy-conservation; (5) stability is high, maintenance cost is low. Current waterLower cutting technique mainly adopts dry type patterning method, by large quantity of air is delivered to seabed, forms at cutting zoneAfter certain gas compartment, re-use laser cutting, the pipeline complexity of the method, and need air feed waterborne to establishStandby, take valuable operation at sea space.
Summary of the invention
Technical problem: the object of the present invention is to provide a kind of method and apparatus of underwater laser cutting, shouldThe air pump drainage arrangement that method adopts without conventional dry patterning method, for offshore installation has been saved space.
Technical scheme: for solving the problems of the technologies described above, the invention provides a kind of underwater laser cutter sweep,This device comprises cutting head, be arranged on the gas casket of this cutting head outer surface, be arranged on the little merit of gas casket topRate laser instrument, be arranged on gas casket below wire feeder, be arranged between wire feeder and cutting head outer surfaceThe chamber of getting a breathing space;
Described cutting head comprise end cap, convex lens, optical fiber, lens mount, rubber washer, some transition member,Concavees lens, explosion-proof lens, drainage cover, cutting torch, rubber ring, gas casket pedestal, fixture of the spring, lockingDevice, slide rail, lateral handle, auxiliary handle;
Two ends of end cap are connected with transition member respectively, and end cap and transition member form a framework; Relatively establishingBetween two transition member of putting, two lens mounts are installed, convex lens and concavees lens are successively set on from top to bottomOn mirror holder; Described explosion-proof lens are fixed on cutting head inside by transition member and drainage cover; The inside of drainage coverBeing provided with cutting torch enters between cutting torch and explosion-proof lens for stopping melting impurity;
The bottom of drainage cover is provided with rubber ring, for cutting part between form and contact, convenient at cutting part tableFace forms catchment; The side of cutting head is also provided with slide rail, gas casket pedestal and clamping device, described gas casketThe outside of pedestal is provided with fixture of the spring, with the groove fit on gas casket surface, for clamping gas casket; GasBody casket pedestal coordinates slide rail gas casket to be fixed on to the side of cutting head; Clamping device is for fixing low-power laserDevice; Gas casket below is provided with wire feeder for the aerogenesis silk of gas casket is delivered under low-power laserSide; The side of drainage cover is provided with the chamber of getting a breathing space, and the chamber of getting a breathing space is connected with wire feeder by appendix; Cutting headSide is also provided with lateral handle and auxiliary handle, seabed, aspect personnel operation.
Preferably, described wire feeder 14 comprises motor, driving wheel, driven pulley, wire feed seat, roller, sendFiber tube, lens, external screw thread composition;
Wire-feeding pipe is for aerogenesis silk is directed into driving wheel and driven pulley from gas casket, and driven by motor driving wheel, producesGas silk transports forward by the frictional force between driving wheel and driven pulley, and the effect of wire feed seat is to keep aerogenesis silkHorizontal level prevent its because of gravity curved; Wire feed seat is provided with the direction of motion of roller for fixing aerogenesis silk; ProduceGas silk constantly travels forward, until lens below, the laser scioptics that low-power laser is launched act onAerogenesis silk makes its decomposes produce a large amount of gas, for discharging seawater; The external screw thread of wire feeder is used for slowThe snorkel of air cavity is connected, and facilitates gas to import drainage cover; Outside motor is provided with rotational speed regulation knob, by notThereby same construction depth regulates the rotating speed of driving wheel to control the transporting velocity of aerogenesis silk, and then increase or reduce productTolerance.
Preferably, described gas casket comprises wire feeder, rotating shaft, slide rail, pyramidal projections;
Gas casket inside is provided with rotating shaft, and aerogenesis silk is wrapped in two rotating shafts, and one of aerogenesis silk is passed wire feeder,Be sent to wire feeder via pyramidal projections; The outside of gas casket is provided with slide rail, for gas casket is fixed on and is cutCut on head; Described wire feeder is made up of V-arrangement switch and bracket, is arranged on gas casket inside; Wire feeder is at gasCasket surface sliding, is pushed into gas casket top by wire feeder, by pressing V-arrangement switch and pulling wire feeder downwards,Aerogenesis silk is pulled downwards, aerogenesis silk is stretched out from pyramidal projections, deliver to the active in wire feeder through wire-feeding pipeWheel place.
The present invention also provides a kind of method of underwater laser cutting, and the method comprises the steps:
The utilization material that is easily decomposed into gas that is heated is made aerogenesis silk, and aerogenesis silk is arranged in gas casket, gas casketBe arranged on a side of cutting head; Heating aerogenesis silk in seabed by low-power laser makes it decompose and produce greatly rapidlyAmount gas, gas imports the backward outer ejection of drainage cover, forms the gaseous environment with space, now opens laserDevice cuts.
Beneficial effect:
1, the present invention has saved air feed equipment waterborne and complicated circuit design, has saved aquatic work skyBetween;
2, reduced gas circuit, underwater cable is simplified, facilitated diver's cutting operation, improved and doIndustry efficiency;
3, the protective gas producing is nontoxic, marine environment is not polluted, and meets environmental protectionTheory;
4, detachable gas casket design, has facilitated the replacing of gas casket, makes cutting operation energy under waterEnough carry out for a long time.
Brief description of the drawings
Fig. 1 is the front view of apparatus of the present invention;
Fig. 2 is the side view of apparatus of the present invention;
Fig. 3 is wire feeder top view;
Fig. 4 is gas casket side view;
Fig. 5 is wire feeder cutaway view;
Fig. 6 is that slide rail coordinates schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
Underwater laser cutter sweep of the present invention, comprises cutting head 100, gas casket 20, low-power laser22, wire feeder 14, the chamber 12 of getting a breathing space. It is characterized in that, described cutting head 100 by end cap 1, convex lens 2,Optical fiber 3, lens mount 4, rubber washer 5, transition member 6, concavees lens 7, explosion-proof lens 8, drainage cover 9,Cutting torch 10, rubber ring 11, gas casket pedestal 16, fixture of the spring 17, locking device 25, slide rail 38,Lateral handle 26, auxiliary handle 30 form. Cutting head 100 is generally by 6 groups of end cap 1 and multiple transition memberBecome, between end cap 1 and transition member 6, be threaded connection, between transition member 6, be threaded connection. ?Can mounted lens frame 4 between end cap 1 and transition member 6, transition member 6 and transition member 6, lens mount 4And between adjacent end cap 1, transition member 6, seal by rubber washer 5, prevent that seawater from entering. SetAfter convex lens 2 and concavees lens 7, explosion-proof lens 8 are installed, described explosion-proof lens 8 are by transition member 6 and rowWater cover 9 is fixed on cutting head 100 inside. The inside of drainage cover 9 is provided with cutting torch 10 for stopping motlten metalEnter between cutting torch 10 and explosion-proof lens 8 Deng impurity. The bottom of drainage cover 9 is provided with rubber ring 11, forBetween cutting part, form contact to a certain degree, convenient in formation catchment, cutting part surface. Cutting head 100Side be also provided with slide rail 38, gas casket pedestal 16 and clamping device 17, outside described gas casket pedestal 16Portion is provided with fixture of the spring 17, coordinates, for clamping gas casket 20 with the groove 41 on gas casket 20 surfaces.Gas casket pedestal 16 coordinates slide rail 38 gas casket 20 can be fixed on to the side of cutting head 100. Clamping device25 for fixing low-power laser 22. Gas casket 20 belows are provided with wire feeder 14 for by gas casket 20In aerogenesis silk 32 be delivered to low-power laser 22 belows. The side of drainage cover 9 is provided with the chamber of getting a breathing space, slowAir cavity 12 is connected with wire feeder 14 by appendix 29. The side of cutting head 100 is also provided with lateral handle26 and auxiliary handle 30, seabed, aspect personnel operation.
Described wire feeder 14 by motor 13, driving wheel 36, driven pulley 45, wire feed seat 32, roller 34,Wire-feeding pipe 37, lens 27, external screw thread 44 form. Wire-feeding pipe 37 for by aerogenesis silk 32 from gas casket 20Be directed into driving wheel 36 and driven pulley 45, motor 13 drives driving wheel 36, and aerogenesis silk 32 passes through driving wheel36 and driven pulley 45 between frictional force transport forward, the effect of wire feed seat 32 is to keep aerogenesis silk 32Horizontal level prevents that it is because of gravity-bending. Wire feed seat 32 is provided with the fortune of roller 34 for fixing aerogenesis silk 32Moving direction. Aerogenesis silk 32 constantly travels forward, until lens 27 belows, low-power laser 22 is launchedLaser 102 scioptics 27 act on aerogenesis silk 32 and make its decomposes produce a large amount of gas, for dischargingSeawater. The external screw thread 44 of wire feeder 14, for being connected with the snorkel 29 in the chamber 12 of getting a breathing space, facilitates gas to leadEnter drainage cover 9. Motor 13 outsides are provided with rotational speed regulation knob 35, can regulate by different construction depths mainThereby the rotating speed of driving wheel 36 is controlled the transporting velocity of aerogenesis silk 32, and then increase or reduce gas production.
Described gas casket 20 is made up of wire feeder 21, rotating shaft 39, slide rail 24, pyramidal projections 42. Gas casket20 inside are provided with rotating shaft 39, and aerogenesis silk 32 is wrapped in two rotating shafts 39, and one of aerogenesis silk 32 through sendingSilk device 21, is sent to wire feeder via pyramidal projections 42. The outside of gas casket 20 is provided with slide rail 24, forGas casket 20 is fixed on cutting head 100. Described wire feeder 21 is made up of V-arrangement switch 40 and bracket 43,Be arranged on gas casket 20 inside. Wire feeder 21 can, at gas casket 20 surface slidings, be pushed into gas by wire feeder 21Body casket 20 tops, by pressing V-arrangement switch 40 and pulling wire feeder 21 downwards, can be by downward aerogenesis silk 32Pull, aerogenesis silk 32 is stretched out from pyramidal projections 42, deliver to the active in wire feeder 14 through wire-feeding pipe 37Wheel place 36.
Underwater laser cutting method provided by the invention, the method comprises the steps:
The utilization material that is easily decomposed into gas that is heated is made aerogenesis silk, and aerogenesis silk is arranged in gas casket, gas casketBe arranged on a side of cutting head; Heating aerogenesis silk in seabed by low-power laser makes it decompose and produce greatly rapidlyAmount gas, gas imports the backward outer ejection of drainage cover, forms the gaseous environment with space, now opens laserDevice cuts; The method, without supercharging equipment from air to deep-sea that carry, has been saved offshore set-up area, alsoAvoid to the trouble of submarine laying appendix.
Specific embodiment 1
Described aerogenesis silk 32 can be by C5H8N4O12With C12H16N4O18(or other should decomposes plastic material)Be mixed, wherein C12H16N4O18For fibrous, decomposes is NO2、NO、CO、CO2、CH2O etc.Gas, is the matrix of aerogenesis silk, and the main component that aerogenesis silk produces gas is C5H8N4O12, its decomposes sideFormula is C5H8N4O12＝2CO+3CO2+4H2O+2N2The aerogenesis silk 32 of one volume can produce 11 in the time of decomposesThe gas of volume, can be met produced a large amount of gas and by the sea among a small circle completely by continuous decomposition aerogenesis silkThe requirement that water is emptying.
While cutting, first carry cutting head 100 dives to required depth of cut by diver under water, openLow-power laser 22, starts wire feeder 14, and diver used rotational speed regulation knob 35 to adjust aerogenesis silk 32Transporting velocity, laser 102 heats aerogenesis silk 32 to be decomposed it to produce a large amount of gas, and by drainage cover 9Seawater is emptying, now starts high power laser, laser beam 101 through optical fibre transmission to cutting head, laser lightRestraint after 101 planoconvex lenses 2 focus on and be adjusted into collimated light beam by concavees lens 7, penetrate outside cutting torch 10, nowDiver operates cutting head 100 by lateral handle 26 and auxiliary handle 30 and carries out cutting operation under water. DivingThe several gas caskets 32 of member's portability, in the time that a gas casket 32 exhausts, replaceable new gas casket 32 continues to cutCut work.
Claims (4)
1. a underwater laser cutter sweep, is characterized in that, this device comprises cutting head (100), arrangesAt the gas casket (20) of this cutting head (100) outer surface, be arranged on the small-power of gas casket (20) topLaser instrument (22), be arranged on gas casket (20) below wire feeder (14), be arranged on wire feeder (14)And the chamber of getting a breathing space (12) between cutting head outer surface;
Described cutting head (100) comprise end cap (1), convex lens (2), optical fiber (3), lens mount (4),Rubber washer (5), some transition member (6), concavees lens (7), explosion-proof lens (8), drainage cover (9),Cutting torch (10), rubber ring (11), gas casket pedestal (16), fixture of the spring (17), locking dressPut (25), slide rail (38), lateral handle (26), auxiliary handle (30);
(1) two end of end cap is connected with transition member (6) respectively, end cap (1) and transition member (6)Form a framework; Between two transition member (6) that are oppositely arranged, two lens mounts (4) are installed, convex lensMirror (2) and concavees lens (7) are successively set on lens mount (4) from top to bottom; Described explosion-proof lens (8)Be fixed on cutting head (100) inside by transition member (6) and drainage cover (9); In drainage cover (9)Portion is provided with cutting torch (10) and enters between cutting torch (10) and explosion-proof lens (8) for stopping melting impurity;
The bottom of drainage cover (9) is provided with rubber ring (11), for cutting part between form and contact, convenientForm catchment on cutting part surface; The side of cutting head (100) is also provided with slide rail (38), gas casketPedestal (16) and clamping device (17), the outside of described gas casket pedestal (16) is provided with fixture of the spring(17), coordinate with the groove (41) on gas casket (20) surface, for clamping gas casket (20); GasCasket pedestal (16) coordinates slide rail (38) gas casket (20) to be fixed on to the side of cutting head (100); FolderTight device (25) is for fixing low-power laser (22); Gas casket (20) below is provided with wire feeder (14)For the aerogenesis silk (32) of gas casket (20) being delivered to low-power laser (22) below; Drainage cover(9) side is provided with the chamber of getting a breathing space, and the chamber of getting a breathing space (12) are by appendix (29) and wire feeder (14)Be connected; The side of cutting head (100) is also provided with lateral handle (26) and auxiliary handle (30), Fang MianhaiEnd personnel operation.
2. underwater laser cutter sweep according to claim 1, is characterized in that, described wire feeder14 comprise motor (13), driving wheel (36), driven pulley (45), wire feed seat (32), roller (34),Wire-feeding pipe (37), lens (27), external screw thread (44) composition;
Wire-feeding pipe (37) for by aerogenesis silk (32) from gas casket (20) be directed into driving wheel (36) with fromDriving wheel (45), motor (13) drives driving wheel (36), aerogenesis silk (32) by driving wheel (36) andFrictional force between driven pulley (45) is transported forward, and the effect of wire feed seat (32) is to keep aerogenesis silk (32)Horizontal level prevent its because of gravity curved; Wire feed seat (32) is provided with roller (34) for fixing aerogenesis silk (32)The direction of motion; Aerogenesis silk (32) constantly travels forward, until lens (27) below, low-power laser(22) laser (102) scioptics (27) of launching act on aerogenesis silk (32) and make its decomposesProduce a large amount of gas, for discharging seawater; The external screw thread (44) of wire feeder (14) for the chamber of getting a breathing space (12)Snorkel (29) be connected, facilitate gas import drainage cover (9); Motor (13) outside is provided with rotating speed and adjustsJoint knob (35), regulate the rotating speed (36) of driving wheel by different construction depth thus control aerogenesis silk (32)Transporting velocity, and then increase or reduce gas production.
3. underwater laser cutter sweep according to claim 2, is characterized in that, described gas casket (20)Comprise wire feeder (21), rotating shaft (39), slide rail (24), pyramidal projections (42);
Gas casket (20) inside is provided with rotating shaft (39), and it is upper that aerogenesis silk (32) is wrapped in two rotating shafts (39),One of aerogenesis silk (32) is passed wire feeder (21), is sent to wire feeder via pyramidal projections (42); GasThe outside of body casket (20) is provided with slide rail (24), for gas casket (20) is fixed on to cutting head (100)On; Described wire feeder (21) is made up of V-arrangement switch (40) and bracket (43), is arranged on gas casket (20)Inner; Wire feeder (21), at gas casket (20) surface sliding, is pushed into gas casket (20) by wire feeder (21)Top, by pressing V-arrangement switch (40) and pulling wire feeder (21) downwards, aerogenesis silk (32) is downwardPull, aerogenesis silk (32) is stretched out from pyramidal projections (42), deliver to wire feeder (14) through wire-feeding pipe (37)In driving wheel place (36).
4. a underwater laser cutting method, is characterized in that: the method comprises the steps:
The utilization material that is easily decomposed into gas that is heated is made aerogenesis silk, and aerogenesis silk is arranged in gas casket, gas casketBe arranged on a side of cutting head; Heating aerogenesis silk in seabed by low-power laser makes it decompose and produce greatly rapidlyAmount gas, gas imports the backward outer ejection of drainage cover, forms the gaseous environment with space, now opens laserDevice cuts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610179839.5A CN105598592B (en) | 2016-03-25 | 2016-03-25 | Underwater laser cutting device and underwater laser cutting method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610179839.5A CN105598592B (en) | 2016-03-25 | 2016-03-25 | Underwater laser cutting device and underwater laser cutting method |
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| CN105598592A true CN105598592A (en) | 2016-05-25 |
| CN105598592B CN105598592B (en) | 2017-04-26 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671416A (en) * | 2017-09-20 | 2018-02-09 | 华中科技大学 | A kind of air water coaxial jet auxiliary laser system of processing carried under water |
| CN109623139A (en) * | 2018-12-11 | 2019-04-16 | 中国科学院宁波材料技术与工程研究所 | Water Jet Guided Laser processing unit (plant) and system |
| CN110621426A (en) * | 2017-03-31 | 2019-12-27 | 株式会社尼康 | Processing method and processing system |
| RU196666U1 (en) * | 2019-08-29 | 2020-03-11 | Акционерное общество "Государственный научный центр Российской Федерации Троицкий институт инновационных и термоядерных исследований" (АО "ГНЦ РФ ТРИНИТИ") | UNDERWATER LASER CUTTING NOZZLE |
| CN115106619A (en) * | 2022-08-01 | 2022-09-27 | 北京石油化工学院 | System and method for underwater maintenance of microtubes |
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| JPH10246683A (en) * | 1997-02-28 | 1998-09-14 | Taisei Corp | Method for inspecting underwater welding |
| JP2004082194A (en) * | 2002-08-28 | 2004-03-18 | Japan Drive-It Co Ltd | Underwater wall welding apparatus |
| CN103521919A (en) * | 2013-10-15 | 2014-01-22 | 江苏大学 | Combination device capable of achieving underwater laser welding and laser shot blasting |
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| JPH10246683A (en) * | 1997-02-28 | 1998-09-14 | Taisei Corp | Method for inspecting underwater welding |
| JP2004082194A (en) * | 2002-08-28 | 2004-03-18 | Japan Drive-It Co Ltd | Underwater wall welding apparatus |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110621426A (en) * | 2017-03-31 | 2019-12-27 | 株式会社尼康 | Processing method and processing system |
| CN107671416A (en) * | 2017-09-20 | 2018-02-09 | 华中科技大学 | A kind of air water coaxial jet auxiliary laser system of processing carried under water |
| CN107671416B (en) * | 2017-09-20 | 2019-05-03 | 华中科技大学 | A kind of air water coaxial jet auxiliary laser system of processing carried under water |
| CN109623139A (en) * | 2018-12-11 | 2019-04-16 | 中国科学院宁波材料技术与工程研究所 | Water Jet Guided Laser processing unit (plant) and system |
| CN109623139B (en) * | 2018-12-11 | 2021-07-27 | 中国科学院宁波材料技术与工程研究所 | Water-guided laser processing device and system |
| RU196666U1 (en) * | 2019-08-29 | 2020-03-11 | Акционерное общество "Государственный научный центр Российской Федерации Троицкий институт инновационных и термоядерных исследований" (АО "ГНЦ РФ ТРИНИТИ") | UNDERWATER LASER CUTTING NOZZLE |
| CN115106619A (en) * | 2022-08-01 | 2022-09-27 | 北京石油化工学院 | System and method for underwater maintenance of microtubes |
| CN115106619B (en) * | 2022-08-01 | 2023-07-07 | 北京石油化工学院 | System and method for underwater maintenance of tubules |
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| CN105598592B (en) | 2017-04-26 |
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