CN107386023A - A kind of railway track rail level laser melting coating rust-proof conductive method and apparatus - Google Patents
A kind of railway track rail level laser melting coating rust-proof conductive method and apparatus Download PDFInfo
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- CN107386023A CN107386023A CN201710744313.1A CN201710744313A CN107386023A CN 107386023 A CN107386023 A CN 107386023A CN 201710744313 A CN201710744313 A CN 201710744313A CN 107386023 A CN107386023 A CN 107386023A
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- laser
- metal powder
- rust
- rail
- melting coating
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000011248 coating agent Substances 0.000 title claims abstract description 31
- 238000000576 coating method Methods 0.000 title claims abstract description 31
- 238000002844 melting Methods 0.000 title claims abstract description 31
- 230000008018 melting Effects 0.000 title claims abstract description 31
- 239000000843 powder Substances 0.000 claims abstract description 80
- 239000002184 metal Substances 0.000 claims abstract description 60
- 229910052751 metal Inorganic materials 0.000 claims abstract description 60
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 239000013307 optical fiber Substances 0.000 claims description 21
- 238000001816 cooling Methods 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000005253 cladding Methods 0.000 claims description 9
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical group [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 2
- 238000007493 shaping process Methods 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000011159 matrix material Substances 0.000 abstract description 2
- 239000000126 substance Substances 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910001220 stainless steel Inorganic materials 0.000 description 3
- 239000010935 stainless steel Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 230000009931 harmful effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 229910052759 nickel Inorganic materials 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 229910001563 bainite Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 229910000734 martensite Inorganic materials 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000010512 thermal transition Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
- E01B31/02—Working rail or other metal track components on the spot
- E01B31/18—Reconditioning or repairing worn or damaged parts on the spot, e.g. applying inlays, building-up rails by welding; Heating or cooling of parts on the spot, e.g. for reducing joint gaps, for hardening rails
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention relates to a kind of railway track rail level laser melting coating rust-proof conductive method and apparatus, it is realized by the following method, processing of rust removing is irradiated along setting path to Rail Surface using laser;Control laser facula is synchronized with the movement with metal powder powder feeder along the derusting path in step 1, and metal powder is equably coated on the derusting path of Rail Surface by control metal powder powder feeder;Metal powder is irradiated through laser facula, and rust-proof conductive metal wire is formed in Rail Surface.Equipment includes car body, laser element, metal powder powder feeder and the electric control unit being arranged on car body;Rail Surface derusting is carried out using laser cleaning technique, compares mechanical or chemical formula derusting method, efficiently convenient, pollution-free, away rust by laser influences smaller on rail matrix surface.
Description
Technical field
The present invention relates to a kind of railway track rail level laser melting coating rust-proof conductive method and the equipment for realizing this method.
Background technology
It is automatic by the circuit in order to check the state of train occupation steel rail line, it is necessary to using close type track circuit
Signal judges rail immediate status.When train is reached above the rail of the region, loop is formed between two rails, is shown by signal lamp
Show and judge that the tract section is occupied, otherwise rail top is without train, open circuit between two rails, signal feedback and judge is should
Section rail is unoccupied, it is allowed to which other trains enter.Rail belongs to the important component of close type track circuit, but in practice
Steel rail laying is influenceed in open-air atmosphere, by rainwater, Exposure to Sunlight, day and night temperature, and particularly side line and the rail driving newly laid is less,
Surface easily forms layer of oxide layer i.e. iron rust, and oxide layer is constantly aggravated, resistance becomes big, and closed type track electricity is influenceed when serious
Road, cause the transmission of error signal, cause the serious accidents such as train from overtaking collision.
To solve rail rail level problem of rustiness, at present using following two methods, one kind is in the continuous built-up welding of rail rail level
One fixed width stainless steel, but this rail level built-up welding can not only produce welding residual stress, can also be high due to rail phosphorus content, harden
Tendency is big, and postwelding generates high carbon martensite tissue easily in heat affected area, causes rail to be broken, causes security incident;
Another scheme is that stainless steel metal is sprayed on rail rail level, and the program has three shortcomings:(1) equipment is heavy, is not suitable for
Used in the environment of station track earth's surface out-of-flatness.(2) in implementation process, pollution is larger, is harmful to operating personnel's health
And surrounding enviroment.(3) stainless steel metal powder using efficiency is low, and cost is higher.
The content of the invention
The present invention provides a kind of railway track rail level laser melting coating rust-proof conductive method and its equipment, this method and uses high energy
Laser is measured by (nickel) cladding of special metal powder in Rail Surface, forms the conductive metal wire of a particular path, effectively solve because
Guide rail rail level get rusty caused by signal wrong report problem.Realize the equipment of this method by laser generator and mechanical automation equipment
Integrated, small volume, easy to operation, efficiency high is pollution-free.
The technical solution of the present invention is to provide a kind of railway track rail level laser melting coating rust-proof conductive method, including with
Lower step:
Step 1: away rust by laser;
Processing of rust removing is irradiated along setting path to Rail Surface using laser;Light path treatment with irradiation, Rail Surface oxygen
The laser beam irradiation for changing layer in high intensity issues third contact of a total solar or lunar eclipse physical reactions, and oxide layer is destroyed, and Rail Surface forms one and appears this
The setting path of color.
Step 2: laser melting coating;
Control laser facula is synchronized with the movement with metal powder powder feeder along the path after the derusting in step 1, controls metal
Metal powder is equably coated on the path after the derusting of Rail Surface by powder powder feeder;Metal powder irradiates through laser facula, in steel
Track surface forms rust-proof conductive metal wire.
Preferably, nonlinear type path is in the above-mentioned path that sets.
Preferably, rail level laser facula defocus in step 1, spot size 2-5mm;Rail level hot spot is in step 2
Beam focal location, spot size 1-2mm;Above-mentioned light spot shape is circular or square.
Preferably, above-mentioned nonlinear type path is S types or Z-type.
Preferably, above-mentioned metal powder is nickel powder.
The present invention also provides a kind of equipment for realizing above-mentioned railway track rail level laser melting coating rust-proof conductive method, and its is special
Part is:Including car body, laser element, metal powder powder feeder and the electric control unit being arranged on car body;
Above-mentioned car body can move along railroad track;
Above-mentioned laser element includes optical fiber laser, the adjustable laser export head of optical fiber and position;Above-mentioned optical-fiber laser
The laser of device output is exported by optical fiber by the shaping of laser export head, irradiates railroad track;
Above-mentioned metal powder powder feeder position is adjustable, and powder feeding pipe is connected on above-mentioned metal powder powder feeder, and above-mentioned powder feeding pipe is located at
Above railroad track;
Above-mentioned electric control unit is used to control metal powder flow in fiber laser light, regulation metal powder powder feeder
Size simultaneously controls body speed of vehicle.
The wherein exportable high intensity laser beam of optical fiber laser, small volume, electric light transformation efficiency 38%.
Preferably, the device also includes the adjusting bracket and crossbeam being arranged on car body, and above-mentioned crossbeam is fixed on Vehicular body front
Or rear portion, sliding block and helical screw are provided with above-mentioned adjusting bracket, and above-mentioned crossbeam is provided with slide block guide rail;
Motor is provided with above-mentioned crossbeam, motor driven sliding block can move along slide block guide rail;
Above-mentioned laser export head is both secured on adjusting bracket with metal powder powder feeder, and laser is adjusted up and down by helical screw
The distance of export head and Rail Surface, adjust spot size;
By electric control unit adjusting slider position, adjusting bracket is driven relative to cross beam movement, while drive laser defeated
Lift one's head and the movement of metal powder powder feeder, realization set the rust-proof conductive metal wire cladding in path.
Preferably, above-mentioned crossbeam length is more than lateral separation between two guide rails.
Preferably, above-mentioned car body includes pedestal, and car body also includes generator, motor and the water cooling being arranged on pedestal
Machine, above-mentioned output generator current are supplied to motor, water cooling unit, optical fiber laser and electric control unit, above-mentioned motor
For driving car body to move along the rail, above-mentioned water cooling unit is used to cool down optical fiber laser.
Preferably, in order to realize far distance controlled, above-mentioned electric control unit is furnished with Remote handle.
The beneficial effects of the invention are as follows:
1st, Rail Surface derusting is carried out using laser cleaning technique, compares mechanical or chemical formula derusting method, efficiently
Convenient, pollution-free, away rust by laser influences smaller on rail matrix surface;
2nd, using laser melting and coating technique by metal powder cladding in rail rail level, compared to traditional technique for overlaying, heat affecting
Area is small, and without any heating, cooling treatment technique, organization internal martensite-free, bainite formed, the use to the rail later stage without
Any influence;
3rd, laser melting coating metal powder compares welding metal bar or spray metal powder craft, and energy more focuses on i.e. thermal transition
Efficiency is higher, therefore equipment volume is smaller, structure design is simple, is easy to operation in orbit, can provide efficiency of construction significantly;
4th, the equipment can meet that laser cleaning derusts and the technological requirement of laser melting coating, dual-use are efficiently convenient simultaneously;
5th, metal dust selects specific metal powder according to operation workshop section situation, and S type metal wires, phase are formed in Rail Surface
Compared with spray metal powder craft, metal powder utilization rate height will not produce without any waste to environment and process operator's health
Raw harm;
6th, S types metal wire can expand the contact area of wheel and conductor wire, prevent localized contact harmful effect signal
Transmission.
Brief description of the drawings
When Fig. 1 is away rust by laser, laser defocus irradiation Rail Surface schematic diagram;
When Fig. 2 is laser melting coating, Laser Focusing irradiation rail rail level schematic diagram;
Fig. 3 is away rust by laser and laser melting coating respectively in the S type path schematic diagrams of rail rail level;
Fig. 4 is present device schematic diagram.
Reference is in figure:1- rail, 3- sliding blocks, 4- car body pedestals, 5- powder feeding pipes, 6- powder feeders, 7- adjusting brackets, 8-
Helical screw, 9- crossbeams, 10- optical fiber lasers, 11- water cooling units, 12- motor, 13- generators, 14- electric control units,
15- slide block guide rails, 16- optical fiber;
21- laser beams;
S1- away rust by laser S types path, S2- laser melting coating S types path.
Embodiment
Below in conjunction with drawings and the specific embodiments, the invention will be further described.
The present embodiment provides a kind of railway track rail level laser melting coating rust-proof conductive method, will be specific using high energy laser
Metal powder (nickel) cladding possesses good conductivity, rustless spy in Rail Surface, one S type conductive metal wire of formation, the S lines
Point.The conductive metal wire of other given shapes, the conductive gold of such as Z-shaped non-linear shapes can also be formed in other embodiments
Belong to line.
This method mainly includes away rust by laser and laser melting coating step;
(1) away rust by laser, laser are irradiated processing, irradiating width 2-5mm, rail 1 along S paths to the rail level of rail 1
The surface oxide layer of rail level issues third contact of a total solar or lunar eclipse physical reactions in the laser beam irradiation of high intensity, and oxide layer is destroyed, the surface shape of rail 1
Into the S for appearing a rail true qualities types path S1, Fig. 3 is seen.
(2) laser melting coating, after rail 1 derusts, laser facula is synchronized with the movement with powder feeder 6 along S types path, and metal powder exists
Equably it is coated in the presence of powder feeder on the S types path of rail level, metal powder irradiates through high-intensity laser beam, in Rail Surface shape
Into a S type antirust conductor wire S2, and overlapped with above-mentioned derusting S type path centers, and path width is 1-2mm, sees figure
3。
Metal powder forms metal conductive wire after laser irradiates cladding, and electric conductivity is good, and is exposed to air for a long time
In, the generation of surface non-oxidation layer.
The present embodiment also provides a kind of equipment for carrying out laser melting coating rust-proof conductive metal wire in railway track rail level, including
Optical fiber laser 10, crossbeam 9, adjusting bracket 7, powder feeder 6, car body, electric control unit 14.
Optical fiber laser 10 is located on car body, carries out electric light conversion output laser, and laser is transmitted to laser via optical fiber 16
Export head, focus on light beam output is shaped as through laser export head, light spot shape is circular or square, is radiated at the rail of rail 1 afterwards
Face, predominantly away rust by laser and laser melting coating provide LASER Light Source;
Crossbeam 9 is located at car body front end, can also be located at body rear end in other embodiments, and its length is more than between two guide rails
Lateral separation, i.e., after a rail machines, adjusting bracket can be moved to along crossbeam direction above another bar steel rail rail surface;
It can be moved on crossbeam equipped with slide block guide rail 15, sliding block 3 along guide rail 15;
Adjusting bracket 7 is connected with sliding block 3, and for installing fixed laser export head, helical screw 8 is housed inside adjusting bracket, can
The motion of laser export head vertically is adjusted, by adjusting relative distance of the laser export head away from rail rail level, realizes light
The regulation of spot size;Rail level laser facula defocus when laser cleaning derusts, such as Fig. 1, spot size 2-5mm;Laser melting coating gold
When belonging to powder, rail level hot spot is in beam focal location, such as Fig. 2, spot size 1-2mm;
Powder feeder 6 is fixed on adjusting bracket, bottom connection powder feeding pipe 5, the position-adjustable of powder feeding pipe 5, in laser
Require that the powder feeding pipe mouth of pipe presses close to rail rail level facula position in cladding process, and do not influence light path;
Car body mainly includes car body pedestal 4, water cooling unit 11, motor 12, generator 13, electric control unit 14, car body
Two row's wheels of the bottom of pedestal 4 move along railroad track.Generator 13 provides electric power, including motor for equipment miscellaneous part
12nd, crossbeam motor, powder feeder 6, water cooling unit 11, optical fiber laser 10, electric control unit 14;Motor 12 drives wheel edge to be led
Rail moves;Water cooling unit 11 is that optical fiber laser 10 provides lasting cooling water circulation;Car body is driven motion by motor 12, regulation
Frame 7 is driven motion by crossbeam motor, and both are independent of each other;
Electric control unit 14 control optical fiber laser 10 go out photoswitch, regulation powder feeder 6 in metal powder uninterrupted,
The rotating speed of control car body motor 12 is body movement speed, control crossbeam motor i.e. motion shape of the laser export head on crossbeam
State;Electric control unit carries out peripheral operation by integrated by a control panel;Electric control unit may be equipped with remotely
Remote-control handle, operating personnel can long-distance remote control operations.
The equipment adjusts the position of laser export head by adjusting bracket, it is ensured that adjusting bracket is located at rail in real work
Directly over rail level, while spot size of the light beam in rail level is determined by adjusting bracket;Realized and swashed by electric control unit control
Light derusting hot spot carries out the motion of S types path on rail level;After the completion of away rust by laser, electric control unit and rail level light are readjusted
Spot size, cladding spot center overlap with derusting spot center, and spot motion path overlaps with derusting S path centers, that is, swashs
Light output head moves along original derusting path.Laser is in Rail Surface deposited metals powder, powder feeder and laser facula synchronous working,
Laser irradiates metal powder and cladding is a bright S type conductions rustless metal line on rail level by it.When side rail is processed
After, laser export head adjusting bracket need to be only moved to above opposite side rail along crossbeam direction, its processing step with
It is before identical, repeat no more.
Claims (10)
- A kind of 1. railway track rail level laser melting coating rust-proof conductive method, it is characterised in that comprise the following steps:Step 1: away rust by laser;Processing of rust removing is irradiated along setting path to Rail Surface using laser;Step 2: laser melting coating;Control laser facula is synchronized with the movement with metal powder powder feeder along the path after the derusting in step 1, and control metal powder is sent Metal powder is equably coated on the path after the derusting of Rail Surface by powder device;Metal powder irradiates through laser facula, in rail table Face forms rust-proof conductive metal wire.
- 2. railway track rail level laser melting coating rust-proof conductive method according to claim 1, it is characterised in that:The setting Path is nonlinear type path.
- 3. railway track rail level laser melting coating rust-proof conductive method according to claim 2, it is characterised in that:In step 1 Rail level laser facula defocus, spot size 2-5mm;Rail level hot spot is in beam focal location in step 2, and spot size is 1-2mm;The light spot shape is circular or square.
- 4. railway track rail level laser melting coating rust-proof conductive method according to claim 3, it is characterised in that:It is described non-straight Line style path is S types or Z-type.
- 5. according to any described railway track rail level laser melting coating rust-proof conductive methods of claim 1-4, it is characterised in that:Institute It is nickel powder to state metal powder.
- 6. a kind of equipment for realizing any railway track rail level laser melting coating rust-proof conductive methods of claim 1-5, it is special Sign is:Including car body, laser element, metal powder powder feeder and the electric control unit being arranged on car body;The car body can move along railroad track;The laser element includes optical fiber laser, the adjustable laser export head of optical fiber and position;The optical fiber laser is defeated The laser gone out is exported by optical fiber by the shaping of laser export head, irradiates railroad track;The metal powder powder feeder position is adjustable, and powder feeding pipe is connected on the metal powder powder feeder, and the powder feeding pipe is located at railway Above track;The electric control unit is used for the size for controlling metal powder flow in fiber laser light, regulation metal powder powder feeder And control body speed of vehicle.
- 7. one kind according to claim 6 realizes any railway track rail level laser melting coating antirusts of claim 1-5 The equipment of conductive method, it is characterised in that:Also include the adjusting bracket and crossbeam being arranged on car body, the crossbeam is fixed on car body Anterior or rear portion, sliding block and helical screw is provided with the adjusting bracket, the crossbeam is provided with slide block guide rail;Motor is provided with the crossbeam, motor driven sliding block can move along slide block guide rail;The laser export head is both secured on adjusting bracket with metal powder powder feeder, is adjusted laser up and down by helical screw and is exported The distance of head and Rail Surface, adjust spot size;By electric control unit adjusting slider position, adjusting bracket is driven relative to cross beam movement, while drive laser export head And the movement of metal powder powder feeder, realize the rust-proof conductive metal wire cladding in setting path.
- 8. one kind according to claim 7 realizes any railway track rail level laser melting coating antirusts of claim 1-5 The equipment of conductive method, it is characterised in that:The crossbeam length is more than lateral separation between two guide rails.
- 9. one kind according to claim 8 realizes any railway track rail level laser melting coating antirusts of claim 1-5 The equipment of conductive method, it is characterised in that:The car body includes pedestal, and the car body also includes the generating being arranged on pedestal Mechanical, electrical motivation and water cooling unit, the output generator current are supplied to motor, water cooling unit, optical fiber laser and electrical control Unit, the motor are used to drive car body to move along the rail, and the water cooling unit is used to cool down optical fiber laser.
- 10. one kind according to claim 9 realizes any railway track rail level laser melting coating antirusts of claim 1-5 The equipment of conductive method, it is characterised in that:The electric control unit is furnished with Remote handle.
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CN201710744313.1A CN107386023A (en) | 2017-08-25 | 2017-08-25 | A kind of railway track rail level laser melting coating rust-proof conductive method and apparatus |
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CN201710744313.1A CN107386023A (en) | 2017-08-25 | 2017-08-25 | A kind of railway track rail level laser melting coating rust-proof conductive method and apparatus |
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CN110017774A (en) * | 2019-05-14 | 2019-07-16 | 天地科技股份有限公司上海分公司 | 3 d pose detection cable formula sensor |
CN110227689A (en) * | 2019-06-19 | 2019-09-13 | 苏州大学 | Integration apparatus and method are repaired in a kind of cleaning of high-energy |
CN111621778A (en) * | 2019-12-23 | 2020-09-04 | 阳江市高功率激光应用实验室有限公司 | Method for preparing anticorrosive coating of ocean wind power tower |
CN112144334A (en) * | 2020-09-24 | 2020-12-29 | 长沙智创机电设备有限公司 | Track repair system based on laser cladding |
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CN110017774A (en) * | 2019-05-14 | 2019-07-16 | 天地科技股份有限公司上海分公司 | 3 d pose detection cable formula sensor |
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