CN109078938B - Laser cleaning head for inner wall of pipeline - Google Patents
Laser cleaning head for inner wall of pipeline Download PDFInfo
- Publication number
- CN109078938B CN109078938B CN201811191829.9A CN201811191829A CN109078938B CN 109078938 B CN109078938 B CN 109078938B CN 201811191829 A CN201811191829 A CN 201811191829A CN 109078938 B CN109078938 B CN 109078938B
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- Prior art keywords
- pipeline
- cleaning head
- seat
- wall
- reflecting mirror
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
Abstract
A laser cleaning head for the inner wall of pipeline is composed of an isolating head outside the pipeline and a cleaning head in the pipeline, the laser beam generated by said isolating head has an axis coincident with that of pipeline, and said cleaning head is composed of lens barrel and connecting seat, the front support and the rear support are arranged in the lens barrel, a focusing lens and a reflector seat are arranged in the reflector seat, a reflector is arranged on the reflector seat in an inclined mode, a first rotating motor connected with the reflector seat is arranged in the connecting seat, a linear motor connected with the first rotating motor is arranged in the front support, a second rotating motor and a worm which are connected are arranged in the rear support, three turbines matched with the worm are evenly arranged in the front support along the circumferential direction, three driving wheels are evenly arranged at 120 degrees along the circumferential direction of the rear support, the driving wheels are connected with the turbines through synchronous belts in a transmission mode, and the driving wheels are in contact with the inner wall of. The design has wide application range and good cleaning effect.
Description
Technical Field
The invention relates to a laser cleaning device, in particular to a laser cleaning head for an inner wall of a pipeline, which is mainly suitable for expanding the application range and improving the cleaning effect.
Background
The laser cleaning technology is a process for cleaning the surface of a workpiece by irradiating the surface of the workpiece with high-energy laser beams to instantaneously evaporate or peel off dirt, rust spots or coatings on the surface of the workpiece and effectively removing attachments or surface coatings on the surface of the cleaned object at a high speed. However, the existing laser cleaning device is limited by the size of the laser isolation head, and has great difficulty in cleaning the inner wall of a tiny pipeline.
Disclosure of Invention
The invention aims to overcome the defects and problems of narrow application range and poor cleaning effect in the prior art, and provides a laser cleaning head for the inner wall of a pipeline, which has wide application range and good cleaning effect.
In order to achieve the above purpose, the technical solution of the invention is as follows: a laser cleaning head for the inner wall of a pipeline comprises an isolation head and a cleaning head, wherein the isolation head is positioned outside the pipeline, the axis of a laser beam emitted by the isolation head is superposed with the axis of the pipeline, the cleaning head is positioned inside the pipeline and comprises a lens barrel, a connecting seat, a front support and a rear support which are sequentially connected along the axis direction of the pipeline, a focusing lens is arranged at the position far away from the connecting seat in the lens barrel, a reflector seat is arranged at the position close to the connecting seat in the lens barrel, a reflector is obliquely arranged on the reflector seat, the laser beam passes through the focusing lens and then is reflected to the inner wall of the pipeline by the reflector, a first rotating motor connected with the reflector seat is arranged in the connecting seat, a second rotating motor and a worm which are connected are arranged in the rear support, and three worms matched with turbines are uniformly arranged in the front support along the circumferential direction, the cleaning head still includes along the even three drive wheel that sets up of back support circumferencial direction 120 degrees, and the drive wheel passes through back connecting rod and turbine fixed connection, and the drive wheel passes through the hold-in range to be connected with the turbine transmission, and the drive wheel contacts with the inner wall of pipeline.
A linear motor is arranged in the front support and connected with a first rotating motor through a rotating motor base.
The one end that preceding support was kept away from to back support is provided with the back lid, covers the cover after and is equipped with the spring holder, and the position cover that lies in back support on the spring holder is equipped with No. one spring, and No. one spring is connected with the flange, evenly is provided with three back regulation poles on the flange, and back regulation pole is connected with the back connecting rod.
The cleaning head further comprises three driven wheels which are uniformly arranged at 120 degrees along the circumferential direction of the connecting seat, the driven wheels are in contact with the inner wall of the pipeline, and the driven wheels are connected with the connecting seat through a front connecting rod.
The outer wall of the connecting seat is sleeved with a disc, a second spring is arranged between the disc and the end part of the connecting seat, three front adjusting rods are uniformly arranged on the disc, and the front adjusting rods are connected with the front connecting rods.
And a pressure ring, a protective lens and a spacer are sequentially arranged on one side of the focusing lens away from the reflector in the lens barrel.
The reflecting mirror base is of a cylindrical structure and comprises a first end and a second end, a cutting surface is arranged at a position, between the first end and the second end, on the reflecting mirror base, the cross-sectional area of the reflecting mirror base is sequentially increased from the first end to the second end, the second end is connected with a first rotating motor, and the reflecting mirror is arranged on the cutting surface.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a laser cleaning head for the inner wall of a pipeline, wherein an isolation head is positioned outside the pipeline, the axis of a laser beam emitted by the isolation head is superposed with the axis of the pipeline, a cleaning head is positioned inside the pipeline, and the laser beam passes through a focusing lens and then is reflected to the inner wall of the pipeline by a reflector; the reflector base is connected with the first rotating motor, and when the first rotating motor is electrified, the reflector base and the reflector rotate to realize the circumferential scanning of the focused light beam; the second rotating motor drives the worm to rotate, the worm drives the worm wheel to move, and the worm wheel drives the three driving wheels to move through the synchronous belt, so that the cleaning head walks along the axis direction of the pipeline; the design is not only suitable for pipelines with different inner diameters, but also can well complete the cleaning work of the inner wall of the pipeline. Therefore, the invention has wide application range and good cleaning effect.
2. The linear motor is arranged in the front support seat in the laser cleaning head for the inner wall of the pipeline, and the linear motor is connected with the first rotating motor through the rotating motor seat. Therefore, the cleaning effect of the invention is good.
3. The invention relates to a laser cleaning head for the inner wall of a pipeline.A first spring is sleeved on a spring seat positioned in a rear support and connected with a flange, three rear adjusting rods are uniformly arranged on the flange and connected with a rear connecting rod; the design not only can be adapted to pipelines with different inner diameters, but also can effectively provide friction force required by the laser cleaning head to walk along the axis of the pipeline. Therefore, the invention has wide application range and high reliability.
4. The cleaning head in the laser cleaning head for the inner wall of the pipeline further comprises three driven wheels which are uniformly arranged at 120 degrees along the circumferential direction of the connecting seat, the driven wheels are in contact with the inner wall of the pipeline, and the design is used for assisting the laser cleaning head in centering so as to improve the cleaning effect; the outer wall of the connecting seat is sleeved with a disc, a second spring is arranged between the disc and the end portion of the connecting seat, three front adjusting rods are evenly arranged on the disc and connected with front connecting rods, and the design is used for adapting to pipelines with different inner diameters. Therefore, the invention has good cleaning effect and wide application range.
5. According to the laser cleaning head for the inner wall of the pipeline, the compression ring, the protective mirror and the spacer are sequentially arranged on one side, away from the reflecting mirror, of the focusing lens in the lens barrel, so that the laser cleaning head can be well protected, and the reliability of the laser cleaning head can be improved; the reflecting mirror base is of a cylindrical structure, a cutting surface is arranged at a position between two ends of the reflecting mirror base, the reflecting mirror is arranged on the cutting surface, and the reflecting mirror base of the structure can ensure that a focused light beam can be reliably reflected to the inner wall of the pipeline. Therefore, the invention has long service life and high reliability.
Drawings
FIG. 1 is a schematic view of a laser cleaning head cleaning a pipe according to the present invention.
Fig. 2 is a schematic structural diagram of a laser cleaning head according to the present invention.
Fig. 3 is a cross-sectional view of a laser cleaning head of the present invention.
Fig. 4 is a schematic structural view of the lens barrel in the present invention.
Fig. 5 is a schematic view of an assembly structure of a first rotating electric machine and a linear electric machine according to the present invention.
In the figure: the device comprises an isolation head 1, a cleaning head 2, a lens barrel 21, a connecting seat 22, a front support 23, a rear support 24, a focusing lens 25, a reflector seat 26, a first end 261, a second end 262, a cutting surface 263, a reflector 27, a first rotating motor 28, a second rotating motor 29, a worm 210, a turbine 211, a driving wheel 212, a rear connecting rod 213, a synchronous belt 214, a linear motor 215, a rotating motor seat 216, a rear cover 217, a spring seat 218, a first spring 219, a flange 220, a rear adjusting rod 221, a driven wheel 222, a front connecting rod 223, a disc 224, a second spring 225, a front adjusting rod 226, a pressure ring 227, a protective mirror 228, a spacer 229, a pipeline 3 and a laser beam 4.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 5, a laser cleaning head for an inner wall of a pipeline includes an isolation head 1 and a cleaning head 2, the isolation head 1 is located outside the pipeline 3, an axis of a laser beam 4 emitted by the isolation head 1 coincides with an axis of the pipeline 3, the cleaning head 2 is located inside the pipeline 3, the cleaning head 2 includes a lens barrel 21, a connecting seat 22, a front support 23 and a rear support 24 which are sequentially connected along an axis direction of the pipeline 3, a focusing lens 25 is disposed at a position in the lens barrel 21 away from the connecting seat 22, a reflector seat 26 is disposed at a position in the lens barrel 21 close to the connecting seat 22, a reflector 27 is obliquely disposed on the reflector seat 26, the laser beam 4 passes through the focusing lens 25 and is reflected to the inner wall of the pipeline 3 by the reflector 27, a first rotating motor 28 connected with the reflector seat 26 is disposed in the connecting seat 22, a second rotating motor 29 and a worm 210 connected with each other are disposed in the rear support 24, evenly be provided with three and worm 210 matched with turbine 211 along the circumferencial direction in the preceding support 23, cleaning head 2 still includes the three drive wheel 212 of evenly setting along back support 24 circumferencial direction 120 degrees, and drive wheel 212 passes through back connecting rod 213 and turbine 211 fixed connection, and drive wheel 212 passes through hold-in range 214 and is connected with turbine 211 transmission, and drive wheel 212 contacts with the inner wall of pipeline 3.
A linear motor 215 is arranged in the front support 23, and the linear motor 215 is connected with the first rotating motor 28 through a rotating motor base 216.
A rear cover 217 is arranged at one end of the rear support 24 far away from the front support 23, a spring seat 218 is sleeved on the rear cover 217, a first spring 219 is sleeved on the spring seat 218 at a position in the rear support 24, the first spring 219 is connected with a flange 220, three rear adjusting rods 221 are uniformly arranged on the flange 220, and the rear adjusting rods 221 are connected with the rear connecting rod 213.
The cleaning head 2 further comprises three driven wheels 222 uniformly arranged at 120 degrees along the circumferential direction of the connecting seat 22, the driven wheels 222 are in contact with the inner wall of the pipeline 3, and the driven wheels 222 are connected with the connecting seat 22 through a front connecting rod 223.
A disc 224 is sleeved on the outer wall of the connecting seat 22, a second spring 225 is arranged between the disc 224 and the end of the connecting seat 22, three front adjusting rods 226 are uniformly arranged on the disc 224, and the front adjusting rods 226 are connected with a front connecting rod 223.
A pressure ring 227, a protective mirror 228 and a spacer 229 are sequentially arranged on one side of the focusing lens 25 far away from the reflector 27 in the lens barrel 21.
The reflector base 26 is of a cylindrical structure, the reflector base 26 comprises a first end 261 and a second end 262, a cutting surface 263 is arranged on the portion, located between the first end 261 and the second end 262, of the reflector base 26, the cross-sectional area of the reflector base 26 is sequentially increased from the first end 261 to the second end 262, the second end 262 is connected with the first rotating motor 28, and the reflector 27 is arranged on the cutting surface 263.
The principle of the invention is illustrated as follows:
this design is a disconnect-type laser cleaning head that is used for tiny pipeline inner wall, after selecting suitable micro motor and transmission spare part, can reduce equipment size, is fit for accomplishing the better pipeline inner wall cleaning work of straightness accuracy. As shown in fig. 1, after the fine pipe is fixed in position, the cleaning head is placed at the inner end of the pipe, and the laser isolation head is positioned outside the pipe so that the laser beam axis coincides with the pipe axis.
For the fixed laser beam that will keep apart the head and send evenly focus on the pipeline inner wall of different internal diameters, reach the cleaning performance, the laser cleaning head need have following actuating mechanism:
1. focusing lens and reflecting mechanism (with rotating motor) capable of rotating around pipeline axis
A schematic diagram of the reflection mechanism is shown in fig. 4. The focusing lens, the spacer, the protective lens and the pressure ring are sequentially arranged at the end part of the light-permeable quartz lens cone, and the laser beam is reflected to the inner wall of the pipeline by the obliquely arranged reflector; the reflector base is connected with an output shaft of the rotating motor, and when the rotating motor is electrified, the reflector base and the reflector rotate to realize the circumferential scanning of the focused light beam.
2. Focal length adjusting mechanism (with linear motor) suitable for different pipe inner diameters
The focal length adjustment mechanism is schematically shown in fig. 5. When the inner diameter of the small pipeline changes (different workpieces are cleaned), the axial distance between the reflector and the focusing lens needs to be adjusted so as to ensure that the laser beam is accurately focused on the inner wall of the pipeline and achieve the best cleaning effect; at the moment, the linear motor positioned by the connecting seat is electrified, the motor shaft moves axially, and the axial positions of the rotating motor seat, the rotating motor and the reflector are adjusted.
3. Linear running gear (with rotating motor and transmission system) moving along pipeline axis
The appearance of the linear running mechanism is shown in figure 2. The laser cleaning head is provided with a front group of small wheels and a rear group of small wheels which are uniformly arranged at an angle of 120 degrees in the circumferential direction, the small wheels are all contacted with the inner wall of the pipeline, the rear group of three small wheels are driving wheels, and the linear walking of the laser cleaning head is realized by the friction force between the driving wheels and the inner wall of the pipeline; the front group of three small wheels are driven wheels, which can assist the whole laser cleaning head in centering and keep a stable posture during walking;
the schematic diagram of the linear traveling mechanism is shown in figure 3. A walking motor (a rotating motor) arranged in the rear support drives a worm to rotate, three worm wheels and the worm are uniformly assembled on the inner circumference of the front support to form a transmission pair, and the motion of the worm wheels is transmitted to three driving wheels through a synchronous belt (see fig. 2 and 3);
the spring seat, the first spring, the flange, the rear adjusting rod (three pieces) and the rear connecting rod (three pieces) form a rear self-adaptive mechanism which can adapt to different pipeline inner diameters and provide friction force required by the laser cleaning head to walk along the pipeline axis;
the second spring, the disc, the front adjusting rod (three pieces) and the front connecting rod (three pieces) form a front self-adaptive mechanism which is used for adapting to different inner diameters of pipelines and assisting in centering of the laser cleaning head.
Example 1:
referring to fig. 1 to 5, a laser cleaning head for an inner wall of a pipeline includes an isolation head 1 and a cleaning head 2, the isolation head 1 is located outside the pipeline 3, an axis of a laser beam 4 emitted by the isolation head 1 coincides with an axis of the pipeline 3, the cleaning head 2 is located inside the pipeline 3, the cleaning head 2 includes a lens barrel 21, a connecting seat 22, a front support 23 and a rear support 24 which are sequentially connected along an axis direction of the pipeline 3, a focusing lens 25 is disposed at a position in the lens barrel 21 away from the connecting seat 22, a reflector seat 26 is disposed at a position in the lens barrel 21 close to the connecting seat 22, a reflector 27 is obliquely disposed on the reflector seat 26, the laser beam 4 passes through the focusing lens 25 and is reflected to the inner wall of the pipeline 3 by the reflector 27, a first rotating motor 28 connected with the reflector seat 26 is disposed in the connecting seat 22, a second rotating motor 29 and a worm 210 connected with each other are disposed in the rear support 24, evenly be provided with three and worm 210 matched with turbine 211 along the circumferencial direction in the preceding support 23, cleaning head 2 still includes the three drive wheel 212 of evenly setting along back support 24 circumferencial direction 120 degrees, and drive wheel 212 passes through back connecting rod 213 and turbine 211 fixed connection, and drive wheel 212 passes through hold-in range 214 and is connected with turbine 211 transmission, and drive wheel 212 contacts with the inner wall of pipeline 3.
Example 2:
the basic contents are the same as example 1, except that:
referring to fig. 3 and 5, a linear motor 215 is disposed in the front support 23, and the linear motor 215 is connected to the first rotating electrical machine 28 through a rotating electrical machine base 216.
Example 3:
the basic contents are the same as example 1, except that:
referring to fig. 3, a rear cover 217 is disposed at one end of the rear support 24 away from the front support 23, a spring seat 218 is sleeved on the rear cover 217, a first spring 219 is sleeved on a portion, located in the rear support 24, of the spring seat 218, the first spring 219 is connected with a flange 220, three rear adjusting rods 221 are uniformly disposed on the flange 220, and the rear adjusting rods 221 are connected with the rear connecting rod 213.
Example 4:
the basic contents are the same as example 1, except that:
referring to fig. 2 and 3, the cleaning head 2 further includes three driven wheels 222 uniformly arranged at 120 degrees along the circumferential direction of the connecting base 22, the driven wheels 222 are in contact with the inner wall of the pipeline 3, and the driven wheels 222 are connected with the connecting base 22 through a front connecting rod 223; a disc 224 is sleeved on the outer wall of the connecting seat 22, a second spring 225 is arranged between the disc 224 and the end of the connecting seat 22, three front adjusting rods 226 are uniformly arranged on the disc 224, and the front adjusting rods 226 are connected with a front connecting rod 223.
Example 5:
the basic contents are the same as example 1, except that:
referring to fig. 4 and 5, a pressing ring 227, a protective mirror 228 and a spacer 229 are sequentially arranged on one side of the focusing lens 25 away from the reflecting mirror 27 in the lens barrel 21; the reflector base 26 is of a cylindrical structure, the reflector base 26 comprises a first end 261 and a second end 262, a cutting surface 263 is arranged on the portion, located between the first end 261 and the second end 262, of the reflector base 26, the cross-sectional area of the reflector base 26 is sequentially increased from the first end 261 to the second end 262, the second end 262 is connected with the first rotating motor 28, and the reflector 27 is arranged on the cutting surface 263.
Claims (3)
1. The laser cleaning head for the inner wall of the pipeline is characterized by comprising an isolation head (1) and a cleaning head (2), wherein the isolation head (1) is positioned outside the pipeline (3), the axis of a laser beam (4) emitted by the isolation head (1) is superposed with the axis of the pipeline (3), the cleaning head (2) is positioned inside the pipeline (3), the cleaning head (2) comprises a lens barrel (21), a connecting seat (22), a front supporting seat (23) and a rear supporting seat (24) which are sequentially connected along the axis direction of the pipeline (3), a focusing lens (25) is arranged at a position, far away from the connecting seat (22), in the lens barrel (21), of the lens barrel (21), a reflecting mirror seat (26) is arranged at a position close to the connecting seat (22), a reflecting mirror (27) is obliquely arranged on the reflecting mirror seat (26), and the laser beam (4) is reflected to the inner wall of the pipeline (3) by the reflecting mirror (27) after passing through the focusing lens (25), a first rotating motor (28) connected with the reflector base (26) is arranged in the connecting base (22), a second rotating motor (29) and a worm (210) which are connected are arranged in the rear support (24), three turbines (211) matched with the worm (210) are uniformly arranged in the front support (23) along the circumferential direction, the cleaning head (2) further comprises three driving wheels (212) uniformly arranged at 120 degrees along the circumferential direction of the rear support (24), the driving wheels (212) are fixedly connected with the turbines (211) through rear connecting rods (213), the driving wheels (212) are in transmission connection with the turbines (211) through synchronous belts (214), and the driving wheels (212) are in contact with the inner wall of the pipeline (3);
a linear motor (215) is arranged in the front support (23), and the linear motor (215) is connected with a first rotating motor (28) through a rotating motor base (216); a rear cover (217) is arranged at one end, away from the front support (23), of the rear support (24), a spring seat (218) is sleeved on the rear cover (217), a first spring (219) is sleeved at a position, located in the rear support (24), on the spring seat (218), the first spring (219) is connected with a flange (220), three rear adjusting rods (221) are uniformly arranged on the flange (220), and the rear adjusting rods (221) are connected with a rear connecting rod (213); the cleaning head (2) further comprises three driven wheels (222) which are uniformly arranged at 120 degrees along the circumferential direction of the connecting seat (22), the driven wheels (222) are in contact with the inner wall of the pipeline (3), and the driven wheels (222) are connected with the connecting seat (22) through a front connecting rod (223); the outer wall of the connecting seat (22) is sleeved with a disc (224), a second spring (225) is arranged between the disc (224) and the end part of the connecting seat (22), three front adjusting rods (226) are uniformly arranged on the disc (224), and the front adjusting rods (226) are connected with a front connecting rod (223).
2. A laser cleaning head for the inner wall of a pipe according to claim 1, characterized in that: a pressing ring (227), a protective mirror (228) and a spacer (229) are sequentially arranged on one side, far away from the reflecting mirror (27), of the focusing lens (25) in the lens barrel (21).
3. A laser cleaning head for the inner wall of a pipe according to claim 1, characterized in that: the reflecting mirror base (26) is of a cylindrical structure, the reflecting mirror base (26) comprises a first end (261) and a second end (262), a cutting surface (263) is arranged at a position, between the first end (261) and the second end (262), on the reflecting mirror base (26), the cross-sectional area of the reflecting mirror base (26) is sequentially increased from the first end (261) to the second end (262), the second end (262) is connected with a rotating motor (28), and the reflecting mirror (27) is arranged on the cutting surface (263).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811191829.9A CN109078938B (en) | 2018-10-12 | 2018-10-12 | Laser cleaning head for inner wall of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811191829.9A CN109078938B (en) | 2018-10-12 | 2018-10-12 | Laser cleaning head for inner wall of pipeline |
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| Publication Number | Publication Date |
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| CN109078938A CN109078938A (en) | 2018-12-25 |
| CN109078938B true CN109078938B (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811191829.9A Active CN109078938B (en) | 2018-10-12 | 2018-10-12 | Laser cleaning head for inner wall of pipeline |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111889458B (en) * | 2020-07-31 | 2023-01-31 | 济南大学 | Self-adaptive laser cleaning robot |
| CN112923786B (en) * | 2021-02-22 | 2021-11-05 | 江苏国源激光智能装备制造有限公司 | Gun barrel inner wall laser cleaning machine equipment |
| CN113441480A (en) * | 2021-07-16 | 2021-09-28 | 江苏大学 | Compound laser belt cleaning device of marine industrial equipment pipeline inner wall |
| CN114669883A (en) * | 2022-04-12 | 2022-06-28 | 武汉飞能达激光技术有限公司 | Laser texturing method and device for inner wall of barrel |
| CN115338207B (en) * | 2022-09-22 | 2023-09-12 | 沈阳工业大学 | Be used for abluent laser belt cleaning device of oil pipeline inner wall |
| CN115990597B (en) * | 2023-03-23 | 2023-05-26 | 江苏昆太工业装备有限公司 | Pipeline clamping device for pipeline laser cleaning |
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| CN109078938A (en) | 2018-12-25 |
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