CN109108459A - A kind of high degree of safety automatized three-dimensional laser process equipment - Google Patents
A kind of high degree of safety automatized three-dimensional laser process equipment Download PDFInfo
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- CN109108459A CN109108459A CN201811215788.2A CN201811215788A CN109108459A CN 109108459 A CN109108459 A CN 109108459A CN 201811215788 A CN201811215788 A CN 201811215788A CN 109108459 A CN109108459 A CN 109108459A
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- Prior art keywords
- dimensional
- galvanometer
- laser
- safety
- automatized
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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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
-
- 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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/046—Automatically focusing the laser beam
-
- 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
- B23K26/70—Auxiliary operations or equipment
-
- 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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention provides a kind of high degree of safety automatized three-dimensional laser process equipment, including rack, the protective cover in upper rack, the controller for being set to machine frame inside, the full-automatic machine people chucking appliance system on upper rack processing platform and Three-Dimensional Dynamic focusing system；Three-Dimensional Dynamic focusing system includes that the laser, beam expanding lens, Three-Dimensional Dynamic being electrically connected with controller focus galvanometer, scanning galvanometer and field lens；The light beam directive beam expanding lens first emitted by laser, Three-Dimensional Dynamic is entered by beam expanding lens again and focuses galvanometer, finally reach scanning galvanometer region, and three-dimensional focal face is formed on object to be processed, so that the machining angle transformation of object to be processed is more flexible, laser processing is more efficient for the introducing of full-automatic machine people's chucking appliance system, accuracy is also higher, and being conducive to actual manipulation, the design is reasonable in design, highly-safe.
Description
[technical field]
The present invention relates to laser process equipment technical fields, more particularly to a kind of reasonable in design, using effect protrusion
High degree of safety automatized three-dimensional laser process equipment.
[background technique]
In recent years, with the development of laser processing technology, gradually the laser processing technology of three-dimensional high-precision and equipment are mentioned
Higher requirement is gone out.Specifically mainly include following several respects:
Higher spatial positioning accuracy is proposed to laser, needs to realize in entire Three-dimension process space high-precision sharp
Optical position and focusing position.
Jig microscope carrier needs more freedom degrees, to realize the space overturning and processing of complex parts, while guaranteeing again
The precision and rigidity of space overturning.
It needs to realize laser spot the adjustment of high speed, and can accurately match with processing curve, to meet processing essence
The demand of degree and processing efficiency.
In process to prevent moving component and laser emission from damaging to operator, there is relevant protection
Measure.
In laser processing procedure, for nonplanar structure, the adjusting focal beam spot height and size of fast and flexible are needed,
The machined surface for forming surface modeling, could smoothly complete to process, however, at present in response to this, general settling mode
It is to utilize different laser Machining heads, adjusts the height size of each processing head respectively, so that the focusing surface of curved surface is generated, it is such
The cost of equipment is not only greatly improved in design, but also maintenance cost is high, and manipulation is complicated, is unfavorable for being widely popularized for equipment.
Based on the above issues, those skilled in the art has carried out a large amount of research and development and experiment, from the processing of laser processing
Principle and process flow, which are set out, to be improved and improves, and is targetedly researched and developed, and achieve preferable achievement.
[summary of the invention]
To overcome the problems of prior art, the present invention provides a kind of reasonable in design, and using effect is outstanding
High degree of safety automatized three-dimensional laser process equipment.
The scheme that the present invention solves technical problem is to provide a kind of high degree of safety automatized three-dimensional laser process equipment, including
Rack, the protective cover in upper rack, the controller for being set to machine frame inside, on upper rack processing platform it is complete from
Mobile robot chucking appliance system and Three-Dimensional Dynamic focusing system；The Three-Dimensional Dynamic focusing system includes being electrically connected with controller
Laser, beam expanding lens, Three-Dimensional Dynamic focus galvanometer, scanning galvanometer and field lens；Expanded by the light beam directive first of laser transmitting
Shu Jing, then Three-Dimensional Dynamic is entered by beam expanding lens and focuses galvanometer, scanning galvanometer region is finally reached, and formed on object to be processed
Three-dimensional focal face；It further include for adjusting the transmission between beam expanding lens and Three-Dimensional Dynamic focusing galvanometer along optical axis direction apart from size
Device, the Three-Dimensional Dynamic focus galvanometer and are set on the transmission device；The full-automatic machine people chucking appliance system includes machine
It people's main body and installs and is set to robot main body front end end position, for fixing and installing object to be processed
Material fixture；Signal display for showing specific machining information is installed in the protective cover front, can be relative to protection
The Access panel that cover front rotates and the control button case including multiple control buttons；The signal display, control button case
It is electrically connected with controller.
Preferably, the Three-Dimensional Dynamic focusing system includes laser storehouse for placing laser and expands for disposing
Shu Jing and Three-Dimensional Dynamic focus the focus lamp storehouse of galvanometer；Scanning galvanometer is set on the outside of focus lamp storehouse；In the beam expanding lens and three
The reflective mirror combination for changing the light direction of propagation is additionally provided between dimension dynamic focusing vibration mirror；Laser light from beam expanding lens
Then beam is irradiated to Three-Dimensional Dynamic and is focused in galvanometer by the reflection of reflective mirror.
Preferably, the Three-Dimensional Dynamic focusing system further includes being set to laser storehouse and focus lamp storehouse lower part, playing branch
The support frame of support effect；The support frame is set on the processing platform of rack；Support frame is fixed with laser storehouse and focus lamp storehouse
Connection；At least one is also installed on the inside of the rack for improving the radiator fan of equipment internal heat dissipating performance；And described
Rack side portion position is provided with thermal window, and frame front is provided with maintenance door.
Preferably, the protective cover front offers the material window for fetching processing object；And in the material window
Mouth outside is additionally provided with and controller is electrically connected, the safety catch for avoiding causing personal injury in equipment running process
Plate；It is provided with safe grating on the safety screen, in equipment running process, safe grating is protruded at manpower or other positions
After sensing range, controller controls equipment operation suspension.
Preferably, a kind of high degree of safety automatized three-dimensional laser process equipment further includes being set to the upper rack
Manipulation keyboard；The alarm lamp being electrically connected with controller is additionally provided on the protective cover top.
Preferably, the robot main body include pedestal, the first arm body for being set to pedestal top, with the first arm body phase
It the second arm body for being connected for the other end of pedestal, the third arm body being connected with the second arm body and is set to described
The rotating shaft assembly of third arm body end head position；The material fixture is connected with rotating shaft assembly front end position；It further include being used for
The first driving motor for driving the first arm body to rotate relative to pedestal, for driving the second arm body to rotate relative to the first arm body
Second driving motor, the third driving motor for driving third arm body to rotate relative to the second arm body, for driving rotary shaft
The 4th driving motor that component is rotated relative to third arm body and for driving that the output shaft of rotating shaft assembly rotates the 5th
Driving motor；First driving motor, the second driving motor, third driving motor, the 4th driving motor, the 5th driving motor
It is electrically connected with controller.
Preferably, the quantity of the reflective mirror inside the focus lamp storehouse is two；And it is additionally provided with inside focus lamp storehouse
The focusing galvanometer storehouse of galvanometer is focused for placing Three-Dimensional Dynamic；Light passing is offered towards reflective mirror side in the focusing galvanometer storehouse
Hole；The beam expanding lens and Three-Dimensional Dynamic focus galvanometer and are arranged in parallel.
Preferably, the scanning galvanometer is located at Three-Dimensional Dynamic and focuses on rear side of galvanometer；And the scanning galvanometer is fixed on focus lamp
On storehouse；Field lens is fixed on scanning galvanometer lower part.
Preferably, the laser is ultraviolet laser or infrared laser.
Preferably, position is provided with convenient for the transparent window of observation device operation conditions among the Access panel.
Compared with prior art, a kind of high degree of safety automatized three-dimensional laser process equipment of the present invention passes through while machine is arranged
Frame 11, the controller being set to inside rack 11, is in 11 top processing platform of rack at the protective cover 12 in 11 top of rack
On full-automatic machine people chucking appliance system 13 and Three-Dimensional Dynamic focusing system, and the Three-Dimensional Dynamic focusing system is designed to
Laser, beam expanding lens, Three-Dimensional Dynamic including being electrically connected with controller focus galvanometer, scanning galvanometer and field lens structure group
At, in actual moving process, the light beam directive beam expanding lens first emitted by laser, then Three-Dimensional Dynamic is entered by beam expanding lens and is focused
Galvanometer finally reaches scanning galvanometer region, and three-dimensional focal face, full-automatic machine people's chucking appliance system are formed on object to be processed
13 introducing is so that the machining angle transformation of object to be processed is more flexible, and laser processing is more efficient, and accuracy is also higher, and
Be conducive to actual manipulation, the design is reasonable in design, highly-safe.
[Detailed description of the invention]
Fig. 1 is a kind of stereoscopic-state structural schematic diagram of high degree of safety automatized three-dimensional laser process equipment of the present invention.
[specific embodiment]
To make the purpose of the present invention, technical solution and advantage are more clearly understood, with reference to the accompanying drawings and embodiments, to this
Invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, not
For limiting the invention.
Referring to Fig. 1, a kind of high degree of safety automatized three-dimensional laser process equipment 1 of the present invention includes rack 11, is in machine
It is the protective cover 12 on 11 top of frame, the controller being set to inside rack 11, full-automatic on 11 top processing platform of rack
Robot clamp system 13 and Three-Dimensional Dynamic focusing system；The Three-Dimensional Dynamic focusing system includes being electrically connected with controller
Laser, beam expanding lens, Three-Dimensional Dynamic focus galvanometer, scanning galvanometer and field lens；Expanded by the light beam directive first of laser transmitting
Shu Jing, then Three-Dimensional Dynamic is entered by beam expanding lens and focuses galvanometer, scanning galvanometer region is finally reached, and formed on object to be processed
Three-dimensional focal face；It further include for adjusting the transmission between beam expanding lens and Three-Dimensional Dynamic focusing galvanometer along optical axis direction apart from size
Device, the Three-Dimensional Dynamic focus galvanometer and are set on the transmission device；The full-automatic machine people chucking appliance system 13 includes machine
It device people main body and installs and is set to robot main body front end end position, for fixing and installing object to be processed
Material fixture；Signal display 124 for showing specific machining information is installed in 12 front of protective cover, can be opposite
In the Access panel 12 of 12 front rotation of protective cover and including the control button case 125 of multiple control buttons；The signal is shown
Screen 124, control button case 125 and controller are electrically connected.
The present invention passes through while rack 11 is arranged, the protective cover 12 in 11 top of rack, is set to inside rack 11
Controller, the full-automatic machine people chucking appliance system 13 on 11 top processing platform of rack and Three-Dimensional Dynamic focusing system, and
The Three-Dimensional Dynamic focusing system is designed to include that the laser, beam expanding lens, Three-Dimensional Dynamic being electrically connected with controller gather
Burnt galvanometer, scanning galvanometer and field lens structure composition in actual moving process, are expanded by the light beam directive first that laser emits
Mirror, then Three-Dimensional Dynamic is entered by beam expanding lens and focuses galvanometer, scanning galvanometer region is finally reached, and form three on object to be processed
Tie up focusing surface, full-automatic machine people chucking appliance system 13 introducing so that object to be processed machining angle transformation it is more flexible, swash
Light processing efficiency is higher, and accuracy is also higher, and is conducive to actual manipulation, and the design is reasonable in design, highly-safe.
Preferably, the Three-Dimensional Dynamic focusing system includes laser storehouse for placing laser and expands for disposing
Shu Jing and Three-Dimensional Dynamic focus the focus lamp storehouse of galvanometer；Scanning galvanometer is set on the outside of focus lamp storehouse；In the beam expanding lens and three
The reflective mirror combination for changing the light direction of propagation is additionally provided between dimension dynamic focusing vibration mirror；Laser light from beam expanding lens
Then beam is irradiated to Three-Dimensional Dynamic and is focused in galvanometer by the reflection of reflective mirror.
Preferably, the Three-Dimensional Dynamic focusing system further includes being set to laser storehouse and focus lamp storehouse lower part, playing branch
The support frame of support effect；The support frame is set on the processing platform of rack 11；Support frame and laser storehouse and focus lamp storehouse are solid
Fixed connection；11 inside of rack is also installed at least one for improving the radiator fan of equipment internal heat dissipating performance；And
The 11 side position of rack is provided with thermal window 111, and 11 front of rack is provided with maintenance door.
Preferably, 12 front of protective cover offers the material window for fetching processing object；And in the material
It is additionally provided on the outside of window and controller electric connection, the safety catch for avoiding causing personal injury in equipment running process
Plate 123；It is provided with safe grating on the safety screen 123, in equipment running process, safety is protruded at manpower or other positions
After the sensing range of grating, controller controls equipment operation suspension.
Preferably, a kind of high degree of safety automatized three-dimensional laser process equipment 1 further includes being set to the rack 11
The manipulation keyboard 126 on top；The alarm lamp 121 being electrically connected with controller is additionally provided on 12 top of protective cover.
Preferably, the robot main body include pedestal, the first arm body for being set to pedestal top, with the first arm body phase
It the second arm body for being connected for the other end of pedestal, the third arm body being connected with the second arm body and is set to described
The rotating shaft assembly of third arm body end head position；The material fixture is connected with rotating shaft assembly front end position；It further include being used for
The first driving motor for driving the first arm body to rotate relative to pedestal, for driving the second arm body to rotate relative to the first arm body
Second driving motor, the third driving motor for driving third arm body to rotate relative to the second arm body, for driving rotary shaft
The 4th driving motor that component is rotated relative to third arm body and for driving that the output shaft of rotating shaft assembly rotates the 5th
Driving motor；First driving motor, the second driving motor, third driving motor, the 4th driving motor, the 5th driving motor
It is electrically connected with controller.
Preferably, the quantity of the reflective mirror inside the focus lamp storehouse is two；And it is additionally provided with inside focus lamp storehouse
The focusing galvanometer storehouse of galvanometer is focused for placing Three-Dimensional Dynamic；Light passing is offered towards reflective mirror side in the focusing galvanometer storehouse
Hole；The beam expanding lens and Three-Dimensional Dynamic focus galvanometer and are arranged in parallel.
Preferably, the scanning galvanometer is located at Three-Dimensional Dynamic and focuses on rear side of galvanometer；And the scanning galvanometer is fixed on focus lamp
On storehouse；Field lens is fixed on scanning galvanometer lower part.
Preferably, the laser is ultraviolet laser or infrared laser.
Preferably, the intermediate position of the Access panel 122 is provided with convenient for the transparent window of observation device operation conditions
1221。
Compared with prior art, a kind of high degree of safety automatized three-dimensional laser process equipment 1 of the present invention passes through while being arranged
Rack 11, the protective cover 12 in 11 top of rack, the controller being set to inside rack 11, in 11 top of rack, processing is flat
Full-automatic machine people chucking appliance system 13 and Three-Dimensional Dynamic focusing system on platform, and the Three-Dimensional Dynamic focusing system is designed to
Being includes that the laser, beam expanding lens, Three-Dimensional Dynamic being electrically connected with controller focus galvanometer, scanning galvanometer and field lens structure group
At, in actual moving process, the light beam directive beam expanding lens first emitted by laser, then Three-Dimensional Dynamic is entered by beam expanding lens and is focused
Galvanometer finally reaches scanning galvanometer region, and three-dimensional focal face, full-automatic machine people's chucking appliance system are formed on object to be processed
13 introducing is so that the machining angle transformation of object to be processed is more flexible, and laser processing is more efficient, and accuracy is also higher, and
Be conducive to actual manipulation, the design is reasonable in design, highly-safe.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should be included in claim protection model of the invention
Within enclosing.
Claims (10)
1. a kind of high degree of safety automatized three-dimensional laser process equipment, it is characterised in that: including rack, in the guarantor of upper rack
Shield, the controller for being set to machine frame inside, the full-automatic machine people chucking appliance system and three on upper rack processing platform
Tie up dynamic focusing system；The Three-Dimensional Dynamic focusing system includes dynamic with the laser, beam expanding lens, three-dimensional of controller electric connection
State focuses galvanometer, scanning galvanometer and field lens；The light beam directive beam expanding lens first emitted by laser, then enter three by beam expanding lens
Dynamic focusing vibration mirror is tieed up, scanning galvanometer region is finally reached, and forms three-dimensional focal face on object to be processed；It further include being used for
The transmission device between beam expanding lens and Three-Dimensional Dynamic focusing galvanometer along optical axis direction apart from size is adjusted, the Three-Dimensional Dynamic focuses
Galvanometer is set on the transmission device；The full-automatic machine people chucking appliance system includes that robot main body and installing is set to
Robot main body front end end position, the material fixture for fixing and installing object to be processed；In the protective cover
Front be installed on signal display for showing specific machining information, can relative to the Access panel that protective cover front rotates with
And the control button case including multiple control buttons；The signal display, control button case and controller are electrically connected.
2. a kind of high degree of safety automatized three-dimensional laser process equipment as described in claim 1, it is characterised in that: the three-dimensional
Dynamic focusing system includes laser storehouse for placing laser and for disposing beam expanding lens and Three-Dimensional Dynamic to focus galvanometer
Focus lamp storehouse；Scanning galvanometer is set on the outside of focus lamp storehouse；It focuses in the beam expanding lens and Three-Dimensional Dynamic and is also set between galvanometer
It is equipped with the reflective mirror combination for changing the light direction of propagation；Laser beam from beam expanding lens is by the reflection of reflective mirror, so
After be irradiated to Three-Dimensional Dynamic focus galvanometer in.
3. a kind of high degree of safety automatized three-dimensional laser process equipment as claimed in claim 2, it is characterised in that: the three-dimensional
Dynamic focusing system further includes being set to laser storehouse and focus lamp storehouse lower part, the support frame played a supporting role；The support frame
It is set on the processing platform of rack；Support frame is fixedly connected with laser storehouse and focus lamp storehouse；It is also installed on the inside of the rack
There is at least one for improving the radiator fan of equipment internal heat dissipating performance；And rack side portion position is provided with radiator window
Mouthful, frame front is provided with maintenance door.
4. a kind of high degree of safety automatized three-dimensional laser process equipment as described in claim 1, it is characterised in that: the protection
Cover front offers the material window for fetching processing object；And it is additionally provided on the outside of the material window and controller electricity
Property connection, the safety screen for avoiding causing personal injury in equipment running process；It is provided on the safety screen
Safe grating, in equipment running process, after the sensing range of safe grating is protruded at manpower or other positions, controller controls equipment
Operation suspension.
5. a kind of high degree of safety automatized three-dimensional laser processing as described in any one of Claims 1-4 claim is set
It is standby, it is characterised in that: to further include the manipulation keyboard for being set to the upper rack；It is additionally provided with and controls on the protective cover top
The alarm lamp that device processed is electrically connected.
6. a kind of high degree of safety automatized three-dimensional laser process equipment as described in claim 1, it is characterised in that: the machine
People's main body includes pedestal, the first arm body for being set to pedestal top, is connected relative to the other end of pedestal with the first arm body
The second arm body, the third arm body that is connected with the second arm body and the rotation for being set to the third arm body end head position
Shaft assembly；The material fixture is connected with rotating shaft assembly front end position；It further include for driving the first arm body relative to pedestal
Rotation the first driving motor, the second driving motor for driving the second arm body to rotate relative to the first arm body, for driving
Third driving motor that third arm body is rotated relative to the second arm body, for driving rotating shaft assembly to rotate relative to third arm body
The 4th driving motor and the 5th driving motor for driving the output shaft of rotating shaft assembly to rotate；The first driving electricity
Machine, the second driving motor, third driving motor, the 4th driving motor, the 5th driving motor and controller are electrically connected.
7. a kind of high degree of safety automatized three-dimensional laser process equipment as claimed in claim 2 or claim 3, it is characterised in that: described
The quantity of reflective mirror inside focus lamp storehouse is two；And it is additionally provided with inside focus lamp storehouse and is focused for placing Three-Dimensional Dynamic
The focusing galvanometer storehouse of galvanometer；Light hole is offered towards reflective mirror side in the focusing galvanometer storehouse；The beam expanding lens and three-dimensional are dynamic
State focuses galvanometer and is arranged in parallel.
8. a kind of high degree of safety automatized three-dimensional laser process equipment as claimed in claim 7, it is characterised in that: the scanning
Galvanometer is located at Three-Dimensional Dynamic and focuses on rear side of galvanometer；And the scanning galvanometer is fixed on focus lamp storehouse；Field lens is fixed on scanning galvanometer
Lower part.
9. a kind of high degree of safety automatized three-dimensional laser process equipment as described in claim 1, it is characterised in that: the laser
Device is ultraviolet laser or infrared laser.
10. a kind of high degree of safety automatized three-dimensional laser process equipment as described in claim 1, it is characterised in that: the inspection
Position among plate of having a shave is provided with convenient for the transparent window of observation device operation conditions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811215788.2A CN109108459A (en) | 2018-10-18 | 2018-10-18 | A kind of high degree of safety automatized three-dimensional laser process equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811215788.2A CN109108459A (en) | 2018-10-18 | 2018-10-18 | A kind of high degree of safety automatized three-dimensional laser process equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355466A (en) * | 2019-06-25 | 2019-10-22 | 深圳市镭康机械设备有限公司 | A kind of continuous welding equipment of intelligence automatic closing type optical fiber |
| CN110883420A (en) * | 2019-12-24 | 2020-03-17 | 深圳市斯普莱特激光科技有限公司 | High-intelligent double-laser-head laser processing equipment |
| CN113523539A (en) * | 2021-09-03 | 2021-10-22 | 苏州旗开得电子科技有限公司 | Device for improving safety of rotary friction welding |
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