CN104708220B - A kind of pipeline all-position working rig and its control method - Google Patents

A kind of pipeline all-position working rig and its control method Download PDF

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Publication number
CN104708220B
CN104708220B CN201510085283.9A CN201510085283A CN104708220B CN 104708220 B CN104708220 B CN 104708220B CN 201510085283 A CN201510085283 A CN 201510085283A CN 104708220 B CN104708220 B CN 104708220B
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China
Prior art keywords
movement
axial motion
circumferential movement
pipeline
swing
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CN201510085283.9A
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Chinese (zh)
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CN104708220A (en
Inventor
姚永哲
向目靖
姚广春
殷金龙
郭建钢
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深圳雷瑞智动机械设备有限公司
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Priority to CN201510085283.9A priority Critical patent/CN104708220B/en
Publication of CN104708220A publication Critical patent/CN104708220A/en
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Publication of CN104708220B publication Critical patent/CN104708220B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K7/00Cutting, scarfing, or desurfacing by applying flames

Abstract

The invention belongs to field of machinery automation, and in particular to a kind of pipeline all-position working rig and its control method, the working rig includes guide rail, moving cell, performs terminal, driver element and control unit;Moving cell is along guide rail circumferential movement;Moving cell one end is connected with performing terminal;The output end of control unit is connected with the input of driver element;Be connected respectively with the motor of the moving cell motor of pulse signal that driver element reception control unit sends and powered motion unit of the output end of driver element performs corresponding actions;The moving cell includes circumferential movement mechanism, axial motion mechanism, radial movement mechanism and swing mechanism, and aforementioned four mechanism is driven by motor, can respective self-movement;Sweep mechanism is installed in circumferential movement mechanism.The standby automatic progress pipe cutting of the work tool and welding function, the defects of overcoming for irregular pipe road manual work, and can be detected, adjust automatically in real time.

Description

A kind of pipeline all-position working rig and its control method
Technical field
The invention belongs to field of machinery automation, and in particular to a kind of plant equipment for pipeline connection/separation.
Background technology
The pipeline welding that foreign countries have been commercialized/Cutting Automation device, involves great expense, and build is larger, can only be in regular pattern composite Operation on face.The construction environment of domestic pipeline is complicated, and pipe shape is irregular (section circularity is poor), therefore the rail of import equipment Road can be present and pipeline out-of-alignment situation.And track can coaxially not cause executing agency's movement position mistake with pipeline, cause Machine can not normal use.Therefore, at present still based on manual work.And mechanism of Advanced skill worker shortage be present in manual work, The problem of efficiency is low, hinders the upgrading and development of domestic industry, and full manual work often occur standard differ, weld seam Quality is uneven, manually cutting welds unmatched problem to leading portion with back segment machine.
The content of the invention
In view of the shortcomings of the prior art, present invention offer one kind is used for pipeline all-position working rig and its control method, should The standby automatic progress pipe cutting of work tool and welding function, the defects of overcoming for irregular pipe road manual work, and can To detect in real time, adjust automatically.
In order to realize foregoing invention purpose, the present invention adopts the following technical scheme that:
A kind of full pipeline operations machine includes guide rail 2, moving cell, performs terminal 10, driver element 12 and control unit 13; Moving cell is along the circumferential movement of guide rail 2;Moving cell one end is connected with performing terminal 10;The output end of control unit 13 and driving The input of unit 12 is connected;The output end of driver element 12 driver element 12 that is connected respectively with the motor of moving cell connects The motor for receiving the pulse signal that control unit 13 is sent and powered motion unit performs corresponding actions;The moving cell bag Circumferential movement mechanism 3, axial motion mechanism 4, radial movement mechanism 5 and swing mechanism 6 are included, aforementioned four mechanism is driven by motor It is dynamic, can respective self-movement;Perform and sweep mechanism 7 is installed in terminal 10..
Further, the circular orbit that the guide rail 2 is formed by connecting for two semi-circular members by support member 9, guide rail 2 Side has circumferential lateral edge groove;It is rigid strutting piece in the support member 9 of the upper semicircumference of guide rail 2 installation, the lower half circumference of guide rail 2 is pacified The support member 9 of dress is elastic supporting member for supporting optical member.
Further, radial movement mechanism 5 and swing mechanism 6 are arranged in axial motion mechanism 4, axial motion mechanism 4 In circumferential movement mechanism 3.
Further, driving wheel 15 is installed immediately below the bottom of circumferential movement mechanism 3, driving wheel 15 rolls on guide rail 2. The bottom side of circumferential movement mechanism 3 is provided with rolling member 16, and the rolling member 16 is arranged in the side groove of guide rail 2, and can be along side Side trough roller moves.
Further, executing agency 10 both can be the welder for connection or the cutting for separation Device.
A kind of control method welded using full pipeline operations machine, is comprised the following steps:
Step 1, prepare welding:The caliber and thickness of pipe wall of pipeline to be welded are inputted, control unit 13 judges the filling weldering number of turns And step 4 whether is carried out to 6;
Step 2, circumferential movement mechanism 3 drive sweep mechanism 7 to complete the whole circle weld and HAZ of pipeline and scanning;
Step 3, start tack welding:Start after performing terminal welding gun, circumferential movement mechanism 3 is synchronous with axial motion mechanism 4 Motion;
Step 4, start backing welding:After starting welding gun, circumferential movement mechanism 3 is synchronized with the movement with axial motion mechanism 4, according to Ad-hoc location is welded, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, swing mechanism 6 and radial direction The synchronous adjustment of motion 5 performs the angle and height of terminal 10;
Step 5, start filling weldering first lap:After starting welding gun, the fortune synchronous with axial motion mechanism 4 of circumferential movement mechanism 3 Dynamic, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, swing mechanism 6 and the synchronous adjustment of radial movement mechanism 5 perform terminal 10 angle with height;
Step 6, judge whether the filling weldering number of turns is completed, if completing, perform step 7, otherwise, repeat step 5;
Step 7, start cosmetic welding:After starting welding gun, circumferential movement mechanism 3 is synchronized with the movement with axial motion mechanism 4, according to Ad-hoc location is welded, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, swing mechanism 6 and radial direction The synchronous adjustment of motion 5 performs the angle and height of terminal 10;
Step 8, welding terminate.
Further, for the ad-hoc location by the way that whole piece weld seam is divided into N number of point, each point correspond to an oscillating machine The movement velocity of the adjustment height of the adjustment angle of structure 6 and radial movement mechanism 5, circumferential movement mechanism 3 and axial motion mechanism 4, And continuous parameters change between points.
A kind of control method cut using full pipeline operations machine-cut, is comprised the following steps:
Step 1, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 2, start gas cutting:The adjustment of swing mechanism 6 first performs the angle of terminal 10, and then radial movement mechanism 5 adjusts Perform the height of terminal 10.After starting cutter device, circumferential movement mechanism 3 is synchronized with the movement with axial motion mechanism 4.
Step 3, judge whether circumferential movement mechanism completes to specify step number, if completing, perform step 4, otherwise, repeat to walk Rapid 2;
Step 4, stop gas cutting;
Step 5, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 6, cutting terminate.
Beneficial effect of the present invention:
1. solve the problems, such as full manual work standard differ, weldquality inequality.
2. solving leading portion, manually cutting welds unmatched problem with back segment machine, the tight cooperation in process is realized.
3. it is big to solve existing equipment volume, operation inconvenience, the problem of being not used to narrow and small working space.Light weight, body Product is small, adapts to a variety of construction sites, convenient operation.
4. implementing operation pipe detection by sweep mechanism, solve local irregularities at irregular shape pipe welding seam, Groove is second-rate and the problem of causing weld defect, realize real-time detection of the working rig to position while welding and groove defect, And then the function of adjust automatically welding action.
5. by setting rigid strutting piece and elastic supporting member for supporting optical member in guide rail, the relative of guide rail and operation pipeline both ensure that Position is constant, adapts to installation and use of the working rig on appropriate irregular shape pipeline again.
Brief description of the drawings
Fig. 1 pipeline all-position working rig structural representations;
Fig. 2 pipeline all-position working rig partial structurtes enlarged drawings;
Fig. 3 pipeline all-position working rig motions are in operation pipeline diverse location graph of a relation;
Fig. 4 pipeline all-positions working rig welds control flow chart;
Fig. 5 pipeline all-position working rig cut-sytle pollination flow charts;
In figure:1- pipelines;2- guide rails;3- circumferential movements mechanism;4- axial motion mechanisms;5- radial movement mechanisms;6- is put Motivation structure;7- sweep mechanisms;8- clamping devices;9- support members;10- performs terminal;11- handles;12- driver elements;13- is controlled Unit;14- power supplys;15- driving wheels;16- rolling members.
Embodiment
With reference to example, technical scheme is specifically introduced:
As shown in figure 1, a kind of pipeline all-position working rig includes guide rail 2, moving cell, performs terminal 10, driver element 12 and control unit 13.Moving cell includes circumferential movement mechanism 3, axial motion mechanism 4, radial movement mechanism 5 and oscillating machine Structure 6.The output end of control unit 13 is connected with the input of driver element 12, and sends pulse signal.Driver element 12 it is defeated Go out end respectively with the motor of moving cell to be connected, the pulse signal that the reception control unit 13 of driver element 12 is sent and driving The motor of moving cell performs corresponding actions.
Guide rail 2 is two semi-circular members to be formed by connecting a complete track by support member 9, and the side of guide rail 2 has annular Side groove;Guide rail 2 is fixed by the lower surface of support member 9 with pipeline 1.In the support member 9 that the upper semicircumference part of guide rail 2 is installed For rigid strutting piece, the support member 9 of the lower half circumferential section installation of guide rail 2 is elastic supporting member for supporting optical member.
Radial movement mechanism 5 and swing mechanism 6 are arranged in axial motion mechanism 4, and axial motion mechanism 4 is arranged on circumferential On motion 3.Circumferential movement mechanism 3 is provided with driving wheel 15 immediately below bottom, and driving wheel 15 rolls on guide rail 2.It is circumferential The bottom side of motion 3 is provided with rolling member 16, and the rolling member 16 is arranged in the side groove of guide rail 2, and can be along side groove Roll, realize support of the circumferential movement mechanism 3 on guide rail 2, as shown in Figure 2.
Clamping device 8 is installed, for clamping executing agency 10 in radial movement mechanism 5 so that executing agency 10 installs In in radial movement mechanism 5;Circumferential movement mechanism 3, axial motion mechanism 4;Radial movement mechanism 5;Swing mechanism 6 passes through respectively Motor drives, can respective self-movement.Aforementioned four mechanism realizes that executing agency 10 is leading by different motor movement modes The diverse location of rail 2 is in different gestures, so as to realize operation of the executing agency 10 to pipeline 1, as shown in Fig. 3 (a) -3 (d). Executing agency 10 both can be the welder for connection or the cutter device for separation.Sweep mechanism 7 is located at The homonymy optional position of executing agency 10, the sensor being mounted in by driving on sweep mechanism 7, obtains weld seam in operation pipeline Width value and weld seam relative to the location parameter of working rig, the Operation control for working rig control unit 13 provides data, when When operation pipe shape is irregular, control unit 13 is adjusted automatically according to motion of the scan data to the moving cell of working rig Section, commissure local irregularities during solving irregular shape operation pipeline welding, groove is second-rate and causes weld defect The problem of.
.The both sides of circumferential movement mechanism 3 are also equipped with handle 11, in order to which in installation and dismounting, operating personnel capture.
The control method that pipeline all-position working rig carries out weld job is as follows:
Step 1, preparing welding, input the caliber and thickness of pipe wall of pipeline to be welded, control unit 13 judges the filling weldering number of turns, And step 7 whether is carried out to 13;When wall thickness is more than setting value, control unit sends the instruction for performing step 7 to 13;Work as wall thickness During less than setting value, control unit 13 does not send the instruction for performing step 7 to 13;
Step 2, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 3, circumferential movement mechanism 3 drive sweep mechanism 7 thereon to complete the whole lap welding seam scanning of pipeline;Obtain working pipe In road the width value of weld seam and weld seam relative to working rig location parameter;Control unit 13 determines according to above-mentioned scan data During weld job pipeline diverse location, the height of the adjustment of radial movement mechanism 5, the angle that swing mechanism 6 adjusts, and circumferential fortune Dynamic 3 and 4 speed is axially moved to be applicable the needs of irregular operation pipeline welding;
Step 4, start tack welding:Start after performing terminal welding gun, circumferential movement mechanism 3 is synchronous with axial motion mechanism 4 Motion.
Step 5, judge whether to complete step 4, if completing, tack welding terminates, and closes and performs terminal welding gun;If not completing, Continue executing with step 4;
Step 6, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 7, start backing welding:Start after performing terminal welding gun, circumferential movement mechanism 3 is synchronous with axial motion mechanism 4 Motion, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, oscillating machine Structure 6 and the synchronous adjustment of radial movement mechanism 5 perform the angle and height of terminal 10;Ad-hoc location is that whole piece weld seam is divided into N The weld width and welding seam position information at each point that be individual, being obtained by sweep mechanism in step 37, is determined at the point The adjustment height of the adjustment angle of swing mechanism 6 and radial movement mechanism 5, the motion of circumferential movement mechanism 3 and axial motion mechanism 4 Speed, and the change of these above-mentioned parameters between points is continuous;
Step 8, judge whether to complete step 7, if completing, backing welding terminates, and closes and performs terminal welding gun;If not completing, Continue executing with step 7;
Step 9, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 10, start filling weldering first lap:After starting welding gun, the fortune synchronous with axial motion mechanism 4 of circumferential movement mechanism 3 Dynamic, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, swing mechanism 6 and the synchronous adjustment of radial movement mechanism 5 perform terminal 10 angle with height;
Step 11, filling weldering first lap terminate, and close welding gun;
Step 12, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 13, judge whether the filling weldering number of turns is completed, if completing, perform step 14, otherwise, repeat step 10-12;
Step 14, start cosmetic welding:After starting welding gun, circumferential movement mechanism 3 is synchronized with the movement with axial motion mechanism 4, root According to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, swing mechanism 6 and footpath The angle and height of terminal 10 are performed to the synchronous adjustment of motion 5;
Step 15, cosmetic welding terminate, and close welding gun;
Step 16, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 17, welding terminate.
The control method that pipeline all-position working rig carries out cutting operation is as follows:
Step 1, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 2, start gas cutting:The adjustment of swing mechanism 6 first performs the angle of terminal 10, and then radial movement mechanism 5 adjusts Perform the height of terminal 10.After starting cutter device, circumferential movement mechanism 3 is synchronized with the movement with axial motion mechanism 4.
Step 3, judge whether circumferential movement mechanism completes to specify step number, if completing, perform step 4, otherwise, repeat to walk Rapid 2;Specified step number is to be corresponded to according to different tube diameters obtained from different motor movement step number calculates;
Step 4, stop gas cutting;
Step 5, complete machine reset:It is sequentially completed that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 Reset and circumferential movement mechanism 3 resets;
Step 6, cutting terminate.
It is readily apparent that the description and record of the above are only that citing is not intended to be limiting of the invention in disclosed Appearance, application or use.Although being described in embodiment and describing embodiment with reference to the accompanying drawings, the present invention does not limit By accompanying drawing example and described in embodiment as it is now recognized that optimal mode to implement the particular case of the teachings of the present invention Son, the scope of the present invention is by any embodiment including falling into description and appended claims above.

Claims (5)

  1. A kind of 1. pipeline all-position working rig, it is characterised in that:Including guide rail, moving cell, perform terminal, driver element and control Unit processed;Moving cell moves along the rail;Moving cell is connected with performing terminal;The output end of control unit and driver element Input is connected;The output end of driver element is connected with the motor of moving cell respectively;Driver element reception control unit The pulse signal and the motor of powered motion unit sent performs corresponding actions;The moving cell includes circumferential movement machine Structure, axial motion mechanism, radial movement mechanism and swing mechanism, aforementioned four mechanism are driven by motor, each can independently be transported It is dynamic;Sweep mechanism is installed, the sweep mechanism is used to obtain the width of weld seam in operation pipeline in the circumferential movement mechanism It is worth the location parameter relative to working rig with weld seam, described control unit is used for width value and weld seam according to weld seam relative to work The location parameter of industry machine according to above-mentioned scan data determine in weld job pipeline diverse location, radial movement mechanism adjustment Highly, the angle of swing mechanism adjustment, and circumferential movement and the speed of axial movement;
    The guide rail is the circular orbit that two semi-circular members are formed by connecting by support member, and rail-sides face has circumferential lateral edge Groove;It is rigid strutting piece in the support member of guide rail upper semicircumference installation, the support member of the lower half circumference installation of guide rail props up for elasticity Support member;
    Driving wheel is installed immediately below the circumferential movement actuator base, driving wheel rolls on guide rail;Circumferential movement mechanism bottom Portion side is provided with rolling member, and the rolling member is arranged in the side groove of guide rail, and can be moved along side trough roller;
    The radial movement mechanism and swing mechanism are arranged in axial motion mechanism, and axial motion mechanism is arranged on circumferential movement In mechanism, the clamping device for clamping the execution terminal is installed in the radial movement mechanism.
  2. 2. pipeline all-position working rig as claimed in claim 1, it is characterised in that the terminal that performs is the weldering for connection Connection device, or, the cutter device for separation.
  3. A kind of 3. control method welded using pipeline all-position working rig as claimed in claim 1, it is characterised in that including Following steps:
    Step 1, prepare welding:Input the caliber and thickness of pipe wall of pipeline to be welded, control unit judge the filling weldering number of turns and whether Step 4 is carried out to 6;
    Step 2, circumferential movement mechanism drive sweep mechanism to complete the whole circle weld and HAZ of pipeline and scanning;
    Step 3, start tack welding:Start after performing terminal welding gun, circumferential movement mechanism is synchronized with the movement with axial motion mechanism;
    Step 4, start backing welding:After starting welding gun, circumferential movement mechanism is synchronized with the movement with axial motion mechanism, special according to welding Positioning is put, and the speed of control unit control circumferential movement mechanism and axial motion mechanism, swing mechanism and radial movement mechanism are same Successive step performs the angle and height of terminal;
    Step 5, start filling weldering first lap:After starting welding gun, circumferential movement mechanism is synchronized with the movement with axial motion mechanism, according to Weld the speed of ad-hoc location, control unit control circumferential movement mechanism and axial motion mechanism, swing mechanism and radial motion Mechanism synchronous adjustment performs the angle and height of terminal;
    Step 6, judge whether the filling weldering number of turns is completed, if completing, perform step 7, otherwise, repeat step 5;
    Step 7, start cosmetic welding:After starting welding gun, circumferential movement mechanism is synchronized with the movement with axial motion mechanism, special according to welding Positioning is put, and the speed of control unit control circumferential movement mechanism and axial motion mechanism, swing mechanism and radial movement mechanism are same Successive step performs the angle and height of terminal;
    Step 8, welding terminate.
  4. 4. the control method of pipeline all-position working rig welding as claimed in claim 3, it is characterised in that the ad-hoc location By the way that whole piece weld seam is divided into N number of point, each point correspond to the tune of a swing mechanism adjustment angle and radial movement mechanism The movement velocity of whole height, circumferential movement mechanism and axial motion mechanism, and continuous parameters change between points.
  5. 5. a kind of control method cut using pipeline all-position working rig as claimed in claim 1, is comprised the following steps:
    Step 1, complete machine reset:It is sequentially completed radial movement mechanism reset, swing mechanism resets, axial motion mechanism resets and week Resetted to motion;
    Step 2, start gas cutting:Swing mechanism adjustment first performs terminal point, and then radial movement mechanism adjustment performs terminal Highly, after starting cutter device, circumferential movement mechanism is synchronized with the movement with axial motion mechanism;
    Step 3, judge whether circumferential movement mechanism completes to specify step number, if completing, perform
    Step 4, otherwise, repeat step 2;
    Step 4, stop gas cutting;
    Step 5, complete machine reset:It is sequentially completed radial movement mechanism reset, swing mechanism resets, axial motion mechanism resets and week Resetted to motion;
    Step 6, cutting terminate.
CN201510085283.9A 2015-02-16 2015-02-16 A kind of pipeline all-position working rig and its control method CN104708220B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105081636A (en) * 2015-08-31 2015-11-25 中国石油天然气股份有限公司 Pipeline cutting machine
CN105033416B (en) * 2015-09-11 2017-09-29 上海电气核电设备有限公司 Nuclear power generating equipment CRDM penetration pieces and the automatic TIG horizontal position welding device of base flange
CN105292962B (en) * 2015-10-12 2018-01-16 江苏金风科技有限公司 Blade surface track and blade surface movement job platform
CN105485424B (en) * 2015-11-26 2018-06-29 天津市安维康家科技发展有限公司 A kind of large diameter pipeline is automatically continuously laid with the method and Work robot of operation
CN105345337A (en) * 2015-11-28 2016-02-24 陈伟 Girth welding device for steel ring
CN105562818A (en) * 2016-02-27 2016-05-11 河北工业大学 Automatic large pipeline cutting machine
CN107378192A (en) * 2017-09-04 2017-11-24 浙江国际海运职业技术学院 Tube welding platform

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Publication number Priority date Publication date Assignee Title
JP4219174B2 (en) * 2003-01-07 2009-02-04 新明和工業株式会社 Laser welding method
CN201342563Y (en) * 2009-01-23 2009-11-11 北京石油化工学院 Guiding rail for all-position automatic welding of pipelines
CN101712093B (en) * 2009-11-24 2012-05-16 上海市安装工程有限公司 Open gear ring type all position automatic welding device
CN102009251B (en) * 2010-11-25 2014-01-08 新疆石油工程建设有限责任公司 Full-position welding method for pipeline by full-automatic external welding machine
CN201950368U (en) * 2011-03-16 2011-08-31 南京南传激光设备有限公司 Laser cutting head capable of being controlled accurately

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