CN109178889A - Oil casing collar production material circulation technique - Google Patents
Oil casing collar production material circulation technique Download PDFInfo
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- CN109178889A CN109178889A CN201811252417.1A CN201811252417A CN109178889A CN 109178889 A CN109178889 A CN 109178889A CN 201811252417 A CN201811252417 A CN 201811252417A CN 109178889 A CN109178889 A CN 109178889A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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Abstract
The present invention provides a kind of oil casing collar production material circulation techniques, belong to oil casing collar processing field, comprising the following steps: blank material is expected to feeding position from merry-go-round type bunker using feeding robot；Blank material feeding numerical control machine tool is processed automatically using feeding truss manipulator；And the product of processing is grabbed into lower material position using truss manipulator；The product processed is sent to conveying material path using feeding robot；Stamp, Thread check process are passed sequentially through in conveying material path product, removes product geometric parameter substandard product；Magnetic powder detection is carried out to product；The finished product after magnetic powder detection is grabbed in the merry-go-round type bunker semi-finished product Turnround basket of lower material position using feeding robot；Finished product is moved away to the merry-go-round type bunker of lower material position using discharge forklifts.Oil casing collar production material circulation technique provided by the invention can solve the problems such as existing box cupling technological process of production personnel labor intensity is high, process circulation is complicated, the degree of automation is low.
Description
Technical field
It is more specifically to be related to a kind of oil casing collar the invention belongs to oil casing collar processing technical field
Production material circulation technique.
Background technique
Tubing and casing or casing belong to petroleum drilling, it is solid and Well Completion Engineering of Oil Reservoirs field must use equipment, be a kind of safe and reliable, cost
The equipment of the most wide underground supporter of cheap, the multiple functional, scope of application, closure uncased wellbore.It is naked that it is used to support body, closure
The various sizes of eye pit shaft, the stream between casing or the tubing string and wellbore of oil pipe and between upper and lower casing or the tubing string of oil pipe
It is logical, to guarantee flowing up and down for downhole well fluid, and the inflow of fluid in nonproductive stratum is prevented, so that it is guaranteed that seperated layer water injection,
Acidification, pressure break and the complete well of self-spray, the complete well of gaslift, machine are adopted the construction operations such as productive completion and can be gone on smoothly.
Tubing and casing is important Petroleum Production goods and materials, is important petroleum equipment, tubing and casing is mainly by tube body, box cupling two
It is grouped as.Box cupling is the indispensable component part of tubing and casing, and every tubing and casing just includes a box cupling, therefore production quantity is huge
Greatly, independent between each production process in Conventional process, it is not connected to together, traditional mode of production material flowing mode exists such as
Lower disadvantage:
1, lathe loading and unloading are relied on and are accomplished manually, large labor intensity, and clamping precision is low；
2, because of machining tool dispersed placement, quality inspection personnel is tested between needing frequently to travel to and fro between each lathe, and labour is strong
Degree is big；
3, material circulation uses manual handling, stacking form, large labor intensity between process；
Since there are problem above, so needing to design a kind of novel box cupling production material circulation technique and matched work
Utensil.
Summary of the invention
The purpose of the present invention is to provide a kind of oil casing collar production material circulation techniques, raw to solve existing box cupling
The technical problems such as production. art process personnel labor intensity is high, process circulation is complicated, the degree of automation is low.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of circulation of oil casing collar production material is provided
Technique, comprising:
Oil casing collar production material circulation technique, which comprises the following steps:
The Turnround basket for filling blank is sent into merry-go-round type bunker using feeding fork truck, while empty basket being removed；
Blank material is expected to feeding position from merry-go-round type bunker using feeding robot；
Corresponding blank material different numerical control machine tools is respectively fed to using feeding truss manipulator add automatically
Work；
And the product of processing is grabbed into lower material position using truss manipulator；
The product processed is sent in conveying material path using feeding robot；
Product passes sequentially through stamp, Thread check process in conveying material path, removes product geometric parameter substandard product；
The feeding-distribution device in material path is conveyed according to the difference of product, two blankings of push-in connection magnetic powder detection equipment
In ramp；
Magnetic powder detection is carried out to product；
Finished product after magnetic powder detection is grabbed to the merry-go-round type bunker semi-finished product week of lower material position using feeding robot
Turn in basket；
Finished product is moved away to the merry-go-round type bunker of lower material position using discharge forklifts；
Feeding fork truck and discharge forklifts use AGV fork truck；
Feeding fork truck and discharge forklifts are realized automatically by the material management system in workshop is material, discharging service.
Further, the process for being processed blank material feeding numerical control machine tool automatically using feeding robot
It is as follows:
Blank material in the merry-go-round type bunker of the upper material position is rotated to the working range of feeding robot, feeding robot
Blank is grabbed towards on the feeding chute of numerical control machine tool, is rolled into upper material position using the gradient of feeding chute, is utilized
Centralising device at upper material position carries out centering to blank material, is added blank material feeding numerical control by truss manipulator after completing centering
Work lathe is processed, while the product processed is grabbed blanking chute by truss manipulator, product utilization blanking chute
Gradient rolls down to out material position, and feeding robot grabs product in the conveying material path.
Further, it is furnished with the numerical control machine tool of truss manipulator with two, is divided into the two sides of conveying material path, uses
In the product of processing different size, the feeding robot sequentially carries out upper material taking to two numerical control machine tools respectively.
Further, to the magnetic powder detection there are two being set between the conveying material path and the magnetic powder detection
The inclined blanking ramp of process, two blanking ramps are parallel and vertical with the conveying conveying direction of material path, are used for
Convey two different products.
Further, the feeding-distribution device is the material splitting cylinder of corresponding two kinds of products, by material splitting cylinder by corresponding production
Product are pushed into magnetic powder detection equipment.
Further, the merry-go-round type bunker of the upper material position and the merry-go-round type bunker of the lower material position are in the same of the blanking ramp
Side.
Further, each robot all has binocular vision control system and pneumatic-finger, identifies system using binocular
It unites and determines specific placement location, the Internal hole positioning of product, cooperation pneumatic-finger props up blank material or the inner hole of product carries out up and down
Material, the pneumatic-finger surface are made of soft wear-resistant material.
Further, the centralising device includes being fixed on the driving motor of material position on the feeding chute and the drive
The connected double-screw thread screw rod of dynamic motor driven and the jaw one and jaw two for being divided into the double-screw thread screw both end, it is described
One end of double-screw thread screw rod is right-handed thread, and the other end is left hand thread, and the jaw one and the correspondence of the jaw two are set
There are right-handed thread and left hand thread.
Further, the merry-go-round type bunker includes the workbench that pedestal and the pedestal are rotatedly connected by turntable bearing
With for driving the speed reducer of the worktable rotary.
The beneficial effect of oil casing collar production material circulation technique provided by the invention is: compared with prior art,
Oil casing collar production material circulation technique of the present invention carries out feeding, feeding and blanking by robot, passes through merry-go-round type bunker reality
Existing blank material and finished product rotation, facilitate loading and unloading, change box cupling in previous box cupling production process and circulate between process and need people
The disadvantage that work is removed down has the characteristics that high degree of automation, personnel labor intensity are low, work efficiency is high, solves existing connect
Bind round the disadvantages such as technological process of production personnel labor intensity is high, process circulation is complicated, the degree of automation is low.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the process flow chart of oil casing collar production material provided in an embodiment of the present invention circulation technique；
Fig. 2 is that the structure of rotary table in oil casing collar production material provided in an embodiment of the present invention circulation technique is shown
It is intended to；
Fig. 3 is the side block diagram of Fig. 2；
Fig. 4 is the overlooking structure diagram of Fig. 3；
Fig. 5 is the positional structure schematic diagram of loading and unloading chute used by the embodiment of the present invention and centralising device；
Fig. 6 is the positional structure schematic diagram of the loading and unloading chute in Fig. 5；
Fig. 7 is the fastening structure chart of centralising device in Fig. 5.
Wherein, each appended drawing reference in figure:
11- workbench；12- turntable bearing；13- pedestal；14- speed reducer；31- fortune bits device；32- numerical control machine tool；33-
Blanking chute；34- feeding chute；35- centralising device；351- right-handed thread；352- jaw one；353- double-screw thread screw rod；
354- blank material；355- jaw two；356- left hand thread；36- truss；37- truss manipulator.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Referring to Fig. 1, existing be illustrated oil casing collar production material circulation technique provided by the invention.The oil jacket
Pipe box cupling production material circulation technique, comprising the following steps:
The Turnround basket for filling blank is sent into merry-go-round type bunker using feeding fork truck, while empty basket being removed；
Blank material is expected to feeding position from merry-go-round type bunker using feeding robot；
Corresponding blank material different numerical control machine tools is respectively fed to using feeding truss manipulator add automatically
Work；
And the product of processing is grabbed into lower material position using truss manipulator；
The product processed is sent in conveying material path using feeding robot；
Product passes sequentially through stamp, Thread check process in conveying material path, removes product geometric parameter substandard product；
The feeding-distribution device in material path is conveyed according to the difference of product, two blankings of push-in connection magnetic powder detection equipment
In ramp；
Magnetic powder detection is carried out to product；
Finished product after magnetic powder detection is grabbed to the merry-go-round type bunker semi-finished product week of lower material position using feeding robot
Turn in basket；
Finished product is moved away to the merry-go-round type bunker of lower material position using discharge forklifts；
Feeding fork truck and discharge forklifts use AGV fork truck；
Feeding fork truck and discharge forklifts are realized automatically by the material management system in workshop is material, discharging service.
Oil casing collar production material circulation technique provided by the invention is carried out by robot compared with prior art
Feeding, discharge realizes that blank material and finished product rotate with merry-go-round type bunker, facilitates loading and unloading, change in previous box cupling production process
Box cupling circulates between process needs the artificial disadvantage removed down, and with high degree of automation, personnel labor intensity is low, work efficiency is high
The features such as, solve existing box cupling technological process of production personnel labor intensity is high, process circulation is complicated, the degree of automation is low etc.
Disadvantage.The labor intensity of operative employee, inspection are reduced simultaneously；Person works' efficiency is improved, Quality People effectively works
Time increases；Box cupling processes the degree of automation and greatly improves, and lays a good foundation for subsequent intellectualized reconstruction.
The wherein design separated using feeding, discharge robot, can save the time of material circulation.
The quality information that wherein feeding robot and discharge forklifts are subjected to preceding processes feedback carries out substandard product
It rejects.
Wherein, AGV fork truck is the prior art, comprising pallet fork vehicle type AGV, the high formula fork truck AGV of wide foot heap and without foot heap height
Formula fork truck AGV, for the logistics turnover of storehouse pallet class cargo, by hydraulic lifting system, differential drive system, PLC control system
System, guidance system, communication system, warning system, operating system and electrical source of power composition are that collection hydraulic pressure lifting and PLC are controlled
The automatic guided vehicle of programmable radio scheduling；This product assists RFID identification that can run using electromagnetic induction as navigation mode
In pahtfinder hard, the reliable tracking of multi-site；Main driving is driven using the differential servo motor of independent research, configures High-precision angle
Steering-engine makes vehicle operation respond rapid accurate positioning；Independent hydraulically controlled jacking system auxiliary high accuracy displacement sensor makes to pitch
Vehicle can any position be stopped in stroke in its lifting, greatly improves the position precision for loading flexibility and lifting.It uses herein
AGV fork truck improves the circulation of feeding and discharging, improves the efficiency of work.
A kind of tool also referring to Fig. 1 to Fig. 4, as oil casing collar production material provided by the invention circulation technique
The process of body embodiment, the merry-go-round type bunker that will expect feeding position in blank material using feeding robot is as follows: by upper
Turnround basket equipped with blank is placed into merry-go-round type bunker by material fork truck, while feeding fork truck unloads empty basket, will be another equipped with blank
One Turnround basket is placed into former empty basket position, keeps two Turnround baskets equipped with blank simultaneously on the merry-go-round type bunker of upper material position.Rotation
Turning feed bin can guarantee that two baskets are online simultaneously, at the end of one basket of discharging terminates or fills basket, can fill up empty in time by merry-go-round type bunker
Position guarantees that production is carried out continuously.
Fig. 1 to Fig. 7 is please referred to, a kind of specific reality as oil casing collar production material provided by the invention circulation technique
Mode is applied, the process for being processed blank material feeding numerical control machine tool automatically using feeding robot is as follows: feeding
Blank material in the merry-go-round type bunker of position is rotated to the working range of feeding robot, and feeding robot grabs blank logical
Toward on the feeding chute 34 of numerical control machine tool 32, it is rolled into upper material position using the gradient of feeding chute 34, at upper material position
Centralising device 35 carries out centering to blank material 354, is added the feeding numerical control of blank material 354 by truss manipulator 37 after completing centering
Work lathe 32 is processed, while the product processed is grabbed blanking chute 33, product utilization blanking by truss manipulator 37
The gradient of chute 33 rolls down to out material position, and feeding robot grabs product in conveying material path.It is completed by feeding robot
The loading and unloading of manufacturing procedure utilize the poor co-ordination of time.
Refering to fig. 1, there are oil casing collar production material circulation technique provided by the invention two to be furnished with truss manipulator
Numerical control machine tool, be divided into the two sides of conveying material path, for processing the product of different size, the feeding robot difference
Upper material taking sequentially is carried out to two numerical control machine tools.
Refering to fig. 1, a kind of specific embodiment as oil casing collar production material provided by the invention circulation technique,
To the inclined blanking ramp of magnetic powder detection process, two lower charge banks there are two being set between conveying material path and magnetic powder detection
Road is parallel and vertical with the conveying conveying direction of material path, for conveying two different products, by conveying material path with
Blanking ramp is vertically arranged, and is reduced material circulation distance and pile number, is avoided the quality such as coupling surface, loading end gouge
Problem.Using the gradient in blanking ramp, product is made to roll down to magnetic powder inspection process automatically, decreases the utilization of the energy.
Wherein, feeding-distribution device is the material splitting cylinder of corresponding two kinds of products, and corresponding product is pushed into magnetic by material splitting cylinder
Powder flaw detection equipment.Feeding-distribution device uses the prior art.
Referring to Fig. 1, a kind of specific embodiment party as oil casing collar production material provided by the invention circulation technique
The merry-go-round type bunker of formula, the merry-go-round type bunker of upper material position and lower material position is in the same side in blanking ramp, the circulation technique of this paper, by each
The rational deployment of process, concentrates each process, convenient for operation and management, is convenient for shared device resource, also reduces material circulation
Distance and pile number, avoid coupling surface, loading end gouge and other issues.
Wherein, material conveying stage property freely can be set for 5 10 or other numbers according to operator for mardelling capacity
Amount is freely organized into groups, and is met the requirement of sampling observation frequency, can be met requirement of the API quality system to quality, and can avoid matter
The box cupling for measuring query flows into flaw detection process, and before magnetic powder inspection process, cleans to product, improve the effect of inspection.
As a kind of specific embodiment of oil casing collar production material provided by the invention circulation technique, each machine
Device has binocular vision control system per capita, and each robot all has pneumatic-finger, is produced using being determined using binocular identifying system
Specific placement location, the Internal hole positioning of product, cooperation pneumatic-finger props up blank material or the inner hole of product carries out loading and unloading, the gas
Dynamic finger surface is made of soft wear-resistant material, it is ensured that contact friction force also can avoid finished product coupling surface and scratch.Up and down
Expect that robot carries out subregion according to the size of Turnround basket, coarse positioning is carried out by process control, by the machine for having binocular vision
Tool hand completes fine positioning, it is ensured that accuracy rate, the efficiency of crawl.
Fig. 5 to Fig. 7 is please referred to, a kind of specific reality as oil casing collar production material provided by the invention circulation technique
Mode is applied, centralising device 35 includes pair being fixed on the driving motor of material position on feeding chute 34, being connected with driving motor driving
Rotation threaded screw rod 353 and the jaw 1 and jaw 2 355 for being divided into 353 both ends of double-screw thread screw rod, double-screw thread screw rod
353 one end is right-handed thread 351, and the other end is left hand thread 356, and jaw 1 and jaw 2 355 are correspondingly provided with dextrorotation
Screw thread 351 and left hand thread 356.Wherein, referring to Fig. 5, it is equipped with fortune bits device 31 in numerical control machine tool side, convenient for what will be processed
Scrap is transported.
Please see Fig. 2 to Fig. 4, a kind of specific reality as oil casing collar production material provided by the invention circulation technique
Apply mode, the merry-go-round type bunker include pedestal 13, the workbench 11 being rotatedly connected with the pedestal 13 by turntable bearing 12 and
Speed reducer 14 for driving the workbench 11 to rotate.
The course of work of the invention is as follows: box cupling blank Turnround basket is placed in can be on the merry-go-round type bunker of automatic displacement, such as Fig. 2
To Fig. 4；Can the merry-go-round type bunker of automatic displacement turn in the working range of automatic charging machine people or manipulator, by program and
Machine vision control system judges collar location size, and the crawl of box cupling is completed by machine finger；It is mechanical referring to Fig. 5 to Fig. 7
The box cupling blank material 354 of crawl is put into the feeding chute 34 towards lathe by hand, is rolled into automatically by the gradient of feeding chute 34
Upper material position is completed in 354 pairs of blank material in upper material position by a set of centralising device 35 synchronous by screw rod；Rear spar is completed in centering
Frame manipulator 37 props up 354 inner hole of blank material by pneumatic-finger, is moved to numerical control processing along truss 36 after pneumatic-finger rising
32 hatch door top of lathe, hatch door, which is opened, completes lathe feeding, blanking work (two sets of pneumatic-fingers), and finished product is put into blanking chute 33
Material position is rolled into out by gradient；Box cupling crawl on blanking chute 33 is placed into conveying material path by automatic charging machine people, defeated
Feed channel passes sequentially through stamp, examines post, requires to complete box cupling marshalling according to sampling observation before magnetic powder inspection, then carries out magnetic powder
Flaw detection；Box cupling is sent to material position under finished product by blanking ramp after the completion of magnetic powder detection, and feeding robot is visited according to magnetic powder
Hurt information and dress basket or rejecting are carried out to finished product box cupling；Feeding robot fills Turnround basket, can automatic displacement merry-go-round type bunker rotation
Out, it waits empty basket to screw in, starts to produce next basket.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. oil casing collar production material circulation technique, which comprises the following steps:
The Turnround basket for filling blank is sent into merry-go-round type bunker using feeding fork truck, while empty basket being removed；
Blank material is expected to feeding position from merry-go-round type bunker using feeding robot；
Corresponding blank material different numerical control machine tools is respectively fed to using feeding truss manipulator to be processed automatically；
And the product of processing is grabbed into lower material position using truss manipulator；
The product processed is sent in conveying material path using feeding robot；
Product passes sequentially through stamp, Thread check process in conveying material path, removes product geometric parameter substandard product；
The feeding-distribution device in material path is conveyed according to the difference of product, two blanking ramps of push-in connection magnetic powder detection equipment
It is interior；
Magnetic powder detection is carried out to product；
Finished product after magnetic powder detection is grabbed to the merry-go-round type bunker semi-finished product Turnround basket of lower material position using feeding robot
It is interior；
Finished product is moved away to the merry-go-round type bunker of lower material position using discharge forklifts；
Feeding fork truck and discharge forklifts use AGV fork truck；
Feeding fork truck and discharge forklifts are realized automatically by the material management system in workshop is material, discharging service.
2. oil casing collar production material circulation technique as described in claim 1, which is characterized in that described to utilize feeding machine
The process that people is processed blank material feeding numerical control machine tool automatically is as follows:
Blank material in the merry-go-round type bunker of the upper material position is rotated to the working range of feeding robot, and feeding robot is by hair
Blank is grabbed towards on the feeding chute of numerical control machine tool, is rolled into upper material position using the gradient of feeding chute, is utilized feeding
Centralising device at position carries out centering to blank material, and blank material is sent into numerical control machine by truss manipulator after completion centering
Bed is processed, while the product processed is grabbed blanking chute, the gradient of product utilization blanking chute by truss manipulator
Material position is rolled down to out, feeding robot grabs product in the conveying material path.
3. oil casing collar production material circulation technique as claimed in claim 2, which is characterized in that have two to be furnished with truss
The numerical control machine tool of manipulator is divided into the two sides of the conveying material path, for processing the product of different size, the feeding
Robot sequentially carries out upper material taking to two numerical control machine tools respectively.
4. oil casing collar production material circulation technique as claimed in claim 3, which is characterized in that the conveying material path and institute
It states there are two being set between magnetic powder detection to the inclined blanking ramp of the magnetic powder detection process, two lower charge banks
Road is parallel and vertical with the conveying conveying direction of material path, for conveying two different products.
5. oil casing collar production material circulation technique as claimed in claim 4, which is characterized in that the feeding-distribution device is pair
Corresponding product is pushed into magnetic powder detection equipment by material splitting cylinder by the material splitting cylinder for answering two kinds of products.
6. oil casing collar production material circulation technique as claimed in claim 4, which is characterized in that the rotation of the upper material position
The same side of feed bin and the merry-go-round type bunker of the lower material position in the blanking ramp.
7. oil casing collar production material circulation technique as claimed in any one of claims 1 to 6, which is characterized in that each robot
Binocular vision control system and pneumatic-finger are all had, specific placement location, the inner hole of product are determined using binocular identifying system
Positioning, cooperation pneumatic-finger props up blank material or the inner hole of product carries out loading and unloading, and the pneumatic-finger surface is using soft resistance to
Mill material is made.
8. such as the described in any item oil casing collar production material circulation techniques of claim 2-6, which is characterized in that the centering
Device includes being fixed on the driving motor of material position on the feeding chute, driving the double-screw thread silk being connected with the driving motor
Bar and the jaw one and jaw two for being divided into the double-screw thread screw both end, one end of the double-screw thread screw rod are dextrorotation spiral shell
Line, the other end are left hand thread, and the jaw one and the jaw two are correspondingly provided with right-handed thread and left hand thread.
9. oil casing collar production material circulation technique as claimed in any one of claims 1 to 6, which is characterized in that the rotation
Feed bin includes pedestal, the workbench being rotatedly connected by turntable bearing with the pedestal and for driving the worktable rotary
Speed reducer.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110745497A (en) * | 2019-10-31 | 2020-02-04 | 达力普石油专用管有限公司 | Full-automatic feeding and discharging process for oil casing coupling thread treatment |
| CN113560880A (en) * | 2021-07-23 | 2021-10-29 | 昆山同日机器人智能科技有限公司 | Automatic bar conveying equipment of medium-frequency induction production line |
| CN113828869A (en) * | 2021-11-25 | 2021-12-24 | 山东德晟机器人股份有限公司 | Feeding and discharging device for truss manipulator of coupling threading machine |
| CN114043295A (en) * | 2022-01-13 | 2022-02-15 | 宁波旭升汽车技术股份有限公司 | System and method for automatically sorting materials based on intelligent robot |
| CN115649743A (en) * | 2022-06-09 | 2023-01-31 | 沧州瑞泰石油机械有限公司 | Skid-mounted oil casing thread machining and old pipe repairing production line and production process |
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