CN111804765A - High-efficient straightening unit of small-bore thick wall metal tubular product - Google Patents

High-efficient straightening unit of small-bore thick wall metal tubular product Download PDF

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Publication number
CN111804765A
CN111804765A CN202010744828.3A CN202010744828A CN111804765A CN 111804765 A CN111804765 A CN 111804765A CN 202010744828 A CN202010744828 A CN 202010744828A CN 111804765 A CN111804765 A CN 111804765A
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CN
China
Prior art keywords
straightening
sleeve
rod
roller
shaped
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010744828.3A
Other languages
Chinese (zh)
Inventor
赵晓东
楚志兵
李玉贵
沈卫强
高虹
李亚杰
帅美荣
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Taiyuan University of Science and Technology
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Taiyuan University of Science and Technology
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Filing date
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Application filed by Taiyuan University of Science and Technology filed Critical Taiyuan University of Science and Technology
Priority to CN202010744828.3A priority Critical patent/CN111804765A/en
Publication of CN111804765A publication Critical patent/CN111804765A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D3/00Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
    • B21D3/02Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts by rollers
    • B21D3/04Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts by rollers arranged on axes skew to the path of the work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21CMANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D37/00Tools as parts of machines covered by this subclass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/006Feeding elongated articles, such as tubes, bars, or profiles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02Advancing work in relation to the stroke of the die or tool
    • B21D43/04Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/08Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by rollers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/20Storage arrangements; Piling or unpiling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D55/00Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass

Abstract

The invention belongs to the technical field of metal straightening machines, and particularly relates to a high-efficiency straightening unit for a small-caliber thick-wall metal pipe. The pipe straightening device comprises a feeding device, an inlet limiting device, a straightening host, a discharging device and a collecting device, wherein the feeding device is arranged on one side of the feeding device and used for conveying a bundle to be straightened to the feeding device, the inlet limiting device and the straightening host are sequentially arranged, the discharging device is used for conveying pipes to the straightening host, the straightening host is used for straightening the pipes, the discharging device is used for moving the pipes straightened by the straightening host out of a straightening production line, and the collecting device is used for collecting the pipes which are straightened and then slide down. The invention has larger contact area between the upper straightening roll and the lower straightening roll as well as between the upper straightening roll and the pipe in the straightening process, can improve the straightening precision of the small-caliber thick-wall pipe and improve the distribution condition of residual stress in the small-caliber thick-wall pipe.

Description

High-efficient straightening unit of small-bore thick wall metal tubular product
Technical Field
The invention belongs to the technical field of metal straightening machines, and particularly relates to a high-efficiency straightening unit for a small-caliber thick-wall metal pipe.
Background
At present, small-caliber thick-wall pipes are widely applied to national life, and due to the fact that large residual stress exists in the production process, ovality and straightness of the pipes are poor, and subsequent deep processing is greatly affected. The traditional production mode adopts multi-roller inclined arrangement for straightening, a plurality of straightening units exist, the pipe is subjected to complex strain processes such as flattening, bending and the like in a roll gap for many times, but the small-caliber thick-wall pipe is high in rigidity and poor in roundness straightening effect, and the small-caliber thick-wall pipe is easy to collide with a guide roller in the biting process due to the fact that the diameter of the inlet part of an inclined roller type roll neck is large and the inclination angle of the roller is small, so that the pipe and the roller are easy to damage, the product quality is influenced, and in addition, the equipment investment cost is high, the straightening process is complex and the maintenance cost is high due to the complex structure of multi-roller straightening equipment. Therefore, an efficient and precise straightening device for small-caliber thick-wall pipes with high production efficiency and high product quality is urgently needed in the market.
Disclosure of Invention
The invention provides an efficient straightening unit for small-caliber thick-wall metal pipes, aiming at the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a high-efficient aligning unit of small-bore thick wall metal tubular product, includes loading attachment, material feeding unit, entry stop device, aligning host computer, discharging device and collection device, loading attachment sets up one side of material feeding unit for to bale breaking and wait that aligning pipe is carried to material feeding unit, entry stop device, aligning host computer, discharging device arrange the setting in proper order, material feeding unit is used for carrying tubular product to the aligning host computer, and the entry stop device who sets up at aligning host computer entrance is used for leading to the tubular product that gets into the aligning host computer, the aligning host computer is used for straightening tubular product, discharging device is used for shifting out the aligning production line with tubular product after the aligning host computer is straightened, collection device sets up one side at discharging device for the tubular product that the landing after will straightening carries out the collection processing.
Further, the feeding device comprises a plurality of supports arranged side by side, each support consists of a fixed cross beam and a support leg positioned below the fixed cross beam, the fixed cross beams are arranged in an inclined manner, a material blocking block is arranged on the left side of each fixed cross beam and fixedly arranged at the upper end of a material blocking rotating shaft, the material blocking block is eccentrically arranged on the front side of each fixed cross beam and is provided with a material blocking bearing seat, the material blocking rotating shaft is rotatably arranged in the material blocking bearing seat, the lower end of the material blocking rotating shaft is fixedly connected with one end of a rotating rod, the other end of the rotating rod is hinged on a swinging pull rod, a driving rod is further hinged on the swinging pull rod, the other end of the driving rod is fixedly connected with an output shaft of a motor, the driving rod is arranged in parallel with the rotating rod, a material stirring rotating shaft is hinged at the left end of each fixed cross beam, and two symmetrical planes are dissected on the material stirring, a plurality of material stirring blocks and a connecting rod are uniformly arranged on the material stirring rotating shaft, openings corresponding to the plane of the material stirring rotating shaft are arranged on the left sides of the material stirring blocks and the connecting rod, the material stirring blocks and the connecting rod are clamped on the material stirring rotating shaft through the openings and are fixed with the material stirring rotating shaft through screws, the right edge of each material stirring block is arc-shaped, the upper end of the right side of each material stirring block is hook-shaped, the right end of each connecting rod is hinged with a piston rod of a first hydraulic cylinder, the first hydraulic cylinder is arranged below the connecting rod, a cylinder body of the first hydraulic cylinder is hinged on a supporting leg, a first infrared sensor is arranged on one side of one material blocking block and used for detecting incoming materials and sending signals when a pipe passes through the upper part of the material blocking block, a movable C-shaped ring in a feeding device is opened, and a second infrared sensor is arranged on one side of the middle part of one fixed, the device is used for detecting whether a pipe is arranged on the fixed cross beam or not, so that subsequent equipment runs, and the first infrared sensor and the second infrared sensor are electrically connected with the console.
Still further, the feeding device comprises a plurality of rows of uniformly arranged first machine bases, the cross sections of the first machine bases are U-shaped, fixed C-shaped rings are arranged at the upper ends of the first machine bases, a first connecting lug is arranged at the left part of each fixed C-shaped ring, a second hydraulic cylinder is hinged to each first connecting lug, the end of a piston rod on each second hydraulic cylinder is hinged to one end of a hook claw, the middle part of each hook claw is hinged to the upper end of each fixed C-shaped ring, a movable C-shaped ring is fixedly connected to the other end of each hook claw, each movable C-shaped ring and each fixed C-shaped ring form a complete ring, a material receiving rod is fixedly arranged at the inlet of each fixed C-shaped ring so as to transfer materials sent by the feeding device into the corresponding fixed C-shaped ring, a feeding mechanism is arranged at the middle part of each first machine base and comprises an installation cross beam which is arranged at the middle part of each, a plurality of second connecting lugs are uniformly arranged on the mounting cross beam, the upper ends of the second connecting lugs are connected with one end of a claw-shaped connecting piece, the middle part of the claw-shaped connecting piece is hinged on a first machine base, the other end of the claw-shaped connecting piece is hinged with a swinging cross rod, the first claw-shaped connecting piece on the right side extends outwards and is hinged with a piston rod on a third hydraulic cylinder, the cylinder body of the third hydraulic cylinder is hinged with the front end of a fine adjustment rod, the rear part of the fine adjustment rod is provided with a thread, the middle part of the fine adjustment rod is sleeved with a fine adjustment worm wheel, the fine adjustment worm wheel is meshed and connected with a fine adjustment worm, the fine adjustment worm is arranged on a mounting seat, a manual adjustment rotating wheel is further arranged on the fine adjustment worm, a plurality of mounting platforms are uniformly arranged on the mounting cross beam, and V-shaped rollers are rotatably arranged on the mounting platforms, the utility model discloses a straightening machine, including "V" shape running roller, motor mounting bracket, transmission shaft, infrared detection device, motor, shaft coupling, infrared probe, and control cabinet, the outside extension of axis of rotation of "V" shape running roller is installed the sprocket, realizes synchronous drive through chain drive between a plurality of sprockets, at one side fixedly connected with motor mounting bracket of one of them mount table be provided with No. two motors on the motor mounting bracket, the output shaft of No. two motors passes through the shaft coupling and drives the transmission shaft rotation rather than the "V" shape running roller that corresponds to drive "V" shape running roller and rotate and realize the pay-off material feeding device's end is provided with infrared detection device, infrared detection device comprises three infrared probe that is 120 distributions, treats the size information of straightening tubular product with the record, prepares for entry stop device.
Furthermore, the inlet limiting device comprises a guide base, two bilaterally symmetrical rotating arms are arranged on one side of the guide base close to the feeding device, a first guide plate is fixedly arranged on the upper portion of each rotating arm, a hinge lug is arranged below each rotating arm, a hydraulic telescopic rod is arranged between the two hinge lugs, bearing seats are respectively arranged on the left side and the right side of the middle of the guide base, a lead screw is arranged in each bearing seat, a speed reducing motor is arranged on one side of each lead screw, the speed reducing motors drive the lead screws to rotate through couplers, threads on the left side and the right side of each lead screw are reverse threads, movable nuts are arranged on the left side and the right side of each lead screw, limiting columns are fixedly connected on the movable nuts, two sliding grooves in the left and right directions are arranged on the upper surface of the guide base, and limiting grooves in the front and back directions are arranged on the guide base, the upper part of the limiting column penetrates through the sliding groove to be arranged in the limiting groove.
Furthermore, the straightening host comprises a host frame, a first sleeve is arranged at the upper part of the host frame, an end cover is arranged at the upper end of the first sleeve, a sixth hydraulic cylinder is arranged above the end cover, a cylinder body of the sixth hydraulic cylinder is fixed on the host frame, a piston rod of the sixth hydraulic cylinder is arranged downwards, a groove is arranged at the inner part of the first sleeve, a worm wheel is arranged in the groove, the worm wheel is connected with a worm in a meshing manner, a thread is processed in an inner hole of the worm wheel, a first sleeve is arranged in the first sleeve, a thread is processed at the upper part of the first sleeve, the top end of the first sleeve is connected with the piston rod of the sixth hydraulic cylinder, the upper part of the first sleeve is connected with the worm wheel through the thread, a second sleeve is connected with the lower part of the first sleeve through a key, and a third connecting block is arranged outside the second sleeve, a piston rod of a fourth hydraulic cylinder is hinged on the third connecting block, the piston rod of the fourth hydraulic cylinder can drive the second sleeve to drive the first sleeve to rotate through telescopic motion so as to realize angle adjustment of the upper straightening roller, the third sleeve is arranged below the second sleeve and is fixed on a host machine frame through a bolt so as to clamp the second sleeve between the third sleeve and the first sleeve, an upper roller assembly seat is fixedly arranged at the lower end of the first sleeve, an upper straightening roller is arranged on the upper roller assembly seat, a lower straightening roller which is crossed with the upper straightening roller is arranged below the upper straightening roller, the lower straightening roller is arranged on a lower roller assembly seat, the lower roller assembly seat is arranged at the upper end of the second sleeve, the lower part of the second sleeve is arranged in the fourth sleeve at the bottom of the host machine frame, the upper part of the second sleeve is provided with a fifth sleeve, and the fifth sleeve is fixedly arranged on the host machine frame through a bolt, the middle of the second sleeve is provided with a second connecting block which is hinged with a piston rod of the fifth hydraulic cylinder to realize angle adjustment of the second sleeve, two sides of an opening between the upper straightening roller and the lower straightening roller are provided with second guide plates, the second guide plates are arranged on a host machine frame, and an inlet guide sleeve and an outlet guide sleeve are respectively arranged at an inlet and an outlet of the host machine frame.
Furthermore, discharging device includes the No. two frames that the multirow evenly set up No. two frame middle parts are provided with feeding mechanism, are provided with buffer at the end of No. two frames of multirow be provided with No. three infrared inductor between buffer and the No. two frames of end for detect the supplied materials and send the subsequent sequence action instruction, No. three infrared inductor and control cabinet electric connection.
Furthermore, the collecting device is including setting up the material discharging arm platform on No. two frames, the right side downward sloping setting of material discharging arm platform the below of material discharging arm right-hand member is provided with U type material frame the upper left corner of U type material frame is fixed with the one end of cow hide cloth the upper right corner of U type material frame is provided with the gyro wheel, and the gyro wheel winding is walked around to the other end of cow hide cloth on the connecting axle, the connecting axle passes through the output shaft of shaft coupling and No. three motors, installs the encoder on one of them gyro wheel for adjust the length of cow hide cloth place U type material frame according to ejection of compact tubular product quantity, be provided with No. four infrared inductor in one side of one of them material discharging arm platform, in order to realize the count of ejection of compact tubular product, and control No. three motors rotatory.
Furthermore, the upper straightening roller and the lower straightening roller are concave-convex rollers, the single-roller adjusting range of the upper straightening roller and the lower straightening roller is 10-15 degrees, and the formed cross angle is 0-20 degrees.
Compared with the prior art, the invention has the following advantages:
1. the single-roller straightening unit is adopted, so that the structure is simple, the maintenance cost is low, and the investment cost of an enterprise is low;
2. the contact area between the upper straightening roll and the lower straightening roll and between the upper straightening roll and the pipe in the straightening process is larger, so that the straightening precision of the small-caliber thick-wall pipe can be improved, and the distribution condition of residual stress in the small-caliber thick-wall pipe is improved;
3. the automatic straightening machine has the functions of automatic feeding, straightening, discharging, counting, stacking and the like, can realize automatic straightening production, and greatly improves the production efficiency.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a front view of the feeding device and the feeding device of the present invention;
FIG. 4 is a top view of the feeding device and the feeding device of the present invention;
FIG. 5 is an enlarged view of a portion of circle A of FIG. 4 in accordance with the present invention;
FIG. 6 is an enlarged view of a portion of circle B of FIG. 4 in accordance with the present invention;
FIG. 7 is a view taken along line A of FIG. 3 in accordance with the present invention;
FIG. 8 is an enlarged fragmentary view of circle D of FIG. 7 in accordance with the present invention;
FIG. 9 is an enlarged view of a portion of box A of FIG. 3 in accordance with the present invention;
FIG. 10 is a front view of the inlet stop of the present invention;
FIG. 11 is a view taken along line A of FIG. 10 in accordance with the present invention;
FIG. 12 is a view from the direction B of FIG. 10 in accordance with the present invention;
FIG. 13 is a top view of the inlet stop device of the present invention;
FIG. 14 is a front view of the straightening main machine of the present invention;
FIG. 15 is a top view of the straightening main machine of the present invention;
FIG. 16 is a front view of the discharge means and collection means of the present invention;
FIG. 17 is a top view of the discharge means and collection means of the present invention;
FIG. 18 is a view from the direction A of FIG. 16 in accordance with the present invention;
in the figure, a feeding device-01, a feeding device-02, an inlet limiting device-03, a straightening host machine-04, a discharging device-05, a collecting device-06, a fixed cross beam-1, a supporting leg-2, a material blocking block-3, a material blocking rotating shaft-4, a material blocking bearing seat-5, a rotating rod-6, a swinging pull rod-7, a driving rod-8, a first motor-9, a material shifting rotating shaft-10, a material shifting block-11, a connecting rod-12, a notch-13, a first hydraulic cylinder-14, a first infrared sensor-15, a second infrared sensor-16, a first engine seat-17, a fixed C-shaped ring-18, a first connecting lug-19, a second hydraulic cylinder-20, a hook lug-21, a movable C-shaped ring-22, a material receiving rod-23, an installation cross beam-24, a second connecting lug-25, a third hydraulic cylinder-26, a fine adjusting rod-27, a claw-shaped connecting piece-28, an installation seat-30, a hand-adjusting rotating wheel-31, a hand adjusting, Mounting table-32, V-shaped roller-33, chain wheel-34, motor mounting rack-35, second motor-36, infrared detection device-37, swing cross bar-38, main frame-46, first sleeve-47, end cover-48, hydraulic cylinder-49 with six numbers, worm wheel-51, worm-52, first sleeve-53, second sleeve-54, third connecting block-55, fourth hydraulic cylinder-56, third sleeve-57, upper roll assembling seat-58, upper straightening roller-59, lower straightening roller-60, lower roll assembling seat-61, second sleeve-62, fourth sleeve-63, fifth sleeve-64, second connecting block-65, fifth hydraulic cylinder-66, second guide plate-67, inlet guide sleeve-68, outlet guide sleeve-69, second machine seat-70, buffer device-71, third infrared inductor-72, discharge arm table-73, U-shaped material frame-74, cow leather cloth strip-75, roller-76, 76, No. three motors-77, encoders-78, No. four infrared sensors-79, connecting shafts-80, guide bases-81, rotating arms-82, a guide plate-83, hinge lugs-84, hydraulic telescopic rods-85, bearing seats-86, lead screws-87, speed reduction motors-88, movable nuts-90, limiting columns-91, sliding grooves-92 and limiting grooves-93.
Detailed Description
In order to further illustrate the technical solution of the present invention, the present invention is further illustrated by the following examples.
As shown in fig. 1 and fig. 2, a high-efficiency straightening machine set for small-caliber thick-wall metal pipes comprises a feeding device 01, a feeding device 02, an inlet limiting device 03, a straightening host 04, a discharging device 05 and a collecting device 06, wherein the feeding device 01 is arranged on one side of the feeding device 02 and is used for conveying pipes to be straightened, which are unpacked, to the feeding device 02, the inlet limiting device 03, the straightening host 04 and the discharging device 05 are sequentially arranged, the feeding device 02 is used for conveying the pipes to the straightening host 04, the inlet limiting device 03 arranged at the inlet of the straightening host 04 is used for guiding the pipes entering the straightening host 04, the straightening host 04 is used for straightening the pipes, the discharging device 05 is used for straightening the pipes straightened by the straightening host 04 out of a production line, the collecting device 06 is arranged on one side of the discharging device 05, the collecting device is used for collecting the pipes which are straightened and then slide down.
As shown in fig. 3 to 8, the feeding device 01 includes a plurality of parallel supports, each support is composed of a fixed beam 1 and a support leg 2 located below the fixed beam 1, the fixed beam 1 is arranged obliquely, a material blocking block 3 is arranged on the left side of the fixed beam 1, the material blocking block 3 is fixedly mounted on the upper end of a material blocking rotating shaft 4, the material blocking block 3 is eccentrically arranged, a material blocking bearing seat 5 is arranged on the front side of the fixed beam 1, the material blocking rotating shaft 4 is rotatably arranged in the material blocking bearing seat 5, the lower end of the material blocking rotating shaft 4 is fixedly connected with one end of a rotating rod 6, the other end of the rotating rod 6 is hinged on a swing pull rod 7, the swing pull rod 7 is also hinged with a driving rod 8, the other end of the driving rod 8 is fixedly connected with an output shaft of a motor 9, and the driving rod 8 is parallel to the rotating rod 6, a motor 9 drives swing pull rod 7 swing through active rod 8, and dwang 6 drives when swing pull rod 7 rotates and keeps off material pivot 4 and keep off the material piece 3 of material pivot 4 upper end and rotate, finally realizes keeping off the material of material piece 3 different positions to adapt to the tubular product of different specifications. A material stirring rotating shaft 10 is hinged at the left end of the fixed cross beam 1, two symmetrical planes are cut on the material stirring rotating shaft 10, a plurality of material stirring blocks 11 and a connecting rod 12 are uniformly arranged on the material stirring rotating shaft 10, the left sides of the material stirring blocks 11 and the connecting rod 12 are provided with notches 13 corresponding to the planes of the material stirring rotating shaft 10, the material stirring blocks 11 and the connecting rod 12 are clamped on the material stirring rotating shaft 10 through the notches 13 and are fixed with the material stirring rotating shaft 10 through screws, the right edge of the material stirring block 11 is arc-shaped, the upper end of the right side of the material stirring block 11 is hook-shaped, the right end of the connecting rod 12 is hinged with a piston rod of a first hydraulic cylinder 14, the first hydraulic cylinder 14 is arranged below the connecting rod 12, a cylinder body of the first hydraulic cylinder 14 is hinged on the supporting leg 2, and the connecting rod 12 is driven to swing up and down through the extension of the piston rod of the first hydraulic, thereby driving the material shifting rotating shaft 10 and the material shifting block 11 installed on the material shifting rotating shaft 10 to rotate, and completing the material shifting work. Be provided with infrared inductor 15 No. one in one of them fender material piece 3 one side for detect the supplied materials and signals when tubular product passes through from keeping off material piece 3 top, let the activity C shape ring 22 among the material feeding unit 02 open, be provided with No. two infrared inductor 16 in one of them fixed cross beam 1 one side in middle part for whether still have tubular product on detecting fixed cross beam 1, make the operation of sequent equipment, infrared inductor 15 and No. two infrared inductor 16 all with control cabinet electric connection.
As shown in fig. 3, 4, 7, and 9, the feeding device 02 includes a plurality of rows of first machine bases 17 uniformly arranged, the cross section of the first machine base 17 is U-shaped, a fixed C-shaped ring 18 is arranged at the upper end of the first machine base 17, a first connecting lug 19 is arranged at the left portion of the fixed C-shaped ring 18, a second hydraulic cylinder 20 is hinged on the first connecting lug 19, a piston rod end of the second hydraulic cylinder 20 is hinged with one end of a hook 21, the middle portion of the hook 21 is hinged with the upper end of the fixed C-shaped ring 18, a movable C-shaped ring 22 is fixedly connected to the other end of the hook 21, the movable C-shaped ring 22 and the fixed C-shaped ring 18 form a complete ring, the movable C-shaped ring 22 is opened and closed by the extension and retraction of the second hydraulic cylinder 20, a material receiving rod 23 is fixedly arranged at the inlet of the fixed C-shaped ring 18 to transfer the material sent from the feeding device 01 into the fixed C-shaped ring 18, a feeding mechanism is arranged in the middle of the first machine base 17, the feeding mechanism comprises an installation cross beam 24 which is inserted in the middle of the first machine base 17, a plurality of second connecting lugs 25 are uniformly arranged on the installation cross beam 24, the upper ends of the second connecting lugs 25 are connected with one ends of claw-shaped connecting pieces 28, the middle parts of the claw-shaped connecting pieces 28 are hinged on the first machine base 17, the other ends of the claw-shaped connecting pieces 28 are hinged with a swing cross rod 38 to realize the synchronous action of the claw-shaped connecting pieces 28, the first claw-shaped connecting piece 28 on the right side extends outwards and is hinged with a piston rod on a third hydraulic cylinder 26, the claw-shaped connecting piece 28 is driven to rotate by the extension and retraction of the third hydraulic cylinder 26, the installation cross beam 24 is finally driven to lift, and the body of the third hydraulic cylinder 26 is hinged with the front end of a fine adjustment rod 27, the rear part of the fine adjustment rod 27 is provided with threads, the middle part of the fine adjustment rod 27 is sleeved with a fine adjustment worm wheel, the fine adjustment worm wheel is meshed with a fine adjustment worm, the fine adjustment worm is arranged on an installation seat 30, a manual adjustment rotating wheel 31 is further arranged on the fine adjustment worm, fine adjustment is carried out through the fine adjustment rod 27 when the telescopic length of the third hydraulic cylinder 26 is not proper, a plurality of installation platforms 32 are uniformly arranged on the installation beam 24, V-shaped rollers 33 are rotatably arranged on the installation platforms 32, chain wheels 34 are outwards extended and arranged on the rotating shafts of the V-shaped rollers 33, synchronous transmission is realized among the chain wheels 34 through chain transmission, a motor installation frame 35 is fixedly connected to one side of one installation platform 32, a second motor 36 is arranged on the motor installation frame 35, and the output shaft of the second motor 36 drives the transmission shaft of the corresponding V-shaped roller 33 to rotate through a coupler, thereby drive "V" shape running roller 33 and rotate and realize the pay-off, be provided with infrared detection device 37 at the end of material feeding unit 02, infrared detection device 37 comprises three infrared probe that are 120 distributions to the dimensional information of record waiting to straighten tubular product, prepares for the adjustment of next step entry stop device 03, infrared detection device 37 and control cabinet electric connection.
As shown in fig. 10 to 13, the inlet limiting device 03 includes a guide base 81, two bilaterally symmetrical rotating arms 82 are disposed on one side of the guide base 81 close to the feeding device 02, a first guide plate 83 is fixedly disposed on the upper portion of the rotating arms 82, a hinge lug 84 is disposed below the rotating arm 82, a hydraulic telescopic rod 85 is disposed between the two hinge lugs 84, bearing seats 86 are disposed on the left and right sides of the middle portion of the guide base 81, a lead screw 87 is mounted in the two bearing seats 86, a reduction motor 88 is disposed on one side of the lead screw 87, the reduction motor 88 drives the lead screw to rotate through a coupling, threads on the left and right sides of the lead screw 87 are reverse threads, movable nuts 90 are disposed on the left and right sides of the lead screw 87, a limiting column 91 is fixedly connected to the movable nuts 90, two sliding grooves 92 in the left and right directions are disposed on the upper surface of the guide base 81, a front-back direction limiting groove 93 is formed in the guide base 81, the upper portion of the limiting column 91 penetrates through the sliding groove 92 and is arranged in the limiting groove 93, and the actions are as follows: the movable nut 90 is driven to move through the rotation of the screw rod 87, so that the first guide plate 83 is driven to rotate around the rotating arm 82 to be opened or contracted, finally, the two guide plates 83 are tensioned through the hydraulic telescopic rod 85, and the damage of the pipe material to the threads on the screw rod 87 due to the back-and-forth collision in the straightening process is reduced.
As shown in fig. 14 and 15, the straightening main machine 04 includes a main machine frame 46, a first sleeve 47 is disposed on the upper portion of the main machine frame 46, an end cover 48 is disposed at the upper end of the first sleeve 47, a sixth hydraulic cylinder 49 is disposed above the end cover 48, a cylinder body of the sixth hydraulic cylinder 49 is fixed on the main machine frame 46, a piston rod of the sixth hydraulic cylinder 49 is disposed downward, a groove is disposed inside the first sleeve 47, a worm wheel 51 is disposed inside the groove, the worm wheel 51 is engaged with a worm 52, a thread is processed in an inner hole of the worm wheel 51, a first sleeve 53 is disposed inside the first sleeve 47, a thread is processed on the upper portion of the first sleeve 53, the top end of the first sleeve 53 is connected with the piston rod of the sixth hydraulic cylinder 49, the upper portion of the first sleeve 53 is connected with the worm wheel 51 through the thread, the rotation of the worm wheel 51 realizes the up-and-down movement of the first sleeve 53, and finally realizes the adjustment, through the tensioning of a sixth hydraulic cylinder 49, the damage to threads in the straightening process is avoided, a second sleeve 54 is connected to the lower portion of the first sleeve 53 through a key, a third connecting block 55 is arranged outside the second sleeve 54, a piston rod of a fourth hydraulic cylinder 56 is hinged to the third connecting block 55, the piston rod of the fourth hydraulic cylinder 56 can drive the second sleeve 54 to drive the first sleeve 53 to rotate through telescopic motion, so that the angle adjustment of an upper straightening roller 59 is realized, a third sleeve 57 is arranged below the second sleeve 54, the third sleeve 57 is fixed on a main frame 46 through bolts and used for clamping the second sleeve 54 between the third sleeve 57 and the first sleeve 47, an upper roller assembling seat 58 is fixedly arranged at the lower end of the first sleeve 53, an upper straightening roller 59 is arranged on the upper roller assembling seat 58, a lower straightening roller 60 which is arranged to intersect with the upper straightening roller 59 is arranged below the upper straightening roller 59, the lower straightening roll 60 is arranged on a lower roll assembly seat 61, the lower roll assembly seat 61 is arranged at the upper end of a second sleeve 62, the lower portion of the second sleeve 62 is arranged in a fourth sleeve 63 at the bottom of a main machine frame 46, a fifth sleeve 64 is arranged at the upper portion of the second sleeve 62, the fifth sleeve 64 is fixedly arranged on the main machine frame 46 through bolts, a second connecting block 65 is arranged at the middle portion of the second sleeve 62, the second connecting block 65 is hinged with a piston rod of a fifth hydraulic cylinder 66 to realize angle adjustment of the second sleeve 62, the upper straightening roll 59 and the lower straightening roll 60 are concave-convex rolls, the single-roll adjustment range of the upper straightening roll 59 and the lower straightening roll 60 is 10-15 degrees, and the formed cross angle is 0-20 degrees. Two sides of the opening between the upper straightening roll 59 and the lower straightening roll 60 are provided with a second guide plate 67, the second guide plate 67 is arranged on the main frame 46, and an inlet guide sleeve 68 and an outlet guide sleeve 69 are respectively arranged at the inlet and the outlet of the main frame 46.
As shown in fig. 16, 17, and 18, the discharging device 05 includes a second machine base 70 with multiple rows of uniformly arranged bases, a feeding mechanism is disposed in the middle of the second machine base 70, a buffer device 71 is disposed at the end of the second machine base 70, a third infrared sensor 72 is disposed between the buffer device 71 and the second machine base 70, and is used for detecting incoming materials and sending out a subsequent action command, and the third infrared sensor 72 is electrically connected to the console.
As shown in fig. 16, 17 and 18, the collecting device 06 includes a discharging arm platform 73 disposed at the upper end of the second machine base 70, the right side of the discharging arm platform 73 is disposed to be inclined downwards, a U-shaped material frame 74 is arranged below the right end of the discharging arm platform 73, one end of a cowhide cloth strip 75 is fixed at the upper left corner of the U-shaped material frame 74, a roller 76 is arranged at the upper right corner of the U-shaped material frame 74, the other end of the cowhide cloth strip 75 winds around the roller 76 on a connecting shaft 80, the connecting shaft 80 is connected with an output shaft of a third motor 77 through a coupler, an encoder 78 is arranged on one of the rollers 76 and used for adjusting the length of the U-shaped material frame 74 where the cow leather cloth strips 75 are arranged according to the number of the discharge pipes, a fourth infrared sensor 79 is arranged on one side of one of the discharging arm platforms 73 to count the discharging pipes and control a third motor 77 to rotate.
While there have been shown and described what are at present considered to be the essential features and advantages of the invention, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (8)

1. The utility model provides a high-efficient straightening unit of small-bore thick wall metal tubular product which characterized in that: the pipe straightening machine comprises a feeding device (01), a feeding device (02), an inlet limiting device (03), a straightening host (04), a discharging device (05) and a collecting device (06), wherein the feeding device (01) is arranged on one side of the feeding device (02) and used for conveying a pipe to be straightened after being unbundled to the feeding device (02), the inlet limiting device (03), the straightening host (04) and the discharging device (05) are sequentially arranged, the feeding device (02) is used for conveying a pipe to be straightened to the straightening host (04), the inlet limiting device (03) arranged at the inlet of the straightening host (04) is used for guiding the pipe entering the straightening host (04), the straightening host (04) is used for straightening the pipe, the discharging device (05) is used for straightening the pipe straightened by the straightening host (04) out of a production line, the collecting device (06) is arranged on one side of the discharging device (05) and is used for collecting the pipe which is straightened and then slides down.
2. The small-caliber thick-wall metal pipe high-efficiency straightening unit as claimed in claim 1, wherein the straightening unit comprises: the feeding device (01) comprises a plurality of supports arranged side by side, each support consists of a fixed cross beam (1) and support legs (2) positioned below the fixed cross beams (1), the fixed cross beams (1) are obliquely arranged, a material blocking block (3) is arranged on the left side of each fixed cross beam (1), the material blocking block (3) is fixedly arranged at the upper end of a material blocking rotating shaft (4), the material blocking block (3) is eccentrically arranged, a material blocking bearing seat (5) is arranged on the front side of each fixed cross beam (1), the material blocking rotating shaft (4) is rotatably arranged in the material blocking bearing seat (5), the lower end of the material blocking rotating shaft (4) is fixedly connected with one end of a rotating rod (6), the other end of the rotating rod (6) is hinged on a swinging pull rod (7), a driving rod (8) is hinged on the swinging pull rod (7), and the other end of the driving rod (8) is fixedly connected with an output shaft of a motor (9), and the driving rod (8) is arranged in parallel with the rotating rod (6), the left end of the fixed cross beam (1) is hinged with a material stirring rotating shaft (10), the material stirring rotating shaft (10) is dissected to have two symmetrical planes, the material stirring rotating shaft (10) is evenly provided with a plurality of material stirring blocks (11) and a connecting rod (12), the left sides of the material stirring blocks (11) and the connecting rod (12) are provided with openings (13) corresponding to the planes of the material stirring rotating shaft (10), the material stirring blocks (11) and the connecting rod (12) are clamped on the material stirring rotating shaft (10) through the openings (13) and are fixed with the material stirring rotating shaft (10) through screws, the right edge of the material stirring blocks (11) is arc-shaped, the upper end of the right side of the material stirring block (11) is hook-shaped, the right end of the connecting rod (12) is hinged with a piston rod of a hydraulic cylinder (14), the hydraulic cylinder (14) is arranged below the connecting rod (12), just the cylinder body of a pneumatic cylinder (14) articulates on landing leg (2), is provided with infrared inductor (15) No. one in one of them fender material piece (3) one side for detect the supplied materials and signal when tubular product passes through from keeping off material piece (3) top, let movable C in material feeding unit (02) encircle (22) and open, be provided with infrared inductor (16) No. two in one of them fixed cross beam (1) one side at the middle part, be used for detecting whether have tubular product on fixed cross beam (1) still, make the operation of subsequence equipment, infrared inductor (15) and infrared inductor (16) No. two all with control cabinet electric connection.
3. The small-caliber thick-wall metal pipe high-efficiency straightening unit as claimed in claim 1, wherein the straightening unit comprises: the feeding device (02) comprises a plurality of rows of first machine bases (17) which are uniformly arranged, the cross section of each first machine base (17) is U-shaped, a fixed C-shaped ring (18) is arranged at the upper end of each first machine base (17), a first connecting lug (19) is arranged at the left part of each fixed C-shaped ring (18), a second hydraulic cylinder (20) is hinged on each first connecting lug (19), a piston rod end on each second hydraulic cylinder (20) is hinged with one end of a hook claw (21), the middle part of each hook claw (21) is hinged at the upper end of each fixed C-shaped ring (18), a movable C-shaped ring (22) is fixedly connected to the other end of each hook claw (21), the movable C-shaped ring (22) and the fixed C-shaped ring (18) form a complete ring, a material receiving rod (23) is fixedly arranged at an inlet of each fixed C-shaped ring (18) to transfer materials sent by the feeding device (01) into the fixed C-shaped rings (18), the middle of the first engine base (17) is provided with a feeding mechanism, the feeding mechanism comprises an installation cross beam (24) which is arranged in the middle of the first engine base (17) in a penetrating way, a plurality of second connecting lugs (25) are uniformly arranged on the installation cross beam (24), the upper ends of the second connecting lugs (25) are connected with one end of a claw-shaped connecting piece (28), the middle part of the claw-shaped connecting piece (28) is hinged on the first engine base (17), the other end of the claw-shaped connecting piece (28) is hinged with a swing cross rod (38), the first claw-shaped connecting piece (28) on the right side extends outwards and is hinged with a piston rod on a third hydraulic cylinder (26), the cylinder body of the third hydraulic cylinder (26) is hinged with the front end of a fine adjustment rod (27), the rear part of the fine adjustment rod (27) is provided with threads, and the middle part of the fine adjustment rod (27) is sleeved with a fine adjustment rod, the fine adjustment worm wheel is meshed with a fine adjustment worm, the fine adjustment worm is installed on an installation seat (30), a hand adjustment rotating wheel (31) is further installed on the fine adjustment worm, a plurality of installation platforms (32) are evenly arranged on an installation beam (24), a V-shaped roller (33) is rotatably installed on the installation platforms (32), a chain wheel (34) is installed by extending the rotating shaft of the V-shaped roller (33) outwards, synchronous transmission is realized among the chain wheels (34) through chain transmission, a motor installation frame (35) is fixedly connected to one side of one installation platform (32), a second motor (36) is arranged on the motor installation frame (35), the output shaft of the second motor (36) drives the transmission shaft of the V-shaped roller (33) corresponding to the second motor to rotate, so that the V-shaped roller (33) is driven to rotate, the tail end of the feeding device (02) is provided with an infrared detection device (37), the infrared detection device (37) is composed of three infrared probes distributed at 120 degrees and used for recording size information of a pipe to be straightened and preparing for adjustment of a next-step inlet limiting device (03), and the infrared detection device (37) is electrically connected with the console.
4. The small-caliber thick-wall metal pipe high-efficiency straightening unit as claimed in claim 1, wherein the straightening unit comprises: the inlet limiting device (03) comprises a guide and guard base (81), two bilaterally symmetrical rotating arms (82) are arranged on one side, close to the feeding device (02), of the guide and guard base (81), a first guide plate (83) is fixedly arranged on the upper portion of each rotating arm (82), a hinge lug (84) is arranged below each rotating arm (82), a hydraulic telescopic rod (85) is arranged between the two hinge lugs (84), bearing seats (86) are respectively arranged on the left side and the right side of the middle portion of the guide and guard base (81), a lead screw (87) is installed in each bearing seat (86), a speed reducing motor (88) is arranged on one side of each lead screw (87), each speed reducing motor (88) drives the corresponding lead screw to rotate through a coupler, threads on the left side and the right side of each lead screw (87) are reverse threads, movable nuts (90) are arranged on the left side and the right side of each lead screw (87), the movable nut (90) is fixedly connected with a limiting column (91), the upper surface of the guide base (81) is provided with two sliding grooves (92) in the left-right direction, the guide base (81) is provided with a limiting groove (93) in the front-back direction, and the upper part of the limiting column (91) penetrates through the sliding grooves (92) and is arranged in the limiting groove (93).
5. The small-caliber thick-wall metal pipe high-efficiency straightening unit as claimed in claim 1, wherein the straightening unit comprises: the straightening main machine (04) comprises a main machine frame (46), a first sleeve (47) is arranged on the upper portion of the main machine frame (46), an end cover (48) is arranged at the upper end of the first sleeve (47), a sixth hydraulic cylinder (49) is arranged above the end cover (48), a cylinder body of the sixth hydraulic cylinder (49) is fixed on the main machine frame (46), a piston rod of the sixth hydraulic cylinder (49) is arranged downwards, a groove is formed in the first sleeve (47), a worm wheel (51) is arranged in the groove, the worm wheel (51) is connected with a worm (52) in a meshing manner, a thread is machined in an inner hole of the worm wheel (51), a first sleeve (53) is arranged in the first sleeve (47), a thread is machined on the upper portion of the first sleeve (53), and the top end of the first sleeve (53) is connected with the piston rod of the sixth hydraulic cylinder (49), the upper part of the first sleeve (53) is connected with a worm wheel (51) through threads, the lower part of the first sleeve (53) is connected with a second sleeve (54) through a key, a third connecting block (55) is arranged outside the second sleeve (54), a piston rod of a fourth hydraulic cylinder (56) is hinged on the third connecting block (55), the piston rod of the fourth hydraulic cylinder (56) can drive the second sleeve (54) to drive the first sleeve (53) to rotate so as to realize the angle adjustment of an upper straightening roller (59), a third sleeve (57) is arranged below the second sleeve (54), the third sleeve (57) is fixed on a main frame (46) through bolts and is used for clamping the second sleeve (54) between the third sleeve (57) and the first sleeve (47), an upper roller assembling seat (58) is fixedly arranged at the lower end of the first sleeve (53), and the upper straightening roller (59) is arranged on the upper roller assembling seat (58), a lower straightening roller (60) which is arranged to intersect with the upper straightening roller (59) is arranged below the upper straightening roller (59), the lower straightening roller (60) is arranged on a lower roller assembly seat (61), the lower roller assembly seat (61) is arranged at the upper end of a second sleeve (62), the lower part of the second sleeve (62) is arranged in a fourth sleeve (63) at the bottom of a main frame (46), a fifth sleeve (64) is arranged at the upper part of the second sleeve (62), the fifth sleeve (64) is fixedly arranged on the main frame (46) through bolts, a second connecting block (65) is arranged at the middle part of the second sleeve (62), the second connecting block (65) is hinged with a piston rod of a fifth hydraulic cylinder (66) to realize the angle adjustment of the second sleeve (62), and second guide plates (67) are arranged on two sides of an opening between the upper straightening roller (59) and the lower straightening roller (60), the second guide plate (67) is arranged on the host machine frame (46), and an inlet guide sleeve (68) and an outlet guide sleeve (69) are respectively arranged at the inlet and the outlet of the host machine frame (46).
6. The small-caliber thick-wall metal pipe high-efficiency straightening unit as claimed in claim 3, wherein the straightening unit comprises: discharging device (05) are including No. two frame (70) that the multirow evenly set up No. two frame (70) middle part is provided with feeding mechanism, is provided with buffer (71) at the end of multirow No. two frame (70) be provided with No. three infrared inductor (72) between buffer (71) and terminal No. two frame (70) for detect the supplied materials and send the subsequent sequence action instruction, No. three infrared inductor (72) and control cabinet electric connection.
7. The efficient straightening unit for the small-caliber thick-wall metal pipes as claimed in claim 6, wherein the efficient straightening unit comprises: the collecting device (06) comprises a discharging arm platform (73) arranged at the upper end of a second engine base (70), the right side of the discharging arm platform (73) is arranged in a downward inclined mode, a U-shaped material frame (74) is arranged below the right end of the discharging arm platform (73), one end of a cowhide cloth strip (75) is fixed at the upper left corner of the U-shaped material frame (74), a roller (76) is arranged at the upper right corner of the U-shaped material frame (74), the other end of the cowhide cloth strip (75) bypasses the roller (76) and is wound on a connecting shaft (80), the connecting shaft (80) is connected with an output shaft of a third motor (77) through a coupler, an encoder (78) is arranged on one roller (76) and used for adjusting the length of the cowhide cloth strip (75) on the U-shaped material frame (74) according to the number of discharging pipes, a fourth infrared inductor (79) is arranged on one side of one discharging arm platform (73), so as to realize the counting of the discharge pipes and control the third motor (77) to rotate.
8. The efficient straightening unit for the small-caliber thick-wall metal pipes as claimed in claim 5, wherein the efficient straightening unit comprises: the upper straightening roll (59) and the lower straightening roll (60) are concave-convex rolls, the single-roll adjusting range of the upper straightening roll (59) and the lower straightening roll (60) is 10-15 degrees, and the formed cross angle is 0-20 degrees.
CN202010744828.3A 2020-07-29 2020-07-29 High-efficient straightening unit of small-bore thick wall metal tubular product Pending CN111804765A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010744828.3A CN111804765A (en) 2020-07-29 2020-07-29 High-efficient straightening unit of small-bore thick wall metal tubular product

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010744828.3A CN111804765A (en) 2020-07-29 2020-07-29 High-efficient straightening unit of small-bore thick wall metal tubular product

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Publication Number Publication Date
CN111804765A true CN111804765A (en) 2020-10-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010744828.3A Pending CN111804765A (en) 2020-07-29 2020-07-29 High-efficient straightening unit of small-bore thick wall metal tubular product

Country Status (1)

Country Link
CN (1) CN111804765A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113732585A (en) * 2021-11-05 2021-12-03 太原科技大学 Automatic alignment and rapid welding device and method for welding seam of thick-wall metal straight welded pipe

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113732585A (en) * 2021-11-05 2021-12-03 太原科技大学 Automatic alignment and rapid welding device and method for welding seam of thick-wall metal straight welded pipe

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