CN205889209U - Formula pipeline weld polishing robot slips into based on modularized design - Google Patents
Formula pipeline weld polishing robot slips into based on modularized design Download PDFInfo
- Publication number
- CN205889209U CN205889209U CN201620873100.XU CN201620873100U CN205889209U CN 205889209 U CN205889209 U CN 205889209U CN 201620873100 U CN201620873100 U CN 201620873100U CN 205889209 U CN205889209 U CN 205889209U
- Authority
- CN
- China
- Prior art keywords
- polishing
- module
- pipeline
- robot
- wheel
- 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.)
- Withdrawn - After Issue
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 66
- 238000013461 design Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000003466 welding Methods 0.000 claims abstract description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 239000004411 aluminium Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 238000003801 milling Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000005507 spraying Methods 0.000 abstract description 2
- 230000006978 adaptation Effects 0.000 abstract 1
- 230000008878 coupling Effects 0.000 description 18
- 238000010168 coupling process Methods 0.000 description 18
- 238000005859 coupling reaction Methods 0.000 description 18
- 238000012856 packing Methods 0.000 description 9
- 239000007789 gas Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 229910001651 emery Inorganic materials 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 229920001971 elastomer Polymers 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000227 grinding Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 229920003225 polyurethane elastomer Polymers 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The utility model provides a formula pipeline weld polishing robot slips into based on modularized design. The utility model discloses a power module and the module of polishing. Power module is used for driving whole robot and removes in the pipeline, power module divide into upper portion, middle part and lower part for the adaptation pipe diameter changes. The module of polishing is used for polishing in the welding seam position of pipeline, and the module of polishing comprises the triplex, includes preceding, back bearing structure, main shaft and polish to feed operating mechanism. Power module uses the universal joint to connect with the module of polishing, guarantees the coordination of robot two modules when advancing and retreating, also can normally move when leading to turn the corner cranked pipeline. The utility model discloses owing to adopt the modularized design, follow -uply can develop modules such as detection, spraying in a flexible way.
Description
Technical field
This utility model is related to a kind of pipe welding seam milling robot, devises power plant module based on modularization idea and beats
Mill module, robot is adapted to the caliber change of certain limit (diameter 340mm to 420mm), and robot can enter pipeline
The weld seam of internal polishing pipeline.
Background technology
Pipeline transportation oil, natural gas have efficiently, low consumption, the advantage such as continuous conveying and automaticity height.Do not polish
Pipe welding seam can lead to pipeline easily burn into reveal and rupture.Traditional polishing mode has manually portable normal sands turbine to enter
Row polishing, or using hone machine, accurately hone is carried out to inner-walls of duct, or utilize air push polyurethane elastomer material
Material is cleared up to inner-walls of duct.But, because some duct lengths are longer or caliber is less, manually portable normal sands turbine
Cannot realize to carry out polishing；And carrying out honing using honing machine, then maintenance cost is too high, and is difficult to find suitable such length
Honing machine with the pipeline of caliber.
For such applicable cases, embedded pipe weld grinding machine people should have a following characteristic:
1) robot can freely advance in the duct, retreat；
2) robot can adapt to pipeline between 340mm to 420mm for the diameter；
3) robot advances and can mode as requested be polished by weld seam, and polishing partly can be in the 360 of pipeline °
Omnirange is polished, and polishing structure adjusts the amount of feeding according to caliber.
4) power plant module of robot and polishing module are separate, support the modules such as subsequent development detection, spray painting.
Content of the invention
This utility model is directed to the deficiency of existing pipe welding seam grinding technology, devises a kind of sub-module, multi-pipe-diameter adapts to
Robot.
The technical solution of the utility model is:
The robot of this utility model exploitation is divided into two modular power modules and polishing module, between two modules
There is coupling part.
Power plant module is used for driving whole robot to move in pipeline；Described power plant module changes to adapt to caliber,
It is divided into upper, middle and lower；Upper and lower has been respectively mounted four wheels, and wherein half is drivewheel, second half be from
Driving wheel, these wheels ensure robot and pipeline uniform force, allow robot to move forward and backward；In motor process, top and the bottom
Wheel need to touch tube wall guarantee robot simultaneously and normally run, simultaneously in order to adapt to different calibers, top and the bottom
Split-phase can move to middle part；Its middle and upper part and middle part are connect by two twin shaft cylinders, are passed through the high pressure gas of certain pressure intensity
Afterwards, top is stretched out, and the wheel on top contacts with tube wall, due to high pressure gas pressure controlled it is ensured that pipeline in different tube diameters
In, pressure constant between wheel and tube wall, thus adapted to the change of caliber；The connection at bottom and middle part and top with
The connection at middle part is similar to.
Polishing module is used for being polished in the position while welding of pipeline, and polishing module is made up of three parts, including forward and backward
Support structure, main shaft and its polishing feeding operating mechanism；Each in back and front supporting structure fix three directional wheels, move in pipeline
When, polishing module relies on power plant module to provide pull strength, directional wheel and inner-walls of duct contact slide to advance, to retreat, now before,
Cylinder piston station foot in rear support structure remains retracted；The fixed pulley of polishing module is adapted to by installing standard aluminium section bar block additional
The pipeline of different-diameter；Directional wheel on polishing module support structure, cylinder radial circumference array arrangement；When robot reaches
During specified location in pipeline, the cylinder piston in its back and front supporting structure stretches out, in front and back three cylinder piston station heel braces
Open, so that back and front supporting locations of structures is fixed, and can be tight with inner-walls of duct in the presence of the cylinder of circumference
Lattice centering, polishing feeding operating mechanism being capable of circular-rotation, enforcement polishing work under the drive of spindle motor；Fixing on main shaft
Feed arrangement can precise control polishing the amount of feeding.The power of feed arrangement, control circuit pass through the centre bore of main shaft one end
It is connected with other modules, communicate it is not necessary to use electric slip ring, it is to avoid because the circuit that main shaft rotation produces is wound around.
Power plant module and polishing module are attached it is ensured that robot two modules when moving forward and backward using universal joint
Coordination, by bending pipeline when also can normal movement.
This utility model has the beneficial effect that the thought of this utility model application moduleization design, using pneumatic biography
Dynamic method, has designed and produced the weld seam of different tube diameters pipeline of can polishing.After robot enters pipeline, in electromagnetic valve and cylinder
In the presence of, power plant module top and the bottom are stretched out, and wheel is contacted with tube wall, and band mobile robot moves in pipeline.It is adjusted
After reaching ad-hoc location, six support cylinders of polishing module stretch out, and polishing module is supported on tube wall on tiptoe, and module of polishing is solid
It is scheduled on inside tube wall.Polishing module workpiece polishing mechanism be mounted on screw mandrel slide block, main shaft can self-locking, emery wheel and bead contact can be made
And keep certain pressure, control the position of adjustment workpiece polishing mechanism, you can realize the polishing omnibearing weld seam of pipeline.Due to adopting
Modularized design, subsequently can neatly develop the modules such as detection, spraying.
Brief description
Fig. 1 is power plant module assembling schematic diagram；
Fig. 2 is power plant module assembling section；
Fig. 3 is power plant module base plate schematic diagram；
Fig. 4 is polishing module assembling schematic diagram；
Fig. 5 is polishing module section installation diagram.
Specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in accompanying drawing 1, accompanying drawing 2, power plant module part includes: direct current generator 301, electric machine support 302, shaft coupling 303,
Bearing 304, drivewheel 305, angle bar 306, mid portion side board 307, base plate 308, driven pulley 309, electric machine support cushion block
310th, bearing cushion block 311, power wheel wheel shaft 312, power wheel and wheel shaft coupling part 313, t type nut 314, screw 315, screw
316th, nut 317, screw 318, nut 319, screw 320, nut 321, power wheel fixing screws 322, spring 323, cylinder are solid
Determine screw 324, twin shaft cylinder 325, the slide bar 326 of power plant module universal-joint, slide bar catch 327, slide bar catch fixation spiral shell
Female 328, solid between cylinder fixing nut 329, twin shaft cylinder 330, cylinder fixing nut 331, power wheel fixing nut 332, cylinder
Baffle plate 334 in front of fixed board 333, mid portion.
Power plant module is made up of three parts, including the floor pan assembly on top, the floor pan assembly of bottom and mid portion.Middle
Part formed by front baffle plate 334, side board 307 and with this two relative baffle plates of baffle plate, and inside has space can place
The components and parts such as robot panel.Lower raft assembly is by another twin shaft cylinder of twin shaft cylinder 325 and behind and centre
Part is connected.Similarly, top floor pan assembly passes through twin shaft cylinder 330 and another relative cylinder is connected with intermediate
Connect.
When robot enters pipeline inside, twin shaft cylinder 325,330 and two other corresponding cylinder are passed through necessarily
The gases at high pressure of pressure, cylinder drives upper and lower two floor pan assemblies to stretch out.Four cylinders are passed through the gas of identical pressure, Ke Yibao
Card upper and lower bottom plate assembly smoothly stretches out.After upper and lower bottom plate stretches out, respective four wheels touch tube wall, when floor pan assembly is subject to
During to the pressure of tube wall, cylinder pressure and base plate gravitational equilibrium, upper and lower floor is not being stretched out, and power plant module tightly props up pipe
Road.The electric motor starting of upper and lower bottom plate, drives drivewheel motion, robot just can be before freedom in the pipeline of a fixed-caliber scope
Enter, retreat.
Accompanying drawing 3 is the schematic diagram of this power plant module floor pan assembly, and base plate major part includes: t type nut 101, bearing gasket
Block 102, screw rod 103, power wheel wheel shaft 104, bearing 105, power wheel 106, base plate 107, driven pulley 108, direct current generator 109,
Direct current generator support 110, shaft coupling 111, bearing 112, power wheel wheel shaft 113, bearing 114, power wheel 115, bearing cushion block
116th, driven pulley 117, electric machine support 118, direct current generator 119.
Upper and lower bottom plate is contacted with tube wall when being overhanged, and drivewheel rotates, and drives whole robot to move in pipeline.Base plate
On have four wheels 106,108,115 and 117.Wherein 106 and 115 is drivewheel, and drivewheel 106 is connected with power transmission shaft 104, passes
Moving axis 104 is connected with motor 119 by shaft coupling 101；Drivewheel 115 is connected with power transmission shaft 113, and power transmission shaft 113 passes through shaft coupling
Device 11 is connected with motor 109.When base plate is overhanged, four wheels can contact tube wall simultaneously, using the scheme of four wheels
Tube wall uniform force can be made.Motor drives drivewheel 106 and 115 to rotate, and wheel 108 and 117 followed by rotation, machine simultaneously
People just can freely advance inside pipeline, retreat.Four wheels constitute a rectangle, and two drivewheels are located at rectangle
On diagonal, the drivewheel position of upper and lower bottom plate differs simultaneously.So can ensure that each place of robot power plant module is subject to
Power ratio is more uniform, simultaneously the overall torque balance of power plant module.
Two sections of upper and lower bottom plate has hole, and the aerial of upper and lower bottom plate passes through an axle, and this axle is connected with universal joint, and universal joint is again
It is connected with polishing module.
Accompanying drawing 4 be polishing module assembling schematic diagram, polishing module be made up of three parts, back and front supporting structure, main shaft and its
Polishing feeding operating mechanism.Three directional wheels are respectively secured on front and back supporting structure, when moving in pipeline, polishing module relies on
Power plant module provides pull strength, and, to advance, to retreat, now cylinder piston station foot keeps receiving for directional wheel and inner-walls of duct contact slide
Contracting.When reaching the specified location in pipeline when robot, the cylinder piston in its back and front supporting structure stretches out, in front and back three stations
Heel brace is opened so that front and back supporting structure position is fixed, and can in the presence of the cylinder of circumference with pipeline in
The strict centering of wall, and main shaft and polishing feeding operating mechanism being capable of circular-rotation, enforcement polishings under the drive of spindle motor
Work.On main shaft, fixing feed arrangement being capable of the precise control polishing amount of feeding.
Referring to accompanying drawing 4, accompanying drawing 5, module of polishing mainly has: main shaft 201, spindle bearing holder 202, bearing block disk 203, u
Type wheel carrier 204, u-shaped frame joint bolt 205, u-shaped frame coupling nut 206, u-shaped frame connection packing ring 207, directional wheel 208, angle
Rubber cap 209, angle connector 210, cylinder 211, cylinder joint bolt 212, cylinder coupling nut 213, cylinder attachment pad
Circle 214, motor disk 215, spindle motor 216, motor 217, plum coupling 218, bearing block 219, screw mandrel 220, ten thousand
To pitch circle disk 221, plum coupling 222, polishing module universal joint connector 223, angle rubber cap joint bolt 224, determine
Position foot-cylinder joint bolt 225, directional wheel joint bolt 226, directional wheel coupling nut 227, directional wheel connection packing ring 228, axle
Bearing joint bolt 229, bearing block coupling nut 230, bearing block connection packing ring 231, polishing slide unit 232, slide unit-motor plate connection
Connect screw 233, motor rack 234, polishing motor 235, guide rail 236, emery wheel 237, main shaft-guide rail joint bolt 238, main shaft orientation
Circle 239.
On universal joint disk 221, fixed universal joint connector 223, universal joint connector is connected and is connected with power plant module
The axle connecing, two modules are thus connected.Universal joint disk 221 simultaneously pass through cylinder joint bolt 212, cylinder coupling nut 213,
Cylinder couples the fixed cylinder 211 of packing ring 214, additionally by u-shaped frame joint bolt 205, u-shaped frame coupling nut 206, u-shaped frame
Couple packing ring 207, be connected u-shaped wheel carrier 204.U-shaped wheel carrier 204 passes through directional wheel coupling nut 227, directional wheel couples packing ring
228th, bearing block joint bolt 229 fixed orientation wheel 208.It should be noted that screw-nut can also be passed through in this u-shaped wheel carrier
Fixed standard aluminium section bar cushion block, then directional wheel is connected with aluminium section bar cushion block, so just can adjust the circle distribution of directional wheel
Diameter, to adapt to the pipeline of different inner diameters.
The another side of u-shaped wheel carrier 204 is connected with bearing block disk 203 symmetrically through screw-nut packing ring, and bearing block is justified
Bearing block joint bolt 229, bearing block coupling nut 230, bearing block connection packing ring 231 fixed main shaft bearing are passed through on disk 203
Seat 202, the bearing inner race of spindle bearing holder is fixed so that main shaft 201 can be rotated with relative support structure with main shaft 201, main shaft
201 are also connected with main shaft orientation circle 239, to prevent from sliding axially.Symmetrically, the other end of main shaft 201 similarly with master
Bearing housing fixation also symmetrically is fixed against sliding axially with main shaft orientation circle 239, and spindle bearing holder similarly passes through spiral shell
Nail nut packing ring is fixed on bearing block disk, and bearing block disk similarly connects u-shaped wheel carrier.Fixed orientation wheel on u-shaped wheel carrier,
And it is fixing with motor disk 215.Also fixed three cylinders 211 on motor disk 215, and unlike universal joint disk 221,
Also fixed spindle motor 216 on motor disk 215.Spindle motor is connected to main shaft 201, with this by plum coupling 222
The rotational power of main shaft is provided.
As for the polishing feeding operating mechanism on main shaft, implement as follows: main shaft 201 medium design has platform, can pass through
Main shaft-guide rail joint bolt 238 is fixing with guide rail 236, fixed motor 217, bearing block 219 on guide rail 236, stepping electricity
The axle of machine 217 is connected by plum coupling 218 with screw mandrel 220, and leading screw 220 two ends pass through two bearing blocks 219, motor
Rotation can drive screw mandrel, with control polishing slide unit 232 before and after feed, polishing slide unit 232 passes through the connection of slide unit-motor plate
The fixed motor rack 234 of screw 233, polishing motor 235 is fixed on motor rack 234.It is fixed with the rotating shaft of polishing motor 235
Emery wheel 237, drives emery wheel to implement work of polishing during polishing motor operation.So, can be accurate by motor 217
The pipeline radial feeds of controlled motor frame 234, adapt to different internal diameter of the pipeline, control the feeding polished.
One end of main shaft 201 is hollow, the electric wire of motor 217 and polishing motor 235 can pass through main shaft 201 with
Other modules connect.All employ hollow out design, gas in bearing block disk 203, motor disk 215 and universal joint disk 221
All by its hollow hole, when main shaft, reserved certain length is simultaneously fixed on the gas circuit circuit of cylinder 211 and spindle motor 216
The platform of principal back side, then through the other end supporting construction hollow hole to be connected with other modules.In polishing module work
When, main shaft takes the motion mode of back rotation, and one-directional rotation is less than 400 degree as far as possible, to avoid gas circuit circuit impacted.
Claims (1)
1. a kind of submersible pipe welding seam milling robot based on modularized design, including power plant module and polishing module, its
It is characterised by:
Power plant module is used for driving whole robot to move in pipeline；Described power plant module, in order to adapt to caliber change, is divided into
Upper, middle and lower；Upper and lower has been respectively mounted four wheels, and wherein half is drivewheel, and second half is driven pulley,
These wheels ensure robot and pipeline uniform force, allow robot to move forward and backward；In motor process, the wheel of top and the bottom
Need to touch tube wall guarantee robot simultaneously and normally run, simultaneously in order to adapt to different calibers, top and the bottom are relatively
Middle part can be moved；Its middle and upper part and middle part are connect by two twin shaft cylinders, after being passed through the high pressure gas of certain pressure intensity, top
Stretch out, the wheel on top contacts with tube wall, due to high pressure gas pressure controlled it is ensured that in the pipeline of different tube diameters, wheel
Pressure constant and tube wall between, thus adapted to the change of caliber；The connection at bottom and middle part and top and middle part
Connect similar；
Polishing module is used for being polished in the position while welding of pipeline, and polishing module is made up of three parts, including back and front supporting knot
Structure, main shaft and its polishing feeding operating mechanism；Each in back and front supporting structure fix three directional wheels, when moving in pipeline, beat
Mill module relies on power plant module to provide pull strength, directional wheel and inner-walls of duct contact slide to advance, to retreat, now forward and backward
Cylinder piston station foot in support structure remains retracted；The fixed pulley of polishing module adapts to difference by installing standard aluminium section bar block additional
The pipeline of diameter；Directional wheel on polishing module support structure, cylinder radial circumference array arrangement；When robot reaches pipe
During specified location in road, the cylinder piston in its back and front supporting structure stretches out, and three cylinder piston station heel braces are opened in front and back, from
And back and front supporting locations of structures is fixed, and can be strictly right with inner-walls of duct in the presence of the cylinder of circumference
In, polishing feeding operating mechanism being capable of circular-rotation, enforcement polishing work under the drive of spindle motor；Fixing entering on main shaft
Being capable of the precise control polishing amount of feeding to device；The power of feed arrangement, control circuit by the centre bore of main shaft one end and its
Its module connects, communication；
Described power plant module and polishing module is attached using universal joint it is ensured that robot two moulds when moving forward and backward
The coordination of block, also can normal movement in the pipeline by bending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620873100.XU CN205889209U (en) | 2016-08-13 | 2016-08-13 | Formula pipeline weld polishing robot slips into based on modularized design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620873100.XU CN205889209U (en) | 2016-08-13 | 2016-08-13 | Formula pipeline weld polishing robot slips into based on modularized design |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205889209U true CN205889209U (en) | 2017-01-18 |
Family
ID=57780692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620873100.XU Withdrawn - After Issue CN205889209U (en) | 2016-08-13 | 2016-08-13 | Formula pipeline weld polishing robot slips into based on modularized design |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205889209U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514662A (en) * | 2016-08-13 | 2017-03-22 | 浙江大学 | Submerged type pipeline welding joint polishing robot based on modular design |
| CN109955123A (en) * | 2019-03-29 | 2019-07-02 | 河海大学常州校区 | A kind of slender pipeline is comprehensive to remove tumor robot |
-
2016
- 2016-08-13 CN CN201620873100.XU patent/CN205889209U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514662A (en) * | 2016-08-13 | 2017-03-22 | 浙江大学 | Submerged type pipeline welding joint polishing robot based on modular design |
| CN106514662B (en) * | 2016-08-13 | 2019-02-22 | 浙江大学 | Submersible pipeline-weld milling robot based on modularized design |
| CN109955123A (en) * | 2019-03-29 | 2019-07-02 | 河海大学常州校区 | A kind of slender pipeline is comprehensive to remove tumor robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106514662B (en) | Submersible pipeline-weld milling robot based on modularized design | |
| CN103042460B (en) | Outside polishing device for bended pipe fittings | |
| CN205889209U (en) | Formula pipeline weld polishing robot slips into based on modularized design | |
| CN105135151A (en) | Crawler-type pipeline robot with active adaptation and self-adaptation functions | |
| CN1225863A (en) | Grinding machine utilizing multiple, parallel, abrasive belts for simultaneously grinding surfaces on workpiece | |
| CN208681257U (en) | A kind of modularization sanding and polishing machine for robot automation's sanding and polishing | |
| CN115890416B (en) | Electromechanical integrated bearing processing device | |
| CN109204040B (en) | Convenient to use's electric automobile fills electric pile | |
| CN203779281U (en) | Polishing machine | |
| CN115076518B (en) | Flexible pipeline robot | |
| CN109606511A (en) | A kind of rear axle assy portion dress tooling | |
| CN110756373A (en) | Spare part paint spraying apparatus for auto repair | |
| CN109838662A (en) | A kind of three-dimensional face images identification device | |
| CN106392465A (en) | Duplicate gear tooth aligning device and assembly method thereof | |
| CN206643572U (en) | Large centrifugal pump auxiliary assembling apparatus | |
| CN112296855A (en) | Smoothness processing device for manufacturing aerospace shell | |
| CN111043918B (en) | Automatic medicine equipment of scraping of warhead | |
| CN109357104A (en) | A kind of detecting robot of pipe | |
| CN112975416A (en) | Automatic processing device and processing technology for seamless steel tube | |
| CN111113248A (en) | Seamless steel pipe surface finish equipment | |
| CN218225861U (en) | Polishing equipment is used in production of car cylinder liner | |
| CN108436440B (en) | Guide press-loading apparatus | |
| CN110788752A (en) | Wheel hub polishing and grinding workbench and wheel hub polishing and grinding processing equipment | |
| CN211027633U (en) | Rolling machine for seamless steel pipe production and processing | |
| CN211615248U (en) | Seamless steel pipe surface finish equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170118 Effective date of abandoning: 20190222 |