CN210209363U - Long U-shaped copper pipe penetrating device - Google Patents
Long U-shaped copper pipe penetrating device Download PDFInfo
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- CN210209363U CN210209363U CN201920823011.8U CN201920823011U CN210209363U CN 210209363 U CN210209363 U CN 210209363U CN 201920823011 U CN201920823011 U CN 201920823011U CN 210209363 U CN210209363 U CN 210209363U
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Abstract
A long U-shaped copper pipe penetrating device is characterized by comprising a main body frame (1), wherein an intensive pipe supplementing moving frame (2) and a moving guide rail amplitude lifting frame (3) are arranged on a guide rail on the inner side of the main body frame (1) and can move up and down along the guide rail under the driving of a screw rod nut mechanism, a pipe grabbing mechanism (4) is arranged at one end of the moving guide rail amplitude lifting frame (3), a pipe hanging mechanism (5) is arranged at the other end of the moving guide rail amplitude lifting frame (3) and can move to the pipe grabbing mechanism (4) along the guide rail on the moving guide rail amplitude lifting frame (3) to receive a grabbed U-shaped copper pipe and then return to the original position; the intensive pipe supplementing mechanism (6) is arranged at one end of the intensive pipe supplementing moving frame (2). The utility model discloses simple structure, production efficiency is high.
Description
Technical Field
The utility model relates to an air conditioner fin perforation technique, especially a full-automatic fin stack poling technique, specifically speaking are long U type copper pipe poling device.
Background
Chinese patent ZL2012102330242 discloses a full-automatic pipe penetrating device, which enables people to solve the problem of heavy and monotonous repeated pipe penetrating operation, improves the pipe penetrating effect, greatly saves labor cost and is a full-automatic mechanical device which is popular with the air conditioning industry. However, in order to realize the real position of the fin stacking in the automatic process of the equipment, a positioning needle needs to be additionally installed, the positioning needle occupies a copper tube through hole on the fin in the automatic tube penetrating process, and after the tube penetrating is finished, the positioning needle needs to be removed and then tube filling operation is carried out at the through hole position occupied by the original positioning needle in a manual tube filling mode. That is to say, the existing tube threading technology is to thread long U-shaped copper tubes one row by one row after feeding and clamping the long U-shaped copper tubes one row, and fins on a stack are fixed in position by one row of positioning pins parallel to the tube threading, which is a relatively successful technology, but the disadvantage is that two rows of positioning pins cannot thread tubes on the tube threading machine, and the positioning pins pulled out after the tube threading is completed need to be completed by manual tube supplement, which results in that the tube threading efficiency is affected and the full automation cannot be achieved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a need carry out artifical benefit pipe and influence the problem of poling efficiency to the position that original pilot pin possessed after automatic poling production line needs to be managed to current poling, design a long U type copper pipe poling device who is used for automatic benefit pipe who installs after poling mechanism.
The technical scheme of the utility model is that:
a long U-shaped copper pipe penetrating device is characterized by comprising a main body frame 1, an intensive pipe supplementing moving frame 2, a moving guide rail amplitude lifting frame 3, a pipe grabbing mechanism 4, a pipe hanging mechanism 5 and an intensive pipe supplementing mechanism 6, wherein the intensive pipe supplementing moving frame 2 and the moving guide rail amplitude lifting frame 3 are both installed on the main body frame and move up and down under the driving of a guide rail and a screw nut mechanism on the inner side of the main body frame 1, the pipe grabbing mechanism 4 is installed at one end of the moving guide rail amplitude lifting frame 3, the pipe hanging mechanism 5 is installed at the other end of the moving guide rail amplitude lifting frame 3 and can move to the pipe grabbing mechanism 4 along the guide rail on the moving guide rail amplitude lifting frame 3 to receive a grabbed U-shaped copper pipe and then return to an original position; the intensive tube supplementing mechanism 6 is arranged at one end of the intensive tube supplementing moving frame 2, can move upwards along with the intensive tube supplementing moving frame 2 so as to clamp a U-shaped copper tube 7 on the tube hanging mechanism 5 for tube smoothing, and can clamp the U-shaped copper tube 7 to be inserted into a hole occupied by an original positioning needle on a fin stack after the U-shaped copper tube 7 is loosened by the tube hanging mechanism 5.
The pipe grabbing mechanism 4 comprises 24 clamping jaws and a pipe grabbing beam 404, each clamping jaw comprises a fixed clamping jaw 401, a movable clamping jaw 402 and a clamping cylinder 403, the fixed clamping jaw 401 is fixed on the pipe grabbing beam 404, the clamping cylinder 403 is fixedly arranged on the fixed clamping jaw 401, the upper end of the movable clamping jaw 402 is hinged with the fixed clamping jaw, the middle part of the movable clamping jaw is connected with a cylinder rod of the clamping cylinder 403, when the cylinder rod extends out, the fixed clamping jaw 401 and the movable clamping jaw 402 form a channel for inserting the U-shaped copper pipe 7, and when the cylinder rod retracts, the movable clamping jaw 402 is driven to move towards the fixed clamping jaw 401 so as to clamp the U-shaped copper pipe 7.
The pipe hanging mechanism 5 is composed of a pipe hanging sub beam 501 and 24 hanging rods 502, a hook 503 vertical to the hanging rods is arranged at the front end of each hanging rod 502, the rear end of each hanging rod 502 is inserted into the pipe hanging sub beam 501 and passes through a gear 504 in the beam), and a rack 505 is connected with a driving cylinder arranged on the pipe hanging sub beam 501; when the pipe hanging mechanism 5 moves to the position of the pipe grabbing mechanism 4, the hanging rod 502 is arranged on one side of the U-shaped copper pipe 7 in a horizontal state, the driving cylinder indirectly drives the rack 505 to move, the rack 505 pushes the gear 504 arranged on the hanging rod 502 to rotate for 90 degrees, the hook 503 originally in a vertical state is turned over to be in a horizontal state and just inserted between two straight pipes of the U-shaped copper pipe 7, the clamping cylinder 403 of the pipe grabbing mechanism 4 is loosened, the U-shaped copper pipe 7 falls and is hung on the hook 503, and the groove in the hook 503 can prevent the U-shaped copper pipe 7 from axially moving on the hook in the moving process.
The intensive pipe supplementing mechanism 6 consists of an upper pipe clamping and delivering device and a lower pipe clamping and delivering device which are arranged on a mounting plate 601 and have the same structure, the mounting plate 601 is arranged at one end of the intensive pipe supplementing moving frame 2, a guide rail 602 is arranged on the mounting plate 601, the upper pipe clamping and delivering device can move up and down along the guide rail 602, the lower pipe clamping and delivering device is fixedly arranged on the mounting plate 601, the upper pipe clamping and delivering device and the lower pipe clamping and delivering device consist of 24 pipe clamping and delivering mechanisms 609 which have the same structure, each pipe clamping and delivering mechanism consists of a fixed pressing block 603, a movable pressing block 604 and a clamping air bag 608, the movable pressing block 604 is provided with a guide part 606 and an arc-shaped groove 607 which can enable two straight pipes of a U-shaped copper pipe 7 to smoothly enter, the clamping air cylinder is arranged on a main body plate of the pipe clamping and delivering device, the movable pressing block 604; an air bag 608 for clamping the U-shaped copper pipe 7 is arranged on the opposite surface of the fixed pressing block 603 and the movable pressing block 604; the air bags 608 in the upper gripper and the lower gripper are not working in the tube straightening stage, and only in the tube inserting stage, the air bags 608 in the upper gripper are opened to clamp the U-shaped copper tube in the upper gripper, and the air bags in the lower gripper are still not working, so that the U-shaped copper tube can enter the fin stack through the tube clamping mechanism at the lower layer.
The utility model has the advantages that:
the utility model provides an automatic poling machine's last kilometer problem, perfect full-automatic poling technique, thoroughly solved out from the poling station with manual operation.
The utility model discloses both be applicable to the benefit pipe of taking pilot pin poling system, also be suitable for normal poling technology.
The utility model discloses simple structure makes installation control convenient and reliable.
The utility model discloses carried out great innovation improvement to the poling mode, former poling mode is for crossing, and 48U pipes will wear 24 times and just can accomplish, change into now and erect and wear, only wear 4 times and can accomplish.
Drawings
Fig. 1 is a schematic perspective view of the automatic pipe repairing device of the present invention.
Fig. 2 is a schematic perspective exploded view of fig. 1 (rear view of fig. 1).
Fig. 3 is a schematic view of the structure of the pipe gripping device of the present invention.
Fig. 4 is a schematic view of the hanging tube structure of the present invention.
Fig. 5 is a schematic view of the pipe clamping mechanism of the intensive pipe repairing mechanism of the present invention.
Fig. 6-12 are schematic views of the whole pipe penetrating working process of the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
As shown in fig. 1-6.
A long U-shaped copper pipe penetrating device comprises a main body frame 1, an intensive pipe supplementing moving frame 2, a moving guide rail amplitude lifting frame 3, a pipe grabbing mechanism 4, a pipe hanging mechanism 5 and an intensive pipe supplementing mechanism 6, as shown in fig. 1 and 2, the intensive pipe supplementing moving frame 2 and the moving guide rail web lifting frame 3 are both installed on the guide rail inside the main body frame 1 and can move up and down along the guide rail under the driving of a screw and nut mechanism (not shown in detail in the figures, which is a conventional driving mechanism and can be designed and manufactured by oneself), the pipe grabbing mechanism 4 is installed at one end of the movable guide rail amplitude lifting frame 3, the pipe hanging mechanism 5 is installed at the other end of the movable guide rail amplitude lifting frame 3 and can move to the pipe grabbing mechanism 4 along a guide rail on the movable guide rail amplitude lifting frame 3 under a driving mechanism (which can be a screw nut structure or a pneumatic mechanism) to receive the grabbed U-shaped copper pipe and then return to the original position; the intensive tube supplementing mechanism 6 is arranged at one end of the intensive tube supplementing moving frame 2, can move upwards along with the intensive tube supplementing moving frame 2 so as to clamp a U-shaped copper tube 7 on the concentrated tube hanging mechanism 5 for tube smoothing, and can clamp the U-shaped copper tube 7 to be inserted into a hole occupied by an original positioning needle on a fin stack after the tube hanging mechanism 5 loosens the U-shaped copper tube 7.
In specific implementation, the pipe gripping mechanism 4 is composed of 24 gripping jaws and a pipe gripping cross beam 404, as shown in fig. 3, each gripping jaw is composed of a fixed gripping jaw 401, a movable gripping jaw 402 and a clamping cylinder 403, the fixed gripping jaw 401 is fixed on the pipe gripping cross beam 404, the clamping cylinder 403 is fixedly installed on the fixed gripping jaw 401, the upper end of the movable gripping jaw 402 is hinged with the fixed gripping jaw, the middle part of the movable gripping jaw is connected with a cylinder rod of the clamping cylinder 403, when the cylinder rod extends out, the fixed gripping jaw 401 and the movable gripping jaw 402 form a channel for inserting the U-shaped copper pipe 7, and when the cylinder rod retracts, the movable gripping jaw 402 is driven to move towards the fixed gripping jaw 401 so as to grip the U-shaped copper pipe.
The pipe hanging mechanism 5 is composed of a pipe hanging beam 501 and 24 hanging rods 502, the front end of each hanging rod 502 is provided with a hook 503 vertical to the hanging rod, the rear end of each hanging rod 502 is inserted into the pipe hanging beam 501 and passes through a gear 504 in the beam, and a rack 505 is connected with a driving cylinder (not shown in the figure) arranged on the pipe hanging beam 501; when the pipe hanging mechanism 5 moves to the position of the pipe grabbing mechanism 4, the hanging rod 502 is arranged on one side of the U-shaped copper pipe 7 in a horizontal state, the driving cylinder indirectly drives the rack 505 to move, the rack 505 pushes the gear 504 arranged on the hanging rod 502 to rotate for 90 degrees, the hook 503 originally in a vertical state is turned over to be in a horizontal state and just inserted between two straight pipes of the U-shaped copper pipe 7, the clamping cylinder 403 of the pipe grabbing mechanism 4 is loosened, the U-shaped copper pipe 7 falls and is hung on the hook 503, and the groove in the hook 503 can prevent the U-shaped copper pipe 7 from axially moving on the hook in the moving process.
The intensive pipe supplementing mechanism 6 consists of an upper pinch part and a lower pinch part which have the same structure and are arranged on a mounting plate 601, the mounting plate 601 is arranged on one end of the intensive pipe supplementing moving frame 2, a guide rail 602 is arranged on the mounting plate 601, the upper pinch device component can move up and down along the guide rail 602, the lower pinch device component is fixedly arranged on the mounting plate 601, the upper and lower pinch devices are composed of 24 tube clamping mechanisms 609 with the same structure, as shown in fig. 5, each pipe clamping mechanism consists of a fixed pressing block 603, a movable pressing block 604 and a clamping air bag 608, the movable pressing block 604 is provided with a guide block 606, the guide block is provided with an arc-shaped groove 607 for two straight pipes of the U-shaped copper pipe 7 to enter, the clamping air cylinders are respectively arranged on the main body plates of the upper and lower clamping transmitters, the movable pressing block 604 is fixed on the connecting rod of the air cylinder of the clamping air cylinder, and the fixed pressing block 603 is arranged on the main body plate of the clamping transmitter; an air bag 608 for clamping the U-shaped copper pipe 7 is arranged on the opposite surface of the fixed pressing block 603 and the movable pressing block 604; the air bags 608 in the upper gripper and the lower gripper are not working in the tube straightening stage, and only in the tube inserting stage, the air bags 608 in the upper gripper are opened to clamp the U-shaped copper tube in the upper gripper, and the air bags in the lower gripper are still not working, so that the U-shaped copper tube can enter the fin stack through the tube clamping mechanism at the lower layer.
The working process of the utility model is as follows 6-12.
As shown in fig. 6, the front surface of the U-shaped copper tube 7 is hung on the tube feeding mechanism, after the movable guide rail amplitude lifting frame drives the tube grabbing mechanism 4 to move downwards to a proper position, the cylinder rod of the clamping cylinder 403 extends out, the fixed clamping jaw 401 and the movable clamping jaw 402 form a channel for the insertion of the U-shaped copper tube 7 and are inserted into the upper part of the U-shaped copper tube 7, the cylinder rod retracts to drive the movable clamping jaw 402 to move towards the fixed clamping jaw 401 so as to clamp the U-shaped copper tube 7, as shown in fig. 7, 24 tubes can be grabbed at one time, and 48 tubes can be grabbed at two stations, therefore, two world tube supplementing devices are designed and staggered to work during actual use, and 48 tubes can be rapidly.
As shown in fig. 8, after the tube grabbing is finished, the tube grabbing mechanism is lifted to a designated position, the tube hanging mechanism 5 moves the guide rail width lifting frame 3 to the tube hanging mechanism 4 to receive the U-shaped copper tube 7, when the tube hanging mechanism 5 moves to the tube grabbing mechanism 4, the hanging rod 502 is placed on one side of the U-shaped copper tube 7 in a horizontal state, the air cylinder 504 drives the hanging rod 502 to rotate 90 degrees, the hook 503 which is originally in a vertical state is turned over to be in a horizontal state and just inserted between two straight tubes of the U-shaped copper tube 7, the clamping air cylinder 403 of the tube grabbing mechanism 4 is released, the U-shaped copper tube 7 falls and hangs on the hanging column 503, a groove for preventing the U-shaped copper tube 7 from moving is further arranged on the hook 503, and the bottom of the U-shaped copper tube 7 is positioned in the groove to prevent the U-shaped copper tube 7 from moving on the hanging column along the axial direction of the hanging.
As shown in fig. 9, the pipe hanging mechanism 5 returns to the other end of the movable track width lifting frame 3 along the original path, and at this time, the intensive pipe supplementing moving frame 2 drives the intensive pipe supplementing mechanism 6 to move the left side of the pipe hanging mechanism 5, and the pipe hanging mechanism is moved leftward. The U-shaped copper tube 7 enters the tube clamping mechanism 609, as shown in fig. 10, the clamping cylinder acts to clamp the U-shaped copper tube between the fixed pressing block 603 and the movable pressing block 604, at the moment, the air bags 608 in the upper and lower clamping devices do not act, the intensive tube supplementing moving frame 2 drives the intensive tube supplementing mechanism 6 to move downwards, and the tube smoothing operation of the U-shaped porgy tube is realized.
After the tube is stroked out, the intensive tube supplementing mechanism 6 clamps the U-shaped copper tube, at this time, the air cylinder 504 on the tube hanging mechanism 5 drives the hanging rod 502 to rotate reversely by 90 degrees, the hanging column 503 which is originally in a horizontal state is turned over to be in a vertical state and separated from the U-shaped copper tube, the U-shaped copper tube is clamped by the intensive tube supplementing mechanism 6, and the intensive tube supplementing moving frame 2 drives the intensive tube supplementing mechanism 6 to move to a tube supplementing position, as shown in fig. 11.
As shown in fig. 12, the upper layer pinch device moves the highest piece of the upper mounting plate 601, meanwhile, the air bag 608 in the upper layer pinch device acts to clamp the U-shaped copper tube, the air bag in the lower layer pinch device remains still, the upper layer pinch device descends to press 24 copper tubes into the fin stack, if the operation is repeated, the upper and lower pinch devices simultaneously move upwards until the exposed height of the copper tubes is equal to the height of the mounting plate, and then the whole copper tubes are pressed into the fin stack by simultaneously pressing downwards, so that a process is completed. And moving the fin stack to the next station to finish the installation of another 24 staggered copper tubes. The 24 copper pipes are arranged in a penetrating mode at one time according to the space and the density of the copper pipes, and if 48 copper pipes are arranged in a penetrating mode at one time, the structure design is not easy to realize.
The utility model discloses the part that does not relate to all is the same with prior art or can adopt prior art to realize.
Claims (4)
1. A long U-shaped copper pipe penetrating device is characterized by comprising a main body frame (1), an intensive pipe supplementing moving frame (2), a moving guide rail amplitude lifting frame (3), a pipe grabbing mechanism (4), a pipe hanging mechanism (5) and an intensive pipe supplementing mechanism (6), the intensive pipe-supplementing moving frame (2) and the moving guide rail amplitude lifting frame (3) are both arranged on a guide rail on the inner side of the main body frame (1) and can move up and down along the guide rail under the driving of a screw and nut mechanism, the pipe grabbing mechanism (4) is installed at one end of the movable guide rail amplitude lifting frame (3), and the pipe hanging mechanism (5) is installed at the other end of the movable guide rail amplitude lifting frame (3) and can move to the pipe grabbing mechanism (4) along a guide rail on the movable guide rail amplitude lifting frame (3) to receive a grabbed U-shaped copper pipe and then return to the original position; the intensive tube supplementing mechanism (6) is arranged at one end of the intensive tube supplementing moving frame (2), can move upwards along with the intensive tube supplementing moving frame (2) so as to clamp a U-shaped copper tube (7) on the tube hanging mechanism (5) for tube smoothing, and can clamp the U-shaped copper tube (7) to be inserted into a hole occupied by an original positioning needle on a fin stack after the U-shaped copper tube (7) is loosened by the tube hanging mechanism (5).
2. A long U-shaped copper pipe threading device according to claim 1, characterized in that the pipe gripping mechanism (4) is composed of 24 gripping jaws and a pipe gripping cross beam (404), each gripping jaw is composed of a fixed gripping jaw (401), a movable gripping jaw (402) and a clamping cylinder (403), the fixed gripping jaw (401) is fixed on the pipe gripping cross beam (404), the clamping cylinder (403) is fixedly arranged on the fixed gripping jaw (401), the upper end of the movable gripping jaw (402) is hinged with the fixed gripping jaw, the middle part of the movable gripping jaw is connected with a cylinder rod of the clamping cylinder (403), when the cylinder rod extends out, the fixed gripping jaw (401) and the movable gripping jaw (402) form a channel for inserting the U-shaped copper pipe (7) to reach a designated position; when the air cylinder rod retracts, the movable clamping jaw (402) is driven to move towards the fixed clamping jaw (401) so as to clamp the U-shaped copper pipe (7).
3. The long U-shaped copper pipe penetrating device according to claim 1, wherein the pipe hanging mechanism (5) is composed of a pipe hanging beam (501) and 24 hanging rods (502), the front end of each hanging rod (502) is provided with a hook (503) perpendicular to the hanging rod, the rear end of each hanging rod (502) is inserted into the pipe hanging beam (501) and passes through a gear (504) in the beam, and a rack (505) is connected with a driving cylinder arranged on the pipe hanging beam (501); when the pipe hanging mechanism (5) moves to the position of the pipe grabbing mechanism (4), the hanging rod (502) is arranged on one side of the U-shaped copper pipe (7) in a horizontal state, the driving cylinder indirectly drives the rack (505) to move, the rack (505) pushes the gear (504) installed on the hanging rod (502) to rotate 90 degrees, the hook (503) which is originally in a vertical state is turned over to be in a horizontal state and just inserted between two straight pipes of the U-shaped copper pipe (7), the clamping cylinder (403) of the pipe grabbing mechanism (4) is loosened, the U-shaped copper pipe (7) falls and is hung on the hook (503), and the groove in the hook (503) can prevent the U-shaped copper pipe (7) from axially moving on the hook in the moving process.
4. A device for passing long U-shaped copper pipes according to claim 1, characterized in that the intensive pipe-supplementing mechanism (6) comprises an upper pipe-clamping device and a lower pipe-clamping device which are identical in structure and are arranged on a mounting plate (601), the mounting plate (601) is arranged at one end of an intensive pipe-supplementing moving frame (2), a guide rail (602) is arranged on the mounting plate (601), the upper pipe-clamping device can move up and down along the guide rail (602), the lower pipe-clamping device is fixedly arranged on the mounting plate (601), the upper pipe-clamping device and the lower pipe-clamping device comprise 24 pipe-clamping mechanisms (609) identical in structure, each pipe-clamping mechanism (609) comprises a fixed pressing block (603), a movable pressing block (604) and a clamping air bag (608), the movable pressing block (604) is provided with a guide part (606) and an arc-shaped groove (607) for facilitating the entry of two straight pipes of the U-shaped copper pipe (7), and the clamping air cylinder is arranged on the bodies of the upper pipe-, the movable pressing block (604) is fixed on a connecting rod of a cylinder of the pressing block clamping cylinder (605), and the fixed pressing block (603) is arranged on a mounting plate (601) of the clamping and conveying device; an air bag (608) used for clamping the U-shaped copper pipe (7) is arranged on the opposite surface of the fixed pressing block (603) and the movable pressing block (604); the air bags (608) in the upper clamping feeder and the lower clamping feeder are not operated in the tube straightening stage, and only in the tube inserting stage, the air bags (608) in the upper clamping feeder are expanded to clamp the U-shaped copper tube in the upper clamping feeder, so that the U-shaped copper tube can enter the fin stack through the tube clamping mechanism at the lower layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920823011.8U CN210209363U (en) | 2019-06-03 | 2019-06-03 | Long U-shaped copper pipe penetrating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920823011.8U CN210209363U (en) | 2019-06-03 | 2019-06-03 | Long U-shaped copper pipe penetrating device |
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| Publication Number | Publication Date |
|---|---|
| CN210209363U true CN210209363U (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920823011.8U Active CN210209363U (en) | 2019-06-03 | 2019-06-03 | Long U-shaped copper pipe penetrating device |
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| CN (1) | CN210209363U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103024A (en) * | 2019-06-03 | 2019-08-09 | 南京国佑智能化系统有限公司 | A kind of long U-shaped copper pipe pipe lining device |
| CN115283963A (en) * | 2022-09-02 | 2022-11-04 | 珠海格力智能装备有限公司 | Pipe penetrating machine |
-
2019
- 2019-06-03 CN CN201920823011.8U patent/CN210209363U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103024A (en) * | 2019-06-03 | 2019-08-09 | 南京国佑智能化系统有限公司 | A kind of long U-shaped copper pipe pipe lining device |
| CN110103024B (en) * | 2019-06-03 | 2024-03-26 | 南京国佑智能化系统有限公司 | Long U-shaped copper pipe penetrating device |
| CN115283963A (en) * | 2022-09-02 | 2022-11-04 | 珠海格力智能装备有限公司 | Pipe penetrating machine |
| CN115283963B (en) * | 2022-09-02 | 2024-04-12 | 珠海格力智能装备有限公司 | Pipe penetrating machine |
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