CN104708220A - Pipeline all-position operation machine and control method thereof - Google Patents
Pipeline all-position operation machine and control method thereof Download PDFInfo
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- CN104708220A CN104708220A CN201510085283.9A CN201510085283A CN104708220A CN 104708220 A CN104708220 A CN 104708220A CN 201510085283 A CN201510085283 A CN 201510085283A CN 104708220 A CN104708220 A CN 104708220A
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- movement mechanism
- axial motion
- pipeline
- welding
- circumferential movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention belongs to the field of mechanical automation, and particularly relates to a pipeline all-position operation machine and control method thereof. The operation machine comprises a guide rail, a motion unit, an executive terminal, a driving unit and a control unit, wherein the motion unit conducts peripheral motion along the guide rail; one end of the motion unit is connected with the executive terminal; the output end of the control unit is connected with the input end of the driving unit; the output end of the driving unit is connected with a driving motor of the motion unit; the driving unit receives pulse signals sent out by the control unit and drives the driving motor of the motion unit to conduct corresponding motions; the motion unit comprises a peripheral motion mechanism, an axial motion mechanism, a radial motion mechanism and a swing mechanism which are capable of conducting independent motion driven by motors; the peripheral motion mechanism is provided with a scan mechanism. The operation machine has the function of automatically conducting pipeline cutting and welding, the defect of manual operation on irregular pipelines is overcome, and real-time detection and automatic adjustments are achieved.
Description
Technical field
The invention belongs to field of machinery automation, be specifically related to a kind of plant equipment for pipeline connection/separation.
Background technology
External business-like pipeline welding/Cutting Automation device, involves great expense, and build is comparatively large, can only operation in regular profile.The construction environment of domestic pipeline is complicated, and pipe shape irregular (cross section circularity is poor), therefore the track of import equipment can exist and pipeline out-of-alignment situation.And track and pipeline disalignment can cause executing agency's movement position mistake, machine is caused normally to use.Therefore, at present still based on manual work.And there is mechanism of Advanced skill worker shortage in manual work, the problem of inefficiency, hinder upgrading and the development of domestic industry, and total man's work often occurs that standard differs, weldquality uneven, leading portion manually cuts and welds unmatched problem with back segment machine already.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of for pipeline all-position working rig and control method thereof, this work tool is standby carries out pipe cutting and welding function automatically, overcomes the defect for irregular pipeline manual work, and can detect in real time, automatically adjust.
In order to realize foregoing invention object, the present invention adopts following technical scheme:
A kind of full pipeline operations machine comprises guide rail 2, moving cell, execution terminal 10, driver element 12 and control unit 13; Moving cell is along guide rail 2 circumferential movement; Moving cell one end is connected with execution terminal 10; The output of control unit 13 is connected with the input of driver element 12; The output of driver element 12 is connected with the drive motors of moving cell pulse signal that driver element 12 reception control unit 13 sends the drive motors of actuation movement unit performs corresponding actions respectively; Described moving cell comprises circumferential movement mechanism 3, axial motion mechanism 4, radial movement mechanism 5 and swing mechanism 6, and above-mentioned four mechanisms are driven by motor, energy self-movement separately; Perform in terminal 10 and sweep mechanism 7 is installed.。
Further, described guide rail 2 is the circular orbit that two semi-circular members are formed by connecting by support member 9, and guide rail 2 side has circumferential lateral edge groove; The support member 9 installed at guide rail 2 upper semicircumference is rigid strutting piece, and the support member 9 that second circumference of guide rail 2 is installed is elastic supporting member for supporting optical member.
Further, radial movement mechanism 5 and swing mechanism 6 are arranged in axial motion mechanism 4, and axial motion mechanism 4 is arranged in circumferential movement mechanism 3.
Further, be provided with driving wheel 15 immediately below bottom circumferential movement mechanism 3, driving wheel 15 rolls on guide rail 2.Bottom circumferential movement mechanism 3, side is provided with rolling member 16, and this rolling member 16 is arranged in the side groove of guide rail 2, and can move along side trough roller.
Further, executing agency 10 both can be the welder for connecting, also can be for separating of cutter sweep.
The control method using full pipeline operations machine to weld, comprises the steps:
Step 1, preparation welding: the caliber and the thickness of pipe wall that input pipeline to be welded, control unit 13 judges fill the weldering number of turns and whether carry out step 4 to 6;
Step 2, circumferential movement mechanism 3 drive sweep mechanism 7 to complete the whole circle weld and HAZ of pipeline and scanning;
Step 3, startup tack welding: start after performing terminal welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement;
Step 4, startup backing welding: after starting welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, and swing mechanism 6 and radial movement mechanism 5 synchronous adjustment perform the angle of terminal 10 and height;
Step 5, startup fill weldering first lap: after starting welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, and swing mechanism 6 and radial movement mechanism 5 synchronous adjustment perform the angle of terminal 10 and height;
Step 6, judge fill weldering the number of turns whether complete, if complete, then perform step 7, otherwise, repeat step 5;
Step 7, startup cosmetic welding: after starting welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, and swing mechanism 6 and radial movement mechanism 5 synchronous adjustment perform the angle of terminal 10 and height;
Step 8, welding terminate.
Further, described ad-hoc location is by being divided into N number of point by whole piece weld seam, each point correspond to the adjustment height that a swing mechanism 6 adjusts angle and radial movement mechanism 5, the movement velocity of circumferential movement mechanism 3 and axial motion mechanism 4, and continuous parameters change between points.
The control method using full pipeline operations machine to cut, comprises the steps:
Step 1, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 2, startup gas cutting: first swing mechanism 6 adjustment performs terminal 10 angle, then radial movement mechanism 5 adjustment performs terminal 10 highly.After starting cutter sweep, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement.
Step 3, judge whether circumferential movement mechanism completes appointment step number, if complete, then perform step 4, otherwise, repeat step 2;
Step 4, stopping gas cutting;
Step 5, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 6, cutting terminate.
Beneficial effect of the present invention:
1. solve that full manual work standard differs, the problem of weldquality inequality.
2. solve leading portion manually to cut and weld unmatched problem with back segment machine, realize the tight cooperation in operation.
3. solve existing equipment volume large, operation inconvenience, cannot be used for the problem of narrow and small working space.Quality is light, volume is little, adapts to multiple construction site, handled easily.
4. implement operation pipe detection by sweep mechanism, solve local irregularities of irregularly shaped pipe welding seam place, groove is second-rate and cause the problem of weld defect, achieves the real-time detection of working rig butt welded seam position and groove defect, and then the function of adjustment welding action automatically.
5. by arranging rigid strutting piece and elastic supporting member for supporting optical member in guide rail, both ensure that the relative position of guide rail and operation pipeline is constant, adapted to again the installation of working rig on the irregularly shaped pipeline of appropriateness and use.
Accompanying drawing explanation
Fig. 1 pipeline all-position working rig structural representation;
Fig. 2 pipeline all-position working rig partial structurtes enlarged drawing;
Fig. 3 pipeline all-position working rig motion is at operation pipeline diverse location graph of a relation;
Fig. 4 pipeline all-position working rig welding control flow chart;
Fig. 5 pipeline all-position working rig cut-sytle pollination flow chart;
In figure: 1-pipeline; 2-guide rail; 3-circumferential movement mechanism; 4-axial motion mechanism; 5-radial movement mechanism; 6-swing mechanism; 7-sweep mechanism; 8-clamping device; 9-support member; 10-performs terminal; 11-handle; 12-driver element; 13-control unit; 14-power supply; 15-driving wheel; 16-rolling member.
Detailed description of the invention
Below in conjunction with example, specifically introduce technical scheme of the present invention:
As shown in Figure 1, a kind of pipeline all-position working rig comprises guide rail 2, moving cell, execution terminal 10, driver element 12 and control unit 13.Moving cell comprises circumferential movement mechanism 3, axial motion mechanism 4, radial movement mechanism 5 and swing mechanism 6.The output of control unit 13 is connected with the input of driver element 12, and sends pulse signal.The output of driver element 12 is connected with the drive motors of moving cell respectively, and the pulse signal that driver element 12 reception control unit 13 sends the drive motors of actuation movement unit perform corresponding actions.
To be two semi-circular members to be formed by connecting a complete track by support member 9 guide rail 2, and guide rail 2 side has circumferential lateral edge groove; Guide rail 2 is fixing with pipeline 1 by the lower surface of support member 9.The support member 9 installed in the upper semicircumference part of guide rail 2 is rigid strutting piece, and the support member 9 that the lower half circle circumferential portion of guide rail 2 is installed is elastic supporting member for supporting optical member.
Radial movement mechanism 5 and swing mechanism 6 are arranged in axial motion mechanism 4, and axial motion mechanism 4 is arranged in circumferential movement mechanism 3.Be provided with driving wheel 15 immediately below bottom circumferential movement mechanism 3, driving wheel 15 rolls on guide rail 2.Bottom circumferential movement mechanism 3, side is provided with rolling member 16, and this rolling member 16 is arranged in the side groove of guide rail 2, and can move along side trough roller, realizes the support of circumferential movement mechanism 3 on guide rail 2, as shown in Figure 2.
Radial movement mechanism 5 being provided with clamping device 8, for clamping executing agency 10, making executing agency 10 be installed in radial movement mechanism 5; Circumferential movement mechanism 3, axial motion mechanism 4; Radial movement mechanism 5; Swing mechanism 6 drives respectively by motor, can self-movement separately.Above-mentioned four mechanisms realize executing agency 10 by different motor movement modes and are in different gestures at the diverse location of guide rail 2, thus realize the operation of executing agency's 10 pairs of pipelines 1, as shown in Fig. 3 (a)-3 (d).Executing agency 10 both can be the welder for connecting, also can be for separating of cutter sweep.Sweep mechanism 7 is positioned at the homonymy optional position of executing agency 10, by driving the sensor be mounted on sweep mechanism 7, obtain the width value of weld seam in operation pipeline and the weld seam location parameter relative to working rig, for the Operation control of working rig control unit 13 provides data, when operation pipe shape is irregular, control unit 13 automatically adjusts according to the motion of scan-data to the moving cell of working rig, commissure local irregularities during to solve irregularly shaped operation pipeline welding, groove is second-rate and cause the problem of weld defect.
。The both sides of circumferential movement mechanism 3 are also provided with handle 11, so that when installing and dismantle, operating personnel capture.
The control method that pipeline all-position working rig carries out weld job is as follows:
Step 1, preparation welding, input caliber and the thickness of pipe wall of pipeline to be welded, and control unit 13 judges to fill the weldering number of turns, and whether carries out step 7 to 13; When wall thickness is greater than setting value, control unit sends the instruction performing step 7 to 13; When wall thickness is less than setting value, control unit 13 does not send the instruction performing step 7 to 13;
Step 2, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 3, circumferential movement mechanism 3 drive the sweep mechanism 7 on it to complete the scanning of pipeline whole lap welding seam; Obtain the width value of weld seam in operation pipeline and the weld seam location parameter relative to working rig; Control unit 13 is determined when weld job pipeline diverse location according to above-mentioned scan-data, the height that radial movement mechanism 5 adjusts, the angle that swing mechanism 6 adjusts, and the speed of circumferential movement 3 and axially-movable 4 is to be suitable for the needs of irregular operation pipeline welding;
Step 4, startup tack welding: start after performing terminal welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement.
Step 5, judge whether completing steps 4, if complete, tack welding terminates, and closes and performs terminal welding gun; If do not complete, continue to perform step 4;
Step 6, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 7, startup backing welding: start after performing terminal welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, and swing mechanism 6 and radial movement mechanism 5 synchronous adjustment perform the angle of terminal 10 and height; Ad-hoc location is that whole piece weld seam is divided into N number of point, the weld width at each some place obtained by sweep mechanism in step 37 and welding seam position information, determine that the swing mechanism 6 at this some place adjusts the adjustment height of angle and radial movement mechanism 5, the movement velocity of circumferential movement mechanism 3 and axial motion mechanism 4, and the change of these parameters above-mentioned is between points continuous print;
Step 8, judge whether completing steps 7, if complete, backing welding terminates, and closes and performs terminal welding gun; If do not complete, continue to perform step 7;
Step 9, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 10, startup fill weldering first lap: after starting welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, and swing mechanism 6 and radial movement mechanism 5 synchronous adjustment perform the angle of terminal 10 and height;
Step 11, filling weldering first lap terminate, and close welding gun;
Step 12, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 13, judge fill weldering the number of turns whether complete, if complete, then perform step 14, otherwise, repeat step 10-12;
Step 14, startup cosmetic welding: after starting welding gun, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement, according to welding ad-hoc location, control unit 13 controls the speed of circumferential movement mechanism 3 and axial motion mechanism 4, and swing mechanism 6 and radial movement mechanism 5 synchronous adjustment perform the angle of terminal 10 and height;
Step 15, cosmetic welding terminate, and close welding gun;
Step 16, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 17, welding terminate.
The control method that pipeline all-position working rig carries out cutting operation is as follows:
Step 1, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 2, startup gas cutting: first swing mechanism 6 adjustment performs terminal 10 angle, then radial movement mechanism 5 adjustment performs terminal 10 highly.After starting cutter sweep, circumferential movement mechanism 3 and axial motion mechanism 4 are synchronized with the movement.
Step 3, judge whether circumferential movement mechanism completes appointment step number, if complete, then perform step 4, otherwise, repeat step 2; Specify step number to calculate according to the motor movement step number that different tube diameters is corresponding different to obtain;
Step 4, stopping gas cutting;
Step 5, complete machine reset: complete that radial movement mechanism 5 resets, swing mechanism 6 resets, axial motion mechanism 4 resets and circumferential movement mechanism 3 resets successively;
Step 6, cutting terminate.
It is evident that, above description and record be only citing instead of in order to limit content disclosed by the invention, application or use.Although described in an embodiment and described embodiment with reference to the accompanying drawings, but the present invention do not limit by accompanying drawing example and describe in an embodiment as the optimal mode thought at present to implement the specific examples of instruction of the present invention, scope of the present invention will comprise any embodiment of description and the appended claim fallen into above.
Claims (8)
1. a pipeline all-position working rig, is characterized in that: comprise guide rail, moving cell, execution terminal, driver element and control unit; Moving cell is along guide rail movement; Moving cell is connected with execution terminal; The output of control unit is connected with the input of driver element; The output of driver element is connected with the drive motors of moving cell respectively; The pulse signal that driver element reception control unit sends the drive motors of actuation movement unit perform corresponding actions; Described moving cell comprises circumferential movement mechanism, axial motion mechanism, radial movement mechanism and swing mechanism, and above-mentioned four mechanisms are driven by motor, energy self-movement separately; Described circumferential movement mechanism is provided with sweep mechanism.
2. pipeline all-position working rig as claimed in claim 1, described guide rail is the circular orbit that two semi-circular members are formed by connecting by support member, and rail-sides mask has circumferential lateral edge groove; The support member installed at guide rail upper semicircumference is rigid strutting piece, and the support member that second circumference of guide rail is installed is elastic supporting member for supporting optical member.
3. pipeline all-position working rig as claimed in claim 1 or 2, described radial movement mechanism and swing mechanism are arranged in axial motion mechanism, and axial motion mechanism is arranged in circumferential movement mechanism.
4. pipeline all-position working rig as claimed in claim 3, be provided with driving wheel immediately below described circumferential movement actuator base, driving wheel rolls on guide rail; Circumferential movement actuator base side is provided with rolling member, and this rolling member is arranged in the side groove of guide rail, and can move along side trough roller.
5. the pipeline all-position working rig as described in claim 1 or 4, described executing agency both can be the welder for connecting, also can be for separating of cutter sweep.
6. use a control method for pipeline all-position working rig as claimed in claim 1 welding, it is characterized in that, comprise the steps:
Step 1, preparation welding: the caliber and the thickness of pipe wall that input pipeline to be welded, control unit judges fill the weldering number of turns and whether carry out step 4 to 6;
Step 2, circumferential movement mechanism drive sweep mechanism to complete the whole circle weld and HAZ of pipeline and scanning;
Step 3, startup tack welding: start after performing terminal welding gun, circumferential movement mechanism and axial motion mechanism are synchronized with the movement;
Step 4, startup backing welding: after starting welding gun, circumferential movement mechanism and axial motion mechanism are synchronized with the movement, according to welding ad-hoc location, control unit controls the speed of circumferential movement mechanism and axial motion mechanism, and swing mechanism and radial movement mechanism synchronous adjustment perform the angle of terminal and height;
Step 5, startup fill weldering first lap: after starting welding gun, circumferential movement mechanism and axial motion mechanism 4 are synchronized with the movement, according to welding ad-hoc location, control unit controls the speed of circumferential movement mechanism and axial motion mechanism, and swing mechanism and radial movement mechanism synchronous adjustment perform the angle of terminal and height;
Step 6, judge fill weldering the number of turns whether complete, if complete, then perform step 7, otherwise, repeat step 5;
Step 7, startup cosmetic welding: after starting welding gun, circumferential movement mechanism and axial motion mechanism are synchronized with the movement, according to welding ad-hoc location, control unit controls the speed of circumferential movement mechanism and axial motion mechanism, and swing mechanism and radial movement mechanism synchronous adjustment perform the angle of terminal and height;
Step 8, welding terminate.
7. the control method of pipeline all-position working rig welding as claimed in claim 6, described ad-hoc location is by being divided into N number of point by whole piece weld seam, each point correspond to the adjustment height of a swing mechanism adjustment angle and radial movement mechanism, the movement velocity of circumferential movement mechanism and axial motion mechanism, and continuous parameters change between points.
8. use a control method for pipeline all-position working rig as claimed in claim 1 cutting, comprise the steps:
Step 1, complete machine reset: complete radial movement mechanism reset successively, swing mechanism resets, axial motion mechanism resets and circumferential movement mechanism resets;
Step 2, startup gas cutting: first swing mechanism adjustment performs terminal point, then radial movement mechanism adjustment performs terminal height.After starting cutter sweep, circumferential movement mechanism and axial motion mechanism are synchronized with the movement.
Step 3, judge whether circumferential movement mechanism completes appointment step number, if complete, then perform step 4, otherwise, repeat step 2;
Step 4, stopping gas cutting;
Step 5, complete machine reset: complete radial movement mechanism reset successively, swing mechanism resets, axial motion mechanism resets and circumferential movement mechanism resets;
Step 6, cutting terminate.
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| CN201510085283.9A CN104708220B (en) | 2015-02-16 | 2015-02-16 | A kind of pipeline all-position working rig and its control method |
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| CN201510085283.9A CN104708220B (en) | 2015-02-16 | 2015-02-16 | A kind of pipeline all-position working rig and its control method |
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| CN105033416A (en) * | 2015-09-11 | 2015-11-11 | 上海电气核电设备有限公司 | Nuclear power equipment CRDM penetration member and tube socket flange automatic TIG horizontal position welding apparatus |
| CN105081636A (en) * | 2015-08-31 | 2015-11-25 | 中国石油天然气股份有限公司 | Pipeline cutting machine |
| CN105292962A (en) * | 2015-10-12 | 2016-02-03 | 江苏金风科技有限公司 | Blade surface track and blade surface moving work platform |
| CN105345337A (en) * | 2015-11-28 | 2016-02-24 | 陈伟 | Girth welding device for steel ring |
| CN105485424A (en) * | 2015-11-26 | 2016-04-13 | 天津市安维康家科技发展有限公司 | Automatic continuous laying operation method for large-diameter pipelines and operating robot |
| CN105562818A (en) * | 2016-02-27 | 2016-05-11 | 河北工业大学 | Automatic large pipeline cutting machine |
| CN107378192A (en) * | 2017-09-04 | 2017-11-24 | 浙江国际海运职业技术学院 | Tube welding platform |
| CN113290301A (en) * | 2021-06-01 | 2021-08-24 | 昆山安意源管道科技有限公司 | All-position automatic welding machine for pipeline |
| CN114654146A (en) * | 2022-03-31 | 2022-06-24 | 成都熊谷加世电器有限公司 | Welding workstation |
| CN117506274A (en) * | 2023-12-25 | 2024-02-06 | 江苏悦川机器人有限公司 | Annular welding robot for pipeline welding |
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| CN113290301A (en) * | 2021-06-01 | 2021-08-24 | 昆山安意源管道科技有限公司 | All-position automatic welding machine for pipeline |
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