CN106965051A - End of spirial welded pipe intelligence polishing device - Google Patents
End of spirial welded pipe intelligence polishing device Download PDFInfo
- Publication number
- CN106965051A CN106965051A CN201710313229.4A CN201710313229A CN106965051A CN 106965051 A CN106965051 A CN 106965051A CN 201710313229 A CN201710313229 A CN 201710313229A CN 106965051 A CN106965051 A CN 106965051A
- Authority
- CN
- China
- Prior art keywords
- reconditioning
- wheel
- welded pipe
- abrasive band
- weld seam
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/002—Grinding heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention belongs to mechanical equipment technical field, and in particular to a kind of intelligent polishing device of end of spirial welded pipe.Including operating desk, industrial robot, detection device and the reconditioning head installed in industrial robot end.Reconditioning head has three kinds of structures, is selected according to actual condition.Detection device is two-dimensional laser sensor, is installed on the bistrique of robot, or is installed on two-freedom mobile device.Locus and the geometry of welded pipe end weld seam are measured by two-dimensional laser sensor, the amount of repairing a die of weld seam and the movement locus of robot end are calculated by the data that two-dimensional laser sensor is measured and optimized and drawn.The adjustment of the position of bistrique, posture and part bistrique reconditioning quality is carried out by six-shaft industrial robot.Reasonable in design of the present invention, simple operation, process full automation overcomes the shortcoming in traditional work mode.
Description
Technical field
The invention belongs to mechanical equipment technical field, and in particular to a kind of intelligent polishing device of end of spirial welded pipe.
Background technology
Welded still pipe is also referred to as welded tube, is to weld the steel pipe being made after cans with steel plate or steel band.Welded still pipe
It is divided into ERW and spiral welded pipe by the form of weld seam.The adaptability of spiral welded pipe is high compared with ERW, can use narrower material
The larger welded tube of material production caliber, also can use the material of same width to produce the different welded tube of caliber.
In the production process of welded tube, in order to ensure the finishing operations crudy of steel pipe and the need of field pipes end ring welding
Will, it is necessary to which reconditioning is carried out to end of spirial welded pipe, remove weld reinforcement.
Initially, end of spirial welded pipe weld seam is to carry out reconditioning using angle grinder by workman.After technology innovation, pipe end
The reconditioning of weld seam is that workman carries out semi-automatic operation by special polishing device and angle grinder.Meanwhile, also needed during repairing mill
Rely on the qualification and working experience of workman.Thus, reconditioning process automaticity, operating efficiency and the reconditioning of pipe end weld seam
Precision is all relatively low.
The content of the invention
For problems of the prior art, it is an object of the invention to design a kind of intelligent reconditioning of end of spirial welded pipe
Equipment, the problem of polishing device solves low automaticity and inefficiency using robot technology is swashed using high accuracy
Optical sensor solves the problem of reconditioning precision is low.
The intelligent polishing device of described a kind of end of spirial welded pipe, it is characterised in that including operating desk, industrial robot, inspection
Measurement equipment and the reconditioning head installed in industrial robot end.Described operating desk includes touch-screen and keyboard.Described industry
The artificial six-shaft industrial robot of machine.Described reconditioning head has three kinds of structures, is selected according to actual condition.Described detection
Equipment is two-dimensional laser sensor, is installed on the bistrique of robot, or is installed on independent mobile device.
The function of described operating desk is control polishing device and obtains machining information in real time.
Described reconditioning header structure one includes bistrique mounting seat, abrasive band wheel unit, abrasive band wheel unit feed arrangement, spacing
Wheel apparatus and two-dimensional laser sensor.Described bistrique mounting seat is used to install abrasive band wheel unit, the abrasive belt wheel list being arranged symmetrically
Member's feed arrangement, spacing wheel apparatus and detection device.Described abrasive band wheel unit includes follower, driving wheel, abrasive band, drive
Dynamic servomotor, protective cover and grinding wheel feed component.Described abrasive band wheel unit feed arrangement is by pneumatic actuation.Described is spacing
Wheel apparatus includes position-limited wheel, spacing turbin generator, position-limited wheel support and two-dimensional laser sensor.
Described bistrique one is measured before work using the two-dimensional laser sensor being arranged on.Institute
The abrasive band wheel unit stated is driven by the abrasive belt wheel feed arrangement pneumatically or hydraulically driven, makes the follower in the wheel unit of abrasive band tight
Patch is in welded joints.Described spacing turbin generator can adjust the rotation direction of position-limited wheel, put down the spiral angular direction of itself and weld seam
OK.When described spacing wheel apparatus guarantee is ground, mother metal is not injured.
Described grinding wheel head structure is secondly including mounting seat, abrasive band wheel unit, spacing wheel apparatus and two-dimensional laser sensor.Institute
The abrasive band wheel unit and spacing wheel apparatus stated are identical with grinding wheel head structure one.Miscellaneous part is connected to by described mounting seat
Robot end.
Described abrasive band wheel unit is driven by robot, the follower in the wheel unit of abrasive band is close in welded joints.It is described
Spacing turbin generator can adjust the rotation direction of position-limited wheel, make it parallel with the spiral angular direction of weld seam.Described position-limited wheel
During device guarantee mill, mother metal is not injured.
Described grinding wheel head structure is thirdly including transmission and switchover apparatus, servomotor, grinding, support wheel and cylinder milling
Knife.Servomotor, grinding, support wheel and cylindrical milling cutter, and transmission and power are housed in described transmission and switchover apparatus
Switching device is installed on robot end.Described support wheel has four, can be carried out elastic telescopic, in reconditioning all with weldering
Pipe arm contact, improves rigidity during work.
Described grinding wheel head structure is third, operationally, remove weld seam first with cylindrical milling cutter, then, using transmission and
Switchover apparatus, by powershift to grinding, finishing is carried out using grinding to welding line milling face.
The intelligent polishing device of described a kind of end of spirial welded pipe, it is characterised in that measured and welded by two-dimensional laser sensor
The locus of pipe pipe end weld seam and geometry, i.e.,：Driven, detected using sector by robot or independent mobile device
Laser is scanned to weld seam.
A kind of intelligent polishing device of described end of spirial welded pipe, it is characterised in that the different grinding wheel head structure by choosing,
The one side reconditioning or inner and outer welding reconditioning simultaneously of Welded Pipe weld seam can be achieved.
The intelligent polishing device of described a kind of end of spirial welded pipe, it is characterised in that the position of bistrique and pose adjustment are relied on
Six-shaft industrial robot is carried out.
The intelligent polishing device of described a kind of end of spirial welded pipe, it is characterised in that reconditioning quality and the robot end of weld seam
The movement locus at end is calculated by the data that two-dimensional laser sensor is measured and is optimized and drawn.
Reasonable in design of the present invention, simple operation, process full automation overcomes lacking in traditional work mode
Point.
Brief description of the drawings
Fig. 1 is total arrangement schematic diagram of the present invention；
Fig. 2 is grinding wheel head structure one schematic diagram；
Fig. 3 is grinding wheel head structure secondly schematic diagram；
Fig. 4 is grinding wheel head structure thirdly schematic diagram；
Fig. 5 is measuring apparatus schematic diagram.
Embodiment
Reference picture 1-5, the invention provides a kind of intelligent polishing device of end of spirial welded pipe, it is characterised in that including behaviour
Make platform 1, industrial robot 4, detection device 6 and the reconditioning first 5 installed in industrial robot end.The equipment passes through detection device
The locus of 6 detection welded tube welding seams and geometry.Then, the space tracking for the end of robot 4 being calculated with this and reconditioning
First 5 amount of feeding, finally, robot 4 drive the first 5 Welded Pipe weld seam of reconditioning to carry out automatic grinding.
Touch-screen 3 on operating desk 1 can Real-time Feedback machining information, keyboard 2 and touch-screen 3 can be inputted to enter equipment
Row control.
In the program, the vertical straight line moving cell 35 in detection device 6 is fixedly mounted on measurement support 34, and level is straight
Line moving cell 36 is arranged on the slide of vertical straight line moving cell 35.Vertical straight line moving cell 35 and horizontal rectilinear motion
Unit 36 is moved along a straight line, and lower two-dimensional laser sensor 38 is navigated to the suitable position of the top away from ground solstics of welded tube 8
Put so that weld seam to be grinding can be completely covered in the fan laser that lower two-dimensional laser sensor 38 is sent.Then, roller-way 9 starts,
Welded tube 8 is driven to rotate, until the outside of weld seam 7 enters in the range of covering of the fan detection laser.Then, horizontal rectilinear motion unit 36
Moved along the axis direction of welded tube 8, lower two-dimensional laser sensor 38 is carried out the outside of to be grinding section of the whole of weld seam 7 empty
Between position and geometry be scanned.Finally, vertical straight line moving cell 35 and horizontal rectilinear motion unit 36 are moved,
Upper laser sensor 37 is goed deep into inside welded tube 8, horizontal rectilinear motion unit 36 carries out the straight line along the axis direction of welded tube 8 again
Motion, makes laser sensor 37 be scanned the inner face of weld seam 7.After the completion of scanning, vertical straight line moving cell 35 and water
Flat line moving cell 36 is moved again, is that working space is conceded in reconditioning.
Described reconditioning header structure is the structure in Fig. 4, and locus and the geometric form of weld seam are detected in detection device 6
Shape, then calculates the end movement track of robot 4 and the reconditioning quality of weld seam 7.Servomotor 32 drives cylindrical milling cutter 31, machine
Device people 4 carries out reconditioning according to the track and reconditioning quality of weld seam with rotary bistrique to the interior outside of weld seam 7.After the completion of reconditioning, cylinder milling
Knife 31 is stalled, and transmission and switchover apparatus 29 are by powershift so that grinding 33 starts to rotate, to the inner and outer welding after reconditioning
Carry out finishing.In reconditioning, four can be along the support wheel 30 of the radial cutting force direction elastic telescopic of cylindrical milling cutter 31 with welding
Interior (outer) arm contact of pipe 8, improves rigidity of structure during grinding.
In another alternative, described reconditioning header structure is the structure in Fig. 3, and weld seam is detected in detection device 6
Locus and geometry, then calculate the end movement track of robot 4 and the reconditioning quality of weld seam 7.Servomotor
21 drive driving wheel 23, and driving wheel 23 drives abrasive band 26, and abrasive band 26 drives follower 27 simultaneously.Bistrique is installed by mounting seat 20
In the end of robot 4.Robot 4 carries out reconditioning according to the track and reconditioning quality of weld seam with rotary bistrique to the interior outside of weld seam 7.
In reconditioning, the rotation direction of position-limited wheel 28 is adjusted to and weld seam spiral shell by the servomotor 24 on motor mount 25
The direction of swing angle is parallel.Position-limited wheel 28 limits the reconditioning quality of follower 27, it is not injured mother metal.22 protection masters of protective cover
The effect of driving wheel 23.
In another alternative, described reconditioning header structure is the structure in Fig. 2, and detection device 6 can be not involved in weld seam 7
Locus and the detection of geometry.The two-dimensional laser sensor 14 being arranged symmetrically by two on bistrique is detected.
Detection process is essentially identical with detection device 6.The existing position to be detected that bistrique is navigated to welded tube 8 of robot 4, it is symmetrical above and below
The covering of the fan detection laser of the two-dimensional laser sensor 14 of arrangement is irradiated to the inside and outside tube wall of the position to be grinding of welded tube 8 simultaneously respectively
On.Roller-way 9 starts, and welded tube 8 starts rotation, until weld seam 7 is detected into area to be grinding by two-dimensional laser sensor 14.So
Afterwards, robot 4 is with rotary bistrique namely two two-dimensional laser sensors 14 carry out locus to weld seam 7 and geometry is swept
Retouch.
Detect weld seam locus and geometry after calculate end movement track and the weld seam 7 of robot 4
Reconditioning quality.Two servomotors 11 being arranged symmetrically in bistrique mounting seat drive two driving wheels 19 being arranged symmetrically respectively,
Driving wheel 19 drives two same abrasive bands 17, and abrasive band 17 drives the follower 18 being arranged symmetrically simultaneously.Bistrique passes through mounting seat 9
Installed in the end of robot 4.Robot 4 is with rotary bistrique, track and reconditioning quality according to weld seam, while to the interior outside of weld seam 7
Carry out reconditioning.In reconditioning, emery wheel unit feed arrangement 10 is pneumatically or hydraulically to drive, and the passive belt wheel 18 of bistrique is pressed on
On weld seam 7, it is ensured that weld seam is by reconditioning.Servomotor 13 on motor mount 15, in reconditioning, by position-limited wheel 16
Rotation direction is adjusted to parallel with the direction of weld seam helical angle.Position-limited wheel 16 limits the reconditioning quality of follower 18, it is not hindered
And mother metal.Protective cover 12 plays a part of to protect driving wheel 19.
Claims (9)
1. a kind of intelligent polishing device of end of spirial welded pipe, it is characterised in that the polishing device include operating desk, industrial robot,
Detection device and the reconditioning head installed in industrial robot end；
Described operating desk includes touch-screen and keyboard；
The artificial six-shaft industrial robot of described industrial machine；
Described reconditioning head has three kinds of structures, is selected according to actual condition；
Described detection device is two-dimensional laser sensor, is installed on the reconditioning head of robot, or is installed on independently mobile set
It is standby upper.
2. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that
The function of described operating desk is control polishing device and obtains machining information in real time.
3. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that
Described reconditioning header structure one includes bistrique mounting seat, abrasive band wheel unit, abrasive band wheel unit feed arrangement, position-limited wheel dress
Put and two-dimensional laser sensor；
Described bistrique mounting seat is used to install the abrasive band wheel unit being arranged symmetrically, abrasive band wheel unit feed arrangement, position-limited wheel dress
Put and detection device；
Described abrasive band wheel unit includes follower, driving wheel, abrasive band, driving servomotor, protective cover and grinding wheel feed component.
Described abrasive band wheel unit feed arrangement is driven using pneumatically or hydraulically type of drive；
Described spacing wheel apparatus includes position-limited wheel, spacing turbin generator, position-limited wheel supporting construction and two-dimensional laser sensor；
Described reconditioning header structure one is measured before work using the two-dimensional laser sensor being arranged on；
Described abrasive band wheel unit is driven by the abrasive belt wheel feed arrangement pneumatically or hydraulically driven, makes the quilt in the wheel unit of abrasive band
Driving wheel is close in welded joints；
Described spacing turbin generator can adjust the rotation direction of position-limited wheel, make it parallel with the spiral angular direction of weld seam；
Described spacing wheel apparatus ensures, in reconditioning, not injure mother metal.
4. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that
Described reconditioning header structure is secondly including mounting seat, abrasive band wheel unit, spacing wheel apparatus and two-dimensional laser sensor；
Described abrasive band wheel unit and spacing wheel apparatus are identical with reconditioning header structure one；
Miscellaneous part is connected to robot end by described mounting seat；
Described abrasive band wheel unit is driven by robot, the follower in the wheel unit of abrasive band is close in welded joints；
Described spacing turbin generator can adjust the rotation direction of position-limited wheel, make it parallel with the spiral angular direction of weld seam；
Described spacing wheel apparatus ensures, in reconditioning, not injure mother metal.
5. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that
Described reconditioning header structure is thirdly including transmission and switchover apparatus, servomotor, grinding, support wheel and cylinder milling
Knife；
Servomotor, grinding, support wheel and cylindrical milling cutter, and transmission and power are housed in described transmission and switchover apparatus
Switching device is installed on robot end；
Described support wheel has four, can be carried out elastic telescopic, in reconditioning all with welded tube arm contact, improve work when
Rigidity；
Then described grinding wheel head structure, utilizes transmission and power third, operationally, remove weld seam first with cylindrical milling cutter
Switching device, by powershift to grinding, finishing is carried out using grinding to welding line milling face.
6. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that sensed by two-dimensional laser
The locus of device measurement welded pipe end weld seam and geometry, i.e.,：Driven by robot or independent mobile device, utilize fan
Shape face detection laser is scanned to weld seam.
7. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that the different mill by choosing
Header structure, realizes the one side reconditioning or inner and outer welding reconditioning simultaneously of Welded Pipe weld seam.
8. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that the position of bistrique and posture
Adjustment is carried out by six-shaft industrial robot.
9. the intelligent polishing device of end of spirial welded pipe according to claim 1, it is characterised in that the reconditioning quality of weld seam and
The movement locus of robot end is calculated by the data that two-dimensional laser sensor is measured and is optimized and drawn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313229.4A CN106965051A (en) | 2017-05-05 | 2017-05-05 | End of spirial welded pipe intelligence polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313229.4A CN106965051A (en) | 2017-05-05 | 2017-05-05 | End of spirial welded pipe intelligence polishing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106965051A true CN106965051A (en) | 2017-07-21 |
Family
ID=59331993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710313229.4A Pending CN106965051A (en) | 2017-05-05 | 2017-05-05 | End of spirial welded pipe intelligence polishing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106965051A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253368A (en) * | 2019-06-14 | 2019-09-20 | 长安大学 | It is same inside and outside a kind of self-propelled steel pipe seam of electromagnet absorption to repair equipment |
| CN110355660A (en) * | 2019-08-14 | 2019-10-22 | 宝鸡石油钢管有限责任公司 | A kind of pipe end inner and outer welding automatic polishing device for spiral welded pipe production line |
| CN111283488A (en) * | 2020-03-30 | 2020-06-16 | 沈阳机床成套设备有限责任公司 | Grinding device and roller press |
| CN111347329A (en) * | 2020-02-28 | 2020-06-30 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN111438585A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111438581A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil and gas pipeline laying butt joint processing method |
| CN111730447A (en) * | 2020-07-21 | 2020-10-02 | 豪德博尔(山东)智能装备有限公司 | Polishing and cleaning device for weld joints of spiral welded pipes |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
| CN112296446A (en) * | 2020-09-28 | 2021-02-02 | 太原科技大学 | Bar chamfering robot system and method |
| CN113059408A (en) * | 2021-03-31 | 2021-07-02 | 浦江奈德丽工业设计有限公司 | Milling cutter machining device and using method thereof |
| CN113941919A (en) * | 2021-10-12 | 2022-01-18 | 慧诚自动化技术(宁波)有限公司 | Data processing and control method for automatic steel pipe weld joint polishing system |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253368B (en) * | 2019-06-14 | 2024-02-13 | 长安大学 | Electromagnet adsorption self-propelled steel pipe welding seam internal and external repair equipment |
| CN110253368A (en) * | 2019-06-14 | 2019-09-20 | 长安大学 | It is same inside and outside a kind of self-propelled steel pipe seam of electromagnet absorption to repair equipment |
| CN110355660A (en) * | 2019-08-14 | 2019-10-22 | 宝鸡石油钢管有限责任公司 | A kind of pipe end inner and outer welding automatic polishing device for spiral welded pipe production line |
| CN111347329B (en) * | 2020-02-28 | 2021-07-13 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN111347329A (en) * | 2020-02-28 | 2020-06-30 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN111283488A (en) * | 2020-03-30 | 2020-06-16 | 沈阳机床成套设备有限责任公司 | Grinding device and roller press |
| CN111438585B (en) * | 2020-04-03 | 2021-08-13 | 智慧工场创新科技(东台)有限公司 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111438581A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil and gas pipeline laying butt joint processing method |
| CN111438585A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111730447B (en) * | 2020-07-21 | 2020-11-20 | 豪德博尔(山东)智能装备有限公司 | Polishing and cleaning device for weld joints of spiral welded pipes |
| CN111730447A (en) * | 2020-07-21 | 2020-10-02 | 豪德博尔(山东)智能装备有限公司 | Polishing and cleaning device for weld joints of spiral welded pipes |
| CN112296446A (en) * | 2020-09-28 | 2021-02-02 | 太原科技大学 | Bar chamfering robot system and method |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
| CN113059408A (en) * | 2021-03-31 | 2021-07-02 | 浦江奈德丽工业设计有限公司 | Milling cutter machining device and using method thereof |
| CN113059408B (en) * | 2021-03-31 | 2023-01-10 | 株洲耀辉光机电研究开发有限公司 | Milling cutter machining device and using method thereof |
| CN113941919A (en) * | 2021-10-12 | 2022-01-18 | 慧诚自动化技术(宁波)有限公司 | Data processing and control method for automatic steel pipe weld joint polishing system |
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Application publication date: 20170721 |