CN106595490A - Device used for detecting residual height after double-metal composite pipeline positioning and welding line grinding - Google Patents
Device used for detecting residual height after double-metal composite pipeline positioning and welding line grinding Download PDFInfo
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- CN106595490A CN106595490A CN201611030640.2A CN201611030640A CN106595490A CN 106595490 A CN106595490 A CN 106595490A CN 201611030640 A CN201611030640 A CN 201611030640A CN 106595490 A CN106595490 A CN 106595490A
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- pipeline
- ball screw
- weld seam
- detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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Abstract
The invention discloses a method used for detecting the residual height after double-metal composite pipeline positioning and welding line grinding. The device includes a positioning bearing device used for bearing a pipeline and positioning a welding line in the pipeline, a traveling device is arranged in the pipeline, and a detection device which detects the residual height of the welding line is arranged on the traveling device; the traveling device includes a rail arranged in the pipeline, a trolley body is arranged on the rail, the trolley body is carried on the rail through wheels, a driving servo motor used for driving the trolley body is arranged on the trolley body, and the detection device is arranged on the trolley body. The device used for detecting the residual height after double-metal composite pipeline positioning and welding line grinding improves the work efficiency in a composite pipe automated product process, reduces production cost, guarantees production quality, and reduces potential production safety hazards.
Description
Technical field
The invention belongs to mechanical engineering field, and in particular to one kind is used for bimetal compound pipeline positioning and weld seam grinding
The device that afterwards reinforcement is detected.
Background technology
With the development and the progress in epoch of global industry, the energy is increasingly becoming the key of the economic development of various countries.Root
According to International Energy Agency (IEA), it is expected that occupancy volume of the fossil energy in the year two thousand thirty is still 80% during global primary energy is constituted, oil
The status of gas is more and more important.According to Britain《World energy sources statistics comment》Prediction, to the year two thousand forty explored reserves
Still world demand can be met, gas reserves be enough to last till 2062 [1].Oil gas through upper century-old exploitation, to deep-sea,
Desert, south poles and the high paneling containing the environmental conditions such as the strong corrosive mediums such as H2S, CO2, C1- ground have become various countries' exploitation
Trend, the NE Sichuan and Xinjiang oil gas field of China are such.
On November 19th, 2014, the General Office of the State Council printed and distributed《Energy development Strategic Action Plan (2014-2020)》
In clearly propose to improve natural gas consumption proportion, to the year two thousand twenty, ratio of the natural gas in primary energy consumption is important to be brought up to
More than 10%, town dweller will substantially use natural gas.Oil gas long range in the presence of a harsh environment, safety and efficient transportation become
A difficult problem urgently to be resolved hurrily；Both oil-gas transportation safety in the presence of a harsh environment had been can guarantee that, the bimetallic that production cost can again reduced
The birth of multiple tube solves this difficult problem.
Specified according to APISPEC5L and GB/T9711-2011 standards, the weld seam in internal diameter 590mm steel pipe 12m length ranges
Reinforcement should be removed, but cannot be below body；Find due to the impact of weld reinforcement through investigation simultaneously, be with welded still pipe
The multiple tube of base tube proportion in security incident is higher, therefore to ensure composite bimetal pipe quality to its weld reinforcement
It is most important that detection becomes.
At present, there is inefficiency in detection when most of large-scale curved weld seam is ground, progress is poor, environment is disliked
It is bad, narrow space, it is impossible to the problems such as synchronous with grinding attachment.The equipment of country's research and development is primarily directed to the detection of pipeline inside
(flaw detection) and the measurement of pipe end weld reinforcement, and the mostly not high untouchable sensor survey of contact sensor and precision
Amount, simultaneously as being limited by line size is long, reinforcement when pipeline internal weld seams are ground cannot be obtained to a certain extent
To effectively measurement；Therefore, when weld seam is ground, by the small size of computer controls, little quality, high accuracy, automaticity
High and low cost laser sensor formula reinforcement detection means becomes the developing direction of recent multiple tube production and processing.Research and development
Multiple tube automated production equipment is to reduce production cost, improve production efficiency, ensure the quality of production and reduce production safety hidden
The fundamental way of trouble, is also extremely required and urgent in production process.
The content of the invention
It is an object of the invention to provide a kind of be used for reinforcement detection after bimetal compound pipeline positioning and weld seam grinding
Device, with the defect for overcoming above-mentioned prior art to exist, the present invention improves the work during multiple tube automated production
Efficiency, reduces production cost, it is ensured that the quality of production, and reduces production safety hidden danger.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
For the device to reinforcement detection after bimetal compound pipeline positioning and weld seam grinding, including for carrying pipeline simultaneously
The positioning carrier positioned to weld seam in pipeline, is provided with running gear in pipeline, butt welding is provided with running gear
The detection means that seam reinforcement is detected；
The running gear includes arranging track in the duct, and car body is provided with track, and car body is carried by wheel
On track, the driving servomotor for driving car body is provided with car body, detection means is arranged on car body.
Further, the two ends of track are provided with track fixed block, and rail inferior portion is provided with track support block, the track
Bracer and the curved surface that the contact surface of pipeline is with pipeline with internal diameter.
Further, drive the output end of servomotor to be connected with driving gear, driving gear by engage from
Moving gear is connected with axletree, and the two ends of axletree are connected with wheel, and wheel both sides are arranged to have elastic component, and axletree passes through axle bearing
Seat is connected with car body.
Further, the positioning carrier includes some workbench, and on middle workbench position is additionally provided with
Adjusting means is put, the workbench includes slider bottom plate, transverse slider is provided with slider bottom plate, is provided with transverse slider vertical
To slide block, tube support arrangement is provided with longitudinal sliding block, the apparatus for adjusting position includes the horizontal stroke being arranged on transverse slider
Dress is adjusted to adjusting means, the longitudinal adjustment apparatus being arranged on longitudinal sliding block and the rotation being arranged in tube support arrangement
Put.
Further, lateral adjustment device includes the laterally driven slide block being connected on transverse slider, laterally driven slide block
Upper to be connected with transverse ball lead screw by two ball screw support bases, transverse ball lead screw one end is connected with turbine, turbine
It is connected with worm screw, worm screw is connected with transverse flange, transverse flange is connected with horizontal servomotor.
Further, longitudinal adjustment apparatus include the zigzag tread patterns slide block being connected on longitudinal sliding block, zigzag tread patterns slide block
Upper to be connected with longitudinal ball screw by two ball screw support bases, longitudinal ball screw one end is connected with turbine, turbine
It is connected with worm screw, worm screw is connected with longitudinal flange, longitudinal flange is connected with servo longitudinal motor.
Further, tube support arrangement includes the support base that two couple being arranged on longitudinal sliding block cooperates, often
To being connected with support shaft between support base, pipeline support wheel is provided with support shaft, pipeline is arranged between pipeline support wheel,
Rotation adjustment device includes the rotating servo motor being connected to by rotary flange in support shaft.
Further, the detection means includes detection servomotor, and detection servomotor is connected with rolling by shaft coupling
Ballscrew, is connected with detection slide block on ball screw, detect that slider bottom is connected with the laser sensing for detecting weld reinforcement
Device, the two ends of ball screw are connected to ball screw base by ball screw drive tab, and ball screw base is subtracted by some
The device that shakes is connected with car body, and the detection servomotor is connected by detection servo motor flange with the end face of ball screw base.
Further, the backplate for protecting laser sensor is provided with car body.
Further, it is provided with ball screw base for the limiting plate spacing to detecting slide block.
Compared with prior art, the present invention has following beneficial technique effect：
The present invention is overall as an assembling by detection means and running gear, makes layout more reasonable, and structure is more tight
Gather, reduce the overall dimensions of whole device so as to the demand of detection is met in long and narrow and small composite bimetal pipe, adopting can
Speed governing and can sternway automatically walk form, make process sequence distribution more reasonable, can make full use of whole device, reduce and go
Empty consumption is walked, meanwhile, the present invention is greatly improved precision, real-time and the speed of reinforcement detection, and the grinding for weld seam is carried
For size foundation.
Further, the present invention is divided in track and puts track support block, in its radius and pipeline with tube contacts curved surface
Wall radius is equal, is that track improves support force, can reduce the deformation of track, and wheel floats along the axial direction of axletree and can then offset this
When the lateral deformation that produces.
Further, wheel both sides install flexible member additional, and wheel can axially float within the specific limits along axletree, but can not
Circumferentially rotate so that when track occurs transversely deforming, will not wheel it is stuck and abrasion is overweight, and axletree is installed on above car body,
The height of whole device can be reduced, makes compact conformation meet the job requirement in small space.
Further, the transmission of transverse slider and longitudinal sliding block adopts worm and worm wheel, can utilize its latching characteristics, prevents
Pipeline stress in grinding produces displacement.
Further, pipeline has support wheel to support, can using pipeline itself and support wheel as a transmission device by rotating
Servomotor carry out it is circumferentially positioned, meanwhile, carry out waiting high measurement in weld seam both sides using laser sensor, so to it is circumferential enter
Row is accurately positioned.
Further, shadow of the vibration produced when detection means is connected and can reduce grinding with car body by shock absorber to detection
Ring, improve the precision of detection.
Further, it is computed, when large diameter pipeline weld reinforcement is detected, can be entered on the basis of the edge of weld seam side
Row detection.The positioning detection Serve Motor Control of laser sensor used is detected in the present invention, meanwhile, transmission adopts ball
Screw mandrel, then can meet the positioning precision of laser sensor.
Further, the dynamic uniform servomotor of whole device institute is provided, and machinery inertial is little, high precision, makes whole dress
Put in orbit walking and part positioning it is more accurate, the assembling of all servomotors is provided with flange, can improve axiality and
The precision of assembling.
Further, driving servomotor of the invention, detection servomotor, horizontal servomotor, servo longitudinal motor
With rotating servo motor using PLC controls, laser sensor constitutes a closed loop by laser sensor host computer control with PLC
Control system is by computer controls.The automaticity of processing can be improved, reduces the difficulty of operation, reduce the negative of staff
Load, greatly improves production efficiency, shortens the production cycle.
Description of the drawings
Fig. 1 is the overall structure front view of the present invention；
Fig. 2 is the overall structure right view of the present invention；
Fig. 3 is the overall structure top view of the present invention；
Fig. 4 is the running gear top view of the present invention；
Fig. 5 is the detection means right view of the present invention；
Fig. 6 is the detection means top view of the present invention；
Fig. 7 is the track support block right view of the present invention.
Wherein, 1, slider bottom plate, 2, zigzag tread patterns slide block, 3, ball screw support base, 4, longitudinal ball screw, 5, snail
Wheel, 6, servo longitudinal motor, 7, longitudinal flange, 8, worm screw, 9, support shaft base, 10, support shaft, 11, pipeline support wheel, 12,
Weld seam, 13, pipeline, 14, track support block, 15, track, 16, track fixed block, 17, wheel, 18, drive servomotor, 19,
Driving gear, 20, driven gear, 21, flexible member, 22, detection servomotor, 23, detection servo motor flange, 24, ball
Screw mandrel base, 25, car body, 26, backplate, 27, laser sensor, 28, longitudinal sliding block, 29, transverse slider, 30, rotating servo electricity
Machine, 31, axle bearing seat, 32, axletree, 33, shaft coupling, 34, limiting plate, 35, ball screw drive tab, 36, horizontal servo electricity
Machine, 37, shock absorber, 38, laterally driven slide block, 39 transverse ball lead screws, 40, ball screw, 41, transverse flange, 42, rotary process
Orchid, 43, detection slide block.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-Fig. 7, the device of reinforcement detection during for being ground to bimetal compound pipeline positioning and weld seam, main bag
Include running gear, detection means, positioning carrier, wherein, detection means is arranged at running gear by four shock absorbers 37
On, reduce impact of the vibration of other devices generations to detection means.Running gear is equipped on track 15 by wheel 17, rail
The two ends of road 15 are provided with track fixed block 16, and the middle part of track 15 is provided below track support block 14, track support block 14 by with pipe
Road is seated in pipeline 13 with internal diameter curved surface, and track support block provides support force for track, prevents track deformation.Pipeline 13 passes through
Pipeline support wheel 11 is supported on positioning carrier.
Running gear includes car body 25, arranges on car body 25 and drives servomotor 18, drives servomotor 18 and driving tooth
Wheel 19 connects, and driving gear 19 is engaged with driven gear 20, and using gear drive the efficiency and stationarity of transmission can be improved.It is driven
Gear 20 is connected with axletree 32, and the two ends of axletree 32 are connected with wheel 17, and axletree is arranged above car body.The both sides of wheel 17 arrange bullet
Property element 21, flexible member axially floats for wheel and provides restoring force, prevent from wheel stuck and reduce to wear and tear.Axletree 32 and axletree
Bearing block 31 connects, and axle bearing seat 31 is connected with car body 25, and car body 25 is connected below with backplate 26, and backplate avoids grinding from producing
Mars and unqualified wound laser sensor.
Four shock absorbers 37 are set on car body 25, and shock absorber 37 is connected with ball screw base 24, ball screw base 24
It is connected with detection servo motor flange 23, can assembly precision using flange.Detection servo motor flange 23 and detection servomotor
22 connections, detection servomotor 22 is connected with shaft coupling 33, and shaft coupling 33 is connected with ball screw 40, using ball leading screw driving
The precision of transmission can be improved.Ball screw 40 is connected with detection slide block 43, and detection slide block 43 is connected with laser sensor 27, ball
Screw mandrel 40 is connected with two ball screw drive tabs 35, and ball screw drive tab 35 is connected with ball screw base 24, ball wire
Bar base 24 is connected with two limiting plates 34, and limiting plate prevents system program dislocation from causing the excessive laser sensing of damaging of slider displacement
Device.
Positioning carrier is made up of three identical workbench, wherein, middle workbench is provided with apparatus for adjusting position.
Slider bottom plate 1 is connected with transverse slider 29, and transverse slider 29 is connected with laterally driven slide block 38, laterally driven slide block 38 with it is horizontal
Ball screw 39 connects, and transverse ball lead screw 39 is supported by two ball screw support bases 3, the one end of transverse ball lead screw 39 with
Turbine 5 connects, and turbine 5 coordinates with worm screw 8, prevents pipeline stress from its position occurs using its latching characteristics using worm and gear
It is mobile.Worm screw 8 is connected with transverse flange 41, and transverse flange 41 is connected with horizontal servomotor 36, and transverse slider 29 is sliding with longitudinal direction
Block 28 connects, and longitudinal sliding block 28 is connected with zigzag tread patterns slide block 2, and zigzag tread patterns slide block 2 is connected with longitudinal ball screw 4, longitudinal direction
Ball screw 4 is supported by two ball screw support bases 3, and the one end of longitudinal ball screw 4 is connected with turbine 5, turbine 5 and worm screw
8 coordinate, and worm screw 8 is connected with longitudinal flange 7, and longitudinal flange 7 is connected with servo longitudinal motor 6, and four are arranged on longitudinal sliding block 28
The support base 9 of support base 9 is connected with support shaft 10, and support shaft 10 is connected with pipeline support wheel 11, props up on pipeline support wheel 11
Stay tube road 13, support shaft 10 is connected by rotary flange 42 with rotating servo motor 30.One pipeline support crop rotation is driving wheel
With pipeline and another support wheel row pipeline is carried out into a transmission mechanism circumferentially positioned.
Drive servomotor 18, detection servomotor 22, rotating servo motor 30, horizontal servomotor 36 and servo longitudinal
By PLC controls, laser sensor 27 constitutes a closed-loop control system to motor 6 by laser sensor host computer control with PLC
By computer controls, there is provided automaticity and monitoring capacity, working strength is reduced.
The implementation process of the present invention is described in further detail below：
First, pipeline 13 is supported by positioning carrier, then pipe is made by lateral adjustment device and longitudinal adjustment apparatus
Road 13 is positioned at the position that track 14 and running gear can be sailed into smoothly.Lateral adjustment device and longitudinal adjustment apparatus adopt worm screw
Worm gear drive, using its latching characteristics, prevents pipeline stress from making its position change.
Secondly, track 14 and running gear are inserted into pipeline 13, then by rotation adjustment device and laser sensor 27 pairs
Pipe welding seam 12 or so carries out the high detection such as symmetrical, pipe welding seam is horizontal so as to grinding.
Finally, detection is not ground the distance between the middle part of weld seam 12 and laser sensor 27 and provides feeding chi for grinding attachment
It is very little.Running gear is driven, during walking, detection servomotor 22 drives detection slide block 43 by ball screw 40, makes
The three location fixes detection (notes in the middle part of the left hand edge of weld seam 12, right hand edge and weld seam of laser sensor 27：The long 12m of pipeline, internal diameter
590mm, external diameter 610mm, weld seam has a certain radian, wide 20mm, high about 3mm, middle part highest, and final reinforcement must not be higher than
0.5mm.It is computed weld edge and is about 0.167mm apart from H to inner surface of pipeline minimum point, therefore as benchmaring).First
The distance between the detection left and right edges of weld seam 12 and laser sensor 27 are averaged, then are detected and grind in the middle part of weld seam and laser sensing
The distance between device 27, both ask difference to obtain reinforcement.This detection process can be during running gear be advanced, every the set time
Many quick detections of t, obtain multiple detection reinforcements and average and compare with (0.5-H) mm, if detection is not up to requirement and can feed back down
Car is ground detects again again.
Claims (10)
1. be used for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device, it is characterised in that include for
Pipeline (13) and the positioning carrier positioned to weld seam (12) in pipeline (13) are carried, pipeline is provided with walking in (13)
Device, is provided with the detection means detected to weld reinforcement on running gear；
The running gear includes the track (15) being arranged in pipeline (13), and car body (25), car body are provided with track (15)
(25) it is equipped on track (15) by wheel (17), the driving servo electricity for driving car body (25) is provided with car body (25)
Machine (18), detection means is arranged on car body (25).
2. it is according to claim 1 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, the two ends of track (15) are provided with track fixed block (16), track (15) bottom is provided with track support block (14),
The track support block (14) and the curved surface that the contact surface of pipeline (13) is with pipeline (13) with internal diameter.
3. it is according to claim 1 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, the output end for driving servomotor (18) is connected with driving gear (19), driving gear (19) with it by nibbling
The driven gear (20) of conjunction is connected with axletree (32), and the two ends of axletree (32) are connected with wheel (17), and wheel (17) both sides are arranged
Have elastic component (21), and axletree (32) is connected by axle bearing seat (31) with car body (25).
4. it is according to claim 1 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, the positioning carrier includes some workbench, on middle workbench position adjustments are additionally provided with
Device, the workbench includes slider bottom plate (1), transverse slider (29) is provided with slider bottom plate (1), on transverse slider (29)
Longitudinal sliding block (28) is provided with, tube support arrangement is provided with longitudinal sliding block (28), the apparatus for adjusting position includes arranging
Lateral adjustment device on transverse slider (29), the longitudinal adjustment apparatus being arranged on longitudinal sliding block (28) and it is arranged on pipe
Rotation adjustment device in road support meanss.
5. it is according to claim 4 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, lateral adjustment device includes the laterally driven slide block (38) being connected on transverse slider (29), laterally driven cunning
Transverse ball lead screw (39), transverse ball lead screw (39) are connected with block (38) by two ball screw support bases (3)
End is connected with turbine (5), and turbine (5) is connected with worm screw (8), and worm screw (8) is connected with transverse flange (41), transverse flange
(41) it is connected with horizontal servomotor (36).
6. it is according to claim 4 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, longitudinal adjustment apparatus include the zigzag tread patterns slide block (2) being connected on longitudinal sliding block (28), zigzag tread patterns slide block
(2) longitudinal ball screw (4), longitudinal ball screw (4) one end and whirlpool are connected with by two ball screw support bases (3) on
Wheel (5) connection, turbine (5) is connected with worm screw (8), and worm screw (8) is connected with longitudinal flange (7), longitudinal flange (7) and longitudinally
Servomotor (6) is connected.
7. it is according to claim 4 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, tube support arrangement includes the support base (9) that two couple being arranged on longitudinal sliding block (28) cooperates, often
To being connected with support shaft (10) between support base (9), pipeline support wheel (11) is provided with support shaft (10), pipeline (13) sets
Put between pipeline support wheel (11), rotation adjustment device includes the rotation being connected to by rotary flange (42) in support shaft (10)
Turn servomotor (30).
8. it is according to claim 1 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, the detection means includes detection servomotor (22), detection servomotor (22) is connected by shaft coupling (33)
Be connected to ball screw (40), be connected with ball screw (40) detection slide block (43), detection slide block (43) bottom be connected with for
The laser sensor (27) of detection weld reinforcement, the two ends of ball screw (40) are connected to rolling by ball screw drive tab (35)
Ballscrew base (24), ball screw base (24) is connected by some shock absorbers (37) with car body (25), the detection servo
Motor (22) is connected by detecting servo motor flange (23) with the end face of ball screw base (24).
9. it is according to claim 8 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, being provided with the backplate (26) for protecting laser sensor (27) on car body (25).
10. it is according to claim 8 for bimetal compound pipeline positioning and weld seam grinding after reinforcement detection device,
Characterized in that, being provided with ball screw base (24) for the limiting plate (34) spacing to detecting slide block (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611030640.2A CN106595490B (en) | 2016-11-16 | 2016-11-16 | Device for being detected to reinforcement after bimetal compound pipeline positioning and weld seam grinding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611030640.2A CN106595490B (en) | 2016-11-16 | 2016-11-16 | Device for being detected to reinforcement after bimetal compound pipeline positioning and weld seam grinding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106595490A true CN106595490A (en) | 2017-04-26 |
| CN106595490B CN106595490B (en) | 2019-04-05 |
Family
ID=58591603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611030640.2A Active CN106595490B (en) | 2016-11-16 | 2016-11-16 | Device for being detected to reinforcement after bimetal compound pipeline positioning and weld seam grinding |
Country Status (1)
| Country | Link |
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| CN (1) | CN106595490B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113280777A (en) * | 2020-02-19 | 2021-08-20 | 天津市乾丰防腐保温工程有限公司 | Steel-plastic composite pipe measuring device |
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| JP2000283731A (en) * | 1999-03-30 | 2000-10-13 | Osaka Gas Co Ltd | Weld line position measuring method, weld line position measuring device, and traveling body automatically following weld line |
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| CN104801916A (en) * | 2015-04-13 | 2015-07-29 | 上海应用技术学院 | Automatic rotating welding device for pipeline |
| CN104807424A (en) * | 2015-04-16 | 2015-07-29 | 长安大学 | Contact type in-pipe surplus seam height measurement device |
| CN104985289A (en) * | 2015-07-31 | 2015-10-21 | 华南理工大学 | Laser sensor-based welding seam automatic tracking test device and test method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000283731A (en) * | 1999-03-30 | 2000-10-13 | Osaka Gas Co Ltd | Weld line position measuring method, weld line position measuring device, and traveling body automatically following weld line |
| CN201702523U (en) * | 2010-05-20 | 2011-01-12 | 什邡市明日宇航工业股份有限公司 | Welding tool for external circular seam of annular titanium alloy cylinder inner container |
| CN202428154U (en) * | 2012-01-16 | 2012-09-12 | 湖南省送变电建设公司 | Tube-rod welding riding wheel carrier |
| CN104801916A (en) * | 2015-04-13 | 2015-07-29 | 上海应用技术学院 | Automatic rotating welding device for pipeline |
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| CN104985289A (en) * | 2015-07-31 | 2015-10-21 | 华南理工大学 | Laser sensor-based welding seam automatic tracking test device and test method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113280777A (en) * | 2020-02-19 | 2021-08-20 | 天津市乾丰防腐保温工程有限公司 | Steel-plastic composite pipe measuring device |
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| Publication number | Publication date |
|---|---|
| CN106595490B (en) | 2019-04-05 |
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