JPS6021132A - Working method of work by working robot - Google Patents
Working method of work by working robotInfo
- Publication number
- JPS6021132A JPS6021132A JP13002383A JP13002383A JPS6021132A JP S6021132 A JPS6021132 A JP S6021132A JP 13002383 A JP13002383 A JP 13002383A JP 13002383 A JP13002383 A JP 13002383A JP S6021132 A JPS6021132 A JP S6021132A
- Authority
- JP
- Japan
- Prior art keywords
- working
- works
- tip
- workpiece
- robot
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 7
- 239000000463 material Substances 0.000 claims abstract description 5
- 239000002184 metal Substances 0.000 claims abstract description 5
- 238000003825 pressing Methods 0.000 claims description 4
- 238000003672 processing method Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 abstract description 4
- 238000005520 cutting process Methods 0.000 description 12
- 238000003754 machining Methods 0.000 description 8
- 102100034176 Glutathione-specific gamma-glutamylcyclotransferase 1 Human genes 0.000 description 1
- 101710175495 Glutathione-specific gamma-glutamylcyclotransferase 1 Proteins 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/047—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers the gripper supporting the workpiece during machining
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、作業ロボットによるワーク加工方法に関する
。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a workpiece processing method using a working robot.
一般に、作業ロボットのハンド部でワークを把持し、該
ワークを作業ロボットにより加工位置にセットして所定
の加工を行なう場合において、上記ワークは多数用意さ
れるが、従来ではそれらのワークは個々に独立しだノく
う状であるがだめに、加工精度の面からノ・ンド部で把
持する前にそれらのワークを規則正しく整然と並べる必
要があった。Generally, when a workpiece is gripped by the hand portion of a work robot and the workpiece is set at a processing position by the work robot and a predetermined process is performed, a large number of the above-mentioned workpieces are prepared, but conventionally, these workpieces are individually Although the workpieces were independent, it was necessary to line up the workpieces in a regular and orderly manner before gripping them with the nozzle part due to machining accuracy.
そして、このための労力が大きくて作業性が低下すると
共に、把持すべき位置の精度も一定しにくいといった問
題点があった。This requires a lot of effort, reducing work efficiency, and it is also difficult to maintain the accuracy of the gripping position.
本発明は従来のこのような問題点を解決するもので、多
数のワークを整然と並べるというような面倒をなくして
作業性を向上すると共に、作業ロボットのハンド部が常
にワークの一定位置を把持できて加工精度を向上できる
作業ロボットによるワーク加工方法を提供することを目
的とする。The present invention solves these conventional problems and improves work efficiency by eliminating the trouble of arranging a large number of workpieces in an orderly manner, and also enables the hand section of the work robot to always grip the workpiece at a fixed position. The purpose of this invention is to provide a workpiece machining method using a working robot that can improve machining accuracy.
そこで、本発明の特徴とするところは、金属製帯状素材
をプレス加工により、多数のワークが未分離で連続状と
なったステープル体を形成しておき、作業ロボットのハ
ンド部にて該ステーブル体の先端ワークを把持し、把持
された該先端ワークのみをステーブル体から切断分離し
、その後該先端ワークを作業ロボット（てより加工位置
にセットして所定の加工を行ない、順次読先端ワークか
ら加工することにある。Therefore, the feature of the present invention is to form a staple body in which a large number of works are unseparated and continuous by pressing a metal strip material, and then use the hand section of a working robot to stabilize the staple body. The workpiece at the tip of the body is grasped, and only the gripped tip workpiece is cut and separated from the stable body, and then the tip workpiece is set at the processing position by the working robot (the robot is used to perform the predetermined machining, and the tip workpiece is read in sequence). It consists in processing from.
以下、実施例を示す図面に基づいて本発明を詳説する。Hereinafter, the present invention will be explained in detail based on drawings showing examples.
第１図及び第２図において、（１）は多数のワーク（２
）・・・が未分離で連続状となったステーブル（ボッチ
キスの針）体であって、とのステープル体（１）は金属
製帯状素材をプレス加工して形成される。即ち、正面か
ら見て下向きのコ字状を成し、左右両側からは長手方向
所定間隔置きに切込み（３］ （３）が設けられている
。しかして、ワーク（２）・・・はコ字状の左右のＬ字
形片で形成されるのであり、長手方向には上記切込み（
３１（３）による中央連結部（４）・・・にて連続状と
なっている。（５）・・・は各ワーク（２）・・・部分
の水平部（６）Ｋ貫設された孔である。In Figures 1 and 2, (1) represents a large number of workpieces (2
)... is an unseparated and continuous stable (botch kissing needle) body, and the staple body (1) is formed by pressing a metal band-shaped material. That is, it forms a downward U-shape when viewed from the front, and cuts (3) (3) are provided at predetermined intervals in the longitudinal direction from both the left and right sides. It is formed of left and right L-shaped pieces, and the above-mentioned notch (
It is continuous at the central connection part (4) by 31 (3). (5)... is a hole provided through the horizontal portion (6)K of each workpiece (2)... portion.
（７） （７）は作業ロボットのアーム先端のハンド部
であって、両ハンド部（７） （７）は互いに水平な位
置関係にあり、その間隔はステープル体（１）の左右ワ
ーク（２） （２）部分の水平部（６）を把持できる寸
法とされている。(7) (7) is a hand part at the tip of the arm of the working robot, both hand parts (7) (7) are in a horizontal positional relationship with each other, and the distance between them is the same as the left and right workpieces (2) of the staple body (1). ) The size is such that it can grip the horizontal part (6) of part (2).
（８）はステープル体（１）を間欠的に送る移送装置（
９）の先端部に位置する切断装置であって、固定の下部
刃物台Ｑｌと昇降自在な上部刃物体αＤから成り、上部
刃物体０１）は、第１図仮想線で示す如くステープル体
（１）の左右の切込み（３） （３）奥部端に沿って先
端の左右ワーク（２） （２）のみを長手方向に切断す
る一対の刃物αの（２）と、中央連結部（４）を切断す
る図示省略の刃物と、上記刃物α２αカの間に位置して
切断時に共に下降し、切断直前に内有状の図示省略の弾
発部材の弾発力でもってステープル体（１）の中央部を
下部刃物台αＩＫ押圧する抑圧部材ａ４とを具備してい
る。α４）（１４）はステープル体（１）の左右をガイ
ドするガイド部材であり、移送装置（９）Ｋ付設されて
いる。(8) is a transfer device (
9) is a cutting device located at the tip of the staple body (1), which consists of a fixed lower tool rest Ql and an upper blade object αD that can be raised and lowered. ) left and right cuts (3) (3) A pair of blades α (2) that cut only the left and right work pieces (2) (2) in the longitudinal direction along the inner edge, and the central connecting part (4) A blade (not shown) that cuts the staple body (1) is located between the blade α2α and the blade α2α, and lowers together at the time of cutting, and immediately before cutting, the staple body (1) is It is provided with a suppressing member a4 that presses the center portion of the lower tool rest αIK. α4) (14) is a guide member that guides the left and right sides of the staple body (1), and is attached to a transfer device (9)K.
次に、第３図と第４図と第５図を用いてワーク（２）・
・・の加工方法を説明すると、ロール状に巻装０５１１
もしくは長尺直線状に切断されたステープル体（１）は
、その先端ワーク（２） （２）が切断装置（３）の下
部刃物台ＱＯ上に位置すべく移送装置（９）にて送られ
て停止していて、シリンダ装置０ｅの押圧子ωによりそ
の一部を図示省略の架台上に抑圧固定されている。Next, using Figures 3, 4, and 5, workpiece (2)
To explain the processing method for..., winding it into a roll 0511
Alternatively, the staple body (1) cut into a long straight line is sent by the transfer device (9) so that the tip workpiece (2) (2) is positioned on the lower tool post QO of the cutting device (3). A part of the cylinder device 0e is pressed and fixed onto a pedestal (not shown) by the presser ω of the cylinder device 0e.
そして、作業口ボッｌ−ＩＩηのアームα＆及びハンド
部（７） （７）を作動して、該ハンド部（７） （７
）で第１図に示すステープル体（１）先端の左右ワーク
（２） （２）の水平部（６）を杷持する。この状態で
切断装置（８ンの上部刃物体０υを下降させて把持され
ている先端の左右ワーク（２） （２）をステープル体
（１）から切断分離する。その後、第４図に仮想線で示
す如くこの左右ワーク（２） （２）を作業ロボット（
１７１により加工位置にセットし、第５図に示す如く左
右ワーク（２） （２） Ｋ所定の加工を行なう。なお
、第５図では左右ワーク（２） （２）への加工を、そ
れらの孔（５）部にナツトαｌを溶接する場合について
例示している。Then, actuate the arm α& and hand portion (7) (7) of the work opening bowl-IIη, and operate the hand portion (7) (7).
) to clamp the horizontal portions (6) of the left and right workpieces (2) (2) at the tip of the staple body (1) shown in Figure 1. In this state, the upper blade object 0υ of the cutting device (8 mm) is lowered to cut and separate the gripped left and right work pieces (2) (2) from the staple body (1). As shown in , this left and right workpiece (2) (2) is moved by a working robot (
171 to the machining position, and the left and right workpieces (2) (2) K are subjected to predetermined machining as shown in FIG. In addition, FIG. 5 illustrates the machining of the left and right workpieces (2) (2) in the case where a nut αl is welded to the hole (5) portion thereof.
このようにして加工されたワーク（２） （２）をハン
ド部（７） （７）に杷持したままさらに作業ロボット
Ｃ１７１により図示省略の検査装置に導き、例えば、ナ
ツトＱ’Ｊの溶接漏れの有無等が検査される。その結果
良品については適宜次工程に移芒れると共に、不良品に
ついては所定箇所に投下はれる。The thus processed workpiece (2) (2) is further guided to an inspection device (not shown) by the work robot C171 while being held in the hand part (7) (7), and is inspected for welding leakage of nuts Q'J, for example. The presence or absence of such items is inspected. As a result, good products can be transferred to the next process as appropriate, and defective products can be dropped off at a predetermined location.
この間において、ステープル体（１）は既に移送が完了
していて先端の左右ワーク（２） （２）は切断装置（
８）の下部刃物台α０上に位置しており、作業ロボット
（１７１のハンド部（７）、（７１の受け入れが可能な
状態にある。During this time, the staple body (1) has already been transferred and the left and right workpieces (2) at the leading end are cut by the cutting device (
It is located on the lower tool rest α0 of the working robot (171), and is in a state where it can receive the hand part (7) of the working robot (171), (71).
以下、同様の動作が行なわれ、このようにして順次先端
の左右ワーク（２） （２）から加工していくのである
。Thereafter, similar operations are performed, and in this way, processing is performed sequentially starting from the left and right workpieces (2) (2) at the tip.
以上説明した加工工程において、多数のワーク（２）・
・・は未分離で連続状のステープル体（１）に形成して
あり、しかも該ステープル体（１）ｌ−１：移送装置（
９）のガイド部材（１４） （１４） Ｋより左右方向
をガイドされ、がっ、停止時にはシリンダ装置０Ｑに押
圧されて前後方向の動きを阻止でれているため、第２図
に示す始〈左右ワーク（２） （２） Ｋ対するハンド
部（７） （７）の把持位置（Ａ）（ハ））が同一で常
に一定となる。従って溶接又は孔明は等の加工位置のバ
ラツキが極減することとなり、加工精度を向上できる。In the machining process explained above, a large number of workpieces (2)
... is formed into an unseparated and continuous staple body (1), and the staple body (1) l-1: transfer device (
9) is guided in the left and right direction by the guide member (14) (14) K, and when it is stopped, it is pressed by the cylinder device 0Q and prevented from moving in the front and back direction, so that the starting point shown in FIG. The gripping positions (A) (C)) of the hand portion (7) (7) for the left and right workpieces (2) (2) K are the same and always remain constant. Therefore, variations in processing positions such as welding or drilling are greatly reduced, and processing accuracy can be improved.
また、切断工程では、切断装置（３）の上部刃物体０υ
の押圧部材αａにより切断直前にステープル体（１）の
中央部を下部刃物台ＱＯＫ押圧するため、シャープな切
断が行なわれる。In addition, in the cutting process, the upper blade object 0υ of the cutting device (3)
Because the pressing member αa presses the central portion of the staple body (1) to the lower tool post QOK immediately before cutting, sharp cutting is performed.
なお、上記実施例では、ワーク（２）を正面視コ字状を
成すステープル体（１）の左右のＬ字形片としだが、そ
の形状は種々変更可能であると共に、左右に切断分離せ
ずにコ字状のワーク（２）とするも自由であり、この場
合には切断装置（３）でステープル体（１）の中央連結
部（４）・・・を切断すれば良く、作業ロボット０ηの
ハンド部（７〕−べついても１組とするも２組とするも
自由である。In the above embodiment, the workpiece (2) is a left and right L-shaped piece of the staple body (1) which has a U-shape when viewed from the front. It is also possible to use a U-shaped workpiece (2). In this case, it is sufficient to cut the central connection part (4) of the staple body (1) with the cutting device (3), and the working robot 0η Hand part (7) - It is free to use one set or two sets of sticks.
本発明は以上詳述した如く所期目的を有効達成したもの
であり、特に、金属製帯状素材をプレス加工により、多
数のワーク（２）・・・が未分離で連続状となったステ
ープル体（１）を形成しておき、作業ロボットαηのハ
ンド部（７）にて該ステープル体（１）の先端ワーク（
２）を把持し、把持された該先端ワーク（２）のみをス
テープル体（１）から切断分離することにより、従来の
ように多数のバラ状ワークを整然と並べるという面倒な
工程が不要になると共に、ワーク（２）・・・の管理も
容易となり、作業性を格段に向上できる。そして、ハン
ド部（７）によるワーク（２）の把持がスムーズに行な
われ、先端ワーク（２）から順次規則正しい加工を行な
うことができる。また、ハンド部（７）のワーク（２）
・・・把持位置カニ常に一定となって溶接等の加工位置
のノくラツキが極減し、ワーク（２）・・・の加工精度
を大幅に向上するとと７５玉できるという顕著な効果を
有する。The present invention has effectively achieved the intended purpose as detailed above, and in particular, it is a staple body in which a large number of works (2) are made into an unseparated and continuous state by press-working a metal strip material. (1) is formed, and the tip workpiece (
2) and cutting and separating only the gripped tip workpiece (2) from the staple body (1) eliminates the need for the troublesome process of arranging a large number of loose workpieces in an orderly manner as in the past. , workpiece (2)... can be easily managed, and work efficiency can be greatly improved. Then, the workpiece (2) can be gripped smoothly by the hand section (7), and regular processing can be performed sequentially starting from the tip workpiece (2). In addition, the workpiece (2) of the hand part (7)
...The grasping position is always constant, which greatly reduces the irregularities in the processing position for welding, etc., and has the remarkable effect of greatly improving the processing accuracy of workpiece (2)... and producing 75 balls. .
第１図は本発明の一実施例を示す要部の斜視図、第２図
は同正面断面図、第３図は全体の簡略ＩＩＩ面図、第４
図は簡略平面図、第５図は加工状態を示す斜視図である
。
（１）・・・ステープル体、（２）・・・ワーク、（７
）・・・ノ＼ンド＠じ、αη・・・作業ロボット。
特許出願人 高尾金属工業株式会社Fig. 1 is a perspective view of essential parts showing one embodiment of the present invention, Fig. 2 is a front sectional view of the same, Fig. 3 is a simplified side view of the whole, Fig. 4
The figure is a simplified plan view, and FIG. 5 is a perspective view showing the processing state. (1)... Staple body, (2)... Work, (7
)...No\nd@ji, αη...Working robot. Patent applicant Takao Metal Industry Co., Ltd.
Claims (1)
（２）・・・が未分離で連続状となったステープル体（
１）を形成しておき、作業ロボット（１７１のハンド部
（７）Ｋて該ステーブル体（１）の先端ワーク（２）を
把持し、把持された該先端ワーク（２）のみをステープ
ル体（１）から切断分離し、その後該先端ワーク（２）
を作業ロボットαηにより加工位置にセットして所定の
加工を行ない、順次該先端ワーク（２）から加工するこ
とを特徴とする作業ロボットによるワーク加工方法。/ A staple body (in which a large number of workpieces (2) are unseparated and continuous by pressing a metal strip material (
1), the hand part (7)K of the working robot (171) grips the tip workpiece (2) of the stable body (1), and only the gripped tip workpiece (2) is stapled to the staple body. Cut and separate from (1), then the tip workpiece (2)
A workpiece processing method using a working robot, characterized in that a working robot αη sets a workpiece at a processing position, performs a predetermined processing, and sequentially processes the tip workpiece (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13002383A JPS6021132A (en) | 1983-07-15 | 1983-07-15 | Working method of work by working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13002383A JPS6021132A (en) | 1983-07-15 | 1983-07-15 | Working method of work by working robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6021132A true JPS6021132A (en) | 1985-02-02 |
| JPH0148096B2 JPH0148096B2 (en) | 1989-10-18 |
Family
ID=15024249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13002383A Granted JPS6021132A (en) | 1983-07-15 | 1983-07-15 | Working method of work by working robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6021132A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0366431A (en) * | 1990-07-20 | 1991-03-22 | Amada Co Ltd | Method for carrying away product in punch press |
| JP2008055453A (en) * | 2006-08-30 | 2008-03-13 | Asahi-Seiki Mfg Co Ltd | MANUFACTURING METHOD FOR STRIP PLATE MATERIAL |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4917784A (en) * | 1972-06-07 | 1974-02-16 | ||
| JPS5022387U (en) * | 1973-06-19 | 1975-03-13 | ||
| JPS5684134A (en) * | 1979-12-12 | 1981-07-09 | Sharp Corp | Discharging mechanism for work from press unit |
-
1983
- 1983-07-15 JP JP13002383A patent/JPS6021132A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4917784A (en) * | 1972-06-07 | 1974-02-16 | ||
| JPS5022387U (en) * | 1973-06-19 | 1975-03-13 | ||
| JPS5684134A (en) * | 1979-12-12 | 1981-07-09 | Sharp Corp | Discharging mechanism for work from press unit |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0366431A (en) * | 1990-07-20 | 1991-03-22 | Amada Co Ltd | Method for carrying away product in punch press |
| JP2008055453A (en) * | 2006-08-30 | 2008-03-13 | Asahi-Seiki Mfg Co Ltd | MANUFACTURING METHOD FOR STRIP PLATE MATERIAL |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0148096B2 (en) | 1989-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2052584A1 (en) | Strip welding machine | |
| ES2008219A6 (en) | Apparatus for feeding bar-like workpiece material in a severing machine | |
| CN204504646U (en) | A kind of automatic soldering device | |
| AU3281995A (en) | Process for the production of a metal tube with a longitudinal welded seam | |
| WO2020114980A1 (en) | Apparatus and method for butt-welding workpieces | |
| GB1135318A (en) | Method and apparatus for joining strip and sheet material | |
| RU2124412C1 (en) | Method and machine for manufacture of parts from metal sheet | |
| JPS6021132A (en) | Working method of work by working robot | |
| JPH03146269A (en) | Device and method for strip connection | |
| US5738268A (en) | Method for preparing tube weld sample for internal visual inspection | |
| US1830027A (en) | Method of making blanks | |
| CN109741975B (en) | Centipede-shaped connecting piece welding machine | |
| US3225999A (en) | Joining device for metal strip material | |
| JPS643595B2 (en) | ||
| US4129460A (en) | Method for coping I-beams | |
| CN108747403A (en) | A kind of allen wrench apparatus for bending | |
| CN106624814A (en) | Automatic welding device for optical cable longitudinally wrapped steel belt or aluminum belt connection | |
| US3235703A (en) | Apparatus for joining strip | |
| CN208157440U (en) | Welding handling device | |
| US3993296A (en) | Workpiece-handling apparatus | |
| JPS62161405A (en) | Method for joining rolling steel products in hot rolling | |
| CN214443978U (en) | High-end printed circuit board is with high reliable fine cutter processingequipment | |
| CN208696760U (en) | A kind of downcomer tier pole special plane | |
| JPS6228112A (en) | Cutting method for pipe in seam welded pipe manufacturing equipment | |
| CN112676723B (en) | Automatic welding device and method for heavy drill |