CN103008933A - Automatic assembling and tack welding system for U-shaped rib plate units - Google Patents

Automatic assembling and tack welding system for U-shaped rib plate units Download PDF

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Publication number
CN103008933A
CN103008933A CN2012105504602A CN201210550460A CN103008933A CN 103008933 A CN103008933 A CN 103008933A CN 2012105504602 A CN2012105504602 A CN 2012105504602A CN 201210550460 A CN201210550460 A CN 201210550460A CN 103008933 A CN103008933 A CN 103008933A
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China
Prior art keywords
welding
rail
girders
shaped
bolt
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CN2012105504602A
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Chinese (zh)
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CN103008933B (en
Inventor
胡广瑞
李效峰
魏云祥
娄玉春
曲振美
王玉竹
李砚秋
付常谊
王松林
刘申
蒋润民
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中铁山桥集团有限公司
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Priority to CN201210550460.2A priority Critical patent/CN103008933B/en
Publication of CN103008933A publication Critical patent/CN103008933A/en
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Publication of CN103008933B publication Critical patent/CN103008933B/en

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Abstract

The invention discloses an automatic assembling and tack welding system for U-shaped rib plate units, which comprises a pair of parallel rails and a gantry, the gantry can move on the rails, and an assembling platform is laid between the two rails; the gantry comprises an upper crossbeam, a lower crossbeam, four uprights and two traveling beams, the upper crossbeam and the lower crossbeam are respectively fixed between the two front uprights, and one gantry-traveling mechanism is respectively arranged on the bottom of each of the two traveling beams; a movable welding system is arranged on the upper crossbeam; and a movable two-dimensional adjustable positioning and pressing system is arranged on the lower crossbeam. Because the two-dimensional adjustable positioning and pressing system is combined with a polishing and dedusting system and the robotic welding system, the polishing and dedusting of the area to be welded of the U-shaped rib plate units, the positioning and pressing of U-shaped ribs and robotic tack welding can be full-automatically controlled together, and the automatic assembling and tack welding system has the advantages that the assembly precision of the U-shaped ribs of orthotropic bridge plate units is high, the automatic assembly and production efficiency is high, and the quality of welding lines is stable.

Description

U-shaped floor unit automatic Composition positioning welding system
Technical field
The present invention relates to large bridge during welding for steel structure technical field, be specifically related to a kind of automatic Composition positioning welding system that is specifically designed to assembly welding U-shaped floor unit.
Background technology
In the large-scale steel structure bridge of China, a kind of bridge that is called box-structure is arranged, its structure be along bridge to around be steel structure body, the centre be divided into a section space by the multilayer diaphragm plate, overall structure resembles a huge long chest, so be box-structure.Its manufacture process is by several plate unit, is welded into bridge section, becomes the steel construction of bridge whole by bridge section docking assembly welding again.The plate unit is the most basic construction unit of box-structure, it has several, wherein very common a kind of, also be that larger a kind of of manufacture difficulty is exactly U-shaped floor unit, its structural representation is seen Fig. 1 and Fig. 2, it is comprised of floorings 14 and a plurality of U-shaped ribs 15 that are welded on the floorings 14, and it mainly is upper bridge floor and the lower bridge floor that consists of box beam, and also there is distribution at some bridge two coxostermum place.For a long time, the manufacture of U-shaped floor unit is that human assistance carries out assembly welding with simple frock, and the problem that this mode of production exists is U-shaped rib spacing low precision, and the U-shaped intercostal depth of parallelism is poor, can not guarantee with panel closely connected.Also exist simultaneously efficient low, labour intensity is large, and simultaneously, the exposure formula causes rust deposite dirt to fill the air except the rust deposite mode, makes the problems such as work under bad environment.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of simple to operate, the multi-functional U-shaped floor unit automatic Composition positioning welding system that operating efficiency and product quality are significantly improved.
For solving the problems of the technologies described above, the technical solution used in the present invention is: U-shaped floor unit automatic Composition positioning welding system, comprise rail that pair of parallel arranges, at the mobile gantry frame of rail, and lay assembly platform between two one steel rails; Described gantry frame comprises that entablature, sill, four root posts and two walk cross girders, and entablature and sill are separately fixed between two root posts of front, and two bottoms of walking cross girders respectively arrange gantry traveling; Entablature is provided with movably welding system; Sill is provided with movably two-dimentional adjustable positioning compression system.
Wherein, the traveling of described gantry is located at away an end of cross girders, comprises travelling wheel and wheel shaft, by bearing and bearing bracket stand with walk cross girders and connect; Also comprise gearbox and motor, connect the rotation of gearbox power shaft by motor, the gear box output end flange with walk cross girders and connect, output shaft of gear-box connection wheel shaft makes gantry frame walk along rail by the driven by motor travelling wheel.
Wherein, described walking between cross girders and the rail is provided with rail clamping device, is used for before oil cylinder presses down above the adjustable positioning compression of the two dimension system, is used for clamping first rail, suspends to avoid whole lathe to break away from rail; Rail clamping device comprises folder cylinder of rail and jaws part, the folder cylinder of rail is fixed by bolts to the top, in the same way termination that cross girders is walked in both sides, the force side of jaws part connects the piston rod of top folder cylinder of rail, rotating shaft is fixed on traveling beam-ends head, the opening and closing of jaws are by the cylinder piston rod pulling of walking the cross girders top, and jaws is aimed at steel rail web.
Wherein, between two root posts of gantry frame back, be provided with polishing dedusting system; Described polishing dedusting system comprises two groups of wheeled wire brushes, minute left and right sides interlaced arrangement, and wheeled wire brush is fixed on the major axis, and the two ends of major axis are provided with analog bracket, and the centre is provided with auxiliary bracket, buried bearing, carriage and gantry frame bolt-connection; One end of major axis stretches out carriage, and the output of reduction box connects the input connection motor of reduction box, realization rotation; Be buckled with a large dust shield above wheeled wire brush, the two ends bolt of dust shield is on gantry frame; Motor-operated blower fan, its pedestal and the gantry frame bolt of being provided with suitable for reading of dust shield; Be to connect two pipelines again, lead in the fume purifier.
Wherein, the People's Bank of China that described entablature top is provided with the sheet metal tiling walks on stage, and is used for carrying operating personnel, hydraulic system and electric-control system; Hydraulic system comprises Hydraulic Station and the pipeline of discharge pressure oil between Hydraulic Station and oil cylinder; Electric-control system comprises whole working powers and sequence circuit and various electrical accessorie.
Wherein, described welding system is comprised of the source of welding current, wire-feed motor, traversing support, welding head, welding manipulator; Described entablature is provided with horizontal slideway, and traversing support is installed on the slideway, and by being installed in the program controlled motor on the traversing support, driven gear engaging tooth row culture transverse reciprocating moves, and tooth bar is parallel with slideway, and bolt is in a side of slideway; Other each one all is fixed on the traversing support; Welding manipulator is by the control of auto-programming circuit, and butt welding point is implemented welding.
Wherein, the adjustable positioning compression of described two dimension system comprises analog bracket, U-shaped sliding jaw, clamp guide plate, guiding pressing plate, coupling piece, gear assembly, positional cylinder; The clamp guide plate of the analog bracket on top and bottom is integral with bolt-connection, by gear with the engagement of the tooth bar of bolt-connection on gantry frame, use hand wheel rotating, the slideway that makes it on sill moves laterally, the lateral attitude that needs when reaching the assembled plate unit; Clamp guide plate and guiding pressing plate form gathering sill, and the U-shaped mouth of U-shaped sliding jaw is arranged in the gathering sill downwards; The vertical bolt of positional cylinder is above analog bracket, and its piston rod connects coupling piece, axle and U-shaped sliding jaw straight down successively, promotes the U-shaped sliding jaw and finishes the location; When the piston rod movement of positional cylinder, by coupling piece and axle, traction U-shaped sliding jaw slides up and down in gathering sill, compresses location U-shaped rib.
The beneficial effect that adopts technique scheme to produce is: the present invention has orthotropic bridge plate unit U-shaped rib assembly precision height, high, the stable advantage of weldquality of automatic Composition production efficiency, has very strong specific aim.Technical scheme involved in the present invention is to be based upon on the basis of the body function configuration of system complete and welding test study, has sufficient objectivity and reasonability.
The present invention combines the adjustable positioning compression of two dimension system with polishing dedusting system, robot welding system, the Automatic Control of having realized polishing dedusting, U-shaped rib location, compression and the robot tack welding of U-shaped floor unit to-be-welded region is integrated, propose first with international steel bridge's manufacture field at home, and carried out experimental study, in technological precedence of the same trade, design is unique, ingenious, creative and advanced.Owing to adopted welding robot to carry out the automatic tack welding technology of U-shaped angle of rib weld seam, the welding quality tool of the tack weld of steel bridge U-shaped angle of rib weld seam is greatly improved, and production efficiency obviously improves, and is practical, has very high economic benefit and social benefit.The invention solves all problems and shortcomings of the above-mentioned original mode of production, make the mode of production of U-shaped floor unit in the bridge manufacturing that the raising of matter arranged.Among the present invention except being used for plate unit U-shaped rib automatic Composition, also be applicable to assembling and the tack welding of similar plate cellular construction, applicability is strong, can apply in manufacture of steel structure fields such as ship steel structure, machined steel structure, construction steel structures, and is applied widely.
Description of drawings
Fig. 1 is the structural representation of U-shaped floor unit;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is structural representation of the present invention;
Fig. 4 is that the B of Fig. 3 is to view;
Fig. 5 is that the C of Fig. 4 is to view;
Fig. 6 is that the A of Fig. 5 is to view;
Fig. 7 is the enlarged drawing of two-dimentional adjustable positioning compression system;
Among the figure, 1, rail, 2-1, entablature, 2-2, column, 2-3, walk cross girders, 2-4, sill, 3-1, traversing support, 3-2, welding manipulator, 4-1, the folder cylinder of rail, 4-2, the jaws part, 5-1, analog bracket, 5-2, the U-shaped sliding jaw, 5-3, the clamp guide plate, 5-4, the guiding pressing plate, 5-5, coupling piece, 5-6, gear assembly, 5-7, positional cylinder, 5-8, piston rod, 6-1, wheeled wire brush, 6-2, major axis, 6-3, analog bracket, the 6-4 reduction box, 6-5, motor, 6-6, dust shield, 6-7, pipeline, 6-8, fume purifier, 7, assembly platform, 8, gantry traveling, 9, ground, 10, Hydraulic Station, 11, electric-control system, 12, People's Bank of China walks on stage, and 14, floorings, 15, the U-shaped rib.
The specific embodiment
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Such as Fig. 3 to Fig. 6, U-shaped floor of the present invention unit automatic Composition positioning welding system comprises rail 1 that pair of parallel arranges, at the mobile gantry frame of rail 1, lays assembly platform 7 between two one steel rails 1; Gantry frame comprises that the entablature 2-1, the sill 2-4 that are bolted connection, four root post 2-2 and two walk cross girders 2-3, entablature 2-1 and sill 2-4 are separately fixed between the two root post 2-2 of front, and two bottoms of walking cross girders 2-3 respectively arrange gantry traveling 8; Entablature 2-1 is provided with movably welding system; Walk between cross girders 2-3 and the rail 1 and be provided with rail clamping device 4, sill 2-4 is provided with movably two-dimentional adjustable positioning compression system; Be provided with polishing dedusting system between the two root post 2-2 of back.
The People's Bank of China that entablature 2-1 top is provided with the sheet metal tiling walks on stage 12, is used for carrying operating personnel, hydraulic system and electric-control system 11; Hydraulic system comprises Hydraulic Station 10 and the pipeline of discharge pressure oil between Hydraulic Station 10 and oil cylinder; Electric-control system 11 comprises whole working powers and sequence circuit and various electrical accessorie.
Welding system is comprised of the source of welding current, wire-feed motor, traversing support 3-1, welding head and welding manipulator 3-2; Entablature 2-1 is provided with horizontal slideway, and traversing support 3-1 is installed on the slideway, by being installed in the program controlled motor on the traversing support 3-1, driven gear engaging tooth row culture transverse reciprocating moves, can accurately arrive each welding position, tooth bar is parallel with slideway, and bolt is in a side of slideway; Other each one all is fixed on the traversing support 3-1; Welding manipulator 3-2 is the welding system terminal by the control of auto-programming circuit, and butt welding point is implemented welding.The multidimensional interlock of welding manipulator 3-2 is accurately located the welding system terminal, by servomotor and the sensor control of manipulator itself.
Gantry traveling 8 is located at two ends of walking cross girders 2-3, comprises travelling wheel and wheel shaft, by bearing and bearing bracket stand with walk cross girders 2-3 and connect; Also comprise gearbox and motor, connect the rotation of gearbox power shaft by motor, the gear box output end flange with walk cross girders 2-3 and connect, output shaft of gear-box connection wheel shaft makes gantry frame walk along rail 1 by the driven by motor travelling wheel.
Rail clamping device 4 is used for being used for clamping first rail 1 before oil cylinder presses down above the adjustable positioning compression of the two dimension system, suspends to avoid whole lathe to break away from rail 1; Rail clamping device 4 is quadruplet altogether, comprise folder cylinder of rail 4-1 and jaws part 4-2, folder cylinder of rail 4-1 is fixed by bolts to the top, in the same way termination that cross girders 2-3 is walked in both sides, the force side of jaws part 4-2 connects the piston rod of top folder cylinder of rail 4-1, rotating shaft is fixed on away cross girders 2-3 termination, the opening and closing of jaws are by the cylinder piston rod pulling of walking cross girders 2-3 top, and jaws is aimed at rail 1 web of the rail.
Positioning compression system that two dimension is adjustable comprises analog bracket 5-1, U-shaped sliding jaw 5-2, clamp guide plate 5-3, guiding pressing plate 5-4, coupling piece 5-5, gear assembly 5-6, positional cylinder 5-7; The clamp guide plate 5-3 of the analog bracket 5-1 on top and bottom is integral with bolt-connection, by gear with the engagement of the tooth bar of bolt-connection on gantry frame, use hand wheel rotating, the slideway that makes it on sill 2-4 moves laterally, the lateral attitude that needs when reaching the assembled plate unit; Clamp guide plate 5-3 and guiding pressing plate 5-4 form gathering sill, and the U-shaped mouth of U-shaped sliding jaw 5-2 is arranged in the gathering sill downwards; The vertical bolt of positional cylinder 5-7 is above analog bracket 5-1, and its piston rod connects coupling piece 5-5, axle and U-shaped sliding jaw 5-2 straight down successively, promotes U-shaped sliding jaw 5-2 and finishes the location; When the piston rod 5-8 of positional cylinder 5-7 motion, by coupling piece 5-5 and axle, traction U-shaped sliding jaw 5-2 slides up and down in gathering sill, compresses location U-shaped rib.
Above-mentioned welding system and two-dimentional adjustable positioning compression system all are arranged on the front of gantry frame direction of advance; Polishing dedusting system is arranged on the back side of gantry frame direction of advance, namely on one crossbeam between two root posts of gantry frame back.Polishing dedusting system comprises two groups of wheeled wire brush 6-1, divide left and right sides two parts, before and after parallel but out-of-alignment interlaced arrangement, wherein, wheeled wire brush 6-1 is fixed on the major axis 6-2, and the two ends of major axis 6-2 are provided with analog bracket 6-3, and the centre is provided with auxiliary bracket, buried bearing, carriage and column 2-2 bolt-connection; The end of major axis 6-2 stretches out carriage 6-3, and the output of reduction box 6-4 connects the input connection motor 6-5 of reduction box 6-4, realization rotation; Be buckled with a large dust shield 6-6 above wheeled wire brush 6-1, the two ends bolt of dust shield 6-6 is on column 2-2; Motor-operated blower fan, its pedestal and the column 2-2 bolt of being provided with suitable for reading of dust shield 6-6; Be to connect two pipeline 6-7 again, lead among the fume purifier 6-8.
The course of work of the present invention is: native system is stopped to the initiating terminal of assembly platform 7, make floorings 14 in place on assembly platform 7, the position while welding that should weld according to U-shaped rib 15, at first adjust and open polishing dedusting system 6 work, gantry frame advances slowly along rail 1, until native system advances to the other end of assembly platform 7, at this moment, cleared out of on floorings 14 that several is dustless without the rectangular surface of rust deposite, formed to-be-welded region and the assembling position line of U-shaped rib; The spacing dimension of the U-shaped sliding jaw 5-2 of the adjustable positioning compression of two dimension system is adjusted to the right place, again several U-shaped ribs 15 are put into respectively on the multiple tracks to-be-welded region on the floorings 14, the termination alignment of U-shaped rib 15 is the assembling position line vertically, starting gantry traveling slightly walks, make U-shaped sliding jaw 5-2 move down the end location that card is pushed down U-shaped rib 15, check errorless after, start auto-programming, then two-dimentional adjustable positioning compression system, gantry traveling, rail clamping device, welding system and related fluid pressing system begin continuous operation, until assembly welding is finished in U-shaped floor unit.
The invention solves all problems and shortcomings of the above-mentioned original mode of production, make the mode of production of U-shaped floor unit in the bridge manufacturing that the raising of matter arranged.

Claims (7)

1.U shape floor unit automatic Composition positioning welding system comprises rail (1) that pair of parallel arranges, at the gantry frame of rail (1) movement, lays assembly platform (7) between two one steel rails (1); Described gantry frame comprises that entablature (2-1), sill (2-4), four root posts (2-2) and two walk cross girders (2-3), entablature (2-1) and sill (2-4) are separately fixed between two root posts (2-2) of front, and two bottoms of walking cross girders (2-3) respectively arrange gantry traveling (8); It is characterized in that: entablature (2-1) is provided with movably welding system; Sill (2-4) is provided with movably two-dimentional adjustable positioning compression system.
2. U-shaped floor according to claim 1 unit automatic Composition positioning welding system, it is characterized in that: described gantry traveling (8) is located at away an end of cross girders (2-3), comprise travelling wheel and wheel shaft, by bearing and bearing bracket stand with walk cross girders (2-3) and connect; Also comprise gearbox and motor, connect the rotation of gearbox power shaft by motor, the gear box output end flange with walk cross girders (2-3) and connect, output shaft of gear-box connection wheel shaft makes gantry frame walk along rail (1) by the driven by motor travelling wheel.
3. U-shaped floor according to claim 1 unit automatic Composition positioning welding system, it is characterized in that: described walking between cross girders (2-3) and the rail (1) is provided with rail clamping device (4), be used for before oil cylinder presses down above the adjustable positioning compression of the two dimension system, be used for clamping first rail (1), suspend to avoid whole lathe to break away from rail (1); Rail clamping device (4) comprises folder cylinder of rail (4-1) and jaws part (4-2), folder cylinder of rail (4-1) is fixed by bolts to the top, in the same way termination that cross girders (2-3) is walked in both sides, the force side of jaws part (4-2) connects the piston rod of top folder cylinder of rail (4-1), rotating shaft is fixed on away cross girders (2-3) termination, the opening and closing of jaws are by the cylinder piston rod pulling of walking cross girders (2-3) top, and jaws is aimed at rail (1) web of the rail.
4. U-shaped floor according to claim 1 unit automatic Composition positioning welding system is characterized in that: be provided with polishing dedusting system between two root posts (2-2) of gantry frame back; Described polishing dedusting system comprises two groups of wheeled wire brushes (6-1), divide left and right sides interlaced arrangement, wheeled wire brush (6-1) is fixed on the major axis (6-2), the two ends of major axis (6-2) are provided with analog bracket (6-3), the centre is provided with auxiliary bracket, buried bearing, carriage and gantry frame bolt-connection; One end of major axis (6-2) stretches out carriage (6-3), and the output of reduction box (6-4) connects the input connection motor (6-5) of reduction box (6-4), realization rotation; Be buckled with a large dust shield (6-6) in the top of wheeled wire brush (6-1), the two ends bolt of dust shield (6-6) is on gantry frame; Motor-operated blower fan, its pedestal and the gantry frame bolt of being provided with suitable for reading of dust shield (6-6); Be to connect two pipelines (6-7) again, lead in the fume purifier (6-8).
5. U-shaped floor according to claim 1 unit automatic Composition positioning welding system, it is characterized in that: the People's Bank of China that described entablature (2-1) top is provided with the sheet metal tiling walks on stage (12), is used for carrying operating personnel, hydraulic system and electric-control system (11); Hydraulic system comprises Hydraulic Station (10) and the pipeline of discharge pressure oil between Hydraulic Station (10) and oil cylinder; Electric-control system (11) comprises whole working powers and sequence circuit and various electrical accessorie.
6. U-shaped floor according to claim 1 unit automatic Composition positioning welding system, it is characterized in that: described welding system is comprised of the source of welding current, wire-feed motor, traversing support (3-1), welding head, welding manipulator (3-2); Described entablature (2-1) is provided with horizontal slideway, traversing support (3-1) is installed on the slideway, and by being installed in the program controlled motor on the traversing support (3-1), driven gear engaging tooth row culture transverse reciprocating moves, tooth bar is parallel with slideway, and bolt is in a side of slideway; Other each one all is fixed on the traversing support (3-1); Welding manipulator (3-2) is by the control of auto-programming circuit, and butt welding point is implemented welding.
7. U-shaped floor according to claim 1 unit automatic Composition positioning welding system, it is characterized in that: positioning compression system that described two dimension is adjustable comprises analog bracket (5-1), U-shaped sliding jaw (5-2), clamp guide plate (5-3), guiding pressing plate (5-4), coupling piece (5-5), gear assembly (5-6), positional cylinder (5-7); The clamp guide plate (5-3) of the analog bracket on top (5-1) and bottom is integral with bolt-connection, by gear with the engagement of the tooth bar of bolt-connection on gantry frame, use hand wheel rotating, the slideway that makes it on sill (2-4) moves laterally, the lateral attitude that needs when reaching the assembled plate unit; Clamp guide plate (5-3) and guiding pressing plate (5-4) form gathering sill, and the U-shaped mouth of U-shaped sliding jaw (5-2) is arranged in the gathering sill downwards; Vertically bolt is in analog bracket (5-1) top for positional cylinder (5-7), and its piston rod connects coupling piece (5-5), axle and U-shaped sliding jaw (5-2) straight down successively, promotes U-shaped sliding jaw (5-2) and finishes the location; When the piston rod (5-8) of positional cylinder (5-7) moved, by coupling piece (5-5) and axle, traction U-shaped sliding jaw (5-2) slided up and down in gathering sill, compressed location U-shaped rib.
CN201210550460.2A 2012-12-18 2012-12-18 Automatic assembling and tack welding system for U-shaped rib plate units CN103008933B (en)

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CN104475994A (en) * 2014-10-31 2015-04-01 武船重型工程股份有限公司 Method for manufacturing slab rib units
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CN106312353A (en) * 2016-10-19 2017-01-11 武船重型工程股份有限公司 U-shaped rib welding device and method
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CN104475994A (en) * 2014-10-31 2015-04-01 武船重型工程股份有限公司 Method for manufacturing slab rib units
CN104607841A (en) * 2014-12-01 2015-05-13 唐山轨道客车有限责任公司 Welding device and welding, pressing and clamping method
CN106312353A (en) * 2016-10-19 2017-01-11 武船重型工程股份有限公司 U-shaped rib welding device and method
CN107052545A (en) * 2017-03-31 2017-08-18 中车青岛四方机车车辆股份有限公司 plate body pressing device
CN107052545B (en) * 2017-03-31 2019-07-16 中车青岛四方机车车辆股份有限公司 Plate body pressing device
CN106994578A (en) * 2017-06-01 2017-08-01 上海振华重工(集团)股份有限公司 A kind of assembled welding equipment of body beam
CN107214460B (en) * 2017-06-30 2019-01-04 上海江南长兴造船有限责任公司 A kind of auxiliary mould and its application method for the installation of ship floor
CN107214460A (en) * 2017-06-30 2017-09-29 上海江南长兴造船有限责任公司 A kind of auxiliary mould installed for ship floor and its application method
CN107893375A (en) * 2017-11-07 2018-04-10 中国二冶集团有限公司 The construction method of the U-shaped rib song arc of Steel Bridge is completed using Special mould
CN107881918A (en) * 2017-11-07 2018-04-06 中国二冶集团有限公司 A kind of construction method assembled for steel bridge beam and face with U-shaped rib
CN107984055A (en) * 2017-12-05 2018-05-04 中铁山桥集团有限公司 A kind of U-shaped rib positioning welding integration special purpose machine tool
CN108677719A (en) * 2018-05-18 2018-10-19 中铁山桥集团有限公司 A kind of control method of partition board notch and U-shaped intercostal assembly clearance
CN108673012A (en) * 2018-05-22 2018-10-19 武汉锂鑫自动化科技有限公司 A kind of assembly of U rib plate unit and welding method
CN110977471A (en) * 2019-08-16 2020-04-10 马鞍山观点信息科技有限公司 A assembly welding truing device for interior decoration props carrier processing
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CN110842406B (en) * 2019-11-18 2021-05-11 哈尔滨工程大学 Modularization welding set to large-scale box

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