CN103551725B - Horizontal multi-head wheel hub welding device - Google Patents
Horizontal multi-head wheel hub welding device Download PDFInfo
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- CN103551725B CN103551725B CN201310527980.6A CN201310527980A CN103551725B CN 103551725 B CN103551725 B CN 103551725B CN 201310527980 A CN201310527980 A CN 201310527980A CN 103551725 B CN103551725 B CN 103551725B
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- wheel hub
- slide unit
- drive motors
- welding device
- horizontal multi
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/123—Controlling or monitoring the welding process
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
- B23K20/125—Rotary tool drive mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
- B23K20/126—Workpiece support, i.e. backing or clamping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/129—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding specially adapted for particular articles or workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a horizontal multi-head wheel hub welding device, which comprises a work table, wherein a wheel hub positioning device and welding machines are arranged on the work table, welding heads of the welding machines face the wheel hub positioning device, the wheel hub positioning device comprises a seat plate and a chuck, the seat plate is rotationally connected with the upper surface of the work table, the back side of the chuck is connected with the upper surface of the seat plate, the seat plate is transmitted with a seat plate driving motor, arc-shaped positioning plates are respectively connected onto a plurality of clamp claws arranged at the front side of a chuck body of the chuck, the end parts of the arc-shaped positioning plates respectively connected onto the clamp claws are in butt joint for forming a circular ring, the number of the welding machines is at least three, and the welding machines are uniformly arranged around the wheel hub positioning device. The horizontal multi-head wheel hub welding device has the advantages that the wheel hub heating and stress conditions are improved, the wheel hub deformation twisting quantity is reduced to be less than 1.0mm, the wheel hub quality is effectively improved, meanwhile, the welding speed is exponentially improved, the yield of a wheel hub is improved, and the economic benefits of enterprises is also further improved.
Description
Technical field
The present invention relates to electroplating equipment wielding machine field, be specifically related to a kind of horizontal multi-head hub welding device.
Background technology
Wheel hub is that vehicle is for connecting the parts of tire and axle, current wheel hub can be divided into one piece casting type, Integral forge type and combined type three kinds manufacturing process, one piece casting type wheel hub is that current manufacturing cost is minimum, its output accounts for about 90% of wheel hub total growth, the performance of Integral forge type wheel hub is better than Integral forge type wheel hub, but its manufacturing cost is higher, the performance of combined type wheel hub can reach the performance of Integral forge type wheel hub, and manufacturing cost is closer to one piece casting type wheel hub, be therefore subject to the favor of client gradually.
Wheel rim and the spoke of combined type wheel hub manufacture respectively, then compound, integrally welded, and the wheel hub that current welder processes easily is out of shape, and twist angle is more than 1.5mm, and the disqualification rate of wheel hub is high, main cause have following some:
First, welder adopts vertical location, namely clamps from the both ends of the surface of horizontal direction to wheel hub, plumb joint carries out agitating friction from spoke with the compound of wheel rim and welds, in welding process, the local temperature of wheel rim raises, and wheel rim, by chucking power and gravity effect, easily produces distortion at weld, simultaneously, for guaranteeing that in welding process, wheel hub does not produce axial displacement, the power of clamping needed for wheel hub is very large, very high to equipment requirement, energy consumption in welding process is also very high, and the manufacturing cost of wheel hub is high;
Secondly, welder adopts single plumb joint to carry out agitating friction from spoke with the compound of wheel rim and welds, and in welding process, the local temperature of wheel rim raises, and plumb joint one direction applies pressure to wheel hub outer wall, and wheel hub is heated, discontinuity, easy torsional deformation;
In addition, the plumb joint that drive motors controls agitating friction bonding machine advances until insert the certain degree of depth of wheel rim outer wall, then rotating base drives wheel hub to rotate a circle, complete wheel rim to weld with the circumference of spoke, during the course, plumb joint is constant to the distance of wheel rim axis, and be subject to the restriction of wheel rim fabrication process condition, the wheel rim wall thickness of wheel rim and spoke weld cannot be guaranteed completely the same, there is difference in the degree of depth that plumb joint inserts wheel rim wall, cause weld seam to there is dark or shallow situation, wheel rim differs in the intensity of commissure, easily produces distortion.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of horizontal multi-head hub welding device, and can solve the wheel hub that existing hub welding device processes and easily be out of shape, twist angle is large, the problem that disqualification rate is high.
The present invention is achieved through the following technical solutions:
A kind of horizontal multi-head hub welding device, comprise workbench, described workbench is provided with wheel hub positioner and the plumb joint bonding machine towards wheel hub positioner, described wheel hub positioner comprises the seat board being rotationally connected with worktable upper surface, and the back side is connected to the chuck of seat board upper surface, described seat board and the transmission of seat board drive motors, multiple claws in the chuck body front of described chuck are connected to arc location-plate, described in the multiple arc location-plate ends docking be connected on claw form annulus; Described bonding machine at least includes three, is evenly arranged on around wheel hub positioner.
Described claw has 8, and the arc location-plate radian that each claw connects is 45 degree.
The outer arc limit of described arc location-plate is provided with the pressure dissipation flanging perpendicular to arc location-plate surface.
The external diameter of described annulus is 0.8 ~ 0.9 times of hub diameter.
The height of described pressure dissipation flanging is 3 ~ 4 centimetres.
Distance between described arc location-plate and seat board, the distance of to be inserted in one end of chuck with the weld seam of wheel hub to wheel hub matches.
Described bonding machine comprises guide rail, slide unit, slide unit drive motors, body, plumb joint drive motors, and described guide rail is laid on the table along the radial direction of wheel hub positioner, and described slide unit is slidably connected to guide rail; Described body and plumb joint drive motors are connected to slide unit, are arranged on the plumb joint on body and the transmission of plumb joint drive motors; Described slide unit and the slide unit drive motors transmission of installing on the table.
Described body is connected with slide unit with height adjuster by angular adjustment apparatus.
Described angular adjustment apparatus comprises the axle being vertically connected at both sides, body front end, and is fixed on the axle sleeve on slide unit, and described axle sleeve is provided with through hole, and the outer end of described axle is provided with screw thread, and the outer end of described axle compresses with nut through after through hole.
Described height adjuster comprises the bar being vertically connected at body rear end both sides, and the positioning seat be fixed on slide unit, described positioning seat is provided with locating notch, described bar outer end penetrates in locating notch, be provided with adjustment cushion block between at the bottom of the lower surface of described bar and locating slot, the upper surface of described bar is by the bolt presses through locating slot top board.
Also comprise state detection unit and the master control set of plumb joint drive motors, the output of described state detection unit is connected to the input of master control set, and the output of described master control set connects the driver of slide unit drive motors.
Plumb joint drive motors voltage detected by described master control set receive status detecting unit or electric current, according to the rising of voltage or electric current or reduce the signal strength signal intensity changing input control device, control slide unit drive motors and drive the plumb joint of slide unit retreat or advance.
Described state detection unit is current transducer or voltage transmitter, and described master control set is PLC or single-chip microcomputer.
The present invention's advantage is compared with prior art:
One, chuck from inside to outside tensioner stationary hub is straight up adopted, improve the stressing conditions of wheel rim, reduce the deflection occurred in welding process, greatly reduce the requirement to chucking device simultaneously, and the energy consumption of chucking device in welding process, reduce the cost that wheel hub manufactures, improve the economic benefit of enterprise;
Two, wheel hub outer wall is welded with the plumb joint of multiple stage bonding machine simultaneously, wheel hub is heated, uniform force, the twist angle that wheel hub is out of shape is reduced to below 1.0mm, effectively improve the quality of wheel hub, improve the speed of welding exponentially simultaneously, improve the output of wheel hub, further increase the economic benefit of enterprise;
Three, voltage or the curent change of plumb joint drive motors is read, as the feedback element of the butt welded seam degree of depth, adjustment slide unit drive motors changes the distance between plumb joint and wheel rim outer wall, improves the situation that weld seam is dark or shallow, improve the commissure intensity of wheel hub, reduce the wheel hub amount of distorting.
Accompanying drawing explanation
Fig. 1 is horizontal multi-head hub welding device plan structure schematic diagram of the present invention.
Fig. 2 is the A direction view of I part in Fig. 1.
Fig. 3 is wheel hub positioning device structure schematic diagram.
Fig. 4 is the B direction sectional view of Fig. 3.
Fig. 5 is plumb joint following control system structured flowchart.
Detailed description of the invention
As Fig. 1, Fig. 3, a kind of horizontal multi-head hub welding device shown in Fig. 4, comprise workbench 2, described workbench 2 is provided with wheel hub positioner 1 and the plumb joint bonding machine towards wheel hub positioner 1, described wheel hub positioner comprises seat board 11, and the back side is connected to eight pawl oild chucks 15 of seat board 11 upper surface, described seat board 11 is rotationally connected with workbench 2 by the rotating shaft 16 coaxial with chuck 15, described rotating shaft 16 and seat board drive motors 17 transmission, eight claws 14 in described eight dog chuck 15 fronts are connected to the arc location-plate 12 that radian is 45 degree, the described multiple arc location-plate 12 ends docking be connected on claw 14 forms annulus, the outer arc limit of described arc location-plate 12 is provided with the pressure dissipation flanging 13 perpendicular to arc location-plate 12 surface, described bonding machine includes three, is evenly arranged on around wheel hub positioner 1.
Bonding machine as shown in Figure 2 comprises guide rail 3, slide unit 4, slide unit drive motors 5, body 6, plumb joint drive motors 7, and described guide rail 3 is laid on workbench 2 along the radial direction of wheel hub positioner 1, and described slide unit 4 is slidably connected to guide rail 3; Described body 6 and plumb joint drive motors 7 are connected to slide unit 4, are arranged on the plumb joint on body 6 and plumb joint drive motors 7 transmission; Described slide unit 4 and slide unit drive motors 5 transmission be arranged on workbench 2.Described body 6 is connected with slide unit 4 with height adjuster 10 by angular adjustment apparatus 9; Described angular adjustment apparatus 9 comprises the axle 91 being vertically connected at both sides, body 6 front end, and is fixed on the axle sleeve 41 on slide unit 4, and described axle sleeve 41 is provided with through hole, and the outer end of described axle 91 is provided with screw thread, and the outer end of described axle 91 compresses with nut through after through hole; Described height adjuster 10 comprises the bar 101 being vertically connected at both sides, body 6 rear end, and the positioning seat 42 be fixed on slide unit 4, described positioning seat 42 is provided with locating notch, described bar 101 outer end penetrates in locating notch, be provided with adjustment cushion block between at the bottom of the lower surface of described bar 101 and locating slot, the upper surface of described bar 101 is compressed by the bolt 43 through locating slot top board.
When adopting the mode of friction stir welding to weld wheel hub, need between plumb joint and wheel rim outer wall to keep certain angle, the wheel hub of corresponding different size, need the position adjusting plumb joint to keep angle; During adjustment plumb joint position, unclamped by the nut of axle 91 outer end, bolt 43 unclamps, by adjusting the position of body 6 and regulating the thickness of cushion block, realize the angle of butt joint and the adjustment of height, again nut 91 and bolt 43 are tightened respectively after reaching expection angle and height.
When welding, first the wheel hub do not welded after compound is enclosed within chuck 15, until the lower port of wheel rim is buckled on seat board 11, then chuck 15 is started, claw 14 is expanded outwardly, the pressure dissipation flanging 13 on arc location-plate 12 outer arc limit withstands on wheel rim and spoke compound place, realizes the location to wheel hub; Restart slide unit drive motors 5, slide unit 4 is driven to move until plumb joint inserts the suitable degree of depth of wheel rim outer wall to wheel hub, restarting seat board drive motors 17 drives wheel hub to rotate a circle, slide unit drive motors 5 reverses and drives slide unit 4 to reset, seat board drive motors 17 stops, chuck 15 pressure release, can take off wheel hub.
Analyze known according to actual processing, when plumb joint insertion wheel rim wall is too dark or too shallow, the curtage of the rotary drive motor of plumb joint can increase or reduce, the hoofing part servomotor that can realize butt joint according to the Changing Pattern of this curtage of rotary drive motor controls, and alleviates and even eliminates the dark or shallow situation of weld seam.
As shown in Figure 5, above-mentioned a kind of horizontal multi-head hub welding device also comprises and is connected to current transducer in plumb joint drive motors 7 power circuit and PLC, the output of described current transducer is connected to the input of PLC, and the output of described PLC connects the driver of slide unit drive motors 5.Plumb joint drive motors 7 electric current detected by described PLC received current transmitter, according to the rising of electric current or reduce the signal strength signal intensity changing input control device, controls slide unit drive motors 5 and drives the plumb joint of slide unit 4 retreat or advance.For the plumb joint adopting servomotor to do rotary actuation, the input port of PLC directly can connect the encoder acquisition current signal of servomotor.
If it is servo-actuated to control plumb joint with the change of sensor detection wheel rim outer wall thickness, by the restriction of system response time, drive motors cannot be controlled in time and make action, be difficult to the quality improving wheel hub.
Claims (10)
1. a horizontal multi-head hub welding device, comprise workbench (2), described workbench (2) is provided with wheel hub positioner (1) and the plumb joint bonding machine towards wheel hub positioner (1), it is characterized in that: described wheel hub positioner comprises the seat board (11) being rotationally connected with workbench (2) upper surface, and the back side is connected to the chuck (15) of seat board (11) upper surface, described seat board (11) and seat board drive motors (17) transmission, multiple claws (14) in described chuck (15) front are connected to arc location-plate (12), described multiple arc location-plate (12) ends docking be connected on claw (14) forms annulus, described bonding machine at least includes three, is evenly arranged on wheel hub positioner (1) around.
2. a kind of horizontal multi-head hub welding device as claimed in claim 1, is characterized in that: described claw (14) has 8, and upper arc location-plate (12) radian connected of each claw (14) is 45 degree.
3. a kind of horizontal multi-head hub welding device as claimed in claim 1 or 2, is characterized in that: the outer arc limit of described arc location-plate (12) is provided with the pressure dissipation flanging (13) perpendicular to arc location-plate (12) surface.
4. a kind of horizontal multi-head hub welding device as claimed in claim 1, it is characterized in that: described bonding machine comprises guide rail (3), slide unit (4), slide unit drive motors (5), body (6), plumb joint drive motors (7), described guide rail (3) is laid on workbench (2) along the radial direction of wheel hub positioner (1), and described slide unit (4) is slidably connected to guide rail (3); Described body (6) and plumb joint drive motors (7) are connected to slide unit (4), are arranged on the plumb joint on body (6) and plumb joint drive motors (7) transmission; Described slide unit (4) and slide unit drive motors (5) transmission be arranged on workbench (2).
5. a kind of horizontal multi-head hub welding device as claimed in claim 4, is characterized in that: described body (6) is connected with slide unit (4) with height adjuster (10) by angular adjustment apparatus (9).
6. a kind of horizontal multi-head hub welding device as claimed in claim 5, it is characterized in that: described angular adjustment apparatus (9) comprises the axle (91) being vertically connected at body (6) both sides, front end, and the axle sleeve (41) be fixed on slide unit (4), described axle sleeve (41) is provided with through hole, the outer end of described axle (91) is provided with screw thread, and the outer end of described axle (91) compresses with nut through after through hole.
7. a kind of horizontal multi-head hub welding device as claimed in claim 5, it is characterized in that: described height adjuster (10) comprises the bar (101) being vertically connected at body (6) both sides, rear end, and the positioning seat (42) be fixed on slide unit (4), described positioning seat (42) is provided with locating notch, described bar (101) outer end penetrates in locating notch, be provided with adjustment cushion block between at the bottom of the lower surface of described bar (101) and locating slot, the upper surface of described bar (101) is compressed by the bolt (43) through locating slot top board.
8. a kind of horizontal multi-head hub welding device as claimed in claim 4, it is characterized in that: the state detection unit and the master control set that also comprise plumb joint drive motors (7), the output of described state detection unit is connected to the input of master control set, and the output of described master control set connects the driver of slide unit drive motors (5).
9. a kind of horizontal multi-head hub welding device as claimed in claim 8, it is characterized in that: plumb joint drive motors (7) voltage detected by described master control set receive status detecting unit or electric current, according to the rising of voltage or electric current or reduce the signal strength signal intensity changing input control device, control slide unit drive motors (5) and drive the plumb joint of slide unit (4) retreat or advance.
10. a kind of horizontal multi-head hub welding device as claimed in claim 8 or 9, it is characterized in that: described state detection unit is current transducer or voltage transmitter, described master control set is PLC or single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310527980.6A CN103551725B (en) | 2013-10-31 | 2013-10-31 | Horizontal multi-head wheel hub welding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310527980.6A CN103551725B (en) | 2013-10-31 | 2013-10-31 | Horizontal multi-head wheel hub welding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103551725A CN103551725A (en) | 2014-02-05 |
| CN103551725B true CN103551725B (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310527980.6A Active CN103551725B (en) | 2013-10-31 | 2013-10-31 | Horizontal multi-head wheel hub welding device |
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| CN (1) | CN103551725B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104191142B (en) * | 2014-09-15 | 2016-09-28 | 蚌埠华泰液力变矩器股份有限公司 | A kind of fixing device for the welding of guide wheel steel band |
| CN108890190A (en) * | 2018-06-30 | 2018-11-27 | 格力电器（武汉）有限公司 | A kind of welding gun pipette tips alignment tool |
| CN113996909B (en) * | 2021-10-22 | 2022-12-06 | 定南色耐特智能科技有限公司 | Complete rim welding equipment for two-piece type spliced rim |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19938099A1 (en) * | 1999-08-12 | 2001-02-15 | Exama Maschinen Gmbh | Multi-head friction welding method and device for carrying out the method |
| CN2626661Y (en) * | 2003-05-23 | 2004-07-21 | 中国石油天然气集团公司 | Multiple welding heads synchronous positioning mechanism for pipeline inner circumferential weld automatic welder |
| US8052224B2 (en) * | 2008-11-10 | 2011-11-08 | GM Global Technology Operations LLC | Lightweight aluminum wheel with magnesium rim |
| KR20100075342A (en) * | 2008-12-24 | 2010-07-02 | 태창공업 주식회사 | Method of automobile wheel |
| CN102152085A (en) * | 2011-05-05 | 2011-08-17 | 广州有色金属研究院 | Method for manufacturing dissimilar aluminum alloy composite automobile hub |
| CN103157902A (en) * | 2013-03-29 | 2013-06-19 | 江苏新创雄铝制品有限公司 | Hub stir friction welding device and control system thereof |
| CN203557001U (en) * | 2013-10-31 | 2014-04-23 | 刘湘平 | Horizontal multi-head hub welding device |
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2013
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