CN104625325B - A kind of 5M level tank circumferential weld erection welding equipment - Google Patents
A kind of 5M level tank circumferential weld erection welding equipment Download PDFInfo
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- CN104625325B CN104625325B CN201510065166.6A CN201510065166A CN104625325B CN 104625325 B CN104625325 B CN 104625325B CN 201510065166 A CN201510065166 A CN 201510065166A CN 104625325 B CN104625325 B CN 104625325B
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- tailstock
- welding
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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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The embodiment of the present invention provides a kind of 5M level tank circumferential weld erection welding equipment, and the positioning precision that has solved existing tank circumferential weld erection welding equipment is low, the problem that rigidity is weak. This 5M level tank circumferential weld erection welding equipment, comprising: lathe bed, head of a bed slew gear, tailstock slew gear, inner support mechanism, at least one external compression mechanism and welding mechanism; Described head of a bed slew gear, tailstock slew gear, external compression mechanism and welding mechanism are arranged on described lathe bed surface, and described inner support mechanism is fixed in tailstock slew gear; Wherein, described at least one external compression mechanism can be with the revolution that links of described head of a bed slew gear and tailstock slew gear; The centre of gyration of described head of a bed slew gear, tailstock slew gear, inner support mechanism and at least one external compression mechanism is straight line.
Description
Technical field
The present invention relates to tank solder technology, particularly a kind of 5M level tank circumferential weld erection welding equipment.
Technical background
The erection welding of active service model carrier rocket tank casing circumferential weld, adopts special casing girth weldingEquipment ensures assembling and the welding requirements of product. Existing erection welding system mainly adopt axle, inPushing out ring and tensioning chain and be combined with to ensure erection welding precision. Wherein, axle is used for supporting inner supportRing, for the installation of interior pushing out ring is provided convenience. Interior pushing out ring is used for applying the weldering of opposing product to the product of weld zoneThe distortion of the pressure that connects distortion when reducing Product jointing. Tensioning chain and interior pushing out ring are used in conjunction with, and useCan not deform with protection product product under the pressure of interior pushing out ring, have again enough thrusts simultaneously.Due to tank diameter and radius-thickness ratio increase, tensioning chain can not apply enough tightening forces, resists workThe distortion that part produces.
But along with the continuous increase of carrier rocket tank size, existing casing girth welding has been equippedCannot meet the required precision of major diameter tank casing in the time of erection welding completely. Due to major diameter tank caseRadius-thickness ratio and the total length of body are larger, are easy to occur welding deformation in erection welding process. And it is existingLower, the rigidity of the mode positioning precision that combines of employing axle, interior pushing out ring and tensioning chain a little less than, welderingFront assembly precision is not high, can have a strong impact on the quality of welding point.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of 5M level tank circumferential weld erection welding equipment, solves5M level major diameter tank circumferential weld erection welding problem.
For this reason, a kind of 5M level tank circumferential weld erection welding equipment that the embodiment of the present invention provides, comprising:
Lathe bed, head of a bed slew gear, tailstock slew gear, inner support mechanism, at least one external compression machineStructure and welding mechanism; Described head of a bed slew gear, tailstock slew gear, external compression mechanism and welding mechanismBe arranged on described lathe bed surface, described inner support mechanism is fixed in tailstock slew gear; Wherein, described inAt least one external compression mechanism can be with the revolution that links of described head of a bed slew gear and tailstock slew gear;Described head of a bed slew gear, tailstock slew gear, inner support mechanism and at least one external compression mechanism are returnedTurn center and be straight line.
The 5M level tank circumferential weld erection welding equipment that the embodiment of the present invention provides, can turn round by the head of a bedWhen the interlock revolution of mechanism, tailstock slew gear, inner support mechanism, external compression mechanism ensures girth weldingPositioning precision; And owing to having adopted inner support mechanism and external compression mechanism simultaneously, casing shell section is existedIn rotating process, face circumferential weld from inside and outside two rigid mechanical support is provided, ensured casing shell section and wholeThe rigidity of individual casing, has avoided the appearance of welding deformation.
Brief description of the drawings
Fig. 1 is that the structure of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the invention is shownIntention.
Fig. 2 is the mill of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the inventionStructure sketch.
Fig. 3 is that the head of a bed of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the invention returnsRotation mechanism sketch.
Fig. 4 is that the tailstock of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the invention returnsRotation mechanism sketch.
Fig. 5 is the external compression of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the inventionSchematic diagram of mechanism.
Fig. 6 is that the key of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the invention is pressedTight device sketch.
Fig. 7 is the bonding machine of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the inventionStructure sketch.
In figure, symbol description is as follows:
1 lathe bed; 2 tailstock slew gears; 3 tailstock slew gears; 4 external compression mechanisms; 5 bonding machinesStructure; 6 milling mechanisms; 7 switch boards; 8 inner support mechanisms.
21 milling machine lathe beds; 22 movable booms; 23 milling heads.
31 head of a bed under casings; 32 headstocks; 33 head of a bed ring flanges; 34 transition rings; 35 umbrella shaped supportsMechanism.
41 tailstock under casings; 42 tailstock casees; 43 tailstock ring flanges; Support mechanism in 44 tailstocks.
51 external compression under casings; 52 external compression supporting mechanisms; 53 key hold down gags; 54 synchronously rotateDrive motors.
61 rocker bar bearings; 62 drive cylinder; 63 connecting rods; 64 key pressing plates.
71 welding unit under casings; 72 welding columns; 73 welding beams; 74 arc voltage controllers; 75 behaviourMake console.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to the present inventionBe described in further detail.
Fig. 1 is the structural representation of a kind of 5M level tank circumferential weld erection welding equipment in the embodiment of the present inventionFigure. As shown in Figure 1, this tank circumferential weld erection welding equipment comprises:
Lathe bed 1, head of a bed slew gear 3, tailstock slew gear 2, inner support mechanism 8, at least one external pressureTight mechanism 4 and welding mechanism 5; Head of a bed slew gear 3, tailstock slew gear 2, external compression mechanism 4 and welderingConnection mechanism 5 is arranged on lathe bed 1 surface, and inner support mechanism 8 is fixed in tailstock slew gear 2. Wherein,This at least one external compression mechanism 4 can be with the revolution that links of head of a bed slew gear 3 and tailstock slew gear 2;The revolution of head of a bed slew gear 3, tailstock slew gear 2, inner support mechanism and at least one external compression mechanism 4Center is straight line.
In the time will welding casing, can be first by the bottom of a case and a cylinder section be arranged on respectively the head of a bed and returnOn rotation mechanism 3 and tailstock slew gear 2, tailstock slew gear 2 returns to the head of a bed along the track on lathe bed 1Rotation mechanism 3 is drawn close, until involutory with the circumferential weld assembling of cylinder section at the bottom of this case, welding formation welding line joint. External pressure4, tight mechanism treats plumb joint both sides from the bottom of this case and outside for cylinder section mechanical compaction is provided. At the bottom of to this caseAfter completing with the welding of cylinder section, tailstock slew gear 2 exits along line slideway, then at tailstock slew gearNext cylinder section is installed on 2, and then tailstock slew gear 2 returns to the head of a bed along the track on lathe bed 1 againRotation mechanism 3 is drawn close and is carried out next girth welding process, until form whole tank.
At two parts box part along with head of a bed slew gear 3 and tailstock slew gear 2 synchronously carry out rotatingIn process, the arc voltage controller position on welding mechanism 5 can remain unchanged, thereby completes this two parts assemblyThe welding of product docking circumferential weld.
The quantity that it will be understood by those skilled in the art that inner support mechanism and external compression mechanism can be according to weldingThe size of the casing shell section connecing is adjusted. For example, in the time of the longer dimension of casing shell section, can suitably increaseThe quantity of inner support mechanism and external compression mechanism is to improve better rigid support. The internal supporting mechanism of the present inventionDo not limit with the concrete quantity of external compression mechanism.
In an embodiment of the present invention, lathe bed 1 is provided with one group of this line slideway of line slideway and comprises main guide railWith secondary guide rail; Main guide rail is wherein for driving guide rail, and secondary guide rail is driven guide rail. Dominating in line slidewayRail adopts pinion and rack, and secondary guide rail is guide rail slide block structure.
The quantity that it will be understood by those skilled in the art that main guide rail and secondary guide rail in one group of line slideway can basisActual needs is adjusted. For example, in the line slideway that comprises 5 guide rails, can there be three main guide rails and twoIndividual secondary guide rail. The present invention does not limit the quantity of main guide rail and secondary guide rail.
Head of a bed slew gear 3, tailstock slew gear 2 and external compression mechanism 4 are arranged on this line slideway,And can independently move along line slideway direction. Head of a bed slew gear 3, tailstock slew gear 2 and external pressure like thisThe relative position of tight mechanism 4 can be adjusted according to the size of casing shell section, thereby makes this tank circumferential weld dressJoin welding jig applicable to the girth welding process between casing each several part, can realize respectively tank casingBrevicone and case at the bottom of, the automatic welding of circumferential weld at the bottom of case and between shell section, shell section and shell section. Concrete weldingJourney can be: first brevicone and sub-assembly of the front end before erection welding, postwelding undercarriage; Short after erection welding subsequentlyShell and sub-assembly of the rear end; On sub-assembly of the rear end according to laterally by rear to front erection welding shell section, finally assemblingWeld sub-assembly joint sealing of the front end.
In another embodiment of the present invention, parallel another bond pads that is also provided with of line slideway one side of lathe bed 1 is ledRail; Welding mechanism 5 is arranged on this welding guide rail, and can move along welding guide rail direction. Bonding machine like thisThe position of structure 5 also can be adjusted according to the position of docking circumferential weld to be welded, has further improved the spirit that equipment usesActive.
In an embodiment of the present invention, this welding guide rail also can comprise main guide rail and secondary guide rail; Master whereinGuide rail is for driving guide rail, and secondary guide rail is driven guide rail. Main guide rail in line slideway adopts pinion and rack,Secondary guide rail is guide rail slide block structure. As previously mentioned, the number of the present invention to main guide rail and secondary guide rail in welding guide railAmount does not limit equally. In another embodiment of the present invention, in order further to improve the assembly precision before welding,This tank circumferential weld erection welding equipment also can further comprise milling mechanism 6, with before welding to casing shell sectionSize carry out milling, ensure the merging precision of to connect the flat surface.
In another embodiment of the present invention, head of a bed slew gear and tailstock slew gear adopt two servo gaplesssTransmission, thus the impact of Mechanism Clearance on running accuracy further eliminated. Revolution rotation can tailstock revolutionMechanism is main driving, and head of a bed slew gear is time driving, adopts servo closed loop to drive and controls the revolution of the guarantee head of a bedThe synchronous revolving of mechanism, tailstock slew gear.
Fig. 2 is the milling mechanism of the 5M level tank circumferential weld erection welding equipment that provides of one embodiment of the inventionSketch. As shown in Figure 2, this milling mechanism comprises: milling machine lathe bed 21, movable boom 22 and milling head 23;Milling machine lathe bed 21 is arranged at lathe bed 1 surface; Movable boom 22 is arranged on milling machine lathe bed 21, and can edge21 horizontal movements of milling machine lathe bed; One end of movable boom 22 is provided with milling head 23. Operator can be led to like thisCross the stroke of adjusting movable boom 22 relative milling machine lathe beds 21 and control the size of milling amount.
Fig. 3 is the head of a bed turn-around machine of the 5M tank circumferential weld erection welding equipment that provides of one embodiment of the inventionStructure sketch. As shown in Figure 3, this head of a bed slew gear comprises: head of a bed under casing 31, headstock 32, head of a bed methodBlue dish 33, transition rings 34 and umbrella shaped support mechanism 35; The bottom surface of head of a bed under casing 31 is arranged at lathe bed 1 surface,End face is connected with headstock 32; A side of headstock 32 is by head of a bed ring flange 33 and transition rings 34Connect; Transition rings 34 is connected with umbrella shaped support mechanism 35.
Fig. 4 is the tailstock turn-around machine of the 5M tank circumferential weld erection welding equipment that provides of one embodiment of the inventionStructure sketch. As shown in Figure 4, this tailstock slew gear 2 comprises: tailstock under casing 41, tailstock case 42, tailstockSupport mechanism 44 in ring flange 43 and tailstock; The bottom surface of tailstock under casing 41 is arranged at lathe bed 1 surface, end face withTailstock case 42 connects; A side of tailstock case 42 is by the interior support mechanism 44 of tailstock ring flange 43 and tailstockConnect.
In an embodiment of the present invention, inner support mechanism comprises: inner support transition rings, inner support cage-shaped structure,At least one inner support slip ring and multiple internal supporting block. One end of inner support cage-shaped structure and inner support transition rings connectConnect; At least one inner support slip ring sleeve is contained in inner support cage-shaped structure outside, and with the heart of inner support mouse cageAxle is vertical; Wherein, excessively ring is parallel with inner support at least one inner support slip ring suit. Each inner support is slidingOn ring, be provided with multiple internal supporting blocks, multiple internal supporting block head and the tail are connected and form a ring. Whole inner support mechanism is solidMove on turntable due to tailstock, mobile tailstock moves turntable and can drive inner support mechanism along being fixed on stiffening ringLine slideway move, to meet the needs of different length cylinder section assembling.
The quantity that it will be understood by those skilled in the art that inner support slip ring can be entered according to the size of casing shell sectionRow is adjusted. For example, in the time that casing shell section is longer, can suitably increase the quantity of inside support ring to provide moreRigidity inner support. The quantity of the internal supporting slip ring of the present invention does not limit.
Fig. 5 is the external compression mechanism of the 5M tank circumferential weld erection welding equipment that provides of one embodiment of the inventionSketch. As shown in Figure 5, this external compression mechanism comprises: external compression under casing 51, external compression supporting mechanism 52,Multiple key hold down gags 53 and synchronous rotational drive motor 54; The bottom surface of external compression under casing 51 and lathe bed 1Surface connects, and end face is connected with annular external compression supporting mechanism 52; The inner side of external compression supporting mechanism 52Face is provided with multiple key hold down gags 53; Synchronous rotational drive motor 54 is for driving external compression supporting mechanism52 synchronously rotate with head of a bed slew gear 3 and tailstock slew gear 2.
Drive motors 54 is Dual-Servo Motors in an embodiment of the present invention.
Fig. 6 is that the key of the 5M tank circumferential weld erection welding equipment that provides of one embodiment of the invention compresses dressPut sketch. As shown in Figure 6, this key hold down gag comprises: rocker bar bearing 61, driving cylinder 62, connecting rod63 and key pressing plate 64; Rocker bar bearing 61 is provided with and drives cylinder 62; Drive cylinder 62 by connecting rod 63Be connected with key pressing plate 64. The thrust of each key pressing plate 64 is by driving flexible control of cylinder 62 pistonsSystem.
Fig. 7 is the welding mechanism letter of the 5M tank circumferential weld erection welding equipment that provides of one embodiment of the inventionFigure. As shown in Figure 7, this welding mechanism comprises: welding under casing 71, welding column 72, welding beam 73,Arc voltage controller 74 and operating console 75; Wherein, the bottom surface of welding under casing 71 is connected with lathe bed 1 surface,End face is provided with operating console 75 and welding column 72; Top and the welding beam 73 of welding column 72One end connect, the other end of welding beam 73 below is provided with arc voltage controller 74.
In an embodiment of the present invention, welding unit also can comprise crossbeam manipulator, system controller, automaticArc length controller, mechanical oscillation system, automatic cold wire-feed motor, motor-driven wire feed angular adjustment system, colour are taken the photographPicture surveillance, welding gun water-cooling circulating system and variable-polarity plasma welding power supply. Wherein, crossbeam operationMachine is the agent structure of welding unit, and the miscellaneous part (except the source of welding current) of welding unit is all arranged on horizontal strokeAbove beam manipulator, the carrier of realizing using crossbeam manipulator as function.
In an embodiment of the present invention, as shown in Figure 1, this tank circumferential weld erection welding equipment also can comprise oneIndividual switch board 7.
This switch board is the PLC electrical control cabinet of whole casing girth welding system, does not have man-machine interaction,To kinematic variables parameter and welding, the isoparametric control of milling, complete by operating console 75.
In an embodiment of the present invention, this tank circumferential weld erection welding equipment further comprises accessory system, asVideo surveillance, data collecting system, security protection system.
The tank circumferential weld erection welding equipment that the embodiment of the present invention provides, can pass through head of a bed slew gear, bedPositioning precision when the interlock revolution of tail slew gear, inner support mechanism, external compression mechanism ensures girth welding;And adopted inner support mechanism and external compression mechanism simultaneously, make casing shell section in rotating process from inside and outsideTwo support in the face of circumferential weld provides enough rigid mechanical, have ensured product rigidity in welding process, avoidThe appearance of welding deformation.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, not all at thisWithin bright spirit and principle, any amendment of doing, be equal to replacement etc., all should be included in guarantor of the present inventionWithin protecting scope.
Claims (6)
1. tank circumferential weld erection welding equipment, is characterized in that, comprising: lathe bed, head of a bed slew gear,Tailstock slew gear, inner support mechanism, at least one external compression mechanism and welding mechanism; Described head of a bed revolutionMechanism, tailstock slew gear, external compression mechanism and welding mechanism are arranged on described lathe bed surface, described interiorSupport mechanism is fixed in tailstock slew gear; Wherein, described at least one external compression mechanism can be with the described head of a bedThe revolution that links of slew gear and tailstock slew gear; Described head of a bed slew gear, tailstock slew gear,The centre of gyration of inner support mechanism and at least one external compression mechanism is straight line;
Described inner support mechanism comprises: inner support transition rings, inner support cage-shaped structure, at least one inner supportSlip ring and multiple internal supporting block; Wherein, one end of described inner support cage-shaped structure and described inner support transition rings connectConnect; Described at least one inner support slip ring sleeve is contained in described inner support cage-shaped structure outside; Described in eachIn supporting slip ring, be provided with multiple internal supporting blocks;
Described at least one external compression mechanism comprises: external compression under casing, external compression supporting mechanism, multiple keyHold down gag and synchronous rotational drive motor; The bottom surface of described external compression under casing is connected with described lathe bed surface,End face is connected with annular external compression supporting mechanism; The medial surface of described external compression supporting mechanism is provided with multiple qinsKey hold down gag; Described synchronous rotational drive motor is used for driving described external compression supporting mechanism with the described head of a bedSlew gear and tailstock slew gear synchronously rotate; Wherein, described key hold down gag comprises: rocker bar bearing,Drive cylinder, connecting rod and key pressing plate; Described rocker bar bearing is provided with driving cylinder; Described driving cylinder is logicalCrossing described connecting rod is connected with described key pressing plate;
Described lathe bed is provided with one group of line slideway; Described head of a bed slew gear, tailstock slew gear, interiorSupport mechanism and external compression mechanism are arranged on described line slideway, and can be independently along described line slideway direction fortuneMoving; Line slideway one side of described lathe bed is parallel is provided with the welding guide rail that another group is parallel to lathe bed; Described welderingConnection mechanism is arranged on described welding guide rail, and can move along described welding guide rail direction.
2. equipment according to claim 1, is characterized in that, described line slideway and/or welding are ledRail comprises: main guide rail and secondary guide rail;
Wherein, described main guide rail, for driving guide rail, adopts pinion and rack; Described secondary guide rail is driven leadingRail, adopts guide rail slide block structure.
3. equipment according to claim 1, is characterized in that, further comprises: milling mechanism;
Wherein, described milling mechanism comprises: milling machine lathe bed, movable boom and milling head; Described milling machine lathe bedBe arranged at described lathe bed surface; Described movable boom is arranged on described milling machine lathe bed, and can be along described millingThe horizontal movement of bed lathe bed; One end of described movable boom is provided with described milling head.
4. equipment according to claim 1, is characterized in that, described head of a bed slew gear comprises:
Head of a bed under casing, headstock, head of a bed ring flange, transition rings and umbrella shaped support mechanism; Described head of a bed under casingBottom surface be arranged at described lathe bed surface, end face is connected with described headstock; A side of described headstockBe connected with transition rings by described head of a bed ring flange; Described transition rings is connected with described umbrella shaped support mechanism.
5. equipment according to claim 1, is characterized in that, described tailstock slew gear comprises: bedSupport mechanism in tail under casing, tailstock case, tailstock ring flange and tailstock; The bottom surface of described tailstock under casing is arranged at instituteState lathe bed surface, end face is connected with described tailstock case; A side of described tailstock case is by described tailstock methodBlue dish is connected with support mechanism in described tailstock.
6. according to arbitrary described equipment in claim 1 to 5, it is characterized in that described welding mechanism bagDraw together: welding under casing, welding column, welding beam, welding gun, arc voltage controller and operating console; Wherein,The bottom surface of described welding under casing is connected with described lathe bed surface, end face be provided with described operating console with described inWelding column; The top of described welding column is connected with one end of described welding beam, described welding beamOther end below is provided with described welding gun and arc voltage controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510065166.6A CN104625325B (en) | 2015-02-06 | 2015-02-06 | A kind of 5M level tank circumferential weld erection welding equipment |
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| CN201510065166.6A CN104625325B (en) | 2015-02-06 | 2015-02-06 | A kind of 5M level tank circumferential weld erection welding equipment |
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| CN104625325A CN104625325A (en) | 2015-05-20 |
| CN104625325B true CN104625325B (en) | 2016-05-25 |
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| CN106078190B (en) * | 2016-07-07 | 2018-09-21 | 上海航天设备制造总厂 | The total Butt Assembling device and method of rocket level segment flexible digitalization |
| JP6951287B2 (en) * | 2018-04-18 | 2021-10-20 | 株式会社ダイヘン | Wire feeding system |
| CN110961820B (en) * | 2019-12-28 | 2023-07-14 | 天津航天长征火箭制造有限公司 | Tank body assembling and welding process and overturning tool for storage tank with common-bottom structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101229612B (en) * | 2008-01-25 | 2010-06-16 | 华中科技大学 | Thin walled cylinder girth laser welding tong |
| EP2561948A1 (en) * | 2011-08-24 | 2013-02-27 | Wartmann Technologie AG | Device for and method of manufacturing a flange-tube-flange element using friction stir welding |
| CN102837153B (en) * | 2012-08-07 | 2015-11-25 | 首都航天机械公司 | A kind of device for positioning and supporting for the welding of tank cylinder section circumferential weld agitating friction |
| CN203330636U (en) * | 2013-06-28 | 2013-12-11 | 中国航空工业集团公司北京航空制造工程研究所 | Self-supporting friction stir welding and girth welding tool clamp |
| CN203936576U (en) * | 2014-05-29 | 2014-11-12 | 浙江富日进材料科技有限公司 | hydraulic oil pipe automatic welding frock |
| CN104191084B (en) * | 2014-07-04 | 2018-12-28 | 上海拓璞数控科技股份有限公司 | A kind of whole circumferential weld Friction Stir Welding device and its welding method of large size tank |
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