CN106624549B - Thin-walled cylindrical member rotary vertical assembles device - Google Patents
Thin-walled cylindrical member rotary vertical assembles device Download PDFInfo
- Publication number
- CN106624549B CN106624549B CN201611149311.XA CN201611149311A CN106624549B CN 106624549 B CN106624549 B CN 106624549B CN 201611149311 A CN201611149311 A CN 201611149311A CN 106624549 B CN106624549 B CN 106624549B
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- fixture
- external pressure
- cylindrical member
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- clamping
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- 238000003466 welding Methods 0.000 claims abstract description 35
- 230000001737 promoting Effects 0.000 claims abstract description 4
- 238000007667 floating Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 abstract description 11
- 230000036244 malformation Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 101700022029 GBLP Proteins 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000002093 peripheral Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N tin hydride Chemical class [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- 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
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
- B23K2101/04—Tubular or hollow articles
Abstract
A kind of thin-walled cylindrical member rotary vertical assembles device, including：Rack, for promoting the vertical lifting platform of cylindrical member, agitating friction welding mechanism, external pressure fixture and the lower external pressure fixture of annular in annular, wherein：Vertical lifting platform, upper external pressure fixture and lower external pressure fixture are vertically slideably positioned in rack successively, upper external pressure fixture and lower external pressure fixture clamping cylindrical member simultaneously rotate, agitating friction welding mechanism is fixed on rack side, the present invention uses vertical clamping welding manner, avoid the malformation because of caused by its own gravity of thin-walled cylindrical member, reduce the error influence factor in assembling process, fixture is evenly distributed with using circumferential, realize the flexible clamping to thin-wall barrel, ensure positioning accuracy, reduce Clamped Positioning Error, equip high degree of automation, station is concentrated, floor space is small, feeding, clamping, welding, blanking process is highly controllable, improve efficiency of assembling.
Description
Technical field
The present invention relates to a kind of technology in automatic assembling field, specifically a kind of thin-walled cylindrical member rotary vertical dress
With device.
Background technology
The high-precision assembling of large tube-like thin-wall component is the fields such as aerospace key technology.The aerospaces such as Rocket tank
Thin-wall barrel component is to mitigate dead weight to form using the aluminum alloy thin wall member welding of grid.Large tube-like thin-wall component fills
With horizontal assembling is mainly used, deformation of the cylinder because of dead weight generation is overcome by internal support fixture, is passed through between each section
Erection welding is carried out after circumferential alignment, as scantling increases, flexibility can also increase, and tube structure is more tight by deformation induced by gravity
Weight, horizontal assembling is more difficult to cylinder shape control, while all directions unbalance stress, and positioning accuracy is caused to reduce.
Invention content
The present invention may be only available for the assembling and welding of one section of cylinder and end socket for the prior art mostly, it is impossible to realize more
The intersegmental assembling of cylinder or Flexible fixture are insufficient, it is impossible to carry out actively compared with shape and local positioning and workpiece assembly precision very great Cheng
Dependent on the manufacture of circular arc fagging and installation positioning accuracy on degree, lack clamping device, it is difficult to be applied to frock clamp requirement
Harsh agitating friction weldering welding procedure moderate defect proposes a kind of thin-walled cylindrical member rotary vertical assembling device.
The present invention is achieved by the following technical solutions：
The present invention includes：Rack, for promoting the vertical lifting platform of cylindrical member, agitating friction welding mechanism, annular
Upper external pressure fixture and the lower external pressure fixture of annular, wherein：Vertical lifting platform, upper external pressure fixture and lower external pressure fixture are vertically slided successively
Dynamic to be set in rack, upper external pressure fixture and lower external pressure fixture clamp cylindrical member and rotate, and agitating friction welding mechanism is fixed
In rack side.
The rack includes four columns being distributed in a ring, and column is equipped with the linear guide being vertically arranged and straight line
Rack.
The upper external pressure fixture includes：Annular upper fixture mounting base and annular upper fixture pedestal, wherein：Upper fixture is installed
Seat is connected with column slip, and upper fixture pedestal is connected by the upper fixture floating bearing with external tooth with upper fixture mounting base lower part,
Upper fixture pedestal is circumferentially evenly equipped with several clamp systems.
The upper fixture mounting base is equipped with upper fixture circumferential direction driving motor, by outside gear and upper fixture floating bearing
Tooth engagement with drive upper fixture pedestal rotate.
The lower external pressure fixture includes：The lower fixture mounting base of annular and the lower clamp base of annular, wherein：Lower fixture installation
Seat is connected with column slip, and lower clamp base passes through the lower fixture floating bearing with external tooth and lower fixture mounting base upper axial phase
Even, lower clamp base is circumferentially evenly equipped with several clamp systems.
In the lower fixture mounting base several section positioning fixtures are evenly distributed with positioned at lower clamp base central circular inner circumferential.
The cylinder section positioning fixture includes：Two positioning pressuring plates and positioning cylinder, wherein：It positions and rectangle is equipped in the middle part of cylinder
Groove, two positioning pressuring plates are set in groove and clamp Cylinder shape constructional element with cylinders.
The lower fixture mounting base be equipped with lower fixture circumferential direction driving motor, lower fixture circumferential direction driving motor by gear with
The outer tooth engagement of lower fixture floating bearing is to drive lower clamp base to rotate.
The clamp system includes：Arc-shaped clamping plate, clamping guide-rail and leading screw, wherein：Clamping guide-rail is set to
In clamp base, clamping plate is slideably positioned in clamping guide-rail and is connected with leading screw.
The vertical lifting platform includes：Ring-shaped platform pedestal and the workpiece connected unit for fixing Cylinder shape constructional element,
Wherein：Platform base is connected with column slip, and workpiece connected unit is rotatedly connected with platform base.
Technique effect
Compared with prior art, the present invention avoids thin-walled cylindrical member because of itself weight using vertical clamping welding manner
Malformation caused by power reduces the error influence factor in assembling process, is evenly distributed with fixture using circumferential, realizes to thin-walled
The flexible clamping of cylinder ensures positioning accuracy, reduces Clamped Positioning Error, equips high degree of automation, and station is concentrated, and takes up an area face
Product is small, and feeding, clamping, welding, blanking process are highly controllable, improve efficiency of assembling.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is rack construction schematic diagram；
Fig. 3 is vertical lifting platform structure diagram；
Fig. 4 is upper external pressure clamp structure schematic diagram；
Fig. 5 is lower external pressure clamp structure schematic diagram；
Fig. 6 is lower fixture clamping mechanism structure diagram；
Fig. 7 is cylinder section positioning fixture structure schematic diagram；
Fig. 8 is agitating friction welding mechanism structure diagram；
In figure：1 rack, 2 vertical lifting platforms, external pressure fixture, 4 times external pressure fixtures, 5 agitating friction welding mechanisms, 11 on 3
Enhancement layer, 12 columns, 13 the linear guides, 14 linear gear racks, 21 platform rotary drive motors, 22 platform bases, 23 lifting platforms
Driving motor, 24 workpiece connected units, 31 upper fixture mounting bases, 32 upper fixture circumferential direction driving motors, 33 upper fixture floating bearings, 34
Under upper fixture pedestal, 35 upper fixture clamp systems, 36 upper fixture angle steel, 41 times fixture clamping mechanisms, 42 section positioning fixtures, 43
Clamp base, 44 times fixture floating bearings, 45 times fixture mounting bases, 46 times fixture circumferential direction driving motors, 51 welding axis, 52 welding
Mechanism base, 411 clamping plates, 412 clamping guide-rails, 413 leading screws, 414 lead screw shaft bearings, 415 leading screw driving motors, 421 positioning
Clamp base, 422 positioning cylinders, 423 positioning pressuring plates, 424 positioning cylinders.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment is carried out lower based on the technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1
As shown in Figure 1, the present embodiment includes：Rack 1, vertical lifting platform 2, agitating friction for promoting cylindrical member
External pressure fixture 3 and the lower external pressure fixture 4 of annular on welding mechanism 5, annular, wherein：Vertical lifting platform 2, upper external pressure fixture 3 and under
External pressure fixture 4 is vertically slideably positioned in rack 1 successively, and upper external pressure fixture 3 and lower external pressure fixture 4 clamp cylindrical member and revolve
Turn, agitating friction welding mechanism 5 is fixed on 1 side of rack.
As shown in Fig. 2, the rack 1 includes four columns 12 being distributed in a ring, column 12 is equipped with and all sets vertically
The linear guide 13 and linear gear rack 14 put.The top and middle part of column 12 form ring by the enhancement layer 11 of hoop truss structure
Shape.Each 12 medial surface of column sets that there are two the linear guide 13 and a linear gear racks 14, is used to implement vertical lifting platform 2
Connection and driving, the linear guide 13 realize positioning by the guide rail positioning block of one side.
As shown in figure 3, the vertical lifting platform 2 includes：Ring-shaped platform pedestal 22 and for fixing Cylinder shape constructional element
Workpiece connected unit 24, wherein：Platform base 22 is connected with the slip of column 12, and workpiece connected unit 24 rotates phase with platform base 22
Even.Platform base 22 be equipped with four platforms lift driving motor 23,23 output terminal of lifting platform driving motor be connected with gear and with
12 linear gear rack 14 of column is connected entire vertical lifting platform 2 is driven to move up and down.The top of workpiece connected unit 24 is fixed on
22 middle part of platform base, its underpart are used to consolidate with Cylinder shape constructional element.24 center of workpiece connected unit is equipped with platform rotary drive motor
21, workpiece connected unit 24 to be driven to rotate.
As shown in figure 4, upper 3 annular of external pressure fixture includes：Upper fixture mounting base 31 and annular upper fixture pedestal 34,
Wherein：Upper fixture mounting base 31 is connected with the slip of column 12, and upper fixture pedestal 34 passes through the upper fixture floating bearing 33 with external tooth
It is connected with 31 lower part of upper fixture mounting base, upper fixture pedestal 34 is circumferential to be evenly equipped with several upper fixture clamp systems 35.Upper fixture is pacified
It fills seat 31 and is equipped with two upper fixture circumferential direction driving motors 32 of upper fixture, pass through gear and 33 outer tooth engagement of upper fixture floating bearing
Upper fixture pedestal 34 to be driven to rotate.Upper fixture mounting base 31 is fixed on vertical by the upper fixture angle steel 36 being set on peripheral surface
The linear guide 13 of column 12.
As shown in figure 5, fixture mounting base 45 and the lower clamp base 43 of annular under the annular, wherein：Lower fixture installation
Seat 45 is connected with the slip of column 12, and lower clamp base 43 passes through the lower fixture floating bearing 44 with external tooth and lower fixture mounting base 45
Upper axial is connected, and lower clamp base 43 is circumferential to be evenly equipped with several lower fixture clamping mechanisms 41.Lower fixture mounting base 45 is by setting
The lower fixture angle steel being placed on peripheral surface is fixed on the linear guide 13 of column 12.Lower fixture mounting base 45 is located at lower clamp base
43 central circular inner circumferentials are evenly distributed with several section positioning fixtures 42.Lower fixture mounting base 45 set there are two lower fixture circumferentially driving electricity
Machine 46, lower fixture circumferential direction driving motor 46 is by gear and lower 44 outer tooth engagement of fixture floating bearing to drive lower clamp base 43
Rotation.
As shown in fig. 6, the lower fixture clamping mechanism 41 includes：Arc-shaped clamping plate 411,412 and of clamping guide-rail
Leading screw 413, wherein：Clamping guide-rail 412 is set to lower clamp base 43, clamping plate 411 be slideably positioned in clamping guide-rail 412 and with
Leading screw 413 is connected.Leading screw 413 is fixed on lower clamp base 43 by lead screw shaft bearings 414, and with being set to clamping guide-rail 412
The leading screw driving motor 415 of lower part is connected.Jig plate radially sliding along lower clamp base 43 under the driving of leading screw 413,
Clamp Cylinder shape constructional element.The structure of upper fixture clamp system 35 is identical with lower fixture clamping mechanism 41.
As shown in fig. 7, the cylinder section positioning fixture 42 includes：Two positioning pressuring plates 423 and positioning cylinder 424, wherein：It is fixed
Cylinder 424 middle part in position is equipped with rectangular recess, and two positioning pressuring plates 423 are set in groove and are connected to clamp with positioning cylinder 422
Cylinder shape constructional element.Cylinder section positioning fixture 42 is first fixed on the positioning fixture pedestal 421 of annular, is then mounted as a whole on lower fixture
In the central circular of pedestal 43, the predetermined bit function to Cylinder shape constructional element is realized.
As shown in figure 8, the welding axis 51 of the agitating friction welding mechanism 5 is solid by the welding mechanism pedestal 52 of cylindricality
Fixed, welding axis 51 is secondary fixed by guide rail leading screw 413, to weld two Cylinder shape constructional elements.
When being welded to two Cylinder shape constructional elements, two cylindrical sections for needing assemble welding are respectively placed in upper external pressure first and are pressed from both sides
Between tool 3 and lower external pressure fixture 4.The process is completed under the auxiliary of vertical lifting platform 2 and cylinder section positioning fixture 42.Manually will
One connect cylinder section to be welded is fixed on vertical lifting platform 2, and cylinder section is positioned over cylinder section by the movement of vertical lifting platform 2 positions
On fixture 42, the connection of this tin section and vertical lifting platform 2 is manually disconnected.It then will be another to be welded with vertical lifting platform 2
Cylinder section is positioned to appropriate location, is aligned welding edge.The clamp system of upper external pressure fixture 3 and lower external pressure fixture 4 from outside be cylinder
Section provides positioning and pressing force, coordinates specific internal stay tool, realizes that welding workpiece clamps, and clamping force size and position location can be with
It adjusts.The welding axis 51 of agitating friction welding mechanism 5 starts to feed, meanwhile, upper 3 mounting base of external pressure fixture and lower external pressure fixture 4
Circumferential driving motor in mounting base, which synchronizes, drives fixture to the circumferential rotary motion of pedestal progress, realizes the girth welding of cylinder section.Weldering
After the completion of connecing, circumferential driving motor stop motion, welding axis 51 exits, and external pressure fixture unclamps clamping, and vertical lifting platform 2 is upward
Movement promotes welding tooling to after certain altitude, with the use of crane, realizes that workpiece is hung.
Compared with prior art, the present invention avoids tube-like thin-wall component because of itself weight using vertical clamping welding manner
Malformation caused by power reduces the error influence factor in assembling process, is evenly distributed with fixture using circumferential, all fixtures are equal
Can independent control, realize to the flexible clamping of thin-wall barrel and active school shape, ensure positioning accuracy, reduce Clamped Positioning Error,
Coordinate special inner support clamp, agitating friction weldering welding process requirement can be met, equip high degree of automation, station is concentrated, accounted for
Ground area is small, and feeding, clamping, welding, blanking process is highly controllable, it can be achieved that the multiple continuous assemble weldings of section, improve dress
With efficiency.
Claims (6)
1. a kind of thin-walled cylindrical member rotary vertical assembles device, which is characterized in that including：Rack, for promoting cylindrical member
Vertical lifting platform, agitating friction welding mechanism, external pressure fixture and the lower external pressure fixture of annular in annular, wherein：Vertical lift
Platform, upper external pressure fixture and lower external pressure fixture are vertically slideably positioned in rack successively, upper external pressure fixture and lower external pressure fixture folder
It holds cylindrical member and rotates cylindrical member, agitating friction welding mechanism is fixed on rack side；
The rack includes four columns being distributed in a ring, and column is equipped with the linear guide being vertically arranged and straight line tooth
Item；
The lower external pressure fixture includes：The lower fixture mounting base of annular and the lower clamp base of annular, wherein：Lower fixture mounting base with
Column, which slides, to be connected, and lower clamp base is connected by the lower fixture floating bearing with external tooth with lower fixture mounting base upper axial,
Lower clamp base is circumferentially evenly equipped with several clamp systems；
In the lower fixture mounting base several section positioning fixtures are evenly distributed with positioned at lower clamp base central circular inner circumferential；
The cylinder section positioning fixture includes：Two positioning pressuring plates and positioning cylinder, wherein：It positions recessed equipped with rectangle in the middle part of cylinder
Slot, two positioning pressuring plates are set in groove and clamp Cylinder shape constructional element with cylinders.
2. thin-walled cylindrical member rotary vertical according to claim 1 assembles device, it is characterized in that, upper external pressure folder
Tool includes：Annular upper fixture mounting base and annular upper fixture pedestal, wherein：Upper fixture mounting base is connected with column slip, upper folder
Tool pedestal is connected by the upper fixture floating bearing with external tooth with upper fixture mounting base lower part, if upper fixture pedestal is circumferentially evenly equipped with
Dry clamp system.
3. thin-walled cylindrical member rotary vertical according to claim 2 assembles device, it is characterized in that, upper fixture peace
It fills seat and is equipped with upper fixture circumferential direction driving motor, by tooth engagement outside gear and upper fixture floating bearing to drive upper fixture pedestal
Rotation.
4. thin-walled cylindrical member rotary vertical according to claim 1 assembles device, it is characterized in that, lower fixture peace
It fills seat and is equipped with lower fixture circumferential direction driving motor, lower fixture circumferential direction driving motor passes through tooth engagement outside gear and lower fixture floating bearing
To drive lower clamp base rotation.
5. thin-walled cylindrical member rotary vertical according to claim 1 or 2 assembles device, it is characterized in that, the clamping
Mechanism includes：Arc-shaped clamping plate, clamping guide-rail and leading screw, wherein：Clamping guide-rail is set in clamp base, and clamping plate is slided
It is dynamic to be set to clamping guide-rail and be connected with leading screw.
6. thin-walled cylindrical member rotary vertical according to claim 1 assembles device, it is characterized in that, the vertical lift
Platform includes：Ring-shaped platform pedestal and the workpiece connected unit for fixing Cylinder shape constructional element, wherein：Platform base is slided with column
It is connected, workpiece connected unit is rotatedly connected with platform base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149311.XA CN106624549B (en) | 2016-12-14 | 2016-12-14 | Thin-walled cylindrical member rotary vertical assembles device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611149311.XA CN106624549B (en) | 2016-12-14 | 2016-12-14 | Thin-walled cylindrical member rotary vertical assembles device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106624549A CN106624549A (en) | 2017-05-10 |
| CN106624549B true CN106624549B (en) | 2018-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611149311.XA Active CN106624549B (en) | 2016-12-14 | 2016-12-14 | Thin-walled cylindrical member rotary vertical assembles device |
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| CN107570860B (en) * | 2017-09-04 | 2019-07-12 | 首都航天机械公司 | One kind docking longitudinal seam welder for the vertical assembly of arc siding |
| CN107962418B (en) * | 2017-11-13 | 2019-07-12 | 首都航天机械公司 | A kind of tank cone bottom inner support type tire accurate lifting positioning device |
| CN111922727A (en) * | 2020-07-30 | 2020-11-13 | 北京九天行歌航天科技有限公司 | Vertical in-situ machining method for thin-wall revolving body |
| CN111975385B (en) * | 2020-08-06 | 2022-04-15 | 北京九天行歌航天科技有限公司 | Vertical in-situ processing system for barrel section |
| CN113910151A (en) * | 2021-10-11 | 2022-01-11 | 江苏集萃碳纤维及复合材料应用技术研究院有限公司 | Vertical type jig for assembling barrel parts |
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| US4223202A (en) * | 1978-12-14 | 1980-09-16 | United Technologies Corporation | Apparatus and method for welding boat subassemblies utilizing laser radiation |
| EP1147980B1 (en) * | 2000-04-20 | 2004-08-18 | FINCANTIERI CANTIERI NAVALI ITALIANI S.p.A. | Device and method for assembling reinforcements on a shell, particularly for a submarine |
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|---|---|
| CN106624549A (en) | 2017-05-10 |
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