CN106881577A - A kind of assembly tooling for engineering goods part - Google Patents
A kind of assembly tooling for engineering goods part Download PDFInfo
- Publication number
- CN106881577A CN106881577A CN201710216049.4A CN201710216049A CN106881577A CN 106881577 A CN106881577 A CN 106881577A CN 201710216049 A CN201710216049 A CN 201710216049A CN 106881577 A CN106881577 A CN 106881577A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
A kind of assembly tooling for engineering goods part, it is related to a kind of flexible assembly fixture, and in particular to a kind of assembly tooling for engineering goods part.The present invention is poor to the profile adaptability of product and part in order to solve traditional assembly tooling, and the excessively complicated problem of six-degree of freedom position, attitude-adjusting system.The present invention includes product supporting mechanism, position and attitude adjustment mechanism, cylindrical product supporting mechanism, part clamping device and thin-walled shape product supporting mechanism, supporting mechanism is arranged on position and attitude adjustment mechanism, cylindrical product supporting mechanism and thin-walled shape product supporting mechanism are connected with product supporting mechanism, and product clamping device is arranged on the side of position and attitude adjustment mechanism.The invention belongs to mechanical field.
Description
Technical field
The present invention relates to a kind of flexible assembly fixture, and in particular to a kind of assembly tooling for engineering goods part, category
In mechanical field.
Background technology
Flexible assembly technology is most important for the manufacture of high-accuracy equipment.For some multi items, a class of small batch
Product, because its resemblance is different, therefore it is required that assembly tooling is adapted to the resemblance of different product and part.Mesh
Before, the conventional profile of engineering goods part is including cylinder, cuboid and thin-wall construction etc..To improve the assembling effect of product
Rate and assembling quality, assembly tooling should have the ability for adapting to such profile.So assembly tooling just being capable of dynamic response meter
Draw inside and outside assembling demand and technological process, it is possible to restructuring and change assemble flow.
Meanwhile, to realize in assembling process the action of docking between part and product, assembly tooling should possess part and
The relative six-degree of freedom position of product, pose adjustment function.And traditional assembly tooling six-degree of freedom position, attitude-adjusting system
It is excessively complicated.Therefore the efficiency of assembling and assembling quality of flexible assembly are optimized, the simplification to position, form regulation system is also same
Sample is important.
The content of the invention
The present invention is poor to the profile adaptability of product and part to solve traditional assembly tooling, and six-degree of freedom position,
The excessively complicated problem of attitude-adjusting system, and then propose a kind of assembly tooling for engineering goods part.
The present invention is adopted the technical scheme that to solve the above problems：The present invention includes product supporting mechanism, position and attitude
Adjustment mechanism, cylindrical product supporting mechanism, part clamping device and thin-walled shape product supporting mechanism, supporting mechanism are installed in place
Put on attitude-adjusting system, cylindrical product supporting mechanism and thin-walled shape product supporting mechanism are connected with product supporting mechanism,
Product clamping device is arranged on the side of position and attitude adjustment mechanism.
The beneficial effects of the invention are as follows：The present invention can in the work of Product flexible manufacturing flexible adaptation it is several different
External Shape feature, improves the flexible adaptability of assembly system, and then improve the manufacture efficiency and assembling quality of product.Separately
Outward, traditional assembly tooling six-degree of freedom position, attitude-adjusting system are often more complicated.And flexible dress provided by the present invention
Six-degree of freedom position relative between part and product, pose adjustment are assigned to Liang Tao mechanisms with frock, machine is supported by product
Structure carries out transverse direction, height and position and pitching, yaw-position adjustment, so as to reduce the complexity of pose adjustment mechanism.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural representation of product supporting mechanism；
Fig. 3 is the structural representation of position and attitude adjustment mechanism；
Fig. 4 is the structural representation of cylindrical product supporting mechanism；
Fig. 5 is the structural representation of thin-walled shape product supporting mechanism；
Fig. 6 is the structural representation of part clamping device.
Specific embodiment
Specific embodiment one：Present embodiment is illustrated with reference to Fig. 1, one kind described in present embodiment is used for engineering goods zero
The assembly tooling of part includes product supporting mechanism 2, position and attitude adjustment mechanism 3, the clamping of cylindrical product supporting mechanism 4, part
Mechanism 6 and thin-walled shape product supporting mechanism 8, supporting mechanism 2 are arranged on position and attitude adjustment mechanism 3, cylindrical product support
Mechanism 4 and thin-walled shape product supporting mechanism 8 are connected with product supporting mechanism 2, and product clamping device 6 is arranged on position and attitude tune
The side of whole mechanism 3.
Product supporting mechanism 2 is used to realize that product is adjusted relative to the transverse direction of part 1, height and position and pitching, yaw-position
It is whole.
Specific embodiment two：Present embodiment is illustrated with reference to Fig. 2, one kind described in present embodiment is used for engineering goods zero
The product supporting mechanism 2 of the assembly tooling of part includes support flat board 2-1, sliding support block 2-2, ball screw and guide rail 2-3, consolidates
Determine support block 2-4 and handwheel 2-5, support flat board 2-1 is rectangle plate body, and ball-screw and guide rail 2-3 are arranged on support flat board
The upper surface of 2-1, and ball-screw and guide rail 2-3 center line along its length and support flat board 2-1 along its length in
Heart line is parallel, and fixed support block 2-4 is connected with one end of ball screw and guide rail 2-3, and sliding support block 2-2 is arranged on ball wire
On bar and guide rail 2-3, and sliding support block 2-2 can be along ball screw and guide rail 2-3 rectilinear movements, handwheel 2-5 and ball screw
And the screw mandrel end connection of guide rail 2-3.
Handwheel 2-5 drives ball screw and guide rail 2-3, and then before driving sliding support block 2-2 relative to support flat board 2-1
After move；Fixed support block 2-4 is connected with one end of ball screw and guide rail 2-3, with support flat board 2-1 geo-stationaries.
Other compositions and annexation are identical with specific embodiment one.
Specific embodiment three：Present embodiment is illustrated with reference to Fig. 3, one kind described in present embodiment is used for engineering goods zero
The position and attitude adjustment mechanism 3 of the assembly tooling of part include mobile swivel plate 3-1, fixed swivel plate 3-2, two sets of lifter plate 3-3,
Two groups of lift 3-4, two sets of lifting motor 3-5, two sets of horizontal motor 3-6, two sets of ball screw 3-7, two sets of sliding block 3-8 and platforms
Body 3-9, mobile swivel plate 3-1 and fixed swivel plate 3-2 are disposed side by side on the lower surface of support flat board 2-1, and fixed swivel plate
3-2 is fixedly connected with the lower surface of support flat board 2-1, and mobile swivel plate 3-1 is led with the lower surface of support flat board 2-1 by straight line
Rail is connected；The lower surface of mobile swivel plate 3-1 and fixed swivel plate 3-2 is respectively connected with a lifter plate 3-3 respectively, each lifting
The lower surface of plate 3-3 is respectively provided with one group of lift 3-4 respectively, and every group of lift 3-4 is connected with a lifting motor 3-5 respectively,
Every group of lift 3-4 is separately positioned on a sliding block 3-8, and each sliding block 3-8 connects with a ball of ball screw 3-7 respectively
Connect, and sliding block 3-8 can move linearly along ball screw 3-7, two ball screw 3-7 side by side parallel are arranged on the upper of stage body 3-9
On surface, the screw mandrel end of each ball screw 3-7 is connected with a horizontal motor 3-6 respectively.
The main body of position and attitude adjustment mechanism 3 is stage body 3-9.Stage body 3-9 is one piece of rectangular flat structure, with stage body 3-9
Long side direction be defined as the fore-and-aft direction of platform, short side direction is defined as left and right directions, and thickness direction is defined as short transverse.
The two ends of stage body 3-9 upper surfaces are respectively fixedly connected with two sets of ball screws and guide rail 3-7, and respectively by two sets of horizontal motors
3-6 drives.
Two sets of mobile sliding block 3-8 of two sets of ball screws and guide rail 3-7 connections and driving.
Every suit movement sliding block 3-8 installs two sets of lift 3-4 in upper surface, and by lifting motor 3- between lift
5 Driven by Coaxial, and common support lifter plate 3-3.So, two sets of lifting motor 3-5 can respectively drive two sets of lifter plate 3-3's
Raising and lowering.
Lifter plate 3-3 positioned at one end be connected by way of being hinged with mobile swivel plate 3-1, rotary shaft and plummet direction
It is parallel.Lifter plate 3-3 positioned at the other end be connected by way of being hinged with fixed swivel plate 3-2, rotary shaft and plummet direction
It is parallel.
Fixed swivel plate 3-2 upper surfaces are connected with the lower surface of support flat board 2-1, mobile swivel plate 3-1 upper surfaces and branch
The lower surface of support flat board 2-1 is connected by way of line slideway, and so mobile swivel plate 3-1 can be with relative support flat board 2-1
Move forward and backward, line slideway two ends are equipped with spacing in addition.
It is identical with specific embodiment one or two that other compositions connect annexation.
Specific embodiment four：Present embodiment is illustrated with reference to Fig. 4, one kind described in present embodiment is used for engineering goods zero
The cylindrical product supporting mechanism 4 of the assembly tooling of part includes that two clamping annulus 4-1, six sets of expansion link 4-2, six pressure are passed
Sensor 4-3 and six gripping block 4-4, two clamping annulus 4-1 are arranged side by side, along the circumferential direction equal in each clamping annulus 4-1
Three sets of expansion link 4-2 are laid with, the one end for often covering expansion link 4-2 is connected with the inwall of clamping annulus 4-1, often covers expansion link 4-2
The other end be connected with a gripping block 4-4 by a pressure sensor 4-3.
One end of expansion link 4-2 is connected through a screw thread mode and is connected with annulus inner side, so can make to stretch by rotation
Bar 4-2 is along annulus radial expansion.The other end of expansion link 4-2 is by the connected gripping block 4-4 of pressure sensor 4-3.
Amount to six sets of expansion link 4-2 on the inside of two sets of clamping annulus 4-1 by adjusting, six sets of gripping blocks can be made to hold circle tightly
Cylindrical products 5.By pressure monitor sensor clamping force can anti-locking mechanism it is excessive to the clamping force of product and destroy product.
The bottom of two sets of clamping annulus 4-1 is respectively fixedly connected with sliding support block 2-2 with fixed support block 2-4 tops, connects
Mode can be connected quickly using inserting mode.
Other compositions and annexation are identical with specific embodiment one.
Specific embodiment five：Present embodiment is illustrated with reference to Fig. 6, one kind described in present embodiment is used for engineering goods zero
The part clamping device 6 of the assembly tooling of part includes two movable block 6-1, two gripping block 6-2, spill spin block 6-3, pedestal 6-4
With expansion link 6-5, one end of expansion link 6-5 is connected with pedestal 6-4, and the other end of expansion link 6-5 is connected with spill spin block 6-3, and two
Individual movable block 6-1 is mounted side by side on spill spin block 6-3, and one gripping block 6-2 of each installation is distinguished on each movable block 6-1.
Part clamping device 6 is used to realize that part 1 is acted relative to the roll attitude adjustment and docking of product.
Part clamping device 6 includes two sets of movable block 6-1, two sets of gripping block 6-2, spill spin block 6-3, expansion link 6-5, pedestals
6-4。
Pedestal 6-4 is connected with ground, with stage body 3-9 geo-stationaries.
Pedestal is connected by way of linear bearing with expansion link 6-5, and expansion link 6-5 can be along the front and back of stage body 3-9
To free movement.
The free end of expansion link 6-5 is connected by way of floating bearing with spill spin block 6-3, and rotary shaft is stretched with expansion link
The contracting direction of motion is parallel.
Two sets of movable block 6-1 are connected respectively at spill spin block 6-3 by line slideway, the direction of motion of line slideway perpendicular to
The direction of motion of expansion link 6-5.
Two sets of free ends of movable block 6-1 are connected with gripping block 6-2, so can be by adjusting the position of movable block 6-1
To clamp part to be installed 1.Positions of the movable block 6-1 relative to spill spin block 6-3 can utilize the mode of jackscrew to be fixed.This
Sample, after two sets of gripping block 6-2 clamp part 1 to be installed, can lock the phase of part to be installed 1 by locking movable block 6-1
For the position of spill spin block 6-3.
Other compositions and annexation are identical with specific embodiment one.
Specific embodiment six：Present embodiment is illustrated with reference to Fig. 5, one kind described in present embodiment is used for engineering goods zero
The thin-walled shape product supporting mechanism 8 of the assembly tooling of part includes two gripper frame 8-1, two expansion link 8-2, two pressure sensings
Device 8-3 and two gripping blocks 8-4, two gripper frame 8-1 are horizontally disposed U-frame body, a lower surface of gripper frame 8-1
It is connected with fixed support block 2-4, the lower surface of another gripper frame 8-1 is connected with sliding support block 2-3, each gripper frame 8-1
Inside each respectively to be provided with an expansion link 8-2 vertically, the upper end of expansion link 8-2 is connected with the top in gripper frame 8-1, expansion link 8-
2 lower end is connected by pressure sensor 8-3 with gripping block 8-4.
One end of expansion link 8-2 is connected through a screw thread mode and is connected with gripper frame 8-1 inner sides, can so be made by rotation
Expansion link 8-2 is moved upwardly or downwardly.The other end of expansion link 8-2 is by the connected gripping block 8-4 of pressure sensor 8-3.
Amount to four sets of expansion link 8-2 on the inside of two sets of gripper frame 8-1 by adjusting, can hold tightly four sets of set gripping blocks thin
Wall shape product 7.By pressure monitor sensor clamping force can anti-locking mechanism it is excessive to the clamping force of product and destroy product.
Two sets of bottoms of gripper frame 8-1 are respectively fixedly connected with sliding support block 2-2 with fixed support block 2-4 tops, connection side
Formula can be connected quickly using inserting mode.
Other compositions and annexation are identical with specific embodiment one or two.
Operation principle
The course of work of the invention includes：Product clamping, part to be installed clamping, product space pose adjustment and part
Docked with product.The Butt Assembling of the part to be installed of product can be realized by this four courses of work.
Product is clamped：Operating personnel should select cylindrical product supporting mechanism 4 or thin-walled according to the profile of product to be installed
Shape product supporting mechanism 8, and it is connected with product supporting mechanism 2.Block 2-2 is along front and rear for shake handwheel 2-5 adjustment sliding supports
The position in direction, to adjust the distance between two sets of clamping annulus 4-1 or two sets of gripper frame 8-1, to adapt to the length of product.Then
Product is clamped by the expansion link 4-2 or expansion link 8-2 that adjust clamping device, should be according to the reading of pressure sensor in clamping process
Numerical control clamping force size, mode product is destroyed.
Part clamping to be installed：Profile according to part to be installed 1 adjusts two sets of positions of gripping block 6-2, clamps and waits to pacify
Dress part 1, then locks the position of gripping block 6-2, and then part to be installed 1 is fixed with spill spin block 6-3.
Product space pose adjustment：The position and attitude of product is carried out with the relative position of product according to part to be installed 1
Adjustment.Lateral attitude and the yaw-position of product supporting mechanism 2 are adjusted by driving two sets of horizontal motor 3-6 first, and then
Adjust lateral attitude and the yaw-position of product.Two sets of horizontal motor 3-6 are moved can adjust the lateral attitude of product, two in the same direction
Set horizontal motor 3-6 counter motions can adjust the yaw-position of product.Then by driving two sets of lifting motor 3-5 to adjust
The height and position of product supporting mechanism 2 and pitch attitude, and then adjust height and position and the pitch attitude of product.Two sets of lifting electricity
Machine 3-5 is moved in the same direction can adjust the height and position of product, and two sets of horizontal motor 3-6 counter motions can then adjust bowing for product
Face upward attitude.
Part is docked with product：After the completion of the pitching of product, yaw-position and transverse direction, height and position adjustment, rotation zero
The spill spin block 6-3 of part clamping device 6 adjusts the roll attitude of the opposing product of part to be installed 1.After adjustment is finished, stretch out flexible
Bar 6-5 completes docking for part and product to certain position.
Claims (6)
1. a kind of assembly tooling for engineering goods part, it is characterised in that：A kind of dress for engineering goods part
Include product supporting mechanism (2), position and attitude adjustment mechanism (3), cylindrical product supporting mechanism (4), part clamping with frock
Mechanism (6) and thin-walled shape product supporting mechanism (8), supporting mechanism (2) are cylindrical on position and attitude adjustment mechanism (3)
Product supporting mechanism (4) and thin-walled shape product supporting mechanism (8) are connected with product supporting mechanism (2), product clamping device (6)
It is arranged on the side of position and attitude adjustment mechanism (3).
2. a kind of assembly tooling for engineering goods part according to claim 1, it is characterised in that：Product supporting mechanism
(2) including support flat board (2-1), sliding support block (2-2), ball screw and guide rail (2-3), fixed support block (2-4) and hand
Wheel (2-5), support flat board (2-1) is rectangle plate body, and ball-screw and guide rail (2-3) are arranged on the upper of support flat board (2-1)
Surface, and center line of ball-screw and guide rail (2-3) center line along its length with support flat board (2-1) along its length
Parallel, fixed support block (2-4) is connected with one end of ball screw and guide rail (2-3), and sliding support block (2-2) is arranged on ball
On screw mandrel and guide rail (2-3), and sliding support block (2-2) can move linearly along ball screw and guide rail (2-3), handwheel (2-5)
Screw mandrel end with ball screw and guide rail (2-3) is connected.
3. a kind of assembly tooling for engineering goods part according to claim 1 or claim 2, it is characterised in that：Position and attitude
Adjustment mechanism (3) includes mobile swivel plate (3-1), fixed swivel plate (3-2), two sets of lifter plates (3-3), two groups of lift (3-
4), two sets of lifting motors (3-5), two sets of horizontal motors (3-6), two sets of ball screws (3-7), two sets of sliding blocks (3-8) and stage bodies
(3-9), mobile swivel plate (3-1) and fixed swivel plate (3-2) are disposed side by side on the lower surface of support flat board (2-1), and fixed
Swivel plate (3-2) is fixedly connected with the lower surface of support flat board (2-1), under mobile swivel plate (3-1) and support flat board (2-1)
Surface is connected by line slideway；The lower surface of mobile swivel plate (3-1) and fixed swivel plate (3-2) is respectively lifted with one respectively
Plate (3-3) is connected, and the lower surface of each lifter plate (3-3) is respectively provided with one group of lift (3-4), every group of lift (3-4) respectively
It is connected with a lifting motor (3-5) respectively, every group of lift (3-4) is separately positioned on a sliding block (3-8), each sliding block
The ball of (3-8) respectively with a ball screw (3-7) is connected, and sliding block (3-8) can move linearly along ball screw (3-7),
Two ball screw (3-7) side by side parallel are arranged on the upper surface of stage body (3-9), the screw mandrel end of each ball screw (3-7)
Portion is connected with a horizontal motor (3-6) respectively.
4. a kind of assembly tooling for engineering goods part according to claim 1, it is characterised in that：Cylindrical product branch
Support mechanism (4) includes two clampings annulus (4-1), six sets of expansion links (4-2), six pressure sensors (4-3) and six clampings
Block (4-4), two clampings annulus (4-1) are arranged side by side, and being along the circumferential direction laid with three sets in each clamping annulus (4-1) stretches
Contracting bar (4-2), one end for often covering expansion link (4-2) is connected with the inwall of clamping annulus (4-1), often covers the another of expansion link (4-2)
One end is connected by a pressure sensor (4-3) with a gripping block (4-4).
5. a kind of assembly tooling for engineering goods part according to claim 1, it is characterised in that：Part clamping device
(6) including two movable blocks (6-1), two gripping blocks (6-2), spill spin block (6-3), pedestal (6-4) and expansion links (6-5), stretch
One end of contracting bar (6-5) is connected with pedestal (6-4), and the other end of expansion link (6-5) is connected with spill spin block (6-3), two movements
Block (6-1) is mounted side by side on spill spin block (6-3), and one gripping block (6-2) of each installation is distinguished on each movable block (6-1).
6. a kind of assembly tooling for engineering goods part according to claim 1 or claim 2, it is characterised in that：Thin-walled shape is produced
Product supporting mechanism (8) includes two gripper frames (8-1), two expansion links (8-2), two pressure sensors (8-3) and two folders
Tight block (8-4), two gripper frames (8-1) are horizontally disposed U-frame bodies, the lower surface of gripper frame (8-1) and fixation
Support block (2-4) is connected, and the lower surface of another gripper frame (8-1) is connected with sliding support block (2-3), each gripper frame (8-
1) each respectively in be provided with an expansion link (8-2) vertically, the upper end of expansion link (8-2) is connected with the top in gripper frame (8-1),
The lower end of expansion link (8-2) is connected by pressure sensor (8-3) with gripping block (8-4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216049.4A CN106881577B (en) | 2017-04-01 | 2017-04-01 | A kind of flexible assembly fixture for engineering goods part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710216049.4A CN106881577B (en) | 2017-04-01 | 2017-04-01 | A kind of flexible assembly fixture for engineering goods part |
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| Publication Number | Publication Date |
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| CN106881577A true CN106881577A (en) | 2017-06-23 |
| CN106881577B CN106881577B (en) | 2019-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710216049.4A Active CN106881577B (en) | 2017-04-01 | 2017-04-01 | A kind of flexible assembly fixture for engineering goods part |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008390A (en) * | 2019-05-31 | 2020-12-01 | 北京航天新风机械设备有限责任公司 | Self-correcting assembly butt joint system for attitude of air-float ball bearing |
| CN112192557A (en) * | 2020-09-25 | 2021-01-08 | 哈尔滨工业大学 | Precise rope driving and positioning device based on synchronous rope winding and single motor driving of lead screw |
| CN112198344A (en) * | 2020-10-19 | 2021-01-08 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN113618354A (en) * | 2021-07-27 | 2021-11-09 | 中国工程物理研究院机械制造工艺研究所 | Weak-rigidity thin-wall arc assembling device and method |
| CN114932517A (en) * | 2022-05-11 | 2022-08-23 | 哈尔滨理工大学 | Six-degree-of-freedom posture adjusting platform for butt joint of missile barrels and posture adjusting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008390A (en) * | 2019-05-31 | 2020-12-01 | 北京航天新风机械设备有限责任公司 | Self-correcting assembly butt joint system for attitude of air-float ball bearing |
| CN112192557A (en) * | 2020-09-25 | 2021-01-08 | 哈尔滨工业大学 | Precise rope driving and positioning device based on synchronous rope winding and single motor driving of lead screw |
| CN112198344A (en) * | 2020-10-19 | 2021-01-08 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN112198344B (en) * | 2020-10-19 | 2021-11-19 | 华中科技大学 | Full-freedom-degree bearing-free motor test platform |
| CN113618354A (en) * | 2021-07-27 | 2021-11-09 | 中国工程物理研究院机械制造工艺研究所 | Weak-rigidity thin-wall arc assembling device and method |
| CN113618354B (en) * | 2021-07-27 | 2024-04-19 | 中国工程物理研究院机械制造工艺研究所 | Weak-rigidity thin-wall arc assembly device and method |
| CN114932517A (en) * | 2022-05-11 | 2022-08-23 | 哈尔滨理工大学 | Six-degree-of-freedom posture adjusting platform for butt joint of missile barrels and posture adjusting method |
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|---|---|
| CN106881577B (en) | 2019-08-02 |
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