CN204075501U - A kind of overall circumferential weld friction stir welding connection device of large-scale tank - Google Patents
A kind of overall circumferential weld friction stir welding connection device of large-scale tank Download PDFInfo
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- CN204075501U CN204075501U CN201420367071.0U CN201420367071U CN204075501U CN 204075501 U CN204075501 U CN 204075501U CN 201420367071 U CN201420367071 U CN 201420367071U CN 204075501 U CN204075501 U CN 204075501U
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- 238000003466 welding Methods 0.000 title claims abstract description 80
- 238000003756 stirring Methods 0.000 title claims abstract description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 230000007704 transition Effects 0.000 claims description 5
- 238000003801 milling Methods 0.000 abstract description 11
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000032258 transport Effects 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
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Abstract
The utility model discloses a kind of overall circumferential weld friction stir welding connection device of large-scale tank, comprise the rotatable type headstock, rotatable type circumferential weld fixture, rotatable type tailstock, numerical control supporting carrier roller, lathe base, welding executing agency, the described rotatable type headstock is connected with numerical control supporting carrier roller, described rotatable type circumferential weld fixture is connected with welding executing agency, described rotatable type tailstock is connected to the right-hand member of lathe base, and described numerical control supporting carrier roller is connected with lathe base.The overall circumferential weld friction stir welding that the utility model accurately can realize large-scale tank connects, the functions such as cluster tool milling, welding, measurement, adopt multi-axis numerical control system to carry out cooperation control to each axis servomotor, meet the high accuracy of tank, high efficiency, high reliability welding demand.
Description
Technical field
The utility model relates to the advanced manufacture field of Aero-Space, particularly relates to a kind of overall circumferential weld friction stir welding connection device of large-scale tank
.
Background technology
The aircraft cabin bodies such as carrier rocket rocket body cabin section, airframe housing are made up of large thin-wall cylinder section component, and the connection between thin wall cylinder section component is welded by agitating friction and realized.Cylinder section component can bear larger welding pressure and frictional force when agitating friction welds, and because large thin-wall cylinder section component rigidity is poor, during welding, cylinder section component can produce larger distortion, has a strong impact on the welding quality of component.Therefore, agitating friction welding equipment should comprise the good bracing or strutting arrangement of rigidity, utilizes bracing or strutting arrangement to reduce the deflection of cylinder section component when bearing larger welding pressure and frictional force.When agitating friction welding welding, need to rigidly fix between extend neck section component, mixing needle penetrates the weld seam of workpiece to be welded, and workpiece rotates around own axes, just can complete the welding of annular weld bead.Because workpiece also needs to rotate around own axes while bracing or strutting arrangement positioning supports, therefore need consideration how preferably fittable slackening device and Workpiece rotating device, coordinate welder to complete agitating friction welding.Traditional large-scale cylinder section component circumferential weld agitating friction welder adopts bracing or strutting arrangement and Workpiece rotating device synchronous rotary.In actual processing, workpiece rotates a circle, and easily causes wire being wound, if workpiece reciprocating rotary within the scope of certain angle, welding efficiency can reduce, and welding quality also can decline.Therefore traditional large-scale cylinder section component circumferential weld agitating friction welder cannot realize the high-quality welding of high efficiency preferably
.
Utility model content
For the problems referred to above, the utility model aims to provide a kind of overall circumferential weld friction stir welding connection device of large-scale tank.
For realizing this technical purpose, scheme of the present utility model is: a kind of overall circumferential weld friction stir welding connection device of large-scale tank, comprises the rotatable type headstock, rotatable type circumferential weld fixture, rotatable type tailstock, numerical control supporting carrier roller, lathe base, welding executing agency, inner flexible bracing or strutting arrangement, rotary-type outside servo-positioning and chucking device, the detachable inner supporting device of lightweight, pedestal, saddle, ram, servo electro spindle, headstock pedestal, inner support axle, headstock pedestal is along the linear drive apparatus of axis of workpiece direction movement, workpiece link, inner support axle is along the linear drive apparatus of axis of workpiece direction movement, the device for revolving and driving that workpiece link rotates relative to headstock pedestal, anchor ear, workpiece to be welded, headstock transition connecting apparatus, tank bottom to be welded, the described rotatable type headstock is connected with numerical control supporting carrier roller, and described rotatable type circumferential weld fixture is connected with welding executing agency, and described rotatable type tailstock is connected to the right-hand member of lathe base, and described numerical control supporting carrier roller is connected with lathe base
.
As preferably, described rotatable type circumferential weld fixture is made up of rotary-type outside servo-positioning and chucking device, inner flexible bracing or strutting arrangement and the detachable inner supporting device of lightweight, rotatable type circumferential weld fixture clamps inside and outside workpiece weld seam to be welded, two end faces of workpiece to be welded except weld seam are connected with the rotatable type headstock, rotatable type tailstock respectively, rotatable type circumferential weld fixture, the rotatable type headstock, rotatable type tailstock synchronous rotary, drive workpiece to rotate.
As preferably, described welding executing agency is made up of pedestal, saddle, ram and servo electro spindle, servo electro spindle is arranged on ram end, manually can adjust deflection angle, for ensureing the forward leaning angle of mixing needle in stir friction welding process, ram can move along workpiece radial direction servo to be welded relative to ram, and saddle can move along axis of workpiece direction to be welded servo by opposite base.
As preferably, device for revolving and driving, inner support axle and inner support axle that the described rotatable type headstock is rotated relative to headstock pedestal along the linear drive apparatus of axis of workpiece direction movement, workpiece link, workpiece link by headstock pedestal, headstock pedestal are formed along the linear drive apparatus of axis of workpiece direction movement, passive swivel bearing case is arranged on mandrel end section, be connected with inner support with axle respectively, for the passive rotation of inner support phase center roller in welding process
.
The overall circumferential weld friction stir welding that the utility model can be used for large-scale tank connects, and welding quality is good, greatly promotes working (machining) efficiency.The to be welded workpiece different to opening character uses different inner supporting devices.Inner flexible bracing or strutting arrangement is made up of the adjustable weld seam packing ring of girth and 16 groups of supported mechanical hands be made up of high thrust cylinder driver, by 16 groups of manipulators, inner support is carried out to the to be welded workpiece good to opening character, eliminate workpiece and the gap of welding between base plate; The detachable inner supporting device of lightweight is spliced by truss structure, and truss structure carries out assembling adjustment before welding, then the workpiece to be welded being lifted into opening character difference carries out inner support, is disassembled into small size parts and transports from aperture after welding.Rotary-type outside servo-positioning and chucking device are positioned by 90 groups of servo reinforced gripping unit, are clamped, comprise the servo-drive cylinder possessing power/position feedback, according to the force feedback of servo-drive cylinder, determine the location of workpiece and the state that is installed, implement to carry out adjusting, compensating
.
Accompanying drawing explanation
Fig. 1 is the overall circumferential weld friction stir welding connection device overall structure schematic diagram of the large-scale tank of the utility model;
Fig. 2 is the schematic diagram of the overall circumferential weld friction stir welding connection device rotatable type circumferential weld fixture of the large-scale tank of the utility model;
Fig. 3 is the schematic diagram of the overall circumferential weld friction stir welding connection device welding executing agency of the large-scale tank of the utility model;
Fig. 4 is the schematic diagram of the rotatable type headstock of overall circumferential weld friction stir welding connection device of the large-scale tank of the utility model;
Fig. 5 is the schematic diagram of the overall circumferential weld friction stir welding connection device step one of the large-scale tank of the utility model;
Fig. 6 is the schematic diagram of the overall circumferential weld friction stir welding connection device step 2 of the large-scale tank of the utility model;
Fig. 7 is the schematic diagram of the overall circumferential weld friction stir welding connection device step 3 of the large-scale tank of the utility model;
Fig. 8 is the sectional view of the overall circumferential weld friction stir welding connection device step 4 of the large-scale tank of the utility model;
Fig. 9 is the schematic diagram of the overall circumferential weld friction stir welding connection device step 5 of the large-scale tank of the utility model;
Figure 10 is the schematic diagram of the overall circumferential weld friction stir welding connection device step 6 of the large-scale tank of the utility model
.
Detailed description of the invention
Below in conjunction with accompanying drawing basis and specific embodiment, the utility model is described in further details
.
As shown in Figure 1, the overall circumferential weld friction stir welding connection device of a kind of large-scale tank of the utility model embodiment, comprises the rotatable type headstock 1, rotatable type circumferential weld fixture 2, rotatable type tailstock 3, numerical control supporting carrier roller 4, lathe base 5, welding executing agency 6, inner flexible bracing or strutting arrangement 7, rotary-type outside servo-positioning and chucking device 8, the detachable inner supporting device 9 of lightweight, pedestal 10, saddle 11, ram 12, servo electro spindle 13, headstock pedestal 14, inner support axle 15, headstock pedestal is along the linear drive apparatus 16 of axis of workpiece direction movement, workpiece link 17, inner support axle is along the linear drive apparatus 18 of axis of workpiece direction movement, the device for revolving and driving 19 that workpiece link rotates relative to headstock pedestal, anchor ear 20, workpiece 21 to be welded, headstock transition connecting apparatus 22, tank bottom 23 to be welded, the described rotatable type headstock 1 is connected with numerical control supporting carrier roller 4, described rotatable type circumferential weld fixture 2 is connected with welding executing agency 6, and described rotatable type tailstock 3 is connected to the right-hand member of lathe base 5, and described numerical control supporting carrier roller 4 is connected with lathe base 5
.
As preferably, described rotatable type circumferential weld fixture 2 is made up of rotary-type outside servo-positioning and the detachable inner supporting device 9 of chucking device 8, inner flexible bracing or strutting arrangement 7 and lightweight, rotatable type circumferential weld fixture 2 clamps inside and outside workpiece 21 weld seam to be welded, two end faces of workpiece 21 to be welded except weld seam are connected with the rotatable type headstock 1, rotatable type tailstock 3 respectively, rotatable type circumferential weld fixture 2, the rotatable type headstock 1, rotatable type tailstock 3 synchronous rotary, drive workpiece to rotate.
As preferably, described welding executing agency 6 is made up of pedestal 10, saddle 11, ram 12 and servo electro spindle 13, servo electro spindle is arranged on ram end, manually can adjust deflection angle, for ensureing the forward leaning angle of mixing needle in stir friction welding process, ram 12 can move along workpiece 21 radial direction servo to be welded relative to ram 12, and saddle 11 can move along workpiece 21 axis direction servo to be welded by opposite base.
As preferably, device for revolving and driving 19, inner support axle 15 and inner support axle that the described rotatable type headstock 1 is rotated relative to headstock pedestal along the linear drive apparatus 16 of axis of workpiece direction movement, workpiece link 17, workpiece link by headstock pedestal 14, headstock pedestal are formed along the linear drive apparatus 18 of axis of workpiece direction movement, passive swivel bearing case is arranged on mandrel end section, be connected with inner support axle 15 with axle respectively, for the passive rotation of inner support phase center roller in welding process
.
The overall circumferential weld friction stir welding method of the large-scale tank of the utility model comprises the following steps: step one, anchor ear installed by one of them workpiece to be welded, workpiece to be welded is made to possess certain circularity and rigidity, by this work piece hoisting to be welded to above rotary-type outside servo-positioning and two numerical control supporting carrier rollers between chucking device and rotatable type tailstock, the location of workpiece to be welded is adjusted by numerical control supporting carrier roller, make the dead in line of axis of workpiece to be welded and rotary-type outside servo-positioning and chucking device, workpiece to be welded is connected with rotatable type tailstock near one end of rotatable type tailstock, rotatable type tailstock and numerical control supporting carrier roller synchronizing moving, workpiece to be welded is pushed to the face milling station of rotary-type outside servo-positioning and chucking device inside near the side of rotary-type outside servo-positioning and chucking device.Step 2, mobile axle, inner flexible bracing or strutting arrangement 7 is pushed to the side to be welded of inside workpiece to be welded, by workpiece stretching to be welded, outer workpiece servo to be welded is held tightly, is located by rotary-type outside servo-positioning and chucking device, and drive workpiece to rotate, the servo electro spindle of welding executing agency installs milling cutter, rotary-type outside servo-positioning and chucking device is coordinated to rotate the driving of workpiece, rotatable type tailstock synchronous rotary, the end face treating welder's part side to be welded carries out welding front milling, guarantees quality before the welding of weld seam.Step 3, another workpiece to be welded carried out to similar anchor ear is installed, lifting, pose adjust, be connected with the rotatable type headstock, push, tight for side stay to be welded for workpiece, rotary-type outside servo-positioning and chucking device are treated and welded outer workpiece and implement servo and hold tightly, locate and drive workpiece to rotate by inner flexible bracing or strutting arrangement, rotatable type headstock synchronous rotary, the end face treating welder's part side to be welded carries out welding front milling, guarantees quality before the welding of weld seam.Step 4, move the rotatable type headstock and rotatable type tailstock respectively, by two workpiece to be welded and end face to be welded move to welding post and fit, mobile axle, inner flexible bracing or strutting arrangement is pushed to position while welding, it is tight that butt welded seam implements inner rail brace, rotary-type outside servo-positioning and chucking device butt welded seam both sides workpiece are implemented outside and are gently held tightly, coarse positioning, move the rotatable type headstock and rotatable type tailstock respectively, the end face to be welded of workpiece to be welded is adjacent to, outside servo-positioning and chucking device are implemented to hold tightly, fine positioning, inner flexible bracing or strutting arrangement is by stretching inside weld seam.Step 5, rotary-type outside servo-positioning and chucking device 8 drive workpiece to rotate, the rotatable type headstock and rotatable type tailstock synchronous rotary respectively, the servo electro spindle of welding executing agency is installed mixing needle and adjusts welding top rake, the ram of mobile welding executing agency, the mixing needle rotated is driven to penetrate the weld seam of workpiece to be welded by by servo electro spindle, coordinate the rotation of workpiece, implement the circumferential weld agitating friction welding of large-scale tank.Step 6, finally complete tank bottom and weld with the circumferential weld agitating friction of cylinder section parts, form whole tank.First, cylinder section parts are pushed to the face milling station of rotary-type outside servo-positioning and chucking device inside, same to step 2, milling is carried out to the side end face to be welded of cylinder section parts.Then, in rotatable type headstock end, headstock transition connecting apparatus is installed, lift above tank bottom to be welded to numerical control carrying roller, tank bottom position to be welded is adjusted by numerical control supporting carrier roller, one end of tank bottom to be welded is connected with headstock transition connecting apparatus, make the dead in line of the axis of tank bottom to be welded and rotary-type outside servo-positioning and chucking device, the mobile rotatable type headstock, tank bottom to be welded is pushed to the face milling station of rotary-type outside servo-positioning and chucking device inside, outside for tank bottom to be welded servo is held tightly by rotary-type outside servo-positioning and chucking device, location, and drive tank bottom to be welded to rotate, the servo electro spindle of welding executing agency installs milling cutter, rotary-type outside servo-positioning and chucking device is coordinated to rotate the driving of tank bottom to be welded, rotatable type headstock synchronous rotary, front milling is welded to the end face of tank bottom side to be welded to be welded.And then, the detachable inner supporting device of assembling lightweight, and be arranged on cylinder section part innerside end, by the rotatable type headstock, rotatable type tailstock is respectively by tank bottom to be welded, cylinder section parts push to welding post and fit, the detachable inner supporting device of adjustment lightweight, by tight for inner for weld seam rail brace, rotary-type outside servo-positioning and chucking device butt welded seam both sides workpiece are implemented outside and are gently held tightly, coarse positioning, move the rotatable type headstock and rotatable type tailstock respectively, the end face to be welded of workpiece to be welded is adjacent to, outside servo-positioning and chucking device are implemented to hold tightly, fine positioning, the detachable inner supporting device of adjustment lightweight, by stretching inside weld seam.Finally, rotary-type outside servo-positioning and chucking device drive workpiece to rotate, the rotatable type headstock and rotatable type tailstock synchronous rotary respectively, the servo electro spindle of welding executing agency is installed mixing needle and adjusts welding top rake, the ram of mobile welding executing agency, drive the mixing needle rotated to penetrate the weld seam of workpiece to be welded by by servo electro spindle, coordinate the rotation of workpiece, the overall circumferential weld friction stir welding completing large-scale tank connects.The utility model considers the feature of the different workpiece to be welded of opening character, devises different inner supporting devices.The workpiece to be welded that inner flexible bracing or strutting arrangement is good to opening character carries out inner support; The to be welded workpiece of the detachable inner supporting device of lightweight to opening character difference carries out inner support, is disassembled into small size parts and transports from aperture after welding.Meanwhile, the functions such as cluster tool milling, welding, measurement, by multi-axis numerical control system cooperation control, meet the high accuracy of tank, high efficiency, high reliability welding demand
.
The above; be only preferred embodiment of the present utility model; not in order to limit the utility model, every above embodiment is done according to technical spirit of the present utility model any trickle amendment, equivalently replace and improve, within the protection domain that all should be included in technical solutions of the utility model.
Claims (4)
1.
an overall circumferential weld friction stir welding connection device for large-scale tank, comprisesthe rotatable type headstock, rotatable type circumferential weld fixture, rotatable type tailstock, numerical control supporting carrier roller, lathe base, welding executing agency, inner flexible bracing or strutting arrangement, rotary-type outside servo-positioning and chucking device, the detachable inner supporting device of lightweight, pedestal, saddle, ram, servo electro spindle, headstock pedestal, inner support axle, headstock pedestal is along the linear drive apparatus of axis of workpiece direction movement, workpiece link, inner support axle is along the linear drive apparatus of axis of workpiece direction movement, the device for revolving and driving that workpiece link rotates relative to headstock pedestal, anchor ear, workpiece to be welded, headstock transition connecting apparatus, tank bottom to be welded,
it is characterized in that:the described rotatable type headstock is connected with numerical control supporting carrier roller, and described rotatable type circumferential weld fixture is connected with welding executing agency, and described rotatable type tailstock is connected to the right-hand member of lathe base, and described numerical control supporting carrier roller is connected with lathe base
.
2.
the overall circumferential weld friction stir welding connection device of a kind of large-scale tank according to claim 1, is characterized in that:described rotatable type circumferential weld fixture is made up of rotary-type outside servo-positioning and chucking device, inner flexible bracing or strutting arrangement and the detachable inner supporting device of lightweight, rotatable type circumferential weld fixture clamps inside and outside workpiece weld seam to be welded, two end faces of workpiece to be welded except weld seam are connected with the rotatable type headstock, rotatable type tailstock respectively, rotatable type circumferential weld fixture, the rotatable type headstock, rotatable type tailstock synchronous rotary, drive workpiece to rotate
.
3.
the overall circumferential weld friction stir welding connection device of a kind of large-scale tank according to claim 1, is characterized in that:described welding executing agency is made up of pedestal, saddle, ram and servo electro spindle, servo electro spindle is arranged on ram end, manually can adjust deflection angle, for ensureing the forward leaning angle of mixing needle in stir friction welding process, ram can move along workpiece radial direction servo to be welded relative to ram, and saddle can move along axis of workpiece direction to be welded servo by opposite base
.
4.
the overall circumferential weld friction stir welding connection device of a kind of large-scale tank according to claim 1, is characterized in that:device for revolving and driving, inner support axle and inner support axle that the described rotatable type headstock is rotated relative to headstock pedestal along the linear drive apparatus of axis of workpiece direction movement, workpiece link, workpiece link by headstock pedestal, headstock pedestal are formed along the linear drive apparatus of axis of workpiece direction movement, passive swivel bearing case is arranged on mandrel end section, be connected with inner support with axle respectively, for the passive rotation of inner support phase center roller in welding process
.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420367071.0U CN204075501U (en) | 2014-07-04 | 2014-07-04 | A kind of overall circumferential weld friction stir welding connection device of large-scale tank |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420367071.0U CN204075501U (en) | 2014-07-04 | 2014-07-04 | A kind of overall circumferential weld friction stir welding connection device of large-scale tank |
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| CN204075501U true CN204075501U (en) | 2015-01-07 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708264A (en) * | 2015-02-06 | 2015-06-17 | 中国运载火箭技术研究院 | Circular seam internal supporting device of storage tank cylinder section |
| CN105014232A (en) * | 2015-08-15 | 2015-11-04 | 宁波金凤焊割机械制造有限公司 | Stirring friction welding device of fuel storage drum of aircraft |
| CN106239004A (en) * | 2016-08-30 | 2016-12-21 | 重庆德蚨乐机械制造有限公司 | A kind of friction-welding machine and radial friction welding clamp thereof |
| CN107470767A (en) * | 2017-07-26 | 2017-12-15 | 首都航天机械公司 | The docking circumferential weld friction stir welding method of the weak rigid hollow post component of large scale |
| CN108890116A (en) * | 2018-07-28 | 2018-11-27 | 天津大学 | Two-shipper process unit for the weldering of large-sized structural parts agitating friction |
| CN109676240A (en) * | 2019-02-12 | 2019-04-26 | 上海航天精密机械研究所 | Full-automatic cone casting circumferential weld stirring friction-welding technique device |
| CN112935523A (en) * | 2021-03-23 | 2021-06-11 | 蓝箭航天空间科技股份有限公司 | Friction stir welding device for welding storage tank of spacecraft |
| CN115922188A (en) * | 2022-11-14 | 2023-04-07 | 青岛寰宇乾堃航天特种设备有限公司 | Synchronous tension clamping device for circular seam welding |
-
2014
- 2014-07-04 CN CN201420367071.0U patent/CN204075501U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708264A (en) * | 2015-02-06 | 2015-06-17 | 中国运载火箭技术研究院 | Circular seam internal supporting device of storage tank cylinder section |
| CN105014232A (en) * | 2015-08-15 | 2015-11-04 | 宁波金凤焊割机械制造有限公司 | Stirring friction welding device of fuel storage drum of aircraft |
| CN105014232B (en) * | 2015-08-15 | 2017-01-18 | 宁波金凤焊割机械制造有限公司 | Stirring friction welding device of fuel storage drum of aircraft |
| CN106239004A (en) * | 2016-08-30 | 2016-12-21 | 重庆德蚨乐机械制造有限公司 | A kind of friction-welding machine and radial friction welding clamp thereof |
| CN106239004B (en) * | 2016-08-30 | 2018-03-30 | 重庆德蚨乐机械制造有限公司 | A kind of friction-welding machine and its radial friction welding clamp |
| CN107470767A (en) * | 2017-07-26 | 2017-12-15 | 首都航天机械公司 | The docking circumferential weld friction stir welding method of the weak rigid hollow post component of large scale |
| CN108890116A (en) * | 2018-07-28 | 2018-11-27 | 天津大学 | Two-shipper process unit for the weldering of large-sized structural parts agitating friction |
| CN109676240A (en) * | 2019-02-12 | 2019-04-26 | 上海航天精密机械研究所 | Full-automatic cone casting circumferential weld stirring friction-welding technique device |
| CN112935523A (en) * | 2021-03-23 | 2021-06-11 | 蓝箭航天空间科技股份有限公司 | Friction stir welding device for welding storage tank of spacecraft |
| CN112935523B (en) * | 2021-03-23 | 2022-05-13 | 蓝箭航天空间科技股份有限公司 | Friction stir welding device for welding storage tank of spacecraft |
| CN115922188A (en) * | 2022-11-14 | 2023-04-07 | 青岛寰宇乾堃航天特种设备有限公司 | Synchronous tension clamping device for circular seam welding |
| CN115922188B (en) * | 2022-11-14 | 2023-09-15 | 青岛寰宇乾堃航天特种设备有限公司 | Tension synchronous clamping device for circular seam welding |
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Address after: 201108 Guanghua Road, Minhang District, Minhang District, Shanghai, Sixth Co-patentee after: SHANGHAI JIAO TONG University Patentee after: SHANGHAI TOP NUMERICAL CONTROL TECHNOLOGY CO.,LTD. Address before: No. 16, building No. 60, Zhonghui Road, Minhang District, Shanghai Co-patentee before: Shanghai Jiao Tong University Patentee before: SHANGHAI TOP NUMERICAL CONTROL TECHNOLOGY CO.,LTD. |
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Granted publication date: 20150107 |