CN106001904A - Fixed type stitch welding device used for full hydraulic drive and numerical control friction stitch welding machine - Google Patents
Fixed type stitch welding device used for full hydraulic drive and numerical control friction stitch welding machine Download PDFInfo
- Publication number
- CN106001904A CN106001904A CN201610487775.5A CN201610487775A CN106001904A CN 106001904 A CN106001904 A CN 106001904A CN 201610487775 A CN201610487775 A CN 201610487775A CN 106001904 A CN106001904 A CN 106001904A
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- China
- Prior art keywords
- main shaft
- stitch welding
- installing rack
- shaft installing
- fixed
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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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1265—Non-butt welded joints, e.g. overlap-joints, T-joints or spot welds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
- B23K20/125—Rotary tool drive mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
-
- 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
- B23K2101/06—Tubes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a fixed type stitch welding device used for a full hydraulic drive and numerical control friction stitch welding machine. The fixed type stitch welding device used for the full hydraulic drive and numerical control friction stitch welding machine comprises a stitch welding supporting frame, a main shaft installing frame and a main shaft. The stitch welding supporting frame comprises two left-right symmetric side plates; the two side plates are fixedly connected by two crossbeams which are arranged symmetrically front and back; the two crossbeams and the two side plates form a framework structure. The main shaft installing frame is connected in the stitch welding supporting frame in a sliding way. The main shaft is installed in the main shaft installing frame; the main shaft comprises a main shaft double-acting hydraulic cylinder and a stitch welding shaft, wherein the main shaft double-acting hydraulic cylinder comprises a cylinder barrel which is fixed in the main shaft installing frame; a barrel-shaped piston is arranged in the cylinder barrel of the main shaft double-acting hydraulic cylinder and the stitch welding shaft is supported in the piston; the upper end of the stitch welding shaft is connected with a hydraumatic motor by a coupling and the lower end of the stitch welding shaft is fixedly connected with a stopper; the hydraumatic motor is fixed at the upper end of the piston. The device is large in main shaft travel and operation space.
Description
Technical field
The present invention relates to a kind of full hydraulic drive numerical control friction stitch welding machine, particularly relate to a kind of for full hydraulic drive numerical control
The fixed pattern stitch welding device of friction stitch welding machine.
Background technology
World today's seabed resources obtain the great attention of various countries, and the exploitation of seabed resources utilizes and grows in intensity.For seabed
The equipment reparation of resource exploitation is the most correspondingly taken seriously.
Patent documentation CN103071914A discloses a kind of reconfigurable numerical control friction stitch welding machine underwater performance dress
Put.This equipment mainly includes arc frame and stitch welding mechanism, is arranged on the support stitch welding mechanism edge respectively above arc frame
Arc frame axially and the traversing carriage that moves of hoop, be separately positioned on arc frame both sides for fixing by welded tube part
Clamp system.This equipment application time, use short stroke main shaft so that crossbeam is little with the space of pipe surface, crossbeam and
Working place between pipeline to be repaired is less, thus causes underwater performance inefficiency, it is impossible to meet wanting of quickly reparation
Ask.Furthermore, its stitch welding that is once installed is limited in scope；Transverse shifting is realized by fluid motor-driven rack-and-pinion, structure letter
Single, translational speed is slow, and positioning precision is poor.Therefore have much room for improvement.
Patent documentation CN104259653A and CN204075502U discloses one friction stitch welding machine under water.This equipment master
Including the two tight mechanisms of cover locating being symmetrical set, movable supporting frame, circumference travel mechanism, main shaft frame, axially
Travel mechanism, low speed shaft head and the several leading part of high-speed main spindle.Whole device is arranged near pipeline location to be repaired,
Complete main tapping by axial moving mechanism and circumference travel mechanism to position, low speed shaft head complete boring procedure, then
Stitch welding process is completed by high-speed spindle head.The control of double main shafts is cumbersome, and there is the problem of resetting, to device
Positioning accuracy request the highest.This is harsher for the equipment above-mentioned requirements of 60m under water, spindle nose in stitch welding process
Position is by bigger axial force, and the clamping positioning mechanism of device is weaker, probably cannot meet the clamping and positioning of stitch welding process
Requirement.
Patent documentation CN103350278A discloses a kind of Stress control agitating friction weldering spindle head device, mainly includes liquid
Pressure system, main shaft cylinder shell and main shaft piston mechanism；Main shaft cylinder shell is by coaxially connected procapsid and back casing structure
Become.This main shaft has that size is little, compact conformation, integrated level high, rotate type of drive flexibly and the letter of Stress control principle
Single, the feature such as accurately.But, this travel of spindle is shorter, causes the transverse moving mechanism of friction stitch welding equipment under water and treats
Between pipe-repairing, space is less, it is impossible to meet diver's requirement for underwater operation space.
In sum, being limited in that of above-mentioned equipment: working place is little, underwater performance inefficiency；Z-direction moves not
Enough the stitch welding that is once installed is limited in scope, clamp system bad adaptability flexibly, economical not；The problem that there is resetting,
And clamping positioning mechanism intensity is poor.
Summary of the invention
The present invention solves that technical problem present in known technology provides a kind of for full hydraulic drive numerical control friction stitch welding
The lifting type stitch welding device of machine, the travel of spindle of this device is relatively big, working place is bigger.
The present invention solves that technical problem is adopted the technical scheme that present in known technology: a kind of drive for all-hydraulic
The fixed pattern stitch welding device of dynamic numerical control friction stitch welding machine, including stitch welding support, main shaft installing rack and main shaft；Described stitch welding is propped up
Frame includes that symmetrical two side plates, two described side plates are fixed together by two crossbeams being front and back arranged symmetrically with,
The described side plate of two described crossbeams and two, left and right forms frame structure；Described main shaft installing rack is slidably connected at described stitch welding
In support；Described main shaft is arranged in main shaft installing rack, and described main shaft includes main shaft double acting hydraulic cylinder and stitch welding axle, institute
State the cylinder barrel that main shaft double acting hydraulic cylinder includes being fixed in described main shaft installing rack, at described main shaft double acting hydraulic cylinder
It is provided with trunk-piston in cylinder barrel, has described stitch welding axle, the upper end of described stitch welding axle to pass through shaft coupling in described piston inner support
Connecting has hydraulic motor, described hydraulic motor to be fixed on the upper end of described piston, and the lower end of described stitch welding axle is connected with stopper.
Described main shaft installing rack is provided with upper plate and lower plate, and described main shaft installing rack upper plate is positioned at the top of described crossbeam, described
Main shaft installing rack lower plate is positioned at the lower section of described crossbeam.
Short transverse at described main shaft is connected with antitorque guide frame, and described antitorque guide frame includes being symmetrical set
Two pieces of guide plates, the upper end of described guide plate is fixed in the upper end of described main shaft, and the lower end of described guide plate is fixed in institute
Stating the lower end of main shaft, described guide plate is slidably connected with limited block, and described limited block is fixed in described main shaft installing rack upper plate
With in main shaft installing rack lower plate.
It is provided with 4 gap adjustment structures between the upper surface and the lower surface of described main shaft installing rack upper plate of described crossbeam,
Each described gap adjustment structure includes the wedge I being symmetrically arranged, and is equipped with one on each described wedge I
The individual wedge II with its adaptation, described wedge II is slidably fitted on described crossbeam, at the big end of described wedge II
It is provided with perpendicular affixed pressing plate, between described pressing plate with the small end of corresponding described wedge I, is provided with shim pack,
Together with described pressing plate, described shim pack are with bolts with described wedge I.
Described main shaft installing rack is connected with retainer, and described retainer is fixed on X on the cylinder barrel of double acting mobile hydraulic cylinder,
Described X to layout and is arranged on described stitch welding support along X to the piston rod of double acting mobile hydraulic cylinder.
It is formed with X in the inner side of described crossbeam to the face of being slidably matched, is provided with and described X in the outside of described main shaft installing rack
To the slide block that the face that is slidably matched is adaptive.
The present invention has the advantage that with good effect:
1) working place is big, and working range is big, and motion flexibly, can complete complicated shape crack forming mechanism.
2) driving means is hydraulic component, and positioning precision is high, and fast response time, the impact being susceptible to underwater environment is water
Safe and reliable the carrying out of lower work provides powerful guarantee.
3) stroke of main shaft can meet the equipment moving range in Z-direction, it is ensured that equipment moves flexibly in Z-direction, can repair
Different depth, complex-shaped crackle on multiple tube.
4) X uses wedge shape guiding clearance adjustment structure to mobile, can adjust the crossbeam X gap to movement at any time so that
Equipment moving is more steady.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the stitch welding supporting structure schematic diagram of the present invention；
Fig. 3 is that the main shaft of the present invention, main shaft installing rack are arranged on the structural representation on stitch welding support；
Fig. 4 is that the antitorque guide frame of the present invention is arranged on the structural representation on main shaft installing rack；
Fig. 5 is the X structural representation to double acting hydraulic cylinder of the present invention；
Fig. 6 is the structural representation of the main shaft of the present invention；
Fig. 7 is the structural representation of the gap adjustment structure of the present invention.
In figure: 1, stitch welding support, 11, side plate, 12, crossbeam, 2, main shaft installing rack, 21, main shaft installing rack upper plate,
22, slide block, 23, main shaft installing rack lower plate, 3, X to double acting mobile hydraulic cylinder, 31, retainer, 32, X is to liquid
Cylinder pressure cylinder barrel, 33, piston rod；4, main shaft, 41, main shaft double acting hydraulic cylinder, 42, stitch welding axle, 43, cylinder barrel, 44,
Piston, 45, shaft coupling, 46, hydraulic motor, 47, stopper, 5, antitorque guide frame, 51, limited block, 52, lead
To plate；6, gap adjustment structure, 61, wedge I, 62, wedge II, 63, pressing plate, 64, shim pack.
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, hereby enumerate following example, and coordinate accompanying drawing
Describe in detail as follows:
Referring to Fig. 1～Fig. 7, a kind of fixed pattern stitch welding device for full hydraulic drive numerical control friction stitch welding machine, including folding
Weldering support 1, main shaft installing rack 2 and main shaft 4.
Described stitch welding support 1 includes symmetrical two side plates 11, and two described side plates 11 are by being front and back arranged symmetrically with
Two crossbeams 12 be fixed together, the described side plate 11 of two described crossbeams 12 and two, left and right forms frame structure；Institute
State main shaft installing rack 2 to be slidably connected in described stitch welding support 1.
Described main shaft 4 is arranged in main shaft installing rack 2.Described main shaft 4 includes main shaft double acting hydraulic cylinder 41 and stitch welding axle
42, described main shaft double acting hydraulic cylinder 41 includes the cylinder barrel 43 being fixed in main shaft installing rack 2, at described main shaft double cropping
In the cylinder barrel 43 of hydraulic cylinder 41, it is provided with trunk-piston 44, has described stitch welding axle 42, institute in described piston 44 inner support
The upper end stating stitch welding axle 42 has hydraulic motor 46, described hydraulic motor 46 to be fixed on described work by shaft coupling 45 connection
The upper end of plug 44, the lower end of described stitch welding axle 42 is connected with stopper 47.
By the structure using hydraulic motor 46 to be joined directly together with stitch welding axle 42, the main shaft 4 of the present invention is made to have longer
Stroke.The Z-direction stroke needed during pipeline rehabilitation can be realized by main shaft 4 its travel completely, so that whole
Equipment increases from the distance between the lower surface and pipe surface of crossbeam 12, thus increases the behaviour of diver's operation under water
Make space.
In the present embodiment, in order to increase the stability of main shaft installing rack 2, described main shaft installing rack 2 be provided with upper plate and under
Plate, described main shaft installing rack upper plate 21 is positioned at the top of described crossbeam, and described main shaft installing rack lower plate 23 is positioned at described horizontal stroke
The lower section of beam.
The present invention is in order to improve the torsional property of described stitch welding device, and the short transverse at described main shaft is connected with antitorque guiding
Structure 5, described antitorque guide frame 5 includes the two pieces of guide plates 52 being symmetrical set, the upper end of described guide plate 52
Being fixed in main shaft top, the lower end of described guide plate 52 is fixed in the lower end of described main shaft 4, described guide plate 52 and limit
Position block 51 is slidably connected, and described limited block 51 is fixed in main shaft installing rack upper plate 21 and main shaft installing rack lower plate 23.
In the present embodiment, in order to improve stitch welding device X to running precision, in upper surface and the institute of described crossbeam 12
State and between the lower surface of main shaft installing rack upper plate 21, be provided with 4 gap adjustment structures 6, each described gap adjustment structure 6
Including the wedge I 61 being symmetrically arranged, each described wedge I 61 is equipped with the wedge shape of and its adaptation
Block II 62.Described wedge II 62 is slidably fitted on described crossbeam 12, the big end at described wedge II 62 be provided with
Its most affixed pressing plate 63, is provided with shim pack between described pressing plate 63 with the small end of corresponding described wedge I 61
64, together with described pressing plate 63, described shim pack 64 are with bolts with described wedge I 61.
In the present embodiment, in order to the X making main shaft 4 is adjustable to position, described main shaft installing rack 2 is with retainer 31 even
Connecing, described retainer 31 is fixed on X on the cylinder barrel 32 of double acting mobile hydraulic cylinder 3, and described X moves to double acting
The piston rod 33 of hydraulic cylinder 3 and is arranged on described stitch welding support 1 along X to layout.
In the present embodiment, in order to reduce machined surface, reduce cost, be formed with X to cunning in the inner side of described crossbeam 12
Dynamic cooperation face, is provided with the slide block 22 adaptive to the face that is slidably matched with described X in the outside of described main shaft installing rack 2.
Finding and positioning under water after tube crackle, equipment is tentatively being fixed on the position of stitch welding easy to implement, with location
Stitch welding device is fixed on tube by clamp system, provides safeguard safely for stitch welding, in order to concrete according to crack
Position is adjusted the position of main shaft 4 by X to double acting mobile hydraulic cylinder.The degree of depth according to stitch welding and the length of stitch welding cutter,
By to main shaft double acting hydraulic cylinder 41 fuel feeding, making main shaft move along Z-direction, main shaft 4 is adjusted to suitable height,
Drill bit is installed on main shaft 4, holes, then go out consent by special tool sharpening, main tapping is raised, change plug
Rod, completes stitch welding under main tapping drives；Change emery wheel, cut away remaining stopper, then change milling cutter, mill stitch welding and stay
Overlap, so far complete the stitch welding of first plug welding unit；Further according to the trend of crackle, make suitable pose adjustment,
Carrying out the stitch welding of next plug welding unit, final a series of stitch welding unit mutually overlap and form complete weld seam.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned
Detailed description of the invention, above-mentioned detailed description of the invention is only schematically, is not restrictive, this area general
Logical technical staff is under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection,
Can be to make a lot of form, within these belong to protection scope of the present invention.
Claims (6)
1. the fixed pattern stitch welding device for full hydraulic drive numerical control friction stitch welding machine, it is characterised in that include stitch welding
Support, main shaft installing rack and main shaft；
Described stitch welding support includes symmetrical two side plates, and two described side plates are by two horizontal strokes being front and back arranged symmetrically with
Beam is fixed together, and the described side plate of two described crossbeams and two, left and right forms frame structure；Described main shaft installing rack slides
It is connected in described stitch welding support；
Described main shaft is arranged in main shaft installing rack, and described main shaft includes main shaft double acting hydraulic cylinder and stitch welding axle, described master
Axle double acting hydraulic cylinder includes the cylinder barrel being fixed in described main shaft installing rack, at the cylinder barrel of described main shaft double acting hydraulic cylinder
Inside it is provided with trunk-piston, has described stitch welding axle, the upper end of described stitch welding axle to be connected by shaft coupling in described piston inner support
Having hydraulic motor, described hydraulic motor to be fixed on the upper end of described piston, the lower end of described stitch welding axle is connected with stopper.
Fixed pattern stitch welding device for full hydraulic drive numerical control friction stitch welding machine the most according to claim 1, it is special
Levying and be, described main shaft installing rack is provided with upper plate and lower plate, and described main shaft installing rack upper plate is positioned at the top of described crossbeam,
Described main shaft installing rack lower plate is positioned at the lower section of described crossbeam.
Fixed pattern stitch welding device for full hydraulic drive numerical control friction stitch welding machine the most according to claim 2, it is special
Levying and be, the short transverse at described main shaft is connected with antitorque guide frame, and described antitorque guide frame includes symmetrical
The two pieces of guide plates arranged, the upper end of described guide plate is fixed in the upper end of described main shaft, and the lower end of described guide plate is affixed
In the lower end of described main shaft, described guide plate is slidably connected with limited block, and described limited block is fixed in described main shaft installing rack
On upper plate and main shaft installing rack lower plate.
Fixed pattern stitch welding device for full hydraulic drive numerical control friction stitch welding machine the most according to claim 2, it is special
Levy and be, between the upper surface and the lower surface of described main shaft installing rack upper plate of described crossbeam, be provided with 4 gap adjustment knots
Structure, each described gap adjustment structure includes the wedge I being symmetrically arranged, and is all provided with on each described wedge I
The wedge II of one and its adaptation, described wedge II is had to be slidably fitted on described crossbeam, at described wedge II
Big end is provided with perpendicular affixed pressing plate, is provided with pad between described pressing plate with the small end of corresponding described wedge I
Group, together with described pressing plate, described shim pack are with bolts with described wedge I.
Fixed pattern stitch welding device for full hydraulic drive numerical control friction stitch welding machine the most according to claim 1, it is special
Levying and be, described main shaft installing rack is connected with retainer, and described retainer is fixed on the X cylinder to double acting mobile hydraulic cylinder
On cylinder, described X to layout and is arranged on described stitch welding support along X to the piston rod of double acting mobile hydraulic cylinder.
Fixed pattern stitch welding device for full hydraulic drive numerical control friction stitch welding machine the most according to claim 1, it is special
Levy and be, be formed with X in the inner side of described crossbeam to the face of being slidably matched, be provided with and institute in the outside of described main shaft installing rack
State the X slide block adaptive to the face that is slidably matched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610487775.5A CN106001904A (en) | 2016-06-24 | 2016-06-24 | Fixed type stitch welding device used for full hydraulic drive and numerical control friction stitch welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610487775.5A CN106001904A (en) | 2016-06-24 | 2016-06-24 | Fixed type stitch welding device used for full hydraulic drive and numerical control friction stitch welding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106001904A true CN106001904A (en) | 2016-10-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610487775.5A Pending CN106001904A (en) | 2016-06-24 | 2016-06-24 | Fixed type stitch welding device used for full hydraulic drive and numerical control friction stitch welding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106001904A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312293A (en) * | 2016-10-27 | 2017-01-11 | 中国海洋石油总公司 | Full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of underwater tubular structure |
| CN106378528A (en) * | 2016-11-25 | 2017-02-08 | 中国海洋石油总公司 | Fully hydraulically driven positioning mechanism with adjustable operation space and used for friction stitch welding machine |
| CN109986195A (en) * | 2019-04-03 | 2019-07-09 | 天津大学 | Friction stir welding spindle head mechanism for parallel robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312293A (en) * | 2016-10-27 | 2017-01-11 | 中国海洋石油总公司 | Full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of underwater tubular structure |
| CN106378528A (en) * | 2016-11-25 | 2017-02-08 | 中国海洋石油总公司 | Fully hydraulically driven positioning mechanism with adjustable operation space and used for friction stitch welding machine |
| CN109986195A (en) * | 2019-04-03 | 2019-07-09 | 天津大学 | Friction stir welding spindle head mechanism for parallel robot |
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Application publication date: 20161012 |
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