CN205129177U - Stitch welding equipment main tapping waterproof type location detection mechanism under water rubs - Google Patents
Stitch welding equipment main tapping waterproof type location detection mechanism under water rubs Download PDFInfo
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Abstract
本实用新型提供一种水下摩擦叠焊设备主轴头防水型定位检测机构，机架上安装主轴头、环向齿条、纵向齿条、滑道、纵向行走液压马达和环向行走液压马达，环向行走液压马达输出端传动齿轮与横杠一端齿轮啮合，横杠伸出机架外侧两端设齿轮在机架环向齿条上运动而带动主轴头环向运动；纵向行走液压马达输出端传动齿轮与纵向齿条啮合运动带动主轴头纵向运动；其改进之处是，横杠上安装环向行走编码器，环向行走编码器调理电路与控制机构连接；纵向行走液压马达输出端连接传动齿轮与纵向行走磁编码器安装的传动齿轮啮合，纵向行走磁编码器调理电路与控制机构连接；检测液压驱动下主轴头环向及纵向移动位置和速度并定位，提高焊接质量，使用效果好。
The utility model provides a waterproof positioning and detection mechanism for a main shaft head of underwater friction stitch welding equipment. A main shaft head, a circumferential rack, a longitudinal rack, a slideway, a longitudinal traveling hydraulic motor and a circumferential traveling hydraulic motor are installed on the frame. The transmission gear at the output end of the hydraulic motor for circular travel meshes with the gear at one end of the horizontal bar, and the two ends of the horizontal bar protrude out of the frame, and the gears move on the circular rack of the frame to drive the circular movement of the spindle head; the output end of the hydraulic motor for longitudinal travel The meshing movement of the transmission gear and the longitudinal rack drives the longitudinal movement of the spindle head; the improvement is that a circular travel encoder is installed on the horizontal bar, and the conditioning circuit of the circular travel encoder is connected to the control mechanism; the output end of the longitudinal travel hydraulic motor is connected to the transmission The gear meshes with the transmission gear installed on the longitudinal travel magnetic encoder, and the longitudinal travel magnetic encoder conditioning circuit is connected with the control mechanism; the circumferential and longitudinal movement position and speed of the spindle head under the hydraulic drive are detected and positioned to improve the welding quality and the use effect is good.
Description
技术领域technical field
本实用新型涉及一种水下摩擦叠焊设备主轴头防水型定位检测机构。The utility model relates to a waterproof positioning detection mechanism for a main shaft head of underwater friction lap welding equipment.
背景技术Background technique
摩擦叠焊技术可用于水下修复管道的裂纹及缺陷，它是摩擦叠焊单元成型过程，即摩擦液柱成型过程基础上，将一系列塞棒塞入预钻孔中，通过搭接缝合得到完整的焊缝从而修补了裂纹。Friction stitch welding technology can be used to repair cracks and defects of pipelines underwater. It is a friction stitch welding unit forming process, that is, on the basis of the friction liquid column forming process, a series of stoppers are inserted into pre-drilled holes and obtained by lap seaming. A complete weld thus repairs the crack.
近年来，随着世界海洋资源开发力度的加大，摩擦叠焊引起了世界各国的重视。各国研究机构相继进行了相关的研究工作，取得了一定的成果。目前英国TWI、德国GKSS研究中心等科研机构在摩擦叠焊技术的应用基础研究方面处于世界领先水平，其中又以德国GKSS研究中心的工作更贴近实际工程应用。中国于2006年前后开始有论文发表，对摩擦叠焊技术进行介绍。In recent years, with the increasing development of the world's marine resources, friction stitch welding has attracted the attention of countries all over the world. Research institutions in various countries have carried out relevant research work one after another, and achieved certain results. At present, scientific research institutions such as British TWI and German GKSS Research Center are at the world's leading level in the application of basic research on friction stitch welding technology, and the work of German GKSS Research Center is closer to actual engineering applications. China began to publish papers around 2006, introducing friction stitch welding technology.
虽然国外各研究机构对摩擦叠焊设备研究做了大量的工作，但是多数只是局限于实验探索阶段，距离实际工程应用还有很长的路要走。国内虽然也进行了一定的探索研究，也还未能实现钢的无缺陷焊接，且局限于在空气介质中。水下摩擦叠焊对设备的各方面性能要求极为苛刻，主要原因就是必须满足水下环境条件下对设备性能、密封等方面的要求，比空气中摩擦叠焊设备制造的难度高出很多。对于摩擦叠焊主轴头的定位检测特别是适于水下环境条件下主轴头位置与速度检测装置的研究更是亟待解决的技术关键。Although foreign research institutions have done a lot of work on friction stitch welding equipment, most of them are limited to the experimental exploration stage, and there is still a long way to go before the actual engineering application. Although some exploration and research have been carried out in China, the defect-free welding of steel has not yet been realized, and it is limited to the air medium. Underwater friction stitch welding has extremely strict requirements on all aspects of equipment performance. The main reason is that it must meet the requirements for equipment performance and sealing under underwater environmental conditions, which is much more difficult than manufacturing friction stitch welding equipment in air. For the position detection of the friction stitch welding spindle head, especially the research of the detection device for the position and speed of the spindle head in the underwater environment is the key technology to be solved urgently.
实用新型内容Utility model content
本实用新型的主要目的在于克服现有技术存在的上述缺陷而提供一种水下摩擦叠焊设备主轴头防水型定位检测机构，利用磁编码器检测主轴头的环向与纵向移动及速度，能够实现对水下摩擦叠焊主轴头的精确定位，顺利完成焊接过程，保障焊接质量，使用效果理想。The main purpose of the utility model is to overcome the above-mentioned defects in the prior art and provide a waterproof positioning detection mechanism for the spindle head of underwater friction stitch welding equipment. The magnetic encoder is used to detect the circumferential and longitudinal movement and speed of the spindle head, which can Accurate positioning of the underwater friction stitch welding spindle head is realized, the welding process is successfully completed, the welding quality is guaranteed, and the use effect is ideal.
本实用新型的目的是由以下技术方案实现的。The purpose of this utility model is achieved by the following technical solutions.
本实用新型水下摩擦叠焊设备主轴头防水型定位检测机构，主要包括机架、移动机构、液压机构、主轴头以及控制机构；该移动机构包括滑道、环向齿条和纵向齿条；该液压机构包括纵向行走液压马达和环向行走液压马达，纵向行走液压马达和环向行走液压马达分别与控制机构连接；该机架包括上下两部分；下部机架外侧安装液压卡爪，该液压卡爪夹持在被焊工件上，下部机架顶端安装环向齿条；上部机架的横梁上安装主轴头，横梁两端安装在滑道上，环向行走液压马达安装在上部机架的外侧，该环向行走液压马达输出端设有传动齿轮，该传动齿轮与横杠一端设置的齿轮啮合；横杠两端通过轴承固定在位于横梁下部的上部机架上，其伸出机架外侧的两端分别设有一个相同的齿轮，该齿轮在位于下部机架顶端的环向齿条上运动而带动主轴头环向运动；纵向行走液压马达与主轴头并列安装在上部机架上，该纵向行走液压马达输出端连接传动齿轮，该传动齿轮与安装在位于横梁下方的上部机架上的纵向齿条啮合运动而带动主轴头纵向运动；其特征在于，所述横杠上安装一个环向行走编码器，该环向行走编码器的调理电路与控制机构连接；所述纵向行走液压马达输出端连接的传动齿轮与纵向行走磁编码器中心安装的传动齿轮啮合，该纵向行走磁编码器的调理电路与控制机构连接。The waterproof positioning and detection mechanism of the spindle head of the underwater friction stitch welding equipment of the utility model mainly includes a frame, a moving mechanism, a hydraulic mechanism, a spindle head and a control mechanism; the moving mechanism includes a slideway, a circumferential rack and a longitudinal rack; The hydraulic mechanism includes a longitudinal travel hydraulic motor and a circular travel hydraulic motor, which are respectively connected to the control mechanism; the frame consists of upper and lower parts; hydraulic claws are installed outside the lower frame, and the hydraulic The jaws are clamped on the workpiece to be welded, and the ring rack is installed on the top of the lower frame; the spindle head is installed on the beam of the upper frame, and the two ends of the beam are installed on the slideway, and the ring travel hydraulic motor is installed on the outside of the upper frame. , the output end of the circular walking hydraulic motor is provided with a transmission gear, which meshes with the gear provided at one end of the horizontal bar; the two ends of the horizontal bar are fixed on the upper frame at the lower part of the beam through bearings, and the There is an identical gear at both ends respectively, and the gear moves on the circumferential rack located at the top of the lower frame to drive the main shaft head to move in the circular direction; the longitudinal traveling hydraulic motor and the main shaft head are installed side by side on the upper frame, and the longitudinal The output end of the walking hydraulic motor is connected to the transmission gear, and the transmission gear engages with the longitudinal rack installed on the upper frame below the beam to drive the longitudinal movement of the spindle head; Encoder, the conditioning circuit of the circular travel encoder is connected to the control mechanism; the transmission gear connected to the output end of the longitudinal travel hydraulic motor meshes with the transmission gear installed in the center of the longitudinal travel magnetic encoder, and the conditioning of the longitudinal travel magnetic encoder The electric circuit is connected with the control mechanism.
前述的水下摩擦叠焊设备主轴头防水型定位检测机构，其中，所述传动齿轮为变速传动齿轮。In the aforementioned underwater friction stitch welding equipment spindle head waterproof positioning detection mechanism, wherein the transmission gear is a variable speed transmission gear.
前述的水下摩擦叠焊设备主轴头防水型定位检测机构，其中，所述纵向行走磁编码器和环向行走磁编码器为磁编码器，该磁编码器型号为KSL2210-10000型。The aforementioned underwater friction stitch welding equipment spindle head waterproof positioning detection mechanism, wherein the longitudinal traveling magnetic encoder and the circumferential traveling magnetic encoder are magnetic encoders, and the magnetic encoder model is KSL2210-10000.
本实用新型水下摩擦叠焊设备主轴头防水型定位检测机构的有益效果：环向行走磁编码器和纵向行走磁编码器，每旋转一周产生的脉冲信号不小于5000个，保证对移动距离的分辩率在0.1mm左右；根据纵向行走和横向行走两个磁编码器的脉冲数变化，控制系统可以计算判断主轴头移动的距离及速度，以对主轴头进行准确定位。The beneficial effects of the utility model of underwater friction stitch welding equipment spindle head waterproof positioning detection mechanism: the circular magnetic encoder and the longitudinal magnetic encoder can generate no less than 5000 pulse signals per rotation, ensuring the accuracy of the moving distance. The resolution is about 0.1mm; according to the pulse number changes of the two magnetic encoders for longitudinal travel and lateral travel, the control system can calculate and judge the moving distance and speed of the spindle head to accurately position the spindle head.
附图说明Description of drawings
图1为本实用新型水下摩擦叠焊设备主轴头防水型定位检测机构整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of the waterproof positioning and detection mechanism of the main shaft head of the underwater friction stitch welding equipment of the utility model.
图中主要标号说明：1机架、2主轴头、3纵向行走液压马达、4环向行走液压马达、5纵向行走磁编码器、6环向行走磁编码器、7横杠、8环向齿条、9液压卡爪、10横梁、11纵向齿条、12滑道、A待焊工件、A1工件待修复位置。Explanation of the main symbols in the figure: 1 frame, 2 main shaft head, 3 longitudinal traveling hydraulic motor, 4 circumferential traveling hydraulic motor, 5 longitudinal traveling magnetic encoder, 6 circumferential traveling magnetic encoder, 7 horizontal bar, 8 circumferential tooth Bar, 9 hydraulic jaws, 10 beam, 11 longitudinal rack, 12 slideway, A workpiece to be welded, A1 workpiece to be repaired.
具体实施方式detailed description
如图1所示，本实用新型水下摩擦叠焊设备主轴头防水型定位检测机构，主要包括机架1、移动机构、液压机构、主轴头2以及控制机构；该移动机构包括滑道12、环向齿条8和纵向齿条11；该液压机构包括纵向行走液压马达3和环向行走液压马达4，纵向行走液压马达3和环向行走液压马达4分别与控制机构连接；该机架1包括上下两部分；下部机架外侧安装液压卡爪9，该液压卡爪9夹持在被焊工件A上，下部机架顶端安装环向齿条8；上部机架的横梁上安装主轴头2，横梁10两端安装在滑道12上，环向行走液压马达4安装在上部机架外侧，该环向行走液压马达4输出端设有传动齿轮，该传动齿轮与横杠7一端设置的齿轮啮合；横杠两端通过轴承固定在位于横梁下部的上部机架上，其伸出机架外侧的两端分别设有一个相同的齿轮，该齿轮在位于下部机架顶端的环向齿条8上运动而带动主轴头2环向运动；纵向行走液压马达3与主轴头2并列安装在上部机架上，该纵向行走液压马达3输出端连接传动齿轮，该传动齿轮与安装在位于横梁下方的上部机架上的纵向齿条11啮合运动而带动主轴头2纵向运动；其改进之处在于，所述横杠7上安装一个环向行走编码器6，该环向行走编码器6的调理电路与控制机构连接；所述纵向行走液压马达3输出端连接的传动齿轮与纵向行走磁编码器5中心安装的传动齿轮啮合，该纵向行走磁编码器5的调理电路与控制机构连接。其中，所述传动齿轮为变速传动齿轮；所述纵向行走磁编码器5和环向行走磁编码器6为磁编码器，该磁编码器型号为KSL2210-10000型。As shown in Figure 1, the waterproof positioning and detection mechanism of the main shaft head of the underwater friction stitch welding equipment of the present utility model mainly includes a frame 1, a moving mechanism, a hydraulic mechanism, a main shaft head 2 and a control mechanism; the moving mechanism includes a slideway 12, Circular rack 8 and longitudinal rack 11; the hydraulic mechanism includes a longitudinal traveling hydraulic motor 3 and a circumferential traveling hydraulic motor 4, and the longitudinal traveling hydraulic motor 3 and the circumferential traveling hydraulic motor 4 are respectively connected to the control mechanism; the frame 1 It consists of upper and lower parts; the outer side of the lower frame is equipped with hydraulic claws 9, and the hydraulic claws 9 are clamped on the workpiece A to be welded, and the top of the lower frame is installed with a ring rack 8; the beam of the upper frame is installed with the spindle head 2 , the two ends of the crossbeam 10 are installed on the slideway 12, and the circular travel hydraulic motor 4 is installed on the outside of the upper frame. meshing; the two ends of the horizontal bar are fixed on the upper frame at the lower part of the beam through bearings, and the two ends protruding out of the frame are respectively provided with the same gear, which is located on the ring rack at the top of the lower frame 8 The upper movement drives the main shaft head 2 to move in a circular direction; the longitudinal travel hydraulic motor 3 and the main shaft head 2 are installed side by side on the upper frame, and the output end of the longitudinal travel hydraulic motor 3 is connected to the transmission gear, which is connected with the transmission gear installed under the beam. The longitudinal rack 11 on the upper frame engages and drives the spindle head 2 to move longitudinally; the improvement is that a circular travel encoder 6 is installed on the horizontal bar 7, and the conditioning circuit of the circular travel encoder 6 Connected with the control mechanism; the transmission gear connected to the output end of the longitudinal travel hydraulic motor 3 meshes with the transmission gear installed in the center of the longitudinal travel magnetic encoder 5, and the conditioning circuit of the longitudinal travel magnetic encoder 5 is connected to the control mechanism. Wherein, the transmission gear is a variable speed transmission gear; the longitudinal travel magnetic encoder 5 and the circumferential travel magnetic encoder 6 are magnetic encoders, and the magnetic encoder model is KSL2210-10000.
如图1所示，本实用新型水下摩擦叠焊主轴头防水型定位检测机构使用时，将环向行走磁编码器6安装在两端通过轴承固定在位于横梁下部的上部机架上的横杠7上；将纵向行走磁编码器5安装在位于横杠7上方的机架1上，并将其中心安装的变速齿轮与纵向行走液压马达3输出端的变速齿轮啮合；将下部机架通过液压卡爪9固定在待焊工件A上，使主轴头2位于工件待修复位置A1上方；该水下摩擦叠焊主轴头防水型定位检测机构工作时，环向行走液压马达4和纵向行走液压马达3的驱动齿轮分别在环向齿条8和纵向齿条11上面行走，带动主轴头2所在的上部机架进行环向和纵向移动；控制机构根据纵向行走磁编码器5和环向行走磁编码器6的脉冲数变化，及已知的齿轮传动比，控制系统可以计算判断主轴头2移动的距离及速度，对主轴头2进行定位，从而实现主轴头2在环向及纵向位移的实时精确控制。As shown in Figure 1, when the underwater friction stitch welding spindle head waterproof type positioning detection mechanism of the utility model is used, the circular traveling magnetic encoder 6 is installed on the horizontal beam fixed on the upper frame at the lower part of the beam through bearings at both ends. on the bar 7; the longitudinal travel magnetic encoder 5 is installed on the frame 1 above the horizontal bar 7, and the speed change gear installed in its center is meshed with the speed change gear at the output end of the longitudinal travel hydraulic motor 3; The claw 9 is fixed on the workpiece A to be welded, so that the spindle head 2 is located above the position A1 of the workpiece to be repaired; when the underwater friction stitch welding spindle head waterproof positioning detection mechanism is working, the circular traveling hydraulic motor 4 and the longitudinal traveling hydraulic motor The driving gears of 3 travel on the circumferential rack 8 and the longitudinal rack 11 respectively, and drive the upper frame where the spindle head 2 is located to move circumferentially and longitudinally; The pulse number change of the device 6, and the known gear transmission ratio, the control system can calculate and judge the moving distance and speed of the spindle head 2, and position the spindle head 2, so as to realize the real-time and accurate displacement of the spindle head 2 in the circumferential and longitudinal directions. control.
本实施例中未进行说明的内容为现有技术，故，不再进行赘述。The content not described in this embodiment is the prior art, so it will not be repeated here.
本实用新型水下摩擦叠焊主轴头防水型定位检测机构的工作原理：The working principle of the utility model underwater friction lap welding spindle head waterproof positioning detection mechanism:
1、设备主要组成。水下摩擦叠焊设备在水下的部分主要包括主轴头及其焊接实施机构、移动机构。主轴头及其焊接实施机构通过控制主轴头转速、压力等参数实施并完成摩擦叠焊单元成型过程，即一个摩擦塞焊过程。移动机构完成主轴头位置的移动及定位，再次进行一个摩擦叠焊单元成型过程，循环上述过程最终实现叠焊成型，该移动机构主要包括纵向移动机构和环向移动机构。上述叠焊过程中所需要的切割、打孔等塞焊之外的工艺措施均由其它方式完成，不属于本实用新型的内容。1. The main components of the equipment. The underwater part of the underwater friction stitch welding equipment mainly includes the spindle head and its welding implementing mechanism and moving mechanism. The spindle head and its welding implementing mechanism implement and complete the friction stitch welding unit forming process by controlling the spindle head speed, pressure and other parameters, that is, a friction plug welding process. The moving mechanism completes the movement and positioning of the position of the spindle head, and performs a friction stitch welding unit forming process again, and repeats the above process to finally realize the stitch welding forming. The moving mechanism mainly includes a longitudinal moving mechanism and a circumferential moving mechanism. Process measures other than plug welding such as cutting and punching required in the above-mentioned stitch welding process are all completed by other methods, which do not belong to the content of the present utility model.
2、主轴头移动定位检测机构。2. The detection mechanism for the movement and positioning of the spindle head.
(1)编码器的选择。根据移动机构的结构特点，采用磁编码器检测移动的位置及移动速度，这类编码器所利用的磁场信号无论在水介质还是空气介质或真空介质中传输，差别不大，受水质或介质影响很小(水中含较多磁性材料的情况除外)。工作于水下的磁编码器的调理电路也采用防水密封胶密封。(1) Encoder selection. According to the structural characteristics of the moving mechanism, a magnetic encoder is used to detect the moving position and moving speed. Whether the magnetic field signal used by this type of encoder is transmitted in water medium, air medium or vacuum medium, there is little difference, and it is affected by water quality or medium. Very small (except when the water contains more magnetic materials). The conditioning circuit of the magnetic encoder working underwater is also sealed with waterproof sealant.
(2)移动定位检测机构。主轴头所在的上部机架的纵向、环向运动都由液压马达驱动，液压驱动比电气驱动设备更适合在水环境条件下工作。环向行走液压马达和纵向行走液压马达的驱动齿轮分别在环向齿条和纵向齿条上面行走，带动主轴头所在的上部机架进行环向和纵向移动；控制机构根据液压马达齿轮与固定在机架上的齿条的传动比以及磁编码器每周脉冲数，可以大体确定每个脉冲行走的距离，再经实验校正确定精确值。计算出单个脉冲所对应的位移值，再将所得的各组单脉冲所对应的位移值做算术平均，确定采用的精确值。(2) Mobile positioning detection mechanism. The longitudinal and circular movements of the upper frame where the spindle head is located are all driven by hydraulic motors, and hydraulic drives are more suitable for working in water environment conditions than electric drive equipment. The driving gears of the hydraulic motor for circular travel and the hydraulic motor for longitudinal travel travel on the circular rack and the longitudinal rack respectively, driving the upper frame where the spindle head is located to move circularly and longitudinally; The transmission ratio of the rack on the frame and the number of pulses per week of the magnetic encoder can roughly determine the distance traveled by each pulse, and then the precise value can be determined through experimental correction. Calculate the displacement value corresponding to a single pulse, and then make an arithmetic average of the obtained displacement values corresponding to each group of single pulses to determine the precise value used.
环向和纵向两种编码器都选用磁编码器，每旋转一周产生的脉冲信号不小于5000个，保证对移动距离的分辩率在0.1mm左右。根据纵向和环向两个磁编码器的脉冲数变化，控制机构可以计算判断主轴头移动的距离及速度，对主轴头进行定位。其中，控制机构一方面与磁编码器连接，直接接收磁编码器产生的脉冲电信号，另一方面与控制机架运动的液压马达连接，从而控制液压马达的转速和主轴头的运动距离。Both the circumferential and longitudinal encoders use magnetic encoders, and the pulse signals generated per rotation are not less than 5000, ensuring that the resolution of the moving distance is about 0.1mm. According to the pulse number changes of the two magnetic encoders in the longitudinal direction and the circumferential direction, the control mechanism can calculate and judge the moving distance and speed of the spindle head, and position the spindle head. Among them, the control mechanism is connected with the magnetic encoder on the one hand, directly receives the pulse electric signal generated by the magnetic encoder, and on the other hand is connected with the hydraulic motor that controls the movement of the rack, so as to control the speed of the hydraulic motor and the movement distance of the spindle head.
以上所述，仅是本实用新型的较佳实施例而已，并非对本实用新型作任何形式上的限制，凡是依据本实用新型的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本实用新型技术方案的范围内。The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model, All still belong to within the scope of the technical solution of the utility model.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106077943A (en) * | 2016-06-24 | 2016-11-09 | 天津大学 | There is bigger working place crossbeam fixed pattern full hydraulic drive numerical control friction stitch welding machine |
| CN106112250A (en) * | 2016-06-24 | 2016-11-16 | 天津大学 | Positioning clamping device for full hydraulic drive numerical control friction stitch welding machine |
| CN106112249A (en) * | 2016-06-24 | 2016-11-16 | 天津大学 | There is bigger working place beam lifting type full hydraulic drive numerical control friction stitch welding machine |
| CN106141416A (en) * | 2016-06-24 | 2016-11-23 | 天津大学 | Lifting type stitch welding device for full hydraulic drive numerical control friction stitch welding machine |
| 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 |
| CN108637867A (en) * | 2018-05-10 | 2018-10-12 | 北京石油化工学院 | A kind of submarine pipeline grinding device |
| CN111774715A (en) * | 2020-06-28 | 2020-10-16 | 中海石油深海开发有限公司 | Welding installation system and submarine pipeline welding device and installation method |
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- 2015-11-25 CN CN201520949142.2U patent/CN205129177U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077943A (en) * | 2016-06-24 | 2016-11-09 | 天津大学 | There is bigger working place crossbeam fixed pattern full hydraulic drive numerical control friction stitch welding machine |
| CN106112250A (en) * | 2016-06-24 | 2016-11-16 | 天津大学 | Positioning clamping device for full hydraulic drive numerical control friction stitch welding machine |
| CN106112249A (en) * | 2016-06-24 | 2016-11-16 | 天津大学 | There is bigger working place beam lifting type full hydraulic drive numerical control friction stitch welding machine |
| CN106141416A (en) * | 2016-06-24 | 2016-11-23 | 天津大学 | Lifting type stitch welding device for full hydraulic drive numerical control friction stitch welding machine |
| 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 |
| CN108637867A (en) * | 2018-05-10 | 2018-10-12 | 北京石油化工学院 | A kind of submarine pipeline grinding device |
| CN111774715A (en) * | 2020-06-28 | 2020-10-16 | 中海石油深海开发有限公司 | Welding installation system and submarine pipeline welding device and installation method |
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