A platform for the precise assembly of hemispherical underwater vehicles

Abstract

A platform for the precise assembly of a hemispherical underwater vehicle belongs to the field of pressure hulls for underwater vehicles. An upper template moves linearly up and down along a guide post mounted on a lower template. A split plate of the upper template is positioned between the upper template and a spherical clamping mold. Connecting screws and connecting sleeves pass through the hemispherical end cap and the spherical clamping mold, clamping the hemispherical end cap with inner and outer nuts. The upper template pressure plate presses the spherical clamping mold, connecting the hemispherical end cap and the upper template as a single unit. When the hemispherical end cap is aligned with the lower template, the end cap positioning block mates with the center hole of the lower template. The entire assembly is then hoisted above the end cap positioning block, aligning the hemispherical end cap with it. When bonding the hemispherical end cap to the adhesive flange, the adhesive flange positioning block is positioned inside the center hole of the lower template, mates with the center hole, and the adhesive-coated adhesive flange is placed on the adhesive flange positioning block, with the inner side of the adhesive flange mates with the positioning block. This invention is used for the precise assembly of a hemispherical underwater vehicle.

Description

Technical Field

[0001] This invention belongs to the field of pressure hulls for submersibles, and specifically relates to a platform for the precise assembly of hemispherical underwater vehicles. Background Technology

[0002] Current underwater unmanned submersible structures typically consist of a central cylindrical hull and two hemispherical end caps. Considering watertightness and safety, the connection between the central cylindrical hull and the two hemispherical end caps uses mechanical locking with O-ring seals. Furthermore, openings are made in the hemispherical end caps to ensure watertight penetration of the hull. Currently, commonly used hemispherical end caps are typically machined from a single piece of metal materials such as titanium alloy or aluminum alloy. These materials offer high safety and mature manufacturing processes, but their high density makes them susceptible to seawater corrosion, affecting the overall performance of the submersible. Non-metallic materials such as composite materials, ceramics, and glass, due to their generally lightweight, high strength, and corrosion resistance, have shown great potential in the development of pressure hulls for deep-sea and full-ocean-depth submersibles.

[0003] In recent years, with advancements in manufacturing and processing technologies, it has become possible to produce hemispherical heads using low-density, high-strength non-metallic materials such as glass, ceramics, or composite materials. However, unlike the aforementioned hemispherical heads made of metallic materials, these heads cannot be manufactured in one piece to create holes / grooves for connection with the intermediate cylindrical shell section. Therefore, a separate metal bonding flange is required to bond the head to the intermediate cylindrical shell section to meet the requirements for subsequent assembly and ensure structural safety. However, the adhesive layer thickness is difficult to guarantee. Chinese invention patent application CN114012667A, published on February 8, 2022, discloses "A platform for precise assembly of cylindrical shells." Although its clamping device can achieve precise adhesive layer thickness between the cylindrical shell and the bonding ring, it cannot perform functions such as centering and clamping of the hemispherical head. Therefore, controlling the adhesive layer thickness and centering between the hemispherical head and the bonding flange during bonding remains challenging. In conclusion, it is necessary to design a platform for the precise assembly of hemispherical heads. Summary of the Invention

[0004] The purpose of this invention is to overcome the difficulties in controlling the thickness of the adhesive layer and the alignment of the hemispherical head and the adhesive flange when bonding them together. Based on the characteristics of the hemispherical head, a platform for the precise assembly of the pressure hull of a hemispherical underwater vehicle is proposed.

[0005] This invention achieves precise alignment of the upper and lower templates by the linear movement of the upper template along the guide post mounted on the lower template. When assembling the hemispherical head with the upper template, the hemispherical head is first placed on the head bracket, the upper template is positioned appropriately, and the upper template's split plate is placed between the upper template and the spherical clamping mold. Connecting screws and connecting sleeves pass through the central through holes of the hemispherical head and the spherical clamping mold, and the head is clamped by the inner and outer nuts. The upper template pressure plate presses against the spherical clamping mold, thus connecting the hemispherical head and the upper template into a single unit. When aligning the hemispherical head with the lower template, after the head positioning block aligns with the central hole of the lower template, the entire assembly is hoisted above the head positioning block, aligning the hemispherical head with the head positioning block, thereby achieving alignment between the hemispherical head and the lower template. When bonding the hemispherical head to the adhesive flange, the adhesive flange positioning block is set inside the center hole of the lower template. The adhesive flange positioning block mates with the center hole of the lower template. The adhesive-coated adhesive flange is placed on the adhesive flange positioning block, and the inner side of the adhesive flange mates with the adhesive flange positioning block. The upper template is then lowered to achieve bonding between the hemispherical head and the adhesive flange.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A platform for the precise assembly of a hemispherical underwater vehicle includes a worktable, an upper template assembly, a lower template assembly, a ball bearing guide sleeve and guide post mechanism, a head fastening mechanism, and an adhesive positioning mechanism. The upper template assembly includes an upper template, an upper template split plate, a spherical clamping mold, and multiple clamping mold plates. The lower template assembly includes a lower template, a lower template base, a positioning block base, a head positioning block, and multiple lower template pressure plates. The ball bearing guide sleeve and guide post mechanism includes guide posts and ball bearing guide sleeves. The adhesive positioning mechanism includes an adhesive flange and an adhesive flange positioning block.

[0008] The lower template sits on the lower template base and the two are connected as a whole. The lower template and the lower template base are placed on the workbench. Multiple lower template pressure plates are placed on both sides of the upper surface of the lower template. Bolt assemblies pass through the lower template pressure plates and are pressed against the workbench, fixing the lower template base and the lower template as a whole on the workbench. The positioning block base is placed on the workbench, and the end cap positioning block or adhesive flange positioning block is placed on the positioning block base and matched and set in the center hole of the lower template. The upper end of the end cap positioning block and the adhesive flange positioning block are provided with a boss. The adhesive flange is matched and fitted on the outside of the boss of the adhesive flange positioning block. The upper surface of the adhesive flange is provided with an annular glue groove. Four guide pillars are evenly distributed along the circumference of the lower template and the lower ends are fixed to the lower template. The upper template is set directly above the lower template. The upper template has four upper through holes evenly distributed along the circumference. The upper ends of the guide pillars pass through the upper through holes. The ball bearing guide sleeve is fixedly installed in the upper through hole and fitted on the outside of the guide post. The balls of the ball bearing guide sleeve roll up and down along the guide post, thereby realizing the vertical linear movement of the upper template relative to the lower template. The upper template split plate is composed of two semi-circular annular plates aligned at both ends. The upper template split plate is fitted inside the upper template and the two are fixedly connected. The spherical clamping mold is installed inside the upper template split plate and is clamped and fixed by the upper template split plate. The hemispherical head is matched and set in the lower mold cavity of the spherical clamping mold. The spherical clamping mold and the middle of the hemispherical head are detachably fixedly connected by the head fastening mechanism. The lower end of the hemispherical head is matched and fitted on the outside of the boss of the head positioning block, or the lower end of the hemispherical head is matched and fitted on the outside of the boss of the bonding flange positioning block and placed in the annular glue groove. Multiple clamping mold plates are placed on the upper surface of the spherical clamping mold, and the clamping mold plates are connected to the upper template by bolts.

[0009] Furthermore, the upper template assembly also includes a head bracket; the head bracket is located directly below the upper template and is fixedly connected to the upper template by four T-bolts.

[0010] Furthermore, the upper surface of the spherical clamping mold is provided with four lifting holes evenly distributed along the circumference, and the four lifting lugs are fixedly connected to the four lifting holes.

[0011] Furthermore, the head fastening mechanism includes a connecting screw, an outer nut on the head, a connecting sleeve, a ball washer, and an inner nut on the head;

[0012] The spherical clamping mold has a central through hole coaxial with the central through hole of the hemispherical head. The connecting sleeve is fitted into the central through hole of the spherical clamping mold and the hemispherical head. The connecting screw is inserted into the connecting sleeve. The lower end of the connecting screw is equipped with a spherical washer and an inner nut of the head. The inner nut of the head is threadedly connected to the connecting screw to clamp the inner side of the hemispherical head. The upper end of the connecting screw is tightened with an outer nut of the head.

[0013] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention proposes a platform for the precise assembly of hemispherical underwater vehicles. A ball bearing guide sleeve and guide post mechanism guides the hemispherical head to fall, achieving assembly with the adhesive flange. The advantages of this invention are: ① This invention makes the hemispherical head assembly process more standardized, reduces the error rate during manual operation, ensures the designed adhesive layer thickness, and achieves precise centering of the hemispherical head. ② Dividing the assembly process into several parts reduces the assembly difficulty and greatly improves the operability of assembling the hemispherical head. Attached Figure Description

[0014] Figure 1 This is the front view showing the hemispherical head aligned with the lower template;

[0015] Figure 2 yes Figure 1 A magnified view of part A;

[0016] Figure 3 This is a front view of the hemispherical head bonded to the adhesive flange;

[0017] Figure 4 This is the main sectional view of the spherical clamping mold;

[0018] Figure 5 It is an isometric view of the spherical clamping mold;

[0019] Figure 6 This is an isometric view of the upper template split disk;

[0020] Figure 7 It is the isometric view of the upper template;

[0021] Figure 8 This is the front view of the bracket rod;

[0022] Figure 9 yes Figure 8 The left view;

[0023] Figure 10 It is an isometric drawing of the head bracket;

[0024] Figure 11 This is the front view of the T-type connecting bolt;

[0025] Figure 12 yes Figure 11 The left view;

[0026] Figure 13 This is an isometric view of the hoisted template assembly;

[0027] Figure 14 This is a main sectional view of the assembly of the upper template, the upper template split plate, the spherical clamping mold, and the clamping mold pressure plate;

[0028] Figure 15 yes Figure 14 Top view;

[0029] Figure 16 It is an isometric drawing of the assembly of the upper template, the upper template split plate, the spherical clamping mold and the clamping mold pressure plate;

[0030] Figure 17 This is the isometric drawing of the template below;

[0031] Figure 18 It is an isometric drawing of the head positioning block or the adhesive flange positioning block;

[0032] Figure 19 It is an isometric view of the adhesive flange;

[0033] Figure 20 This is the main view of the assembly of the workbench, lower template, lower template base, end cap positioning block, positioning block base, guide column and lower template pressure plate;

[0034] Figure 21 yes Figure 20 Top view;

[0035] Figure 22 This invention relates to an isometric method for the overall assembly of a platform used for the precise assembly of a hemispherical underwater vehicle. Figure 1 This mainly expresses the assembly of the upper and lower templates;

[0036] Figure 23 This invention relates to an isometric method for the overall assembly of a platform used for the precise assembly of a hemispherical underwater vehicle. Figure 2 This mainly describes the assembly of the hemispherical head and the adhesive flange;

[0037] Figure 24 This is an isometric view of the connection between the lower template and the lower template base;

[0038] Figure 25 This is an isometric view of the lower template and its base fixed on the worktable.

[0039] The component names and reference numerals in the above figures are as follows:

[0040] 1. Workbench; 2. Lower template base; 3. Lower template; 4. Upper template split plate; 5. Spherical clamping mold; 6. Guide column; 7. Clamping mold pressure plate; 8. Hemispherical end cap; 9. Lower template pressure plate; 10. Positioning block base; 11. Connecting screw; 12. End cap outer nut; 13. Connecting sleeve; 14. Spherical gasket; 15. End cap inner nut; 16. Adhesive flange; 17. Adhesive flange positioning block; 18. End cap positioning block; 19. Ball bearing guide sleeve; 20. End cap bracket; 21. T-type connecting bolt; 22. Lifting lug; 23. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] Specific implementation method one: as follows Figures 1-25 As shown, this embodiment discloses a platform for the precise assembly of a hemispherical underwater vehicle, including a workbench 1, an upper template assembly, a lower template assembly, a ball bearing guide sleeve and guide post mechanism, a head fastening mechanism, and an adhesive positioning mechanism; the upper template assembly includes an upper template 4, an upper template split plate 5, a spherical clamping mold 6, and multiple clamping mold plates 8; the lower template assembly includes a lower template 3, a lower template base 2, a positioning block base 11, a head positioning block 19, and multiple lower template pressure plates 10; the ball bearing guide sleeve and guide post mechanism includes guide posts 7 and ball bearing guide sleeves 20; the adhesive positioning mechanism includes an adhesive flange 17 and an adhesive flange positioning block 18;

[0043] The lower template 3 (circular in shape) sits on the lower template base 2, and the two are connected as a whole (by bolts). The lower template 3 and the lower template base 2 are placed on the workbench 1. Multiple lower template pressure plates 10 are placed on both sides of the upper surface of the lower template 3. The bolt assembly passes through the lower template pressure plates 10 and abuts against the workbench 1, fixing the lower template base 2 and the lower template 3 together on the workbench 1 (the upper surface of the workbench 1 has multiple T-slots; the bolt assembly includes fastening bolts and nuts, and each lower template pressure plate 10 has an elongated hole. The fastening bolt passes through the elongated hole of the lower template pressure plate 10 and abuts against the corresponding T-slot. The lower template pressure plate 10 is pressed against the upper surface of the lower template 3 by the nuts that are screwed to the fastening bolts). This fixes the lower template base 2 and the lower template 3 together on the workbench 1. The positioning block base 11 is placed on the workbench 1, and the end cap positioning block 19 or the adhesive flange positioning block 18 is placed on the positioning block base 11 and matched and set in the center hole of the lower template 3 (the end cap positioning block 19 or the adhesive flange positioning block 18 achieves cooperation with the inner ring surface of the center hole of the lower template 3 through its own outer ring surface to ensure concentricity, and the lower surface of the end cap positioning block 19 or the adhesive flange positioning block 18 is flush with the lower surface of the lower template 3). The upper end of the end cap positioning block 19 and the adhesive flange positioning block 18 are provided with a boss, and the adhesive flange 17 is matched and fitted on the outside of the boss of the adhesive flange positioning block 18. The upper surface of the adhesive flange 17 is provided with an annular glue groove (the cross section of the annular glue groove is...). The upper template 4 (in the shape of a U) is positioned directly above the lower template 3. Four guide pillars 7 are evenly distributed along the circumference of the lower template 3 and their lower ends are fixed to the lower template 3 (the lower template 3 has four lower through holes evenly distributed along the circumference, and the lower ends of the four guide pillars 7 are fixed within these holes). The upper template 4 (in the shape of a ring) is positioned directly above the lower template 3. Four upper through holes are evenly distributed along the circumference of the upper template 4. The upper ends of the guide pillars 7 protrude through these upper through holes. Ball bearing sleeves 20 are fixedly installed within these upper through holes and fitted onto the outside of the guide pillars 7. The balls of the ball bearing sleeves 20 roll up and down along the guide pillars 7, thus achieving linear up-and-down movement of the upper template 4 relative to the lower template 3. The upper template split plate 5 is composed of two semi-circular ring plates aligned at both ends. The upper template split plate 5 is fitted inside the upper template 4, and the two are connected (by bolts). Fixed connection (the upper template split plate 5 has an annular outer edge at the upper end, the annular outer edge sits on the upper surface of the upper template 4, and the annular outer edge is fixedly connected to the upper template 4 by bolts); the spherical clamping mold 6 is installed inside the upper template split plate 5, and the spherical clamping mold 6 is clamped and fixed by the upper template split plate 5; the hemispherical end cap 9 is matched and set in the lower mold cavity of the spherical clamping mold 6 (the inner contour of the lower mold cavity of the spherical clamping mold 6 fits the outer contour of the hemispherical end cap 9); the spherical clamping mold 6 and the hemispherical end cap 9 are detachably fixedly connected in the middle by the end cap fastening mechanism; the lower end of the hemispherical end cap 9 is matched and fitted on the outside of the boss of the end cap positioning block 19, or the lower end of the hemispherical end cap 9 is matched and fitted on the outside of the boss of the adhesive flange positioning block 18 and placed in the annular glue groove;Multiple clamping plates 8 are placed on the upper surface of the spherical clamping mold 6. The clamping plates 8 are connected to the upper template 4 by bolts (the clamping plates 8 have elongated holes, and the upper template 4 has multiple screw holes evenly distributed along the circumference; bolts are inserted into the elongated holes of the clamping plates 8, and the bolts are threadedly connected to the corresponding screw holes on the upper template 4; after adjusting to a suitable height, the spherical clamping mold 6 and the hemispherical end cap 9 are clamped).

[0044] Furthermore, the upper template assembly also includes a head bracket 21 (the head bracket 21 is a rectangular frame composed of four bracket rods that are fixedly connected in sequence, and the bracket rods are profiles); the head bracket 21 is located directly below the upper template 4, and the head bracket 21 is fixedly connected to the upper template 4 by four T-shaped connecting bolts 22 (to prevent local stress concentration and easy cracking of the hemispherical head 9 due to the small contact area between the connecting bolt 12 and the hemispherical head 9 during transportation).

[0045] Furthermore, four lifting holes are evenly distributed along the circumference on the upper surface of the spherical clamping mold 6, and four lifting lugs 23 are fixedly connected to the four lifting holes.

[0046] Furthermore, the head fastening mechanism includes a connecting screw 12, an outer nut 13 of the head, a connecting sleeve 14, a spherical washer 15, and an inner nut 16 of the head;

[0047] The spherical clamping mold 6 has a central through hole coaxial with the central through hole (shoulder hole) of the hemispherical head 9. The connecting sleeve 14 is fitted into the central through hole of the spherical clamping mold 6 and the hemispherical head 9. The connecting screw 12 is inserted into the connecting sleeve 14. The lower end of the connecting screw 12 is equipped with a spherical washer 15 and an inner nut 16 of the head. The inner nut 16 of the head is threadedly connected to the connecting screw 12 to clamp the inner side of the hemispherical head 9. The upper end of the connecting screw 12 is screwed with an outer nut 13 of the head (to realize the assembly of the spherical clamping mold 6 and the hemispherical head 9).

[0048] like Figure 1 , Figure 3 As shown, the platform assembly process for the precise assembly of a hemispherical underwater vehicle according to the present invention is as follows: the hemispherical head 9 is aligned with the lower template 3 and fixed to the upper template 4 by the spherical clamping mold 6. After the adhesive flange 17 is injected with glue, it is aligned with the lower template 3. After the upper template 4 and the lower template 3 are connected by the ball bearing guide sleeve and guide post mechanism, the upper template 4 drives the hemispherical head 9 to fall. When the hemispherical head 9 contacts the annular glue groove (the cross section of the annular glue groove is U-shaped) of the adhesive flange 17, since the width of the annular glue groove is greater than the wall thickness of the hemispherical head 9, as the hemispherical head 9 slowly falls, the precise assembly of the hemispherical head 9 and the metal adhesive flange 17 is achieved by the liquid glue in the annular glue groove.

[0049] The complete assembly process of the hemispherical head 9 and the adhesive flange 17 is as follows:

[0050] ① Install the lower template 3 and the end cap positioning block 19. After connecting the lower template base 2 to the lower template 3, install the whole assembly on the workbench 1. Then, press the upper surface of the lower template 3 firmly on both sides using the lower template pressure plate 10. Move the end cap positioning block 19 from below the lower template 3 to the center hole of the lower template 3, so that the end cap positioning block 19 mates with the side of the center hole of the lower template 3. Lift the end cap positioning block 19 by hoisting until the lower surface of the end cap positioning block 19 is on the same horizontal plane as the lower surface of the lower template 3. Figure 20 As shown.

[0051] ② The hemispherical head 9 is assembled with the upper template 4. Place the hemispherical head 9 on the assembled head bracket 21. Position the upper template 4 directly above the hemispherical head 9. Connect the upper template 4 to the head bracket 21 using four T-bolts 22. Place the upper template split plate 5 in the center hole of the upper template 4. Place the spherical clamping mold 6 in the center hole of the upper template split plate 5. Fit the connecting sleeve 14 from one side of the spherical clamping mold 6 into the center through hole of the spherical clamping mold 6 and the center shoulder through hole of the hemispherical head 9. Insert the connecting screw 12 into the connecting sleeve 14. The lower end of the connecting screw 12 is fitted with a spherical washer 15 and an inner head nut 16. The inner head nut 16 is threaded onto the connecting screw 12, clamping the inner side of the hemispherical head 9. The upper end of the connecting screw 12 is screwed with an outer head nut 13, ensuring a tight connection between the spherical clamping mold 6 and the hemispherical head 9. At this point, all the above components have been assembled into a single upper template assembly. Figure 13 As shown.

[0052] ③ Hoisting the upper template assembly. Using the four lifting lugs 23 above the spherical clamping mold 6, hoist the upper template assembly from step ② to directly above the lower template 3. Adjust the upper template 4 so that its upper through hole is aligned with the guide post 7. The guide post 7 passes through the upper through hole, allowing the upper template assembly to fall down until it contacts the end cap bracket 21 and the end cap positioning block 19. The hoisting is then complete.

[0053] ④ Positioning of the hemispherical head 9. Fix the ball bearing guide sleeve 20 inside the upper through hole and fit it onto the outside of the guide post 7. Remove the head bracket 21 and slowly adjust the position of the hemispherical head 9 so that it perfectly matches the boss of the lower head positioning block 19. Figure 1 As shown. Finally, the spherical clamping mold 6 is pressed together with the clamping mold plate 8 to make the center of the hemispherical head 9 concentric with the centers of the upper mold plate 4 and the lower mold plate 3.

[0054] ⑤ Positioning of the bonding flange 17. Raise the upper template assembly and the hemispherical head 9 to a suitable height. Place a shim under the upper template 4 to temporarily fix the position of the hemispherical head 9. Then remove the positioning block base 11 under the head positioning block 19, and the head positioning block 19 will fall. Remove the head positioning block 19. Pass the bonding flange 17, which has been filled with adhesive, through the center hole from under the lower template 3 to the top of the lower template 3 and fix it temporarily. Pass the bonding flange positioning block 18 through the center hole of the lower template 3 from under the lower template 3, and place it in the same position as the head positioning block 19. Support it with the positioning block base 11 below. Place the bonding flange 17 on the bonding flange positioning block 18. The side wall of the center hole of the bonding flange 17 matches the outer side wall of the boss of the bonding flange positioning block 18 to achieve alignment between the bonding flange 17 and the lower template 3.

[0055] ⑥ Assemble the hemispherical head 9 with the bonding flange 17. Remove the support pads below the upper template assembly, and control the upper template assembly and the hemispherical head 9 to fall at a uniform speed. After the lower end face of the hemispherical head 9 begins to contact the adhesive in the annular groove of the bonding flange 17, adhesive will begin to overflow from the contact surface. The hemispherical head 9 continues to fall until it contacts the bottom surface of the annular groove of the bonding flange 17, at which point the assembly process is complete.

[0056] ⑦ Remove the assembly components. Lift the upper template assembly until the ball bearing guide sleeve 20 separates from the guide post 7, that is, the upper template 4 separates from the lower template 3. Place the lifted part on a platform, and remove the clamping mold plate 8, the outer nut 13 of the end cap, the connecting sleeve 14, the spherical clamping mold 6, the upper template split plate 5, and the upper template 4 in sequence. Then, re-fit and clamp the spherical clamping mold 6 with the hemispherical end cap 9. Finally, place a suitable weight on the upper surface of the spherical clamping mold 6 to complete the bonding process.

[0057] Obviously, the present invention is not limited to the exemplary embodiments described above; the above description is merely illustrative. The scope of the present invention is defined by the appended claims rather than the foregoing description, and therefore all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0058] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A platform for the precise assembly of a hemispherical underwater vehicle, characterized in that: It includes a workbench (1), an upper template assembly, a lower template assembly, a ball bearing guide sleeve and guide post mechanism, a head fastening mechanism, and an adhesive positioning mechanism; the upper template assembly includes an upper template (4), an upper template split plate (5), a spherical clamping mold (6), and multiple clamping mold plates (8); the lower template assembly includes a lower template (3), a lower template base (2), a positioning block base (11), a head positioning block (19), and multiple lower template pressure plates (10); the ball bearing guide sleeve and guide post mechanism includes guide posts (7) and ball bearing guide sleeves (20); the adhesive positioning mechanism includes adhesive flanges (17) and adhesive flange positioning blocks (18); The lower template (3) sits on the lower template base (2) and the two are connected as a whole. The lower template (3) and the lower template base (2) are placed on the workbench (1). Multiple lower template pressure plates (10) are placed on both sides of the upper surface of the lower template (3). The bolt assembly passes through the lower template pressure plate (10) and abuts against the workbench (1), fixing the lower template base (2) and the lower template (3) as a whole on the workbench (1). The positioning block base (11) is placed on the workbench (1), and the end cap positioning block (19) or the adhesive flange positioning block (18) is placed on the workbench (11). The end cap positioning block (19) and the bonding flange positioning block (18) are both provided with bosses at their upper ends. The bonding flange (17) is fitted onto the outside of the boss of the bonding flange positioning block (18). The upper surface of the bonding flange (17) is provided with an annular glue groove. Four guide pillars (7) are evenly distributed along the circumference of the lower template (3) and their lower ends are fixed on the lower template (3). The upper template (4) is located directly above the lower template (3). Four upper through holes are evenly distributed along the circumference of the upper template (4). The upper end of the guide post (7) protrudes through the upper through hole. The ball bearing guide sleeve (20) is fixedly installed in the upper through hole and fitted on the outside of the guide post (7). The balls of the ball bearing guide sleeve (20) roll up and down along the guide post (7), thereby realizing the vertical linear movement of the upper template (4) relative to the lower template (3). The upper template split plate (5) is composed of two semi-circular ring plates with their ends aligned and combined. The upper template split plate (5) is fitted inside the upper template (4) and the two are fixedly connected. The spherical clamping mold (6) is installed inside the upper template split plate (5). The spherical clamping mold (6) is clamped by the upper template split plate (5). The hemispherical head (9) is fitted and set in the lower mold cavity of the spherical clamping mold (6). The spherical clamping mold (6) and the middle part of the hemispherical head (9) are detachably and fixedly connected by the head fastening mechanism. The lower end of the hemispherical head (9) is fitted on the outside of the boss of the head positioning block (19), or the lower end of the hemispherical head (9) is fitted on the outside of the boss of the bonding flange positioning block (18) and placed in the annular glue groove. Multiple clamping mold plates (8) are placed on the upper surface of the spherical clamping mold (6). The clamping mold plates (8) are connected to the upper template (4) by bolts.

2. The platform for precise assembly of a hemispherical underwater vehicle according to claim 1, characterized in that: The upper template assembly also includes a head bracket (21); the head bracket (21) is located directly below the upper template (4), and the head bracket (21) is fixedly connected to the upper template (4) by four T-shaped connecting bolts (22).

3. The platform for precise assembly of a hemispherical underwater vehicle according to claim 1, characterized in that: The upper surface of the spherical clamping mold (6) is provided with four lifting holes evenly distributed along the circumference, and the four lifting lugs (23) are fixedly connected to the four lifting holes.

4. The platform for precise assembly of a hemispherical underwater vehicle according to claim 1, characterized in that: The head fastening mechanism includes a connecting screw (12), an outer nut (13) of the head, a connecting sleeve (14), a spherical washer (15), and an inner nut (16) of the head; The spherical clamping mold (6) has a central through hole coaxial with the central through hole of the hemispherical head (9). The connecting sleeve (14) is fitted into the central through hole of the spherical clamping mold (6) and the hemispherical head (9). The connecting screw (12) is inserted into the connecting sleeve (14). The lower end of the connecting screw (12) is equipped with a spherical washer (15) and a nut (16) inside the head. The nut (16) inside the head is threadedly connected to the connecting screw (12) to clamp the inside of the hemispherical head (9). The upper end of the connecting screw (12) is screwed with a nut (13) outside the head.

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