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WO2017063253A1 - Appareil de soudage à électrode consommable et procédé de soudage correspondant - Google Patents

Appareil de soudage à électrode consommable et procédé de soudage correspondant Download PDF

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Publication number
WO2017063253A1
WO2017063253A1 PCT/CN2015/095872 CN2015095872W WO2017063253A1 WO 2017063253 A1 WO2017063253 A1 WO 2017063253A1 CN 2015095872 W CN2015095872 W CN 2015095872W WO 2017063253 A1 WO2017063253 A1 WO 2017063253A1
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WIPO (PCT)
Prior art keywords
module
welding
voltage
arc
arc length
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Ceased
Application number
PCT/CN2015/095872
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English (en)
Chinese (zh)
Inventor
刘昇澔
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Individual
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Individual
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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
    • B23K9/00—Arc welding or cutting
    • B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
    • B23K9/067—Starting the arc
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
    • B23K9/067—Starting the arc
    • B23K9/0672—Starting the arc without direct contact between electrodes
    • B23K9/0673—Ionisation of the arc gap by means of a tension with a step front (pulses or high frequency tensions)
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0953—Monitoring or automatic control of welding parameters using computing means
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors

Definitions

  • the invention relates to the field of welding machines, in particular to a fusion pole welding machine and a welding method thereof.
  • the traditional fusion welding machine adopts the contact short-circuit arcing, and there is a spark splash when the short-circuit arc starts.
  • the molten metal ball forms a molten metal ball, as shown in Fig. 1 ( a)
  • the arc length is very short, the arc voltage is very low, the current is large, the arc temperature is low, and the energy of the melting wire is large; as the amount of molten wire increases, the arc length becomes larger, and the arc voltage also increases.
  • the arc current is reduced, the arc temperature is increased, and the energy of the melting wire is reduced.
  • the droplet at the end of the wire is under the action of gravity, and the portion of the droplet connected to the wire is reduced in diameter, as shown in (b) of FIG.
  • the arc length is longer, the arc voltage is larger, the arc temperature is higher, and the diameter of the arc is further reduced, so that the local current density of the reduced diameter is sharply increased, and a large amount of Joule hot melt welding wire droplets are generated.
  • the droplet separates from the wire and eventually falls on the base material (weld parts to be welded) to complete a complete welding cycle.
  • the traditional fusion welding machine has only a single DC welding mode, DC pulse welding mode, and its application range is narrow.
  • the present invention provides a fusion electrode welder and a welding method thereof, which adopts a high-frequency high-voltage arc-starting method without short-circuit spark splash, and at the same time, during the welding process, the arc length and
  • the welding parameters such as the wire feeding speed are controllable, and the welding speed and the welding quality of the non-melting pole welder can be realized; in addition, the melting electrode welder has various welding methods.
  • a fusion electrode welder comprising a control system module having a synchronous communication interface, a current sampling module, a voltage sampling module, a power input module, a DC constant voltage module, a chopper control module, a constant current feedback module and a welding gun are sequentially connected, and a wire feeding device for pushing the welding wire is connected to the welding gun, and an input end of the current sampling module and the DC constant voltage An output end of the module and an input end of the welding gun are connected, an input end of the voltage sampling module is connected to an output end of the DC constant voltage module and an input end of the welding gun, and an output end of the current sampling module and a voltage sampling module The output ends are all connected to the control system module;
  • the fusion welding machine further comprises a high frequency high voltage arc starting module, an arc length feedback module and a wire feeding control module, wherein the input end of the high frequency high voltage arc starting module is connected with the input end of the welding gun, and the high frequency high voltage arc starting
  • the fusion welding machine further comprises a high frequency high voltage arc starting module, an arc length feedback module and a wire feeding control module, wherein the input end of the high frequency high voltage arc starting module is connected with the input end of the welding gun, and the high frequency high voltage arc starting module The output end is connected to the control system module; the arc length feedback module is connected in series between the synchronous communication interface of the control system module and the welding torch, and the arc length information for welding is fed back to the control system module; a wire feeding control module is connected in series between the synchronous communication interface of the control system module and the wire feeding device for receiving a wire feeding control signal required by the control system module and converting the same into control information. To control the wire feed speed and/or wire feed amount of the wire feeder.
  • the arc length feedback module comprises a voltage acquisition module, an anti-interference module and an arc length calculation module connected in sequence; the voltage acquisition module is connected with the welding gun to obtain a voltage signal when the welding torch is working; the anti-interference The module is configured to eliminate the interference signal in the voltage signal to obtain arc voltage information during welding of the fusion welder; the arc length calculation module is configured to calculate arc length information according to the obtained arc voltage information, and It is fed back to the control system module.
  • the fusion welding machine further includes a human-machine interface operation and display module connected to the control system module; the fusion-pole welding machine further includes an AC-DC conversion control module, wherein the AC-DC conversion control module is connected in series to the An output of the constant current feedback module is coupled to an input of the welding torch.
  • the AC/DC conversion control module has an input positive terminal, an input negative terminal, a first output terminal, and a second output terminal
  • the AC/DC conversion control module includes a first switch module, a second switch module, and a third switch. a module and a fourth switch module; the input positive terminal, the input end of the first switch module, the output end of the first switch module, the input end of the second switch module, the output end of the second switch module, and the input negative terminal Connected in sequence, the input positive end, the input end of the third switch module, the output end of the third switch module, the input end of the fourth switch module, the output end of the fourth switch module, and the input negative end are sequentially connected; One end of the third switch module and the fourth switch module is connected to the first output end, and one end of the third switch module and the fourth switch module is connected to the second output end.
  • an LC series circuit is connected in series between the second output end and the interconnected end of the third switch module and the fourth switch module.
  • the welding electrode welding machine provided by the invention has the following welding methods:
  • the melting pole welding machine uses the high-frequency high-voltage arc starting module to perform arc starting by using a high-frequency high-voltage arcing method
  • the arc length feedback module calculates arc length information at the time of welding based on the signal acquired from the welding torch, and feeds back the arc length information to the control system module;
  • the control system module calculates the wire feed amount required by the melt electrode welder, and sends corresponding control information to the wire feed control module according to the required wire feed amount;
  • the wire feeding control module controls the wire feeding speed of the wire feeding device according to the received control information, so that the arc length of the melting electrode welder in one welding cycle is the same or substantially the same.
  • the arc length feedback module obtains an arc voltage signal by acquiring a voltage signal when the welding torch is working, and then canceling an interference signal in the voltage signal, and finally passing a positive correlation between the arc length and the arc voltage.
  • the arc length information is calculated.
  • the arc length feedback module performs proportional, integral or differential adjustment processing on the arc length information and feeds it back to the control system module.
  • the fusion pole welding machine uses the high-frequency high-voltage arc starting module with its own to start arcing, without short-circuit spark splash, and the welding parameters such as arc length, welding current and wire feeding speed are controllable during the whole welding cycle.
  • the welding speed and the welding quality of the non-melting pole welder can be realized; in addition, the fusion pole welding machine is further provided with an AC/DC conversion control module, so that it has a direct current, a high frequency direct current, a direct current pulse, a high frequency direct current pulse, an alternating current, Various welding modes such as high frequency AC, AC pulse, and high frequency AC pulse.
  • Figure 1 is a schematic view showing a conventional fusion welding machine using a contact short-circuit arc
  • FIG. 2 is a block diagram of a circuit principle module of the fusion welding machine according to an embodiment of the present invention
  • FIG. 3 is a block diagram of another circuit principle module of the fusion welding machine according to an embodiment of the present invention.
  • FIG. 4 is a block diagram showing the principle of the arc length feedback module in the embodiment of the present invention.
  • FIG. 5 is a schematic block diagram of a schematic module of an AC/DC conversion control module according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a specific circuit principle of the AC/DC conversion control module according to an embodiment of the present invention.
  • a fusion welding machine includes a control system module having a synchronous communication interface, a human-machine interface operation and display module connected to the control system module, a current sampling module, and a voltage sampling.
  • the fusion welding machine further comprises a high frequency high voltage arc starting module, an arc length feedback module and a wire feeding control module, wherein the input end of the high frequency high voltage arc starting module is connected with the input end of the welding gun, and the high frequency high voltage arc starting module The output end is connected to the control system module; the arc length feedback module is connected in series between the synchronous communication interface of the control system module and the welding torch, and the arc length information for welding is fed back to the control system module; a wire feed control module is connected in series between the synchronous communication interface of the control system module and the wire feeding device for receiving a wire feed control signal (including wire feed speed and/or wire feed amount) required by the control system module And converting it into corresponding control information to control the wire feed speed and/or wire feed of the wire feeder to achieve the same arc length over a complete weld cycle.
  • a wire feed control signal including wire feed speed and/or wire feed amount
  • the high-frequency high-voltage arc starting module is used for starting arcing in a manner of using a high-frequency high-voltage method in the welding pole welding machine, and when the welding is started, the welding wire is pushed by the wire feeding device to ensure that the tail end of the welding wire and the base material are fixed.
  • the height L when the distance between the welding wire and the base metal is L, the high-frequency high-voltage arc starting module outputs a high-frequency high-voltage signal, and the shielding gas between the welding wire and the base metal is ionized under the action of high-frequency high-voltage, thereby forming an arc, and further This makes the phenomenon of short-circuit spark splash when the arc welding machine is arcing.
  • the fusion welding machine further includes an AC/DC conversion control module connected in series between the output end of the constant current feedback module and the input end of the welding gun.
  • the AC/DC conversion control module By setting the AC/DC conversion control module, it has various welding modes such as direct current, high frequency direct current, direct current pulse, high frequency direct current pulse, alternating current, alternating high frequency, alternating current pulse, alternating high frequency pulse and the like.
  • the functional modules or devices such as the interface operation and the display module, the welding torch, and the wire feeding device are all functional modules or devices that can be realized in the prior art, and the working principle or the specific composition thereof will not be described in detail herein. but It should be noted that, among the above functional modules, multiple functional modules may be integrated into one circuit module according to actual needs to implement their corresponding functions, or the functions of some functional modules may not only use existing hardware circuits or devices.
  • the current sampling module and the voltage sampling module can be integrated in the control system module, or
  • the functions of the current sampling module and the voltage sampling module can be realized by combining hardware and software in the control system module; a functional module can also be divided into multiple functional modules, such as a human-machine interface operation and display module. It is divided into two functions: man-machine interface operation module and man-machine interface operation module.
  • the functional modules in the present invention are not limited to any specific combination of hardware and software; of course, the high frequency high voltage arc starting module, the AC/DC converting control module, and the wire feeding control module are not limited to hardware, or hardware and Software integration.
  • the arc length feedback module, the wire feed control module, and the AC/DC conversion control module in the embodiments of the present invention are further described below.
  • the arc length feedback module includes a voltage acquisition module, an anti-interference module, and an arc length calculation module connected in sequence; the voltage acquisition module is connected to the welding gun to obtain a voltage signal when the welding torch is in operation; The anti-interference module is configured to eliminate an interference signal in the voltage signal to obtain arc voltage information during welding of the fusion welder; the arc length calculation module is configured to calculate an arc according to the obtained arc voltage information Length information and feedback to the control system module.
  • the arc length feedback module obtains the arc voltage signal by acquiring the voltage signal when the welding torch is working, and then eliminating the interference signal in the voltage signal, and finally calculating the arc by the positive correlation between the arc length and the arc voltage. Length information.
  • a high-frequency high-voltage interference signal is generated at the time of arcing, and in the process of obtaining a voltage signal during the operation of the welding torch, there is a melting electrode welding machine during sampling.
  • Some of the specific frequency interferes with the signal, so in order to obtain the actual arc length data, the above-mentioned interference signal (including the high frequency high voltage interference signal and the specific frequency interference signal) is eliminated by the anti-interference module.
  • the high-frequency high-voltage interference signal can be eliminated by means of a hardware circuit, and the specific frequency interference signal can be eliminated by software.
  • the arc length feedback module feeds back the arc length information to a proportional, integral or differential adjustment process and correction process, and then feeds it back to the control system module.
  • the wire feeding control module is configured to receive a wire feeding control signal required by the control system module to send the welding torch, and convert the same into control information, and control the wire feeding speed of the wire feeding device to push the welding wire.
  • the welding current is closely related to the welding process parameters such as wire feeding speed, wire size, and base material thickness. There is a positive correlation between welding current and wire feeding speed when other welding process parameters are unchanged. Therefore, the control system module obtains the welding current information (such as obtained by the current sampling module), and the corresponding welding process parameters (such as the wire size, the base material thickness and the like) are built in the control system module, and finally the welding is calculated.
  • the wire feed speed required for the torch is a wire feeding control signal required by the control system module to send the welding torch, and convert the same into control information, and control the wire feeding speed of the wire feeding device to push the welding wire.
  • the welding current is closely related to the welding process parameters such as wire feeding speed, wire size, and base material thickness. There is a positive correlation between welding current and wire feeding speed when
  • the welding wire is finally matched with the corresponding wire feeding speed and welding current, and finally the arc length is fixed in a complete welding cycle (that is, the arc length is the same in one welding cycle). Or basically the same). Since the arc length is fixed, the arc voltage is fixed, the welding current is fixed, the arc temperature is constant, and the wire feeding speed is constant. Therefore, the fusion electrode welding machine provided by the embodiment of the invention can realize the welding quality and the welding speed of the non-melting pole, and is well solved. Some welding problems exist in the traditional fusion welding machine, such as welding spatter, welding pores, unfused, slag inclusion, uneven wire filling and so on.
  • Appropriate wire feeding speed is a necessary condition for the welding machine to achieve the welding effect with non-melting pole
  • the arc length feedback module is the condition for ensuring the welding effect
  • the information fed back by the arc length feedback module is used to control the system.
  • the module dynamically adjusts the relationship between the welding current and the wire feeding speed, thereby ensuring that the melting electrode welder is always operated in a welding mode in which the arc length is fixed, so that it has a non-melting electrode welding effect.
  • the welding method of the fusion welding machine provided by the embodiment of the present invention is briefly described below, and the welding method includes:
  • the melting pole welding machine uses the high-frequency high-voltage arc starting module to perform arc starting by using a high-frequency high-voltage arcing method
  • the arc length feedback module calculates arc length information at the time of welding based on the signal acquired from the welding torch, and feeds back the arc length information to the control system module;
  • the control system module calculates a wire feed speed required by the fuser welder, and sends corresponding control information to the wire feed control module according to a desired wire feed speed;
  • the wire feeding control module controls the wire feeding speed of the wire feeding device according to the received control information, so that the arc length of the melting electrode welder in one welding cycle is the same or substantially the same.
  • the arc length feedback module when calculating the arc length information, obtains an arc voltage signal by acquiring a voltage signal when the welding torch is working, and then eliminating an interference signal in the voltage signal, and finally calculating a positive correlation between the arc length and the arc voltage. Out arc length information.
  • the arc length feedback module feeds back the arc length information to a proportional, integral or differential adjustment process and correction process, and then feeds it back to the control system module.
  • the fusion electrode welding machine in the embodiment of the present invention preferably has an AC/DC conversion control module.
  • the AC/DC conversion control module has an input positive terminal, an input negative terminal, a first output terminal, and a second output terminal
  • the AC/DC conversion control module includes a first switch module and a second switch module. a third switch module and a fourth switch module; the input positive end, the input end of the first switch module, the output end of the first switch module, the input end of the second switch module, the output end of the second switch module, and The input negative terminals are sequentially connected, the input positive terminal, the input end of the third switch module, the output end of the third switch module, the input end of the fourth switch module, the output end of the fourth switch module, and the input negative end Connecting one end of the third switch module and the fourth switch module as the first output end, and connecting one end of the third switch module and the fourth switch module as the second output end .
  • an LC series circuit is connected in series between the second output end and one end of the third switch module and the fourth switch module.
  • the first switch module, the second switch module, the third switch module and the fourth switch module are the same switch circuit
  • the switch circuit comprises a switching power device, a capacitor and a diode, and the capacitors are connected in parallel Connected between the drain and the source of the switching power device, or the capacitor is connected in parallel between the collector and the emitter of the switching power device;
  • the anode of the diode and the drain of the switching power device a pole or a collector connection, a cathode of the diode being connected to a source or an emitter of the switching power device;
  • a drain or a collector of the switching power device as an input terminal of each switching module, the switching power device
  • a source or an emitter is used as an output of each of the switch modules, and a gate or base of the switching power device is connected to a switch signal source for controlling whether the switching power device is turned on or off.
  • FIG. 6 is a schematic diagram of a specific circuit of the AC/DC conversion control module.
  • the switching power device in this embodiment uses a MOS transistor as a specific embodiment; as shown in FIG. 4, the AC/DC conversion control
  • the module includes MOS tubes Q1, Q2 Q3, Q4, diodes D1, D2, D3, D4, capacitors C1, C2, C3, C4, C5 and inductor L1.
  • the inductor L1 and the capacitor C5 are connected in series to form the LC series circuit.
  • the connection relationship of components such as MOS transistors, diodes, and capacitors is as shown in FIG. 4 and will not be described in detail herein.
  • the gate of each MOS transistor is connected to a switching signal source (not shown in FIG. 4) for controlling the on or off of each MOS transistor.
  • the fusion welding machine By controlling the switching state (on or off) of each switching power device (MOS tube Q1, Q2, Q3, Q4) in the AC/DC module, the fusion welding machine provided by the embodiment of the present invention can have DC and high frequency. DC, DC pulse, high frequency DC pulse, AC, AC high frequency, AC pulse, AC high frequency pulse and other welding modes.
  • the voltage UAB of the two output terminals of the AC/DC conversion control module is always positive (DC); and when the MOS transistors Q2 and Q3 are turned on, Q1 and Q4 are turned off.
  • the voltage UAB of the two output ends of the AC/DC conversion control module is always negative (DC); when the above two states are alternately switched, the voltage UAB of the two output terminals of the AC/DC conversion control module also performs positive and negative voltage polarity.
  • the time ratio between the positive turn-on time and the negative turn-on time of the two output ends of the fusion welding machine can be controlled, and further, according to specific welding materials. Demand, control the heat demand of the workpiece and the wire to achieve the best welding effect, effectively improve the welding quality and welding speed.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Arc Welding Control (AREA)
  • Theoretical Computer Science (AREA)

Abstract

La présente invention concerne un appareil de soudage à électrode consommable pourvu d'un module de démarrage à arc haute tension et haute fréquence pour réaliser le démarrage à haute tension et haute fréquence d'un arc, ce qui permet d'empêcher des étincelles de court-circuit générées par le démarrage d'un arc dans un procédé de soudage. En disposant un module de rétroaction de longueur d'arc et un module de commande d'alimentation en fil, des paramètres tels qu'une longueur d'arc et une vitesse d'alimentation en fil peuvent être commandés pendant un procédé de soudage, de sorte que l'appareil de soudage à électrode consommable présente une vitesse de soudage et une qualité de soudage d'un appareil de soudage à électrode non consommable. L'invention concerne également un procédé de soudage de l'appareil de soudage à électrode consommable.
PCT/CN2015/095872 2015-10-14 2015-11-28 Appareil de soudage à électrode consommable et procédé de soudage correspondant Ceased WO2017063253A1 (fr)

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CN201510660102.0 2015-10-14
CN201510660102.0A CN105149732B (zh) 2015-10-14 2015-10-14 一种熔化极焊机及其焊接方法

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN115555685A (zh) * 2022-09-30 2023-01-03 北京工业大学 焊接增材装置

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105149748B (zh) * 2015-10-14 2017-08-25 刘昇澔 一种交直流熔化极焊机
CN109128177B (zh) * 2018-09-14 2020-09-29 河海大学常州校区 一种控制增材制造电弧弧长和成形件端面平整度的方法
CN115502515B (zh) * 2022-09-21 2024-06-14 佛山中车四方轨道车辆有限公司 自适应焊接方法及系统

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US5508493A (en) * 1990-04-17 1996-04-16 Daihen Corporation Method of MAG arc welding and welding apparatus
JP2004025270A (ja) * 2002-06-27 2004-01-29 Jfe Engineering Kk 消耗電極式アーク溶接におけるアーク発生位置推定方法および溶接条件制御方法
CN101811212A (zh) * 2010-04-15 2010-08-25 江苏科技大学 基于fpga的气电立焊弧长控制器
CN201906913U (zh) * 2011-01-12 2011-07-27 湖南科技大学 一种高速埋弧焊过程弧长控制装置
CN102596475A (zh) * 2010-09-10 2012-07-18 松下电器产业株式会社 电弧焊接控制方法
CN103302385A (zh) * 2012-03-16 2013-09-18 中冶天工（天津）装备制造有限公司 埋弧焊焊接方法及埋弧焊焊接系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5508493A (en) * 1990-04-17 1996-04-16 Daihen Corporation Method of MAG arc welding and welding apparatus
JP2004025270A (ja) * 2002-06-27 2004-01-29 Jfe Engineering Kk 消耗電極式アーク溶接におけるアーク発生位置推定方法および溶接条件制御方法
CN101811212A (zh) * 2010-04-15 2010-08-25 江苏科技大学 基于fpga的气电立焊弧长控制器
CN102596475A (zh) * 2010-09-10 2012-07-18 松下电器产业株式会社 电弧焊接控制方法
CN201906913U (zh) * 2011-01-12 2011-07-27 湖南科技大学 一种高速埋弧焊过程弧长控制装置
CN103302385A (zh) * 2012-03-16 2013-09-18 中冶天工（天津）装备制造有限公司 埋弧焊焊接方法及埋弧焊焊接系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115555685A (zh) * 2022-09-30 2023-01-03 北京工业大学 焊接增材装置

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CN105149732A (zh) 2015-12-16

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