CN111633309A - Operation method for welding nickel-based alloy of industrial robot with vertical fixed tube seat - Google Patents
Operation method for welding nickel-based alloy of industrial robot with vertical fixed tube seat Download PDFInfo
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- CN111633309A CN111633309A CN202010401603.8A CN202010401603A CN111633309A CN 111633309 A CN111633309 A CN 111633309A CN 202010401603 A CN202010401603 A CN 202010401603A CN 111633309 A CN111633309 A CN 111633309A
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- 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
- B23K9/18—Submerged-arc welding
- B23K9/186—Submerged-arc welding making use of a consumable electrodes
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- 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
- B23K9/32—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention relates to an operation method for welding a vertical fixed pipe seat by a nickel-based alloy of an industrial robot, belonging to the technical field of boiler header welding, solving the problems frequently occurring in the welding operation of the pipe seat of the header at present, and obtaining a system program and welding process parameters of the welding robot suitable for a short pipe joint of the header by teaching operation, TCP operation, welding programming, power debugging, reasonable spatial arrangement, welding process parameters and system integration of the operation method for the FANUC welding robot, in the process of welding the nickel-based alloy of the industrial robot with the vertical fixed pipe seat, the welding defects of poor molten pool fluidity, unstable electric arc, easy oxidation and the like of a welding seam are overcome, meanwhile, the technological parameters of small welding specification, fast welding speed, small swing and the like are adopted, so that the heat input of the welding seam is reduced, the welding stress and the welding deformation are reduced, the crack resistance of the welding seam is improved, and the high-quality welding seam forming is obtained. Is superior to the traditional manual welding and filament submerged arc welding in economy, practicability and universality.
Description
Technical Field
The invention relates to an operation method for welding a nickel-based alloy of an industrial robot to vertically fix a tube seat, and belongs to the technical field of welding.
Background
The integrated use of multiple cross-specialty technologies is a revolutionary model for future intelligent manufacturing developments. At present, in the process of welding tube seat joints of a boiler header, due to the fact that the number of the tube seat joints is large and the materials are diversified, the workload of the existing manual welding operation accounts for 60% of the total amount of the welding work, the labor intensity of a welder is high, the welding efficiency is low, and the welding quality is poor; and the used small pipe seat filament submerged arc mechanical welding has low one-time qualification rate under the requirement of ultrasonic flaw detection due to the limitation of equipment and a welding method. In order to improve the welding quality and efficiency of the tube seat of the boiler header, an automatic welding method of an industrial robot is gradually adopted at present, but in the welding of gas metal arc welding adopted in the practical process, because the nickel-based welding material has the problems of poor liquidity, much splashing, poor stability of electric arc, poor weld forming, easy oxidation and the like, the automatic welding method of the industrial robot adopted at present does not obviously improve the welding quality and efficiency, and therefore, the technical field needs an operation method for welding the vertically fixed tube seat by the nickel-based alloy of the industrial robot, which can obviously improve the welding quality and efficiency of the tube seat of the boiler header.
Disclosure of Invention
The invention aims to solve the technical problems of welding defects existing in the automatic welding of the boiler header tube seat by the industrial robot nickel-based alloy and improvement of the welding quality and efficiency of the boiler header tube seat.
In order to solve the problems, the technical scheme adopted by the invention is to provide an operation method for welding a nickel-based alloy vertical fixed tube seat by an industrial robot, which comprises the following steps:
step 1: assembling workpieces, systematically arranging the scenes of welding work of the industrial robot, and fixing the assembled tube seats on an operating workbench in a horizontal position; the distance between the workpiece and the robot mechanical arm is kept coordinated, one side of the welding robot is in the motion direction, the operation track of the welding robot can rotate in the clockwise and anticlockwise directions, and the rotation amplitude is large; the industrial robot is a six-axis linkage operation robot;
step 2: programming a welding pipe seat program; determining the coordinate system setting of the TCP tool; programming and operating a gun cleaning program; adjusting the running track; selecting an accurate welding gun posture, placing a workpiece at a fixed position, increasing the welding operation difficulty of a robot hand under the condition that one side of a robot welding manipulator moves, rotating a welding gun of a sixth axis around the central point of a pipe by more than 360 degrees, and basically keeping the postures of the other five axes unchanged;
and step 3: the main device for detecting the welding equipment comprises: checking an automatic wire feeding system device; a gas flow distribution meter is used; the welding gun is configured, an internal contact tip and an external sleeve device are configured by pressing the welding gun, so that the welding gun is prevented from being burnt and the stability of an electric arc is prevented from being influenced;
and 4, step 4: determining the communication connection between the robot and the welding equipment;
and 5: performing robot welding operation; determining current and voltage parameters, wherein the current is set to be 40-200A, and the voltage is set to be 10-30.5V; selecting reasonable wire extending length, welding starting point and swing welding frequency; the arc length is corrected to be-15- + 20; the droplet separation correction is set to-5- + 5; selecting the grade and the diameter of a welding material; setting the Ar gas flow at 10-15L/min; determining the angle of a welding gun, positive sine wave pendulum welding and the width of a welding seam; determining that the stay time of the swing welding at the two sides is set to be 0.020-0.085 second; determining a welding speed;
step 6: connecting a power supply and the robot: opening a demonstrator, and adjusting the welding operation speed to be 100% welding effectiveness;
and 7: regularly adjusting correction points during the track running; and (3) periodically adjusting the correction points of the welding operation track of the robot under the error changes of temperature, humidity, vibration and repeated precision until the welding operation is finished.
Preferably, the step 2 of determining the coordinate system setting of the TCP tool uses a three-point method; recording the positioning of the welding wire end part of the welding gun of the world coordinate mobile robot, which is vertical to the needle point, namely the Z axis, recording the positioning of the lifting Z axis of 100 plus 550 mm-X +5-35 degrees, the positioning of the welding wire end part which is aligned with the needle point, namely the X axis, and recording the positioning of the lifting Z axis of 100 plus 550 mm-Y +5-35 degrees, the positioning of the welding wire end part which is aligned with the needle point, namely the Y axis.
Preferably, the running track of the tube seat is adjusted in the STEP 2, the teaching speed is adjusted to 650mm/s, the robot STEP trial running program increases the running speed to 450 mm/s after the STEP runs normally, manual continuous operation can be performed, and finally, signal matching is performed and automatic running is performed; when the motion posture of the operation track changes obviously, a plurality of transition points are additionally arranged, so that the abrupt change of the angle motion of the welding gun is avoided.
Preferably, the length of the welding wire extending selected in the step 5 is 8-12mm, and the oxidized part of the end of the welding wire is cut off before the welding wire is subjected to arc striking; when the welding starts, the end of the welding wire is aligned to the center of the welding seam, and the distance between the end of the welding wire and the center of the welding seam is kept to be 2-7 mm; the swing welding frequency is controlled to be 1.8-8.5 Hz; the arc length correction is carried out on the welding parameters of-15- +20, and the initial welding arc starting parameter is set to be 0-20; setting the molten drop separation correction welding parameter to be-5- +5, and setting the welding arc starting initial parameter to be-2-3; the welding material is a nickel-based solid welding wire.
Preferably, in the step 5, an angle of the welding gun at the welding start point position is set to be 35-50 degrees between a central axis of the welding gun and the horizontal direction; the angle between the central axis of the welding gun and the vertical direction is set to be 2-15 degrees.
Preferably, the width of the weld seam in the step 5 is set to be 2.5-2.8 mm.
Preferably, in the step 5, the stay time of the two sides of the swing welding is set to be 0.020-0.085s, and the stay time of the upper side and the lower side of the swing welding gun is set to be 0.020-0.085s under the action of gravity of the liquid molten pool metal, so that undercutting is prevented from occurring on the pipe; the size of the two sides of the welding leg is set to be 6-35 mm.
Preferably, the welding speed in the step 5 is set to 3.5-12.5 mm/s.
Preferably, in the step 7, when the correction point is adjusted in position, the weaves Sine command is not used temporarily, the Line straight Line Fine command is used to move the mechanical arm to the welding accurate point, and when the SHIFT key is pressed, a new welding position is recorded, and then the weaves Sine running command is recovered.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to a welding method for a header tube seat, which solves the problems frequently in the welding operation of the header tube seat at present, and is characterized in that teaching operation, TCP operation, welding programming, power supply debugging, reasonable spatial arrangement, welding process parameters and system integration of an operation method are carried out on a FANUC welding robot. The system program and welding process parameters of the welding robot suitable for the header short pipe joint are obtained, and welding technical reserve is made for carrying out wide application and teaching training of intelligent pipe seat nickel-based material robot welding.
The invention aims at the problem that when a large workpiece of a boiler header is fixed and an external shaft cannot rotate, the intelligent welding of a pipe seat can be carried out by adopting a robot to weld one side. In the process of welding the nickel-based alloy of the industrial robot with the vertically fixed tube seat, the welding defects of poor molten pool fluidity, unstable electric arc, easy oxidation and the like of a welding seam are overcome, and meanwhile, the technological parameters of small welding specification, fast welding speed, small swinging and the like are adopted, so that the heat input of the welding seam is reduced, the welding stress and the welding deformation are reduced, and the crack resistance of the welding seam is improved. The system integration is carried out through the system program of the welding robot, the debugging of the welding power supply and the welding process data, the optimal parameter matching is achieved, and therefore high-quality welding seam forming is achieved. The invention is superior to the traditional manual welding and filament submerged arc welding methods in economy, practicability and universality.
Drawings
FIG. 1 is a flow chart of the operation of the welding robot of the present invention;
FIG. 2 is a schematic view of the start position of the welding robot of the present invention;
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:
as shown in FIG. 1, the invention provides an operation method for welding a nickel-based alloy vertical fixed tube socket by an industrial robot, which comprises the following steps:
step 1: assembling workpieces, systematically arranging the scenes of welding work of the industrial robot, and fixing the assembled tube seats on an operating workbench in a horizontal position; the distance between the workpiece and the robot mechanical arm is kept coordinated, one side of the welding robot is in the motion direction, the operation track of the welding robot can rotate in the clockwise and anticlockwise directions, and the rotation amplitude is large; the industrial robot is a six-axis linkage operation robot;
step 2: programming a welding pipe seat program; determining the coordinate system setting of the TCP tool; programming and operating a gun cleaning program; adjusting the running track; selecting an accurate welding gun posture, placing a workpiece at a fixed position, increasing the welding operation difficulty of a robot hand under the condition that one side of a robot welding manipulator moves, rotating a welding gun of a sixth axis around the central point of a pipe by more than 360 degrees, and basically keeping the postures of the other five axes unchanged;
and step 3: the main device for detecting the welding equipment comprises: checking an automatic wire feeding system device; a gas flow distribution meter is used; the configuration of the welding gun is that the contact tip and the sleeve device in the welding gun configuration are required to be pressed tightly, so that the welding gun is prevented from being burnt and the stability of the electric arc is prevented from being influenced;
and 4, step 4: determining the communication connection between the robot and the welding equipment: the teach pendant moves DATA cursor to [ JOB ] - [ F4[ select ] setting (no welding) ] ENTER.
And 5: performing robot welding operation; determining current and voltage parameters, wherein the current is set to be 40-200A, and the voltage is set to be 10-30.5V; selecting reasonable wire extending length, welding starting point and swing welding frequency; the arc length is corrected to be-15- + 20; the droplet separation correction is set to-5- + 5; selecting the grade and the diameter of a welding material; setting the Ar gas flow at 10-15L/min; determining the angle of a welding gun, positive sine wave pendulum welding and the width of a welding seam; determining that the stay time of the swing welding at the two sides is set to be 0.020-0.085 second; determining a welding speed;
step 6: connecting a power supply and the robot: turning on a demonstrator WELD ENBL key (welding switching is effective), and adjusting the welding operation speed to be 100% welding effective;
and 7: regularly adjusting correction points during the track running; and (3) periodically adjusting the correction points of the welding operation track of the robot under the error changes of temperature, humidity, vibration and repeated precision until the welding operation is finished.
The TCP coordinate system in step 2 is set by using a three-point method: recording that the welding wire end of the welding gun of the world coordinate mobile robot is perpendicular to the needle point (Z-axis positioning 1), recording that the Z-axis is lifted by 100-.
And (3) testing the running track of the pipe seat in the STEP (2), adjusting the teaching speed to 650mm/s, using the STEP trial running program of the robot, increasing the running speed to 450 mm/s and 2000mm/s after the STEP running is normal, manually and continuously operating, and finally performing signal matching and automatic running. When the motion posture of the operation track changes obviously, a plurality of transition points are additionally arranged, so that the abrupt change of the angle motion of the welding gun is avoided.
Selecting an accurate welding gun posture in the step 2: the workpiece is placed at a fixed position, the welding operation difficulty of the robot is increased under the condition that one side of the robot welding manipulator moves, the sixth shaft (welding gun) rotates around the central point of the pipe by more than 360 degrees, and the postures of the other five shafts are basically unchanged.
In the step 3, the welding gun must be tightly arranged with the internal contact tip and the external sleeve device, so as to avoid burning the welding gun and influencing the stability of the electric arc.
The optimal matching of the current and voltage parameters in the step 5 is as follows: the welding current is set at 40-200A and the voltage is set at 10-30.5V. During the current and voltage debugging operation, the normal sound that the 'dripping' is crisp and continuous is heard, when the molten drop is excessive, the arc combustion is observed to be stable, the splashing is less, the edge of a weld pool forms a thinner shape, the edge thickness is 0.05-0.15mm, the melting characteristic of weld metal is ensured, and the optimal matching effect is achieved.
In the step 5, the length of the welding wire is 8-12mm, and the oxidized part of the end of the welding wire is cut off before the welding wire is subjected to arc striking.
And 5, when the welding is started in the step 5, aligning the end of the welding wire to the center of the welding line, and keeping the distance of 2-7mm from the center of the welding line.
In the step 5, the welding frequency is controlled to be 1.8-8.5Hz, so that the fluidity of the nickel-based welding material molten pool can be accelerated.
In the step 5, the arc length correction is carried out, the welding parameters are-15 to +20 generally, the initial welding arc starting parameters are 0 to 20, and the longer arc length can control the stability of the electric arc.
In the step 5, the normal welding parameters of molten drop separation correction are-5- +5, the initial welding arc starting parameters are-2-3, the electric arc is softer, and the good effects of reducing splashing and the fluidity of a molten pool are achieved.
In the step 5, the welding material is a nickel-based solid-core welding wire, so that the current situation of a welding pool can be clearly observed.
The position of the welding starting point in the step 5 is shown in fig. 2, and the angle of the welding gun is set to be 35 to 50 degrees in the horizontal direction and 2 to 15 degrees in the vertical direction.
The width of the welding seam in the step 5 is 2.5-2.8 mm.
In the step 5, the two sides are subjected to swing welding for the retention time, and the retention time of the upper side and the lower side of the welding gun is 0.020-0.085s under the action of gravity of the liquid molten pool metal, so that undercutting is prevented from occurring on the pipe; the size K1 of the two sides of the welding foot is 6-35mm equal to K2.
The welding speed in the step 5 is 3.5 to 12.5 mm/sec.
When the correction point is adjusted in the position in the above step 7, the weaves unit command is not used temporarily, the arms are moved to the welding accurate point by using the Line straight Line Fine command, and when the SHIFT key is pressed, a new welding position is recorded by pressing F5 (TOUCHUP), and then the weaves unit operation command is recovered.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.
Claims (9)
1. An operation method for welding a nickel-based alloy of an industrial robot to vertically fix a tube seat is characterized by comprising the following steps of: the method comprises the following steps:
step 1: assembling workpieces, systematically arranging the scenes of welding work of the industrial robot, and fixing the assembled tube seats on an operating workbench in a horizontal position; the distance between the workpiece and the robot mechanical arm is kept coordinated, one side of the welding robot is in the motion direction, the operation track of the welding robot can rotate in the clockwise and anticlockwise directions, and the rotation amplitude is large; the industrial robot is a six-axis linkage operation robot;
step 2: programming a welding pipe seat program; determining the coordinate system setting of the TCP tool; programming and operating a gun cleaning program; adjusting the running track; selecting an accurate welding gun posture, placing a workpiece at a fixed position, increasing the welding operation difficulty of a robot hand under the condition that one side of a robot welding manipulator moves, rotating a welding gun of a sixth axis around the central point of a pipe by more than 360 degrees, and basically keeping the postures of the other five axes unchanged;
and step 3: the main device for detecting the welding equipment comprises: checking an automatic wire feeding system device; a gas flow distribution meter is used; the configuration of the welding gun is that the contact tip and the sleeve device in the welding gun configuration are required to be pressed tightly, so that the welding gun is prevented from being burnt and the stability of the electric arc is prevented from being influenced;
and 4, step 4: determining the communication connection between the robot and the welding equipment;
and 5: performing robot welding operation; determining current and voltage parameters, wherein the current is set to be 40-200A, and the voltage is set to be 10-30.5V; selecting reasonable wire extending length, welding starting point and swing welding frequency; the arc length is corrected to be-15- + 20; the droplet separation correction is set to-5- + 5; selecting the grade and the diameter of a welding material; setting the Ar gas flow at 10-15L/min; determining the angle of a welding gun, positive sine wave pendulum welding and the width of a welding seam; determining that the stay time of the swing welding at the two sides is set to be 0.020-0.085 second; determining a welding speed;
step 6: connecting a power supply and the robot: opening a demonstrator, and adjusting the welding operation speed to be 100% welding effectiveness;
and 7: regularly adjusting correction points during the track running; and (3) periodically adjusting the correction points of the welding operation track of the robot under the error changes of temperature, humidity, vibration and repeated precision until the welding operation is finished.
2. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: the three-point method is used for determining the coordinate system setting of the TCP tool in the step 2: recording the positioning of the welding wire end part of the welding gun of the world coordinate mobile robot, which is vertical to the needle point, namely the Z axis, recording the positioning of the lifting Z axis of 100 plus 550 mm-X +5-35 degrees, the positioning of the welding wire end part which is aligned with the needle point, namely the X axis, and recording the positioning of the lifting Z axis of 100 plus 550 mm-Y +5-35 degrees, the positioning of the welding wire end part which is aligned with the needle point, namely the Y axis.
3. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: adjusting the running track of the tube seat in the STEP 2, adjusting the teaching speed to 650mm/s and the STEP trial running program of the robot, increasing the running speed to 450 mm/s and 2000mm/s after the STEP running is normal, manually and continuously operating, and finally performing signal matching and automatically running; when the motion posture of the operation track changes obviously, a plurality of transition points are additionally arranged, so that the abrupt change of the angle motion of the welding gun is avoided.
4. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: in the step 5, the length of the welding wire is 8-12mm, and the oxidized part of the end of the welding wire is cut off before the welding wire is subjected to arc striking; when the welding starts, the end of the welding wire is aligned to the center of the welding seam, and the distance between the end of the welding wire and the center of the welding seam is kept to be 2-7 mm; the swing welding frequency is controlled to be 1.8-8.5 Hz; the arc length correction is carried out on the welding parameters of-15- +20, and the initial welding arc starting parameter is set to be 0-20; setting the molten drop separation correction welding parameter to be-5- +5, and setting the welding arc starting initial parameter to be-2-3; the welding material is a nickel-based solid welding wire.
5. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: setting the angle of the welding gun at the welding starting point position in the step 5, wherein the angle between the central axis of the welding gun and the horizontal direction is 35-50 degrees; the angle between the central axis of the welding gun and the vertical direction is set to be 2-15 degrees.
6. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: and in the step 5, the width of the welding seam is set to be 2.5-2.8 mm.
7. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: in the step 5, the stay time of the two sides of the swing welding is set to be 0.020-0.085s, and the stay time of the upper side and the lower side of the swing welding of the welding gun is set to be 0.020-0.085s under the action of gravity of liquid molten pool metal, so that undercutting is prevented from occurring on the pipe; the size of the two sides of the welding leg is set to be 6-35 mm.
8. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: the welding speed in the step 5 is set to be 3.5-12.5 mm/s.
9. The method for operating the nickel-based alloy welded vertical fixed tube socket of the industrial robot as claimed in claim 1, wherein: when the correction point is adjusted in the step 7, the weaves command is not used temporarily, the link straight Line Fine command is used for moving the mechanical arm to the welding accurate point, and when the SHIFT key is pressed, a new welding position is recorded, and then the weaves running command is recovered.
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| CN113894805A (en) * | 2021-09-27 | 2022-01-07 | 深圳市启玄科技有限公司 | Cooperative welding method, device, terminal and storage medium |
| CN113894805B (en) * | 2021-09-27 | 2023-01-03 | 深圳市启玄科技有限公司 | Cooperative welding method, device, terminal and storage medium |
| CN116245877A (en) * | 2023-05-08 | 2023-06-09 | 济南达宝文汽车设备工程有限公司 | Material frame detection method and system based on machine vision |
| CN116245877B (en) * | 2023-05-08 | 2023-11-03 | 济南达宝文汽车设备工程有限公司 | Material frame detection method and system based on machine vision |
| CN117182411A (en) * | 2023-10-26 | 2023-12-08 | 扬州博宏自动化设备有限公司 | Annular welding device for metal pipe |
| CN117182411B (en) * | 2023-10-26 | 2024-04-05 | 扬州博宏自动化设备有限公司 | Annular welding device for metal pipe |
| CN117444495A (en) * | 2023-12-26 | 2024-01-26 | 山西建筑工程集团有限公司 | Bridge expansion joint welding fixer with limiting function |
| CN117444495B (en) * | 2023-12-26 | 2024-03-12 | 山西建筑工程集团有限公司 | Bridge expansion joint welding fixer with limiting function |
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Application publication date: 20200908 |