CN101327543A - Control method and system for terminal characteristics of CO2/MAG gas shielded welding power supply - Google Patents
Control method and system for terminal characteristics of CO2/MAG gas shielded welding power supply Download PDFInfo
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- CN101327543A CN101327543A CNA200710143686XA CN200710143686A CN101327543A CN 101327543 A CN101327543 A CN 101327543A CN A200710143686X A CNA200710143686X A CN A200710143686XA CN 200710143686 A CN200710143686 A CN 200710143686A CN 101327543 A CN101327543 A CN 101327543A
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Abstract
The invention provides an output characteristics control system of an electrical source of CO2/MAG gas shielded arc welding and a method thereof. The preset voltage output by a preset voltage treatment device and the feedback voltage output by a voltage feedback treatment device are amplified by a voltage regulator according to the proportional integration; the welding voltage in the process of welding short circuit transfer is extracted by a short circuit current control device according to the feedback voltage output by a voltage feedback treatment device, and the welding voltage is converted into differential signals, and then differential signals of different amplitudes according to the amplitudes of the welding current preset in the welding process; the signals output by the first voltage regulator and the signals output by the short circuit current control device are amplified by a second voltage regulator according to a proportion, and are output to an inverter electrical source device. The invention is capable of performing real-time control of the output characteristics of the arc welding electrical source, reducing splashing in the process of short circuit transfer in welding CO2/MAG, and improving the forming of welding seams.
Description
Technical field
The present invention relates to Control Welding Process, relate in particular to the output characteristic controlling method and the system of contravariant CO2/MAG gas shield welding power supply.
Background technology
Contravariant CO2/MAG gas shielded arc welding is used widely owing to energy-efficient, but for the bigger practical problem of its spatter, people are seeking corrective measure always.Be the method for using always wherein by in welding equipment, welding arc and droplet transfer being controlled.Prior art is embodied in following several respects usually:
1. employing electronic inductor
In the output characteristics control circuit, electronic inductor is set, has certain effect, help reducing spatter for limiting short-circuit current climbing and limiting short-circuit current peak value.But the size of electronic inductor need be adjusted according to the size of welding current when welding at any time, is restricted in actual applications.
2. pulsed wire feeding control
Pulsed wire feeding control is meant in arcing and begins to quicken wire feed mid-term that make molten drop obtain the kinetic energy of preshoot, the wire feed that slows down subsequently stops wire feed after short circuit.The short circuiting transfer frequency of this method is decided by the pulsed wire feeding frequency, thereby the control of short circuit transition is had certain effect, helps preventing that droplet size is excessive, guarantees appearance of weld.But the dynamic response of pulsed wire feeding system is poor, so the frequency of short circuiting transfer is restricted, the complex structure of pulsed wire feeding system simultaneously, and durability and reliability are difficult to guarantee.
3. welding current waveform control
Welding current waveform control is to export different electric currents and control its rate of change in the different phase of droplet transfer, with the purpose that realizes reducing spatter and improve shaping.Realize such control, often need very high microprocessor of complicated hardware circuit and software, arithmetic speed and the very big memory of capacity, thereby make that cost height, the competitiveness of product are low.
Summary of the invention
The objective of the invention is to propose a kind of output characteristic controlling method and system of contravariant CO2/MAG gas shield welding power supply.The real-time output external characteristic of control Arc Welding Power, thus splashing and improving appearance of weld of short circuit transition in the CO2/MAG welding process reduced.
For achieving the above object; the present invention proposes a kind of output characteristics control system of CO2/MAG gas shield welding power supply; comprise: voltage given treating apparatus, voltage feedback processing device, first voltage regulating device, second voltage regulating device, short circuit current control device and inverter power supply device; wherein
Described first voltage regulating device is used for the output voltage of described voltage given treating apparatus and the feedback voltage of described voltage feedback processing device output are carried out the proportional integral amplification, and outputs to described second voltage regulating device;
Described short circuit current control device is used for when the solder shorts transition, according to the size of the welding current that sets, outputs to described second voltage regulating device behind the output voltage process differential with described voltage feedback processing device;
Described second voltage regulating device is used for the output voltage of described first voltage regulating device and the output voltage of described short circuit current control device are carried out the ratio amplification, and outputs to described inverter power supply device.
Further, the output characteristics control system of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics, described short circuit current control device further comprises short circuiting transfer voltage recognition device, derivator and the ratio control device that links to each other successively, described short circuiting transfer voltage recognition device is used for feedback voltage according to the output of described voltage feedback processing device and extracts weldingvoltage when characterizing the solder shorts transition; Described derivator, the voltage after being used for described weldingvoltage carried out differential and export differential; Described ratio control device, the size of the welding current that sets when being used for according to welding is with voltage scale dividing potential drop behind the described differential and output.
Further; the output characteristics control system of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics; described short circuiting transfer voltage recognition device; comprise operational amplifier IC25B; resistance R 191; R192; R193; resistance R 228 and capacitor C 119; one end of resistance R 191; one end of resistance R 228 is as input; link to each other with the output of voltage feedback processing device simultaneously; described resistance R 191 other ends link to each other with the end of oppisite phase of operational amplifier IC25B; one end of resistance R 192; the other end of R228; the end of C119; the end of R193 and the positive terminal of operational amplifier IC25B are connected in a bit; another termination power of R192; the other end of C119 and the other end of R193 are connected in one point union ground connection simultaneously; the output of operational amplifier IC25B outputs to derivator as the output of short circuiting transfer voltage recognition device with voltage.
Further; the output characteristics control system of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics; described derivator comprises capacitor C 116; resistance R 194; diode D28; voltage-stabiliser tube ZD9; potentiometer VRX; described resistance R 194 links to each other as the output of input with operational amplifier IC25B; the output of resistance R 194 links to each other with the end of voltage-stabiliser tube ZD9; and be connected in an end of capacitor C 116 simultaneously; the other end of capacitor C 116 and diode D28; an end and the center-side of potentiometer VRX intersect at a point; and this output as derivator links to each other voltage-stabiliser tube ZD9 with ratio control device; the equal ground connection of the other end of diode D28 and potentiometer VRX.
Further; the output characteristics control system of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics; ratio control device comprises diode D26; capacitor C 117; resistance R 182; R196; R207; R209; R210; operational amplifier IC25C; potentiometer VRY; the output of derivator links to each other with resistance R 196 successively with diode D26; resistance R 196 other ends; one end of resistance R 182; one end of the end of potentiometer VRY and center-side and capacitor C 117 intersects at a point; the other end of resistance R 182 and resistance R 209 intersect; and be connected in the end of oppisite phase of operational amplifier IC25C simultaneously; the other end of the output of operational amplifier IC25C and resistance R 209; one end of resistance R 207 intersects a bit; the positive terminal of operational amplifier IC25C is by resistance R 210 ground connection; the other end of potentiometer VRY and capacitor C 117 is also distinguished ground connection, and the other end of resistance R 207 links to each other with second voltage regulating device as output.
Further; the output characteristics control system of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics; first voltage regulating device; comprise operational amplifier IC25D; capacitor C 67; resistance R 204; R205; R206; R208; R180; R181; R501; R502 and voltage-stabiliser tube ZD5; wherein; resistance R 501; R502; R205; the end of R206 and the end of oppisite phase of operational amplifier IC25D are connected in a bit; the positive terminal of operational amplifier IC25D is by R204 ground connection; the output of IC25D and the other end of R206; the end of R208; the end of C67 and the end of voltage-stabiliser tube ZD5 are connected in a bit; the other end of R501 is as input; link to each other with the output of voltage given treating apparatus; the other end of R502 links to each other with the output of voltage feedback processing device; the other end of R205; the other end of C67 and the other end of ZD5 are connected in a bit; the other end of R208; the end of R180 and R181 is connected in a bit; the other end ground connection of R180, the other end of R181 links to each other with second voltage regulating device as the output of first voltage regulating device.
Further, the output characteristics control system of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics, and described potentiometer VRX adopts digital regulation resistance or mechanical type potentiometer.
Further, the output characteristics control system of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics, and described potentiometer VRY adopts digital regulation resistance or mechanical type potentiometer.
For achieving the above object; the present invention proposes a kind of output characteristic controlling method of CO2/MAG gas shield welding power supply; be applied to CO2/MAG gas shield welding output characteristic of power source control system; described system comprises voltage given treating apparatus, voltage feedback processing device, first voltage regulating device, second voltage regulating device, short circuit current control device and inverter power supply device, may further comprise the steps:
(1) first voltage regulating device carries out the proportional integral amplification with the given voltage of voltage given treating apparatus output and the feedback voltage of voltage feedback processing device output;
(2) the short circuit current control device is according to the feedback voltage of voltage feedback processing device output, weldingvoltage when extracting the solder shorts transition, it is processed into differential signal, and the size of the welding current that the time sets according to welding is exported the differential signal of different amplitudes;
(3) second voltage regulating devices carry out the output signal of first voltage regulating device and the output signal of short circuit current control device ratio and amplify, and output to inverter power supply device.
Further, the output characteristic controlling method of above-mentioned CO2/MAG gas shield welding power supply also can have following characteristics, short circuit current control device described in the step (2) further comprises short circuiting transfer voltage recognition device, derivator and the ratio control device that links to each other successively, carries out following steps: the feedback voltage that (21) described short circuiting transfer voltage recognition device is exported according to described voltage feedback processing device extracts the weldingvoltage when characterizing the solder shorts transition; (22) voltage after described derivator carries out described weldingvoltage differential and exports differential; The size of the welding current that sets when (23) described ratio control device is according to welding is with voltage scale dividing potential drop behind the described differential and output.
The present invention is by detecting the short-circuit condition in the CO2/MAG welding process, control the output external characteristic of Arc Welding Power in real time, short circuit current climbing and peak value of short when suppressing the solder shorts transition, thus effectively reduce short circuit transition in the CO2/MAG welding process splash, improve appearance of weld, stabilized welding process.
Description of drawings
Accompanying drawing 2 is structural representations of short circuit current control device in the embodiment of the invention;
Accompanying drawing 3 is voltage oscillograms of short circuit current control device in the embodiment of the invention;
Accompanying drawing 4 is CO2/MAG gas shield welding output characteristic of power source control system schematic diagrams in the embodiment of the invention;
Accompanying drawing 5 is CO2/MAG gas shield welding output characteristic of power source control method flow charts in the embodiment of the invention.
The specific embodiment
The present invention is described in detail below in conjunction with drawings and Examples.
As shown in Figure 1; a kind of CO2/MAG gas shield welding output characteristic of power source control system; comprise: voltage given treating apparatus 101, voltage feedback processing device 103, first voltage regulating device 105, second voltage regulating device 109, short circuit current control device 107, inverter power supply device 111; wherein
Described voltage given treating apparatus 101 is used for the given signal of weldingvoltage is outputed to first voltage regulating device 105;
Described voltage feedback processing device 103 is used for the output voltage of inverter power supply device 111 is fed to first voltage regulating device 105 and short circuit current control device 107;
Described first voltage regulating device 105 is used for the output voltage of voltage given treating apparatus 101 and the feedback voltage U1 of voltage feedback processing device 103 outputs are carried out the proportional integral amplification, and outputs to second voltage regulating device 109;
Described short circuit current control device 107 is used for when the solder shorts transition, according to the size of the welding current that sets, outputs to second voltage regulating device 109 behind the voltage process differential with 103 outputs of voltage feedback processing device;
Described second voltage regulating device 109 is used for the output voltage of first voltage regulating device 105 and the output voltage U 4 of short circuit current control device 107 are carried out the ratio amplification, and outputs to inverter power supply device 111, to drive inverter power supply device 111;
Described inverter power supply device 111 is used for the output voltage of output arc welding power supply.
As shown in Figure 2, described short circuit current control device 107 further comprises short circuiting transfer voltage recognition device 1071, derivator 1073 and the ratio control device 1075 that links to each other successively.Wherein,
Described short circuiting transfer voltage recognition device 1071 is used for extracting weldingvoltage U2 when characterizing the solder shorts transition according to feedback voltage U1;
Described derivator 1073, the voltage U 3 after being used for U2 carried out differential and export differential;
Described ratio control device 1075 is used for the size of the welding current that the time sets according to welding, with voltage U 3 by the proper proportion dividing potential drop and export voltage after partial U4.
The voltage oscillogram of described short circuit current control device 107 as shown in Figure 3.When as shown in the figure waveform of voltage feedback processing device 103 output, voltage when short circuiting transfer voltage recognition device 1071 extracts short circuit, and carry out differential by 1073 pairs of these voltages of derivator, press the proper proportion dividing potential drop by ratio control device 1075 more afterwards, come limiting short-circuit current climbing and peak value of short with this.Thereby reach the purpose of stable control short circuit current.
In respective instance, as shown in Figure 4, wherein,
First voltage regulating device 105 comprises operational amplifier IC25D, capacitor C 67, resistance R 204, R205, R206, R208, R180, R181, R501, R502 and voltage-stabiliser tube ZD5.
Resistance R 501, R502, R205, the end of R206 and the end of oppisite phase of operational amplifier IC25D are connected in a bit, the positive terminal of operational amplifier IC25D is by R204 ground connection, the output of IC25D and the other end of R206, the end of R208, the end of C67 and the end of voltage-stabiliser tube ZD5 are connected in a bit, the other end of R501 is as input, link to each other with the output of voltage given treating apparatus, the other end of R502 links to each other with the output of voltage feedback processing device, the other end of R205, the other end of C67 and the other end of ZD5 are connected in a bit, the other end of R208, the end of R180 and R181 is connected in a bit, the other end ground connection of R180, the other end of R181 links to each other with second voltage regulating device as the output of first voltage regulating device;
Short circuiting transfer voltage recognition device 1071 comprises operational amplifier IC25B, resistance R 191, R192, R193, resistance R 228 and capacitor C 119.One end of resistance R 191, an end of resistance R 228 are as input, link to each other with the output of voltage feedback processing device 103 simultaneously, described resistance R 191 other ends link to each other with the end of oppisite phase of operational amplifier IC25B, the end of one end of resistance R 192, the other end of R228, C119, the end of R193 and the positive terminal of operational amplifier IC25B are connected in a bit, another termination power of R192, the other end of C119 and the other end of R193 are connected in one point union ground connection simultaneously.The output of operational amplifier IC25B outputs to derivator 1073 as the output of short circuiting transfer voltage recognition device 1071 with voltage;
Wherein, above-mentioned potentiometer VRX and potentiometer VRY adopt digital regulation resistance or mechanical type potentiometer, can adjust according to the size of the welding current that sets, and output voltage after partial signal.
Second voltage regulating device 109 comprises operational amplifier IC24D, resistance R 183, R185, R186, potentiometer VR15.The output of short circuit current control device links to each other with the end of oppisite phase of IC24D and the end of R186 simultaneously, the positive terminal of IC24D connects R185, the end of the other end of R185 and R183, and the end of potentiometer VR15 and center-side are connected in a bit, another termination power of R183, the other end ground connection of potentiometer VR15, the output of IC24D and the other end of R186 are connected in a bit, and output to inverter power supply device.
According to said system, a kind of CO2/MAG gas shield welding output characteristic of power source control method is proposed, as shown in Figure 5, may further comprise the steps:
S110, first voltage regulating device 105 carries out the proportional integral amplification with the given voltage of voltage given treating apparatus 101 outputs and the feedback voltage of voltage feedback processing device 103 outputs;
S120, short circuit current control device 107 is according to the feedback voltage of voltage feedback processing device 103 outputs, weldingvoltage when extracting the solder shorts transition is processed into differential signal with it, and the size of the welding current that sets during according to welding is exported the differential signal of different amplitudes;
S130, second voltage regulating device 109 carry out the output signal of first voltage regulating device 105 and the output signal of short circuit current control device 107 ratio and amplify, and output to inverter power supply device 111.
Should be noted that description of the invention is for for the purpose of the example, and be not limited to the described situation of this specification.For those skilled in the art, can be out of shape accordingly according to described embodiment.
Claims (10)
1.CO2/MAG gas shield welding output characteristic of power source control system comprises: voltage given treating apparatus, voltage feedback processing device, first voltage regulating device, second voltage regulating device, short circuit current control device and inverter power supply device, wherein,
Described first voltage regulating device is used for the output voltage of described voltage given treating apparatus and the feedback voltage of described voltage feedback processing device output are carried out the proportional integral amplification, and outputs to described second voltage regulating device;
Described short circuit current control device is used for when the solder shorts transition, according to the size of the welding current that sets, outputs to described second voltage regulating device behind the output voltage process differential with described voltage feedback processing device;
Described second voltage regulating device is used for the output voltage of described first voltage regulating device and the output voltage of described short circuit current control device are carried out the ratio amplification, and outputs to described inverter power supply device.
2. CO2/MAG gas shield welding output characteristic of power source control system according to claim 1, described short circuit current control device further comprise short circuiting transfer voltage recognition device, derivator and the ratio control device that links to each other successively,
Described short circuiting transfer voltage recognition device is used for feedback voltage according to the output of described voltage feedback processing device and extracts weldingvoltage when characterizing the solder shorts transition;
Described derivator, the voltage after being used for described weldingvoltage carried out differential and export differential;
Described ratio control device, the size of the welding current that sets when being used for according to welding is with voltage scale dividing potential drop behind the described differential and output.
3. CO2/MAG gas shield welding output characteristic of power source control system according to claim 2; described short circuiting transfer voltage recognition device; comprise operational amplifier IC25B; resistance R 191; R192; R193; resistance R 228 and capacitor C 119; one end of resistance R 191; one end of resistance R 228 is as input; link to each other with the output of voltage feedback processing device simultaneously; described resistance R 191 other ends link to each other with the end of oppisite phase of operational amplifier IC25B; one end of resistance R 192; the other end of R228; the end of C119; the end of R193 and the positive terminal of operational amplifier IC25B are connected in a bit; another termination power of R192; the other end of C119 and the other end of R193 are connected in one point union ground connection simultaneously; the output of operational amplifier IC25B outputs to derivator as the output of short circuiting transfer voltage recognition device with voltage.
4. CO2/MAG gas shield welding output characteristic of power source control system according to claim 2; described derivator comprises capacitor C 116; resistance R 194; diode D28; voltage-stabiliser tube ZD9; potentiometer VRX; described resistance R 194 links to each other as the output of input with operational amplifier IC25B; the output of resistance R 194 links to each other with the end of voltage-stabiliser tube ZD9; and be connected in an end of capacitor C 116 simultaneously; the other end of capacitor C 116 and diode D28; an end and the center-side of potentiometer VRX intersect at a point; and this output as derivator links to each other voltage-stabiliser tube ZD9 with ratio control device; the equal ground connection of the other end of diode D28 and potentiometer VRX.
5. CO2/MAG gas shield welding output characteristic of power source control system according to claim 2; ratio control device comprises diode D26; capacitor C 117; resistance R 182; R196; R207; R209; R210; operational amplifier IC25C; potentiometer VRY; the output of derivator links to each other with resistance R 196 successively with diode D26; resistance R 196 other ends; one end of resistance R 182; one end of the end of potentiometer VRY and center-side and capacitor C 117 intersects at a point; the other end of resistance R 182 and resistance R 209 intersect; and be connected in the end of oppisite phase of operational amplifier IC25C simultaneously; the other end of the output of operational amplifier IC25C and resistance R 209; one end of resistance R 207 intersects a bit; the positive terminal of operational amplifier IC25C is by resistance R 210 ground connection; the other end of potentiometer VRY and capacitor C 117 is also distinguished ground connection, and the other end of resistance R 207 links to each other with second voltage regulating device as output.
6. CO2/MAG gas shield welding output characteristic of power source control system according to claim 1; first voltage regulating device; comprise operational amplifier IC25D; capacitor C 67; resistance R 204; R205; R206; R208; R180; R181; R501; R502 and voltage-stabiliser tube ZD5; wherein; resistance R 501; R502; R205; the end of R206 and the end of oppisite phase of operational amplifier IC25D are connected in a bit; the positive terminal of operational amplifier IC25D is by R204 ground connection; the output of IC25D and the other end of R206; the end of R208; the end of C67 and the end of voltage-stabiliser tube ZD5 are connected in a bit; the other end of R501 is as input; link to each other with the output of voltage given treating apparatus; the other end of R502 links to each other with the output of voltage feedback processing device; the other end of R205; the other end of C67 and the other end of ZD5 are connected in a bit; the other end of R208; the end of R180 and R181 is connected in a bit; the other end ground connection of R180, the other end of R181 links to each other with second voltage regulating device as the output of first voltage regulating device.
7. CO2/MAG gas shield welding output characteristic of power source control system according to claim 4, described potentiometer VRX adopts digital regulation resistance or mechanical type potentiometer.
8. CO2/MAG gas shield welding output characteristic of power source control system according to claim 5, described potentiometer VRY adopts digital regulation resistance or mechanical type potentiometer.
9.CO2/MAG gas shield welding output characteristic of power source control method; be applied to CO2/MAG gas shield welding output characteristic of power source control system; described system comprises voltage given treating apparatus, voltage feedback processing device, first voltage regulating device, second voltage regulating device, short circuit current control device and inverter power supply device, may further comprise the steps:
(1) first voltage regulating device carries out the proportional integral amplification with the given voltage of voltage given treating apparatus output and the feedback voltage of voltage feedback processing device output;
(2) the short circuit current control device is according to the feedback voltage of voltage feedback processing device output, weldingvoltage when extracting the solder shorts transition, it is processed into differential signal, and the size of the welding current that the time sets according to welding is exported the differential signal of different amplitudes;
(3) second voltage regulating devices carry out the output signal of first voltage regulating device and the output signal of short circuit current control device ratio and amplify, and output to inverter power supply device.
10. the lonely weldering of CO2/MAG gas shield according to claim 8 output characteristic of power source control method; short circuit current control device described in the step (2) further comprises short circuiting transfer voltage recognition device, derivator and the ratio control device that links to each other successively, carries out following steps:
(21) described short circuiting transfer voltage recognition device extracts weldingvoltage when characterizing the solder shorts transition according to the feedback voltage of described voltage feedback processing device output;
(22) voltage after described derivator carries out described weldingvoltage differential and exports differential;
The size of the welding current that sets when (23) described ratio control device is according to welding is with voltage scale dividing potential drop behind the described differential and output.
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| CN200710143686XA CN101327543B (en) | 2007-06-18 | 2007-08-17 | Control method and system for terminal characteristics of CO2/MAG gas shielded welding power supply |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102773586A (en) * | 2012-07-26 | 2012-11-14 | 天津大学 | Method for determining welding process quality of pulse electric-arc welding |
| CN105215512A (en) * | 2015-11-03 | 2016-01-06 | 成都埃森普特科技股份有限公司 | The incremental detection method of short circuiting transfer in consumable electrode welding process |
| CN111992850A (en) * | 2020-08-28 | 2020-11-27 | 北京博清科技有限公司 | Welding control equipment and welding system |
| CN112171021A (en) * | 2020-08-21 | 2021-01-05 | 哈焊国创(青岛)焊接工程创新中心有限公司 | Self-adaptive MAG welding method for joint point-fixed weld joint |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1186161C (en) * | 2002-06-27 | 2005-01-26 | 上海交通大学 | Arc stricking method for metal gas arc welding |
| CN2827606Y (en) * | 2005-01-06 | 2006-10-18 | 唐山松下产业机器有限公司 | Multi-welding standard control circuit |
| CN201102119Y (en) * | 2007-06-18 | 2008-08-20 | 唐山松下产业机器有限公司 | Output characteristic controlling equipment for CO2//MAG gas shield welding electric power |
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2007
- 2007-08-17 CN CN200710143686XA patent/CN101327543B/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773586A (en) * | 2012-07-26 | 2012-11-14 | 天津大学 | Method for determining welding process quality of pulse electric-arc welding |
| CN105215512A (en) * | 2015-11-03 | 2016-01-06 | 成都埃森普特科技股份有限公司 | The incremental detection method of short circuiting transfer in consumable electrode welding process |
| CN112171021A (en) * | 2020-08-21 | 2021-01-05 | 哈焊国创(青岛)焊接工程创新中心有限公司 | Self-adaptive MAG welding method for joint point-fixed weld joint |
| CN111992850A (en) * | 2020-08-28 | 2020-11-27 | 北京博清科技有限公司 | Welding control equipment and welding system |
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