CN103587114A - High-precision hot plate welding device and method - Google Patents
High-precision hot plate welding device and method Download PDFInfo
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Abstract
The invention relates to the technical field of hot plate welding, in particular to a high-precision hot plate welding device and a method. On one hand, the device and the method are added with a pressure sensor for monitoring a pressure value between a part to be welded and a main weldment in real time and regulating the control to a driving device according to the pressure value to realize that the driving device owns stable output pressure, and further record and calculate the pressure value to judge if the welding effect is qualified to guarantee the welding quality and improve the welding precision; and on the other hand, the device and the method adopt a displacement sensor to detect displacement values of a hot plate mechanical arm and a fixture mechanical arm, and calculate the displacement values to judge if a welded hot plate and a part fixture are in place and to judge the heating depth and the welding depth in the welding process, that is, the displacement sensor can be adopted to replace a depth sensor and a position sensor, so that the sensor dosage is effectively decreased, the cost is reduced, and the fault points are reduced.
Description
Technical field
The application relates to hot plate welding technical field, particularly a kind of high accuracy hot plate welding device and method.
Background technology
Hot plate welding is the welding means of often using in expanded material or plastic material processing process, its cardinal principle is to heat plastic part to be welded and the main weldment of plastics by a hot plate simultaneously, is melted up to a certain degree afterwards to remove heating plate and to make the main weldment of plastic part to be welded and plastics contact and exert pressure both are welded and fixed until both.Its general step is as follows: heating plate is placed between plastic part and the main weldment of plastics, plastic part and the main weldment of plastics are close to heating plate and make its fusing, after through one period of default heat time, the main weldment of plastic part and plastics separates to both sides, remove heating plate, by plastic part and the main weldment of plastics and be combined, through after certain weld interval and the depth of weld, complete whole welding process again.
In welding process, pressure is controlled and depth of weld control is of paramount importance factor, particularly pressure is controlled, for example, in heating process, if it is improper that pressure is controlled, possibly cannot make plastic part effectively melt so, further possibly cannot reach effective heat penetration, if heat penetration is inadequate, cannot make the main weldment of plastic part and plastics effectively be fixed together.In like manner, in welding process too.
In current hot plate welding, general drive unit is all to adopt air cylinder driven, therefore for effective controlled pressure is generally understood the Output pressure that adoption rate valve carrys out control cylinder, but, the control of comparative example valve is to rely on a set of default preset parameter to control, what this overlapped that in fact fixing parameter control is that the gas flow of cylinder is controlled, yet the output of the actual pressure of cylinder is relevant with several factors, for example in heating process plastic part thawing speed when very fast, the gas flow of proportional valve control is controlled still according to preset value, so at this moment, cylinder just fails to drive in time plastic part to be moved further the heat penetration that reaches darker, at this moment pressure just can decline, cause pressure transient.In the welding stage, this pressure transient will cause final welding to have serious problems, the slight crack causing such as pressure is excessive etc. especially.
On the other hand, in order effectively to detect the degree of depth of welding, generally all depth transducer can be set, whether in order guaranteeing, in the process of mobile heating plate and plastic part, can not misplace, generally also to need setting position sensor to detect in heating plate and plastic part moving process and put in place smoothly, this has just caused the senser element One's name is legion of equipment simultaneously, not only increased equipment cost, also cause equipment electrical structure complicated, increased trouble point, it is more complicated that control procedure also becomes.
Summary of the invention
The application's object is to avoid above-mentioned weak point of the prior art and a kind of welding process pressure stability is provided, and welding precision is high, cost is low and high accuracy hot plate welding device and the welding method of failure rate is low.
The application's object is achieved through the following technical solutions:
A kind of high accuracy hot plate welding device is provided, comprise mechanical system and control system, described mechanical system comprises drive unit and by the separately-driven hot plate mechanical arm of drive unit and fixture mechanical arm, described hot plate mechanical arm is fixed with welding hot plate, described fixture mechanical arm is fixed with part clamp, described control system comprises the first displacement transducer of real-time detection machine hot plate mechanical arm shift value, the second displacement sensor of Real-Time Monitoring fixture mechanical arm shift value, the pressure sensor of pressure between Real-Time Monitoring part to be welded and main weldment, and main control module, described main control module obtains respectively the first displacement signal that the first displacement transducer sends, the second shifting signal that second displacement sensor sends, the feedback signal that the pressure sensor signal that pressure sensor sends and drive unit send, and generate control signal with accessory drive according to these signals.
Wherein, described pressure sensor is arranged between fixture mechanical arm and part clamp, or is arranged at the front end of part clamp.
Wherein, described drive unit is for driving cylinder, and described driving cylinder is connected with proportioning valve, and described main control module obtains to drive the feedback signal of cylinder and transmit control signal controls described proportioning valve, to regulate the output of described driving cylinder.
Wherein, described mechanical system also comprises hot the first guide rail and the second guide rail, and described hot plate mechanical arm moves back and forth along described the first guide rail, and described fixture mechanical arm moves back and forth along described the second guide rail.
A kind of high accuracy hot plate welding method is also provided, comprises:
Heating positioning step: welding hot plate and part clamp are moved to respectively to the first default hot plate position and the first default chucking position according to default; ;
Heating steps: continue according to default mobile welding hot plate and part clamp, the shift value that now welds hot plate is recorded as to the original shift value of the first heating when pressure sensor senses pressure signal, the shift value of part clamp is recorded as the original shift value of the second heating and starts timing and adjust in real time the driving pressure output to welding hot plate and part clamp according to the pressure between part to be welded and main weldment, periodically records the heated pressure value between part to be welded and main weldment simultaneously;
Heating checking procedure: when timing finishes, the shift value that now welds hot plate is recorded as to the first heating and stops shift value, the shift value of part clamp is recorded as the second heating and stops shift value, according to the original shift value of the first heating and the first heating termination shift value, calculate the first heat penetration value, according to the original shift value of the second heating and the first heating termination shift value, calculate the second heat penetration value, according to the heated pressure value of record, calculate heated pressure mean value and heated pressure tolerance value again, judge respectively the first heat penetration value, the second heat penetration value, whether heated pressure mean value and heated pressure tolerance value be in preset range, if, enter next step,
Welding positioning step: according in advance welding hot plate and part clamp being moved back into original position, moving parts fixture is moved to the second predeterminated position;
Welding step: continue according to default moving parts fixture, the shift value of part clamp is now recorded as to the initial shift value of welding when pressure sensor senses pressure signal, start timing and adjust in real time the driving pressure output to welding hot plate and part clamp according to the pressure between part to be welded and main weldment, periodically record the welding pressure value between part to be welded and main weldment simultaneously;
Welding Testing step: now the shift value of part clamp is recorded as to welding when timing finishes and stops shift value, according to the initial shift value of welding and welding termination shift value, calculate depth of weld value, according to the welding pressure value of record, calculate welding pressure mean value and welding pressure tolerance value again, judge that respectively depth of weld value, welding pressure mean value and welding pressure tolerance value are whether in preset range, if so, complete welding.
Wherein, described heating positioning step and welding positioning step include anticollision step: whether moving parts fixture Real-Time Monitoring part clamp is under pressure, and if so, judges in part clamp moving process and bumps, and interrupts welding process.
Wherein, described heating positioning step comprises welding hot plate positioning step: along X-axis, move and weld hot plate and judge whether welding hot plate puts in place, if so, along y-axis shift is moving, welds hot plate and judge whether to put in place, if so, judgement welding hot plate arrives the first predeterminated position; Described welding positioning step comprises sweating heat sheet reset step: along y-axis shift moving welding hot plate and judge whether to put in place, if so, along X-axis, move welding hot plate and judge whether to put in place, if so, judging that hot plate gets back to original position.
Wherein, described welding step comprises that pressure controls step in real time: by the force value and the preset pressure value comparison that detect in real time, and whole accordingly the driving pressure of welding hot plate and part clamp is exported
The application's beneficial effect: the application provides a kind of high accuracy hot plate welding device and high accuracy hot plate welding method, on the one hand by setting up the force value between pressure sensor Real-Time Monitoring part to be welded and main weldment and adjusting accordingly the control to drive unit, thereby realize drive unit and have stable output pressure, further, also by force value being recorded to calculating, thereby judge that whether welding effect is qualified, further guaranteed welding quality, improve welding precision; The application adopts displacement transducer to detect the shift value of hot plate mechanical arm and fixture mechanical arm on the other hand, by both having judged that to the calculating of shift value welding hot plate and part clamp move, whether put in place, can judge again heat penetration and the depth of weld in welding process, adopting displacement transducer is alternative depth transducer and position sensor, effectively reduced number of sensors, not only save cost, also reduced trouble point.
Accompanying drawing explanation
Utilize accompanying drawing to be described further the application, but embodiment in accompanying drawing does not form any restriction to the application, for those of ordinary skill in the art, is not paying under the prerequisite of creative work, can also obtain according to the following drawings other accompanying drawing.
Fig. 1 is the structural representation of a kind of high accuracy hot plate welding device of the application.
Fig. 2 is the structural representation at another visual angle of a kind of high accuracy hot plate welding device of the application.
Fig. 3 is the electrical structure schematic diagram of a kind of high accuracy hot plate welding device of the application.
In Fig. 1 to Fig. 3, include:
1---hot plate mechanical arm, 2---fixture mechanical arm, 3---welding hot plate, 4---part clamp, 5---the first displacement transducer, 6---second displacement sensor, 7---pressure sensor, 8---main control module, 9---driving cylinder, 10---first guide rail, 11---the second guide rail.
The specific embodiment
With the following Examples the application is further described.
The specific embodiment of a kind of high accuracy hot plate welding device of the application, as shown in Figure 1 to Figure 3, comprising:
Mechanical system and control system, described mechanical system comprises drive unit and by the separately-driven hot plate mechanical arm 1 of drive unit and fixture mechanical arm 2, described hot plate mechanical arm 1 is fixed with welding hot plate 3, described fixture mechanical arm 2 is fixed with part clamp 4, described control system comprises the first displacement transducer 5 of real-time detection machine hot plate mechanical arm 1 shift value, the second displacement sensor 6 of Real-Time Monitoring fixture mechanical arm 2 shift values, the pressure sensor 7 of pressure between Real-Time Monitoring part to be welded and main weldment, and main control module 8, described main control module 8 obtains respectively the first displacement signal that the first displacement transducer 5 sends, the second shifting signal that second displacement sensor 6 sends, the feedback signal that the pressure sensor signal that pressure sensor 7 sends and drive unit send, and generate control signal accessory drive according to these signals.
In the present embodiment, described pressure sensor 7 is arranged between fixture mechanical arm 2 and part clamp 4, this mounting means is comparatively simple, stability is also higher, certainly in order to obtain data more accurately, this pressure sensor 7 also can be arranged at the front end of part clamp 4, as long as can effectively detect pressure between part to be welded and main weldment.
Described drive unit is for driving cylinder 9, and described driving cylinder 9 is connected with proportioning valve, and described main control module 8 obtains to drive the feedback signal of cylinder 9 and transmit control signal controls described proportioning valve, to regulate the output of described driving cylinder 9.Certainly, also can select other drive units such as motor as required.
Described mechanical system also comprises hot the first guide rail 10 and the second guide rail 11, and described hot plate mechanical arm 1 moves back and forth along described the first guide rail 10, and described fixture mechanical arm 2 moves back and forth along the second guide rail 11.
The step operation by the following method of above-mentioned hot plate welding device:
Steps A: drive welding hot plate 3 transverse shiftings and detect whether to move into place, if so, enter step B;
Step B: drive hot plate mechanical arm 1 to drive welding hot plate 3 to move down, detect displacement to judge mobile whether putting in place (this place puts in place and points to the certain position scope that reaches) by the first displacement transducer 5, if so, enter step C;
Step C: drive fixture mechanical arm 2 to drive part clamp 4 to move down, in moving process, by the real-time detection of pressure sensor 7, whether there is pressure signal, if, interrupt welding process, by second displacement sensor 6, detect displacement to judge mobile whether put in place (this place puts in place and points to the certain position scope that reaches), if so, enter step D;
Step D: continue moving parts fixture 4, detecting while there is pressure signal between part to be welded and main weldment, the shift value that now welds hot plate 3 is recorded as to the original shift value of the first heating, the shift value of part clamp 4 is recorded as the original shift value of the second heating and starts timing and adjust in real time the driving pressure output to welding hot plate 3 and part clamp 4 according to the pressure between part to be welded and main weldment, periodically records the heated pressure value between part to be welded and main weldment simultaneously;
Step e: when timing finishes, the shift value of the first displacement transducer 5 is now recorded as to the first heating and stops shift value, the shift value of second displacement sensor 6 is recorded as the second heating and stops shift value, according to the original shift value of the first heating and the first heating termination shift value, calculate the first heat penetration value, according to the original shift value of the second heating and the first heating termination shift value, calculate the second heat penetration value, according to the heated pressure value of record, calculate heated pressure mean value and heated pressure tolerance value again, judge respectively the first heat penetration value (heat penetrations of 3 pairs of main weldments of welding hot plate), the second heat penetration value (heat penetration of part to be welded on hot plate), whether heated pressure mean value and heated pressure tolerance value be in preset range, if, enter step F, wherein, described the first heat penetration value equals the first heating termination shift value and deducts the original shift value of the first heating, the second heat penetration value in like manner, all heated pressure value sums that heated pressure mean value equals to record in heating process are divided by recording number of times, and the maximum in all heated pressure values that described heated pressure tolerance value equals to record in all heating process deducts minimum of a value.
Step F: drive fixture mechanical arm 2 to drive part clamp 4 to move up, in moving process, whether detected pressures sensor 7 senses pressure signal in real time, if, interrupt welding process, by second displacement sensor 6, detect displacement to judge the mobile original position that whether arrives, if so, enter step G;
Step G: drive hot plate mechanical arm 1 to drive welding hot plate 3 to move up, detect displacement by the first displacement transducer 5 and move whether arrive original position, if so, enter step H to judge;
Step H: drive welding hot plate 3 transverse shiftings and detect whether move to original position, if so, entering step I;
Step I: drive fixture mechanical arm 2 to drive part clamp 4 to move down, in moving process, whether detected pressures sensor 7 senses pressure signal in real time, if, interrupt welding process, by second displacement sensor 6, detect displacement to judge mobile whether putting in place, if so, enter step J;
Step K: drive fixture mechanical arm 2 to drive part clamp 4 to move down, the shift value of part clamp 4 is now recorded as to the initial shift value of welding detecting while there is pressure signal between part to be welded and main weldment, start timing and adjust in real time the driving pressure output to welding hot plate 3 and part clamp 4 according to the pressure between part to be welded and main weldment, periodically record the welding pressure value between part to be welded and main weldment simultaneously;
Step L: now the shift value of part clamp 4 is recorded as to welding when timing finishes and stops shift value, according to the initial shift value of welding and welding termination shift value, calculate depth of weld value, according to the welding pressure value of record, calculate welding pressure mean value and welding pressure tolerance value again, judge that respectively depth of weld value, welding pressure mean value and welding pressure tolerance value are whether in preset range, if so, complete welding.
By above apparatus and method, on the one hand by setting up the force value between pressure sensor 7 Real-Time Monitoring part to be welded and main weldment and adjusting accordingly the control to drive unit, thereby realize drive unit and have stable output pressure, further, also by force value being recorded to calculating, thereby judge that whether welding effect is qualified, further guaranteed welding quality, improve welding precision; The application adopts displacement transducer to detect the shift value of hot plate mechanical arm 1 and fixture mechanical arm 2 on the other hand, by both having judged that to the calculating of shift value welding hot plate 3 and part clamp 4 move, whether put in place, can judge again heat penetration and the depth of weld in welding process, adopting displacement transducer is alternative depth transducer and position sensor, effectively reduced number of sensors, not only save cost, also reduced trouble point.
Finally should be noted that; above embodiment is only in order to illustrate the application's technical scheme; but not restriction to the application's protection domain; although the application has been done to explain with reference to preferred embodiment; those of ordinary skill in the art is to be understood that; can modify or be equal to replacement the application's technical scheme, and not depart from essence and the scope of present techniques scheme.
Claims (8)
1. a high accuracy hot plate welding device, it is characterized in that: comprise mechanical system and control system, described mechanical system comprises drive unit and by the separately-driven hot plate mechanical arm of drive unit and fixture mechanical arm, described hot plate mechanical arm is fixed with welding hot plate, described fixture mechanical arm is fixed with part clamp, described control system comprises the first displacement transducer of real-time detection hot plate mechanical arm shift value, the second displacement sensor of Real-Time Monitoring fixture mechanical arm shift value, the pressure sensor of pressure between Real-Time Monitoring part to be welded and main weldment, and main control module, described main control module obtains respectively the first displacement signal that the first displacement transducer sends, the second shifting signal that second displacement sensor sends, the feedback signal that the pressure sensor signal that pressure sensor sends and drive unit send, and generate control signal with accessory drive according to these signals.
2. a kind of high accuracy hot plate welding device as claimed in claim 1, is characterized in that: described pressure sensor is arranged between fixture mechanical arm and part clamp, or is arranged at the front end of part clamp.
3. a kind of high accuracy hot plate welding device as claimed in claim 1, it is characterized in that: described drive unit is for driving cylinder, described driving cylinder is connected with proportioning valve, described main control module obtains to drive the feedback signal of cylinder and transmit control signal controls described proportioning valve, to regulate the output of described driving cylinder.
4. a kind of high accuracy hot plate welding device as claimed in claim 1, it is characterized in that: described mechanical system also comprises the first guide rail and the second guide rail, described hot plate mechanical arm moves back and forth along described the first guide rail, and described fixture mechanical arm moves back and forth along described the second guide rail.
5. adopt the high accuracy hot plate welding method of the high accuracy hot plate welding device described in any one in claim 1 to 4, it is characterized in that, comprise the following steps:
Heating positioning step: welding hot plate and part clamp are moved to respectively to the first default hot plate position and the first default chucking position according to default;
Heating steps: continue according to default mobile welding hot plate and part clamp, the shift value that now welds hot plate is recorded as to the original shift value of the first heating when pressure sensor senses pressure signal, the shift value of part clamp is recorded as the original shift value of the second heating and starts timing and adjust in real time the driving pressure output to welding hot plate and part clamp according to the pressure between part to be welded and main weldment, periodically records the heated pressure value between part to be welded and main weldment simultaneously;
Heating checking procedure: when timing finishes, the shift value that now welds hot plate is recorded as to the first heating and stops shift value, the shift value of part clamp is recorded as the second heating and stops shift value, according to the original shift value of the first heating and the first heating termination shift value, calculate the first heat penetration value, according to the original shift value of the second heating and the first heating termination shift value, calculate the second heat penetration value, according to the heated pressure value of record, calculate heated pressure mean value and heated pressure tolerance value again, judge respectively the first heat penetration value, the second heat penetration value, whether heated pressure mean value and heated pressure tolerance value be in preset range, if, enter next step,
Welding positioning step: according in advance welding hot plate and part clamp being moved back into original position, moving parts fixture is moved to the second predeterminated position;
Welding step: continue according to default moving parts fixture, the shift value of part clamp is now recorded as to the initial shift value of welding when pressure sensor senses pressure signal, start timing and adjust in real time the driving pressure output to welding hot plate and part clamp according to the pressure between part to be welded and main weldment, periodically record the welding pressure value between part to be welded and main weldment simultaneously;
Welding Testing step: now the shift value of part clamp is recorded as to welding when timing finishes and stops shift value, according to the initial shift value of welding and welding termination shift value, calculate depth of weld value, according to the welding pressure value of record, calculate welding pressure mean value and welding pressure tolerance value again, judge that respectively depth of weld value, welding pressure mean value and welding pressure tolerance value are whether in preset range, if so, complete welding.
6. a kind of high accuracy hot plate welding method as claimed in claim 5, it is characterized in that described heating positioning step and welding positioning step include anticollision step: whether moving parts fixture Real-Time Monitoring part clamp is under pressure, if, judge in part clamp moving process and bump, interrupt welding process.
7. a kind of high accuracy hot plate welding method as claimed in claim 5, it is characterized in that described heating positioning step comprises welding hot plate positioning step: along X-axis, move welding hot plate and judge whether welding hot plate puts in place, if, along y-axis shift is moving, welds hot plate and judge whether to put in place, if so, judgement welding hot plate arrives the first predeterminated position; Described welding positioning step comprises sweating heat sheet reset step: along y-axis shift moving welding hot plate and judge whether to put in place, if so, along X-axis, move welding hot plate and judge whether to put in place, if so, judging that hot plate gets back to original position.
8. a kind of high accuracy hot plate welding method as claimed in claim 5, it is characterized in that described welding step comprises that pressure controls step in real time: by the force value and the preset pressure value comparison that detect in real time, and whole accordingly the driving pressure of welding hot plate and part clamp is exported.
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| CN201310598974.XA CN103587114B (en) | 2013-11-25 | 2013-11-25 | A kind of high accuracy hot plate welding device and method |
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| CN105625956A (en) * | 2014-10-31 | 2016-06-01 | 中国石油天然气股份有限公司 | Mechanical arm and control method thereof |
| CN107009635A (en) * | 2016-11-14 | 2017-08-04 | 马勒技术投资(中国）有限公司 | What a kind of use electric-heating-wire-heating was welded starts machine plastic member welding method and device |
| CN107971597A (en) * | 2018-01-15 | 2018-05-01 | 上海希日电子有限公司 | A kind of glass terminal welder and its welding method |
| CN109014472A (en) * | 2018-09-20 | 2018-12-18 | 深圳市金洲精工科技股份有限公司 | A kind of welder and welded gaps control method |
| CN109834358A (en) * | 2019-04-04 | 2019-06-04 | 台州市圣西亚金刚石设备有限公司 | Automatic brazing device and utilize automatic brazing device butt-welding fitting carry out method for welding |
| CN111204999A (en) * | 2020-01-17 | 2020-05-29 | 厦门慧源自动化科技有限公司 | Novel glass tongue piece welding system and method thereof |
| CN111940987A (en) * | 2019-05-16 | 2020-11-17 | 株式会社电装 | Sleeve welding device and method for producing electronic device |
| CN113305477A (en) * | 2021-06-17 | 2021-08-27 | 河北世昌汽车部件有限公司 | Method for controlling melting depth |
| CN115213542A (en) * | 2022-09-08 | 2022-10-21 | 中国核动力研究设计院 | Control method of vacuum diffusion welding equipment, vacuum diffusion welding equipment and storage medium |
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| CN100544942C (en) * | 2006-12-29 | 2009-09-30 | 煤炭科学研究总院重庆分院 | A kind of coal mine underground plastic conduit welding device |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105625956B (en) * | 2014-10-31 | 2017-10-17 | 中国石油天然气股份有限公司 | Mechanical arm and its control method |
| CN105625956A (en) * | 2014-10-31 | 2016-06-01 | 中国石油天然气股份有限公司 | Mechanical arm and control method thereof |
| CN107009635A (en) * | 2016-11-14 | 2017-08-04 | 马勒技术投资(中国）有限公司 | What a kind of use electric-heating-wire-heating was welded starts machine plastic member welding method and device |
| CN107971597A (en) * | 2018-01-15 | 2018-05-01 | 上海希日电子有限公司 | A kind of glass terminal welder and its welding method |
| CN109014472A (en) * | 2018-09-20 | 2018-12-18 | 深圳市金洲精工科技股份有限公司 | A kind of welder and welded gaps control method |
| CN109014472B (en) * | 2018-09-20 | 2024-01-19 | 深圳市金洲精工科技股份有限公司 | Welding device and welding gap control method |
| CN109834358A (en) * | 2019-04-04 | 2019-06-04 | 台州市圣西亚金刚石设备有限公司 | Automatic brazing device and utilize automatic brazing device butt-welding fitting carry out method for welding |
| CN111940987B (en) * | 2019-05-16 | 2023-11-24 | 株式会社电装 | Sleeve welding device and method for producing electronic device |
| CN111940987A (en) * | 2019-05-16 | 2020-11-17 | 株式会社电装 | Sleeve welding device and method for producing electronic device |
| CN111204999A (en) * | 2020-01-17 | 2020-05-29 | 厦门慧源自动化科技有限公司 | Novel glass tongue piece welding system and method thereof |
| CN113305477B (en) * | 2021-06-17 | 2022-06-24 | 河北世昌汽车部件有限公司 | Method for controlling melting depth |
| CN113305477A (en) * | 2021-06-17 | 2021-08-27 | 河北世昌汽车部件有限公司 | Method for controlling melting depth |
| CN115213542A (en) * | 2022-09-08 | 2022-10-21 | 中国核动力研究设计院 | Control method of vacuum diffusion welding equipment, vacuum diffusion welding equipment and storage medium |
| CN115213542B (en) * | 2022-09-08 | 2023-01-20 | 中国核动力研究设计院 | Control method of vacuum diffusion welding equipment, vacuum diffusion welding equipment and storage medium |
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