CN109047990A - The control method of consumable electrode gas shield welding contacting ignition arc - Google Patents
The control method of consumable electrode gas shield welding contacting ignition arc Download PDFInfo
- Publication number
- CN109047990A CN109047990A CN201811230359.2A CN201811230359A CN109047990A CN 109047990 A CN109047990 A CN 109047990A CN 201811230359 A CN201811230359 A CN 201811230359A CN 109047990 A CN109047990 A CN 109047990A
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- China
- Prior art keywords
- striking
- arc
- welding
- wire feed
- consumable electrode
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Classifications
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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
- B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
- B23K9/067—Starting the arc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
Abstract
This disclosure relates to metal arc welding field, a kind of control method of consumable electrode gas shield welding contacting ignition arc is provided, wherein contacting ignition arc is improper striking caused by first contact with workpiece before closing arc welding gun switch due to welding wire, the control method includes: to judge that the striking of consumable electrode gas shield welding is normal striking or contacting ignition arc after closing arc welding gun switch and before wire feeding motor rotation；If it is determined that being contacting ignition arc, then after having feedback current detection, remains stationary wire feeding motor and make a scheduled delay；And after the scheduled delay, so that wire feeding motor is started wire feed and act and wire feed rate is promoted to a predetermined wire feed rate value.The control method of the consumable electrode gas shield welding contacting ignition arc of the disclosure can determine whether contacting ignition arc before entering the slow wire feed stage, detect promptly and accurately, high reliablity.Meanwhile without readjusting striking parameter, the time is saved, can be improved the success rate and reliability of striking.
Description
Technical field
This disclosure relates to metal arc welding field, in particular to a kind of control of consumable electrode gas shield welding contacting ignition arc
Method processed.
Background technique
With the development of welding technology, it is more and more answered to improve the consumable electrodes gas shield weldings such as production efficiency, such as MAG weldering
For in actual welding operation, wherein MAG (Metal Active Gas Arc Welding) weldering to be that consumable electrode active gases is protected
The English abbreviation of arc welding is protected, it is that a small amount of oxidizing gas (oxygen, carbon dioxide or its gaseous mixture are added in argon gas
Body) a kind of mixed gas arc welding for mixing.China the most commonly used is the mixed gas of 80%Ar+20% carbon dioxide, by
The large percentage that argon gas accounts in mixed gas, therefore frequently referred to argon-rich mixed gas is welded.
The welding process of melting pole gas shielded arc welding can be by solder technologist's manual welding or by certainly
Dynamic welding equipment is completed.When normal weld, usual welding wire has a distance apart from base material, closes arc welding gun switch, by one section
Slower wire feed process, welding wire touch base material, at this time arc ignition, start weld job.This process description are as follows: close welding gun
Protective gas is sent in switch, air valve unlatching, out floating voltage, through slow wire feed process, welding wire contact workpiece, arc ignition, wire feed electricity
Machine acceleration turns to setting wire feed rate, into main weldering termination process.The waveform diagram of normal striking can refer to Fig. 1.
Fig. 1 is normal, and striking waveform diagram is described as follows:
The 0A stage are as follows: arc welding gun switch closure, through preflow, floating voltage out.
The AB stage are as follows: the slow wire feed of motor is by welding wire feeding workpiece.
The BC stage are as follows: welding wire contact workpiece, arc ignition.
The CD stage are as follows: wire feeding motor accelerates to turn to the wire feed rate value of setting.
C ' D ' the stage: dotted portion, during wire feed climbing, matched wire feed energy.
C ' point, the source of welding current matched waveform parameter, after postponing C ' the C time, wire feeding motor starts to act.
In actual production process, due to mission requirements, it is pressed for time or it is limited to workpiece size, welding position is such as
The difference of the welding gimmick of slab bevel, the lesser situation of bevel angle or welding operator.In welding, inevitably send out
Raw welding wire elder generation contact workpiece, then closes arc welding gun switch, carries out weld job, has some setbacks at this time since contact can generate striking,
Occur it is very big splashing or welding wire by burn it is red do not formed but molten bath or welding wire snapped striking again the case where, cause
Failure welding during striking forms underproof weld seam, affects the welding quality of product.The waveform matters figure of contacting ignition arc,
It can refer to Fig. 2.
Fig. 2 contacting ignition arc waveform diagram is described as follows:
The wire feed timing explanation of Fig. 2 is consistent with Fig. 1, and distinctive points are as follows:
In the 0A stage, arc welding gun switch is closed, existing current detecting generates electric arc.
According to normal striking timing, energy match and practical wire feed rate generate biggish deviation, cause striking bad,
Generate welding defect.
Figure it is seen that motor has begun rotation, at this time when being in the slow wire feed stage in AB stage and wire feed
There is electric current detection, but do not match the waveform parameter of welding, has caused wire feed but without matching energy, until wire feed rate
Into ramp up, just start to match a lesser energy.In this case there may be 3 kinds of situations: 1, generating huge
Spatter.2, welding wire, which is burnt, red does not form electric arc but.3, energy is low, and welding wire breaks, and motor continues wire feed, and welding wire contacts work
After part, striking again.This in 3 the initial stage welding striking of situation all good fortune have some setbacks, cause welding defect.
Therefore, the control method for designing a kind of new consumable electrode gas shield welding contacting ignition arc is that technology urgently to be resolved at present is asked
Topic.
Above- mentioned information are only used for reinforcing the understanding to the background of the disclosure, therefore it disclosed in the background technology part
It may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
A kind of control method for being designed to provide consumable electrode gas shield welding contacting ignition arc of the disclosure, and then solve contact and draw
Arc generates larger splashing, causes striking bad or is unable to the problem of welding defect occurs for striking, without readjusting striking parameter,
The time can be saved, the success rate and reliability of striking are improved.
Other characteristics and advantages of the disclosure will be apparent from by the following detailed description, or partially by this public affairs
The practice opened and acquistion.
According to an embodiment of the disclosure, a kind of control method of consumable electrode gas shield welding contacting ignition arc is disclosed, wherein connecing
Touching striking is improper striking, the control method caused by first contact with workpiece before closing arc welding gun switch due to welding wire
Include:
After closing arc welding gun switch and before wire feeding motor rotation, judge that the striking of consumable electrode gas shield welding is normal striking
Or contacting ignition arc；
If it is determined that being contacting ignition arc, then after having feedback current detection, remaining stationary wire feeding motor, work one is predetermined to be prolonged
The slow time；And
After the scheduled delay, wire feeding motor is made to start wire feed movement and wire feed rate is promoted to one predetermined to send
Silk velocity amplitude.
In a kind of illustrative embodiments of the disclosure, the control method further include: if it is normal striking, then into
The normal consumable electrode gas shield welding process of row.
According to an embodiment of the disclosure, it is described after closing arc welding gun switch and wire feeding motor rotation before, judgement
The striking of consumable electrode gas shield welding is normal striking or contacting ignition arc includes: the predetermined detection time after closing arc welding gun switch
It is interior, the voltage of actual feedback and the deviation of floating voltage are detected, if deviation is not more than a scheduled voltage, judgement is normal
Striking, otherwise judgement is contacting ignition arc.
According to an embodiment of the disclosure, the predetermined detection time is 1.1-1.5ms；The scheduled voltage is 4-
6V。
According to an embodiment of the disclosure, the predetermined detection time is 1.3ms；The scheduled voltage is 5V.
According to an embodiment of the disclosure, it is described after closing arc welding gun switch and wire feeding motor rotation before, judgement
The striking of consumable electrode gas shield welding is normal striking or contacting ignition arc includes: the predetermined detection time after closing arc welding gun switch
It is interior, the electric current of actual feedback is detected, if being not more than a predetermined current value, judgement is normal striking, and otherwise judgement is contact
Striking.
According to an embodiment of the disclosure, the predetermined detection time is 1.1-1.5ms；The predetermined current value is 9-
11A。
According to an embodiment of the disclosure, the predetermined detection time is 1.3ms；The predetermined current value is 10A.
According to an embodiment of the disclosure, the terminal of the scheduled delay and normal consumable electrode gas shield welding process
In the slow wire feed stage terminal it is identical.
According to the method for some illustrative embodiments of the disclosure, can determine whether to connect before entering the slow wire feed stage
Striking is touched, is detected promptly and accurately, high reliablity.
According to the control method of some illustrative embodiments of the disclosure, without readjusting striking parameter, when saving
Between, it can be improved the success rate and reliability of striking.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
Its example embodiment is described in detail by referring to accompanying drawing, above and other target, feature and the advantage of the disclosure will
It becomes more fully apparent.
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.It should be evident that the accompanying drawings in the following description is only the disclosure
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 shows normal striking waveform diagram.
Fig. 2 shows contacting ignition arc waveform diagrams.
Fig. 3 shows the process of the control method of the consumable electrode gas shield welding contacting ignition arc according to disclosure example embodiment
Figure.
Fig. 4 shows connecing in the control method according to a consumable electrode gas shield welding contacting ignition arc of disclosure example embodiment
Touch the time diagram of striking.
Fig. 5 shows the wire feed timing diagram of normal striking welding.
Fig. 6 shows connecing in the control method according to a consumable electrode gas shield welding contacting ignition arc of disclosure example embodiment
Touch the wire feed timing diagram of striking welding.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；Described feature, structure or characteristic can be with any suitable
Mode be incorporated in one or more embodiments.In the following description, many details are provided to provide to this
Disclosed embodiment is fully understood.It will be appreciated, however, by one skilled in the art that can be with technical solution of the disclosure
And omit it is one or more in the specific detail, or can be using other methods, constituent element, device, step etc..
It should be pointed out that in the accompanying drawings, for the size that may clearly exaggerate layer and region of diagram.And it can be with
Understand, when element or layer be referred in another element or layer "upper", it can be directly in other elements, or may exist
Intermediate layer.Additionally, it is appreciated that it can be directly at other when element or layer be referred in another element or layer "lower"
Under element, or there may be the layer of more than one centre or elements.In addition, it is to be appreciated that when layer or element are referred to as
Two layers or two elements " between " when, it can between two layers or two elements unique layer, or there may also be one
Above middle layer or element.Similar reference marker indicates similar element in the whole text.
In striking, welding wire is first contacted with workpiece consumable electrode gas shield welding, is then closed arc welding gun switch and is welded, due to being
Contacting ignition arc generates larger splashing, causes striking bad or is unable to striking generation welding defect, the disclosure carries out in response to this problem
Improve.
A kind of control method for being designed to provide consumable electrode gas shield welding contacting ignition arc of the disclosure, wherein contacting ignition arc be
Improper striking caused by first contact with workpiece before closing arc welding gun switch due to welding wire, the control method include:
Arc welding gun switch is closed later and before wire feeding motor rotation, judges that the striking of consumable electrode gas shield welding is that normal striking or contact are drawn
Arc；If it is determined that being contacting ignition arc, then after having feedback current detection, when wire feeding motor being made to remain stationary one predetermined delay of work
Between；And after the scheduled delay, wire feeding motor is made to start wire feed movement and wire feed rate is promoted to one predetermined to send
Silk velocity amplitude.The control method of the consumable electrode gas shield welding contacting ignition arc of the disclosure can determine whether before entering the slow wire feed stage
Contacting ignition arc detects promptly and accurately, high reliablity.Meanwhile without readjusting striking parameter, the time is saved, can be improved and draw
The success rate and reliability of arc.
It is described in detail below with reference to the control method of the consumable electrode gas shield welding contacting ignition arc of Fig. 3-6 pairs of disclosure,
In, Fig. 3 shows the flow chart of the control method of the consumable electrode gas shield welding contacting ignition arc according to disclosure example embodiment；Figure
4 show the contacting ignition arc in the control method according to a consumable electrode gas shield welding contacting ignition arc of disclosure example embodiment when
Sequence schematic diagram；Fig. 5 shows the wire feed timing diagram of normal striking welding；Fig. 6 shows molten according to the one of disclosure example embodiment
Change the wire feed timing diagram of the contacting ignition arc welding in the control method of pole gas shield welding contacting ignition arc.
As shown in figure 3, disclosing a kind of controlling party of consumable electrode gas shield welding contacting ignition arc according to an embodiment of the disclosure
Method, wherein contacting ignition arc is improper striking, institute caused by first contact with workpiece before closing arc welding gun switch due to welding wire
Stating control method includes:
In S302, after closing arc welding gun switch and before wire feeding motor rotation, judge that the striking of consumable electrode gas shield welding is
Normal striking or contacting ignition arc.
According to an embodiment of the disclosure, it is described after closing arc welding gun switch and wire feeding motor rotation before, judgement
The striking of consumable electrode gas shield welding is normal striking or contacting ignition arc includes: the predetermined detection time after closing arc welding gun switch
It is interior, the weldingvoltage of actual feedback and the deviation of floating voltage are detected, if deviation is not more than a scheduled voltage, judgement is
Normal striking, otherwise judgement is contacting ignition arc.
Existing judgment method is mainly after closing arc welding gun switch, if it is contacting ignition arc, passes through root in program at this time
Short circuit has occurred according to voltage judgement, is handled into short circuit.The method defect is when detecting short-circuit i.e. contacting ignition arc,
There is electric current detection, program has entered the stages such as slow wire feed, judges to postpone.And the control method of disclosure example embodiment can
Contacting ignition arc is determined whether before entering the slow wire feed stage, promptly and accurately, reliability is very high for detection.
According to an embodiment of the disclosure, the predetermined detection time is 1.1-1.5ms (millisecond)；The predetermined voltage
Value is 4-6V (volt).
According to an embodiment of the disclosure, the predetermined detection time is 1.3ms；The scheduled voltage is 5V.
According to an embodiment of the disclosure, it is described after closing arc welding gun switch and wire feeding motor rotation before, judgement
The striking of consumable electrode gas shield welding is normal striking or contacting ignition arc includes: the predetermined detection time after closing arc welding gun switch
It is interior, the welding current of actual feedback is detected, if being not more than a predetermined current value, judgement is normal striking, and otherwise judgement is
Contacting ignition arc.
According to an embodiment of the disclosure, the predetermined detection time is 1.1-1.5ms；The predetermined current value is 9-
11A (peace).
According to an embodiment of the disclosure, the predetermined detection time is 1.3ms；The predetermined current value is 10A.
For example, it is closing in the 1.3ms after arc welding gun switch, by the voltage value and floating voltage that detect actual feedback
Deviation, if deviation is within 5V, it is believed that be normal striking, be considered contacting ignition arc when deviation is more than 5V, or when anti-
When supply current is greater than 10A, it is believed that it is contacting ignition arc, the method can determine whether contacting ignition arc before entering the slow wire feed stage,
Promptly and accurately, reliability is very high for detection.
In S304, if it is determined that being contacting ignition arc, then after having feedback current detection, wire feeding motor is made to remain stationary work one
Scheduled delay.As shown in figure 4, wire feeding motor is failure to actuate always after having electric current detection (i.e. since the A point in Fig. 4),
It is rotated further by wire feed after delay a period of time (i.e. C ' to C in Fig. 4), the purpose handled in this way is to improve the output energy of the source of welding current
Amount, being capable of more smoothly striking.
According to an embodiment of the disclosure, the terminal of the scheduled delay and normal consumable electrode gas shield welding process
In the slow wire feed stage terminal it is identical.In the slow wire feed stage for skipping normal striking process, keep wire feeding motor in other words
The terminal in the slow wire feed stage being failure to actuate until being equivalent to normal striking process.
In S306, after the predetermined time, so that wire feeding motor is started wire feed movement and wire feed rate is promoted to one in advance
Fixed wire feed rate value, as shown in the C to D in Fig. 4, i.e., after delay time, wire feeding motor movement, at this time without normally drawing
The slow wire feed process of arc is directly entered ramp up (accelerating the stage) and accelerates always to preset wire feed speed
Angle value.The purpose handled in this way, since the acceleration that slow wire feed stage and ramp up motor rotate is different, revolving speed is also real-time
Variation, different setting electric currents, energy match is very complicated, needs for the material of different welding conditions, string diameter, gas striking parameter
It readjusts, workload is very big, and different surely matches suitable welding parameter.Since wire feed have passed through delay,
Biggish energy is had matched, the slow wire feed stage is skipped at this time, directly can reach ideal effect using current parameter, no
With striking parameter is readjusted, the time is saved, can be improved the success rate and reliability of striking.
In a kind of illustrative embodiments of the disclosure, the control method further include: if it is normal striking, then into
The normal consumable electrode gas shield welding process of row.
Specifically, it is detected after being contacting ignition arc by S302, first timing handle/adjust, former timing is (i.e.
Normal consumable electrode gas shield welding timing/process) be close arc welding gun switch, preflow goes out floating voltage, slow wire feed, slow wire feed are protected
It holds the stage, generates electric arc and enter ramp up, match corresponding energy at this time.And if it is detected that being contacting ignition arc, timing becomes
Are as follows: arc welding gun switch is closed, contacting ignition arc is detected as, electric arc generation, wire feed delay, is directly entered ramp up, matches energy again
Amount.
Fig. 5, Fig. 6 are the welding wire feeding timing diagram of two kinds of situations of normal striking and contacting ignition arc, and wherein ordinate is motor
Practical wire feed revolving speed, abscissa is the time, and chronomere T is ms (millisecond), and Fig. 5 is normal striking, entire welding process warp
Complete timing is gone through.Fig. 6 is contacting ignition arc, and welding process experienced all timing after climbing.Dotted portion in two figures
That is C ' D ' is welding parameter value of the matching when practical wire feed, may matching when practical wire feed rate is 2m/min (m/min)
The waveform waveform parameter value of 3m/min.C ' spot welding has matched waveform parameter, and the source of welding current has energy output, when postponing C ' C
Between after, wire feeding motor just starts to act.
It is described that wire feeding motor is made to start wire feed movement and wire feed rate is promoted to one according to an embodiment of the disclosure
Scheduled wire feed rate value is carried out by constant acceleration, if the C to D in Fig. 6 is skew lines.But the disclosure not as
Limit is also possible to carry out by the acceleration of variation, such as the C to D in Fig. 6 can also be camber line or broken line.
According to an embodiment of the disclosure, in the scheduled wire feed rate value and normal consumable electrode gas shield welding process
Main weldering to connect the wire feed rate value in stage identical.But the disclosure is not limited, and is also possible to other wire feeds according to actual needs
Velocity amplitude.
By above detailed description, those skilled in the art is it can be readily appreciated that according to the disclosure exemplary embodiment party in fact
The control method of the consumable electrode gas shield welding contacting ignition arc of formula have the following advantages that in it is one or several.
According to the method for some illustrative embodiments of the disclosure, can determine whether to connect before entering the slow wire feed stage
Striking is touched, is detected promptly and accurately, high reliablity.
According to the control method of some illustrative embodiments of the disclosure, without readjusting striking parameter, when saving
Between, it can be improved the success rate and reliability of striking.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (11)
1. a kind of control method of consumable electrode gas shield welding contacting ignition arc, wherein contacting ignition arc is since welding wire is closing arc welding gun switch
Improper striking first contact with workpiece before caused by, the control method include:
After closing arc welding gun switch and wire feeding motor rotation before, judge consumable electrode gas shield welding striking be normal striking or
Contacting ignition arc；
If it is determined that being contacting ignition arc, then after having feedback current detection, when wire feeding motor being made to remain stationary one predetermined delay of work
Between；And
After the scheduled delay, so that wire feeding motor is started wire feed movement and wire feed rate is promoted to a predetermined wire feed speed
Angle value.
2. according to the method described in claim 1, further include: if it is normal striking, then carry out normal consumable electrode gas shield welding
Process.
3. the method according to claim 1, wherein it is described after closing arc welding gun switch and wire feeding motor rotate
Before, the striking for judging consumable electrode gas shield welding is normal striking or contacting ignition arc includes: one pre- after closing arc welding gun switch
Determine in detection time, detects the voltage of actual feedback and the deviation of floating voltage, if deviation is not more than a scheduled voltage,
Judgement is normal striking, and otherwise judgement is contacting ignition arc.
4. according to the method described in claim 3, it is characterized in that, the predetermined detection time is 1.1-1.5ms；It is described predetermined
Voltage value is 4-6V.
5. according to the method described in claim 4, it is characterized in that, the predetermined detection time is 1.3ms；The predetermined voltage
Value is 5V.
6. the method according to claim 1, wherein it is described after closing arc welding gun switch and wire feeding motor rotate
Before, the striking for judging consumable electrode gas shield welding is normal striking or contacting ignition arc includes: one pre- after closing arc welding gun switch
Determine in detection time, detect the electric current of actual feedback, if being not more than a predetermined current value, judgement is normal striking, otherwise
Judgement is contacting ignition arc.
7. according to the method described in claim 6, it is characterized in that, the predetermined detection time is 1.1-1.5ms；It is described predetermined
Current value is 9-11A.
8. the method according to the description of claim 7 is characterized in that the predetermined detection time is 1.3ms；The scheduled current
Value is 10A.
9. the method according to claim 1, wherein the terminal of the scheduled delay and normal consumable electrode
The terminal in the slow wire feed stage in gas shield welding process is identical.
10. the method according to claim 1, wherein described make wire feeding motor start wire feed movement and by wire feed
Speed is promoted to a predetermined wire feed rate value and is carried out by constant acceleration.
11. the method according to claim 1, wherein the predetermined wire feed rate value and normal consumable electrode gas
It is identical that the main weldering protected in weldering process connects the wire feed rate value in stage.
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| CN201811230359.2A CN109047990B (en) | 2018-10-22 | 2018-10-22 | Control method for contact arc striking of gas metal arc welding |
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| CN201811230359.2A CN109047990B (en) | 2018-10-22 | 2018-10-22 | Control method for contact arc striking of gas metal arc welding |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113333913A (en) * | 2021-06-07 | 2021-09-03 | 深圳合大电气有限公司 | Residence state arc striking method for gas metal arc welding |
| CN114178653A (en) * | 2021-12-23 | 2022-03-15 | 唐山松下产业机器有限公司 | Welding quality detection method and system |
| CN114184982A (en) * | 2021-12-29 | 2022-03-15 | 成都卡诺普机器人技术股份有限公司 | Welding arc striking explosion detection method and system and welding method |
| CN114749769A (en) * | 2022-04-25 | 2022-07-15 | 深圳市佳士科技股份有限公司 | Welding control method and device and terminal equipment |
| CN115003444A (en) * | 2020-10-19 | 2022-09-02 | 弗罗纽斯国际有限公司 | Method for preparing an automatic welding method for a welding process and welding device for carrying out an automatic welding method |
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| CN114178653A (en) * | 2021-12-23 | 2022-03-15 | 唐山松下产业机器有限公司 | Welding quality detection method and system |
| CN114184982A (en) * | 2021-12-29 | 2022-03-15 | 成都卡诺普机器人技术股份有限公司 | Welding arc striking explosion detection method and system and welding method |
| CN114749769A (en) * | 2022-04-25 | 2022-07-15 | 深圳市佳士科技股份有限公司 | Welding control method and device and terminal equipment |
| CN114749769B (en) * | 2022-04-25 | 2023-09-12 | 深圳市佳士科技股份有限公司 | Welding control method and device and terminal equipment |
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