CN114850624A - Full-automatic vertical butt welding method for crack arrest steel plates - Google Patents
Full-automatic vertical butt welding method for crack arrest steel plates Download PDFInfo
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- CN114850624A CN114850624A CN202210590030.7A CN202210590030A CN114850624A CN 114850624 A CN114850624 A CN 114850624A CN 202210590030 A CN202210590030 A CN 202210590030A CN 114850624 A CN114850624 A CN 114850624A
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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
- B23K9/235—Preliminary treatment
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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
- B23K9/095—Monitoring or automatic control of welding parameters
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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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention relates to the technical field of ship construction, in particular to a full-automatic vertical butt welding method for crack arrest steel plates. The full-automatic vertical butt welding method for the crack-stopping steel plates comprises the following steps of S1: and butting the two crack-stopping steel plates to be welded to form a groove. S2: and adhering a gasket on the back of the groove. S3: and the automatic welding equipment scans the section size of the groove along the length direction of the groove and generates corresponding welding parameters according to the section size of the groove. S4: and carrying out full-automatic backing welding according to the generated welding parameters. S5: and after the bottoming welding is finished, continuously carrying out full-automatic filling welding and full-automatic cover surface welding. The full-automatic welding method for vertical butt joint of the crack-stopping steel plates realizes full-automatic backing welding and improves the welding efficiency. Meanwhile, cracks of the backing weld can be avoided, and the welding quality is improved. Moreover, the continuity of the backing weld is better, the occurrence of a welding joint is avoided, carbon planing repair is not needed, and the welding quality and the welding efficiency are further improved.
Description
Technical Field
The invention relates to the technical field of ship construction, in particular to a full-automatic vertical butt welding method for crack arrest steel plates.
Background
When a container ship is built, in the vertical butt welding process of crack arrest steel plates with the plate thickness of 60 mm-80 mm, manual backing welding is generally adopted to ensure the quality of backing welding seams because manual assembly errors exist at the butt joint placing positions of the two crack arrest steel plates.
At present, by CO 2 The semi-automatic welding method realizes vertical butt welding of the crack arrest steel plates, namely, backing weld joints are welded through manual welding, and then full-automatic filling welding and full-automatic cover surface welding are carried out. The problems that exist at present are:
1)CO 2 semi-automatic welding requires preparation of CO 2 The welding machine and the welding wire are used for collecting the welding wire after backing welding is finished, automatic welding equipment is replaced, time is long, and efficiency is low.
2) Because the time consumption for replacing the automatic welding equipment is long, the fusion degree of the filling welding line and the backing welding line is reduced, and the backing welding line is thin, so that the welding stress is difficult to bear for a long time, cracks are easy to occur, and the overall quality of the welding line is influenced.
3) Under the influence of manual welding working conditions, a welding joint exists at the manual temporary arc-closing position of a backing weld, and the carbon planer needs to be repaired after welding, so that the welding workload is further increased, and the welding efficiency is reduced.
Therefore, a full-automatic vertical butt welding method for crack-stopping steel plates is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a full-automatic vertical butt welding method for crack arrest steel plates, so as to realize full-automatic backing welding and improve welding efficiency and welding quality.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the full-automatic vertical butt welding method for the crack arrest steel plates comprises the following steps
S1: butting two crack arrest steel plates to be welded to form a groove;
s2: attaching a liner to the back of the groove;
s3: the automatic welding equipment scans the section size of the groove along the length direction of the groove and generates corresponding welding parameters according to the section size of the groove;
s4: carrying out full-automatic backing welding according to the generated welding parameters;
s5: and after the backing welding is finished, the full-automatic filling welding and the full-automatic cover surface welding are continuously carried out.
Preferably, in step S3, a plurality of detection points are sequentially selected in the longitudinal direction of the groove, and the automatic welding device sequentially scans the cross-sectional dimension of the groove where the detection points are located in the longitudinal direction of the groove.
As a preferable scheme, in each groove cross section, position coordinates of two end points of two groove oblique sides are respectively scanned to obtain the corresponding groove cross section size.
Preferably, in step S3, the position coordinates of each end point are obtained by a contact sensor on a welding gun of the automatic welding apparatus.
Preferably, in step S4, the welding torch of the automatic welding apparatus extends obliquely upward in a vertical direction.
Preferably, the welding angle of the welding gun is 80 degrees.
Preferably, in steps S4 and S5, a welding sleeve is attached to a distal end of a welding torch of the automatic welding apparatus, the welding sleeve is connected to the welding torch along a rear end in an axial direction thereof, and a welding wire is extended from a front end of the welding sleeve in the axial direction thereof.
Preferably, before the welding sleeve is installed, the welding sleeve is processed into a conical structure, and the front end of the welding sleeve is a small-diameter end of the conical structure.
Preferably, the length of the welding wire extending out of the front end of the welding sleeve is 20 mm.
Preferably, the thickness of the crack arrest steel plate is 60 mm-80 mm.
The invention has the beneficial effects that:
the full-automatic vertical butt welding method for the crack arrest steel plate provided by the invention has the advantages that the sectional dimension of the groove is scanned along the length direction of the groove by the automatic welding equipment, and the corresponding welding parameters are generated according to the sectional dimension of the groove, so that the automatic welding equipment can perform welding according to the requirementsAnd the generated welding parameters are subjected to full-automatic backing welding, and then full-automatic filling welding and full-automatic cover surface welding are continuously performed, so that the vertical butt joint full-automatic welding of the crack-stopping steel plate is realized. Relative to the use of CO 2 The manual backing welding mode of gas shielded welding and the full-automatic vertical butt welding method of the crack-stopping steel plate realize full-automatic backing welding and improve the welding efficiency. Meanwhile, full-automatic filling welding and full-automatic cover surface welding are directly carried out after the full-automatic backing welding is finished, welding equipment does not need to be replaced, the fusion degree of the backing welding line and the filling welding line is favorably improved, cracks can be prevented from occurring in the backing welding line, and the welding quality is improved. In addition, because the continuity of the backing weld is better, the arc closing position is avoided, a welding joint can not be generated, carbon planing repair is not needed, and the welding quality and the welding efficiency are further improved.
Drawings
FIG. 1 is a flow chart of a full-automatic vertical butt welding method for crack arrest steel plates, provided by the embodiment of the invention;
FIG. 2 is a sectional view of a groove formed after two crack arrest steel plates are butted according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a welding gun for welding a crack arrest steel plate according to an embodiment of the invention.
The component names and designations in the drawings are as follows:
1. a crack arrest steel plate; 2. a welding gun; 3. welding a sleeve; 4. a liner.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the process of ship construction, especially the process of container ship construction, a large amount of crack arrest steel plates need to be subjected to CO 2 And (4) gas shielded welding. Because the butt joint and placement positions of the crack arrest steel plates have manual assembly errors, backing welding (CO) is generally carried out in a manual mode 2 Semi-automatic welding) to ensure the welding seam quality of backing welding. Then carrying out full-automatic filling welding and full-automatic weldingAnd welding the movable cover surface.
At present, cleaning welding and CO are needed after manual backing welding is finished 2 Welding wires, replacing automatic welding equipment, consuming long time and having low efficiency. Moreover, the backing weld is thin, difficult to bear welding stress for a long time, and easy to crack. In addition, manual welding results in many welded joints being produced at the manual interim arc-closing position, and post-welding carbon planing repair is required, thereby increasing welding workload and reducing welding efficiency.
In order to solve the above problems, as shown in fig. 1 and fig. 2, the embodiment discloses a full-automatic vertical butt welding method for a crack arrest steel plate, which is mainly used for full-automatic welding of a crack arrest steel plate 1 with a thickness of 60 mm-80 mm, so as to improve welding efficiency and welding quality.
Specifically, the full-automatic vertical butt welding method for the crack-stopping steel plates comprises the following steps
S1: and butting the two to-be-welded crack arrest steel plates 1 to form a groove.
S2: and a gasket 4 is adhered to the back of the groove.
S3: and the automatic welding equipment scans the section size of the groove along the length direction of the groove and generates corresponding welding parameters according to the section size of the groove.
S4: and carrying out full-automatic backing welding according to the generated welding parameters.
S5: and after the backing welding is finished, the full-automatic filling welding and the full-automatic cover surface welding are continuously carried out.
The cross section size of the groove is scanned along the length direction of the groove through automatic welding equipment, corresponding welding parameters are generated according to the cross section size of the groove, so that the automatic welding equipment performs full-automatic backing welding according to the generated welding parameters, then full-automatic filling welding and full-automatic cover surface welding are continuously performed, and therefore the vertical butt joint full-automatic welding of the crack arrest steel plate 1 is achieved. Relative to the use of CO 2 The manual backing welding mode of gas shielded welding and the full-automatic vertical butt welding method of the crack-stopping steel plate realize full-automatic backing welding and improve the welding efficiency. Meanwhile, after the full-automatic backing welding is finished, full-automatic filling welding and full-automatic cover welding are directly carried out without replacementThe welding equipment is beneficial to improving the fusion degree of the backing weld and the filling weld, can avoid the occurrence of cracks in the backing weld and improves the welding quality. In addition, because the continuity of the backing weld is better, the arc closing position is avoided, a welding joint can not be generated, carbon planing repair is not needed, and the welding quality and the welding efficiency are further improved.
As shown in fig. 2, the bevel angle of the two crack arrest steel plates 1 of the present embodiment is 35 °, the diameter specification of the welding wire is 1.2mm, the bevel gap h is 8mm to 12mm, and the liner 4 is a ceramic liner to achieve good welding.
In order to improve the scanning efficiency of the automatic welding equipment, according to the crack arrest steel plates 1 with different lengths, in step S3, a plurality of detection points are sequentially selected along the length direction of the groove, the automatic welding equipment sequentially scans the groove cross-sectional dimensions where the detection points are located along the length direction of the groove, and generates corresponding welding parameters according to the groove cross-sectional dimensions where the detection points are located. It will be appreciated that the greater the number of detection points, the more accurate the weld parameters generated and the higher the weld quality.
As shown in fig. 2, in each bevel section, the position coordinates of the two end points of the two bevel sides are scanned respectively to obtain the corresponding bevel section size. In each bevel section, the two end points of one bevel edge are respectively a and c, and the two end points of the other bevel edge are respectively b and d. The single-side groove angles alpha 1 and alpha 2, the groove gap h, the thickness of the crack arrest steel plate 1 and the thickness difference of the two crack arrest steel plates 1 at each detection point can be directly obtained or obtained through calculation by respectively detecting the coordinates of the four points a, b, c and d.
Note that, in step S3, the position coordinates of each end point are obtained by a contact sensor on the welding gun 2 of the automatic welding apparatus. It is understood that the automatic welding equipment is CO 2 The gas shielded welding equipment further comprises a control unit and a processing unit, wherein the processing unit can generate welding parameters according to the section size of the groove measured by scanning, and the control unit can control the welding gun 2 to carry out full-automatic backing welding, filling welding and cover surface welding on the groove according to the generated welding parameters. Of course, the automatic welding equipment also comprisesAn auxiliary measuring mechanism, such as a CCD camera, a laser range finder, etc., may be included to accurately obtain the groove cross-sectional dimension at which each detection point is located, and is not particularly limited herein. Since the automatic welding equipment is a mature product in the welding technical field, the specific structure and the working principle of the automatic welding equipment are not repeated.
In order to protect the welding wire, a welding sleeve 3 is attached to the tip of the welding torch 2 of the automatic welding apparatus in steps S4 and S5, the welding sleeve 3 is connected to the welding torch 2 along the rear end in the axial direction thereof, and the welding wire is extended out of the front end of the welding sleeve 3 in the axial direction thereof.
Further, as shown in fig. 3, before the welding sleeve 3 is installed, the front end of the welding sleeve 3 is processed into a tapered structure and the front end of the welding sleeve 3 is a small diameter end of the tapered structure. The front end (the end close to the liner 4) of the welding sleeve 3 is processed into a conical structure, so that the radial size of the front end of the welding sleeve 3 is reduced, the limitation of the swing amplitude of the welding gun 2 caused by the collision of the welding sleeve 3 with a groove during full-automatic backing welding can be avoided, and the smooth proceeding of the full-automatic backing welding is ensured. The large diameter end of the welding sleeve 3 of the present embodiment has a diameter of 25mm and the small diameter end has a diameter of 16 mm.
Because groove cross sectional dimension and groove clearance have great influence to the degree of depth that welding gun 2 stretched into the groove, the length that welding wire of this embodiment stretched out welding sleeve 3 front end is about 20mm to can guarantee that welding gun 2 freely swings in the groove, so that the welding wire can swing to the border of groove, avoid welding gun 2 to collide with the groove simultaneously.
During full automatic backing welding, the welding wire easily contacts the pad 4, resulting in welding instability. In step S4, the welding gun 2 of the automatic welding device extends upward in an inclined manner in the vertical direction, so that the arc pushes the molten pool in the notch upward during welding, which not only prevents the molten pool from flowing downward under the action of its own weight, but also prevents the welding wire from contacting the liner 4 by blocking between the liner 4 and the welding wire.
In the present embodiment, the welding angle of the welding torch 2 is approximately 80 °. Of course, the welding angle of the welding gun 2 can also be 45 °, 60 ° or 70 °, and the like, and only the molten pool in the notch needs to be pushed upwards to change the flow direction of the molten pool.
In this embodiment, when the length of the crack arrest steel plate 1 is about 10m, three detection points may be selected along the length of the groove, and the groove cross-sectional dimensions of the three detection points are detected, specifically as follows:
detection point 1: the angle alpha 1 of the single-side groove is 17.5 degrees, the angle alpha 2 is 18 degrees, the thickness of the crack arrest steel plate 1 is 80mm, the groove gap is 8mm, and the thickness difference of the two crack arrest steel plates 1 is 0.7 mm.
Detection point 2: the angle alpha 1 of the single-side groove is 17.5 degrees, the angle alpha 2 is 18.5 degrees, the thickness of the crack arrest steel plate 1 is 80mm, the groove gap is 10mm, and the thickness difference of the two crack arrest steel plates 1 is 1.0 mm.
Detection point 3: the angle alpha 1 of the single-side groove is 17.5 degrees, the angle alpha 2 is 18 degrees, the thickness of the crack arrest steel plate 1 is 80mm, the groove gap is 8mm, and the thickness difference of the two crack arrest steel plates 1 is 0.7 mm.
The welding parameters (backing welding parameters) correspondingly generated by the automatic welding equipment are as follows: the welding current is 170A, the welding voltage is 24V, the swing amplitude of the welding gun 2 is 40mm, the swing speed of the welding gun 2 is 84cm/min, and the welding speed is 5.5 cm/min.
The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The full-automatic vertical butt welding method for the crack arrest steel plates is characterized by comprising the following steps
S1: butting two crack arrest steel plates (1) to be welded to form a groove;
s2: attaching a liner (4) to the back of the groove;
s3: the automatic welding equipment scans the section size of the groove along the length direction of the groove and generates corresponding welding parameters according to the section size of the groove;
s4: carrying out full-automatic backing welding according to the generated welding parameters;
s5: and after the backing welding is finished, the full-automatic filling welding and the full-automatic cover surface welding are continuously carried out.
2. The full-automatic vertical butt welding method for the crack-stopping steel plates according to claim 1, wherein in step S3, a plurality of detection points are sequentially selected along the length direction of the groove, and the automatic welding equipment sequentially scans the cross-sectional dimension of the groove where the detection points are located along the length direction of the groove.
3. The full-automatic vertical butt welding method for the crack arrest steel plates according to claim 2, characterized in that in each groove section, the position coordinates of two end points of two groove bevel edges are scanned respectively to obtain the corresponding groove section size.
4. The full automatic vertical butt welding method for crack arrest steel plates according to claim 3, characterized in that in step S3, the position coordinates of each end point are obtained by a contact sensor on a welding gun (2) of the automatic welding equipment.
5. The full automatic vertical butt welding method for crack arrest steel plates according to claim 1, characterized in that in step S4, the welding torch (2) of the automatic welding equipment extends obliquely upward in a vertical direction.
6. The full-automatic vertical butt welding method for crack-stopping steel plates according to claim 5, characterized in that the welding angle of the welding gun (2) is 80 degrees.
7. The full automatic vertical butt welding method for crack arrest steel plates according to claim 1, characterized in that in steps S4 and S5, a welding sleeve (3) is added to the end of a welding gun (2) of the automatic welding equipment, the welding sleeve (3) is connected to the welding gun (2) along the rear end in the axial direction, and a welding wire is extended out of the front end of the welding sleeve (3) in the axial direction.
8. The full automatic vertical butt welding method for crack arrest steel plates according to claim 7, characterized in that before installing the welding sleeve (3), the welding sleeve (3) is machined into a conical structure and the front end of the welding sleeve (3) is the small diameter end of the conical structure.
9. The full-automatic vertical butt welding method for crack arrest steel plates according to claim 7, characterized in that the length of the welding wire extending out of the front end of the welding sleeve (3) is 20 mm.
10. The full-automatic vertical butt welding method for the crack arrest steel plates according to claim 1, characterized in that the thickness of the crack arrest steel plates (1) is 60 mm-80 mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210590030.7A CN114850624A (en) | 2022-05-26 | 2022-05-26 | Full-automatic vertical butt welding method for crack arrest steel plates |
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| CN202210590030.7A CN114850624A (en) | 2022-05-26 | 2022-05-26 | Full-automatic vertical butt welding method for crack arrest steel plates |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091002A (en) * | 2022-08-19 | 2022-09-23 | 石家庄中润设备科技有限公司 | Welding process for effectively melting welding bead groove truncated edge and pipeline welding robot |
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| JP2010167483A (en) * | 2009-01-26 | 2010-08-05 | Kobe Steel Ltd | Laser-arc composite welding method |
| CN106862730A (en) * | 2017-03-30 | 2017-06-20 | 广船国际有限公司 | A kind of vertical butt welding method of slab |
| CN107838535A (en) * | 2017-10-31 | 2018-03-27 | 广船国际有限公司 | A kind of metal flux-cored wire is applied to CO2The horizontal butt-welded method of automatic welding |
| CN108971707A (en) * | 2018-09-28 | 2018-12-11 | 广船国际有限公司 | A kind of vertical butt welding method of slab |
| JP2021154298A (en) * | 2020-03-25 | 2021-10-07 | 日本製鉄株式会社 | Gas shield arc-welding method and gas shield arc-welding device |
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2022
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010167483A (en) * | 2009-01-26 | 2010-08-05 | Kobe Steel Ltd | Laser-arc composite welding method |
| CN106862730A (en) * | 2017-03-30 | 2017-06-20 | 广船国际有限公司 | A kind of vertical butt welding method of slab |
| CN107838535A (en) * | 2017-10-31 | 2018-03-27 | 广船国际有限公司 | A kind of metal flux-cored wire is applied to CO2The horizontal butt-welded method of automatic welding |
| CN108971707A (en) * | 2018-09-28 | 2018-12-11 | 广船国际有限公司 | A kind of vertical butt welding method of slab |
| JP2021154298A (en) * | 2020-03-25 | 2021-10-07 | 日本製鉄株式会社 | Gas shield arc-welding method and gas shield arc-welding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091002A (en) * | 2022-08-19 | 2022-09-23 | 石家庄中润设备科技有限公司 | Welding process for effectively melting welding bead groove truncated edge and pipeline welding robot |
| CN115091002B (en) * | 2022-08-19 | 2022-10-28 | 石家庄中润设备科技有限公司 | Welding process for effectively melting truncated edges of weld bead groove and pipeline welding robot |
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