CN201565708U - Automatic submerged arc welding device for numerical control pipe-pipe penetration joint - Google Patents
Automatic submerged arc welding device for numerical control pipe-pipe penetration joint Download PDFInfo
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- CN201565708U CN201565708U CN2009201101362U CN200920110136U CN201565708U CN 201565708 U CN201565708 U CN 201565708U CN 2009201101362 U CN2009201101362 U CN 2009201101362U CN 200920110136 U CN200920110136 U CN 200920110136U CN 201565708 U CN201565708 U CN 201565708U
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Abstract
The utility model relates to an automatic submerged arc welding device for a numerical control pipe-pipe penetration joint. The automatic submerged arc welding device comprises a nose lifting frame, a solder hopper, a solder wire reel, a wire feed machine, connecting pipes, a solder disk, a welding gun radial fine-adjustment device, a welding gun axial fine-adjustment device, a welding gun, main pipes, a workpiece revolving axle beta, an unpowered shifting roller shelf, a numerical control dislocation device, a separator, a real-time numerical control operating system, a four-axle movement mechanism and welding procedure software, wherein the numerical control dislocation device comprises a numerical control power head; the separator is formed by welding a plurality of connecting pipes and main pipes; and the four-axle movement mechanism consists of a vertical movement axle and a horizontal movement axle of the welding gun, the welding gun revolving device and a welding gun attitude angle alpha movement mechanism. The utility model aims at improving the automation degree and the mechanization degree of the joint welding of the pipe-pipe penetration fillet weld, improving the labor productivity and the welding quality and lowering the labor intensity of welders, so as to meet the growing requirements on the demand and the quality of the welding in a power station boiler and a pipeline.
Description
Technical field
The utility model relates to a kind of pipe-pipe and passes through the joint automatic welding equipment mutually, particularly relate to a kind of pipe-pipe quadrature, hand over and the oblique fillet weld equipment of welding automatically partially, it is mainly used in station boiler and pipeline manufacturing, is to belong to that numerical control, space curve weld automatically and the numerical control pipe-pipe of technical field passes through joint Lincoln weld equipment mutually.
Background technology
In boiler and pipeline industry, pipe-pipe passes through the angle welding that joint is a kind of space curve mutually, as: the steam-water separator in the high-end station boiler product, this is very important parts, its welding quality is subjected to manufactory and user's great attention always.The circumferential weld of separator can adopt automatic weldering to weld, its welding quality can be guaranteed reliably, but the angle welding of the off-centre on the separator, oblique base, so far can only adopt manual electric arc welding to weld, not only workload is big, working condition is poor, and welder's technical ability, physical efficiency all there is very high requirement, its welding quality is difficult to be guaranteed, so welding quality, the welding technique of eccentric inclined tube seat become the bottle neck of raising labour productivity, guaranteeing product quality and increase output on the separator.
Along with station boiler to big capacity, the direction of high parameter develops, serviceability to material is had higher requirement, the material rate of separator is brought up to P91 from the SA-302C of supercritical unit, requirement for welding quality is also more and more higher, simultaneously along with the development of producing, press for the mechanization and the automatization level that improve in the separator production, improve product quality and production efficiency to reach, reduce manufacturing cost, change the backward technology that separator is produced, improve the technological level that steam-water separator is produced.
Manage (as drum mother, collection case and pressure vessel) go up and weld quadrature base (saddle-shaped seam), the method of existing employing manual electric arc welding in the industrial production, the method of weldering automatically that adopts is also arranged, promptly adopt a cover mechanical motion mechanism to realize shape of a saddle motion, carry out automatic submerged-arc welding, differ the weld seam that less or arm and female pipe are off-centre, oblique but this mechanical type shape of a saddle welding machine can not weld the diameter of female pipe and arm.Also be not used in the automatic welding equipment and the technology of this joint of welding at present both at home and abroad, all can only adopt manual electric arc welding, though can satisfy the welding production requirement substantially, but exist operation easier big, welding quality is subjected to artificial factor, adaptive is poor, welder's labour intensity height, problem such as production efficiency is low.For this reason, suddenly wait to develop the automatic welder(welding machine) that is used for this series products.
But development is used for this type of automatic welder(welding machine) and is faced with a following difficult problem:
1. the control of locus appearance of weld
Joint for eccentric oblique pipe-pipe intersection, its weld seam is an asymmetric space saddle-shaped curve, and during welding, its welding position is in the upper and lower slope weldering that replaces continuously, because the saddle drop is excessive, cause when welding uphill welding and the gradient of downward welding in the inclined position excessive, the molten bath under the effect of gravity, undercut when causing uphill welding, defective such as incomplete fusion during downward welding in the inclined position, and make the welding forming severe exacerbation, and directly influencing weldquality, this is insoluble technological problems.Therefore, realize the automation welding, must resolve the welding position in off-centre, the oblique pipe welding process, make the welding position be in the horizontal level that helps welding all the time, avoid the mountain descending.
2. the difference of actual shape line of weld seam and theory movement track
Because factors such as the dimensional tolerance of workpiece self and processing, equipment error cause there are differences by the theory movement track of calculated with mathematical model and actual weld seam shape line.Therefore, can digital control system adapt to this species diversity, resolves this problem, is key of success, and this is the difference of numerical control welding machine and numerical control cutting machine just, and degree-of-difficulty factor increases greatly.
3. the exploitation of welding procedure software
Because this type of welding point is all inequality at the bevel angle and the section of weld joint of different parts, difference is very big. need the corresponding welding procedure software of research and development.
So up to now, also successfully do not develop the automatic welder(welding machine) that is used for the eccentric oblique pipe on the separator both at home and abroad, can only adopt manual welding.
This shows that above-mentioned existing pipe-pipe passes through junction device mutually in structure, technology and use, obviously still has inconvenience and defective, and demands urgently further being improved.In order to solve the problem of above-mentioned existence, relevant manufacturer there's no one who doesn't or isn't seeks solution painstakingly, but do not see always that for a long time suitable design finished by development, and common product does not have appropriate structure to address the above problem, this obviously is the problem that the anxious desire of relevant dealer solves.Therefore how founding a kind of novel numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, real one of the current important research and development problem that belongs to, and also becoming the current industry utmost point needs improved target.
Because above-mentioned existing pipe-pipe passes through the defective that the joint soldering equipment exists mutually, the inventor makes rich practice experience and professional knowledge for many years based on being engaged in this type of product design, and the utilization of cooperation scientific principle, actively studied innovation, pass through joint Lincoln weld equipment mutually in the hope of founding a kind of novel numerical control pipe-pipe, can improve general existing pipe-pipe passes through the joint soldering equipment mutually, makes it have more practicality.Through constantly research, design, and, create the present invention who has practical value finally through after studying sample and improvement repeatedly.
Summary of the invention
Main purpose of the present utility model is, overcome existing pipe-pipe and pass through the defective that the joint soldering equipment exists mutually, and provide a kind of novel numerical control pipe-pipe to pass through joint Lincoln weld equipment mutually, technical problem to be solved is to make it improve pipe-pipe to pass through angle welding mutually, promptly two cylinders pass through (quadrature mutually, hand over partially, oblique) automation and the mechanization level of joint welding, raise labour productivity, improve welding quality, alleviate welder's labour intensity, improve working conditions, needs so that the demand that satisfies station boiler and pipeline welding and quality constantly increase are very suitable for practicality.
The purpose of this utility model and to solve its technical problem be to adopt following technical scheme to realize.Pass through joint Lincoln weld equipment mutually, it is characterized in that including according to a kind of numerical control pipe-pipe that the utility model proposes: head suspension bracket, solder flux bucket, wire reel, wire-feed motor, adapter, solder flux dish, welding gun are radially finely tuned, axially fine setting of welding gun, welding gun, mother's pipe, workpiece gyroaxis β, unpowered shifting roller frame, numerical control displacement device, separator, real-time numerically controlled control system, four axes motion mechanism and welding procedure software; Above-mentioned numerical control displacement device includes numerically controlled unit head; Above-mentioned separator is the parts that are welded by a plurality of adapters and female pipe; Above-mentioned real-time numerically controlled control system is made up of a plurality of control circuit; Above-mentioned four axes motion mechanism is made up of a Z that moves both vertically, horizontal movement axle Y, horizontal movement axle X, welding gun slewing equipment and the posture of welding torch angle α motion of welding gun; Described welding gun slewing equipment includes welding gun slewing equipment, conduction afflux hub and slewing equipment; Described soldered mother pipe, the one end is installed on the numerically controlled unit head, and its other cantilever end is supported on the unpowered shifting roller frame; The center line of this mother's pipe is its workpiece gyroaxis β.
The purpose of this utility model and solve its technical problem and can also be further achieved by the following technical measures.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, in the axis of rotation of wherein said posture of welding torch angle α and the axes intersect of welding gun slewing equipment and the vertical plane that coexists.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, the center line of wherein said welding gun intersects in same plane with the axis of rotation of adjusting posture of welding torch angle α, its intersection point is the end of welding wire, overlaps with the crossing point of axes of welding gun slewing equipment with the axis of rotation of adjusting posture of welding torch angle α.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, wherein said welding gun slewing equipment (promptly conduct electricity afflux hub, slewing equipment) drives that wire reel, wire-feed motor, posture of welding torch angle α, solder flux dish, welding gun are radially finely tuned, welding gun is axially finely tuned, welding gun is done gyration together.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, wherein soldered workpiece setting is on unpowered shifting roller frame, the end of one side is by the clamping of numerical control displacement device, when welding gun when weld seam moves, the numerical control displacement device rotates synchronously, make the welding position of oblique pipe on the separator, be in the desired horizontal level of submerged welding process all the time.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, AC servo motor in the wherein said numerical control displacement device reaches gyroaxis through decelerator, gear, drives scroll chuck, the gripper chuck clamping of workpieces, itself and welding gun are rotated synchronously, guarantee that the welding position is in the optimum position.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, and wherein said numerically controlled control system partly is made up of PLC programmable logic controller (PLC), touch-screen and AC servo motor etc., comprises fortune merit module in the PLC programmable logic controller (PLC); Described numerically controlled control system is according to the workpiece features parameter of input, through calculated with mathematical model, the control welding gun is made the synchronous fortune merit of asymmetrical saddle-shaped curve motion and workpiece. and make the welding position be in the position of level, and have the function of the real-time correction of welding process.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, and wherein said four axes motion mechanism partly is made up of quadruplet AC servo motor, line slideway and ball screw shaft, afflux conductive mechanism etc.
Aforesaid numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, wherein said welding procedure software according to eccentric, oblique nozzle at the bevel angle of diverse location and required section of weld joint, establishment is row's welding bead process software automatically, and the welding bead parameter is arranged in the welding that this welding procedure software comprises that speed of welding, radial motion increment are set in segmentation and two cylinders pass through (quadrature, hand over partially, oblique) joint mutually automatically.
The utility model compared with prior art has tangible advantage and beneficial effect.Via as can be known above, in order to achieve the above object, the utility model provides a kind of numerical control pipe-pipe to pass through joint Lincoln weld equipment mutually), its main summary of the invention is to have solved following technical barrier;
1. realize the control of welding position
Workpiece is placed on one group of unpowered shifting roller frame, the end of one side is by the clamping of numerical control displacement device, when welding gun when weld seam moves, deflection machine rotates synchronously, make the welding position of oblique pipe on the separator, all the time be in the desired optimum position of submerged welding process, i.e. horizontal level is to guarantee welding quality.
2. realize the control of welding gun movement locus
The teaching of exploitation band, the digital control system of controlling in real time according to the actual shape line of weld seam, are revised the movement locus of welding gun in real time, make its actual shape line that approaches weld seam, realize welding accurately.
3. develop welding procedure software
According to the characteristics of non-constant section weld seam, exploitation one cover welding procedure software is realized row's welding bead automatically.
By technique scheme, the utility model numerical control pipe-pipe passes through joint Lincoln weld equipment mutually and has following advantage and beneficial effect at least: the invention of this equipment is intended to improve pipe-pipe and passes through angle welding mutually, promptly two cylinders pass through automation and the mechanization level that (quadrature, inclined to one side friendship, oblique) joint welds mutually, raise labour productivity, improve welding quality, alleviate welder's labour intensity, improve working conditions the needs that constantly increase with the demand that satisfies station boiler and pipeline welding and quality.
In sum, the utility model has obvious improvement technically, and has tangible good effect, really is a new and innovative, progressive, practical new design.
Above-mentioned explanation only is the general introduction of technical solutions of the utility model, for can clearer understanding technological means of the present utility model, and can be implemented according to the content of specification, and for above-mentioned and other purposes, feature and advantage of the present utility model can be become apparent, below especially exemplified by preferred embodiment, and conjunction with figs., be described in detail as follows.
Description of drawings
Fig. 1 is that the utility model numerical control pipe-pipe passes through the front view of joint Lincoln weld equipment mutually.
Fig. 2 is that the utility model numerical control pipe-pipe passes through the side view of joint Lincoln weld equipment mutually.
1: head suspension bracket 2: horizontal movement axle Y
3: a z 4 moves both vertically: the solder flux bucket
5: wire reel 6: wire-feed motor
7: the welding gun slewing equipment
8: posture of welding torch angle α 9: numerically controlled unit head
10: take over 11: horizontal movement axle X
12: solder flux dish 13: welding gun is radially finely tuned
14: welding gun axially finely tunes 15: welding gun
16: female pipe 17: workpiece gyroaxis β
18: unpowered shifting roller frame
The specific embodiment
For further setting forth the utility model is to reach technological means and the effect that predetermined goal of the invention is taked, below in conjunction with accompanying drawing and preferred embodiment, to passing through its specific embodiment of joint Lincoln weld equipment, structure, feature and effect thereof mutually according to the numerical control pipe-pipe that the utility model proposes, describe in detail as after.
Relevant aforementioned and other technology contents, characteristics and effect of the present utility model can clearly present in the following detailed description that cooperates with reference to graphic preferred embodiment.For convenience of description, in following embodiment, components identical is represented with identical numbering.
The utility model numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, and a major technology difficult problem that is solved is as described below:
1. the control of locus appearance of weld
Joint for eccentric oblique pipe-pipe intersection, its weld seam is an asymmetric space saddle-shaped curve, and during welding, its welding position is in the upper and lower slope weldering that replaces continuously, because the saddle drop is excessive, cause when welding uphill welding and the gradient of downward welding in the inclined position excessive, the molten bath under the effect of gravity, undercut when causing uphill welding, defective such as incomplete fusion during downward welding in the inclined position, and make the welding forming severe exacerbation, and directly influencing weldquality, this is insoluble technological problems.Therefore, realize the automation welding, must resolve the welding position in off-centre, the oblique pipe welding process, make the welding position be in the horizontal level that helps welding all the time, avoid the mountain descending.
2. the difference of actual shape line of weld seam and theory movement track
Because factors such as the dimensional tolerance of workpiece self and processing, equipment error cause there are differences by the theory movement track of calculated with mathematical model and actual weld seam shape line.Therefore, can digital control system adapt to this species diversity, resolves this problem, is key of success, and this is the difference of numerical control welding machine and numerical control cutting machine just, and degree-of-difficulty factor increases greatly.
See also Fig. 1, shown in Figure 2, the utility model numerical control pipe-pipe passes through joint Lincoln weld equipment mutually and mainly includes:
Head suspension bracket 1, solder flux bucket 4, wire reel 5, wire-feed motor 6, take over 10, solder flux dish 12, welding gun radially finely tune 13, welding gun axially finely tunes 14, welding gun 15, female pipe 16, workpiece gyroaxis β 17, unpowered shifting roller frame 18, numerical control displacement device, separator, real-time numerically controlled control system, four axes motion mechanism and welding procedure software;
Above-mentioned numerical control displacement device includes numerically controlled unit head 9;
Above-mentioned separator is by a plurality of adapters 10 and female pipe 16 parts that are welded;
Above-mentioned real-time numerically controlled control system is made up of a plurality of control circuit;
Above-mentioned four axes motion mechanism is made up of the motions such as a Z3 that moves both vertically, horizontal movement axle Y2, horizontal movement axle X11, welding gun slewing equipment 7 and posture of welding torch angle α 8 of welding gun;
Described welding gun slewing equipment 7 includes welding gun slewing equipment, conduction afflux hub and slewing equipment;
Described soldered mother manages 16, and the one end is installed on the numerically controlled unit head 9, and its other cantilever end is supported on the unpowered shifting roller frame 18; This mother manages 16 center line and is its workpiece gyroaxis β 17.
The utility model numerical control pipe-pipe passes through joint Lincoln weld equipment in use mutually, requires to carry out following structural adjustment:
In the axis of rotation of adjustment posture of welding torch angle α 8 and the axes intersect and the vertical plane that coexists of welding gun slewing equipment 7;
The center line of welding gun 15 intersects in same plane with the axis of rotation of adjusting posture of welding torch angle α 8, and its intersection point is the end of welding wire, overlaps with the crossing point of axes of welding gun slewing equipment 7 with the axis of rotation of adjusting posture of welding torch angle α 8.
Welding gun slewing equipment 7 (promptly conduct electricity afflux hub, slewing equipment) drives that wire reel 5, wire-feed motor 6, posture of welding torch angle α 7, solder flux dish 12, welding gun radially finely tune 13, welding gun axially finely tunes 14, welding gun 15 is done gyration together.
The utility model numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, mainly is to adopt following technical measures to reach its intended purposes:
1. the control of welding position
Soldered workpiece is placed on one group of unpowered shifting roller frame 18, the end of one side is by the clamping of numerical control displacement device, when welding gun 15 when weld seam moves, the numerical control displacement device rotates synchronously, make the welding position of oblique pipe on the separator, all the time be in the desired optimum position of submerged welding process, i.e. horizontal level is to guarantee welding quality.
AC servo motor in the numerical control displacement device reaches gyroaxis through decelerator, gear, drives scroll chuck, and the gripper chuck clamping of workpieces rotates itself and welding gun synchronously, guarantees that the welding position is in the optimum position.
2. the control of welding gun movement locus
Real-time numerically controlled control system according to the actual shape line of weld seam, is revised the movement locus of welding gun in real time, makes its actual shape line that approaches weld seam, realizes welding accurately.
Numerically controlled control system partly is made up of PLC programmable logic controller (PLC), touch-screen and AC servo motor etc., comprises fortune merit module among the PLC.Described numerically controlled control system is according to the workpiece features parameter of input, and through calculated with mathematical model, the control welding gun is made the synchronous fortune merit of asymmetrical saddle-shaped curve motion and workpiece, makes the welding position be in the position of level.In addition, native system also has the function of the real-time correction of teaching and welding process, because factors such as the dimensional tolerance of workpiece self and processing, equipment errors, cause the problem that there are differences by the theory movement track of calculated with mathematical model and actual weld seam shape line to solve.
3. welding procedure software
According to the characteristics of non-constant section weld seam, exploitation one cover welding procedure software is realized row's welding bead automatically.
This software according to eccentric, oblique nozzle at the bevel angle of diverse location and required section of weld joint, establishment is row's welding bead process software automatically, comprises that speed of welding, radial motion increment are set in segmentation and the welding bead parameter is arranged in welding that two cylinders pass through (quadrature, hand over partially, oblique) joint mutually automatically.
4. the four axes motion welding head reaches
The numerical control displacement deviceCooperative motion,
Four axes motion mechanism, comprise welding gun vertical lift Z3, horizontal movement axle Y2, move horizontally motions such as X11, welding gun slewing equipment 7 and posture of welding torch angle α 8, partly form by quadruplet AC servo motor, line slideway and ball screw shaft, afflux conductive mechanism etc.
The above, it only is preferred embodiment of the present utility model, be not that the utility model is done any pro forma restriction, though the utility model discloses as above with preferred embodiment, yet be not in order to limit the utility model, any those skilled in the art are not in breaking away from the technical solutions of the utility model scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be the content that does not break away from technical solutions of the utility model, according to technical spirit of the present utility model to any simple modification that above embodiment did, equivalent variations and modification all still belong in the scope of technical solutions of the utility model.
Claims (8)
1. numerical control pipe-pipe passes through joint Lincoln weld equipment mutually, it is characterized in that including:
Head suspension bracket (1), solder flux bucket (4), wire reel (5), wire-feed motor (6), take over (10), solder flux dish (12), welding gun and radially finely tune (13), welding gun and axially finely tune (14), welding gun (15), female pipe (16), workpiece gyroaxis β (17), unpowered shifting roller frame (18), numerical control displacement device, separator, real-time numerically controlled control system, four axes motion mechanism and welding procedure software;
Above-mentioned numerical control displacement device includes numerically controlled unit head (9);
Above-mentioned separator is the parts that are welded by a plurality of adapters (10) and female pipe (16);
Above-mentioned real-time numerically controlled control system is made up of a plurality of control circuit;
Above-mentioned four axes motion mechanism is made up of the Z (3) that moves both vertically, horizontal movement axle Y (2), horizontal movement axle X (11), welding gun slewing equipment (7) and posture of welding torch angle α (8) motion of welding gun;
Described welding gun slewing equipment (7) includes welding gun slewing equipment, conduction afflux hub and slewing equipment;
Described soldered mother pipe (16), the one end is installed on the numerically controlled unit head (9), and its other cantilever end is supported on the unpowered shifting roller frame (18); The center line of this mother's pipe (16) is its workpiece gyroaxis β (17).
2. numerical control pipe according to claim 1-pipe passes through joint Lincoln weld equipment mutually, it is characterized in that in the axes intersect and the vertical plane that coexists of the axis of rotation of wherein said posture of welding torch angle α (8) and welding gun slewing equipment (7).
3. numerical control pipe according to claim 1-pipe passes through joint Lincoln weld equipment mutually, the center line that it is characterized in that wherein said welding gun (15) intersects in same plane with the axis of rotation of adjusting posture of welding torch angle α (8), its intersection point is the end of welding wire, overlaps with the axis of rotation of adjusting posture of welding torch angle α (8) and the crossing point of axes of welding gun slewing equipment (7).
4. numerical control pipe according to claim 1-pipe passes through joint Lincoln weld equipment mutually, it is characterized in that wherein said wire reel (5), wire-feed motor (6), posture of welding torch angle α (8), solder flux dish (12), welding gun are radially finely tuned (13), welding gun axially finely tunes (14) and welding gun (15) is done gyration jointly by welding gun slewing equipment (7) drive.
5. numerical control pipe according to claim 1-pipe passes through joint Lincoln weld equipment mutually, it is characterized in that wherein soldered workpiece setting is on unpowered shifting roller frame (18), the end of one side is by the clamping of numerical control displacement device, welding gun (15) moves along weld seam, the numerical control displacement device rotates synchronously, and the welding position of oblique pipe is in the horizontal level of submerged arc welding all the time on the separator.
6. numerical control pipe according to claim 5-pipe passes through joint Lincoln weld equipment mutually, it is characterized in that the AC servo motor in the wherein said numerical control displacement device reaches gyroaxis through decelerator, gear, and the driving welding gun rotates synchronously.
7. numerical control pipe according to claim 1-pipe passes through joint Lincoln weld equipment mutually, it is characterized in that wherein said numerically controlled control system is made up of PLC programmable logic controller (PLC), touch-screen and AC servo motor, comprise fortune merit module in the PLC programmable logic controller (PLC);
Described numerically controlled control system control welding gun is made the synchronous fortune merit of asymmetrical saddle-shaped curve motion and workpiece, and its welding position is in the position of level, and in the real-time correction of welding process.
8. numerical control pipe according to claim 1-pipe passes through joint Lincoln weld equipment mutually, it is characterized in that wherein said four axes motion mechanism, is made up of quadruplet AC servo motor, line slideway and ball screw shaft, afflux conductive mechanism.
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| CN2009201101362U CN201565708U (en) | 2009-07-17 | 2009-07-17 | Automatic submerged arc welding device for numerical control pipe-pipe penetration joint |
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| CN2009201101362U CN201565708U (en) | 2009-07-17 | 2009-07-17 | Automatic submerged arc welding device for numerical control pipe-pipe penetration joint |
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