CN214721334U - Box girder multilayer multichannel vision imaging automatic welding system - Google Patents
Box girder multilayer multichannel vision imaging automatic welding system Download PDFInfo
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- CN214721334U CN214721334U CN202120929483.9U CN202120929483U CN214721334U CN 214721334 U CN214721334 U CN 214721334U CN 202120929483 U CN202120929483 U CN 202120929483U CN 214721334 U CN214721334 U CN 214721334U
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Abstract
The utility model discloses a box girder multilayer multichannel vision imaging automatic welding system, which comprises a gantry type walking mechanism, a transverse movement mechanism, a lifting mechanism, a welding seam tracking system and a controller; the transverse movement mechanism is arranged on the gantry type travelling mechanism; the lifting mechanism is arranged on the transverse movement mechanism, and the transverse movement mechanism drives the lifting mechanism to move left and right; the welding seam tracking system is fixed on the lifting mechanism, and the lifting mechanism drives the welding seam tracking system to move up and down; the welding seam tracking system comprises a visual tracking sensor, a deviation adjusting mechanism and a welding gun; the deviation adjusting mechanism is fixed on the lifting mechanism, the welding gun is fixed on the deviation adjusting mechanism, and the visual tracking sensor is fixed on the outer side of the welding gun; the controller is connected with the gantry type traveling mechanism, the transverse movement mechanism, the lifting mechanism and the welding seam tracking system; the system improves the welding precision, reduces the working difficulty of operators and lightens the labor intensity.
Description
Technical Field
The utility model belongs to the technical field of automatic welding, concretely relates to automatic welding system of case roof beam multilayer multichannel vision formation of image.
Background
At present, in the manufacturing industries of large machines such as engineering machinery, marine equipment, rail vehicles and the like, manual welding gradually exits from a production line, automatic welding robots, automatic special welding machines and intelligent welding become development trends of welding technologies, and development and research of automation and intelligence in the welding process have far-reaching significance; at present, a submerged arc trolley is adopted for carrying out multilayer and multi-channel butt joint during welding of box girders, and manual deviation rectification is adopted during welding. The welding precision error is larger, the labor intensity is high, and the efficiency is low.
SUMMERY OF THE UTILITY MODEL
In order to solve the above-mentioned problem that exists among the prior art, the utility model provides a case roof beam multilayer multichannel vision imaging automatic weld system.
The to-be-solved technical problem of the utility model is realized through following technical scheme:
a box girder multilayer multichannel vision imaging automated welding system includes: the device comprises a gantry type travelling mechanism, a transverse movement mechanism, a lifting mechanism, a welding seam tracking system and a controller; wherein the content of the first and second substances,
the transverse movement mechanism is arranged on the gantry type travelling mechanism, the lifting mechanism is arranged on the transverse movement mechanism, and the transverse movement mechanism drives the lifting mechanism to move left and right; the welding seam tracking system is fixed on the lifting mechanism, and the lifting mechanism drives the welding seam tracking system to move up and down;
the weld tracking system includes: a vision tracking sensor, a deviation adjusting mechanism and a welding gun; the deviation adjusting mechanism is fixed on the lifting mechanism, the welding gun is fixed on the deviation adjusting mechanism, and the vision tracking sensor is fixed on the outer side of the welding gun;
and the controller is respectively connected with the gantry type travelling mechanism, the transverse movement mechanism, the lifting mechanism and the welding seam tracking system.
Furthermore, the gantry type travelling mechanism comprises a left support leg, a right support leg, a cross beam positioned between the left support leg and the right support leg, a platform positioned between the left support leg, the right support leg and the cross beam, and a travelling trolley, which are oppositely arranged; the left supporting leg and the right supporting leg are fixed on a walking trolley, and the walking trolley drives the left supporting leg, the right supporting leg, the cross beam and the platform to move back and forth; the walking trolley is connected with the controller.
Further, the lateral movement mechanism is fixed to any one of the cross beams, and includes: the device comprises a gear, a rack, a first guide rail, a first sliding block and a first motor; the rack is fixed at the upper end of the cross beam, the first guide rail is fixed on the outer side of the cross beam, the lifting mechanism is fixed on the gear and is fixed on the first sliding block through a fixing plate, the first motor drives the gear to move along the rack, and meanwhile, the first sliding block moves along the first guide rail under the driving of the rack; the first motor is connected with the controller.
Further, the lifting mechanism comprises a screw rod seat, a screw rod, a second motor, a sliding plate and a welding arm; the screw rod seat is vertically fixed on the first sliding block through the fixing plate, and the screw rod is vertically arranged on the screw rod seat and is driven to rotate through the second motor; the sliding plate is fixedly connected with the screw rod through a screw rod nut seat; the welding arm is fixed on the sliding plate, a second guide rail is vertically arranged on the end surface of the lead screw seat opposite to the sliding plate, the sliding plate is connected with the second guide rail in a sliding mode through a second sliding block, and the sliding plate drives the welding arm to move up and down along the second guide rail; the second motor is connected with the controller.
Further, the deviation adjusting mechanism comprises a longitudinal fine adjusting mechanism, a transverse fine adjusting mechanism and a manual angle rotating mechanism; the manual angle rotating mechanism is fixed on the outer side of the welding arm, the transverse fine adjustment mechanism is fixed on the outer side of the manual angle rotating mechanism, and the longitudinal fine adjustment mechanism is connected to the outer side of the transverse fine adjustment mechanism; the longitudinal fine adjustment mechanism and the transverse fine adjustment mechanism are respectively connected with the controller.
The utility model has the advantages that:
1. the utility model adds a welding seam tracking system, replaces manual adjustment, and realizes automatic adjustment and tracking of welding seams; the operation process is optimized, the welding precision is improved, the working difficulty of operators is reduced, and the labor intensity is reduced;
2. the utility model adopts the welding seam tracking system, can detect the form of the welding seam groove and the width of the groove, automatically adjust the welding bead arrangement, realize the multilayer and multi-pass welding of the welding seam, and has beautiful appearance and excellent internal quality;
3. the utility model discloses an automatic welding simple process, the operation is feasible, can be used to the long straight butt weld's of girder steel welding, promotes the application of automatic welding in the bridge trade.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is an enlarged schematic view of portion B of FIG. 1;
FIG. 4 is an enlarged schematic view of a portion C of FIG. 1;
FIG. 5 is a schematic diagram of the control principle of the present invention;
description of reference numerals:
1-gantry type travelling mechanism; 2-a transverse movement mechanism; 3-a lifting mechanism; 4-a weld tracking system; 1-1-left leg; 1-2-right leg; 1-3-beam; 1-4-stage; 1-5-a walking trolley; 2-1-rack; 2-2-a first guide rail; 2-3-a first electric machine; 2-4-fixing plate; 3-1-a lead screw seat; 3-2-a second motor; 3-3-sliding plate; 3-4-welding arm; 4-1-a visual tracking sensor; 4-2-a deviation adjustment mechanism; 4-3-welding torch; 4-4-a flux delivery tube; 4-5-a flux recovery tube; 4-6-flux barrel; 1-5-1-base; 1-5-2-orbital; 1-5-3-a walking motor; 4-2-1-longitudinal fine adjustment mechanism; 4-2-2-transverse fine adjustment mechanism; 4-2-3-manual angle rotation mechanism.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the present invention is not limited thereto.
Example 1
Please refer to fig. 1-5 simultaneously, the embodiment of the present invention provides an automatic welding system of box girder multilayer multichannel vision imaging, including: the device comprises a gantry type travelling mechanism 1, a transverse movement mechanism 2, a lifting mechanism 3, a welding seam tracking system 4 and a controller; wherein the content of the first and second substances,
the transverse movement mechanism 2 is fixedly arranged on the gantry type travelling mechanism 1, the lifting mechanism 3 is arranged on the transverse movement mechanism 2, and the transverse movement mechanism 2 drives the lifting mechanism 3 to move left and right; the welding seam tracking system 4 is fixed on the lifting mechanism 3, and the lifting mechanism 3 drives the welding seam tracking system 4 to move up and down;
the weld tracking system 4 includes: a visual tracking sensor 4-1, a deviation adjusting mechanism 4-2 and a welding gun 4-3; the deviation adjusting mechanism 4-2 is fixed on the lifting mechanism 3, the welding gun 4-3 is fixed on the deviation adjusting mechanism 4-2, and the vision tracking sensor 4-1 is fixed on the outer side of the welding gun 4-3;
the controller is respectively and electrically connected with the gantry type travelling mechanism 1, the transverse movement mechanism 2, the lifting mechanism 3 and the welding seam tracking system 4.
Further, the gantry type travelling mechanism 1 comprises a left leg 1-1, a right leg 1-2, a beam 1-3 positioned between the left leg 1-1 and the right leg 1-2, a platform 1-4 positioned between the left leg 1-1, the right leg 1-2 and the beam 1-3, and a travelling trolley 1-5 which are oppositely arranged; the left leg 1-1 and the right leg 1-2 are fixed on the walking trolley 1-5, and the walking trolley 1-5 drives the left leg 1-1, the right leg 1-2, the beam 1-3 and the platform 1-4 to move back and forth; the walking trolleys 1-5 are electrically connected with the controller.
The walking trolley 1-5 consists of a base 1-5-1, rollers, a track 1-5-2 and a walking motor 1-5-3, wherein a left leg 1-1 and a right leg 1-2 are respectively fixed on the base 1-5-1, the rollers are arranged at the lower end of the base 1-5-1, and the rollers are driven by the walking motor 1-5-3 to move back and forth along the track 1-5-2.
Further, a lateral movement mechanism 2 is fixed on any one of the beams 1-3, and comprises: the device comprises a gear, a rack 2-1, a first guide rail 2-2, a first sliding block and a first motor 2-3; wherein the content of the first and second substances,
a rack 2-1 is fixed at the upper end of a beam 1-3, a first guide rail 2-2 is fixed at the outer side of the beam 1-3, a gear is fixed below a first motor base and connected with the rack 2-1, a lifting mechanism 3 is fixed with the gear through the first motor base and fixed on a first sliding block through a fixing plate 2-4, the first motor 2-3 drives the gear to move along the rack 2-1, and meanwhile, the first sliding block moves along the first guide rail 2-2 under the driving of the rack 2-1; the first motor 2-3 is electrically connected to the controller.
Further, the lifting mechanism 3 comprises a screw rod seat 3-1, a screw rod, a second motor 3-2, a sliding plate 3-3 and a welding arm 3-4; wherein the content of the first and second substances,
the screw seat 3-1 is vertically fixed on the first sliding block through the fixing plate 2-4, the screw is vertically arranged on the screw seat 3-1, and the screw is driven to rotate through the second motor 3-2; the sliding plate 3-3 is fixedly connected with a screw nut through a screw nut seat; the welding arm 3-4 is fixed on the sliding plate 3-3, a second guide rail is vertically arranged on the opposite end surface of the screw rod seat 3-1 and the sliding plate 3-3, the sliding plate 3-3 is connected with the second guide rail in a sliding way through second sliding blocks arranged on the two sides of the sliding plate 3-3, and the sliding plate 3-3 drives the welding arm 3-4 to move up and down along the second guide rail; the second motor 3-2 is electrically connected to the controller.
Further, the deviation adjusting mechanism 4-2 comprises a longitudinal fine adjustment mechanism 4-2-1, a transverse fine adjustment mechanism 4-2-2 and a manual angle rotating mechanism 4-2-3; the manual angle rotating mechanism 4-2-3 is a rotary disc with scales and is fixed on the outer side of the welding arm 3-4, and the longitudinal micro-adjustment mechanism 4-2-1 and the transverse micro-adjustment mechanism 4-2-2 are fixed on the manual angle rotating mechanism 4-2-3 in a crossed manner; the transverse fine adjustment mechanism 4-2-2 is fixed on the outer side of the manual angle rotating mechanism 4-2-3, and the longitudinal fine adjustment mechanism 4-2-1 is connected on the outer side of the transverse fine adjustment mechanism 4-2-2; the longitudinal fine adjustment mechanism 4-2-1 is used for adjusting a longitudinal rail 1-5-2 of the welding gun 4-3, and aims at the description of a workpiece, and the longitudinal fine adjustment mechanism 4-2-1 is used for adjusting the spacing distance between the horizontal plane of the workpiece and the tail end of the welding gun 4-3; the transverse fine adjustment mechanism 4-2-2 is used for adjusting a transverse track 1-5-2 of the welding gun 4-3, and aims at the description of a welding seam, namely the central line of the welding seam and the central line of the welding gun 4-3 are kept in a superposition state, if the central line of the welding seam is not superposed, the transverse fine adjustment mechanism 4-2-2 automatically corrects the welding gun 4-3 through a signal identified by the visual tracking sensor 4-1 until the central line of the welding seam and the central line of the welding gun 4-3 are in a superposition state; the longitudinal fine adjustment mechanism 4-2-1 and the transverse fine adjustment mechanism 4-2-2 form a cross sliding table, motors for controlling the longitudinal fine adjustment mechanism 4-2-1 and the transverse fine adjustment mechanism 4-2-2 and the visual tracking sensor 4-1 are respectively and electrically connected with a controller, and the motors are servo motors.
A welding gun 4-3 is fixed on the outer side of the cross sliding table, a welding flux conveying pipe 4-4 and a welding flux recovery pipe 4-5 are respectively positioned on two sides of the welding gun 4-3, and a welding flux barrel 4-6 is fixed on the outer side of the welding arm 3-4; a visual tracking sensor 4-1 is fixed outside the flux delivery tube 4-4.
The automatic tracking of the geometric relation between the welding gun 4-3 and the welding seam is realized based on the cross sliding table, and the stable tracking of the welding seam can be realized by adopting the independent cross sliding table; and a servo motor is adopted for control, so that the tracking precision and rapidity can be ensured.
The geometric relation between a visual tracking sensor 4-1 and a welding gun 4-3 in the welding seam tracking system 4 is fixed in principle, and a special angle can be realized by adjusting a manual angle rotating mechanism 4-2-3 on a welding arm 3-4; the transverse fine adjustment mechanism 4-2-2 and the longitudinal fine adjustment mechanism 4-2-1 are mutually vertical in motion relation; when the welding seam form of the workpiece changes, the manual angle rotating mechanism 4-2-3 is adjusted, and the posture of the welding gun 4-3 can be adjusted to meet the welding requirement. As the geometric relationship between the visual tracking sensor 4-1 and the welding gun 4-3 is kept unchanged, the visual tracking sensor 4-1 still meets the tracking condition.
After the pre-welding preparation work is finished, the visual tracking sensor 4-1 is started, the visual tracking sensor 4-1 is used for scanning welding line deviation information, the welding line deviation information is sent to the controller, the controller processes the welding line deviation information and transmits obtained result signals to the transverse fine adjustment mechanism 4-2-2 and the longitudinal fine adjustment mechanism 4-2-1, and the welding gun 4-3 is driven to move to the correct welding position to be automatically identified, corrected and welded. The visual tracking sensor 4-1 is a laser sensor.
Specifically, the controller is a PLC controller; the PLC controller comprises a welding machine control part, a gantry control part and a vision control part; wherein the welding machine control part controls the movement of the welding machine; the gantry control respectively controls the movement of the gantry type travelling mechanism 1, the transverse movement mechanism 2 and the lifting mechanism 3; the visual control part respectively controls the transverse fine adjustment mechanism 4-2-2, the longitudinal fine adjustment mechanism 4-2-1 and the visual tracking sensor 4-1.
The forward direction of the gantry type travelling mechanism 1 is controlled by a servo so as to ensure stable operation and further ensure welding quality, and in multilayer multi-pass welding, the position information of the forward direction of the travelling mechanism needs to be recorded and can be directly controlled by a frequency converter; the transverse movement mechanism 2 and the lifting mechanism 3 roughly adjust the positions of the welding guns 4-3 by using encoder information of a servo motor.
The visual tracking sensor 4-1 identifies a welding line, obtains the deviation value of a workpiece, and feeds the deviation value back to the visual control part, and the visual control part controls the transverse fine adjustment mechanism 4-2-2 and the longitudinal fine adjustment mechanism 4-2-1 to realize the position adjustment of the welding gun 4-3, so that the automatic welding is realized, and in order to obtain better control performance, the transverse fine adjustment mechanism 4-2-2 and the longitudinal fine adjustment mechanism 4-2-1 both use servo control; the PID control is carried out by adopting a speed mode in the servo control, the current position of a servo motor encoder is combined with a position signal when a sensor is calibrated, so that a deviation value is obtained, the deviation value is used as PID input, and an analog quantity is output to carry out the control of the rotating speed; during the welding of the cover surface, the size characteristic is not obvious, the track needs to be memorized for realizing, during the first track tracking, the vision control part records the position and the advancing position relation of the transverse fine adjustment mechanism 4-2-2 and the longitudinal fine adjustment mechanism 4-2-1, and when the cover surface welding or the size characteristic is not obvious, "reproduction" can be carried out according to the recorded track.
The automatic welding system also comprises a human-computer interaction interface, the main function of the human-computer interaction interface is convenient for workers to operate, and the human-computer interaction interface mainly comprises a plurality of buttons and a display screen, the buttons comprise conventional functions of controlling the gantry walking mechanism to move forwards and backwards, roughly adjusting in the transverse and longitudinal directions, finely adjusting in the transverse and longitudinal directions, feeding and withdrawing wires, starting and stopping, striking and extinguishing arcs, recovering welding flux and the like, and related function buttons of starting or stopping tracking, turning on or off a visual tracking sensor, reproducing, setting a reference, adjusting and the like in the welding seam tracking system; the display screen has the functions of adjusting welding current and voltage, selecting advancing speed, welding seam type and the like, setting motion control parameters and the like.
In the welding process, the relation between the welding gun and the welding seam is automatically adjusted through the transverse fine adjustment mechanism and the longitudinal fine adjustment mechanism, the bidirectional adjustment mechanism is matched with the visual tracking sensor to automatically track, the deviation is overcome, an operator can have time to consider other work such as slag removal and the like, or a plurality of devices are operated simultaneously.
Example 2
The embodiment of the utility model provides a case roof beam multilayer multichannel vision imaging automatic welding system's use in embodiment 1:
s1: roughly adjusting the position of a machine head; after the workpiece is arranged at the designated position, an operator manually controls the gantry type travelling mechanism, the transverse movement mechanism and the lifting mechanism through the buttons to enable the welding gun to reach the position of the welding seam preliminarily.
S2: setting the posture of a welding gun; and manually adjusting the angle of the welding gun to enable the welding gun and the welding line to be in a correct welding angle state.
S3: setting a tracking state; the longitudinal fine adjustment mechanism and the transverse fine adjustment mechanism are manually adjusted through the buttons, so that a welding wire of a welding gun is aligned to the arc striking position of a welding line, and the welding line is located at the position of the approximate midpoint of the laser line.
S4: confirming a welding state; and after the position relation between the adjusted welding gun and the workpiece is determined to be correct, pressing a button to bind the relative position relation between the welding gun, the sensor and the welding seam of the workpiece.
S5: starting welding; and (4) pressing an arc striking button to start automatic welding, wherein the positions of the welding gun and the workpiece, and the positions of the sensor and the workpiece are not required to be adjusted.
S6: automatic tracking welding; the operator can not participate in the process any more, and the whole automatic welding system automatically completes welding.
S7: automatically finishing tracking, arc quenching and welding; the automatic welding system automatically finishes after tracking the tail part of the welding seam, and can automatically judge the end point of the welding seam so as to finish welding.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.
Claims (5)
1. The utility model provides a case roof beam multilayer multichannel vision imaging automated welding system which characterized in that includes: the device comprises a gantry type travelling mechanism, a transverse movement mechanism, a lifting mechanism, a welding seam tracking system and a controller; wherein the content of the first and second substances,
the transverse movement mechanism is arranged on the gantry type travelling mechanism, the lifting mechanism is arranged on the transverse movement mechanism, and the transverse movement mechanism drives the lifting mechanism to move left and right; the welding seam tracking system is fixed on the lifting mechanism, and the lifting mechanism drives the welding seam tracking system to move up and down;
the weld tracking system includes: a vision tracking sensor, a deviation adjusting mechanism and a welding gun; the deviation adjusting mechanism is fixed on the lifting mechanism, the welding gun is fixed on the deviation adjusting mechanism, and the vision tracking sensor is fixed on the outer side of the welding gun;
and the controller is respectively connected with the gantry type travelling mechanism, the transverse movement mechanism, the lifting mechanism and the welding seam tracking system.
2. The box girder multilayer multichannel visual imaging automatic welding system according to claim 1, wherein the gantry type traveling mechanism comprises a left leg, a right leg, a beam between the left leg and the right leg, a platform between the left leg, the right leg and the beam, and a traveling trolley which are arranged oppositely; the left supporting leg and the right supporting leg are fixed on a walking trolley, and the walking trolley drives the left supporting leg, the right supporting leg, the cross beam and the platform to move back and forth; the walking trolley is connected with the controller.
3. The box girder multilayer multichannel visual imaging automated welding system of claim 2, wherein the lateral movement mechanism is fixed on any of the crossbeams and comprises: the device comprises a gear, a rack, a first guide rail, a first sliding block and a first motor; the rack is fixed at the upper end of the cross beam, the first guide rail is fixed on the outer side of the cross beam, the lifting mechanism is fixed on the gear and is fixed on the first sliding block through a fixing plate, the first motor drives the gear to move along the rack, and meanwhile, the first sliding block moves along the first guide rail under the driving of the rack; the first motor is connected with the controller.
4. The box girder multilayer multichannel visual imaging automatic welding system according to claim 3, characterized in that the lifting mechanism comprises a lead screw seat, a lead screw, a second motor, a sliding plate and a welding arm; the screw rod seat is vertically fixed on the first sliding block through the fixing plate, and the screw rod is vertically arranged on the screw rod seat and is driven to rotate through the second motor; the sliding plate is fixedly connected with the screw rod through a screw rod nut seat; the welding arm is fixed on the sliding plate, a second guide rail is vertically arranged on the end surface of the lead screw seat opposite to the sliding plate, and the sliding plate is connected with the second guide rail in a sliding mode through a second sliding block; the sliding plate drives the welding arm to move up and down along the second guide rail; the second motor is connected with the controller.
5. The box girder multilayer multichannel visual imaging automatic welding system according to claim 4, wherein the deviation adjusting mechanism comprises a longitudinal fine adjustment mechanism, a transverse fine adjustment mechanism and a manual angle rotation mechanism; the manual angle rotating mechanism is fixed on the outer side of the welding arm, the transverse fine adjustment mechanism is fixed on the outer side of the manual angle rotating mechanism, and the longitudinal fine adjustment mechanism is connected to the outer side of the transverse fine adjustment mechanism; the longitudinal fine adjustment mechanism and the transverse fine adjustment mechanism are respectively connected with the controller.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113996982A (en) * | 2021-12-17 | 2022-02-01 | 贵阳淦鑫钢模制造有限公司 | Walking type tracking welding device for steel die |
| CN114193034A (en) * | 2021-12-17 | 2022-03-18 | 北京石油化工学院 | Multi-gun efficient welding control method and system for precast slab steel bars |
| CN115283794A (en) * | 2022-07-06 | 2022-11-04 | 杭萧钢构股份有限公司 | Welding equipment and welding method |
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2021
- 2021-04-30 CN CN202120929483.9U patent/CN214721334U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113996982A (en) * | 2021-12-17 | 2022-02-01 | 贵阳淦鑫钢模制造有限公司 | Walking type tracking welding device for steel die |
| CN114193034A (en) * | 2021-12-17 | 2022-03-18 | 北京石油化工学院 | Multi-gun efficient welding control method and system for precast slab steel bars |
| CN114193034B (en) * | 2021-12-17 | 2023-05-09 | 北京石油化工学院 | Multi-gun efficient welding control method and system for precast slab reinforcement |
| CN115283794A (en) * | 2022-07-06 | 2022-11-04 | 杭萧钢构股份有限公司 | Welding equipment and welding method |
| CN115283794B (en) * | 2022-07-06 | 2024-04-16 | 杭萧钢构股份有限公司 | Welding equipment and welding method |
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