WO2019243089A1 - Dispositif et procédé de fabrication de pièces métalliques - Google Patents

Dispositif et procédé de fabrication de pièces métalliques Download PDF

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Publication number
WO2019243089A1
WO2019243089A1 PCT/EP2019/064989 EP2019064989W WO2019243089A1 WO 2019243089 A1 WO2019243089 A1 WO 2019243089A1 EP 2019064989 W EP2019064989 W EP 2019064989W WO 2019243089 A1 WO2019243089 A1 WO 2019243089A1
Authority
WO
WIPO (PCT)
Prior art keywords
welding
control device
wire
machine
machine tool
Prior art date
Application number
PCT/EP2019/064989
Other languages
German (de)
English (en)
Inventor
Bernd Zapf
Benjamin Grübel
Heinz Brujmann
Sebastian Knaus
Wolfgang Wenzler
Original Assignee
Gebr. Heller Maschinenfabrik Gmbh
August Wenzler Maschinenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gebr. Heller Maschinenfabrik Gmbh, August Wenzler Maschinenbau GmbH filed Critical Gebr. Heller Maschinenfabrik Gmbh
Publication of WO2019243089A1 publication Critical patent/WO2019243089A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
    • 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
    • B23K9/04—Welding for other purposes than joining, e.g. built-up welding
    • 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
    • B23K9/04—Welding for other purposes than joining, e.g. built-up welding
    • B23K9/042—Built-up welding on planar surfaces
    • 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

Definitions

  • the invention relates to a device and a method for producing metal parts, in particular in a manufacturing process with cladding.
  • the invention relates to the coordination of at least one command variable, e.g. the wire feed speed of the wire feed of an arc welding device when cladding on metal workpieces.
  • the invention further relates to the setting of the angle of attack of a torch of an arc welding device relative to the application surface.
  • the device includes a torch, to which a wire made of filler material is continuously fed during welding. During the welding process, the torch is guided in a direction parallel to the surfaces to be welded and perpendicular to the weld seam.
  • it is proposed to set the current, the burner speed, the current pulsation, the wire feed, wire feed pulsations, the time when the wire is started or stopped, and other parameters are set automatically by a programmer. It is also considered to incline the torch in a plane perpendicular to the weld.
  • EP 1 352 698 A1 discloses a wire feed device for wire welding systems in which the desired wire speed is to be changed during the welding process.
  • measuring means are provided to record the actual wire speed in order to bring it into line with the target wire speed.
  • the welding current of the wire speed is set accordingly.
  • the machine tool according to the invention has a workpiece holder which is pivotally held by a first positioning device at least about two axes which are not parallel to one another. Of the two axes, one axis is preferably oriented horizontally, while the other axis is oriented at right angles to it. If the first axis is in the zero position, the second axis is preferably vertical. The second axis is preferably perpendicular to the first axis. However, it is also possible to choose a different axis configuration, e.g. two can have horizontal axis sen, which in turn preferably form a right angle with each other. The axes can cross one another or be arranged at a distance from one another.
  • drives are assigned to the two axes, the position and movement of which are controlled by the machine control device.
  • the workpiece picked up by the workpiece or a base body picked up by the workpiece can always be held during the further generative application of material in such a way that a rigid part of the workpiece which is intended to temporarily take up liquid material is kept horizontal.
  • the liquid metal dripping from the welding wire is preferably applied in the direction of gravity.
  • the machine tool also has a tool holder, which is set up to accommodate an arc welding head.
  • the tool holder is also set up to hold other, in particular mechanical, tools which can be used, for example, for machining the workpiece, for example drills, milling cutters and the like.
  • the tool holder can typically be carried by a work spindle which can be driven in rotation or locked in arbitrarily fixed positions.
  • the arc welding head is connected to a wire feed device that supplies the arc welding head with welding wire.
  • the wire feed device typically has a wire spool with an unwinding device and a wire drive which is connected to the welding wire by one or more driven rollers in order to supply it to the arc welding head in a controlled manner.
  • the arc welding head is also connected to a welding current generator, which gene welding head and in particular supplies the welding wire with welding current.
  • the welding current generator is preferably designed such that it can emit a variable welding current in accordance with a control signal. In order to close the circuit, the welding current generator is also connected to the workpiece holder.
  • the current path can lead directly to a pallet or a workpiece carrier or also via a flexible or articulated current supply device via the first positioning device.
  • the wire feed device and the welding current generator are connected to a welding control device in order to be controlled by the latter.
  • the welding control device thus regulates the wire Z ubuch für für technik and the welding current.
  • the welding current device preferably operates under the control of a signal which defines at least one reference variable, for example the wire feed speed, and thus the material application rate.
  • a second positioning device is designed to move the workpiece holder and the tool holder relative to one another.
  • the workpiece holder and / or the tool holder can each be movably mounted on one or more linear axes.
  • the handle of the linear axis includes both a linear guide and an associated linear drive device, such as a spindle drive or the like.
  • a machine control device is provided which controls them in accordance with a machine control program. This can be a so-called NC program that specifies the movements to be performed by the individual axes of the machine tool in the desired order.
  • the machine control device is also connected to the welding control device in order to specify this at least one parameter, for example and preferably the wire feed speed.
  • the machine control device is set up to comply with at least one parameter of the welding control device.
  • a parameter is in particular a parameter that limits the dynamics, such as, for example, the maximum rate of change of the wire feed rate, ie the maximum wire acceleration or wire deceleration.
  • the consideration of this parameter has a considerable influence on the control of the first and the second positioning device. This applies in particular if the dynamics, ie the maximum acceleration or deceleration of the wire feed speed, is less than the dynamics (ie again maximum acceleration or deceleration) of the axes of the two positioning devices.
  • the positioning devices of the machine tool therefore work with an active welding head, possibly with extended acceleration or braking distances, which on the other hand achieves the desired quality and quantity of material.
  • the welding control device works controlled by the machine control device, where the machine control device includes the restrictions of the welding control device when actuating all positioning devices in order to ensure correct implementation of these commands by the welding control device.
  • the machine control device can replace the feed speed and the welding current pretend. If this is done again taking into account the dynamics of the welding device, in particular the wire feed device, additive manufacturing in the desired quality is again achieved according to the principles explained above.
  • the machine control device is additionally set up to hold the welding head along the welding path to be traversed at different angles with respect to a perpendicular which is at right angles to the weld pool.
  • the welding wire can be in a straight section of the welding path of the welding point at a positive acute angle to the vertical, i.e. are fed, so to speak, in a piercing manner so that the arc strikes an area that leads the welding point and melts quickly.
  • welding speed can be high and therefore high
  • the machine control device can be designed to work with a smaller angle with respect to the vertical, preferably also the feed speed of the arc welding head and the front Z uschreib Anthony wire and the welding current can be redu sheet. In this way, material accumulations at corners and in strongly curved areas are also possible avoided how the unwanted enlargement of the weld pool could otherwise lead to the deformation of the existing built-up material or even the destruction of the existing structure.
  • FIG. 1 shows a machine tool according to the invention, in a schematic representation
  • Figure 2 shows the workpiece and the welding head during additive manufacturing, in a schematic representation
  • FIG. 3 shows a welding track with differently curved sections, in a schematic plan view
  • FIG. 4 diagrams to illustrate the Ar work on the machine tool along the welding path according to Figures 3 and
  • Figure 5 is a block diagram illustrating the operation of the machine control device and the
  • FIG. 1 shows a machine tool 10 which is particularly suitable for the additive manufacturing of workpieces 11, as is indicated in FIG. 1 by a dashed line.
  • a structure is additively molded onto a base part previously produced, for example, in the original molding process or by forging.
  • the base part 12 can also be a carrier part, such as a plate or some other element or the like, which is not later part of the workpiece 11 to be produced and is then removed therefrom.
  • the workpiece 11 is generated completely generatively, while it is also being considered to provide the workpiece 11 with the aforementioned machine tool 10, which consist of a prefabricated base part and integrally generated additional structures formed thereon.
  • the machining can meet both the base part 12 and the additional structures.
  • the machine tool 10 has a delimited working space 13, in which preferably both additive, ie material-adding and subtractive, ie material-removing machining operations can take place.
  • a workpiece holder 14 is arranged, which is held movably in space via a first positioning device 15.
  • the positioning device ge equips the pivoting of the workpiece holder 14 preferably by two mutually at an angle, preferably a right th angle pivot axes 16, 17, which cross each other or can be arranged offset from one another.
  • the axes 16, 17 are not further illustrated associated drive devices which are controlled by a machine control unit 18.
  • Axis 16 mar- kiert the rotatability of the workpiece holder 14 against a carrier, which in turn about the horizontal axis 17th
  • a work spindle 19 For machining the workpiece 11, which preferably comprises both a subtractive and an additive machining, a work spindle 19 is provided which has a tool holder 20.
  • the tool holder 20 is, for example, a hollow shaft taper holder or another holder as is customary and standardized in mechanical engineering.
  • a tool changing device can be used in conjunction with a tool magazine, also not shown, to use various tools, in particular tools carried by tool holders, in the tool holder 20 or to execute them.
  • the tools include also an arc welding head 21, as is symbolically illustrated in FIG. 1. This is associated with a welding device 22, which can be part of the machine tool 10, which can be carried in whole or in part by the machine tool 10 or which can be set up separately from the machine tool 10.
  • the welding device 22 comprises a wire feed device 23, which is set up to feed the welding head 21 to a welding wire 24.
  • the wire feed device 23 has drives, which are not further illustrated, by means of which the welding wire 24 is unwound from a wire coil and conveyed to the arc welding head 21.
  • the welding head 21 can be provided with further drive means for wire feed.
  • the welding device 22 also includes one
  • Welding current generator 25 which is connected on the one hand to the arc welding head 21 in order to supply the welding wire 24 with welding current and, on the other hand, as is shown in FIG. Gur 1 is indicated by dashed lines, directly or via the positioner 15 with the workpiece holder 14 is connected.
  • the welding current generator 25 and the Drahtzu driving device 26 are controlled, the wire ubuch für Z and / or regulating the welding current by a processing Sch Struktureinrich 23rd
  • the machine tool 10 also includes a second positioning device 27, which is used to move the tool holder 20 and the workpiece holder 14 relative to one another.
  • a second positioning device 27 which is used to move the tool holder 20 and the workpiece holder 14 relative to one another.
  • the workpiece holder 14 and / or the tool holder 20, as indicated by arrows 28, 29, 30, can be moved in preferably several spatial directions.
  • the work spindle 19, which is illustrated in FIG. 1 with a horizontal axis of rotation can also be inclined.
  • the work spindle 19 is also assigned a rotary drive, which is not illustrated in FIG. 1. This rotary drive and also the second positioning device 27 are controlled by the machine control device 18.
  • the machine control device 18 and the
  • Welding control device 26 are illustrated schematically in FIG. 5 as blocks. Likewise, the two positioning devices 15, 27, which are controlled by the machine control 18 ge, are illustrated as a block. The Steuerbezie tion between the positioning devices 15, 27 and the machine control device 18 is symbolized by an arrow 31 sym. The machine control device 18 works with a machine control program based on an NC program, which is illustrated in FIG. 5 by a block 32.
  • the tax relationship is again illustrated by an arrow 33.
  • the NC program of block 32 arises from CAM data, which is illustrated by block 34.
  • the welding control device 26 has a control input 35, at which the welding control device 26 receives the signals illustrated by an arrow 36 from the machine control device 18, which characterize the desired wire feed speed.
  • the signals 36 can also characterize the desired material application rate, the desired welding current or the like.
  • the machine control device 18 has an input 37, for example in the form of a signal receiving the input of a suitable input means or the like, via which the machine control device 18 receives parameters, in particular dynamic parameters, for example the greatest acceleration or deceleration of the Characterize wire feeds.
  • the parameters preferably indicate the size that most restricts the dynamics of the welding device 22.
  • other characteristics can also be used, such as parameters that characterize the maximum change in the material application rate or the like.
  • the parameters received at the input 37 identify the technical quantity that limits the dynamics of the welding machine, i.e. concerns the greatest possible rate of change in the welding process.
  • the machine tool 10 ar described so far operates as follows:
  • the base part 12 which can be a simple carrier plate or alternatively can already have some workpiece structure features, is placed on the workpiece holder 14. If 12 machining operations are to be carried out on the base part, these can be carried out with the aid of a corresponding machining tool, which can be received by the tool holder 20 and can be brought into engagement with the base part 12.
  • the machine control device 18 issues corresponding positioning commands to the positioning devices 15, 27. This takes place under the control of a machine control program which works in the machine control device and, as can be seen in FIG. 5, has been derived from the NC program in block 32.
  • the arc welding head 21 is replaced in the tool holder 20.
  • the machine control program in the machine control device 18 subsequently controls the movements of the positioning devices 15, 27 in order to create the workpiece 11 being formed and the arc welding head 21 relative to one another in accordance with predetermined paths.
  • the control program of the machine control device 18 defines the movements of the positioning devices 15, 27 in such a way that an arc 38 can be maintained between the workpiece 11 and the welding wire 24, as shown in FIG.
  • the welding control device 26 it holds control signals 36 which characterize the desired feed speed of the welding wire 24.
  • the machine control device 18 adjusts a relative speed between the welding head 21 and the workpiece 11, so that melting metal particles 39 leave a welding bead 40.
  • the arc 38 it produces, for example, by penetration in the already partially existing workpiece 11, a weld pool 41, the Beran tion is preferably in a horizontal plane.
  • the Machine control device 18 controls the axes 16, 17 in such a way that the weld pool 41 or its edge is always kept horizontal. This is done by always holding the workpiece 11 such that all tangents to the surface of the workpiece are kept horizontal at the location of the weld pool 41.
  • the liquid metal particles 39 are preferably transferred in the direction of gravity 42.
  • On the weld pool 41 is a vertical 43 with which the longitudinal axis of the welding head 21 or the arc 38 at the closing end of the welding wire 24 enclose an acute angle.
  • the welding wire 24 runs behind the vertical 43 with respect to the feed direction 44 of the welding head 21 relating to the workpiece 11.
  • the welding wire 24 is, so to speak, "piercing".
  • it can also have a superimposed oscillating movement in the longitudinal direction perform a pilgrim movement and thereby deposit metal particles 39 in a targeted manner in or on the weld pool 41.
  • the welding wire 24 is oscillated back and forth at a high frequency, preferably more than 10 Hz, more preferably more than 50 Hz, preferably more than 100 Hz , so that droplets or metal particles 39 forming at its end are brought into contact with the weld pool 41 and thus transferred into it in a controlled manner.
  • the frequency of the oscillation movement can be fixed or in connection with other process variables, for example the welding current or the wire feed speed or the rela tive speed between the workpiece 11 and the
  • Welding head 21 may be set.
  • the machine control device 18 has received information which at least the ma ximal relative speed in the feed direction 44, but preferably also characterize further parameters, such as in particular the maximum acceleration or deceleration of the welding wire 24. This information characterizes the dynamics of the welding device 22 and is explained by the machine control device 18 as follows with reference to FIGS. 3 and 4 considered:
  • Figure 3 illustrates a weld path 45 with two straight sections 46, 47, which adjoin each other at an acute corner 48 and otherwise have no curvature (curvature is zero). While the sections 46, 47 thus have an infinitely large radius of curvature, the corner 48 is pointed and thus has a very small radius of curvature or the radius of curvature 0. Generally speaking, the welding track 45 can have sections of different curvature.
  • the welding head 41 now first moves the section 46 in the direction of the corner 48 while continuously replenishing the welding wire 24 and thus producing a welding bead 40 according to FIG. 2.
  • the movement takes place, for example, in the Z direction.
  • the corner 48 When the corner 48 is reached, the movement in the Z direction must be stopped and the movement in the X direction continued.
  • Figure 4 illustrates the course of the speed in the Z direction above.
  • the value 1 plotted on the horizontal axes (abscissa) in FIG. 4 corresponds to a length along the welding path 45.
  • the speed is constant, while it must be reduced in the direction of the corner 48.
  • the dynamics of the positioning devices 15, 27 allow driving through a speed curve I, as shown in dashed lines. However, this would require the movement of the welding wire 24 to be stopped just as quickly.
  • the machine control device 18 has received the parameters of the wire feeder 23, however, where such a high braking acceleration for the welding wire 24 is not possible. Accordingly, the relative movement between the welding head 21 and the workpiece 11 is now reduced according to the flatter ramp II, ie the braking process is initiated earlier. At the same time, the feed speed V D of the welding wire is reduced according to curve III. If the corner 48 is reached, the speed v z has the value 0 while the speed v x begins to increase in the X direction. Curve IV shows the maximum possible dynamics of the positioning devices 15, 27. Due to the greater inertia of the wire feed device 23, however, the machine control device 18 indicates a slower speed increase and transmits this according to the curve V as a signal 36 to the welding control device 26. Accordingly, the feed speed v D des
  • the angle cx which the welding wire 24 includes with the vertical 43, is also controlled as a function of speed and / or location. Approaching the corner 48, the amount of the angle cx can always be reduced until the welding wire 24 at the corner 48 is coaxial with the vertical 43. With increasing relative speed between the welding head 21 and the workpiece 11, the angle 11 can increase again until it reaches its desired end value. This end value can be reached before the point in time when the maximum relative speed is reached exactly at this point in time or even afterwards.
  • a machine tool according to the invention has a machine control device 18 which controls the axes of the machine tool 10.
  • a welding device 22 is provided, the parameters of which, at least insofar as they have an influence on the dynamics of the welding device 22, are transmitted to the machine control device 18.
  • the machine control device 18 controls the axes of the machine tool ne and also the welding device 22, taking into account its dynamics, so that high-quality workpieces with a small allowance can be produced in the additive manufacturing process, so that machining operations that are carried out temporarily or at the end can be carried out with a small amount Material removal.
  • first straight section of the welding track 45 second straight section of the welding track 45 corner of the welding track 45

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

L'invention concerne une machine-outil, comprenant un dispositif de commande de machine (18) qui commande les axes de la machine-outil (10). En outre, l'invention concerne un appareil de soudage (22) dont les paramètres, au moins s'ils influencent la dynamique de l'appareil de soudage (22), sont transmis au dispositif de commande de machine (18). Le dispositif de commande de machine (18) commande les axes de la machine-outil ainsi que l'appareil de soudage (22) en tenant compte de sa dynamique, de sorte que, dans un procédé de fabrication additive, des pièces de meilleure qualité puissent être fabriquées avec moins de surépaisseur, de sorte que des usinages de matière par enlèvement de copeaux effectués d'une manière intérimaire ou à effectuer à la fin occasionnent moins d'enlèvement de matière.
PCT/EP2019/064989 2018-06-19 2019-06-07 Dispositif et procédé de fabrication de pièces métalliques WO2019243089A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018114635.3A DE102018114635B4 (de) 2018-06-19 2018-06-19 Einrichtung und Verfahren zur Herstellung von Metallteilen
DE102018114635.3 2018-06-19

Publications (1)

Publication Number Publication Date
WO2019243089A1 true WO2019243089A1 (fr) 2019-12-26

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1014682B (de) 1955-03-29 1957-08-29 Air Liquide Selbsttaetige Lichtbogenschweissmaschine mit nicht abschmelzender Elektrode und mit Regelung der Vorschubgeschwindigkeit des Zusatzdrahtes, der Stromstaerke und der Schweissgeschwindigkeit in Abhaengigkeit voneinander
DE2140545A1 (de) 1971-05-21 1972-12-07 Paulange Serge Vorrichtung zum automatischen Lichtbogenschweißen durch programmierte Takte
EP0496181A1 (fr) * 1991-01-21 1992-07-29 Gebrüder Sulzer Aktiengesellschaft Méthode de fabrication de pièces métalliques par un appareil de soudage, et appareil pour la mise en oeuvre
EP1245321A1 (fr) * 2001-03-27 2002-10-02 ROLLS-ROYCE plc Appareil et méthode pour fabriquer un objet par soudage libre
US20020139778A1 (en) * 2001-03-27 2002-10-03 Rolls-Royce Plc Method and apparatus for forming a workpiece
EP1352698A1 (fr) 2002-04-12 2003-10-15 Mechafin AG Appareil d' avance de fil pour dispositif à souder avec dispositif de mesure de la vitesse du fil
GB2406818A (en) * 2003-10-08 2005-04-13 Rolls Royce Plc Welding head assembly
US20060278622A1 (en) * 2005-06-09 2006-12-14 Fanuc Ltd Positioner for arc welding and arc welding robot system having the positioner
US9776274B2 (en) * 2007-10-26 2017-10-03 Ariel Andre Waitzman Automated welding of moulds and stamping tools

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1014682B (de) 1955-03-29 1957-08-29 Air Liquide Selbsttaetige Lichtbogenschweissmaschine mit nicht abschmelzender Elektrode und mit Regelung der Vorschubgeschwindigkeit des Zusatzdrahtes, der Stromstaerke und der Schweissgeschwindigkeit in Abhaengigkeit voneinander
DE2140545A1 (de) 1971-05-21 1972-12-07 Paulange Serge Vorrichtung zum automatischen Lichtbogenschweißen durch programmierte Takte
EP0496181A1 (fr) * 1991-01-21 1992-07-29 Gebrüder Sulzer Aktiengesellschaft Méthode de fabrication de pièces métalliques par un appareil de soudage, et appareil pour la mise en oeuvre
EP1245321A1 (fr) * 2001-03-27 2002-10-02 ROLLS-ROYCE plc Appareil et méthode pour fabriquer un objet par soudage libre
US20020139778A1 (en) * 2001-03-27 2002-10-03 Rolls-Royce Plc Method and apparatus for forming a workpiece
EP1352698A1 (fr) 2002-04-12 2003-10-15 Mechafin AG Appareil d' avance de fil pour dispositif à souder avec dispositif de mesure de la vitesse du fil
GB2406818A (en) * 2003-10-08 2005-04-13 Rolls Royce Plc Welding head assembly
US20060278622A1 (en) * 2005-06-09 2006-12-14 Fanuc Ltd Positioner for arc welding and arc welding robot system having the positioner
US9776274B2 (en) * 2007-10-26 2017-10-03 Ariel Andre Waitzman Automated welding of moulds and stamping tools

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DE102018114635B4 (de) 2024-02-08

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