CN102873437A - Welding device capable of controlling and reducing submerged-arc welding weld metal oxide inclusions - Google Patents
Welding device capable of controlling and reducing submerged-arc welding weld metal oxide inclusions Download PDFInfo
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- CN102873437A CN102873437A CN2012103723395A CN201210372339A CN102873437A CN 102873437 A CN102873437 A CN 102873437A CN 2012103723395 A CN2012103723395 A CN 2012103723395A CN 201210372339 A CN201210372339 A CN 201210372339A CN 102873437 A CN102873437 A CN 102873437A
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Abstract
The invention discloses a welding device capable of controlling and reducing submerged-arc welding weld metal oxide inclusions and belongs to the field of submerged-arc welding. The welding device comprises a welding torch, a main welding circuit and an auxiliary circuit capable of forming an auxiliary welding electric field, the auxiliary circuit comprises a direct-current power source and a metal conducting electrode, and one end of the direct-current power source is connected with a base metal while the other end of the direct-current power source is connected with the metal conducting electrode. The slag-metal auxiliary external electric field is applied by the device with welding in a welding process, the probability of forming oxide inclusions due to mutual combination of ions can be effectively reduced, and the size and distribution of the inclusions in welding seams are controlled.
Description
Technical field
The invention belongs to the submerged arc welding field, more particularly, relate to a kind of welder of controlling the weld metal internal oxidation field trash that reduces Lincoln weld formation.
Background technology
Existing submerged-arc welding is first solder flux to be piled up above the weldment, then imbed continuous supplying to welding wire, weld after the striking, welding slag is given birth in not stopping pregnancy, this moment, electric arc was buried by solder flux, the molten pool metal of formation is not easy to direct observation, solder flux shields.It is dark that submerged-arc welding is thick because of the gage of wire that uses, electric current reaches greatly the molten bath, therefore mostly be used for the high efficiency welding processing of steel plate.
Lincoln weld, it utilizes large electric current to produce electric arc under welding flux layer, forms the liquid molten pool metal zone of a larger volume under the protection of melt flux, with by solidifying the acquisition weld metal.Efficient, high-quality characteristics that Lincoln weld has are being brought into play irreplaceable effect at production industries such as pressure vessel, petroleum machinery, shipbuilding, steel construction pieces.
Common submerged-arc welding efficient is 4～5 times of stick electrode arc welding, and welding process can realize the mechanical automation operation in addition, thereby has become the main welding processing of large thick metal structure.The submerged arc welding process is attended by the reciprocation of strong slag and liquid metal, and its result makes weld metal have largely the oxygenation phenomenon.Owing to the kinetic character of Welding Metallurgy process, the cleanliness factor of weld metal is difficult to reach the high-cleanness level of base metals usually, thereby easily forms excessive oxide inclusion simultaneously.Generally speaking, oxide inclusion easily brings out micro-crack and significantly reduces the low-temperature flexibility of weld metal.In addition, at present welding quality has also proposed more and more higher requirement in the important meals structure manufacturings such as boiler, pressure vessel, national technical standard GB3323-87 " radiography of steel weld seam and egative film grade separation method " also in the butt welded seam inclusion size size made clear and definite class requirement.Meanwhile in about weld metal aspect the field trash research, Oxide Metallurgy forming core theory is in recent years thought, under suitable oxygen content, form the forming core that the tiny and equally distributed oxide of size can be induced the austenite intragranular acicular ferrite, impel weld seam to form a high proportion of acicular ferrite structure, can greatly improve low-temperature impact toughness again.If can effectively control oxygen content and inclusion size and distribution in the weld seam for this reason, can make oxide inclusions be converted into favourablely by harmful, performance Oxide Metallurgy forming core effect is to improve the weld metal low-temperature impact toughness.But the Best available control technology about steel inclusion size and distribution there is not yet report at present.
Because molten slag is a kind of electrolyte with ionic conduction characteristic, and molten slag is easier to the migration of ion, and removing oxygen in the metal in field of steel-making with the method for extra electric field at present is the thinking of novelty rather." research of slag metal applied electric field pollution-free deoxygenation method " (Lu Xionggang, Liang Xiaowei, Yuan Wei, Sun Mingshan, Ding Weizhong, Zhou Guozhi; Acta Metallurgica Sinica, 2005, the second phase) disclose at copper liquid and Na
3AlF
6-Al
2O
3Apply the galvanic current field between slag system, carry out the pollution-free deoxidizing of copper liquid, effectively dissolved oxygen in the copper liquid is removed to 10 * 10
-6About.The method has avoided oxide inclusions to the pollution of molten metal and the problems such as expensive and secondary oxidation of solid electrolyte method of deoxidation." Unpolluted short circuit electrochemical reduction analysis for molten oxide slags " (Gao Yunming, Guo Xingmin, Zhou Guozhi; The China YouSe Acta Metallurgica Sinica, the third phase in 2006) disclose and utilized the saturated iron liquid of carbon to make reducing agent, form two kinds of batteries, from CaO-SiO
2-Al
2O
3-FeO has obtained respectively pure iron and carbon-free ferroalloy in the slag.Its basic ideas are at the electrochemical reduction of smelting between later-stage utilization slag gold molten metal to be carried out pollution-free degree of depth deoxidation.Welding process can not be carried out degree of depth deoxidation as steel-making, but can utilize this principle to carry out oxygen content and inclusion size control.
Summary of the invention
The technical problem that solves
The technical problem that can't be effectively controlled for oxide inclusion and oxygen content in the Lincoln weld deposited metal that exists in the prior art, the invention provides a kind of welder that reduces submerged-arc welding seam burning field trash of controlling, this device is realized applying auxiliary external electric field between slag-Jin with weldering in welding process, can effectively reduce interionic mutually combines and forms the probability of oxide inclusions, size and the distribution of field trash in the control weld seam.
Technical scheme
Inventive principle: the present invention utilizes external power to provide an auxiliary external electric field to welding circuit, and make the conductive electrode of auxiliary electric field with the metal of high temperature resistant conduction, before the welding this conductive electrode is fixed on the welding torch and is synchronized with the movement with welding head, and it is inner to make metal electrode just in time insert the fusing solder flux, so just can between slag-molten bath, apply an auxiliary External Electrical Field, utilize auxiliary electric field to impel liquid molten bath and slag intermediate ion further to ionize, and under electric field action, form directed charge migration, make with the ion of positive lotus and electronegative Ion Phase reciprocal to motion, thereby effectively reducing ion mutually combines and forms the probability of oxide inclusions, under the effect of electric field force, induce simultaneously the molten bath is inner and oxygen affinity is large metal ion transport to slag gold interface preferential with slag in active oxygen be combined into oxide and enter in the slag, finally reach the purpose of controlling inclusion size and distribution in the weld seam.
Purpose of the present invention is achieved through the following technical solutions.
A kind of welder that reduces submerged-arc welding seam burning field trash of controlling of the present invention, it comprises welding torch and welding main circuit, it also comprises the auxiliary circuit that can form the welding auxiliary electric field; Described auxiliary circuit comprises dc source and metallic conduction electrode, a termination base metals of described dc source, the described metallic conduction electrode of another termination.
Preferably, described dc source is the D.C. regulated power supply of 30V/50A.Because alternating current can not consist of stable electric field, therefore must adopt dc source, the conductance of slag is limited simultaneously, and the electric current of flowing through between the slag gold generally can not surpass 15A, and it is nonsensical therefore selecting excessive supply voltage.
Preferably, being provided with 2-4 multiple contact contact at base metals is used for being connected with an end of described dc source.It is in order to guarantee evenly spreading of electric current that 2-4 multiple contact contact is set.
Preferably, described metallic conduction electrode adopts tungsten bar.Described tungsten bar diameter is 3.2mm.
Described tungsten bar is fixed on the welding head and with ignition tip with the insulating resin chuck and insulate.Must be noted that herein tungsten bar and ignition tip keep insulation, the tungsten bar otherwise the welding main circuit current will be flowed through does not then have the effect of auxiliary electric field.The distance between two tips wire tip 5-8mm of described tungsten bar, tungsten bar is synchronized with the movement as electrode and welding head in the welding process, be provided with clamping on this resin chuck, unclamp knob, be used for tungsten bar is clamped, being about to knob after the tungsten bar position is fixing clamps, as described in regulating such as need tungsten bar highly then can unclamp knob up and down, tungsten bar is adjusted up and down; Described tungsten bar and connecting position of wires twine rear the clamping with the copper intermediate plate with wire heart yearn and described tungsten bar.
The polarity of accessory power supply can be that tungsten bar connects negative pole, base metals connects positive pole or tungsten bar connects positive pole, base metals connects negative pole.Can utilize the lead-in wire of dc source two output stages to carry out two kinds of polarity connections during operation, also can utilize the dc source conversion knob with polarity conversion controling switch directly to carry out two kinds of polarity settings.
Described metallic conduction electrode also can adopt metal platinum or solid zirconia.
Beneficial effect
Than prior art, the invention has the advantages that:
(1) removal of existing submerged-arc welding seam burning field trash depends on mainly that the oxide fusing point of formation is high, density is little than molten pool metal, thereby only escapes and enter in the slag at the buoyancy float downward.Liquid deficiency of time is just frozen when guaranteeing that oxide is fully overflowed to be set in inner formation of weld metal and to be mingled with when weld metal is in.The present invention is except the mechanism with above-mentioned removal oxide inclusion, also introduced the external electric field that between the slag gold, applies, the anion and the oxonium ion that utilize electric field force to make not yet to be combined into oxide are separated from each other, thereby and at the interface in conjunction with entering new mechanism in the slag, therefore new expansion has been arranged aspect removal mechanisms at work, the removal method is become initiatively by passive, and the result is also more effective;
(2) control of existing submerged-arc welding seam burning field trash depends primarily on the composition of slag, and the composition of slag is decided by the flux constituent design.For the user, in case buy the commodity solder flux then can not control effectively to the welding process field trash by adjusting flux constituent.The invention provides the method that a kind of utilization adds auxiliary electric field and control, by regulate auxiliary electric field voltage, electric current can effectively be controlled field trash to a certain extent, thereby have more operability;
(3) apply external electric field between the slag gold after, the electric conductivity of slag obtains larger improvement, this moment compare with existing submerged-arc welding, more be conducive to the smooth combustion of welding arc, welding procedure is more stable, appearance of weld is also more good.
Description of drawings
Fig. 1 is the Fundamentals of Welding schematic diagram that applies external electric field;
Fig. 2 is weld metal field trash photo, and Fig. 2 (a) is for applying external electric field, and Fig. 2 (b) is not for applying external electric field;
Fig. 3 is field trash SEM pattern photo, and Fig. 3 (a) is for applying external electric field, and Fig. 3 (b) is not for applying external electric field;
Fig. 4 is the graph of a relation of external electric field and weld metal oxygen content;
Fig. 5 is that external electric field voltage is with the curent change curve.
Number in the figure explanation: 1, liquid welding slag; 2, solder flux; 3, electric arc; 4, molten pool metal; 5, base metals; 6, solidify welding slag; 7, weld metal.
The specific embodiment
Below in conjunction with Figure of description and specific embodiment, the present invention is described in detail.
The welder principle schematic of the present embodiment as shown in Figure 1, welding equipment adopts MZ-1000 type automatic submerged-arc welding machine, is equipped with walking dolly and realizes automatic welding.Be the H10Mn2 welding wire of 4mm with diameter, cooperating SJ101 type sintered flux 2 be welding material, makes welding usefulness base metals 5 with the Q235 sheet material of thickness δ 8 mm, carries out the surface deposited metal built-up welding in the downhand position.Welding conditions: welding current I=560-565A, arc voltage U=33-34v, welding speed V=30cm/min.
This auxiliary electric field comprises dc source and metallic conduction electrode, and this dc source adopts the D.C. regulated power supply of 30V/50A, and this dc source output anode connects base metals 5, and negative electrode is received the tungsten bar of Φ 3.2mm.Tungsten bar is fixed on the welding torch and the insulation of welding main circuit with the insulating resin chuck, be synchronized with the movement in company with head and molten bath during welding, the degree of depth that tungsten bar inserts welding arc 3 zones has two kinds of control methods, the one, unclamp tungsten bar insulating resin fixed chuck during the front test weld of welding, but tighten again fixed chuck after making the tungsten bar easy on and off be adjusted to the appropriate location; The 2nd, can tungsten electrode be remained insert inside, liquid molten bath together with the integrally-regulated torch height of head when in welding process, also needing suitably to regulate, so just can between slag-molten bath, apply an auxiliary external electric field.
Apply External Electrical Field, when the anode of making external electric field when tungsten bar put on slag, auxiliary current stability was not good enough, then has very good stability when putting on slag as negative electrode.Fig. 5 is that accessory power supply is set applied voltage and the auxiliary current relation curve that acts on when initial voltage is respectively 10V, 15V, 20V, 25V in the submerged-arc welding quasi-steady state process.Implement practice and show, the auxiliary electric field that welding process applies can by the power supply output signal, control effectively by regulating the electrode contact position fully.Because the resistance of liquid welding slag 1 much larger than the resistance in liquid molten bath, just has conductive capability and if only if form liquid welding slag 1 after solder flux 2 fusings.When the output current of the dc source that adds auxiliary electric field is shown as zero, show that the tungsten bar electrode not yet inserts liquid welding slag 1 inside, auxiliary circuit not yet consists of the loop; And the output current of working as the power supply that adds auxiliary electric field reaches about 20A, when output voltage is down to the 1V left and right sides, shows that then the tungsten bar electrode has inserted molten pool metal 4, and this moment, auxiliary circuit was in short-circuit condition.Only have the electric current when additional power source to be shown as 4-6A, when output voltage was shown as 5-12V, tungsten electrode just inserted liquid welding slag 1 inside of electric arc 3 peripheries, had namely applied an auxiliary external electric field this moment between slag-molten bath.Electrochemical action can occur at its interface and form stable charged ion and flow to melt is inner in the electric current at molten slag-molten pool metal interface of flowing through.Therefore should control external electric field and be operated in a-b interval among Fig. 5.Implement practice and show simultaneously, auxiliary current shows also be zero when adding auxiliary electric field and be zero, do not exist between slag-molten bath when susceptible of proof does not add external electric field stable ion current to.
On flat board, apply external electric field and do not apply the external electric field contrast test with the same weld standard during welding.Postwelding can intercept the cross section sample of vertical weld length direction, carries out the gridding method Welding seam inclusion statistical analysis of many visual fields at the DM4000M metallographic microscope with Japanese RAIMS AIM inclusion analysis software.Cooperate subsidiary energy disperse spectroscopy to carry out field trash pattern and Microanalysis with the JSM-6360LV ESEM.Then make oxygen analysis with the pole of wire cutting method intercepting Φ 5 * 6mm at LECO oxygen nitrogen combined measuring instrument along the fusion length direction.
The impact that applies field trash in the external electric field butt welded seam in the present embodiment 1 can be done the analysis of following two aspects:
(1) impact of external electric field butt welded seam inclusion size and distribution
Fig. 2 has provided and has utilized tungsten bar to do to apply external electric field when negative electrode welds with identical parameters and do not apply under two kinds of conditions of external electric field the distribution photo of analyzing inclusion size in the weld seam with many visual fields method.From statistics, field trash is mostly in 1-3 μ m size range in the weld seam.Apply external electric field and do not apply external electric field and compare, the amount of inclusions changes not remarkable, but the former (Fig. 2 (a)) presents the trend of the more tiny and distribution uniform of size, and the latter (Fig. 2 (b)) inclusion size is obviously thicker than the former.
Fig. 3 has provided and further observed the typical field trash high power pattern photo that draws under ESEM.Observe and find, it is cotton-shaped that field trash is group when not applying external electric field (Fig. 3 (b)), and field trash inside is attended by a small amount of micro-crack.The toughness of this field trash Resistance of Weld Metal 7 often has adverse influence.But apply the Welding seam inclusion of external electric field (Fig. 3 (a)) effect comparatively close to spherical shape, particle size is obviously more tiny.The energy spectrum analysis of field trash microcell shows that field trash all has higher oxygen content (shown in the table 1), can judge it mainly should is the field trash that oxide causes.
Table 1 field trash EDAX results
Both have obvious difference slag and molten pool metal 4 aspect conductive mechanism, the conduction of slag depends mainly on the charged ion number that ionizes out under the high temperature, and the conduction of molten pool metal 4 is then mainly decided by the free electron of metal inside.The former conductance increases with the rising of temperature, and latter's conductance increases with the reduction of temperature.When applying an external electric field between slag-molten pool metal, External Electrical Field has been aggravated disintegration and the ionization of slag and molten pool metal 4 inner complicated ions; Under External Electrical Field, positively charged cation and electronegative anion form reverse each other directed movement, so that negative ions can fully separate in the molten bath, are combined into the chance of oxide also with regard to corresponding minimizing simultaneously.Because tungsten electrode provides continuously free electron stream to slag inside, the filling into so that Si4 in the molten bath of a large amount of free electrons
+, Al
3+, Ca
2+, Ti
4+The oxide forming element is had to accelerate just can keep the charge balance of melt to the migration of slag direction.These cations migrate to slag-interface, molten bath and namely are reduced or enter slag inside and continue to migrate to electrode and be reduced.This directional migration is continued until the molten bath afterbody until welding slag 6 is solidified in formation, thereby the field trash that forms before the weld pool solidifies is disperseed effectively.Conductance further improves because temperature sharply descends to consider afterbody solidification and crystallization forward position, molten bath, thereby the directed movement effect of ion is more remarkable.This obviously is conducive to weld metal 7 and forms tiny and field trash that disperse.
(2) impact of external electric field Resistance of Weld Metal 7 oxygen contents
Fig. 4 is weld metal 7 oxygen content comparison diagrams when testing applying external electric field and not applying external electric field of drawing with LECO oxygen nitrogen combined measuring instrument.Oxygen analysis shows when applying External Electrical Field weld metal 7 oxygen contents when not applying external electric field, and weld metal 7 oxygen contents significantly reduce, and along with the increase of external electric field voltage, weld metal 7 oxygen contents have the trend of reduction, show that 7 oxygenation of external electric field Resistance of Weld Metal have depression effect.Can do following analysis to this, owing to being that itself oxygen content of welding wire metal or base metals 5 is not high, the oxygen in the weld metal 7 is that the oxidation owing to slag enters weld metal 7 inside and causes mostly.When applying External Electrical Field, the oxide forming element of inside, molten bath will form the directed movement that flows to slag-interface, molten bath owing to positively charged under DC Electric Field, and also can form the electromigration that flows to slag-interface, molten bath at the free oxonium ion of slag inside under External Electrical Field.At near interface, because positively charged Ti
4+, Al
3+, Si
4+, Mn
2+Deng the field trash forming element to the affinity of oxygen greater than the affinity of matrix Fe element to oxygen, the result is so that these oxides form unit preferentially is combined into oxide at the interface by electrochemistry and heat chemistry effect and enters in the slag.Just weakened so to a certain extent the oxidation of slag to molten pool metal 4, thereby the oxygen content of weld metal 7 significantly reduces when not adding external electric field.According to the energy spectrum analysis of table 1 pair field trash, the field trash when not applying external electric field in the weld seam is mainly that Al causes, applying after the external electric field then that the content of Al greatly reduces is the above-mentioned analysis of susceptible of proof.Because Al and O have extremely strong affinity, the effect of external electric field makes Al a large amount of in the molten bath move to the slag direction.The result at slag-Jin interface preferential O in slag be combined and be removed, thereby the oxide that Al causes in the weld seam must reduce.
Basic skills is with embodiment 1, just embodiment 1 middle plateform is changed into 60 ° double V-groove and is provided with the thick backing plate of 5mm in the bottom and make liner, the control root gap is 1-2mm, carries out docking test plate (panel) welding in the groove after test plate (panel) assembles, obtain butt weld, also obtain same effect.
In sum, the enforcement conclusion of technical scheme of the present invention:
(1) auxiliary external electric field makes the Complex Particle ionization of molten pool metal 4 inside by electric field action, negative ions forms reverse each other ion current, effectively reduced the chance that the front oxide of weld pool solidifies crystallization forms, be conducive to weld metal 7 and form tiny and field trash that disperse;
(2) auxiliary external electric field impel molten pool metal 4 subscale forming elements to the slag migration and at slag-interface, molten bath preferentially by the free oxonium ion oxidation in the slag and then enter slag, weakened slag and to the oxidation of molten pool metal 4 its oxygen content significantly reduced.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and also one of the embodiment of the invention just shown in the accompanying drawing actually is not limited to this.So, if those of ordinary skill in the art is enlightened by it, in the situation that do not break away from the invention aim, without the creationary scheme similar to this technical scheme and the embodiment of designing, all should belong to the protection domain of the invention.
Claims (7)
1. can control the welder that reduces submerged-arc welding seam burning field trash for one kind, it comprises welding torch and welding main circuit, it is characterized in that, it also comprises the auxiliary circuit that can form the welding auxiliary electric field;
Described auxiliary circuit comprises dc source and metallic conduction electrode, a termination base metals (5) of described dc source, the described metallic conduction electrode of another termination.
2. welder according to claim 1 is characterized in that, described dc source is the D.C. regulated power supply of 30V/50A.
3. welder according to claim 1 is characterized in that, is provided with 2-4 multiple contact contact at base metals (5) and is used for being connected with an end of described dc source.
4. welder according to claim 1 and 2 is characterized in that, described metallic conduction electrode adopts tungsten bar.
5. welder according to claim 1 and 2 is characterized in that, described metallic conduction electrode adopts metal platinum or solid zirconia.
6. welder according to claim 4 is characterized in that, described tungsten bar electrode diameter is 3.2mm.
7. welder according to claim 6, it is characterized in that, described tungsten bar is fixed on the welding head and with ignition tip with the insulating resin chuck and insulate, the distance between two tips wire tip 5-8mm of described tungsten bar, be provided with clamping on this insulating resin chuck, unclamp knob, be used for tungsten bar is clamped; Described tungsten bar and connecting position of wires twine rear the clamping with the copper intermediate plate with wire heart yearn and described tungsten bar.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526169A (en) * | 2014-11-04 | 2015-04-22 | 南方增材科技有限公司 | Electric melting forming method of nuclear power plant evaporator barrel |
| CN104526172A (en) * | 2014-11-04 | 2015-04-22 | 南方增材科技有限公司 | Electric melting forming method of nuclear power conventional island low-voltage rotor |
| CN110000448A (en) * | 2019-05-14 | 2019-07-12 | 集美大学 | A kind of method and apparatus of welding steel |
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| CN2090295U (en) * | 1991-07-01 | 1991-12-11 | 中国人民解放军81872部队 | Microcomputer-controlled submerged-arc welder |
| CN1453371A (en) * | 2002-04-25 | 2003-11-05 | 上海大学 | Electrochemical pollution-free metal liquid deoxygenating process |
| CN101862913A (en) * | 2010-05-13 | 2010-10-20 | 重庆大学 | Electromagnetic current coupling field assisted hybrid melting-brazing method for laser-TIG arc and equipment |
| CN202963753U (en) * | 2012-09-29 | 2013-06-05 | 南京工程学院 | Welding device capable of controlling and reducing metal oxide inclusions in submerged-arc welding seam |
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2012
- 2012-09-29 CN CN201210372339.5A patent/CN102873437B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2090295U (en) * | 1991-07-01 | 1991-12-11 | 中国人民解放军81872部队 | Microcomputer-controlled submerged-arc welder |
| CN1453371A (en) * | 2002-04-25 | 2003-11-05 | 上海大学 | Electrochemical pollution-free metal liquid deoxygenating process |
| CN101862913A (en) * | 2010-05-13 | 2010-10-20 | 重庆大学 | Electromagnetic current coupling field assisted hybrid melting-brazing method for laser-TIG arc and equipment |
| CN202963753U (en) * | 2012-09-29 | 2013-06-05 | 南京工程学院 | Welding device capable of controlling and reducing metal oxide inclusions in submerged-arc welding seam |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526169A (en) * | 2014-11-04 | 2015-04-22 | 南方增材科技有限公司 | Electric melting forming method of nuclear power plant evaporator barrel |
| CN104526172A (en) * | 2014-11-04 | 2015-04-22 | 南方增材科技有限公司 | Electric melting forming method of nuclear power conventional island low-voltage rotor |
| CN110000448A (en) * | 2019-05-14 | 2019-07-12 | 集美大学 | A kind of method and apparatus of welding steel |
| CN110000448B (en) * | 2019-05-14 | 2021-06-04 | 集美大学 | Method and device for welding steel plate |
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