CN106425178A - Automatic welding system and automatic welding method for complicated special-shaped work piece - Google Patents
Automatic welding system and automatic welding method for complicated special-shaped work piece Download PDFInfo
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- CN106425178A CN106425178A CN201610858671.0A CN201610858671A CN106425178A CN 106425178 A CN106425178 A CN 106425178A CN 201610858671 A CN201610858671 A CN 201610858671A CN 106425178 A CN106425178 A CN 106425178A
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- 238000003466 welding Methods 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000002159 abnormal effect Effects 0.000 claims description 21
- 238000005070 sampling Methods 0.000 claims description 9
- 238000005476 soldering Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 2
- 235000008434 ginseng Nutrition 0.000 claims description 2
- 238000005303 weighing Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000003825 pressing Methods 0.000 abstract 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 2
- 238000005516 engineering process Methods 0.000 description 3
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- 241000196324 Embryophyta Species 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 241000894007 species Species 0.000 description 1
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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses an automatic welding system for a complicated special-shaped work piece. The automatic welding system comprises a pedestal, a work piece clamping system, a welding executing system, a main control system and a touch screen, wherein the work piece clamping system, the welding executing system, the main control system and the touch screen are arranged on the pedestal; the work piece clamping system comprises a cylinder bracket, a downwards-pressing cylinder, a push-pull plate and a second clamp, wherein the downwards-pressing cylinder is vertically arranged on the cylinder bracket; the push-pull plate is connected with the downwards-pressing cylinder; the second clamp is rotationally arranged at the bottom of the push-pull plate through a thrust bearing; the welding executing system comprises a rotary mechanism and a crisscross sliding table mechanism and is used for driving a welding gun and a work piece to do corresponding interpolation motion so as to accomplish welding of the outline; and the main control system is in circuit connection with the rotary mechanism and the crisscross sliding table mechanism and is used for performing interpolation calculation according to the shape of the work piece and sending motion pulses to the welding executing system. The invention also provides an automatic welding method for the complicated special-shaped work piece. The automatic welding system and the automatic welding method provided by the invention have the advantages of high welding quality and the like, and are high in production efficiency, stable in work, good in welding quality and applicable to various types of work pieces.
Description
Technical field
The present invention relates to automatic welding technique, more particularly to a kind of complicated abnormal shape workpiece robot welding system and method.
Background technology
Automatic welding technique is all widely used in industry and manufacture field and improves, and the development of solder technology is more next
More paid close attention to by commercial production and manufacturing enterprise；Nowadays, occurred in that on market much automatic for a certain specific productss
Welder, such as the welding dress of the automatic soldering device of the long weld seam of welding van container door-plate and spot welding vehicle frame appearance profile
Put.This automatic soldering device production efficiency height, working stability, welding quality are good, can be suitable for various complex environments.
Occurring big stress deformation in complicated abnormal shape thin-wall workpiece welding process, needs artificial spot welding is adopted in front operation
The positioning of workpiece is completed, this will cause the deformation of position error and thin-wall workpiece appearance profile, the welding of traditional teaching playback
Mode is no longer suitable for.For the problem, it is proposed that a kind of complicated abnormal shape thin-wall workpiece automatic welding based on path interpolation
System.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, one aspect of the present invention proposes a kind of with adaptation workpiece kind
Class is many, the robot welding system of complicated abnormal shape workpiece that is generating the advantages of track is fast, welding quality is high, on the other hand provides one
Plant the automatic soldering method of complicated abnormal shape workpiece.
Above-mentioned advantage is achieved through the following technical solutions：
A kind of robot welding system of complicated abnormal shape workpiece, including base, the clamping workpiece system being arranged on the base
System, welding execution system, master control system and touch screen,
Described clamping workpiece system includes air cylinder support, the lower air cylinder being vertically arranged on the air cylinder support, connects
The draw back plate for connecing lower air cylinder is, the second fixture for being rotatably arranged on draw back plate bottom by thrust bearing；
Described welding execution system includes to be arranged at slew gear immediately below the lower air cylinder, drives welding gun along flat
The cross slid platform mechanism of face Nei YanXY direction movement, for the motor command that sends according to master control system and pulse, drives weldering
Rifle and workpiece carry out corresponding moving interpolation, complete profile welding；
The touch screen is arranged on the base side, is connected with master control system circuit, for adjusting welding procedure ginseng
Number；
The master control system is connected with slew gear and cross slid platform mechanism circuit, for according to workpiece shapes, carrying out
Interpolation is calculated, and sends motion impulse to described welding execution system.
Further, described slew gear includes the first servomotor, to be connected to the first servomotor upper end defeated
The first fixture on shaft.
Further, the linear module of Y-direction that described cross slid platform mechanism includes to be driven by the second servomotor, by the 3rd
The X that servomotor drives is to linear module, and the welding gun is connected to the slide block of linear module with X by adjustable connection structure
Connect.
Further, described adjustable connection structure includes that connecting the X connects to the slide unit of the slide block of linear module
Plate, the Z-direction locating rod being vertically fixed on the slide unit connecting plate by fixed seat, be movably disposed at the Z-direction positioning
Z-direction slide block on bar, for adjusting and locking the locking knob of Z-direction slide block Z-direction position, the Z-direction slide block is connected by welding gun
Plate is connected with the welding gun.
Further, limit switches are set in described cross slid platform mechanism.
Further, first fixture is rotatably arranged in the lower air cylinder by thrust bearing.
A kind of automatic soldering method of the complicated abnormal shape workpiece based on the system, including step：
(1) weld seam of welding workpiece is divided into some key points, some arc sections is formed, set welding sequence；
(2) interpolating method of per section of arc section is solved；
(3) master control system sends motion impulse according to required interpolating method and holds to clamping workpiece system and welding
Row system, drives welding gun and workpiece to carry out corresponding moving interpolation by the welding sequence for setting, and completes profile welding；
Further, described step (2) specifically include：
(21) beginning and end of arbitrary arc section AB is set, and using parametric equation, the institute on arc section AB is somewhat permissible
It is represented by the following formula：
The known line segment central coordinate of circle O'(x0,y0), starting point coordinate A (ax,ay), terminal point coordinate B (bx,by), welding move
Dynamic speedAngle, θ corresponding to sampling time Δ t, the center of circle angle theta of arc section AB, radius R, A point of line segment AB1(-180
＜ θ1≤ 180), the angle, θ corresponding to B point2(- 180 ＜ θ2≤ 180), wherein θ1For the angle of straight line AO' and X-direction, θ2For straight
The angle of line BO' and X-direction；
(22) by speedDetermine every a sampling period Δ t with sampling time Δ t, need the center of circle O ' around line segment to turn
Angle delta θ that crosses：
(23) number of the discrete point included by each section of arc section is set as n, then n can be tried to achieve according to following formula：
(24) all of discrete point P of arc section AB is tried to achievet(xt,yt) coordinate be：
(25) according to xtAnd ytThe motion impulse number of each motor of each interpolation cycle can be obtained.
Further, described step (3) is specifically included:
(31) lower air cylinder is pushed, and realizes clamping and the positioning of welding workpiece, and then welding gun moves to setting welding sequence
Starting point；
(32) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method
Execution system, drives first servomotor, the second servomotor, the 3rd servomotor, makes welding gun by required interpolation side
Method is welded along welding track；
(33), after the completion of welding, lift in lower air cylinder, workpiece discharging.
Further, the welding gun by required interpolating method along welding track welded when, the welding gun be located at weldering
In the normal orientation of contact, so as to being further ensured that and improving welding quality.
Compared to existing technology, advantages of the present invention：Using lower air cylinder and fixture collective effect and welding workpiece, increase
The accuracy of welding workpiece positioning；Different path interpolation schemes can be changed, realize dissimilar weldering according to different workpiece
Connect the welding of workpiece；Combined using welding gun plane motion and workpiece rotational motion, complicated abnormal shape workpiece path is simplified, improve weldering
Connect quality.
Description of the drawings
Fig. 1 is the robot welding system structural representation of the embodiment of the present invention.
Fig. 2 is close-up schematic view at A in Fig. 1.
Fig. 3 is the schematic diagram of welding workpiece example of the present invention.
Fig. 4 is arc section interpolation schematic diagram.
In figure show：1- air cylinder support；The first fixture of 2-；The first servomotor of 3-；4- welding gun；The second servo of 5- electricity
Machine；The 3rd servomotor of 6-；7-X is to linear module；8- cross Linear slide platform；9-Y is to linear module；10- base；11- second
Fixture；12- lower air cylinder；13- welding gun connecting plate；14- fixed seat；15- slide unit connecting plate；16- locking knob；17-Z is to cunning
Block；18-Z is to locating rod.
Specific embodiment
Below by specific embodiment, the purpose of the present invention is described in further detail, embodiment is unable to here one by one
Repeat, but therefore embodiments of the present invention are not defined in following examples.
As shown in figure 1, a kind of robot welding system of complicated abnormal shape workpiece, including base 10, is arranged on the base 10
On clamping workpiece system, welding execution system, (in figure is not drawn into, ordinary skill people for master control system and touch screen
Member can be configured according to actual needs),
The lower air cylinder that described clamping workpiece system includes air cylinder support 1, is vertically arranged on the air cylinder support 1
12nd, connect the draw back plate 11 of lower air cylinder 12, the second fixture of 11 bottom of draw back plate is rotatably arranged on by thrust bearing；
Described welding execution system includes to be arranged at the slew gear of 12 underface of the lower air cylinder, drives welding gun 4
Along plane along the movement of XY direction cross slid platform mechanism 8, for the motor command that sent according to master control system and pulse, band
Dynamic welding gun 4 and workpiece carry out corresponding moving interpolation, complete profile welding；
The touch screen is arranged on 10 side of the base, is connected with master control system circuit, for adjusting welding procedure
Parameter；
The master control system is connected with slew gear and 8 circuit of cross slid platform mechanism, for according to workpiece shapes, carrying out
Interpolation is calculated, and sends motion impulse to described welding execution system.
Specifically, described slew gear includes the first servomotor 3, is connected to 3 upper end of the first servomotor
The first fixture 2 on output shaft.
Specifically, described cross slid platform mechanism 8 include the linear module 9 of the Y-direction that driven by the second servomotor 5, by
The X that 3rd servomotor drives to linear module 7, the welding gun 4 by adjustable connection structure and cunning from X to linear module 7
Block is connected.
As shown in Fig. 2 described adjustable connection structure includes that connecting the X connects to the slide unit of the slide block of linear module 7
Fishplate bar 15, the Z-direction locating rod 18 being vertically fixed on the slide unit connecting plate 15 by fixed seat, be movably disposed at described
Z-direction slide block 17 in Z-direction locating rod 18, for adjusting and locking locking knob 16 of the Z-direction slide block 17Z to position, the Z-direction is slided
Block 17 is connected with the welding gun 4 by welding gun connecting plate 13, before welding, can be back-outed locking knob 16 as needed, be adjusted Z
To position of the slide block 17 in Z-direction locating rod 18, so that welding gun 4 and the weld seam of workpiece is located on same level height, then tighten
Locking knob 16, Z-direction slide block 17 is fixed.
In another embodiment of the invention, in described cross slid platform mechanism 8, limit switches are set, can be limited described
Cross slid platform mechanism 8 carries out the planar movement of X, Y-direction in safety range.
A kind of automatic soldering method of the complicated abnormal shape workpiece based on the system, including step：
(1) weld seam of welding workpiece being divided into some key points A-J, some arc sections are formed, welding sequence is set (as schemed
3)；
(2) interpolating method of per section of arc section is solved；
(3) master control system sends motion impulse according to required interpolating method and holds to clamping workpiece system and welding
Row system, drives welding gun 4 and workpiece to carry out corresponding moving interpolation by the welding sequence for setting, and completes profile welding；
Specifically, described step (2) specifically include：
(21) beginning and end of arbitrary arc section AB is set, and using parametric equation, the institute on arc section AB is somewhat permissible
It is represented by the following formula：
The known line segment central coordinate of circle O'(x0,y0), starting point coordinate A (ax,ay), terminal point coordinate B (bx,by), welding move
Dynamic speedAngle, θ corresponding to sampling time Δ t, the center of circle angle theta of arc section AB, radius R, A point of line segment AB1(-180
＜ θ1≤ 180), the angle, θ corresponding to B point2(- 180 ＜ θ2≤ 180), wherein θ1For the angle of straight line AO' and X-direction, θ2For straight
The angle (shown in Fig. 4) of line BO' and X-direction；
(22) by speedDetermine every a sampling period Δ t with sampling time Δ t, need the center of circle O ' around line segment to turn
Angle delta θ that crosses：
(23) number of the discrete point included by each section of arc section is set as n, then n can be tried to achieve according to following formula：
(24) all of discrete point P of arc section AB is tried to achievet(xt,yt) coordinate be：
(25) according to xtAnd ytThe motion impulse number of each motor of each interpolation cycle can be obtained.
Specifically, described step (3) is specifically included:
(31) lower air cylinder 12 is pushed, and realizes clamping and the positioning of welding workpiece, then welding gun 4 move to setting welding suitable
The starting point of sequence；
(32) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method
Execution system, drives first servomotor 3, the second servomotor 5, the 3rd servomotor 6, so that welding gun 4 is inserted by required
Compensating method is welded along welding track；
(33), after the completion of welding, lift in lower air cylinder 12, workpiece discharging.
Specifically, the welding gun 4 by required interpolating method along welding track welded when, the welding gun 4 is located at
In the normal orientation of pad, so as to being further ensured that and improving welding quality.
So, the welding process of whole workpiece is achieved by above-mentioned steps, and with adapting to, workpiece species is many, weld matter
The advantages of measuring high, production efficiency height, working stability, welding quality are good, can be suitable for various complex environments.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and be not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
The change of other multi-forms or variation.There is no need to be exhaustive to all of embodiment.All the present invention's
Any modification, equivalent and improvement that is made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (10)
1. a kind of robot welding system of complicated abnormal shape workpiece, including base (10), the workpiece being arranged on the base (10)
Mounting and clamping system, welding execution system, master control system and touch screen,
Described clamping workpiece system includes air cylinder support (1), the lower air cylinder being vertically arranged on the air cylinder support (1)
(12), connect the draw back plate (11) of lower air cylinder (12), the second of draw back plate (11) bottom is rotatably arranged on by thrust bearing
Fixture；
Described welding execution system includes to be arranged at slew gear immediately below the lower air cylinder (12), drives welding gun (4)
Along plane along the movement of XY direction cross slid platform mechanism (8), for the motor command that sent according to master control system and pulse,
Drive welding gun (4) and workpiece that corresponding moving interpolation is carried out, complete profile welding；
The touch screen is arranged on the base (10) side, is connected with master control system circuit, for adjusting welding procedure ginseng
Number；
The master control system is connected with slew gear and cross slid platform mechanism (8) circuit, for according to workpiece shapes, being inserted
Mending and calculate, and motion impulse is sent to described welding execution system.
2. the robot welding system of complicated abnormal shape workpiece according to claim 1, it is characterised in that：Described slew gear
Including the first servomotor (3), the first fixture (2) being connected on the output shaft of the first servomotor (3) upper end.
3. the robot welding system of complicated abnormal shape workpiece according to claim 1, it is characterised in that：Described cross slid platform
Y-direction linear module (9) that mechanism (8) includes to be driven from the second servomotor (5), the X for being driven from the 3rd servomotor are to linear
Module (7), welding gun (4) are connected to the slide block of linear module (7) with X by adjustable connection structure.
4. the robot welding system of complicated abnormal shape workpiece according to claim 3, it is characterised in that：Described adjustable company
Access node structure includes that connecting the X is vertically fixed on institute to the slide unit connecting plate (15) of the slide block of linear module (7), by fixed seat
State Z-direction locating rod (18) on slide unit connecting plate (15), the Z-direction slide block being movably disposed on Z-direction locating rod (18)
(17), it is used for adjusting and locking the locking knob (16) of Z-direction slide block (17) Z-direction position, Z-direction slide block (17) are connected by welding gun
Fishplate bar (13) is connected with the welding gun (4).
5. the robot welding system of complicated abnormal shape workpiece according to claim 1, it is characterised in that：Described cross slid platform
Mechanism (8) is upper to arrange limit switches.
6. the robot welding system of complicated abnormal shape workpiece according to claim 1, it is characterised in that：First fixture
(2) it is rotatably arranged in the lower air cylinder (12) by thrust bearing.
7. a kind of based on power 1 to the automatic soldering method for weighing the complicated abnormal shape workpiece of system any one of 6, its feature exists
In including step：
(1) weld seam of welding workpiece is divided into some key points, some arc sections is formed, set welding sequence；
(2) interpolating method of per section of arc section is solved；
(3) master control system sends motion impulse according to required interpolating method and executes system to clamping workpiece system and welding
System, drives welding gun (4) and workpiece to carry out corresponding moving interpolation by the welding sequence for setting, and completes profile welding；
8. the automatic soldering method of complicated abnormal shape workpiece according to claim 7, it is characterised in that：Described step (2) have
Body includes：
(21) beginning and end of arbitrary arc section AB is set, and using parametric equation, the institute on arc section AB can a little use down
Formula is representing：
The known line segment central coordinate of circle O'(x0,y0), starting point coordinate A (ax,ay), terminal point coordinate B (bx,by), the mobile speed of welding
DegreeAngle, θ corresponding to sampling time Δ t, the center of circle angle theta of arc section AB, radius R, A point of line segment AB1(- 180 ＜ θ1
≤ 180), the angle, θ corresponding to B point2(- 180 ＜ θ2≤ 180), wherein θ1For the angle of straight line AO' and X-direction, θ2For straight line
The angle of BO' and X-direction；
(22) by speedDetermine that, every a sampling period Δ t, needs are turned over around the center of circle O ' of line segment with sampling time Δ t
Angle delta θ：
(23) number of the discrete point included by each section of arc section is set as n, then n can be tried to achieve according to following formula：
(24) all of discrete point P of arc section AB is tried to achievet(xt,yt) coordinate be：
(25) according to xtAnd ytThe motion impulse number of each motor of each interpolation cycle can be obtained.
9. the automatic soldering method of complicated abnormal shape workpiece according to claim 7, it is characterised in that：Described step (3)
Specifically include:
(31) lower air cylinder (12) is pushed, and realizes clamping and the positioning of welding workpiece, then welding gun (4) move to setting welding suitable
The starting point of sequence；
(32) master control system sends motion impulse according to required interpolating method and executes to clamping workpiece system and welding
System, drives the first servomotor (3), the second servomotor (5), the 3rd servomotor (6), makes welding gun (4) by required
Interpolating method welded along welding track；
(33), after the completion of welding, lower air cylinder (12) is upper to lift, workpiece discharging.
10. the automatic soldering method of complicated abnormal shape workpiece according to claim 9, it is characterised in that：Welding gun (4) press
Required interpolating method along welding track welded when, described welding gun (4) be located at pad normal orientation on.
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| CN201610858671.0A CN106425178B (en) | 2016-09-27 | 2016-09-27 | A kind of complicated abnormal shape workpiece robot welding system and method |
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|---|---|---|---|
| CN201610858671.0A CN106425178B (en) | 2016-09-27 | 2016-09-27 | A kind of complicated abnormal shape workpiece robot welding system and method |
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| CN106425178B CN106425178B (en) | 2018-06-22 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107649818A (en) * | 2017-11-08 | 2018-02-02 | 铭镭激光智能装备（河源）有限公司 | Grip device for the welding of metal plate door-plate |
| CN108526782A (en) * | 2018-03-15 | 2018-09-14 | 湖北理工学院 | A kind of Full-automatic welding tooling that downhand welding and vertical position welding can be achieved at the same time |
| CN115870673A (en) * | 2022-12-26 | 2023-03-31 | 河北盛轩农业技术开发有限公司 | Roost frame welding set of raising chickens |
| CN117817180A (en) * | 2024-03-06 | 2024-04-05 | 河北华曙新能源汽车科技有限公司 | New energy automobile chassis system swing arm installing support welding process |
| CN118046128A (en) * | 2024-04-16 | 2024-05-17 | 广东省地质局第八地质大队(广东省梅州地质灾害应急抢险技术中心) | Reinforcing support welding equipment for slope soil and water conservation and application method thereof |
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| CN103331512A (en) * | 2013-06-24 | 2013-10-02 | 北京星航机电装备有限公司 | Electron beam welding method of special-shaped surface |
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