CN108890084B - Welding equipment, welding control device and welding control method - Google Patents
Welding equipment, welding control device and welding control method Download PDFInfo
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- CN108890084B CN108890084B CN201810789979.3A CN201810789979A CN108890084B CN 108890084 B CN108890084 B CN 108890084B CN 201810789979 A CN201810789979 A CN 201810789979A CN 108890084 B CN108890084 B CN 108890084B
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- 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
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
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Abstract
The disclosure relates to welding equipment, a welding control device and a welding control method, and relates to the technical field of welding. The welding control method is used for welding equipment, the welding equipment comprises a wire feeding device and a welding power supply, and the welding control method comprises the following steps: controlling the wire feeding speed of the wire feeding device to decrease and controlling the output energy of the welding power supply to increase at the transition moment from the main welding stage to the arc extinguishing stage; and controlling the wire feeding device to brake and controlling the welding power supply to stop outputting energy at a preset time after the transition time. The welding control method can avoid the occurrence of wire binding or wire sticking after welding and ensure the quality of welding seams.
Description
Technical Field
The disclosure relates to the technical field of welding, in particular to welding equipment, a welding control device and a welding control method.
Background
Welding is a common connecting process, and generally includes various types such as welding, brazing and the like. The consumable electrode arc welding is widely applied, a complete welding process usually comprises three stages of arc striking, main welding and arc stopping, and the arc stopping effect directly influences the quality of a welding seam.
At present, in the welding process, the welding wire is generally fed at a constant speed, but the braking capability of a wire feeding device is limited, so that the wire feeding is difficult to stop in time. In the arc-closing stage, after the welding machine stops outputting energy and the wire feeding device brakes, the welding wire may still move for a certain distance, and the output energy is stopped, so that the phenomenon of wire binding or wire sticking is easy to occur, the welding seam quality is poor, and the welding quality is not favorable to be improved.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The purpose of the present disclosure is to provide a welding apparatus, a welding control device, and a welding control method, which can avoid the occurrence of wire binding or wire sticking after welding, and ensure the quality of a weld joint, so as to improve the welding quality.
According to one aspect of the present disclosure, there is provided a welding control method for a welding apparatus including a wire feeder and a welding power source, the welding control method comprising:
controlling the wire feeding speed of the wire feeding device to be reduced and controlling the output energy of the welding power supply to be increased at the transition moment from the main welding stage to the arc extinguishing stage;
and controlling the wire feeding device to brake and controlling the welding power supply to stop outputting energy at a preset time after the transition time.
In an exemplary embodiment of the present disclosure, the preset time is a time when the wire feed speed decreases to a preset speed.
In an exemplary embodiment of the present disclosure, controlling the wire feed speed reduction comprises:
controlling the wire feeding speed to descend at a first acceleration constant speed;
controlling the output energy ramp comprises:
controlling the output energy to rise at a constant speed at a second acceleration, wherein the second acceleration and the first acceleration satisfy the following relation:
a2＝k×a1；
wherein, a1Is the first acceleration, a2K is less than 0 for the second acceleration.
In an exemplary embodiment of the present disclosure, the preset speed is greater than 0.
In an exemplary embodiment of the present disclosure, controlling the welding power supply to stop the output energy includes:
controlling the welding power supply to output a burn-back pulse at the preset moment;
and controlling the welding power supply to stop outputting energy.
According to one aspect of the present disclosure, there is provided a welding control device for a welding apparatus including a wire feeder and a welding power source, the welding apparatus comprising:
the first control module is used for controlling the wire feeding speed of the wire feeding device to be reduced and controlling the output energy of the welding power supply to be increased at the transition moment from the main welding stage to the arc extinguishing stage;
and the second control module is used for controlling the wire feeding device to brake and controlling the welding power supply to stop outputting energy at a preset time after the transition time.
In an exemplary embodiment of the present disclosure, the preset time is a time when the wire feed speed decreases to a preset speed.
In an exemplary embodiment of the present disclosure, the first control module includes:
the speed control unit is used for controlling the wire feeding speed to descend at a first acceleration constant speed;
the energy control unit is used for controlling the output energy to rise at a constant speed at a second acceleration, and the second acceleration and the first acceleration meet the following relation:
a2＝k×a1；
wherein, a1Is the first acceleration, a2K is less than 0 for the second acceleration.
In an exemplary embodiment of the present disclosure, the second control module includes:
the burn-back unit is used for controlling the welding power supply to output a burn-back pulse at the preset moment;
and the execution unit is used for controlling the welding power supply to stop outputting energy.
According to an aspect of the present disclosure, there is provided a welding apparatus comprising a wire feeder, a welding power supply, and a welding control device as described in any of the above.
According to the welding equipment, the welding control device and the welding control method, the wire feeding speed can be controlled to be reduced and the output energy can be controlled to be increased at the transition moment from the main welding stage to the arc-closing stage, so that the welding wire can be quickly burnt short; and controlling the wire feeding device to brake and stop outputting energy at a preset time after the transition time. The phenomenon of wire binding or wire sticking can be avoided through the short burning of the welding wires; meanwhile, after the wire feeding device is braked, the welding wire can be continuously fed out partially due to inertia, so that the length of welding wire burn-out loss is compensated, and the welding wire is in a proper length. Therefore, the occurrence of wire binding or wire sticking after welding can be avoided, the quality of the welding seam is ensured, and the welding quality is favorably improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
FIG. 1 is a schematic representation of wire feed speed and output energy in a related art.
Fig. 2 is a flowchart of a welding control method according to an embodiment of the present disclosure.
FIG. 3 is a graphical illustration of wire feed speed and output energy for a weld control method in accordance with an embodiment of the present disclosure.
Fig. 4 is a flowchart of step 120 of a welding control method according to an embodiment of the present disclosure.
Fig. 5 is a block diagram of a welding control apparatus according to an embodiment of the present disclosure.
Fig. 6 is a block diagram of a welding apparatus according to an embodiment of the disclosure.
In the figure: 100. a welding control device; 1. a first control module; 11. a speed control unit; 12. an energy control unit; 2. a second control module; 21. a burn-back unit; 22. an execution unit; 200. a wire feeder; 300. a welding power supply.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The terms "a," "an," "the," and "said" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first" and "second" are used merely as labels, and are not limiting on the number of their objects.
In the related art, a welding device includes a welding power source and a wire feeding device, and a complete welding process generally includes an arc striking stage, a main welding stage and an arc closing stage which are sequentially performed, wherein in the arc closing stage, the wire feeding speed needs to be controlled to decrease progressively, when the wire feeding speed decreases to a speed threshold, the wire feeding device is controlled to stop feeding wire, and the welding power source is controlled to stop outputting energy, changes of the wire feeding speed and the output energy are shown in fig. 1, t1 is a transition time from the main welding stage to the arc closing stage, and t2 is a time when the wire feeding speed decreases to the speed threshold; v1 is the wire feed speed before t1, i.e. the wire feed speed of the main welding stage, V2 is the speed threshold, i.e. the wire feed speed at time t 2; e1 is the output energy at time t1, i.e. the output energy during the main welding phase, and E2 is the output energy at time t 2.
Because the braking capability of the wire feeding device is limited, the wire feeding is difficult to stop in time, and in the arc-closing stage, after the wire feeding device brakes, the welding wire may still move for a certain distance, but the output energy is stopped, so that the phenomenon of wire binding or wire sticking is easy to occur, the welding seam quality is poor, and the welding quality is not easy to improve.
The disclosed embodiments provide a welding control method, which can be used in a welding apparatus, which may be a consumable electrode arc welding apparatus, and of course, may also be other welding apparatuses, taking a consumable electrode arc welding apparatus as an example, which may include a welding power source and a wire feeder, wherein:
the welding power source may include a transformer, an inverter, etc., depending on the type of welding equipment, and the structure of the welding power source is not particularly limited.
The wire feeder may include a motor and a wire feeder, the wire feeder may include a turntable for clamping a welding wire, and the motor may drive the turntable to rotate through a transmission mechanism to feed the welding wire. Of course, the wire feeding device may have other structures as long as wire feeding can be achieved and the wire feeding speed is adjustable, and is not particularly limited herein.
As shown in fig. 2, the welding control method of the embodiment of the present disclosure may include:
step S110, controlling the wire feeding speed of the wire feeding device to be reduced and controlling the output energy of the welding power supply to be increased at the transition moment from the main welding stage to the arc extinguishing stage;
and S120, controlling the wire feeding device to brake and controlling the welding power supply to stop outputting energy at a preset time after the transition time.
According to the welding control method, the wire feeding speed can be controlled to be reduced and the output energy can be controlled to be increased at the transition moment from the main welding stage to the arc-closing stage, so that the welding wire can be quickly burnt short; and controlling the wire feeding device to brake and stop outputting energy at a preset time after the transition time. The phenomenon of wire binding or wire sticking can be avoided through the short burning of the welding wires; meanwhile, after the wire feeding device is braked, the welding wire can be continuously fed out partially due to inertia, so that the length of welding wire burn-out loss is compensated, and the welding wire is in a proper length. Therefore, the occurrence of wire binding or wire sticking after welding can be avoided, the quality of the welding seam is ensured, and the welding quality is favorably improved.
As shown in fig. 2, fig. 2 shows the wire feed speed and the output energy of the welding control method according to the embodiment of the present disclosure, where t1 is the transition time, and t2 is the preset time; v1 is the wire feeding speed before t1, namely the wire feeding speed in the main welding stage, V2 is the wire feeding speed at the time of t2, and V2 is smaller than V1; e1 is the output energy at time t1, i.e., the output energy in the main welding phase, E2 is the maximum value of the rise in the output energy, and E2 is greater than E1. It can be seen that the greater the wire feed speed, the longer the wire feed speed reduction time, i.e., the longer the time between t2 and t1, the more difficult the wire feeder brakes, the greater the maximum value of output energy, i.e., E2; the lower the wire feed speed, the shorter the wire feed speed reduction time, and the lower the maximum value of the output energy, i.e., E2.
The following describes in detail the respective steps of the welding control method according to the embodiment of the present disclosure:
as shown in fig. 2, in step S110, at the transition point when the main welding stage transitions to the arc extinguishing stage, the wire feeding speed of the wire feeder is controlled to decrease, and the output energy of the welding power supply is controlled to increase.
The transition time may be a preset time, or a time when an instruction to finish welding is received. The output energy may include at least one of a welding voltage and pulse parameters, which may include current parameters such as background current, peak current, and frequency. Of course, the output energy may also include other parameters, which are not listed here. For example, the increase in output energy may be achieved by controlling the increase in voltage and current.
The reduction of the wire feeding speed and the increase of the output energy can be carried out simultaneously, the reduction of the wire feeding speed can be carried out in a constant speed manner or a variable speed manner, and the increase of the output energy can be carried out in a constant speed manner or a variable speed manner. For example:
in one embodiment, the wire feed speed may be controlled to decrease at a constant first acceleration and the output energy may be controlled to increase at a constant second acceleration at the transition time. The second acceleration and the first acceleration may satisfy the following relationship:
a2＝k×a1；
wherein, a1Is a first acceleration, a2K is less than 0 for the second acceleration. k may be a negative constant, such as-1, -2, etc., or may be a function, and the variables of the function may be preset with selectable ranges, and the specific values of the variables may be selected during welding as long as the calculation result is negative. Thereby, the rising of the output energy and the falling of the wire feeding speed can be associated, the output energy is increased along with the falling of the wire feeding speed, and the first acceleration a can be changed by adjusting the magnitude of k1Or a second acceleration a2. First acceleration a1And a second acceleration a2The specific values are not particularly limited.
Of course, the first acceleration a1And a second acceleration a2Or may be preset values, not limited by the above relation, and may be adjusted independently. In addition, in other embodiments of the present disclosure, only the wire feeding speed may be controlled to decrease at a constant speed and the output energy may be controlled to increase at a variable speed at the transition time. Alternatively, the wire feeding speed can be controlled to decrease at variable speed, and the output energy can be controlled to increase at a constant speed. In addition, the output energy which is larger than the output energy of the main welding stage can be directly output at the transition moment and is continued to the preset moment. The rising form of the output energy is not particularly limited as long as the output energy can be increased.
As shown in fig. 2, at a preset time after the transition time, the wire feeder is controlled to brake and the welding power supply is controlled to stop outputting energy in step S120.
The preset time may be a time when the wire feeding speed is decreased to a preset speed, the preset speed may be greater than 0 and less than the wire feeding speed before the transition time, that is, less than the wire feeding speed in the main welding stage, and the specific numerical value is not particularly limited herein. At the preset moment, when the wire feeding speed is reduced to the preset speed, the output energy is increased to an energy value, and in the process, the welding wire is rapidly burned short. Of course, the preset time may also be a time when the output energy rises to the preset energy, or the preset time may not be limited by the preset speed or the preset energy, or may also be a fixed time after the transition time, where the preset time is not particularly limited. In addition, the drop time of the wire feeding speed and the rise time of the output energy can be prolonged or shortened by adjusting the preset time so as to control the wire feeding speed and the output energy.
The braking of the wire feeder may be controlled by stopping the output of the wire feed command to the wire feeder to brake the wire feeder, the wire feed command being used to control the wire feeder to feed wire at a preset wire feed speed. Or, a braking instruction can be output to the wire feeding device, and the wire feeding device brakes after receiving the braking instruction. The braking principle of the wire feeder may depend on its structure, for example, the wire feeder comprises a motor for driving the wire to move, the aforementioned system being to control the motor to stop.
It should be noted that, after the wire feeder is braked, the welding wire can still be partially fed out under the action of inertia, so as to make up for the length lost by welding wire burn-back, so that the welding wire is in a proper length.
Controlling the welding power supply to stop outputting energy may: and controlling the welding power supply to immediately stop outputting energy at a preset moment. After the burn-back treatment, the output of energy may be stopped, for example: as shown in fig. 4, controlling the welding power supply to stop outputting energy may include:
step S1210, controlling the welding power supply to output a burn-back pulse at the preset time;
the burn-back pulse is used for burn-back of the welding wire, namely, molten ball elimination treatment is carried out, so that the form and size of the molten ball meet preset conditions, and the welding quality is further improved.
And step S1220, controlling the welding power supply to stop outputting energy.
Through the steps S1210 and S1220, since the burn-back process is performed before the output of energy is stopped, the quality of the weld can be further improved, so as to improve the welding effect.
The following are embodiments of the welding control apparatus of the present disclosure that may be used to implement embodiments of the welding control method of the present disclosure. For details that are not disclosed in the embodiments of the welding control device of the present disclosure, please refer to the embodiments of the welding control method of the present disclosure.
The disclosed embodiment provides a welding control device, which can be used in a welding device, and the specific structure of the welding device can refer to the welding device in the above, and the details are not described herein.
As shown in fig. 5, the welding control apparatus 100 of the embodiment of the present disclosure may include a first control module 1 and a second control module 2, wherein:
the first control module 1 may be configured to control a wire feeding speed of the wire feeder to decrease and control an output energy of the welding power supply to increase at a transition time of the main welding stage to the arc extinguishing stage.
In an embodiment, the first control module 1 may comprise a speed control unit 11 and an energy control unit 12, wherein:
the speed control unit 11 may be configured to control the wire feeding speed to decrease at a first acceleration speed;
the energy control unit 12 is configured to control the output energy to rise at a constant speed at a second acceleration, where the second acceleration and the first acceleration satisfy the following relationship:
a2＝k×a1；
wherein, a1Is the first acceleration, a2K is less than 0 for the second acceleration.
The second control module 2 may be configured to control the wire feeder to brake and control the welding power supply to stop outputting energy at a preset time after the transition time.
In an embodiment, the second control module 2 may comprise a burn-back unit 21 and an execution unit 22, wherein:
the burn-back unit 21 may be configured to control the welding power supply to output a burn-back pulse at the preset time.
The execution unit 22 may be configured to control the welding power supply to stop outputting energy.
The details of each module and unit in the welding control apparatus 100 are already described in detail in the corresponding welding control method, and therefore are not described herein again. Meanwhile, the advantageous effects of the welding apparatus according to the embodiments of the present disclosure may refer to the advantageous effects of the welding control method described above, and will not be described in detail herein.
The present disclosure also provides a welding apparatus, as shown in fig. 6, that may include a wire feeder 200, a welding power supply 300, and the welding control device 100 of any of the embodiments described above, wherein:
the wire feeder 200 and the welding power supply 300 are both connected to the welding control device 100. The wire feeder 200, the welding power supply, and the welding control device 100 are described above, and will not be described in detail.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several signals to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A welding control method for a welding apparatus including a wire feeder and a welding power supply, the welding control method comprising:
controlling the wire feeding speed of the wire feeding device to be reduced and controlling the output energy of the welding power supply to be increased at the transition moment from the main welding stage to the arc extinguishing stage;
and controlling the wire feeding device to brake and controlling the welding power supply to stop outputting energy at a preset time after the transition time.
2. The welding control method of claim 1, wherein the predetermined time is a time at which the wire feed speed decreases to a predetermined speed.
3. The weld control method of claim 1, wherein controlling the wire feed speed reduction comprises:
controlling the wire feeding speed to descend at a first acceleration constant speed;
controlling the output energy ramp comprises:
controlling the output energy to rise at a constant speed at a second acceleration, wherein the second acceleration and the first acceleration satisfy the following relation:
a2＝k×a1；
wherein, a1Is the first acceleration, a2K is less than 0 for the second acceleration.
4. The weld control method according to claim 2, wherein the preset speed is greater than 0.
5. The welding control method of any of claims 1-4, wherein controlling the welding power source to stop the output energy comprises:
controlling the welding power supply to output a burn-back pulse at the preset moment;
and controlling the welding power supply to stop outputting energy.
6. A welding control device for a welding apparatus including a wire feeder and a welding power supply, the welding apparatus comprising:
the first control module is used for controlling the wire feeding speed of the wire feeding device to be reduced and controlling the output energy of the welding power supply to be increased at the transition moment from the main welding stage to the arc extinguishing stage;
and the second control module is used for controlling the wire feeding device to brake and controlling the welding power supply to stop outputting energy at a preset time after the transition time.
7. The weld control device of claim 6, wherein the predetermined time is a time at which the wire feed speed decreases to a predetermined speed.
8. The weld control device of claim 6, wherein the first control module comprises:
the speed control unit is used for controlling the wire feeding speed to descend at a first acceleration constant speed;
the energy control unit is used for controlling the output energy to rise at a constant speed at a second acceleration, and the second acceleration and the first acceleration meet the following relation:
a2＝k×a1；
wherein, a1Is the first acceleration, a2K is less than 0 for the second acceleration.
9. The weld control device according to any one of claims 6 to 8, wherein the second control module includes:
the burn-back unit is used for controlling the welding power supply to output a burn-back pulse at the preset moment;
and the execution unit is used for controlling the welding power supply to stop outputting energy.
10. A welding apparatus comprising a wire feeder, a welding power supply, and the welding control device of any of claims 6-9.
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| CN109590578B (en) * | 2018-12-29 | 2021-01-29 | 唐山松下产业机器有限公司 | Burn-back energy matching control method for digital welding machine |
| CN110102923B (en) * | 2019-05-28 | 2021-04-30 | 昆山华恒焊接股份有限公司 | Arc-closing control method for applying plasma-TIG double welding guns to welding of circular weld joint |
| WO2020262260A1 (en) * | 2019-06-28 | 2020-12-30 | パナソニックＩｐマネジメント株式会社 | Repair welding system, repair welding method, inspection device, and robot control device |
| CN111001896B (en) * | 2019-12-30 | 2021-12-14 | 唐山松下产业机器有限公司 | Welding device, burn-back control device and method |
| CN111872514B (en) * | 2020-07-24 | 2022-06-17 | 唐山松下产业机器有限公司 | Burn-back control method for digital welding machine and related equipment |
| CN112372110B (en) * | 2020-10-27 | 2022-07-29 | 唐山松下产业机器有限公司 | Pulse welding control method, system, device and storage medium |
| CN114833428A (en) * | 2022-05-31 | 2022-08-02 | 深圳市佳士科技股份有限公司 | Arc starting and closing control method, device and equipment for submerged arc welding and storage medium |
| CN114833431B (en) * | 2022-06-13 | 2024-05-14 | 唐山松下产业机器有限公司 | Pulse welding burn-back control method and device |
| CN115041769A (en) * | 2022-07-27 | 2022-09-13 | 深圳市佳士科技股份有限公司 | Welding equipment control method and device, electronic equipment and storage medium |
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| CN102513648A (en) * | 2011-12-14 | 2012-06-27 | 湖南科技大学 | Arc start and arc withdrawal control method for double-wire serial submerged arc welding |
| CN103909324A (en) * | 2012-12-28 | 2014-07-09 | 株式会社大亨 | Arc welding device and feeding machine used therein |
| CN103990892A (en) * | 2014-05-23 | 2014-08-20 | 唐山松下产业机器有限公司 | Inverter welding device and control method thereof |
| CN105728899A (en) * | 2016-03-31 | 2016-07-06 | 唐山松下产业机器有限公司 | Pulse welding equipment and control method thereof |
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