CN106826035B - A kind of welding procedure of rail mounted automatic welding device - Google Patents
A kind of welding procedure of rail mounted automatic welding device Download PDFInfo
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- CN106826035B CN106826035B CN201710049289.XA CN201710049289A CN106826035B CN 106826035 B CN106826035 B CN 106826035B CN 201710049289 A CN201710049289 A CN 201710049289A CN 106826035 B CN106826035 B CN 106826035B
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- weldering
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- 238000003466 welding Methods 0.000 title claims abstract description 155
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000000758 substrate Substances 0.000 claims abstract description 12
- 230000006835 compression Effects 0.000 claims abstract description 10
- 238000007906 compression Methods 0.000 claims abstract description 10
- 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 claims abstract description 9
- 238000003825 pressing Methods 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000002146 bilateral effect Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 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 for a procedure covered by only one of the other main groups of this subclass
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention belongs to welding technology field, more particularly to a kind of welding procedure of rail mounted automatic welding device.A kind of welding procedure of the present invention, that is, rail mounted automatic welding device, rail mounted automatic welding device includes equipment pedestal, double welding gun welder, weldment fixing device group, equipment pedestal is equipped with welding gun moving track, weldment fixing device group substrate, double welding gun welder includes two weldering devices, weldment fixing device group includes several weldment fixing devices, weldment fixing device includes clamp assembly grillage, a left side for clamp assembly grillage, cylinder clamping component is respectively equipped on right both ends, cylinder clamping component includes weldment platform, cylinder-pressing arm assembly, cylinder-pressing arm assembly includes compression cylinder, clamping arm, welding procedure includes putting part, bilateral welds, pickup and etc..The present invention completes weld job using track double welding gun welding equipment, has the characteristics that similar batch weld job is efficient.
Description
Technical field
The present invention relates to a kind of welding procedure, more particularly to a kind of welding procedure of rail mounted automatic welding device belongs to
Welding field.
Background technology
Welding equipment is widely used in automobile production field, according to the different feature of weldment, using difference
The welding equipment operation of type.Due to large-scale Automation of Welding outfit and similar welding production line introduce cost compared with
Height, the cost is relatively high for the one-time investment of enterprise, and the maintenance cost for introducing the later stage is also higher, needs the technology people of profession
Member is safeguarded that the breakdown maintenance period is also longer.Therefore from company investment cost and products characteristics angle consider how to seek one
Kind, which meets the high-effect of enterprise product feature, high quality, the automatic welding mode of low cost, becomes what medium-sized and small enterprises faced
Matter of utmost importance.Include the weldment of left and right part for some in automotive field, its main feature is that weld seam is short, is in parallelly distribute on, adopts
It welds by hand, the problem of labor intensity is big, and efficiency is low, and there is also operating efficiencies using common apparatus and problem of high cost.
Invention content
The welding procedure of rail mounted automatic welding device of the present invention discloses new scheme, is set using the welding of track double welding gun
It is standby to complete weld job, solve the problems, such as that existing product is inefficient when welding same type batch jobs.
The welding procedure of rail mounted automatic welding device of the present invention, rail mounted automatic welding device includes equipment pedestal, double
Welding-gun welding device, weldment fixing device group, equipment pedestal are equipped with two welding gun moving tracks of parallel arrangement, along welding gun
Moving track direction is located at the weldment fixing device group substrate between two welding gun moving tracks of above-mentioned parallel arrangement, double welding gun
Welder includes two weldering devices being respectively provided on above-mentioned two welding gun moving track, and weldment fixing device group includes
Several weldment fixing devices being located on weldment fixing device group substrate, weldment fixing device include being fixed on weldering vertically
Clamp assembly grillage on fitting fixing device group substrate is respectively equipped with cylinder clamping on the left and right both ends of clamp assembly grillage
Component, cylinder clamping component include weldment platform, cylinder-pressing arm assembly, and cylinder-pressing arm assembly includes compression cylinder, pressure
Tight arm, the driving end of compression cylinder and the driving end of clamping arm are hinged, and compression cylinder cuts with scissors the side end for being located at clamp assembly grillage
On edge, the middle part hinge of clamping arm is located at the top of clamp assembly grillage, and welding procedure includes step:
(1) the cylinder clamping component on the left and right both ends of clamp assembly grillage is opened, the left and right part of workpiece to be welded is distinguished
It is placed on corresponding weldment platform, closes cylinder clamping component and fix Workpiece clamping to be welded;
(2) double welding gun welder is moved to the weld job starting position of workpiece left half to be welded along track, starts double welderings
The side weldering device of rifle welder carries out weld job, and weldering device resets after weld job, starts double welding gun weldering
The other side weldering device of connection device carries out weld job, and weldering device resets after weld job;
(3) double welding gun welder is moved to the weld job starting position of workpiece right half to be welded along track, starts double welderings
The side weldering device of rifle welder carries out weld job, and weldering device resets after weld job, starts double welding gun weldering
The other side weldering device of connection device carries out weld job, and weldering device resets after weld job;
(4) double welding gun welder is moved to the weld job starting position of next workpiece to be welded along track, repeats step
(2), the operation of step (3);
(5) the cylinder clamping component on the left and right both ends of clamp assembly grillage is opened, the left and right part of workpiece to be welded is removed
It is to be checked;
(6) the operation of step (1) is repeated, waits for double welding gun welder to carry out weld job after the completion of operation.
The welding procedure of rail mounted automatic welding device of the present invention completes weld job using track double welding gun welding equipment,
Have the characteristics that similar batch weld job is efficient.
Description of the drawings
Fig. 1 is the schematic diagram of rail mounted automatic welding device.
Fig. 2 is the schematic diagram of weldering device.
Fig. 3 is the schematic diagram of weldment fixing device.
Fig. 4 is the schematic diagram of this programme welding procedure.
Wherein, 111 be welding gun moving track, and 120 be weldment fixing device group substrate, and 211 be positioning cylinder, and 212 are
Positioning cylinder seat, 213 be welding positioning guide plate, and 221 be welding gun connecting plate, and 222 be welding gun roll adjustment plate, and 223 be welding gun positioning plate,
224 be arc welding gun head, and 230 be weldering device pedestal, and 310 be clamp assembly grillage, and 321 be weldment platform, and 322 be to compress gas
Cylinder, 323 be clamping arm, and 330 be weldment platform positioning plate, and 421 be support leg, and 422 be branch seat leg, and 423 be that support leg is reinforced
Crossbeam.
Specific implementation mode
The welding procedure of rail mounted automatic welding device of the present invention, rail mounted automatic welding device includes equipment pedestal, double
Welding-gun welding device, weldment fixing device group, equipment pedestal are equipped with two welding gun moving tracks of parallel arrangement, along welding gun
Moving track direction is located at the weldment fixing device group substrate between two welding gun moving tracks of above-mentioned parallel arrangement, double welding gun
Welder includes two weldering devices being respectively provided on above-mentioned two welding gun moving track, and weldment fixing device group includes
Several weldment fixing devices being located on weldment fixing device group substrate, weldment fixing device include being fixed on weldering vertically
Clamp assembly grillage on fitting fixing device group substrate is respectively equipped with cylinder clamping on the left and right both ends of clamp assembly grillage
Component, cylinder clamping component include weldment platform, cylinder-pressing arm assembly, and cylinder-pressing arm assembly includes compression cylinder, pressure
Tight arm, the driving end of compression cylinder and the driving end of clamping arm are hinged, and compression cylinder cuts with scissors the side end for being located at clamp assembly grillage
On edge, the middle part hinge of clamping arm is located at the top of clamp assembly grillage, and welding procedure includes step:
(1) the cylinder clamping component on the left and right both ends of clamp assembly grillage is opened, the left and right part of workpiece to be welded is distinguished
It is placed on corresponding weldment platform, closes cylinder clamping component and fix Workpiece clamping to be welded;
(2) double welding gun welder is moved to the weld job starting position of workpiece left half to be welded along track, starts double welderings
The side weldering device of rifle welder carries out weld job, and weldering device resets after weld job, starts double welding gun weldering
The other side weldering device of connection device carries out weld job, and weldering device resets after weld job;
(3) double welding gun welder is moved to the weld job starting position of workpiece right half to be welded along track, starts double welderings
The side weldering device of rifle welder carries out weld job, and weldering device resets after weld job, starts double welding gun weldering
The other side weldering device of connection device carries out weld job, and weldering device resets after weld job;
(4) double welding gun welder is moved to the weld job starting position of next workpiece to be welded along track, repeats step
(2), the operation of step (3);
(5) the cylinder clamping component on the left and right both ends of clamp assembly grillage is opened, the left and right part of workpiece to be welded is removed
It is to be checked;
(6) the operation of step (1) is repeated, waits for double welding gun welder to carry out weld job after the completion of operation.
Said program is arranged using slide rail type, and welding gun is located to the both sides of weldment, is made convenient for the welding of continuous assembly line
Industry shows very high production efficiency in the operation of batch welding same type weldment.Based on the above, this programme is preferred
Weldment fixing device group includes two weldment fixing devices being located on weldment fixing device group substrate, double welding gun welding
Device carries out N-free diet method cycle operation between two weldment fixing devices.Weldering of the weldering device on completing one of platform
Can the progress operation of another platform be moved to by track immediately after connecing operation, without pausing, waiting for, meanwhile, it welds
Workpiece can be removed and install other welding workpiece in time, to effectively increase production efficiency.This programme is not limited to
State 2 weldment platforms, single double welding gun design scheme, can also be multiple jigs and the operation simultaneously of multiple double welding guns
Mode.In order to improve the accuracy of welding gun positioning, the displacement of synchronous double welding gun, double welding gun is welded using plate and is filled by this programme
The both sides weldering device set is connected, and forms the both sides weldering device synchronizing moving operation of double welding gun welder, improves weldering
The positioning accuracy of gun apparatus.
In order to avoid the safety accidents such as the damage equipment part that is generated due to operation error and equipment prepare it is not in place and
The problems of welded quality of initiation, this programme introduce the design of inspection program before operation on the basis of said program, specifically
First, before weld job starts check weldment platform on workpiece to be welded with the presence or absence of leakage set, deviation the case where, second,
Check whether the protective gas air pressure of weldering device is normal before weld job starts.In order to which the intelligence for improving welding equipment is automatic
Change level, this programme introduces intelligence control system on the basis of said program, and specifically this programme uses intelligent control system
The process of system control weld job, intelligence control system include workpiece sensing sensor to be welded, weldering device protective gas air pressure
Sensor, PLC programmable controller, interactive controlling panel module, weldment fixing device control module, weldering device control mould
Block, starts welding subscription procedure before weld job starts, and workpiece sensing sensor to be welded is welded according to welding reservation instruction inspection
The case where workpiece to be welded on fitting platform sets with the presence or absence of leakage, deviation, weldering device protective gas baroceptor is according to weldering
It connects reservation instruction and checks whether the protective gas air pressure of weldering device is normal, and PLC programmable controller is according to workpiece sensing to be welded
The detection signal enabling weldering device control module that sensor, weldering device protective gas baroceptor are sent, weldering device
Control module opens according to the control signal that PLC programmable controller is sent, closes weld job, and operating personnel are controlled by interaction
Panel module processed is instructed to PLC programmable controller input control program, and PLC programmable controller passes through interactive controlling panel mould
Block feeds back the state of progress of weld job to operating personnel.Weldering greatly improved in intelligence control system combination track double welding gun equipment
Connect the efficiency and quality of operation.
This programme discloses a kind of high-effect, high quality, inexpensive welding manner.This programme is welded mainly around bearing
Fixture designing is unfolded in assembly, and welding assembly point or so part, weld seam is short, is in parallelly distribute on, in conjunction with the weldment shape
From the aspect of feature, weld seam feature, requirements of mass production, production efficiency and cost of investment, devises two pipette tips of one kind, can oneself
Dynamic control, the automatic orbital welder for being accurately positioned welding.The welded basic Component units of the track automation have:Machinery dress
It sets, executive device, the energy, sensor, controller and automatic welder.Mechanical device is mainly by sliding table, fixed guide rail, servo
Motor form, main function drive movement of the sliding table on fixed guide rail to realize to specific welding gun position by servo motor
That sets accurately controls.Followed by it is controlled by cylinder clamp fixture and the relative position of cylinder control welding gun chuck.Executive device
Include mainly two parts, when the cylinder of driving collet action, second is that the servo motor of control sliding table running fix.Energy
Source includes electric energy used in compressed air and servo motor used in cylinder.Sensor for detecting whether place soldering part,
Whether protective gas air pressure meets.PLC programmable controller, interactive panel controller.Welding system includes the source of welding current, wire feed
Machine, welding gun.Entire welding system is divided into 4 stations, wherein each station has corresponding cylinder to control, cycle welding is to ensure
When placing part, welding can continue to carry out, and maximumlly improve welding productivity.
Welding machine work is realized in application of this programme by programmable logic controller (PLC) (PLC) on specific frock clamp
The automated production purpose stood.Programmable controller stability is good, easy to operate, and the safety of welding production has been effectively ensured
And reliability, maintenance easy to maintain, production efficiency are high.Control system is mainly around the automatic orbital welder fixture of bearing welding assembly
Come what is designed.In order to improve production efficiency, the sequence made rational planning between work piece and welding, entire welding system is with pre-
The priority of about sequence is welded, while also needing to meet work piece testing conditions before welding, in order to be prevented because of workpiece
Leakage, which is put, causes welding gun to be welded direct on fixture, and fixture is caused to damage.In addition whether detection protective gas air pressure conditions meet weldering
Technological requirement is connect, the generation of weld defect part is prevented and reduce.Cylinder is controlled by the way of the folding of PLC logic control solenoid valves
The folding of fixture and welding gun is realized in the action of different periods, by PLC logical process control panel signals, detects signal,
Welding signal, servo motor positioning signal are output and input so that transmission and processing between each signal can be orderly
It is carried out according to welding process design.
The track welding of this programme is that a kind of new and high technology is rebuild traditional industry with the technique that intelligence control system is combined
Scheme, not only solve the problems, such as that manual welding poor efficiency and labor intensity are big, also successfully broken away from automatic arc welding work station
By the present situation of import robot, the burden that enterprise disposably puts into early period is reduced.It is a plurality of flat especially in welding plane
In terms of row weld seam, automatic orbital welder process advantage is more obvious, promotion welding efficiency that can be at double.In entire welding system
In the middle, PLC serves not only as the data transmission path of external controller, data processing centre is also used as, by the machine in component units
Tool device, executive device, the energy, sensor, controller and automatic welder are organically combined together, smoothly complete welding jointly
Work.Based on the above feature, the welding procedure of the rail mounted automatic welding device of this programme has compared to existing technique to be protruded
Substantive distinguishing features and significant progress.
The welding procedure of the rail mounted automatic welding device of this programme is not limited to content disclosed in specific implementation mode,
The technical solution occurred in embodiment can be extended based on the understanding of those skilled in the art, and those skilled in the art are according to this
The simple replacement scheme that scheme combination common knowledge is made also belongs to the range of this programme.
Claims (6)
1. a kind of welding procedure of rail mounted automatic welding device, the rail mounted automatic welding device includes equipment pedestal, double
Welding-gun welding device, weldment fixing device group, the equipment pedestal are equipped with two welding gun moving tracks, edges of parallel arrangement
Welding gun moving track direction is located at the weldment fixing device group base between two welding gun moving tracks of the parallel arrangement
Plate, the double welding gun welder include two weldering devices being respectively provided on described two welding gun moving tracks, the weldering
Fitting fixing device group includes several weldment fixing devices being located on the weldment fixing device group substrate, the welding
Part fixing device includes the clamp assembly grillage being fixed on vertically on the weldment fixing device group substrate, the clamp assembly
Cylinder clamping component is respectively equipped on the left and right both ends of grillage, the cylinder clamping component includes weldment platform, cylinder-pressing
Arm assembly, the cylinder-pressing arm assembly include compression cylinder, clamping arm, driving end and the clamping arm of the compression cylinder
Driving end it is hinged, the compression cylinder hinge is located on the side end edge of the clamp assembly grillage, in the clamping arm
The top for being located at the clamp assembly grillage is cut with scissors in portion, it is characterized in that including step:
(1) the cylinder clamping component on the left and right both ends of clamp assembly grillage is opened, the left and right part of workpiece to be welded is placed respectively
On corresponding weldment platform, closes cylinder clamping component and fix Workpiece clamping to be welded;
(2) double welding gun welder is moved to the weld job starting position of workpiece left half to be welded along track, starts double welding gun weldering
The side weldering device of connection device carries out weld job, and weldering device resets after weld job, starts double welding gun welding dress
The other side weldering device set carries out weld job, and weldering device resets after weld job;
(3) double welding gun welder is moved to the weld job starting position of workpiece right half to be welded along track, starts double welding gun weldering
The side weldering device of connection device carries out weld job, and weldering device resets after weld job, starts double welding gun welding dress
The other side weldering device set carries out weld job, and weldering device resets after weld job;
(4) double welding gun welder moves to the weld job starting position of next workpiece to be welded along track, repeat step (2),
The operation of step (3);
(5) the cylinder clamping component on the left and right both ends of clamp assembly grillage is opened, the left and right part of workpiece to be welded is removed and is waited for
Inspection;
(6) the operation of step (1) is repeated, waits for double welding gun welder to carry out weld job after the completion of operation.
2. welding procedure according to claim 1, which is characterized in that weldment fixing device group is located at welding including two
Weldment fixing device on part fixing device group substrate, double welding gun welder carry out nothing between two weldment fixing devices
Wait for cycle operation.
3. welding procedure according to claim 1, which is characterized in that welded the both sides of double welding gun welder using plate
Gun apparatus is connected, and forms the both sides weldering device synchronizing moving operation of double welding gun welder, improves determining for weldering device
Position precision.
4. welding procedure according to any one of claim 1 to 3, which is characterized in that checked before weld job starts
The case where workpiece to be welded on weldment platform sets with the presence or absence of leakage, deviation.
5. welding procedure according to claim 4, which is characterized in that check the guarantor of weldering device before weld job starts
Whether normal protect gas atmosphere.
6. welding procedure according to claim 5, which is characterized in that using the mistake of intelligence control system control weld job
Journey, the intelligence control system, which includes workpiece sensing sensor to be welded, weldering device protective gas baroceptor, PLC, to be compiled
Range controller, interactive controlling panel module, weldment fixing device control module, weldering device control module, in weld job
Start welding subscription procedure before starting, workpiece sensing sensor to be welded is checked according to welding reservation instruction and waited on weldment platform
Welder's part with the presence or absence of leakage set, deviation the case where, weldering device protective gas baroceptor according to welding reservation instruction inspection
Whether the protective gas air pressure of weldering device is normal, and PLC programmable controller is according to workpiece sensing sensor to be welded, weldering device
The detection signal enabling weldering device control module that protective gas baroceptor is sent, weldering device control module is according to PLC
Control signal that programmable controller is sent opens, closes weld job, and operating personnel are by interactive controlling panel module to PLC
Programmable controller input control program instructs, and PLC programmable controller is anti-to operating personnel by interactive controlling panel module
Present the state of progress of weld job.
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CN201710049289.XA CN106826035B (en) | 2017-01-23 | 2017-01-23 | A kind of welding procedure of rail mounted automatic welding device |
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CN201710049289.XA CN106826035B (en) | 2017-01-23 | 2017-01-23 | A kind of welding procedure of rail mounted automatic welding device |
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CN112015129A (en) * | 2019-05-30 | 2020-12-01 | 上海德梅柯汽车装备制造有限公司 | Cylinder clamp control device applied to PLC and computer medium |
CN113953705A (en) * | 2021-11-25 | 2022-01-21 | 王震 | Double-station welding machine |
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US2749421A (en) * | 1954-06-17 | 1956-06-05 | Worthington Corp | Welding head positioner |
CN101862914A (en) * | 2009-04-20 | 2010-10-20 | 河北农业大学 | Obstacle-avoiding type automatic welding machine with double welding guns |
CN201922176U (en) * | 2010-12-03 | 2011-08-10 | 新疆威奥科技股份有限公司 | Portable, saddle-shaped and double-welding-gun connection pipe welding device |
CN103008940A (en) * | 2012-12-31 | 2013-04-03 | 长城汽车股份有限公司 | Automatic welding equipment for double annular welding beads |
CN204209256U (en) * | 2014-10-27 | 2015-03-18 | 苏州威奥得焊材科技有限公司 | A kind of welding equipment of composite design |
CN204487019U (en) * | 2015-03-18 | 2015-07-22 | 上海郎特汽车净化器有限公司 | Double automatic soldering device |
-
2017
- 2017-01-23 CN CN201710049289.XA patent/CN106826035B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2749421A (en) * | 1954-06-17 | 1956-06-05 | Worthington Corp | Welding head positioner |
CN101862914A (en) * | 2009-04-20 | 2010-10-20 | 河北农业大学 | Obstacle-avoiding type automatic welding machine with double welding guns |
CN201922176U (en) * | 2010-12-03 | 2011-08-10 | 新疆威奥科技股份有限公司 | Portable, saddle-shaped and double-welding-gun connection pipe welding device |
CN103008940A (en) * | 2012-12-31 | 2013-04-03 | 长城汽车股份有限公司 | Automatic welding equipment for double annular welding beads |
CN204209256U (en) * | 2014-10-27 | 2015-03-18 | 苏州威奥得焊材科技有限公司 | A kind of welding equipment of composite design |
CN204487019U (en) * | 2015-03-18 | 2015-07-22 | 上海郎特汽车净化器有限公司 | Double automatic soldering device |
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