CN107931909A - Automatic loading and unloading device and its system - Google Patents
Automatic loading and unloading device and its system Download PDFInfo
- Publication number
- CN107931909A CN107931909A CN201711421693.1A CN201711421693A CN107931909A CN 107931909 A CN107931909 A CN 107931909A CN 201711421693 A CN201711421693 A CN 201711421693A CN 107931909 A CN107931909 A CN 107931909A
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- automatic loading
- unloading device
- cutting agency
- mentioned
- feed mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000003466 welding Methods 0.000 claims abstract description 40
- 238000005520 cutting process Methods 0.000 claims abstract description 35
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 32
- 239000000463 material Substances 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 19
- 229910052742 iron Inorganic materials 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 22
- 230000002950 deficient Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012536 packaging technology Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003245 working effect Effects 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
Abstract
The present invention relates to a kind of automatic loading and unloading device and its system, for moving the hauling operation in iron loudspeaker welding procedure, including：Main body rack；Arranged on the first structure for conveying of main body rack, for carrying and conveying feed mechanism and cutting agency；Feed mechanism, provides workpiece to be processed, the feed mechanism is equipped with the first positioning pin for feeding and to welding unit；Cutting agency, for discharge operation, the cutting agency is equipped with the second positioning pin；Material placing area, equipped with charging tray is put, the charging tray of putting is used to place workpiece to be processed and finished work.Above-mentioned automatic loading and unloading device is equipped with feed mechanism and cutting agency, feeding, discharge mechanism can at the same time seamless work, improve work efficiency, the degree of automation is high, above-mentioned feeding, discharge mechanism is additionally provided with the first positioning pin and the second positioning pin, accurately auxiliary positioning is carried out to picking and placeing workpiece in feeding, discharge, so that the uniformity of Product jointing is improved, process capability is stablized.
Description
Technical field
The present invention relates to loudspeaker technical field, is used to move hauling operation in iron loudspeaker welding procedure more particularly to a kind of
Automatic loading and unloading device and its system.
Background technology
Dynamic iron loudspeaker are due to small, the characteristics of low-power consumption, height output, are widely used in hearing aid, covert-channel, Gao Bao
The fields such as real ear machine, but the requirement of its assembly technology is also very high.The engagement major way of the parts of dynamic iron loudspeaker is at present
Welding, its packaging technology is based on manual, single assembling, for the automatic production process of moving-coil loudspeaker, efficiency phase
To relatively low, with the increase of customer group, the efficiency of dynamic iron loudspeaker craft packaging technology can not meet the market demand.
Usually the workpiece for needing to weld is gripped respectively using tweezers by operator, one by one in dynamic iron loudspeaker welding procedure at present
Commitment positions are placed on, after doing reliable location respectively using gauge, are welded.Whole process operator needs side to place workpiece
Side observation positions and whole process fulfils assignment under the microscope.Not only low production efficiency, is not suitable for scale of mass production, and product welds
The uniformity connect is poor, and process capability is unstable.
The content of the invention
Based on this, it is necessary to in above-mentioned dynamic iron loudspeaker welding procedure because low production efficiency caused by handwork and
Weld the problem of uniformity is poor, there is provided a kind of automatic loading and unloading device and its system.
A kind of automatic loading and unloading device, for moving the hauling operation in iron loudspeaker welding procedure, including：
Main body rack；
Arranged on the first structure for conveying of main body rack, for carrying and conveying feed mechanism and cutting agency；
Feed mechanism, provides workpiece to be processed, the feed mechanism is equipped with the first positioning for feeding and to welding unit
Pin；
Cutting agency, for discharge operation, the cutting agency is equipped with the second positioning pin；
Material placing area, and the charging tray of putting of material placing area is positioned over, the charging tray of putting is used to place workpiece to be processed and machined work
Part.
Above-mentioned automatic loading and unloading device is equipped with feed mechanism and cutting agency, and feeding, discharge mechanism being capable of seamless work at the same time
To make, improve work efficiency, the degree of automation is high, and above-mentioned feeding, discharge mechanism is additionally provided with the first positioning pin and the second positioning pin,
Accurately auxiliary positioning is carried out to picking and placeing workpiece during feeding, discharge, so that the uniformity of Product jointing is improved, processing procedure energy
Power is stablized.
In one of the embodiments, the main body rack is further included described puts the second defeated of charging tray for carrying and conveying
Send structure.
In one of the embodiments, the feed mechanism is including being used to clamp the clamping jaw structure of workpiece to be processed, being used for
Detection and the detection bar of workpiece distance.
In one of the embodiments, the detection bar includes the body of rod, and the body of rod is telescopic rod, the telescopic rod installation
There is range sensor.
In one of the embodiments, the feed mechanism and the cutting agency are arranged in parallel.
In one of the embodiments, the cutting agency includes being used for the clamping jaw structure for clamping finished work.
In one of the embodiments, the charging tray of putting includes feed zone and discharge zone, when the discharge zone is equipped with rewinding
For adsorbing the magnetic stripe of finished work.
In one of the embodiments, the discharge zone further comprises non-defective unit area and defective products area.
The application also provides a kind of automatic loading and unloading system based on above-mentioned automatic loading and unloading device.
A kind of automatic loading and unloading system, for moving the hauling operation in iron loudspeaker welding procedure, including：
Automatic loading and unloading device in any of the above-described embodiment；
Automatic detection device, for detecting the welding quality of the finished work；
The automatic detection device includes image acquisition mechanism and shift sensing mechanism.
In one of the embodiments, the automatic detection device is additionally provided with acquisition control unit, for detect it is described
Blanking control is carried out to the automatic loading and unloading device after the welding quality of workpieces processing.
Brief description of the drawings
Fig. 1 is the structure diagram of automatic loading and unloading device provided by the embodiments of the present application；
Fig. 2 is the structure diagram of feeding, discharge structure provided by the embodiments of the present application；
Fig. 3 is the structure diagram provided by the embodiments of the present application for putting charging tray.
Wherein,
Automatic loading and unloading device 10
Main body rack 100
First structure for conveying 200
Feed mechanism 201
First positioning pin 2011
Detection bar 2012
Cutting agency 202
Second positioning pin 2021
Second structure for conveying 300
Material placing area 301
Put charging tray 302
Feed zone 3021
Discharge zone 3022
Embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is from the limitation of following public specific embodiment.
Fig. 1-3 are referred to, the application provides a kind of automatic loading/unloading for being used to move hauling operation in iron loudspeaker welding procedure
Device 10.Further, above-mentioned automatic loading and unloading device 10 is used to workpiece to be processed being assembled to welding unit to be welded
Operation.The automatic loading and unloading device 10 includes：Main body rack 100；The main body rack 100 is equipped with for feeding and to welding unit
The feed mechanism 201 of workpiece to be processed is provided；Cutting agency 202 for discharge operation；Equipped with the material placing area for putting charging tray 302
301, this is put charging tray 302 and is used to place workpiece to be processed and finished work.
Above-mentioned automatic loading and unloading device 10 is equipped with feed mechanism 201 and cutting agency 202, and feeding, discharge mechanism 202 can be same
When seamless work, and material placing area 301 is directly arranged in the automatic loading and unloading device 10, can direct feeding, improve work effect
Rate, the degree of automation are high.
Above-mentioned workpiece to be processed is dynamic iron loudspeaker to be welded, and above-mentioned finished work is the dynamic iron loudspeaker welded.On
State respectively three motor, armature and guide pin components that iron loudspeaker need to be welded.
Aforementioned body stent 100 is used to undertake support and the above-mentioned handling equipment of load, forms the overall frame of above device
Frame.
In one embodiment, aforementioned body stent 100 is equipped with base arrangement.The base arrangement by threaded fastener with
Level ground is fastened and connected, so that above-mentioned automatic loading and unloading device 10 can be fixedly installed on level ground.
Alternatively, above-mentioned threaded fastener can also be the fastener that other can reach fixed effect, as long as can be real
Aforementioned body stent 100 is now fixedly installed on to the technique effect of level ground, and above-mentioned automatic loading and unloading device 10 can be made
It is fixed on ground.
In one embodiment, aforementioned body stent 100 is equipped with the first structure for conveying 200 and the second structure for conveying 300.On
Material mechanism 201 and 202 side-by-side parallel of cutting agency are arranged at above-mentioned first structure for conveying 200, and feed mechanism 201 and blanking machine
Both autonomous workings of structure 202.Above-mentioned second structure for conveying 300 includes material placing area 301, and above-mentioned material placing area 301 is equipped with and puts charging tray
302.Second structure for conveying 300 is used to carry and convey above-mentioned to put charging tray 302.
Further, above-mentioned first structure for conveying, 200 and second structure for conveying 300 connection position sensor and collection control
Unit processed, position sensor are used to detect the position relationship between its two structure for conveying, and acquisition control unit, which is used to collect, to be sensed
Device information is simultaneously controlled above-mentioned two structure for conveying, with the position for adjusting feeding, discharge mechanism 202 and putting charging tray 302, finally reaches
Can work in coordination to above-mentioned two structure for conveying, feeding, discharge mechanism 202 in loading and unloading with put charging tray 302 dock it is more accurate
Technique effect.
In one embodiment, above-mentioned first structure for conveying 200 includes line slideway, and cylinder is equipped with above-mentioned line slideway
And sliding block, it should be noted that at least provided with two sliding blocks, and two sliding blocks are connected with cylinder.Above-mentioned two sliding block is respectively equipped with
Feed mechanism 201 and cutting agency 202.To control above-mentioned 202 movement in the horizontal direction of feed mechanism 201 and cutting agency.
Further, above-mentioned first structure for conveying 200 also matches somebody with somebody the cylinder being arranged with for controlling it to be moved in vertical direction,
And then to control the movement of above-mentioned feed mechanism 201 and cutting agency 202 in vertical direction.
In one embodiment, above-mentioned second structure for conveying 300 includes two parallel line slideways, for putting material
Area 301 and put charging tray 302.Above-mentioned material placing area 301 is directly arranged on the sliding block of above-mentioned second structure for conveying 300, with realize its
The movement of horizontal direction.
Above-mentioned feed mechanism 201 is used for from 3021 feeding of feed zone put in charging tray 302 of above-mentioned material placing area 301, and to
Above-mentioned welding unit provides the workpiece of operation to be welded.The feed mechanism 201 is arranged at the of above-mentioned automatic loading and unloading device 10
On one structure for conveying 200, and its position in the horizontal direction and on vertical direction is directly controlled by the first structure for conveying 200.
In one embodiment, above-mentioned feed mechanism 201 includes the clamping jaw structure for holding action, the above-mentioned feeding of detection
Mechanism 201 is fixed accurately to pick and place the first of workpiece with 2012 structure of detection bar of workpiece height distance and for positioning welding unit
Position 2011 structure of pin.
Further, above-mentioned clamping jaw structure can be clamped and fixed to workpiece to be processed.Above-mentioned 2012 knot of detection bar
Structure includes the body of rod, and the above-mentioned body of rod is a telescopic rod, and above-mentioned telescopic rod is connected with range sensor.Hang down in above-mentioned feed mechanism 201
During straight downlink, range sensor detects the distance of telescopic rod and workpiece to be processed, above-mentioned to stretch after given threshold is reached
Contracting bar uplink and feed mechanism 201 control clamping jaw structure to the workpiece to be processed progress holding action in controlled range, Jin Erpei
Send to welding unit.Above-mentioned first positioning pin, 2011 structure is a trapezoidal latch, and above-mentioned trapezoidal latch is used in feed mechanism 201
With carrying out precise positioning to weld mold during welding unit mating operation.
In one embodiment, above-mentioned weld mold is preset with for coordinating the first positioning pin 2011 and the second positioning pin
The location hole of 2021 positioning.
In a specific embodiment, the first structure for conveying 200 control feed mechanism 201, which adjusts position and is moved to, puts material
The feed zone 3021 of disk 302, vertically downlink, when feed mechanism 201, which goes downwards to telescopic rod, detects workpiece to be processed,
Telescopic rod uplink.Feed mechanism 201 controls clamping jaw to act and grip workpiece, vertically uplink, then the first structure for conveying
200 control feed mechanisms 201 are moved to above welding fixture and start vertically downlink, at this time, to ensure that product is accurate
Errorless is put into welding fixture, and trapezoidal latch is inserted into welding fixture and clamping jaw puts the workpiece in welding while gauge mouth is opened
Gauge.And then manipulator uplink, trapezoidal latch depart from welding fixture, the clamp system that welding fixture is equipped with resets, and fixation is to be added
Work workpiece simultaneously carries out weld job.
In one embodiment, above-mentioned cutting agency 202 includes for the clamping jaw structure of holding action and for positioning
Pick and place 2021 structure of the second positioning pin of workpiece.
Further, above-mentioned clamping jaw structure can be clamped and fixed to finished work.Above-mentioned second positioning pin
2021 structures are a trapezoidal latch, and above-mentioned trapezoidal latch is used in cutting agency 202 and welding unit mating operation to welding
Mould carries out precise positioning.
In a specific embodiment, after the completion of above-mentioned weld job, above-mentioned cutting agency 202 is prompted, and first
Structure for conveying 200 controls the cutting agency 202 to be moved to above welding unit, above-mentioned blanking after reaching above above-mentioned welding unit
202 downlink of mechanism.Above-mentioned second positioning pin 2021 is trapezoidal latch insertion gauge and opens gauge mouth, and cutting agency 202 controls
Clamping jaw structure acts and grips manufactured workpiece.And then above-mentioned cutting agency 202 is moved to material placing area 301, material placing area 301
Equipped with charging tray 302 is put, the discharge zone 3022 put in charging tray 302 adsorbs machined workpiece by default discharging magnetic stripe, completes
Loading and unloading action in a whole set of weld job.
In one embodiment, cunning of the above-mentioned material placing area 301 set by with two line slideways in above-mentioned second structure for conveying 300
Block is fixedly connected, which moves with the movement of above-mentioned sliding block.It should be noted that above-mentioned sliding block and above-mentioned straight line
Set cylinders connect in guide rail.
Further, above-mentioned material placing area 301 is equipped with and puts charging tray 302.Charging tray 302 is put to be used to put workpiece to be processed and add
Work workpiece.
In a specific embodiment, above-mentioned charging tray 302 of putting is equipped with the feed zone 3021 for being used for putting workpiece to be processed, with
And for putting the discharge zone 3022 of finished work.To achieve the purpose that accurate discharge, above-mentioned discharge zone 3022, which posts, to be used for
Adsorb the blanking magnetic stripe of finished work.The discharge zone 3022 is additionally provided with non-defective unit area and defective products area, for distinguishing machined work
The product quality of part.And then production capacity is improved, the time of later stage manual work is saved, is improved work efficiency.
Above-mentioned automatic loading and unloading device 10 is equipped with feed mechanism 201 and cutting agency 202, and feeding, discharge mechanism 202 can be same
When seamless work, improve work efficiency, the degree of automation is high, and above-mentioned feeding, discharge mechanism 202 is additionally provided with the first positioning pin
2011 and second positioning pin 2021, accurately auxiliary positioning is carried out to picking and placeing workpiece in feeding, discharge, so that Product jointing
Uniformity be improved, process capability is stablized.First structure for conveying 200 is coordinated to match somebody with somebody mutually with the second structure for conveying 300
Close so that feeding, discharge mechanism 202 is docked more precisely with putting charging tray 302, the degree of automation higher.Feed mechanism 201, which is equipped with, to be used
In the Telescopic rod structure of detecting distance, the distance of clamping jaw and workpiece to be processed can be accurately measured out, and then is ensured accurate
Lower claw grabbing workpiece in errorless scope, has ensured security and stability of the workpiece in loading and unloading transportational process.
The another object of the application is used to provide a kind of automatic loading and unloading system based on above-mentioned automatic loading and unloading device 10
Hauling operation in dynamic iron loudspeaker welding procedure.
In one embodiment, which includes the automatic loading and unloading device in any of the above-described embodiment
10；Further include the automatic detection device of the welding quality for detecting finished work.
Further, which includes image acquisition mechanism and shift sensing mechanism, is respectively used to determine horse
Reach, lateral position and lengthwise position of three components of armature and guide pin in whole finished work, so that it is determined that above-mentioned need
Assembling position degree of three components of welding in whole workpiece.The automatic detection device is equipped with two independent measurement assemblies, without
The assembling position degree of armature is determined by way of range estimation, has reached raising efficiency, reduces the technical purpose of cost of labor, and
And high certainty of measurement, so that shipment yields is also improved.
In one embodiment, which is additionally provided with acquisition control unit, for detecting the machined work
Blanking control is carried out to above-mentioned automatic loading and unloading device 10 after the welding quality of part.
In a specific embodiment, above-mentioned automatic detection device and the cutting agency 202 in above-mentioned handling equipment are logical
The connection of acquisition control unit electric signal is crossed, each element welded in the automatic detection device detection finished work is whole
Position degree in workpiece, judges to be detected whether workpiece is non-defective unit or defective products by position degree data message, and under above-mentioned
Expect that mechanism 202 transmits signal.Above-mentioned cutting agency 202 receives the product information of workpiece, then controls this by the first structure for conveying 200
Cutting agency 202 is moved to above welding unit, above-mentioned 202 downlink of cutting agency after reaching above above-mentioned welding unit.It is above-mentioned
Second positioning pin 2021 is trapezoidal latch insertion gauge and opens gauge mouth, and cutting agency 202 controls clamping jaw structure to act and press from both sides
Take manufactured workpiece.Subsequent above-mentioned cutting agency 202 is moved to the discharge zone 3022 for putting charging tray 302, passes through above-mentioned reception
Product information judge and position the non-defective unit area of discharge zone 3022 or defective products area, default magnetic stripe absorption in discharge zone 3022
Machined workpiece, completes the loading and unloading action in a whole set of weld job.
Above-mentioned automatic loading and unloading system includes automatic loading and unloading device 10 and automatic detection device, completes welding in auxiliary and makees
While industry, human cost is saved, improves production efficiency and yields, workpiece is fallen caused by avoiding manual work error
Fall etc. unexpected, eliminate great hidden danger of quality.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Cannot therefore it be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. automatic loading and unloading device, for moving the hauling operation in iron loudspeaker welding procedure, it is characterised in that including：Main body rack；Arranged on the first structure for conveying of main body rack, for carrying and conveying feed mechanism and cutting agency；Feed mechanism, provides workpiece to be processed, the feed mechanism is equipped with the first positioning pin for feeding and to welding unit；Cutting agency, for discharge operation, the cutting agency is equipped with the second positioning pin；Material placing area, and the charging tray of putting of material placing area is positioned over, the charging tray of putting is used to place workpiece to be processed and finished work.
- 2. automatic loading and unloading device according to claim 1, it is characterised in that the main body rack is further included for carrying And the second structure for conveying of charging tray is put described in conveying.
- 3. automatic loading and unloading device according to claim 1, it is characterised in that the feed mechanism includes treating for clamping The clamping jaw structure of workpieces processing, the detection bar for detection and workpiece distance.
- 4. automatic loading and unloading device according to claim 3, it is characterised in that the detection bar includes the body of rod, the bar Body is telescopic rod, and the telescopic rod is provided with range sensor.
- 5. automatic loading and unloading device according to claim 1, it is characterised in that the feed mechanism and the cutting agency It is arranged in parallel.
- 6. automatic loading and unloading device according to claim 1, it is characterised in that the cutting agency includes being used to clamp The clamping jaw structure of workpieces processing.
- 7. automatic loading and unloading device according to claim 1, it is characterised in that the charging tray of putting includes feed zone and discharging Area, for adsorbing the magnetic stripe of finished work when the discharge zone is equipped with rewinding.
- 8. automatic loading and unloading device according to claim 7, it is characterised in that the discharge zone further comprises non-defective unit area And defective products area.
- A kind of 9. automatic loading and unloading system, for moving the hauling operation in iron loudspeaker welding procedure, it is characterised in that including：Any automatic loading and unloading devices of claim 1-8；Automatic detection device, for detecting the welding quality of the finished work；The automatic detection device includes image acquisition mechanism and shift sensing mechanism.
- 10. automatic loading and unloading system according to claim 9, it is characterised in that the automatic detection device, which is additionally provided with, to be adopted Collect control unit, blanking control is carried out to the automatic loading and unloading device after the welding quality for detecting the finished work System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711421693.1A CN107931909A (en) | 2017-12-25 | 2017-12-25 | Automatic loading and unloading device and its system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711421693.1A CN107931909A (en) | 2017-12-25 | 2017-12-25 | Automatic loading and unloading device and its system |
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| CN107931909A true CN107931909A (en) | 2018-04-20 |
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| CN201711421693.1A Pending CN107931909A (en) | 2017-12-25 | 2017-12-25 | Automatic loading and unloading device and its system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108480787A (en) * | 2018-04-27 | 2018-09-04 | 广东省智能制造研究所 | The valve port system of processing and its processing method of gas pressure-reducing valve |
| CN112390012A (en) * | 2020-11-05 | 2021-02-23 | 大族激光科技产业集团股份有限公司 | Equipment feeding and discharging method and equipment |
| CN112792530A (en) * | 2021-01-12 | 2021-05-14 | 库卡机器人(广东)有限公司 | Feeding tool |
| CN113714676A (en) * | 2021-08-12 | 2021-11-30 | 惠州丰采贵金属制造有限公司 | Method for testing welding quality of product |
| CN115383241A (en) * | 2022-08-22 | 2022-11-25 | 苏州鼎纳自动化技术有限公司 | Collect welding and detect semi-automatic welding equipment as an organic whole |
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