CN109470724B - Conduit weld joint detection system - Google Patents
Conduit weld joint detection system Download PDFInfo
- Publication number
- CN109470724B CN109470724B CN201811422487.7A CN201811422487A CN109470724B CN 109470724 B CN109470724 B CN 109470724B CN 201811422487 A CN201811422487 A CN 201811422487A CN 109470724 B CN109470724 B CN 109470724B
- Authority
- CN
- China
- Prior art keywords
- axis
- platform
- detection
- servo motor
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention provides an intelligent detection system for realizing large-batch three-dimensional space conduit welding seams, wherein space conduits are fixed on a rotating platform in batches through a flexible clamping assembly and a magnetic rod; the numerical control system controls a servo motor and a rotary platform of the four-degree-of-freedom mobile platform to realize intelligent detection on the catheter; the monitoring system is controlled, and the radiation-proof gate is closed during detection; controlling a camera to be switched on and off to monitor the detection process; controlling X, Z shafts in the four-shaft servo motor to move to adjust the relative positions of the movable ray machine, the imaging plate and the guide pipe, and controlling Y1 and Y2 shafts in the four-shaft private clothes motor to adjust the imaging distance; controlling the rotary motion of the rotary platform to realize the detection of a plurality of catheters; the C-axis rotation on the four-axis motion platform is controlled, and the +/-45-degree detection of the spatial conduit is realized. The invention realizes the intelligent X-ray detection of the welding seams at different positions of the large-batch and three-dimensional space catheters, and has the advantages of high test efficiency, convenient operation, low labor cost and the like.
Description
Technical Field
The invention relates to an intelligent detection system for realizing large-batch three-dimensional space conduit welding seams.
Background
At present, the welding line detection of the guide pipe is still manually completed on the carrying model, the detection process is complicated, the labor intensity is high, and the detection period is difficult to meet the requirement of the production progress.
Disclosure of Invention
The invention aims to provide an intelligent detection system for realizing large-batch three-dimensional space conduit welding seams.
In order to solve the above problems, the present invention provides an intelligent detection system for realizing large-batch three-dimensional space conduit weld seams, comprising: four degree of freedom moving platform, rotary platform, video monitoring and numerical control system, wherein:
the four-degree-of-freedom mobile platform comprises: the servo motors are five, wherein the four servo motors of the X axis, the Z axis, the C axis, the Y1 axis, the Y2 axis and the Y2 axis are connected with the ball screw through a coupler; the servo motor of the C shaft is directly connected with the numerical control dividing disc to complete the rotation motion of the C shaft; the limit switches are respectively connected with the servo motors of the X axis, the Z axis, the C axis, the Y1 axis and the Y2 axis, and the limit switches control the safety of movement and the return of rotation to zero and positive and negative rotation;
the rotary platform includes: the device comprises a rotary table, an installation platform, a magnetic fixing device, a flexible clamping assembly and a servo motor I, wherein the servo motor I is connected with a worm shaft of the rotary table through a coupler, the installation platform is installed on the rotary table, and the magnetic fixing device and the flexible clamping assembly are installed on the installation platform;
the video monitoring comprises: the control system is respectively connected with the camera and the radiation-proof door;
and the numerical control system is respectively connected with the servo motors of the servo motor I, the X axis, the Z axis, the C axis, the Y1 axis and the Y2 axis and video monitoring.
Further, in the above system, the system further comprises a ray machine and an imaging plate, wherein the ray machine is mounted on the Y2 axis; the imaging plate is vertically arranged on Y1, and the distance between the imaging plate and the ray machine and the position of the imaging plate relative to the detected space guide pipe are adjusted by controlling the four-freedom-degree moving platform.
Further, in the system, the flexible clamping assembly is used for fixing a large number of space catheters with different specifications and lengths, and the space catheters exceeding the preset length are fixed in an auxiliary manner through the magnetic fixing device.
Further, in the above system, the flexible clamping assembly comprises: the device comprises a rapid clamp, a screw, an installation block and a screw rod, wherein the rapid clamp is connected to the installation block through threads, the installation block is fixed to the screw rod through screw clamping, a space conduit is fixed through the rapid clamp, and detection of different welding seam positions of different conduits is achieved by adjusting the position of the installation block.
Further, in the above system, the magnetic fixing device includes a magnetic rod and a threaded rod, wherein the magnetic rod is mounted on the threaded rod, and the threaded rod is fixed on the mounting platform by magnetism.
The numerical control system disclosed by the invention realizes unmanned intelligent detection, and the video monitoring system realizes the controllability of the test process through real-time imaging. The invention can be used in the field of X-ray detection of the weld joint of the three-dimensional space conduit of the carrying type, and has high intelligent degree and high detection precision. The system can complete the detection of a large batch of three-dimensional catheters in different batches at one time through a rotating platform. Compared with the prior art, the invention has the following beneficial effects:
the X-ray detection device can be used for X-ray detection of three-dimensional space catheters with different models and shapes, meets the requirement of aerospace part weld joint detection, realizes intelligent detection, effectively reduces the labor intensity of operators, is simple to operate, saves time and labor, and greatly improves the production efficiency. The invention can detect the tubular shapes with different lengths and shapes, and has wide application range. Therefore, compared with the prior art, the invention has the advantages of high intelligent degree, convenient operation, high detection efficiency, reduced labor intensity and wide application range.
In one embodiment of the system for detecting a weld of a conduit, the system further comprises a ray machine and an imaging plate, wherein the ray machine is arranged on a Y2 axis; the imaging plate is vertically arranged on Y1, and the distance between the imaging plate and the ray machine and the position of the imaging plate relative to the detected space guide pipe are adjusted by controlling the four-freedom-degree moving platform.
Drawings
FIG. 1 is a schematic diagram of a conduit weld inspection system according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a flexible clamping assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a flexible clamping assembly according to an embodiment of the invention.
In the figure: the numerical control X-ray machine comprises a servo motor 1, an X shaft 2, a numerical control index plate 3, a guide rail 4, a ball screw 5, a Z shaft 6, a Y1 shaft 7, a Y2 shaft 8, an imaging plate 9, an ray machine 10, a limit switch 11, a flexible clamping assembly 12, a rotary table 13, a servo motor I14, a magnetic fixing device 15, an installation platform 16, a camera 17, a monitoring system 18, a numerical control system 19, a radiation-proof door 20, a quick clamp 21, a V-shaped block 22, an installation block 23, a screw 24 and a screw 25.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
FIG. 1 is a schematic diagram of a conduit weld inspection system according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a flexible clamping assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a flexible clamping assembly according to an embodiment of the invention.
In the figure: the numerical control X-ray machine comprises a servo motor 1, an X shaft 2, a numerical control index plate 3, a guide rail 4, a ball screw 5, a Z shaft 6, a Y1 shaft 7, a Y2 shaft 8, an imaging plate 9, an ray machine 10, a limit switch 11, a flexible clamping assembly 12, a rotary table 13, a servo motor I14, a magnetic fixing device 15, an installation platform 16, a camera 17, a monitoring system 18, a numerical control system 19, a radiation-proof door 20, a quick clamp 21, a V-shaped block 22, an installation block 23, a screw 24 and a screw 25.
As shown in fig. 1 to 3, the present invention provides an intelligent detection system for realizing large-batch three-dimensional space conduit weld joints, comprising: four degree of freedom moving platform, rotary platform, video monitoring and numerical control system, wherein:
the four-degree-of-freedom mobile platform comprises: the servo motors are five, wherein the four servo motors of the X axis, the Z axis, the C axis, the Y1 axis, the Y2 axis and the Y2 axis are connected with the ball screw through a coupler; the servo motor of the C shaft is directly connected with the numerical control dividing disc to complete the rotation motion of the C shaft; the limit switches are respectively connected with the servo motors of the X axis, the Z axis, the C axis, the Y1 axis and the Y2 axis, and the limit switches control the safety of movement and the return of rotation to zero and positive and negative rotation;
the rotary platform includes: the device comprises a rotary table, an installation platform, a magnetic fixing device, a flexible clamping assembly and a servo motor I, wherein the servo motor I is connected with a worm shaft of the rotary table through a coupler, the installation platform is installed on the rotary table, and the magnetic fixing device and the flexible clamping assembly are installed on the installation platform;
the video monitoring comprises: the control system is respectively connected with the camera and the radiation-proof door;
and the numerical control system is respectively connected with the servo motors of the servo motor I, the X axis, the Z axis, the C axis, the Y1 axis and the Y2 axis and video monitoring.
The numerical control system realizes unmanned intelligent detection, and the video monitoring system realizes the controllability of the test process through real-time imaging. The X-ray detector is suitable for X-ray detection of parts with complex shapes. The invention can be used in the field of X-ray detection of the weld joint of the three-dimensional space conduit of the carrying type, and has high intelligent degree and high detection precision. The system can complete the detection of a large batch of three-dimensional catheters in different batches at one time through a rotating platform. Compared with the prior art, the invention has the following beneficial effects:
the X-ray detection device can be used for detecting X-rays of three-dimensional space catheters with different models and shapes, meets the requirement of aerospace part weld joint detection, realizes intelligent detection, effectively reduces the labor intensity of operators, is simple to operate, saves time and labor, greatly improves the production efficiency, and effectively reduces the labor intensity of the operators while improving the detection efficiency. The invention can detect the tubular shapes with different lengths and shapes, and has wide application range. Therefore, compared with the prior art, the invention has the advantages of high intelligent degree, convenient operation, high detection efficiency, reduced labor intensity and wide application range.
In one embodiment of the system for detecting a weld of a conduit, the system further comprises a ray machine and an imaging plate, wherein the ray machine is arranged on a Y2 axis; the imaging plate is vertically arranged on Y1, and the distance between the imaging plate and the ray machine and the position of the imaging plate relative to the detected space guide pipe are adjusted by controlling the four-freedom-degree moving platform.
In an embodiment of the conduit weld joint detection system, the flexible clamping assembly is used for fixing a large number of spatial conduits with different specifications and lengths, the spatial conduits exceeding a preset length are fixed by the magnetic fixing device in an auxiliary manner, so that interference among the conduits is avoided, and the magnetic base can be fixed by randomly moving the position of the magnetic base for the conduits with different shapes.
In an embodiment of the pipe weld inspection system of the present invention, the flexible clamping assembly includes: the device comprises a rapid clamp, a screw, an installation block, a V-shaped block and a screw rod, wherein the rapid clamp is connected to the installation block through threads, the installation block is fixed to the screw rod through the screw in a clamping mode, the space guide pipe is fixed through the rapid clamp, and detection of different welding seam positions of different guide pipes is achieved by adjusting the position of the installation block.
In an embodiment of the conduit weld detection system, the magnetic fixing device comprises a magnetic rod and a threaded rod, wherein the magnetic rod is installed on the threaded rod, the threaded rod is fixed on the installation platform through magnetism, and the fixed position is moved through adjustment of magnetic force.
The working principle of the invention is as follows:
when the device works, under the condition that a ray source is closed, a large quantity of three-dimensional space catheters are installed on a rotating platform through a flexible clamping assembly, and the catheters which are long and have different shapes are fixed by the aid of a magnetic fixing device. The ray machine and the imaging plate are adjusted relative to the position of the space guide pipe by controlling the four-freedom-degree mobile platform, after the ray machine and the imaging plate are completely adjusted, personnel withdraw, the radiation-proof gate is closed, the ray source is opened, the rotary platform is rotated to complete detection of one direction of a plurality of guide pipes in a circle, and the C axis of the four-freedom-degree mobile platform is rotated to complete detection of the other direction of the space guide pipe.
Specifically, the space conduit is fixed on the rotary platform in batches through the flexible clamping assembly and the magnetic rods; the numerical control system controls a servo motor and a rotary platform of the four-degree-of-freedom mobile platform to realize intelligent detection on the catheter; the monitoring system is controlled, and the radiation-proof gate is closed during detection; controlling a camera to be switched on and off to monitor the detection process; controlling X, Z shafts in the four-shaft servo motor to move to adjust the relative positions of the movable ray machine, the imaging plate and the guide pipe, and controlling Y1 and Y2 shafts in the four-shaft private clothes motor to adjust the imaging distance; controlling the rotary motion of the rotary platform to realize the detection of a plurality of catheters; the C-axis rotation on the four-axis motion platform is controlled, and the +/-45-degree detection of the spatial conduit is realized. The invention realizes the intelligent X-ray detection of the welding seams at different positions of the large-batch and three-dimensional space catheters, and has the advantages of high test efficiency, convenient operation, low labor cost and the like.
In conclusion, the X-ray detection device is used for the field of X-ray detection of the welding seam of the three-dimensional space conduit of the carrying type, and is high in intelligent degree and high in detection precision. The system can complete the detection of a large batch of three-dimensional catheters in different batches at one time through a rotating platform. Compared with the prior art, the invention has the following beneficial effects:
the X-ray detection device can be used for X-ray detection of three-dimensional space catheters with different models and shapes, meets the requirement of aerospace part weld joint detection, realizes intelligent detection, effectively reduces the labor intensity of operators, is simple to operate, saves time and labor, and greatly improves the production efficiency. The invention can detect the tubular shapes with different lengths and shapes, and has wide application range. Therefore, compared with the prior art, the invention has the advantages of high intelligent degree, convenient operation, high detection efficiency, reduced labor intensity and wide application range.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (1)
1. The utility model provides a realize big three-dimensional space pipe welding seam intellectual detection system in batches which characterized in that includes: four degree of freedom moving platform, rotary platform, video monitoring and numerical control system, wherein:
the four-degree-of-freedom mobile platform comprises: the servo motors are five, wherein the four servo motors of the X axis, the Z axis, the C axis, the Y1 axis, the Y2 axis and the Y2 axis are connected with the ball screw through a coupler; the servo motor of the C shaft is directly connected with the numerical control dividing disc to complete the rotation motion of the C shaft; the limit switches are respectively connected with the servo motors of the X axis, the Z axis, the C axis, the Y1 axis and the Y2 axis, and the limit switches control the safety of movement and the return of rotation to zero and positive and negative rotation;
the rotary platform includes: the device comprises a rotary table, an installation platform, a magnetic fixing device, a flexible clamping assembly and a servo motor I, wherein the servo motor I is connected with a worm shaft of the rotary table through a coupler, the installation platform is installed on the rotary table, and the magnetic fixing device and the flexible clamping assembly are installed on the installation platform;
the video monitoring comprises: the control system is respectively connected with the camera and the radiation-proof door;
the numerical control system is respectively connected with the servo motors of the servo motor I, the X axis, the Z axis, the C axis, the Y1 axis and the Y2 axis and video monitoring;
the system further comprises a ray machine and an imaging plate, wherein the ray machine is mounted on the Y2 axis; the imaging plate is vertically arranged on Y1, and the distance between the imaging plate and the ray machine and the position of the imaging plate relative to the detected space guide pipe are adjusted by controlling the four-degree-of-freedom mobile platform;
the flexible clamping assembly is used for fixing a large quantity of space catheters with different specifications and lengths, and the space catheters exceeding the preset length are fixed in an auxiliary manner through the magnetic fixing device;
the flexible clamping assembly comprises: the device comprises a quick clamp, a screw, an installation block and a screw rod, wherein the quick clamp is connected to the installation block through threads, the installation block is fixed on the screw rod through the screw in a clamping manner, a space guide pipe is fixed through the quick clamp, and the detection of different welding seam positions of different guide pipes is realized by adjusting the position of the installation block;
the magnetic fixing device comprises a magnetic rod and a threaded rod, wherein the magnetic rod is installed on the threaded rod, and the threaded rod is fixed on the installation platform through magnetism;
and rotating the rotating platform to complete the detection of one direction of a plurality of guide pipes in one circle, and rotating the C shaft of the four-freedom-degree moving platform to complete the detection of the other direction of the guide pipes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811422487.7A CN109470724B (en) | 2018-11-27 | 2018-11-27 | Conduit weld joint detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811422487.7A CN109470724B (en) | 2018-11-27 | 2018-11-27 | Conduit weld joint detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109470724A CN109470724A (en) | 2019-03-15 |
| CN109470724B true CN109470724B (en) | 2021-06-15 |
Family
ID=65674005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811422487.7A Active CN109470724B (en) | 2018-11-27 | 2018-11-27 | Conduit weld joint detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109470724B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113588691B (en) * | 2021-07-30 | 2024-07-12 | 江苏迪业检测科技有限公司 | Pipe welding line detection system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101482524A (en) * | 2009-02-05 | 2009-07-15 | 上海交通大学 | Multi-test sample CT scanning method |
| CN102507617A (en) * | 2011-11-23 | 2012-06-20 | 兰州瑞奇戈德测控技术有限公司 | X-ray digital imaging detection device for detecting welding seam of tube row |
| CN102778506A (en) * | 2012-08-02 | 2012-11-14 | 国核电站运行服务技术有限公司 | Automatic sweeping system for detecting tubing and panel workpiece with different diameters |
| CN104907844A (en) * | 2015-06-17 | 2015-09-16 | 杭州电子科技大学 | Fast fixture for two-sided flat shaft |
| CN204679433U (en) * | 2015-06-03 | 2015-09-30 | 深圳市艾兰特科技有限公司 | A kind of X-ray Non-Destructive Testing scenograph |
| CN107152915A (en) * | 2017-05-08 | 2017-09-12 | 北京理工大学 | It is intended for the grand micro- combination integrated detecting device of multiple degrees of freedom of various structures feature |
| CN108020567A (en) * | 2017-11-20 | 2018-05-11 | 首都航天机械公司 | A kind of tank circumferential weld X-ray automated detection system |
-
2018
- 2018-11-27 CN CN201811422487.7A patent/CN109470724B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101482524A (en) * | 2009-02-05 | 2009-07-15 | 上海交通大学 | Multi-test sample CT scanning method |
| CN102507617A (en) * | 2011-11-23 | 2012-06-20 | 兰州瑞奇戈德测控技术有限公司 | X-ray digital imaging detection device for detecting welding seam of tube row |
| CN102778506A (en) * | 2012-08-02 | 2012-11-14 | 国核电站运行服务技术有限公司 | Automatic sweeping system for detecting tubing and panel workpiece with different diameters |
| CN204679433U (en) * | 2015-06-03 | 2015-09-30 | 深圳市艾兰特科技有限公司 | A kind of X-ray Non-Destructive Testing scenograph |
| CN104907844A (en) * | 2015-06-17 | 2015-09-16 | 杭州电子科技大学 | Fast fixture for two-sided flat shaft |
| CN107152915A (en) * | 2017-05-08 | 2017-09-12 | 北京理工大学 | It is intended for the grand micro- combination integrated detecting device of multiple degrees of freedom of various structures feature |
| CN108020567A (en) * | 2017-11-20 | 2018-05-11 | 首都航天机械公司 | A kind of tank circumferential weld X-ray automated detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109470724A (en) | 2019-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102049638B (en) | Circular seam welding robot device | |
| CN111331367A (en) | Intelligent assembly control system | |
| CN111805273A (en) | Flexible tool for multi-point multi-degree-of-freedom adsorption position | |
| CN110293277B (en) | Non-rotary shaft circumferential seam welding equipment and welding method | |
| CN102778506B (en) | Automatic sweeping system for detecting tubing and panel workpiece with different diameters | |
| CN202471622U (en) | X-ray digital panel imaging intelligent detection system device | |
| CN114161075B (en) | Tubular workpiece synchronous rotation clamping mechanism and welding system based on visual detection | |
| CN109470724B (en) | Conduit weld joint detection system | |
| CN102590244B (en) | Multi-shaft movement mechanical arm of X-ray digital flat imaging detection system | |
| CN102039509B (en) | Curve welding gap magnetic catch type device with follow moving and position and orientation adjusting of welding gun | |
| CN204330631U (en) | Online CT the cannot-harm-detection device | |
| CN207742307U (en) | A kind of full-automatic D.C. contactor detection device | |
| CN113984801B (en) | Automatic digital ray detector | |
| WO2010078851A1 (en) | Digital-control combination-welding device for steel tube | |
| CN112917491B (en) | System and method for automatically transferring switch cabinet to detection center | |
| CN220548250U (en) | Displacement machine and multifunctional clamp | |
| CN114406467B (en) | Positioning and fixing mechanism for welding pipe end and welding device | |
| JPH10230393A (en) | Jig for flanged short pipe | |
| CN111992880B (en) | Flexible device for laser welding of curved track | |
| CN219767239U (en) | Flexible assembly platform for catheter | |
| CN219094912U (en) | Clamping and rotating mechanism | |
| CN110640366A (en) | Automatic change welding equipment | |
| CN208825874U (en) | Substation grounding band steel welding controller | |
| CN219542144U (en) | Magnetic suction type welding positioner | |
| CN217332244U (en) | Novel industry CT equipment and control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |