CN111745981A - Double-robot auxiliary resistance welding equipment for thermoplastic composite material - Google Patents
Double-robot auxiliary resistance welding equipment for thermoplastic composite material Download PDFInfo
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- CN111745981A CN111745981A CN202010705617.9A CN202010705617A CN111745981A CN 111745981 A CN111745981 A CN 111745981A CN 202010705617 A CN202010705617 A CN 202010705617A CN 111745981 A CN111745981 A CN 111745981A
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- 238000003466 welding Methods 0.000 title claims abstract description 117
- 239000002131 composite material Substances 0.000 title claims abstract description 23
- 229920001169 thermoplastic Polymers 0.000 title claims abstract description 22
- 239000004416 thermosoftening plastic Substances 0.000 title claims abstract description 22
- 230000002146 bilateral effect Effects 0.000 claims abstract description 3
- 238000003825 pressing Methods 0.000 claims description 24
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 13
- 229910052802 copper Inorganic materials 0.000 claims description 13
- 239000010949 copper Substances 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 12
- 238000010438 heat treatment Methods 0.000 claims description 7
- 239000000919 ceramic Substances 0.000 claims description 5
- 230000017525 heat dissipation Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 10
- 230000004927 fusion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005304 joining Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003733 fiber-reinforced composite Substances 0.000 description 1
- 229920006258 high performance thermoplastic Polymers 0.000 description 1
- 238000005470 impregnation Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229920005992 thermoplastic resin Polymers 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
- B29C65/34—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using heated elements which remain in the joint, e.g. "verlorenes Schweisselement"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/80—General aspects of machine operations or constructions and parts thereof
- B29C66/83—General aspects of machine operations or constructions and parts thereof characterised by the movement of the joining or pressing tools
- B29C66/834—General aspects of machine operations or constructions and parts thereof characterised by the movement of the joining or pressing tools moving with the parts to be joined
- B29C66/8341—Roller, cylinder or drum types; Band or belt types; Ball types
- B29C66/83411—Roller, cylinder or drum types
- B29C66/83413—Roller, cylinder or drum types cooperating rollers, cylinders or drums
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
The invention discloses a double-robot auxiliary resistance welding device for thermoplastic composite materials, which comprises two groups of control modules and two welding modules which are in bilateral symmetry and operate in a coordinated manner. The control module adopts a mechanical arm to provide a motion path for the welding module, and the welding module comprises a welding head and input and output electrodes which are arranged intermittently along a welding seam path. The double-robot auxiliary resistance welding equipment can realize the welding of large thermoplastic composite plates, including but not limited to single lap joint, double lap joint, single sunken joint, double sunken joint and the like of the plates, has the characteristics of adjustable and controllable welding parameters, high welding efficiency, good welding quality and the like, and solves the problems of the hole opening defect caused by mechanical riveting in the traditional connection of the thermoplastic composite plates, and the defects of long period, poor universality and the like caused by the adoption of glue joint.
Description
Technical Field
The invention belongs to the technical field of composite material manufacturing, and particularly relates to double-robot auxiliary resistance welding equipment for thermoplastic composite materials.
Background
At present, the advanced thermoplastic composite material has the outstanding advantages of good toughness, damage tolerance, temperature resistance, weather resistance, short process beat, low processing cost, repairability, recyclability and the like, and is widely applied to the fields of aerospace, national defense and military, automobile industry and the like. However, the high-performance thermoplastic resin matrix has the problems of high melting temperature, high melt viscosity, relatively difficult flow impregnation and the like, so that the complexity of the forming and processing process of a large-scale structure with the structural complexity is high, and the bottleneck for restricting the wide application of the advanced thermoplastic composite material is formed. In order to reduce the manufacturing difficulty, when manufacturing a more complicated thermoplastic composite material part, a method of breaking up the whole into parts is generally adopted, i.e. a plurality of parts with simple structures are formed firstly, and then are assembled into an integral component through connecting methods such as adhesive bonding, mechanical riveting, fusion connection and the like. However, mechanical riveting needs to open holes in the composite material to reduce the material performance, and the adhesive connection mode has the disadvantages of long process cycle, poor universality, low comprehensive performance and the like. Fusion joining techniques, represented by resistance welding, have significant advantages over conventional joining techniques. Firstly, no adhesive material is introduced in a large amount, the mechanical and functional compatibility of a connecting interface and a body material is good, and the connecting strength is high. Secondly, compared with mechanical riveting, the fusion connection technology does not need to open holes and break the continuity of fibers, does not generate stress concentration, and better realizes the light weight of the structure. In addition, the fusion welding process has short time (tens of seconds to several minutes), is convenient for automation control, and thus becomes the most potential thermoplastic resin material connection technology at present.
However, the resistance welding technology is not applied to the production and assembly of thermoplastic composite material members on a large scale at present, and the main reason is that the traditional resistance welding equipment for thermoplastic composite materials only stays in a test piece layer and is difficult to be applied to industrial production, and the fundamental reason is that after a welding area is enlarged, the traditional resistance welding has the problems of uneven welding temperature, overhigh applied pressure, uneven welding pressure, overlarge required power and the like.
Disclosure of Invention
In order to solve the technical problem, the invention provides a double-robot auxiliary resistance welding device for thermoplastic composite materials. Welding between large thermoplastic composite plates can be achieved by two symmetrically arranged mechanical arms, including but not limited to single lap joint, double lap joint, single sunken joint, double sunken joint and the like of the plates, each mechanical arm being provided with a welding head of a compression roller-sliding contact electrode.
A double-robot auxiliary resistance welding device for thermoplastic composite materials comprises two groups of control modules 1 and two groups of welding modules 2, wherein the control modules and the welding modules are in bilateral symmetry and cooperate operation;
the control modules 1 comprise mechanical arm supports 3, mechanical arms 4, welding operation platforms 5 and industrial control cabinets 6, and the two groups of control modules 1 share one set of welding operation platform 5 and industrial control cabinet 6; the mechanical arm 4 is arranged on the mechanical arm support 3, the industrial control cabinet 6 is connected with the mechanical arm 4, the movement path and the movement speed of the mechanical arm 4 are controlled to be planned, welding parameters are set according to plates to be welded, and welding work is carried out on the welding operation platform 5;
the welding module 2 is arranged at the front end of the control module 1 and comprises a welding head and an electrode;
the welding head comprises a pressure sensor 7, a hydraulic cylinder 8, a pressing roller supporting column 9, a pneumatic cylinder 10, a damper fixing block 11, a damper 12, a rolling copper sheet terminal 13, a pressing roller 19 and a pressing roller connecting shaft 20; the pressure sensor 7 is fixed on the mechanical arm 4, the hydraulic cylinder 8 is fixed on the pressure sensor 7, the hydraulic cylinder 8 is connected with the pressure roller supporting column 9, the left side and the right side of the pressure roller 19 are installed on the pressure roller supporting column 9 through pressure roller connecting shafts 20, the pressure roller 19 is rotatably connected with the pressure roller connecting shafts 20 through bearings, and the hydraulic cylinder 8 applies welding pressure to the pressure roller 19; the pressure roller 19 applies pressure to the plate to be welded, and the end part of the pressure roller 19 is provided with the insulating ceramic sheet 15, so that electric leakage is prevented, and heat dissipation of a welding area is reduced; the pneumatic cylinder 10 is fixed on the pressing roller supporting column 9, and the damper 12 is connected with the pneumatic cylinder 10 through a damper fixing block 11; the rolling copper sheet terminal 13 is arranged on the damper 12 and is in rotary connection with the damper 12.
The electrodes comprise an input electrode 14 and an output electrode 1401 which are respectively positioned in the two welding modules 2, the input electrode 14 and the output electrode 1401 are respectively pasted on the surfaces of two plates to be welded, pressure is applied through the pneumatic cylinder 10 to enable the rolling copper sheet terminals 13 in the two welding modules 2 to be respectively contacted with the input electrode 14 or the output electrode 1401, contact pressure is applied to the electrodes to enable a circuit to be connected, and therefore the heating material 17 between the plates to be welded is heated up and heated, the welding area of the two plates to be welded is melted, and welding is achieved.
The input electrode 14 and the output electrode 1401 are arranged intermittently along the weld path.
The technical problems to be solved by the invention are as follows:
when carrying out overlap joint resistance welding between thermoplastic composite plate, have the welding area big, long characteristics of welding distance, traditional resistance welding frock clamp is complicated and not general, and required power is too big and be difficult to apply welding pressure. The welding line needs to be discretized for sectional welding, and meanwhile, parameters such as welding temperature, welding pressure, welding input power and the like also need to be monitored in situ and controlled and adjusted in an automatic coupling mode, so that the welding quality and efficiency are improved.
The invention has the beneficial effects that:
the double-robot auxiliary resistance welding equipment for the thermoplastic composite material can realize welding of large thermoplastic composite material plates, and has the advantages of real-time monitoring of welding parameters, automatic control, high welding efficiency, good welding quality and the like; compared with the existing common mechanical riveting, the mechanical riveting has high connection strength, light connection weight, more reliable and stable connection quality compared with the gluing connection and shorter process period.
Drawings
Fig. 1 is a schematic structural diagram of a two-robot-assisted resistance welding apparatus for thermoplastic composite materials according to the present invention.
Fig. 2 is a schematic structural diagram of a welding module according to the present invention.
In the figure: the welding machine comprises a control module 1, a welding module 2, a mechanical arm support 3, a mechanical arm 4, a welding operation platform 5, a control cabinet 6, a pressure sensor 7, a hydraulic cylinder 8, a pressing roller supporting column 9, a pneumatic cylinder 10, a damper fixing block 11, a damper 12, a rolling copper sheet terminal 13, an input electrode 14, an output electrode 1401, an insulating heat-preservation ceramic sheet 15, a sheet 16, a heating material 17, a sheet 18 and a sheet 18, a pressing roller 19 and a pressing roller connecting shaft 20.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 1 and 2, the two-robot-assisted resistance welding apparatus for thermoplastic composite material of the present invention includes two control modules 1 and two welding modules 2.
Two control module 1 symmetrical arrangement, control module 1 include arm support 3, arm 4, welding operation platform 5 and industrial control cabinet 6, and two control module 1's arm 4 collaborative work is controlled by an industrial control cabinet 6 jointly, carries out weldment work on welding operation platform 5, and welding operation platform 5 is as whole weldment work's work platform. The mechanical arm 4 is arranged on the mechanical arm support 3; the industrial control cabinet 6 plans a welding path, plans the movement paths and the movement speeds of the two mechanical arms 4, and sets parameters such as input power, movement speed and welding pressure according to the materials of the two thermoplastic fiber reinforced composite plates (the first plate 16 and the second plate 18) to be welded.
The welding module 2 is connected with a mechanical arm 4, and the mechanical arm 4 provides a motion path for the welding module 2.
The welding modules 2 comprise welding heads and electrodes, and the welding heads of the two welding modules 2 simultaneously apply welding pressure to the first plate 16 and the second plate 18 respectively. Each bonding head includes a pressure sensor 7, a hydraulic cylinder 8, a pressing roller supporting column 9, a pneumatic cylinder 10, a damper fixing block 11, a damper 12, a rolled copper sheet terminal 13, a pressing roller 19, and a pressing roller connecting shaft 20. The electrodes comprise an input electrode 14 and an output electrode 1401, respectively located in the two welding modules 2; the input electrode 14 and the output electrode 1401 are arranged intermittently along the weld path to provide current input and output to the heating material 17.
The pressure sensor 7 is fixed on the mechanical arm 4, feeds back welding pressure, and realizes closed-loop control of the welding pressure. Hydraulic cylinder 8 is fixed on pressure sensor 7, impression roller support post 9 is connected with hydraulic cylinder 8, impression roller 19 is installed on impression roller support post 9 through impression roller connecting axle 20, welding pressure is applyed to impression roller 19 to hydraulic cylinder 8, welding pressure passes through impression roller support post 9 and transmits to impression roller connecting axle 20 on, impression roller 19 and impression roller connecting axle 20 adopt the bearing to rotate and connect, finally provide welding pressure and transmit welding pressure to a sheet 16 and No. two sheet 18 through hydraulic cylinder 8 and impression roller 19. The end part of the pressing roller 19 is provided with the insulating ceramic sheet 15, so that the insulating ceramic sheet 15 is positioned between the pressing roller 19 and the first plate 16 or the second plate 18, the heat dissipation of a welding area is reduced while the electric leakage is prevented, and the heat preservation effect is achieved. The pneumatic cylinder 10 is fixed on the pressing roller supporting column 9, the damper 12 is connected with the pneumatic cylinder 10 through the damper fixing block 11, and the rolling copper sheet terminal 13 is rotatably connected with the damper 12; the damper 12 provides a certain rotation damping for the rolling copper sheet terminal 13, and the rolling copper sheet terminal 13 conducts power supply current to the input electrode 14 and the output electrode 1401; the pneumatic cylinder 10 adjusts the contact pressure between the rolling copper tab terminal 13 and the input electrode 14 and the output electrode 1401.
The heating material 17 disposed between the first plate 16 and the second plate 18 for supplying the welding heat may be a carbon fiber prepreg tape or a stainless steel net.
The size and number of the input electrode 14 and the output electrode 1401 can be adjusted according to the length of the welding seam, and the smaller the electrode size is, the more uniform the welding temperature field is.
The working process of the double-robot auxiliary resistance welding equipment for the thermoplastic composite material comprises the following steps:
firstly, a first plate 16 and a second plate 18 are vertically fixed on a welding operation platform 5, an input electrode 14 is bonded on the surface of the second plate 18 by using water-soluble glue, an output electrode 1401 is bonded on the surface of the first plate 16, and a 1mm gap is arranged between the adjacent electrodes, so that the heating material 17 is electrified in a segmented and continuous mode. After the welding operation is started, parameters such as input power, movement speed and welding pressure are set through the industrial control cabinet 6. Two arms 4 that the symmetry was arranged walk along predetermined welding route simultaneously, and preset welding pressure is applyed to pneumatic cylinder 8, feeds back actual welding pressure through pressure sensor 7 simultaneously, makes the welding pressure of applying equal to actual welding pressure through worker's accuse cabinet 6 further adjustment. The pneumatic cylinder 10 provides a certain contact pressure between the rolling copper sheet terminal 13 and the input electrode 14 and the output electrode 1401, so that the circuit is sequentially connected. The heating material 17 is electrified to generate heat to melt the welding area of the first plate 16 and the second plate 18. After the two symmetrically arranged mechanical arms 4 finish welding, standing for a period of time, and after the area to be welded is completely solidified, taking down the input electrode 14 and the output electrode 1401, and finishing welding.
Claims (2)
1. The double-robot auxiliary resistance welding equipment for the thermoplastic composite material is characterized by comprising two groups of control modules (1) and two groups of welding modules (2), wherein the control modules and the welding modules are symmetrically operated in a bilateral mode;
the control modules (1) comprise mechanical arm supports (3), mechanical arms (4), welding operation platforms (5) and industrial control cabinets (6), and the two groups of control modules (1) share one set of welding operation platform (5) and industrial control cabinet (6); the mechanical arm (4) is arranged on the mechanical arm support (3); the industrial control cabinet (6) is connected with the mechanical arm (4), the movement path and the movement speed of the mechanical arm (4) are controlled to be planned, welding parameters are set according to plates to be welded, and the welding work is carried out on the welding operation platform (5);
the welding module (2) is arranged at the front end of the control module (1) and comprises a welding head and an electrode;
the welding head comprises a pressure sensor (7), a hydraulic cylinder (8), a pressing roller supporting column (9), a pneumatic cylinder (10), a damper fixing block (11), a damper (12), a rolling copper sheet terminal (13), a pressing roller (19) and a pressing roller connecting shaft (20); the pressure sensor (7) is fixed on the mechanical arm (4), the hydraulic cylinder (8) is fixed on the pressure sensor (7), the hydraulic cylinder (8) is connected with the pressing roller supporting column (9), the left side and the right side of the pressing roller (19) are installed on the pressing roller supporting column (9) through a pressing roller connecting shaft (20), the pressing roller (19) is rotatably connected with the pressing roller connecting shaft (20) through a bearing, and the hydraulic cylinder (8) applies welding pressure to the pressing roller (19); the pressure roller (19) applies pressure to the plates to be welded, and the end part of the pressure roller (19) is provided with an insulating ceramic sheet (15) to prevent electric leakage and reduce heat dissipation of a welding area; the pneumatic cylinder (10) is fixed on the pressing roller supporting column (9), and the damper (12) is connected with the pneumatic cylinder (10) through a damper fixing block (11); the rolling copper sheet terminal (13) is arranged on the damper (12) and is in rotary connection with the damper;
the electrodes comprise input electrodes (14) and output electrodes (1401) which are respectively positioned in two welding modules (2), the input electrodes (14) and the output electrodes (1401) are respectively pasted on the surfaces of two plates to be welded, pressure is applied through a pneumatic cylinder (10) to enable rolling copper sheet terminals (13) in the two welding modules (2) to be respectively contacted with the input electrodes (14) or the output electrodes (1401), contact pressure is applied to the electrodes to enable a circuit to be connected, and therefore heating materials (17) between the plates to be welded are heated up and heated, welding areas of the two plates to be welded are melted, and welding is achieved.
2. The apparatus of claim 1 wherein the input electrode (14) and the output electrode (1401) are arranged intermittently along the weld path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010705617.9A CN111745981A (en) | 2020-07-21 | 2020-07-21 | Double-robot auxiliary resistance welding equipment for thermoplastic composite material |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010705617.9A CN111745981A (en) | 2020-07-21 | 2020-07-21 | Double-robot auxiliary resistance welding equipment for thermoplastic composite material |
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| CN111745981A true CN111745981A (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010705617.9A Pending CN111745981A (en) | 2020-07-21 | 2020-07-21 | Double-robot auxiliary resistance welding equipment for thermoplastic composite material |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977058A (en) * | 2021-11-19 | 2022-01-28 | 南京航空航天大学 | Mirror image welding method and device for double induction coils made of thermoplastic composite material |
| CN115430983A (en) * | 2022-10-14 | 2022-12-06 | 扬州茂泰机械有限公司 | Production of wind power generation energy storage box is with sealed self-checking formula welding equipment |
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| CN1544238A (en) * | 2003-11-17 | 2004-11-10 | 中国航空工业第一集团公司北京航空材 | Self-resistance heating forming method for carbon fiber reinforced composite material |
| US20090032184A1 (en) * | 2005-04-08 | 2009-02-05 | Ali Yousefpour | Resistance Welding of Thermoplastics |
| CN109940897A (en) * | 2019-04-19 | 2019-06-28 | 中国民航大学 | A kind of thermoplastic composite flexible resistor welder |
| CN110356012A (en) * | 2019-06-21 | 2019-10-22 | 沈阳航空航天大学 | CNT array modifies heater element and its composite material resistance plumb joint and preparation method |
| CN212219341U (en) * | 2020-07-21 | 2020-12-25 | 大连理工大学 | Double-robot auxiliary resistance welding equipment for thermoplastic composite material |
-
2020
- 2020-07-21 CN CN202010705617.9A patent/CN111745981A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1544238A (en) * | 2003-11-17 | 2004-11-10 | 中国航空工业第一集团公司北京航空材 | Self-resistance heating forming method for carbon fiber reinforced composite material |
| US20090032184A1 (en) * | 2005-04-08 | 2009-02-05 | Ali Yousefpour | Resistance Welding of Thermoplastics |
| CN109940897A (en) * | 2019-04-19 | 2019-06-28 | 中国民航大学 | A kind of thermoplastic composite flexible resistor welder |
| CN110356012A (en) * | 2019-06-21 | 2019-10-22 | 沈阳航空航天大学 | CNT array modifies heater element and its composite material resistance plumb joint and preparation method |
| CN212219341U (en) * | 2020-07-21 | 2020-12-25 | 大连理工大学 | Double-robot auxiliary resistance welding equipment for thermoplastic composite material |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977058A (en) * | 2021-11-19 | 2022-01-28 | 南京航空航天大学 | Mirror image welding method and device for double induction coils made of thermoplastic composite material |
| CN115430983A (en) * | 2022-10-14 | 2022-12-06 | 扬州茂泰机械有限公司 | Production of wind power generation energy storage box is with sealed self-checking formula welding equipment |
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