CN113814545B - Micro-resistance welding spot welding machine head and self-detection method for preset electrode force thereof - Google Patents
Micro-resistance welding spot welding machine head and self-detection method for preset electrode force thereof Download PDFInfo
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- CN113814545B CN113814545B CN202111096946.9A CN202111096946A CN113814545B CN 113814545 B CN113814545 B CN 113814545B CN 202111096946 A CN202111096946 A CN 202111096946A CN 113814545 B CN113814545 B CN 113814545B
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- welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/318—Supporting devices for electrode holders
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
Abstract
The invention discloses a micro resistance welding spot welding machine head in the field of resistance welding and a self-detection method of the micro resistance welding spot welding machine head on preset electrode force, and aims at the prior art that an external pressure detection device is needed for detecting the preset electrode force by the spot welding machine head. On the basis, the invention further provides a self-detection method for the preset electrode force of the micro resistance spot welding machine head. Compared with the prior art, the electrode force self-detection device can perform self-detection on each preset electrode force at any time, is more accurate in detection, and has the characteristics of simple structure and convenience in use.
Description
Technical Field
The invention belongs to the field of resistance welding spot welding, and particularly relates to a micro-resistance welding spot welding machine head and a self-detection method of the micro-resistance welding spot welding machine head on preset electrode force.
Background
When resistance spot welding is performed, it is necessary to detect an electrode force preset in a spot welding head.
The resistance welding spot welding needs to detect the electrode force preset by a spot welding head so as to ensure the welding quality of the resistance welding spot welding. In the prior art, the detection of the preset electrode force, including the chinese patent application CN201910758463.7, generally includes installing a pressure bar on a welding head clamp, and detecting the preset electrode force by means of an external pressure sensor.
However, the detection method of the external pressure detection device of the resistance welding spot welding head is complicated, the preset electrode force is difficult to detect at any time, and the pressurizing force of the spring with the same compression amount can be changed after the spring is used for a period of time; in addition, the detection of the preset electrode force through the external pressure sensor is difficult to ensure consistency, and the precision is not high. However, resistance spot welding requires precise electrode force to be provided when welding a fine workpiece.
In view of the above, it is desirable to provide a high-precision micro-resistance welding head and a self-detection method for preset electrode force.
Disclosure of Invention
The invention aims to: the defects of the prior art are overcome, and the high-precision micro-resistance welding spot welding head is provided to realize convenient and accurate detection of the preset electrode force.
In order to achieve the above object, the present invention provides a micro resistance spot welding machine head, comprising:
presetting an electrode force spot welding machine head, an electrode force detection device and a welding force stroke limiting device;
the preset electrode force spot welding machine head comprises a spot welding machine head and a preset electrode force pressurizing device arranged on the spot welding machine head; the spot welding machine head comprises a machine head frame, a middle shaft provided with a middle shaft clamp, a sliding shaft provided with a welding head clamp and a sliding shaft clamp connected with the middle shaft and the sliding shaft, wherein the middle shaft and the sliding shaft are arranged on the machine head frame, a microswitch is arranged between the middle shaft and the sliding shaft clamp, and the welding head clamp is used for mounting a parallel electrode welding head;
the preset electrode force pressurizing device comprises a middle shaft, a compression spring arranged on the middle shaft and a preset electrode force display circuit;
the electrode force detection device comprises a pressure sensor arranged on a sliding shaft clamp, a pressurizing rod arranged at the force measuring end of the pressure sensor, a corresponding pressurizing platform and a pressure detection display circuit electrically connected with the microswitch and the pressure sensor; the welding force stroke limiting device comprises a fixing screw rod with an adjustable nut, which is installed on the middle shaft clamp, a through hole is formed in the upper frame of the machine head frame, and the fixing screw rod penetrates through the through hole.
As an improvement of the micro-resistance welding spot welding machine head, the pressurizing platform comprises a lower frame of the machine head frame, and the movable stroke of the pressurizing rod on the pressurizing platform is set to be larger than the working stroke of the parallel electrode welding head and smaller than the maximum stroke of the sliding shaft clamped on the machine head frame.
As an improvement of the micro-resistance welding spot welding machine head, an adjustable resistor with adjustable display value is arranged on a preset electrode force display circuit of the preset electrode force pressurizing device.
In order to achieve the above object, the present invention further provides a self-detection method for a micro resistance spot welding machine head to a preset electrode force, which comprises the following steps:
(1) Setting a preset electrode force display value to be detected on a preset electrode force pressurizing device;
(2) Disassembling the parallel electrode welding head arranged on the welding head clamp;
(3) Readjusting the adjustable nut of the welding force travel limiting device;
(4) The welding head clamp is slowly pressed down by the pedal plate in a welding mode, and when the acting force of a pressurizing rod of the pressure sensor on the pressurizing platform reaches a preset value, the instantaneous electrode force detection value can be read;
(5) When the electrode force detection value is different from the preset electrode force display value, the preset electrode force display value is adjusted to be the same as the electrode force detection value through an adjustable resistor arranged on a preset electrode force display circuit.
Compared with the prior art that the preset electrode force of the spot welding machine head needs to be detected by an external pressure detection device, the invention not only provides that the spot welding machine head with the preset electrode force and the electrode force detection device are installed into a whole to overcome the trouble that the pressure sensor of the electrode force detection device is easily damaged by overlarge welding force, but also provides that a welding force stroke limiting device is installed on the preset electrode force detection device, the distance between an adjustable nut of the welding force stroke limiting device and the upper frame of the machine head frame is set at the instantaneous distance of the electrode force detection value read by the electrode force detection device, and the overlarge welding force is prevented from acting on the pressure sensor. The welding force stroke limiting device can also provide more accurate and consistent electrode force for the parallel electrode welding head, each preset electrode force can be automatically detected at any time, the detection of the electrode force is more accurate and consistent, and the welding force stroke limiting device has the characteristics of simple and reasonable structure and convenience in use.
Drawings
The invention is described in detail below with reference to the accompanying drawings and the detailed description of the embodiments, wherein:
fig. 1 is a schematic structural diagram of an obvious micro-resistance welding spot welding head of the invention.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention more clear, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
First, it should be noted that the micro resistance spot welding machine of the present invention includes two parts, i.e., a spot welding head and a welding power supply, and the spot welding head is an independent structure, and generally has a preset electrode force pressurizing device, so the spot welding head is also called as a preset electrode force spot welding head, and the embodiment of the micro resistance spot welding machine head according to the present invention is further described below with reference to fig. 1.
The micro-resistance welding spot welding head comprises a preset electrode force spot welding head, an electrode force detection device and a welding force stroke limiting device, wherein the preset electrode force spot welding head comprises a spot welding head and a preset electrode force pressurizing device arranged on the spot welding head.
Referring to fig. 1, a spot welder head 100 includes a head frame 101, a center shaft 103 having a center shaft clamp 102, a slide shaft 105 having a welding head clamp 104, and a slide shaft clamp 106 connecting the center shaft 103 and the slide shaft 105, wherein a micro switch is installed between the center shaft 103 and the slide shaft clamp 106, and the center shaft clamp 102 is connected to a pedal providing a welding force through a cable. In the embodiment shown in fig. 1, the central shaft 103 and the slide shaft 105 are mounted on the head frame 101, and the weld head holder 104 is used to mount the parallel electrode weld head 107.
The preset electrode force pressurizing device comprises a central shaft 103, a compression spring arranged on the central shaft 103 and a preset electrode force display circuit 108 arranged on the front outer side of the handpiece frame 101. When the compression spring mounted on the central shaft 103 is adjusted by compression, the preset electrode force display circuit 108 will present a corresponding preset electrode force display value.
The preset electrode force spot welding machine head is electrically connected with a welding power supply through an output cable arranged on the welding head clamp 104, a parallel electrode welding head 107 is arranged on the welding head clamp 104, and when the electrode force of the parallel electrode welding head 107 on a weldment reaches a preset value, a microswitch is turned on to provide current for the parallel electrode welding head 107, so that welding is realized.
It should be briefly explained about the shape of the micro-resistance welding head 100 shown in fig. 1, the micro-resistance welding head shown in fig. 1 is a micro-resistance welding head as an example of the present application, in the embodiment shown in fig. 1, the head frame 101 is a metal frame with a thickness of about 20 × 15 × 4cm, the peripheral frame edge is about 2.0cm, the central axis 103 is a metal tube with a diameter of 23 × 200mm, the sliding axis 105 is a metal rod with a diameter of about 13 × 150mm, and the compression spring installed on the central axis 103 can provide a preset electrode force of about 2 kg.
As shown in FIG. 1, the micro resistance spot welding machine head of the present embodiment integrally mounts an electrode force detecting device, a welding force stroke limiting device, and a preset electrode force spot welding machine head. The electrode force detection device comprises a pressure sensor 109 arranged on the sliding shaft clamp 106, a pressurizing rod 110 arranged at the force measuring end of the pressure sensor 109, a pressurizing platform 111 corresponding to the pressurizing rod, and a pressure detection display circuit electrically connected with the micro switch and the pressure sensor 109.
Regarding the pressing platform corresponding to the pressing bar, the structure thereof may be various, and the embodiment shown in fig. 1 suggests that the pressing platform 111 corresponding to the pressing bar includes the lower frame of the head frame 101.
The present embodiment also proposes that the stroke of the pressing rod 110 on the pressing platform 111 is set to be both greater than the working stroke of the parallel electrode horn and less than the maximum stroke of the slide clamp 106 on the head frame 101. Taking the micro resistance spot welding machine head of the present embodiment as an example, the working stroke of the parallel electrode welding head to the welding element generally only needs 2-5mm, and the maximum stroke of the slide shaft clamp 106 on the machine head frame 101 can be 20mm, in other words, if the distance between the pressure sensor pressure rod 110 and the pressure platform 111 installed on the slide shaft clamp 106 of the micro resistance spot welding machine head is set to 6-10mm, the requirement of the moving stroke of the pressure rod 110 and the pressure platform 111 provided by the present embodiment can be satisfied.
In this embodiment, the welding force stroke limiting device and the micro resistance welding head are integrally installed, referring to fig. 1, the welding force stroke limiting device includes a fixing screw 113 with an adjustable nut 112 installed on the center shaft clamp 102, and the fixing screw 113 penetrates through a preset through hole on the upper frame of the head frame 101.
The working principle of the present embodiment of the micro resistance spot welding machine head that integrates the preset electrode force spot welding machine head, the electrode force detection device, and the welding force stroke limiting device is further described below.
It is assumed that the pressure sensor 109 of the electrode force detecting apparatus of the present embodiment is mounted on the slide holder 106, and since the slide holder 106 is fixed to the slide 105 and the electrode holder 104 to which the parallel electrode horn 107 is mounted is also fixed to the slide holder 106, the display value of the electrode force detected by the pressure rod 110 of the pressure sensor 109 mounted on the slide holder 106 is substantially the preset electrode force mounted on the parallel electrode horn 107 of the electrode holder 104. In other words, the electrode force display value detected by the pressure sensor 109 mounted on the spool clamp 106 and the pressurizing rod 110 thereof is the detection of the preset electrode force display value.
The working principle of the welding force stroke limiting device is further described below.
It is known from the structure of the welding force stroke limiting device that when the pedal pulls the cable to pull the middle shaft clamp, the adjustable nut 112 can adjust the stroke of the welding force through the distance of the upper frame of the machine head frame 101. Because preset electrode strength spot welding device can only set up about 2 kg's electrode strength and welding force often is several times greater than this 2 kg's electrode strength, when detecting electrode strength with electrode strength detection device, cause the pressure sensor who damages electrode strength detection device very easily, in order to avoid damaging pressure sensor, the welding force stroke stop device of this embodiment can set up the distance of adjustable nut 112 and frame on aircraft nose frame 101 at the instantaneous distance of electrode strength detection value of electrode strength detection device reading, act on pressure sensor with the welding force that prevents too big. In other words, the welding force stroke limiting device is a protection device of the electrode force detection device, and the practicability of the welding force detection device is guaranteed. On the other hand, when the parallel electrode welding head 107 performs welding, if the distance between the adjustable nut 112 and the upper frame of the head frame 101 is adjusted to the instant when the parallel electrode welding head 107 completes welding, the excessive welding force can be prevented from further pressurizing the welding piece, so the welding force stroke limiting device of the embodiment can provide more accurate and consistent welding force for the parallel electrode welding head 107 during welding.
According to actual needs, the preset electrode force spot welding machine head of the embodiment is further provided with an adjustable resistor which can adjust the display value of the preset electrode force on the preset electrode force display circuit.
The self-detection method of the micro resistance welding machine head for the preset electrode force is described in the following with reference to the attached drawing 1, and the self-detection method of the micro resistance welding machine head for the preset electrode force needs the following steps:
1. and setting a preset electrode force display value to be detected on the preset electrode force pressurizing device.
Because the preset electrode force spot welding machine head comprises the preset electrode force display circuit, when the compression spring arranged on the middle shaft 102 is pressurized and adjusted, the corresponding preset electrode force display value can be displayed by the preset electrode force display circuit.
2. The parallel electrode horn 107 mounted on the horn holder 104 is removed.
Since the welding head holder 104 and the slide holder 106 are both mounted on the slide shaft 105, the stroke of the parallel electrode horn 107 mounted on the welding head holder 104 is short, and the distance between the pressing rod 110 mounted on the pressure sensor 109 and the pressing platform 111 is long, it is necessary to remove the parallel electrode horn 107 from the welding head holder 104 to ensure that the welding force is transmitted to the pressure sensor 109 through the pressing rod 110 and the pressing platform 111.
3. Readjusting the distance between the adjustable nut 112 of the travel stop and the upper rim of the head frame 101.
It should be noted that, readjusting the distance between the adjustable nut 112 and the upper frame of the head frame 101 is required to realize the distance between the adjustable nut 112 and the upper frame of the head frame 101 at the instant when the pressure detection display circuit reads the electrode force detection value, so as to prevent excessive welding force from continuously pressurizing the pressure sensor 109.
The welding force stroke limiting device needs to be further explained: when a parallel electrode welding head is arranged on a welding head clamp for welding, if the distance between the adjustable nut 112 on the fixed screw 113 and the upper frame of the machine head frame is adjusted to the instantaneous distance for the parallel electrode welding head 107 to weld a workpiece, the overlarge welding force is blocked, so that the welding force stroke limiting device can provide more accurate and consistent welding force for welding. It can be understood that when the preset electrode force needs to be detected, the distance between the adjustable nut 112 and the frame on the handpiece frame 101 must be readjusted to realize the distance between the adjustable nut 112 and the frame on the handpiece frame 101 at the instant when the pressure detection display circuit reads the detected electrode force value, so as to prevent excessive welding force from continuously pressurizing the pressure sensor 109. In a sense, the weld force travel limiter is a mechanical protection for the electrode force detection device.
4. The welding head clamp 104 is slowly pressed down by the foot pedal in a welding mode, when the acting force of the pressure rod 110 on the pressure sensor 109 on the pressure platform 111 reaches a preset value, the instantaneous electrode force detection value can be read, if the electrode force display value needs to be detected for the second time, the detection operation is repeated only by slightly loosening the stroke of the pressure welding force, and the second electrode force detection value can be read.
It should be noted that, the distance between the pressurizing rod 110 on the pressure sensor 109 and the pressurizing platform 111 is set within the maximum stroke range of the slide shaft clamp 106 on the head frame 101, which is not only greater than the working stroke of the parallel electrode welding head 107, but also less than the maximum stroke range of the parallel electrode welding head 107 on the head clamp 104, and as the parallel electrode welding head 107 on the head clamp 104 is removed and the adjustable nut 112 on the welding force stroke limiting device is loosened, when a gentle downward pressure is applied to the head clamp 104 in a welding manner, the pressurizing rod 110 can be ensured to pressurize the pressurizing platform 111; because the electrode force detection display circuit is electrically connected with the pressure sensor and the microswitch for connecting the welding power supply, when the applied pressure reaches a preset value, the instantaneous electrode force detection value can be read, and the electrode force detection value is reasonably believed to be more accurate and consistent than the detection value of the external pressure sensor.
It should be noted that, since the pressure sensor 109 is mainly a static weight sensor, when detecting a dynamic pressure, it is necessary to gradually pressurize the pressure sensor 109, and when a second detection is necessary, it is preferable to slightly release the pressurizing stroke and then gradually pressurize the pressure, otherwise, the detection value of the pressure sensor 109 may fluctuate greatly.
5. When the electrode force detection value is different from the preset electrode force display value, the preset electrode force display value can be adjusted to be the same as the electrode force detection value through the adjustable resistor of the preset electrode force display circuit.
By the operation method 1-5, the self-detection of the micro resistance welding spot welding machine head on the preset electrode force can be realized.
The invention aims at the prior art that a spot welding head needs an external pressure detection device for detecting the preset electrode force, not only the invention provides the installation of the spot welding head with the preset electrode force and the electrode force detection device into a whole, overcomes the trouble that the pressure sensor of the electrode force detection device is easily damaged by overlarge welding force, but also provides the installation of a welding force stroke limiting device on the preset electrode force detection device. On the basis, the invention further provides a self-detection method of the micro-resistance welding spot welding head on the preset electrode force, the self-detection method can carry out self-detection on each preset electrode force at any time, the detection is more accurate, and the self-detection method has the characteristics of simple structure and convenience in use.
Appropriate variations and modifications of the embodiments described above will occur to those skilled in the art, in light of the above disclosure and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention are also intended to fall within the scope of the appended claims. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (4)
1. A micro resistance spot welder head, comprising:
presetting an electrode force spot welding machine head, an electrode force detection device and a welding force stroke limiting device;
the preset electrode force spot welding machine head comprises a spot welding machine head and a preset electrode force pressurizing device arranged on the spot welding machine head; the spot welding machine head comprises a machine head frame, a middle shaft provided with a middle shaft clamp, a sliding shaft provided with a welding head clamp and a sliding shaft clamp connected with the middle shaft and the sliding shaft, wherein the middle shaft and the sliding shaft are arranged on the machine head frame, a microswitch is arranged between the middle shaft and the sliding shaft clamp, and the welding head clamp is used for mounting a parallel electrode welding head;
the preset electrode force pressurizing device comprises a compression spring and a preset electrode force display circuit, wherein the compression spring is arranged on the middle shaft;
the electrode force detection device comprises a pressure sensor arranged on a sliding shaft clamp, a pressurizing rod arranged at the force measuring end of the pressure sensor, a corresponding pressurizing platform and a pressure detection display circuit electrically connected with the microswitch and the pressure sensor; the welding force stroke limiting device comprises a fixing screw rod which is arranged on the middle shaft clamp and provided with an adjustable nut, a through hole is formed in the upper frame of the machine head frame, and the fixing screw rod penetrates through the through hole.
2. A spot-welding machine head for micro-resistance welding according to claim 1, wherein said pressing platform comprises a lower frame of the machine head frame, and the moving stroke of said pressing rod on the pressing platform is set to be greater than the working stroke of the parallel electrode welding head and less than the maximum stroke of the slide shaft clamped on the machine head frame.
3. A micro-resistance welding spot-welding machine head according to claim 1, wherein an adjustable resistor with adjustable display value is installed on the preset electrode force display circuit of the preset electrode force pressurizing device.
4. A method for self-testing a microscopic resistance spot welding head against a preset electrode force according to any one of claims 1 to 3, comprising the steps of:
(1) Setting a preset electrode force display value to be detected on a preset electrode force pressurizing device;
(2) Dismounting the parallel electrode welding head arranged on the welding head clamp;
(3) Readjusting an adjustable nut of the welding force travel limiting device;
(4) The welding head clamp is slowly pressed down in a welding mode through the pedal, and when the acting force of a pressurizing rod of the pressure sensor on the pressurizing platform reaches a preset value, the instantaneous electrode force detection value can be read;
(5) When the electrode force detection value is different from the preset electrode force display value, the preset electrode force display value is adjusted to be the same as the electrode force detection value through an adjustable resistor arranged on a preset electrode force display circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111096946.9A CN113814545B (en) | 2021-09-18 | 2021-09-18 | Micro-resistance welding spot welding machine head and self-detection method for preset electrode force thereof |
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| CN202111096946.9A CN113814545B (en) | 2021-09-18 | 2021-09-18 | Micro-resistance welding spot welding machine head and self-detection method for preset electrode force thereof |
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| CN113814545B true CN113814545B (en) | 2023-03-03 |
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|---|---|---|---|---|
| US5138127A (en) * | 1991-07-31 | 1992-08-11 | Hughes Aircraft Company | Pressure welding with closed loop force control |
| EP1530271A1 (en) * | 2003-11-07 | 2005-05-11 | Maschinen- Und Apparatevertrieb Helmut Strunk | Apparatus for welding the strands of wires |
| CN2776614Y (en) * | 2004-12-21 | 2006-05-03 | 罗琳 | Spot welding machine head |
| CN103658960A (en) * | 2013-12-03 | 2014-03-26 | 广州微点焊设备有限公司 | Spot welding machine for resistance welding micro-welding |
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| CN206974571U (en) * | 2017-07-05 | 2018-02-06 | 永康市瑞林电器设备有限公司 | Rotor commutator spot welding real-time pressure detecting system |
| CN208556290U (en) * | 2018-04-28 | 2019-03-01 | 唐山开元阻焊设备有限公司 | A kind of electric resistance welding polishing head for capableing of real-time monitoring welding pressure |
| CN212682772U (en) * | 2020-06-29 | 2021-03-12 | 上海又力光电科技有限公司 | Pneumatic welding head device |
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2021
- 2021-09-18 CN CN202111096946.9A patent/CN113814545B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5138127A (en) * | 1991-07-31 | 1992-08-11 | Hughes Aircraft Company | Pressure welding with closed loop force control |
| EP1530271A1 (en) * | 2003-11-07 | 2005-05-11 | Maschinen- Und Apparatevertrieb Helmut Strunk | Apparatus for welding the strands of wires |
| CN2776614Y (en) * | 2004-12-21 | 2006-05-03 | 罗琳 | Spot welding machine head |
| CN103658960A (en) * | 2013-12-03 | 2014-03-26 | 广州微点焊设备有限公司 | Spot welding machine for resistance welding micro-welding |
| CN106001891A (en) * | 2016-06-30 | 2016-10-12 | 广州微点焊设备有限公司 | Spot welding machine head of accurate electrode force pressurization system |
| CN206974571U (en) * | 2017-07-05 | 2018-02-06 | 永康市瑞林电器设备有限公司 | Rotor commutator spot welding real-time pressure detecting system |
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| CN212682772U (en) * | 2020-06-29 | 2021-03-12 | 上海又力光电科技有限公司 | Pneumatic welding head device |
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| CN113814545A (en) | 2021-12-21 |
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