CN103862482A - Positioning fixture for repairing welding of workpiece gripped by robot - Google Patents
Positioning fixture for repairing welding of workpiece gripped by robot Download PDFInfo
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- CN103862482A CN103862482A CN201310563767.0A CN201310563767A CN103862482A CN 103862482 A CN103862482 A CN 103862482A CN 201310563767 A CN201310563767 A CN 201310563767A CN 103862482 A CN103862482 A CN 103862482A
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Abstract
The invention discloses a positioning fixture for repairing welding of a workpiece gripped by a robot. An arm of the robot is provided with a robot gripping tool; the positioning fixture for repairing welding of the workpiece gripped by the robot comprises a substrate, wherein the substrate is provided with a fixture column; the fixture column is provided with a robot gripping tool positioning fixture matched with the robot gripping tool; the robot gripping tool positioning fixture comprises a gripping tool positioning mechanism and a gripping tool locking mechanism. By the fixture, the robot gripping tool can be positioned and locked by the robot gripping tool positioning fixture in the air, more support is obtained, external force from a welding device during welding can be better borne, the positions of the robot gripping tool and the workpiece are stably kept, and the welding quality is better ensured.
Description
Technical field
The present invention relates to a kind of body of a motor car assembly tooling, in particular, it relates to a kind of robot and grabs part repair welding positioning tool.
Background technology
In automobile industry, robot is used widely at present, and on welding line, consumption is especially large.On existing automatic welding wiring, be subject to place restriction and the consideration for cost aspect, vehicle body to be welded is conventionally only by a small amount of fixture fixed clamp complete tack welding of shuttling back and forth, then with robot, the workpiece that completes tack welding is picked up and developed simultaneously in the air from the fixture that shuttles back and forth, other welding equipment is assembled to workpiece, enforcement repair welding high up in the air is to complete the welding at residue position, in implementing repair welding, the fixture that the shuttles back and forth feeding station that just can self-align welder position shuttles back and forth back, carry out the loading of next workpiece and fix, the fixture of so just can avoiding shuttling back and forth is occupied for a long time, and feeding station occurs in the situation of waiting for, thereby can employ one's time to the best advantage, speed production beat, greatly enhance productivity.But because robot self has in certain be controlled at ± 0.2mm of resetting error General Requirements, robot picks up the deviation that can slightly allow when workpiece is fixed aloft, then in the time that welding simultaneously, welding equipment can impose to workpiece again the active force of different directions, the workpiece phenomenon that shakes unavoidably, under comprehensive function, may make welding position produce deviation, affect welding quality.Publication number is that the utility model of CN102825411A discloses a kind of motorcycle Combination Welding positioning tool on December 19th, 2012, alignment pin, lower alignment pin and bracket are being set above base plate front portion, the left and right of base plate middle front part arranges the second bearing, and the top of each the second bearing is all equipped with first and is pressed from both sides soon; At the right-hand member of base plate postmedian, the 3rd bearing is set, the top of the 3rd bearing is equipped with second and is pressed from both sides soon; Be provided with the 4th bearing at the two ends, left and right at base plate rear portion, the second cylinder is all equipped with at the top of each the 4th bearing, and alignment pin after being fixed with on the piston rod of each the second cylinder.The present invention makes disposable the completing of welding job energy, has not only simplified operation, makes location and welding operation simpler, convenient, and greatly reduces workman's labour intensity, in guaranteeing welding precision and the degree of accuracy, has also improved the efficiency of welding.But this frock is to design for the peculiar structure of motorcycle, therefore topology layout has particularity for adapting to motorcycle welding positioning requirements, and the scope of application is comparatively limited.
Summary of the invention
In existing automobile making robot repair welding, robot can only rely on robot arm self holding workpiece position when grabbing workpiece repair welding, be difficult to guarantee that bond pad locations is accurate, for overcoming this defect, the invention provides one can add strong fix to robot gripping apparatus, and what make that workpiece can be more accurately more reliably realizes location grabs part repair welding positioning tool.
Technical scheme of the present invention is: part repair welding positioning tool is grabbed by a kind of robot, the arm of described robot is provided with robot gripping apparatus, this robot grabs part repair welding positioning tool and comprises substrate, substrate is provided with clamp column, clamp column is provided with the robot gripping apparatus positioning fixture that can coordinate with robot gripping apparatus, and robot gripping apparatus positioning fixture comprises gripping apparatus detent mechanism and gripping apparatus retaining mechanism.Robot is by robot gripping apparatus grabbing workpiece, after robot catches workpiece in the air, robot gripping apparatus moves to gripping apparatus positioning fixture place of robot and coordinates with it, robot gripping apparatus positioning fixture is caught robot gripping apparatus lock by gripping apparatus detent mechanism and gripping apparatus retaining mechanism, for robot gripping apparatus provides the supporting construction that adds epistasis, make robot gripping apparatus there is stronger external force resistance performance under the acting in conjunction of self frame for movement and robot gripping apparatus positioning fixture, holding workpiece positioning precision, guarantees welding quality better.Because robot catches workpiece in the air, and be all workpiece when robot grabbing workpiece under, therefore clamp column need to arrange certain altitude to coordinate position height and the location of workpiece of robot gripping apparatus, while guaranteeing robot gripping apparatus location, is not interfered.
As preferably, clamp column top is provided with the downward bending part of bending, and described gripping apparatus detent mechanism and gripping apparatus retaining mechanism are located on bending part.When robot grabbing workpiece, be all workpiece under, therefore clamp column top downward bending, gripping apparatus detent mechanism and gripping apparatus retaining mechanism are set to be coordinated with robot gripping apparatus from top to down, can adapt to better like this working method of robot arm, this frock can more easily be integrated with existing production line.
As preferably, described robot gripping apparatus positioning fixture also comprises upright post connecting plate and fixture installing plate, upright post connecting plate is connected with fixture installing plate, described gripping apparatus retaining mechanism comprises locking bail, vertical lift cylinder and oscillating cylinder, vertical lift cylinder is connected on fixture installing plate, on the piston rod of vertical lift cylinder, be also connected with a lifter slide, the cylinder body of oscillating cylinder is connected on lifter slide, locking bail is connected on the output shaft of oscillating cylinder, the crotch portion opening of locking bail take the shape of the letter U and with the side face adaptation of rod member that forms robot gripping apparatus framework, the crotch portion edge of opening of locking bail is provided with chamfering.The effect of locking bail is the framework that hooks robot gripping apparatus, limits the skew of robot gripping apparatus together with gripping apparatus detent mechanism.Locking bail hooks robot gripping apparatus need to resolve into two actions, move vertical with locking bail of locking bail upset, locking bail must possess turn over function, just can abdicate passage puts robot gripping apparatus rising in place, and then upset return, make the U-shaped mouth of locking bail aim at the rod member of robot gripping apparatus framework, after this locking bail again vertical lifting U-shaped mouth is stuck in outside the rod member of robot gripping apparatus framework.Oscillating cylinder can be realized the upset of locking bail, and vertical lift cylinder can be realized the vertical movement of locking bail.The crotch portion edge of opening of locking bail arranges chamfering, has eliminated corner angle, can play the guiding role, and is convenient to locking bail and more easily realizes and coordinating with robot gripping apparatus frame unit.
As preferably, upright post connecting plate is provided with a pair of guide bar support plate vertical with upright post connecting plate, between two guide bar support plates, is vertically installed with guide rod, and lifter slide is provided with slide contact part, and slide contact part is slidably socketed on guide rod.Guide rod is through lifter slide, can make lifter slide have definite sliding path, in the time that lifter slide is subject to External Force Acting, guide rod can be shared stressed together with the piston rod of vertical lift cylinder, alleviate the radially compressing of the piston rod of vertical lift cylinder, avoid if things go on like this piston rod generation deflection, damage service life.
As preferably, described gripping apparatus detent mechanism comprises at least two alignment pins straight down, alignment pin is telescopic action formula structure, fixture installing plate is provided with locating pin bracket assembly, locating pin bracket assembly bottom is installed with alignment pin telescopic cylinder, alignment pin is connected on the piston rod of alignment pin telescopic cylinder, and alignment pin end is provided with tapering.With fixed alignment pin positioning workpieces, send part required precision higher to robot, if workpiece placement deviation is larger sometimes, alignment pin may form and interfere workpiece on the contrary, the alignment pin of movable stretches out after workpiece is substantially in place again, when robot send part precision can guarantee that workpiece is substantially in place, locating hole is aimed at alignment pin is most of, after this when alignment pin stretches out, the tapering of its end can further guide again adjustment, finally makes alignment pin and the locating hole on workpiece realize pin-hole accurately and coordinates.
As preferably, between upright post connecting plate and fixture installing plate, be provided with middle connecting plate, upright post connecting plate is connected with middle connecting plate bolt respectively with fixture installing plate, on upright post connecting plate and fixture installing plate, be equipped with parallel slotted hole, parallel slotted hole on upright post connecting plate is vertical with the parallel slotted hole trend on fixture installing plate, middle connecting plate be provided with on upright post connecting plate and fixture installing plate screwed hole corresponding to parallel slotted hole position.When connection, bolt first screws in the screwed hole on middle connecting plate again through the parallel slotted hole on upright post connecting plate and fixture installing plate, by this kind of connected mode, between upright post connecting plate and fixture installing plate, can carry out horizontal and vertical relative position and regulate, thus can adjusting to and the best fit state of robot gripping apparatus gripping apparatus detent mechanism and gripping apparatus retaining mechanism.
As preferably, clamp column is two or three.Firm for guaranteeing the location of robot gripping apparatus; locking bail and alignment pin all should arrange multiple and dispersed placement; accordingly; clamp column also should arrange one above to carry out the layout of locking bail and alignment pin; but while sending workpiece due to robot gripping apparatus, need certain passage, therefore too many clamp column should not be set in order to avoid hinder workpiece conveying, two clamp column suitably space out; or three clamp column are arranged in L shapedly, can form enough passages.
The invention has the beneficial effects as follows:
Workpiece stability when part repair welding is grabbed by raising robot, guarantees repair welding quality.This frock Neng Shi robot gripping apparatus is aloft by robot gripping apparatus positioning fixture location and locking, thereby more supported, can bear better welding time, from the external force of welder, the position that stably keeps robot gripping apparatus and even workpiece, guarantees welding quality better.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention;
A kind of view that Fig. 2 is the present invention when robot gripping apparatus coordinates;
Fig. 3 is a kind of working state schematic representation of the present invention while coordinating with robot arm.
In figure, 1-substrate, 2-clamp column, 3-locking bail, 4-vertical lift cylinder, 5-oscillating cylinder, 6-upright post connecting plate, 7-fixture installing plate, 8-lifter slide, 9-bending part, 10-locating pin bracket assembly, 11-alignment pin telescopic cylinder, 12-guide bar support plate, 13-guide rod, 14-middle connecting plate, 15-alignment pin, 16-robot gripping apparatus.
The specific embodiment
Below in conjunction with accompanying drawing specific embodiment, the invention will be further described.
embodiment 1:
As depicted in figs. 1 and 2, part repair welding positioning tool is grabbed by a kind of robot, and the arm of described robot is provided with robot gripping apparatus 16, and robot gripping apparatus framework is " order " font, and the rod member of being made up of square tube is welded, and robot gripping apparatus is provided with three locating holes.This robot grabs part repair welding positioning tool and comprises substrate 1, and substrate 1 embeds ground, is connected with three vertical 2, three clamp column 2 of clamp column is arranged in L shaped on substrate 1 by flange.The top of each clamp column 2 is equipped with the downward bending part 9 of bending, and bending part 9 is provided with robot gripping apparatus positioning fixture, and robot gripping apparatus positioning fixture comprises gripping apparatus detent mechanism and gripping apparatus retaining mechanism.Described robot gripping apparatus positioning fixture also comprises a upright post connecting plate 6 and fixture installing plate 7, between upright post connecting plate 6 and fixture installing plate 7, be provided with middle connecting plate 14, upright post connecting plate 6 is connected with middle connecting plate 14 bolts respectively with fixture installing plate 7, on upright post connecting plate 6 and fixture installing plate 7, be respectively equipped with four parallel slotted holes, parallel slotted hole direction on upright post connecting plate 6 is horizontal direction, parallel slotted hole direction on fixture installing plate 7 is vertical direction, middle connecting plate 14 is provided with the screwed hole corresponding with parallel slotted hole position on upright post connecting plate 6 and fixture installing plate 7.Described gripping apparatus retaining mechanism comprises locking bail 3, vertical lift cylinder 4 and oscillating cylinder 5, vertical lift cylinder 4 is connected on fixture installing plate 7, on the piston rod of vertical lift cylinder 4, be also connected with a lifter slide 8 by screw thread, lifter slide 8 is L-shaped, with a horizontal plane and a vertical stationary plane, horizontal plane is connected with the piston rod of vertical lift cylinder 4, the cylinder body of oscillating cylinder 5 is connected in by bolt on the vertical stationary plane of lifter slide 8, the output shaft of oscillating cylinder 5 is connected with a jog key, on this rotating disk upper disk surface, annular is evenly equipped with six screwed holes, locking bail 3 is provided with an axis hole and a bolt penetration hole, the output shaft of oscillating cylinder 5 is through described axis hole, described bolt penetration hole with rotating disk on a screwed hole by bolt wear connect, thereby locking bail 3 is attached on the output shaft of oscillating cylinder 5, the rectangular U-shaped of crotch portion opening of locking bail 3 and with the square side face adaptation of rod member that forms robot gripping apparatus framework, the crotch portion edge of opening of locking bail 3 is provided with chamfering.Upright post connecting plate 6 is provided with a pair of guide bar support plate 12 vertical with upright post connecting plate 6, between two guide bar support plates 12, be vertically installed with two guide rods 13, lifter slide 8 is provided with two slide contact parts, slide contact part is a through hole, inside have linear bearing, slide contact part is slidably socketed on guide rod 13.Described gripping apparatus detent mechanism comprises three alignment pins 15 straight down, alignment pin 15 positions are corresponding with three position of positioning hole on robot gripping apparatus, alignment pin 15 is telescopic action formula structure, fixture installing plate 7 is provided with locating pin bracket assembly 10, locating pin bracket assembly 10 is added to be bolted by two L shaped plates and combines, locating pin bracket assembly 10 bottoms have been bolted alignment pin telescopic cylinder 11, locating pin bracket assembly 10 bottom surfaces are plane, alignment pin telescopic cylinder 11 is offset near locating pin bracket assembly 10 bottom surface one lateral edges, alignment pin 15 is threaded on the piston rod of alignment pin telescopic cylinder 11, alignment pin 15 ends are provided with tapering.
This robot grabs part repair welding positioning tool and controls by PLC, each welder of robot arm and enforcement repair welding is also controlled by this PLC simultaneously, this robot grabs and on the each cylinder on part repair welding positioning tool, is equipped with folding position approach switch, in order to detect the flexible state of piston rod or the open and-shut mode of output shaft, and to described PLC input signal.Under holding state, vertical lift cylinder 4 piston rods stretch out, and lifter slide 8 drops to the end, and oscillating cylinder 5 is in an open position, and locking bail 3 outwards opens.The workpiece that completes tack welding is taken off from the fixture that shuttles back and forth by robot gripping apparatus when robot arm and rise and deliver to robot gripping apparatus positioning fixture by the space between two clamp column 2 of spacing maximum, after after three locating holes on robot gripping apparatus and three alignment pin telescopic cylinder 11 bottoms are close to, position signalling is transferred to described PLC by the servomotor at robot arm joint place, PLC sends the magnetic valve switching gas circuit of instruction order control alignment pin telescopic cylinder 11, alignment pin telescopic cylinder 11 just drives alignment pin 15 to stretch out, insert in corresponding robot gripping apparatus locating hole, on alignment pin telescopic cylinder 11, detecting the approach switch that piston rod stretches out state is triggered, send corresponding signal to PLC, PLC is the magnetic valve switching gas circuit of order control oscillating cylinder 5 then, oscillating cylinder 5 output shafts go back to closure state, the interior receipts of locking bail 3, the approach switch that detects output shaft closure state on oscillating cylinder 5 is triggered, in like manner PLC makes again straight lift cylinder 4 move, lifter slide 8 gos up, the square tube rod member that the U-shaped opening of locking bail 3 is aimed at robot gripping apparatus framework blocks rod member side face, each like this locking bail 3 forms restriction to the rod member of robot gripping apparatus framework three directions, and locating pin bracket assembly 10 bottom surfaces push against the rod member end face of robot gripping apparatus framework just, three locking bails 3, three alignment pins 15, 10 triplicitys of locating pin bracket assembly just form and fixedly positioning and lock robot gripping apparatus.Respectively implement subsequently the welding equipment of repair welding and automatically assemble workpiece place, complete repair welding.Finally, welding equipment is withdrawn, and part repair welding positioning tool is grabbed according to getting back to holding state with the step of above-mentioned steps contrary by this robot, and the workpiece that completes repair welding is sent to next procedure.
embodiment 2:
Claims (7)
1. part repair welding positioning tool is grabbed by a robot, the arm of described robot is provided with robot gripping apparatus, it is characterized in that comprising substrate (1), substrate (1) is provided with clamp column (2), clamp column (2) is provided with the robot gripping apparatus positioning fixture that can coordinate with robot gripping apparatus, and robot gripping apparatus positioning fixture comprises gripping apparatus detent mechanism and gripping apparatus retaining mechanism.
2. part repair welding positioning tool is grabbed by robot according to claim 1, it is characterized in that clamp column (2) top is provided with the downward bending part (9) of bending, and described gripping apparatus detent mechanism and gripping apparatus retaining mechanism are located on bending part (9).
3. part repair welding positioning tool is grabbed by robot according to claim 1, it is characterized in that described robot gripping apparatus positioning fixture also comprises upright post connecting plate (6) and fixture installing plate (7), upright post connecting plate (6) is close to and is connected with fixture installing plate (7), described gripping apparatus retaining mechanism comprises locking bail (3), vertical lift cylinder (4) and oscillating cylinder (5), vertical lift cylinder (4) is connected on fixture installing plate (7), on the piston rod of vertical lift cylinder (4), be also connected with a lifter slide (8), the cylinder body of oscillating cylinder (5) is connected on lifter slide (8), locking bail (3) is connected on the output shaft of oscillating cylinder (5), the crotch portion opening of locking bail (3) take the shape of the letter U and with the side face adaptation of rod member that forms robot gripping apparatus framework, the crotch portion edge of opening of locking bail (3) is provided with chamfering.
4. part repair welding positioning tool is grabbed by robot according to claim 3, it is characterized in that upright post connecting plate (6) is provided with a pair of guide bar support plate (12) vertical with upright post connecting plate (6), between two guide bar support plates (12), be vertically installed with guide rod (13), lifter slide (8) is provided with slide contact part, and this slide contact part is slidably socketed on guide rod (13).
5. part repair welding positioning tool is grabbed by robot according to claim 3, it is characterized in that described gripping apparatus detent mechanism comprises at least two alignment pins (15) straight down, alignment pin (15) is telescopic action formula structure, fixture installing plate (7) is provided with locating pin bracket assembly (10), locating pin bracket assembly (10) bottom is installed with alignment pin telescopic cylinder (11), alignment pin (15) is connected on the piston rod of alignment pin telescopic cylinder (11), and alignment pin (15) end is provided with tapering.
6. grab part repair welding positioning tool according to the robot described in claim 3 or 4 or 5, it is characterized in that being provided with middle connecting plate (14) between upright post connecting plate (6) and fixture installing plate (7), upright post connecting plate (6) is connected with middle connecting plate (14) bolt respectively with fixture installing plate (7), on upright post connecting plate (6) and fixture installing plate (7), be equipped with parallel slotted hole, parallel slotted hole on upright post connecting plate (6) is vertical with the parallel slotted hole trend on fixture installing plate (7), middle connecting plate (14) is provided with the screwed hole corresponding with parallel slotted hole position on upright post connecting plate (6) and fixture installing plate (7).
7. grab part repair welding positioning tool according to the robot described in claim 1 or 2 or 3 or 4 or 5, it is characterized in that clamp column (2) is two or three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310563767.0A CN103862482B (en) | 2013-11-14 | 2013-11-14 | A kind of robot grip repair welding positioning tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310563767.0A CN103862482B (en) | 2013-11-14 | 2013-11-14 | A kind of robot grip repair welding positioning tool |
Publications (2)
| Publication Number | Publication Date |
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| CN103862482A true CN103862482A (en) | 2014-06-18 |
| CN103862482B CN103862482B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310563767.0A Expired - Fee Related CN103862482B (en) | 2013-11-14 | 2013-11-14 | A kind of robot grip repair welding positioning tool |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553028A (en) * | 2017-10-26 | 2018-01-09 | 安徽江淮汽车集团股份有限公司 | Truck top cover automatic welding equipment and welding procedure |
| CN109909632A (en) * | 2019-04-04 | 2019-06-21 | 重庆元创自动化设备有限公司 | White body automatic welding production line |
| CN110081058A (en) * | 2019-05-31 | 2019-08-02 | 安徽巨一自动化装备有限公司 | A kind of spring positioning pin assembly applied in automatic welding line |
| CN110315484A (en) * | 2018-03-30 | 2019-10-11 | 中集车辆（集团）有限公司 | End carriage assembly equipment |
| CN111421231A (en) * | 2020-04-07 | 2020-07-17 | 湖南汽车工程职业学院 | Omnibearing laser welding production line and welding method thereof |
| CN112108865A (en) * | 2019-12-31 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Vehicle body total-assembly positioning detection method and system and storage medium |
| CN114406545A (en) * | 2022-02-17 | 2022-04-29 | 洛阳理工学院 | Sliding type vehicle body welding positioning pin workbench |
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| CN202780321U (en) * | 2012-08-06 | 2013-03-13 | 东风汽车股份有限公司 | Automobile roof hanging fixture |
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- 2013-11-14 CN CN201310563767.0A patent/CN103862482B/en not_active Expired - Fee Related
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| FR2342421A1 (en) * | 1976-02-24 | 1977-09-23 | Galva Rhone | Attachment of tubular rails to supports - using clamp bolts inserted through slots in rails and formed with locating plates welded in place |
| CN201881098U (en) * | 2010-11-24 | 2011-06-29 | 奥维通信股份有限公司 | LOOP welding tooling |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553028A (en) * | 2017-10-26 | 2018-01-09 | 安徽江淮汽车集团股份有限公司 | Truck top cover automatic welding equipment and welding procedure |
| CN110315484A (en) * | 2018-03-30 | 2019-10-11 | 中集车辆（集团）有限公司 | End carriage assembly equipment |
| CN109909632A (en) * | 2019-04-04 | 2019-06-21 | 重庆元创自动化设备有限公司 | White body automatic welding production line |
| CN109909632B (en) * | 2019-04-04 | 2021-06-18 | 重庆元创自动化设备有限公司 | Automatic welding production line for body-in-white |
| CN110081058A (en) * | 2019-05-31 | 2019-08-02 | 安徽巨一自动化装备有限公司 | A kind of spring positioning pin assembly applied in automatic welding line |
| CN112108865A (en) * | 2019-12-31 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Vehicle body total-assembly positioning detection method and system and storage medium |
| CN111421231A (en) * | 2020-04-07 | 2020-07-17 | 湖南汽车工程职业学院 | Omnibearing laser welding production line and welding method thereof |
| CN114406545A (en) * | 2022-02-17 | 2022-04-29 | 洛阳理工学院 | Sliding type vehicle body welding positioning pin workbench |
| CN114406545B (en) * | 2022-02-17 | 2023-12-08 | 洛阳理工学院 | Sliding type workbench for welding positioning pin on car body |
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| CN103862482B (en) | 2016-01-20 |
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Granted publication date: 20160120 Termination date: 20191114 |