CN103862482B - A kind of robot grip repair welding positioning tool - Google Patents

A kind of robot grip repair welding positioning tool Download PDF

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Publication number
CN103862482B
CN103862482B CN201310563767.0A CN201310563767A CN103862482B CN 103862482 B CN103862482 B CN 103862482B CN 201310563767 A CN201310563767 A CN 201310563767A CN 103862482 B CN103862482 B CN 103862482B
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CN
China
Prior art keywords
robot
gripping
plate
upright post
fixture
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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.)
Expired - Fee Related
Application number
CN201310563767.0A
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Chinese (zh)
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CN103862482A (en
Inventor
林玮华
潘巨林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHEJIANG LAND ROVER AUTOMOBILE Co Ltd
Zhejiang Geely Holding Group Co Ltd
Original Assignee
ZHEJIANG LAND ROVER AUTOMOBILE Co Ltd
Zhejiang Geely Holding Group Co Ltd
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Publication date
Application filed by ZHEJIANG LAND ROVER AUTOMOBILE Co Ltd, Zhejiang Geely Holding Group Co Ltd filed Critical ZHEJIANG LAND ROVER AUTOMOBILE Co Ltd
Priority to CN201310563767.0A priority Critical patent/CN103862482B/en
Publication of CN103862482A publication Critical patent/CN103862482A/en
Application granted granted Critical
Publication of CN103862482B publication Critical patent/CN103862482B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a kind of robot grip repair welding positioning tool, the arm of described robot is provided with robot gripping apparatus, robot grip repair welding positioning tool 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.This frock Neng Shi robot gripping apparatus is aloft by robot gripping apparatus positioning fixture location and locking, thus more supported, from the external force of welder when can bear welding better, stably keep the position of robot gripping apparatus and even workpiece, ensure welding quality better.

Description

A kind of robot grip repair welding positioning tool
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 grip repair welding positioning tool.
Background technology
In current automobile industry, robot is used widely, and on welding line, consumption is especially large.On existing automatic welding wiring, by place restriction and the consideration for cost aspect, vehicle body to be welded is usually only by a small amount of fixture fixed clamp complete tack welding of shuttling back and forth, then being picked up from the fixture that shuttles back and forth by the workpiece completing tack welding with robot develops simultaneously in the air, other welding equipment is assembled to workpiece, enforcement repair welding high up in the air is to complete the welding at residue position, while enforcement repair welding, the fixture that shuttles back and forth just can to shuttle back and forth back feeding station self-align welder position, carry out the loading of next workpiece and fix, fixture of so just can avoiding shuttling back and forth is occupied for a long time, and feeding station occurs in the situation waited for, thus can employ one's time to the best advantage, speed production beat, greatly enhance productivity.But because robot self has certain resetting error General Requirements to control within ± 0.2mm, robot picks up the deviation that can slightly allow when workpiece is fixed aloft, then can impose again the active force of different directions to workpiece when welding equipment welds simultaneously, workpiece shakes phenomenon unavoidably, under comprehensive function, welding position may be made to 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 on arranging above pan front, the left and right of base plate middle front part arranges the second bearing, and the top of each second bearing is all equipped with first and is pressed from both sides soon; The right-hand member at rear portion arranges three abutments in the soleplate, and the top of this three abutments is equipped with second and is pressed from both sides soon; The two ends, left and right of bottom rear are provided with the 4th bearing, and the second cylinder is all equipped with at the top of each 4th bearing, and alignment pin after being fixed with on the piston rod of each second cylinder.The present invention makes welding job disposablely complete, and not only simplify operation, makes location and welding operation simpler, convenient, and greatly reduces the labour intensity of workman, while guaranteeing welding precision and the degree of accuracy, also improve the efficiency of welding.But this frock carries out designing 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 arm self holding workpiece position can only be relied on during robot grabbing workpiece repair welding, be difficult to ensure that bond pad locations is accurate, for overcoming this defect, the invention provides one and can add strong fix to robot gripping apparatus, make workpiece more accurately more reliably can realize the grip repair welding positioning tool of locating.
Technical scheme of the present invention is: a kind of robot grip repair welding positioning tool, the arm of described robot is provided with robot gripping apparatus, robot grip repair welding positioning tool 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, when workpiece is caught in the air by robot, robot gripping apparatus moves to gripping apparatus positioning fixture place of robot and coordinates with it, robot gripping apparatus to be caught by gripping apparatus detent mechanism and gripping apparatus retaining mechanism and is locked by robot gripping apparatus positioning fixture, for robot gripping apparatus provides the supporting construction adding epistasis, robot gripping apparatus is made to have stronger external force resistance performance under the acting in conjunction of its own mechanical structure and robot gripping apparatus positioning fixture, can holding workpiece positioning precision better, guarantee welding quality.Because workpiece is caught in the air by robot, and be all workpiece during robot grabbing workpiece under, therefore clamp column needs to arrange certain altitude to coordinate position height and the location of workpiece of robot gripping apparatus, is not interfered when guaranteeing robot gripping apparatus location.
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.All workpiece during robot grabbing workpiece under, therefore clamp column top downward bending, arrange gripping apparatus detent mechanism and gripping apparatus retaining mechanism to coordinate with robot gripping apparatus from top to down, the working method of robot arm can be adapted to so better, 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, the piston rod of vertical lift cylinder is 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 hook part opening of locking bail takes the shape of the letter U and adaptive with the side face of the rod member forming robot gripping apparatus framework, the hook part edge of opening of locking bail is provided with chamfering.The effect of locking bail is the framework hooking robot gripping apparatus, limits the skew of robot gripping apparatus together with gripping apparatus detent mechanism.Locking bail hooks robot gripping apparatus to be needed to resolve into two actions, locking bail upset movement vertical with locking bail, locking bail must possess turn over function, just can abdicate passage makes robot gripping apparatus rising put in place, and then overturn return, make the U-shaped mouth of locking bail aim at the rod member of robot gripping apparatus framework, after this locking bail vertically rises and to be stuck in outside the rod member of robot gripping apparatus framework by U-shaped mouth.Oscillating cylinder can realize the upset of locking bail, and vertical lift cylinder then can realize the vertical movement of locking bail.The hook part edge of opening of locking bail arranges chamfering, eliminates corner angle, can play the guiding role, and is convenient to locking bail and more easily realizes coordinating with robot gripping apparatus frame unit.
As preferably, upright post connecting plate is provided with a pair guide bar support plate vertical with upright post connecting plate, and be vertically installed with guide rod between two guide bar support plates, lifter slide is provided with slide contact part, and slide contact part is slidably socketed on guide rod.Guide rod is through lifter slide, lifter slide can be made to have the sliding path determined, when 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 radial direction compressing of the piston rod of vertical lift cylinder, avoid if things go on like this piston rod to bend, 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, alignment pin telescopic cylinder is installed with bottom locating pin bracket assembly, 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 be formed workpiece on the contrary interferes, the alignment pin of movable then stretches out after workpiece is substantially in place again, when robot send part precision can ensure that workpiece is substantially in place, locating hole is aimed at alignment pin major part, after this when alignment pin stretches out, the tapering of its end can guide adjustment again further, finally make alignment pin and the locating hole on workpiece realize selling accurately-hole coordinates.
As preferably, middle connecting plate is provided with between upright post connecting plate and fixture installing plate, upright post connecting plate is connected with middle connecting plate bolt respectively with fixture installing plate, upright post connecting plate and fixture installing plate are equipped with parallel slotted hole, parallel slotted hole on upright post connecting plate and the trend of the parallel slotted hole on fixture installing plate vertical, middle connecting plate be provided with on upright post connecting plate and fixture installing plate screwed hole corresponding to parallel slotted hole position.During 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, horizontal and vertical relative position can be carried out between upright post connecting plate and fixture installing plate regulate, thus can by the best fit state with robot gripping apparatus of adjusting to of 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 more than one to carry out the layout of locking bail and alignment pin; but need certain passage because robot gripping apparatus send during workpiece, therefore should not arrange too many clamp column in order to avoid hinder workpiece conveying, two clamp column suitably space out; or three clamp column are arranged in L shape, can form enough passages.
The invention has the beneficial effects as follows:
Improve workpiece stability during robot grip repair welding, guarantee repair welding quality.This frock Neng Shi robot gripping apparatus is aloft by robot gripping apparatus positioning fixture location and locking, thus more supported, from the external force of welder when can bear welding better, stably keep the position of robot gripping apparatus and even workpiece, ensure welding quality better.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention;
A kind of view of Fig. 2 when to be the present invention coordinate with robot gripping apparatus;
Fig. 3 is a kind of working state schematic representation of the present invention when 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.
Detailed description of the invention
Below in conjunction with accompanying drawing specific embodiment, the invention will be further described.
embodiment 1:
As depicted in figs. 1 and 2, a kind of robot grip repair welding positioning tool, the arm of described robot is provided with robot gripping apparatus 16, and robot gripping apparatus framework is in " order " font, and the rod member be made up of square tube is welded, and robot gripping apparatus is provided with three locating holes.Robot grip repair welding positioning tool comprises substrate 1, and substrate 1 embeds ground, and substrate 1 has three vertical clamp column 2, three clamp column 2 to be arranged in L shape by Flange joint.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, middle connecting plate 14 is provided with between upright post connecting plate 6 and fixture installing plate 7, upright post connecting plate 6 and fixture installing plate 7 are connected with middle connecting plate 14 bolt respectively, upright post connecting plate 6 and fixture installing plate 7 are 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 the 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, the piston rod of vertical lift cylinder 4 is 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 on the vertical stationary plane of lifter slide 8 by bolt, 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 is then worn by bolt with a screwed hole on rotating disk and is connected, locking bail 3 thus be attached on the output shaft of oscillating cylinder 5, the rectangular U-shaped of hook part opening of locking bail 3 and adaptive with the square side face of the rod member forming robot gripping apparatus framework, the hook part edge of opening of locking bail 3 is provided with chamfering.Upright post connecting plate 6 is provided with a pair guide bar support plate 12 vertical with upright post connecting plate 6, two guide rods 13 are vertically installed with between two guide bar support plates 12, lifter slide 8 is provided with two slide contact parts, slide contact part is a through hole, interior 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 position is 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 the plate of two L shapes and combines, alignment pin telescopic cylinder 11 has been bolted bottom locating pin bracket assembly 10, locating pin bracket assembly 10 bottom surface is plane, alignment pin telescopic cylinder 11 is offset to locating pin bracket assembly 10 bottom surface one near side edges, alignment pin 15 is threaded on the piston rod of alignment pin telescopic cylinder 11, alignment pin 15 end is provided with tapering.
Robot grip repair welding positioning tool is controlled by PLC, each welder of robot arm and enforcement repair welding is also controlled by this PLC simultaneously, each cylinder on robot grip repair welding positioning tool is equipped with folding position proximity switch, in order to the open and-shut mode of the retracted position or output shaft that detect piston rod, and to described PLC input signal.In the standby state, vertical lift cylinder 4 piston rod stretches out, and lifter slide 8 drops to the end, and oscillating cylinder 5 is in an open position, and locking bail 3 outwards opens.When the workpiece completing tack welding to be taken off from the fixture that shuttles back and forth by robot gripping apparatus and space between two clamp column 2 maximum by spacing rises and delivers to robot gripping apparatus positioning fixture by robot arm, after after being close to bottom three locating holes on robot gripping apparatus and three alignment pin telescopic cylinders 11, position signalling is transferred to described PLC by the servomotor at robot arm joint place, PLC sends the magnetic valve switching gas circuit that instruction order controls 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, alignment pin telescopic cylinder 11 detects the proximity switch that piston rod stretches out state to be triggered, corresponding signal is sent to PLC, PLC then makes the magnetic valve switching gas circuit controlling oscillating cylinder 5, oscillating cylinder 5 output shaft goes back to closure state, locking bail 3 adduction, proximity switch oscillating cylinder 5 detecting output shaft closure state is triggered, in like manner PLC makes again the action of straight lift cylinder 4, lifter slide 8 gos up, the square tube rod member of the U-shaped opening aligning robot gripping apparatus framework of locking bail 3 blocks rod member side face, each like this locking bail 3 forms restriction to the rod member of robot gripping apparatus framework from three directions, and locating pin bracket assembly 10 bottom surface pushes against the rod member end face of robot gripping apparatus framework just, three locking bails 3, three alignment pins 15, locating pin bracket assembly 10 triplicity is just formed robot gripping apparatus and fixedly positioning and lock.Workpiece place assembled automatically by the welding equipment respectively implementing repair welding subsequently, completes repair welding.Finally, welding equipment is withdrawn, and robot grip repair welding positioning tool gets back to holding state according to the step with above-mentioned steps contrary, and the workpiece completing repair welding is sent to next procedure.
embodiment 2:
Clamp column 2 is two, parallel slotted hole direction on upright post connecting plate 6 is vertical direction, parallel slotted hole direction on fixture installing plate 7 is horizontal direction, alignment pin 15, locking bail 3 are two, when robot gripping apparatus positioning fixture is by robot gripping apparatus location, alignment pin 15 is lived apart the both sides of robot gripping apparatus framework, as shown in Figure 3.All the other are with embodiment 1.

Claims (5)

1. a robot grip repair welding positioning tool, 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, robot gripping apparatus positioning fixture comprises gripping apparatus detent mechanism and gripping apparatus retaining mechanism, 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 fixture installing plate (7) and is connected, 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), the piston rod of vertical lift cylinder (4) is 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 hook part opening of locking bail (3) takes the shape of the letter U and adaptive with the side face of the rod member forming robot gripping apparatus framework, the hook part edge of opening of locking bail (3) is provided with chamfering, middle connecting plate (14) is provided with 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), upright post connecting plate (6) and fixture installing plate (7) are 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 the parallel slotted hole position on upright post connecting plate (6) and fixture installing plate (7).
2. robot according to claim 1 grip repair welding positioning tool, it is characterized in that clamp column (2) top is provided with the downward bending part (9) of bending, described gripping apparatus detent mechanism and gripping apparatus retaining mechanism are located on bending part (9).
3. robot according to claim 1 grip repair welding positioning tool, it is characterized in that upright post connecting plate (6) is provided with a pair guide bar support plate (12) vertical with upright post connecting plate (6), guide rod (13) is vertically installed with between two guide bar support plates (12), lifter slide (8) is provided with slide contact part, and this slide contact part is slidably socketed on guide rod (13).
4. robot according to claim 1 grip repair welding positioning tool, 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.
5. the robot grip repair welding positioning tool according to claim 1 or 2 or 3 or 4, is characterized in that clamp column (2) is two or three.
CN201310563767.0A 2013-11-14 2013-11-14 A kind of robot grip repair welding positioning tool Expired - Fee Related CN103862482B (en)

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CN103862482B true CN103862482B (en) 2016-01-20

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CN107553028B (en) * 2017-10-26 2019-12-03 安徽江淮汽车集团股份有限公司 Truck top cover automatic welding equipment and welding procedure
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
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

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN202107328U (en) * 2011-05-26 2012-01-11 浙江吉润汽车有限公司 Grabbing mechanism of hanger
CN202336686U (en) * 2011-12-09 2012-07-18 浙江吉润汽车有限公司 Repair welding clamp
CN202398969U (en) * 2011-12-29 2012-08-29 浙江吉润汽车有限公司 Positioning device for repair welding
CN102689125A (en) * 2011-03-23 2012-09-26 哈尔滨新科锐工艺装备制造有限公司 Repair welding clamp for lower body of light weight vehicle
CN102825411A (en) * 2012-09-04 2012-12-19 力帆实业(集团)股份有限公司 Welding positioning tool for motorcycle head combination
CN202780321U (en) * 2012-08-06 2013-03-13 东风汽车股份有限公司 Automobile top cap hanging lifting clamping fixture

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN102689125A (en) * 2011-03-23 2012-09-26 哈尔滨新科锐工艺装备制造有限公司 Repair welding clamp for lower body of light weight vehicle
CN202107328U (en) * 2011-05-26 2012-01-11 浙江吉润汽车有限公司 Grabbing mechanism of hanger
CN202336686U (en) * 2011-12-09 2012-07-18 浙江吉润汽车有限公司 Repair welding clamp
CN202398969U (en) * 2011-12-29 2012-08-29 浙江吉润汽车有限公司 Positioning device for repair welding
CN202780321U (en) * 2012-08-06 2013-03-13 东风汽车股份有限公司 Automobile top cap hanging lifting clamping fixture
CN102825411A (en) * 2012-09-04 2012-12-19 力帆实业(集团)股份有限公司 Welding positioning tool for motorcycle head combination

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