CN105290691B - The double column positioner mechanisms and its control system welded for hopper - Google Patents

The double column positioner mechanisms and its control system welded for hopper Download PDF

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Publication number
CN105290691B
CN105290691B CN201510798854.3A CN201510798854A CN105290691B CN 105290691 B CN105290691 B CN 105290691B CN 201510798854 A CN201510798854 A CN 201510798854A CN 105290691 B CN105290691 B CN 105290691B
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Prior art keywords
column
driving shaft
driven shaft
positioner
gearbox
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CN105290691A (en
Inventor
姬耀锋
王中营
赵辉
张芬
任保臣
刘邦先
李磊
杜正
韩树
李伟莉
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Zhengzhou Technical College
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Zhengzhou Technical College
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps

Abstract

The present invention relates to a kind of special welding auxiliary equipment, specifically related to a kind of double column positioner mechanisms and its control system welded for hopper, including column, driving shaft, driven shaft, gearbox, motor and welding workpiece chucking mechanism, described column is made up of column one and column two, described column one and column two is arranged in parallel, described driving shaft level is erected at the top of column one, described driven shaft level is erected at the top of column two, described welding workpiece chucking mechanism both sides are flexibly connected with driving shaft and driven shaft respectively, described driving shaft is connected with gearbox simultaneously, described gearbox is connected with motor, the design is moved using closed loop driving stepper motor positioner, the real-time angular of photoelectric sensor collection positioner motion, can not only any angle displacement need, and positioner can be made to keep current location motionless after braking, so as to greatly improve the kinematic accuracy and positioning precision of positioner.

Description

The double column positioner mechanisms and its control system welded for hopper
Technical field
The present invention relates to a kind of special welding auxiliary equipment, and in particular to a kind of double column positioners welded for hopper Mechanism and its control system.
Background technology
Positioner is special welding auxiliary equipment, it is adaptable to the welding displacement of work is turned round, preferably to be processed Station and welding processing speed.It can be supported the use with operation machine, welding machine, composition automatic welding center, it can also be used to manual welding Workpiece displacement when connecing.Evolution is moved when double column list swinging positioners are mainly used in the welding of rectangle structure part.
The anglec of rotation of traditional double column list swinging positioners can not arbitrarily be adjusted in the range of 360 °, Er Qieqi Kinematic accuracy is only determined by the assembly precision of positioner mechanical structure;Welded part is after displacement, and it needs each flat of displacement Face is likely to be on different horizontal planes, requires higher to the exercise performance of automatic welding device, and is unfavorable for improving automatic The speed of welding of welding equipment.
The content of the invention
A kind of double columns change welded for hopper is provided it is an object of the invention to overcome of the prior art not enough Wei Ji mechanisms and its control system, can not only any angle displacement, additionally it is possible to make positioner brake after keep current location not It is dynamic, so as to substantially increase the kinematic accuracy and positioning precision of positioner, reduce the complexity of automatic welder.
The object of the present invention is achieved like this:
A kind of double column positioner mechanisms welded for hopper, including column, driving shaft, driven shaft, gearbox, driving Motor and welding workpiece chucking mechanism, described column are made up of column one and column two, and described column one and column two is flat Row arrangement, described driving shaft level is erected at the top of column one, and described driven shaft level is erected at the top of column two, described Welding workpiece chucking mechanism both sides be flexibly connected respectively with driving shaft and driven shaft, described driving shaft connects with gearbox simultaneously Connect, described gearbox is connected with motor.
One end based on driving shaft described above, described is provided with keyway, and the other end is square cylinder structure, described Wherein one end of driven shaft is also square cylinder structure, and described end of the driving shaft with keyway is fixedly connected with gearbox.
It is fixed based on driving shaft described above, described by bearing block one and bearing block two, described driven shaft It is fixed by bearing block three and bearing block four.
It is set with based on driving shaft and driven shaft described above, described by bearing with spherical outside surface and bearing block.
Based on passing through fixed tray 4 between driving shaft described above, described, driven shaft and welding workpiece chucking mechanism Connection.
The fixation of welding workpiece chucking mechanism center of gravity can be adjusted based on being provided with fixed tray described above, described Hole, the two sides of described welding workpiece chucking mechanism are mounted on the corresponding fixing hole of two fixed trays, described fixation The centre of pallet is provided with the through hole for being docked with driving shaft or driven shaft, described driving shaft, driven shaft with it is logical The position of hole grafting is provided with end cap, and described end cap is bolted.
Based on welding workpiece chucking mechanism described above, a described generally funnel, including oral area framework, side frame Frame and under(-)chassis, described oral area framework, lateral frame and under(-)chassis have angle steel composition;
Also include being provided with mount hole on the hanging plate for being arranged symmetrically in oral area framework both sides, described hanging plate.
Based between hanging plate and lateral frame described above, described to leave gap.
A kind of double column list swinging positioner mechanism control systems as described above welded for hopper,
The control system includes man-machine interaction unit, central control unit, servo drive unit, stepper motor and coding Device, described man-machine interaction unit is connected with central control unit control, and control displacement is provided for operating personnel by touch-screen The man-machine interface of machine motion;Described central control unit is used for the data and control instruction for gathering man-machine interaction unit, driving Servo drive unit, while the input signal of capturing and coding device, realizes closed-loop control;Described stepper motor provides power;Institute The encoder stated detects the position signalling of driving shaft by correlation photoelectric sensor.
Driving shaft is arranged on by a mounting frame for sensor based on correlation photoelectric sensor described above, described On.
The design is moved using closed loop driving stepper motor positioner, the real-time angle of photoelectric sensor collection positioner motion Degree, can not only any angle displacement need, and can make positioner brake after keep current location it is motionless, so as to carry significantly The kinematic accuracy and positioning precision of high positioner;In the design, to multiple welding processing planes with common inscribed circle Structural member, using special clamping, mechanism is loaded, it is ensured that its welding plane by positioner after being changed into, in same level On face, such automatic welding device only needs to realize the welding campaign in same level, without considering vertical direction Motion, reduce the complexity of automatic welding device;It is fast using electromagnet when workpiece is ferromagnetic material in the design Fast fixed mechanism is fastened, so as to reduce the clamping time of workpiece, improves operating efficiency.
Brief description of the drawings
Fig. 1 is overall structural representation of the invention.
Fig. 2 is the structural representation of driving shaft.
Fig. 3 is the structural representation of driven shaft.
Fig. 4 is the positive structural representation of fixed tray.
Fig. 5 is the structural representation of fixed tray reverse side.
Fig. 6 is the assembling structure schematic diagram of fixed tray and driving shaft or driven shaft.
Fig. 7 is fixed tray and driving shaft or the assembling exploded view of driven shaft.
Fig. 8 is the contour structures schematic diagram of hopper.
Fig. 9 is the structural representation of welding workpiece chucking mechanism.
Figure 10 is the design sketch that is loaded of welding workpiece chucking mechanism.
Figure 11 is the structural representation of rotating center.
Figure 12 is control system general structure block diagram.
Figure 13 is the operation interface of man-machine interaction.
The structural representation of Figure 14 correlation photoelectric sensors.
Figure 15 control system circuit block diagrams.
Embodiment
With reference to specific embodiment, the invention will be further described.
It is a kind of for hopper weld double column list swinging positioner mechanisms, including column 1, driving shaft 2, driven shaft 3, Gearbox 4, motor 5 and welding workpiece chucking mechanism 8, described column 1 are made up of column 1 and column 27, described Column 1 and column 27 be arranged in parallel, the described level of driving shaft 2 is erected at the top of column 1, the described water of driven shaft 2 Flatrack is located at the top of column 27, and the described both sides of welding workpiece chucking mechanism 8 connect with driving shaft 2 and the activity of driven shaft 3 respectively Connect, described driving shaft 2 is connected with gearbox 4 simultaneously, and described gearbox 4 is connected with motor 5.
Column 1 and column 27 therein using trapezium structure pillar construction, add column weight capacity and Workpiece overturns the strength of generation back and forth.In addition, column is hollow structure, centre is using vertical a column and two support posts The mode of structure is as shown in figure 1, the width of the column of column ensure that the area contacted with ground, increase stability.
As shown in Fig. 1,2,3,4,5,6,7, one end of described driving shaft 2 is provided with keyway 9, and key is passed through with gearbox 4 Connection, is attached by a flat key, can be good at realizing the synchronous axial system of driving shaft 2 and gearbox 4.The other end is side Shape column structure, wherein one end of described driven shaft 3 is also square cylinder structure.While the through hole at the center of fixed tray 14 16 be also square structure, identical so with the end construction of driving shaft 2 and driven shaft 3, fixed suit is formed, then by end cap Then cover plate 17 is fixed on by 17 lids mounted in the position of through hole 16 of fixed tray 14 by bolt with fixed tray 14, rotary shaft Together, overall stability is ensure that, and dismounting and maintenance are all very convenient, will not especially occur to turn on the direction of circumference The slippage of moving axis and fixed tray 14, while for transmitting the moment of torsion needed for moving, extending the life-span used.
Described driving shaft 2 is fixed by bearing block 1 and bearing block 2 11, and described driven shaft 3 passes through bearing Seat 3 12 and bearing block 4 13 are fixed.Described driving shaft 2 and driven shaft 3 passes through bearing with spherical outside surface and bearing sleeve Dress.Connected between described driving shaft 2, driven shaft 3 and welding workpiece chucking mechanism 8 by fixed tray 14.Described is vertical The upper surface of post 1 and column 27 is that horizontal plane so ensure that the horizontally disposed of all bearing blocks, it is ensured that it is stable Property.Meanwhile, on the one hand driving shaft 2 and driven shaft 3 ensure that its intensity, on the other hand can protect using two bearing blocks Hold the stability of driving shaft 2 and driven shaft 3.If using a bearing block, then driving shaft or driven shaft are in column Top surface easily produce the rotation of level, so as to damage bearing block, because welding workpiece chucking mechanism 8 is needed along driving shaft Or the direction of driven shaft circumference is rotated, therefore, if bearing block is insecure, then due to welding workpiece card-loading machine Structure 8 is installed after hopper, and the weight of its own can be very big, thus can when rotating, will perpendicular to driving shaft and Shearing force is produced on the direction of driven shaft, driving shaft or driven shaft is so easily damaged.
In addition, the driving shaft and driven shaft of double column list swinging positioners are the center of gyration, its main function Be transmit gyration needed for moment of torsion and provide support welded part and corresponding clamping mechanism needed for power.In the design In, the fixation of driving shaft and driven shaft uses bearing with spherical outside surface, because bearing with spherical outside surface has self-aligning function, so solid Ensure required axiality while the precision of installation can be reduced when fixed two axle, and two axle agent structures can be used The form of optical axis.
As shown in Figure 4,5, consolidating for the center of gravity of welding workpiece chucking mechanism 8 can be adjusted by being provided with described fixed tray 14 Determine hole 15, the two sides of described welding workpiece chucking mechanism 8 are mounted on the corresponding fixing hole 15 of two fixed trays 14, institute The fixing hole 15 stated is the hole of ellipse, and oval hole has certain width, can be finely adjusted, using circular hole then in itself It can not be finely adjusted, because the gap ratio between adjacent hole is larger, therefore is not easy to be finely adjusted, oval hole is just Overcome such shortcoming, fine setting is can be carried out along the hole of ellipse, then fix.In addition, the cloth in the hole of ellipse Office is also random, but must be parallel to each other, and means that the center line of oval sky is parallel to each other, so contributes to carry out Regulation, as shown in Figure 4,5, oval hole is all parallel to each other, it is impossible to orthogonal slotted eye occurs, is so not easy to Regulation, is especially finely tuned.
Based on welding workpiece chucking mechanism 8 described above, a described generally funnel, including oral area framework 81, side Surface frame frame 82 and under(-)chassis 83, described oral area framework 81, lateral frame 82 and under(-)chassis 83 have angle steel composition;Also wrap Include and be provided with mount hole 19 on the hanging plate 18 for being arranged symmetrically in the both sides of oral area framework 81, described hanging plate 18.Described hanging plate 18 It is to leave gap 20 between lateral frame 82.The funnel that the present invention relates to is one of which, but is required for looking for To center line, such workpiece when rotating, just will not because of it is on centerline, and produce the result of skew.Such as For the workpiece of comparison rule, center line is readily found if the workpiece such as cuboid, square, cylinder, but for not The structure of rule, such as funnel is just not easily found center line, and funnel as shown in Figure 8 is in irregular shape, in rotation When be accomplished by that center line must be found accurately, easily produce sideslip when being otherwise not easy to rotate or rotate.
Searching for the center line of this structure can carry out center using method as indicated at 11 using the method for inscribed circle Searching, by funnel carry out section placement, be a trapezium structure as shown in figure 11, draw a circle, the circle simultaneously with it is trapezoidal Top, two sides are tangent, and the center of circle of the circle so drawn is exactly the place of center line, it is possible to which that gently send very much finds center Line, then carries out the installation of next step again.
As shown in figure 9, it, according to the welding workpiece chucking mechanism for finding the hopper behind center, is integrally a funnel to be exactly Structure, just hanging plate 18 be arranged on the both sides of the welding workpiece chucking mechanism of bucket-shaped structure, positioned at immediate vicinity, then in hanging plate Mount hole 19 is set on 18, and ellipse corresponding with fixed tray 14 is fixedly connected.Then the steel plate of welding will be needed The pattern according to Figure 10 be buckled in welding workpiece chucking mechanism, it is possible to realize rotation when welding.Hanging plate for convenience The installation of steel plate between 18 and welding workpiece chucking mechanism, reserves certain hole between hanging plate 18 and lateral frame 82 20。
A kind of double column list swinging positioner mechanism control systems welded for hopper, the control system includes man-machine Interactive unit, central control unit, servo drive unit, stepper motor and encoder, described man-machine interaction unit and center Control unit control connection, the control man-machine interface that positioner is moved is provided by touch-screen for operating personnel;Described center Control unit is used for the data and control instruction for gathering man-machine interaction unit, servo drive unit is driven, while capturing and coding device Input signal, realize closed-loop control;Described stepper motor provides power;Described encoder passes through correlation photoelectric sensing Device detects the position signalling of driving shaft.
Driving shaft is arranged on by a mounting frame for sensor based on correlation photoelectric sensor described above, described On.
Because positioner is moved to behind desired position, its motion state will keep constant, so selection has certainly herein The gearbox of lock function --- turbine and worm gearbox.In order to reduce the complexity of system, the number of parts is reduced, system is improved The reliability of system, selects the hollow turbine and worm gearbox in right angle herein, and the gearbox and driving shaft are by keyway up to being connected Connect, as shown in Figure 9.The gear ratio of gearbox can may be selected 1 according to running speed and the demand of required torque:3~1:180 Between a variety of gear ratio.
Required power source selection closed loop stepper motor, i.e. one end of the output shaft of the stepper motor and encoder phase herein Connection, can export corresponding position signalling.
Positioner Design of Motion Control System
Positioner kinetic control system is used for the rotation shifting movement for accurately controlling positioner, and provides people for operating personnel Machine interface, all angles of rotation displacement for needed for being set welded part.Positioner kinetic control system general structure is as schemed Shown in 12.
1st, man-machine interaction unit is designed
Man-machine interaction unit provides the man-machine interface of control positioner motion for operating personnel, and its function includes:Start and become Position motion, stop all angles needed for shifting movement, setting workpiece displacement, show the anglec of rotation of current positioner in real time Deng realizing the function using the touch-screen commonly used in industrial production herein.In display window design startup, the stopping of touch-screen And the function of angle input.
As shown in figure 13, displacement angle input frame is used to input the angle that rotation shifting movement wants in-position point successively Value, whole rotary motion is 0~360 degree, and operating personnel can pass through angle as needed in displacement angle input frame 1~8 Increase button ▲ and angle reduces button ▼, successively the angle of setting rotation displacement.If the location point of required change is less than 8, Then unwanted displacement angle can use 0 degree of system default value.System is successively read when work since displacement angle 1 The angle-data of required displacement, when reading first 0 angle, the location point of displacement is so far needed for system thinks, its Displacement angle data afterwards are no longer read.Current angular display box is used for showing the real-time angular position of positioner motion.When by Under after " startup " button, central control unit is just successively read the angle-data of input, then just starts to move as requested.When " stopping " button is pressed when positioner rotates, positioner moves to current desired in-position point and soon stops fortune It is dynamic.When positioner preparation, if in non-initial position, RESET button can be pressed, positioner is just returned automatically To initial position.
2nd, Design of Central Control Unit
Central control unit is used for the data and control instruction for gathering man-machine interaction unit, then drives servo-drive list Member, control stepper motor motion, so as to drive positioner driving shaft to rotate.Meanwhile, central control unit is defeated using encoder Enter signal, according to the gear ratio of gearbox, calculate the current angle of driving shaft, and with the input angle data of man-machine interaction unit Compare, so as to realize accurate closed-loop control.Positioner working environment dust is more, during welding produced electromagnetic interference compared with By force, so selection PLC is used as control axis herein.
3rd, other motion control units are designed
The kinetic control system of positioner also has and power supply in addition to central control unit and man-machine interaction unit Related stepper motor, stepper motor driver and position feedback encoder used.
Stepper motor will be rotated according to the actual conditions of load, and stepper motor driver is then needed according to stepper motor To rotate.Because practical working situation is different, the species of alternative stepper motor and respective actuator is more, no longer goes to live in the household of one's in-laws on getting married herein State.And encoder then needs to select increment type, in order to detect the position signalling of driving shaft in real time.
In addition, in order that obtaining positioner Rapid reset, it is necessary in positioner driving shaft(Or driven shaft)Side, is installed to penetrating Formula photoelectric sensor, as shown in figure 14.
It is 45 ° that two correlation photoelectric sensors are arranged on driving shaft axle center angle by mounting frame for sensor Position, can improve positioning precision of the positioner in initial position.When positioner is in initial position, two sensors are led It is logical, central control unit is transmitted a signal to, respective handling is carried out by central control unit.
4th, quick-clamping is designed
When the material of welded part is ferromagnetic substance, in order to improve the clamping speed of welded part, it can adopt Workpiece is fixed with the mode of magnechuck.
After welded part is positioned on clamping mechanism, magnechuck control button is pressed, just can obtain magnechuck Electricity, so that workpiece be tightly fixed together with clamping mechanism.In order to prevent magnechuck during use, because disconnected suddenly Electricity, and cause workpiece to be come off with clamping mechanism, the power supply of magnechuck will individually be powered using ups power.
5th, kinetic control system circuit design
Positioner kinetic control system circuit is for controlling positioner accurately to be rotated according to the requirement of operating personnel Motion, its circuit structure is as shown in figure 15.
Data exchange is carried out by RS232 buses between touch-screen and PLC:PLC reads displacement angle and the control of touch-screen Information processed, after processing, control signal is produced by PLC, is sent to servo-driver, Driving Stepping Motor motion;At the same time, PLC reads the code device signal that is connected with stepping motor rotor, and after being processed to, is converted into the physical location of positioner Information, send touch-screen to show.After RESET key is pressed, PLC driving positioner motions, when it detects position-detection sensor After the position signalling of transmission, positioner is stopped to arrive current location, the position is the initial position of positioner.
If the positioner is used in automatic production line, touch screen portion can be regard as the real-time of working state of system Monitoring, and PLC is directly connected by industrial bus with host computer, receive the instruction that host computer is sent, it is possible to displacement Machine current motion state is sent to host computer, is uniformly processed by host computer.
The Curve guide impeller of the positioner, the industrial production for not being only modernization brings facility, and also mitigates operation The work load of personnel, will create more wealth of societys.

Claims (2)

1. a kind of double column list swinging positioner mechanisms welded for hopper, it is characterised in that:Including column(1), actively Axle(2), driven shaft(3), gearbox(4), motor(5)With welding workpiece chucking mechanism(8), described column(1)By standing Post one(6)With column two(7)Composition, described column one(6)With column two(7)Parallel arrangement, described driving shaft(2)Water Flatrack is located at column one(6)Top, described driven shaft(2)Level is erected at column two(7)Top, described welding workpiece dress Mechanism for card(8)Both sides respectively with driving shaft(2)And driven shaft(3)It is flexibly connected, described driving shaft(2)While and gearbox (4)Connection, described gearbox(4)With motor(5)Connection;
Described driving shaft(2)One end be provided with keyway(9), the other end is square cylinder structure, described driven shaft(3)'s Wherein one end is also square cylinder structure, described driving shaft(2)With keyway(9)End and gearbox(4)It is fixedly connected;
Described driving shaft(2)Pass through bearing block one(10)With bearing block two(11)It is fixed, described driven shaft(3)Pass through Bearing block three(12)With bearing block four(13)It is fixed;
Described driving shaft(2)And driven shaft(3)It is set with by bearing with spherical outside surface and bearing block;
Described driving shaft(2), driven shaft(3)With welding workpiece chucking mechanism(8)Between pass through fixed tray(14)Connection;
Described fixed tray(14)On be provided with and can adjust welding workpiece chucking mechanism(8)The fixing hole of center of gravity(15), institute The fixing hole stated(15)For the hole of ellipse, and it is arranged parallel to, described welding workpiece chucking mechanism(8)Two sides hang Mounted in two fixed trays(14)Corresponding fixing hole(15)On, described fixed tray(14)Centre be provided with and be used for With driving shaft(2)Or driven shaft(3)The through hole of docking(16), described driving shaft(2), driven shaft(3)With through hole(16)Insert The position connect is provided with end cap(17), described end cap(17)It is bolted;
Described welding workpiece chucking mechanism(8)A generally funnel, including oral area framework(81), lateral frame(82)And bottom Portion's framework(83), described oral area framework(81), lateral frame(82)And under(-)chassis(83)There is angle steel composition;
Also include being arranged symmetrically in oral area framework(81)The hanging plate of both sides(18), described hanging plate(18)On be provided with mount hole (19);
Described hanging plate(18)With lateral frame(82)Between to leave gap(20).
2. a kind of double column list swinging positioner mechanism control systems as claimed in claim 1 welded for hopper, its It is characterised by:The control system includes man-machine interaction unit, central control unit, servo drive unit, stepper motor and coding Device, described man-machine interaction unit is connected with central control unit control, and control displacement is provided for operating personnel by touch-screen The man-machine interface of machine motion;Described central control unit is used for the data and control instruction for gathering man-machine interaction unit, driving Servo drive unit, while the input signal of capturing and coding device, realizes closed-loop control;Described stepper motor provides power;Institute The encoder stated detects the position signalling of driving shaft by correlation photoelectric sensor;Described correlation photoelectric sensor passes through One mounting frame for sensor is arranged on driving shaft.
CN201510798854.3A 2015-11-19 2015-11-19 The double column positioner mechanisms and its control system welded for hopper Active CN105290691B (en)

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CN105945494A (en) * 2016-06-08 2016-09-21 山东希斯新能源发展有限公司 Large box-type steel structure welding positioner and use method thereof
CN106272553A (en) * 2016-08-31 2017-01-04 上海煜鹏通讯电子股份有限公司 The most complete a kind of compatible robot arm jig base and production method thereof
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CN103331559A (en) * 2013-06-19 2013-10-02 青岛云和机械制造有限公司 Head-to-tail type welding positioner
CN203356937U (en) * 2013-07-24 2013-12-25 济宁市松龄工程机械有限公司 Dozer blade shifting machine
CN203418272U (en) * 2013-08-07 2014-02-05 浙江吉俱泰汽车内饰有限公司 Automobile seat framework welding clamp for one-time clamping and welding

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