CN111660041A - Welding gun device integrating welding and carrying - Google Patents
Welding gun device integrating welding and carrying Download PDFInfo
- Publication number
- CN111660041A CN111660041A CN202010670708.3A CN202010670708A CN111660041A CN 111660041 A CN111660041 A CN 111660041A CN 202010670708 A CN202010670708 A CN 202010670708A CN 111660041 A CN111660041 A CN 111660041A
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- CN
- China
- Prior art keywords
- block
- adjusting
- welding
- positioning pin
- clamping portion
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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.)
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Classifications
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Abstract
The invention discloses a welding gun device integrating welding and carrying, which comprises double crossbearers, a grabbing part, a welding gun, a first positioning component and a second positioning component, wherein the double crossbearers are fixedly connected through a reinforcing part, the grabbing part is arranged at the tail end of the double crossbearers, the grabbing part comprises a corner cylinder and a clamping part, the corner cylinder is fixedly arranged at the tail end of the double crossbearers and is used for driving the clamping part to be occluded or separated, the welding gun is fixedly arranged above the double crossbearers or the reinforcing part, the first positioning component and the second positioning component are used for positioning the position of a part in advance, the part is clamped and positioned by combining the two clamping parts of the grabbing part in a static and dynamic positioning fixing mode in two different directions at the left side and the right side, and four points are arranged on one part for positioning and fixing, therefore, the fixing state of the part is very stable, and the later-stage welding process can be favorably executed, reduce welding error and improve the welding quality of the welding process of parts.
Description
Technical Field
The invention relates to the technical field of automobile part welding, in particular to a welding gun device integrating welding and conveying.
Background
The welding manipulator is a device which is applied to the welding of automobile welding parts in the welding process. Because part car welding spare part size is bigger, and length width height size is more than 1 meter, and single personnel can't carry, need two man operations at least and just can carry spare part, and the manipulator must stop the operation in handling, otherwise has the potential safety hazard. Adopt the manual work mode to need drop into 2 operators and carry, the manual handling causes spare part to collide with badly easily, and the robot needs to shut down to wait in the manual handling process, will cause production efficiency low, can't satisfy customer's production beat requirement. In addition, lack the part of location during manual handling, it is inaccurate to lead to placing spare part, and then influences follow-up welded degree of accuracy.
Disclosure of Invention
In view of the above, the present invention provides a welding gun device integrating welding and conveying.
The technical means adopted by the invention are as follows: a welding handling integrated welding gun device, comprising:
the double transverse frames are fixedly connected through the reinforcing piece.
The grabbing part is arranged at the tail ends of the double cross frames and comprises a corner cylinder and a clamping part, the corner cylinder is fixedly installed at the tail ends of the double cross frames and used for driving the clamping part to be meshed or separated.
And the welding gun is fixedly arranged above the double cross frames or the reinforcing piece.
The first positioning assembly comprises a first support frame, a first adjusting block and a first positioning pin, the first adjusting block is L-shaped, the first support frame is fixedly installed at the tail end of the double cross frames, one end of the first adjusting block is movably installed on the first support frame, and the first positioning pin is movably installed at the other end of the first adjusting block.
The second positioning assembly comprises a linear air cylinder, a second adjusting block and a second positioning pin, wherein the second adjusting block is L-shaped, the linear air cylinder is fixedly installed at the tail end of a double cross frame adjacent to the first positioning assembly, one end of the second adjusting block is movably installed at the tail end of a drive of the linear air cylinder, and the second positioning pin is movably installed at the other end of the second adjusting block.
Preferably, the first positioning pin is arranged in the vertical direction, and the second positioning pin is arranged in the horizontal direction.
Preferably, the first adjusting block is provided with a plurality of adjusting holes, the first support frame is also provided with a plurality of adjusting holes, the first adjusting block and the first support frame penetrate into the adjusting holes through bolts for adjusting and fixing, the first positioning pin is provided with a first bar-shaped block integrated with the first positioning pin, the first bar-shaped block is also provided with a plurality of adjusting holes, and the first adjusting block and the first bar-shaped block penetrate into the adjusting holes through bolts for adjusting and fixing; the second adjusting block is provided with a plurality of adjusting holes, the driving tail end of the linear air cylinder is also provided with a plurality of adjusting holes, the driving tail ends of the second adjusting block and the linear air cylinder penetrate into the adjusting holes through bolts to be adjusted and fixed, the second positioning pin is provided with a second bar-shaped block integrated with the second positioning pin, the second bar-shaped block is also provided with a plurality of adjusting holes, and the second adjusting block and the second bar-shaped block penetrate into the adjusting holes through bolts to be adjusted and fixed.
Preferably, the clamping part includes clamping part and lower clamping part, the corner cylinder sets up for vertical direction, the lower part of corner cylinder rotates end fixed mounting has the crank arm, crank arm with clamping part fixed connection down, it installs to go up clamping part fixed mounting two crossbearers are terminal.
Preferably, the upper clamping portion and the lower clamping portion are both L-shaped clamping plates, and the upper clamping portion and the lower clamping portion are arranged in an up-and-down symmetrical manner.
Preferably, a plurality of pressure supporting blocks are arranged on the opposite surfaces of the upper clamping part and the lower clamping part, and the pressure supporting blocks are arranged on the L-shaped clamping plate through adjusting gaskets.
Preferably, the support pressing block is L-shaped, a flange clamping reference block is arranged on the inner end face of the support pressing block, and the flange clamping reference block is arranged on the inner end face of the support pressing block through an adjusting gasket.
Preferably, the flange clamping reference block is provided with a convex part.
By adopting the welding gun device integrating welding and carrying, mechanical automatic carrying is realized before and after the welding process, the problem that parts are not easy to fix is solved, and dangers are avoided; the carrying speed is increased, the production efficiency is ensured, and the production speed is greatly increased by connecting the manipulator with the conveying device; through the fixed mode in the fixed location of two equidirectional static one of left and right sides, combine two clamping parts of portion of grabbing to the centre gripping location of spare part, have four points to fix a position and fix on a spare part, consequently, the fixed state of spare part is very stable, is favorable to later stage welding process's execution, reduces welding error, improves spare part welding process's welding quality.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged schematic view of one of the gripper sections of FIG. 1;
FIG. 3 is an enlarged schematic view of another of the gripping portions of FIG. 1;
fig. 4 is a schematic view of the gripping portion gripping the component.
In the figure: 1. a double cross frame; 2. a reinforcement; 3. a grasping section; 4. a welding gun; 5. a first positioning assembly; 6. a second positioning assembly; 31. a corner cylinder; 32. a clamping portion; 321. an upper clamping portion; 322. a lower clamping portion; 33. a crank arm; 34. supporting and pressing a block; 35. adjusting the gasket; 36. clamping a reference block by a flange; 37. a convex portion; 51. a first support frame; 52. a first adjusting block 53 and a first positioning pin; 531. a first bar; 54 an adjustment aperture; 61. a linear cylinder; 62. a second regulating block; 63. a second positioning pin; 631. a second bar block.
Detailed Description
The principles and features of this invention are described below in conjunction with examples which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
As shown in fig. 1 to 3, a welding torch device integrating welding and conveying includes:
the double transverse frames 1 are fixedly connected through the reinforcing piece 2; the double transverse frame 1 is understood here to be two parallel and transversely arranged support frames, in which case the reinforcement 2 is generally perpendicular to the double transverse frame 1; of course, the double transverse frame 1 and the reinforcing element 2 may be other supporting frame structures which can be fixed to each other transversely.
The grabbing part 3 is arranged at the tail end of the double-transverse-frame 1, the grabbing part 3 comprises a corner cylinder 31 and a clamping part 32, the corner cylinder 31 is fixedly installed at the tail end of the double-transverse-frame 1, and the corner cylinder 31 is used for driving the clamping part 32 to be meshed or separated. Specifically, the clamping portion 32 includes an upper clamping portion 321 and a lower clamping portion 322, the corner cylinder 31 is vertically disposed, a crank arm 33 is fixedly mounted at a lower rotating end of the corner cylinder 31, the crank arm 33 is fixedly connected with the lower clamping portion 322, and the upper clamping portion 321 is fixedly mounted at the tail end of the double-cross frame 1. In this embodiment, the upper clamping portion 321 and the lower clamping portion 321 are both L-shaped clamping plates, and the upper clamping portion 321 and the lower clamping portion 322 are disposed vertically symmetrically. When the corner cylinder 31 rotates, the crank arm 33 is driven to rotate and control the lower clamping portion 322 to be meshed with or separated from the upper clamping portion 321, the parameter setting of the corner cylinder 31 can be controlled, so that the meshing force between the upper clamping portion 321 and the lower clamping portion 322 can be adjusted, and the problem that parts are irregularly deformed due to uneven force application during manual operation is avoided.
The welding gun 4 can be a spot welding gun or an arc welding gun or other existing welding guns, the welding gun 4 is used for welding the parts grabbed by the grabbing part 3, and the welding gun 3 is fixedly arranged above the double-cross frame 1 or the reinforcing part 2; in the present embodiment, the welding torch 3 is attached to the reinforcement 2, and may be attached to the double cross frame 1 in actual operation.
As shown in fig. 2, the first positioning assembly 5 includes a first supporting frame 51, a first adjusting block 52 and a first positioning pin 53, the first adjusting block 52 is L-shaped, the first supporting frame 51 is fixedly mounted at the end of the double-cross frame 1, one end of the first adjusting block 52 is movably mounted on the first supporting frame 51, and the first positioning pin 53 is movably mounted at the other end of the first adjusting block 52. First locating component 5 belongs to static locating component, and after portion 3 snatchs the spare part snatchs, set up one in advance and can let the recess of first locating pin 53 block on the general spare part, perhaps itself has the recess that can let first locating pin 53 alternate the location on the spare part, carries out relatively fixed on the spare part through first locating pin 53 block, reaches the position of stabilizing the spare part, realizes the effect of location. Specifically, the position of the first positioning pin 53 can be adjusted by the first adjusting block 52, so that positioning of parts with different sizes can be satisfied. Here, the first positioning pin 53 is generally disposed in a vertical state, and can penetrate through a groove of the component in a vertical direction for positioning and fixing.
As shown in fig. 3, the second positioning assembly 6 includes a linear cylinder 61, a second adjusting block 62 and a second positioning pin 63, the second adjusting block 62 is L-shaped, the linear cylinder 61 is fixedly mounted at the end of the double cross frame 1 adjacent to the first positioning assembly 5, one end of the second adjusting block 62 is movably mounted at the driving end of the linear cylinder 61, the driving direction of the linear cylinder 61 is horizontal, and the second positioning pin 63 is movably mounted at the other end of the second adjusting block 62. The linear cylinder 61 drives the second adjusting block 62 to reciprocate in the horizontal direction, so as to control the distance of the second positioning pin 63, and the second positioning pin 63 can be moved by the distance according to the requirements of parts under different conditions to perform actual operation. The first positioning component 5 belongs to a dynamic positioning component, the position of the second positioning pin 63 in the horizontal direction can be controlled through the linear cylinder 61, the second positioning pin 63 is arranged in the horizontal direction and can penetrate through a groove of a part in the horizontal direction for positioning and fixing, after the grasping part 3 grasps the component, the component is first positioned and fixed in the vertical direction by the first positioning pin 53, the parts are positioned and fixed in the horizontal direction by the second positioning pin 63 which can be dynamic, and by the positioning and fixing mode of the left side and the right side in two different directions of static and dynamic, the two clamping parts 32 of the combined grabbing part clamp and position the parts, one part is provided with four points for positioning and fixing, therefore, the fixed state of the parts is very stable, the execution of the later welding process is facilitated, the welding error is reduced, and the welding quality of the part welding process is improved.
In the use, be connected this device with the manipulator, the manipulator removes this device to the top of spare part, and the manipulator is through adjustment position and height for the preliminary block of first locating pin 53 and spare part, straight line cylinder promote second locating pin 63, make second locating pin 63 also with the spare part block, accomplish the fixed and location to the spare part. Then, the corner cylinder 31 works to enable the lower clamping portion 322 to rotate and to be meshed with the upper clamping portion 321, so that the component is firmly fixed between the upper clamping portion 321 and the lower clamping portion 322, the manipulator drives the device and the component to move together and place the device at another station, the lower clamping portion 322 is loosened, the first positioning pin 53 and the second positioning pin 63 leave the component, and operation is completed.
As shown in fig. 2 and 3, in an embodiment, the first adjusting block 52 is provided with a plurality of adjusting holes 54, the first support frame 51 is also provided with a plurality of adjusting holes 54, the first adjusting block 52 and the first support frame 51 are fixed after being adjusted by penetrating bolts into the adjusting holes 54, the first positioning pin 53 is provided with a first bar block 531 integrated with the first positioning pin 53, the first bar block 531 is also provided with a plurality of adjusting holes 54, the first adjusting block 52 and the first bar block 531 are fixed after being adjusted by penetrating bolts into the adjusting holes 54, and the relative position adjustment of the first adjusting block 52 and the first support frame 51 and the relative position adjustment of the first positioning pin 53 and the first adjusting block 52 are realized by the above manner. Similarly, the second adjusting block 62 is provided with a plurality of adjusting holes 54, the driving end of the linear cylinder 61 is also provided with a plurality of adjusting holes 54, the driving ends of the second adjusting block 62 and the linear cylinder 61 penetrate into the adjusting holes 54 through bolts to be adjusted and fixed, the second positioning pin 63 is provided with a second bar-shaped block 631 integrated with the second positioning pin 63, the second bar-shaped block 631 is also provided with a plurality of adjusting holes 54, the second adjusting block 62 and the second bar-shaped block 631 penetrate into the adjusting holes 54 through bolts to be adjusted and fixed, the relative position adjustment of the second adjusting block 62 and the linear cylinder driving end 61 and the relative position adjustment of the second positioning pin 63 and the second adjusting block 62 are realized through the above mode.
As shown in fig. 2 and 3, in one embodiment, a plurality of pressure pads 34 are disposed on the opposite surfaces of the upper clamping portion 321 and the lower clamping portion 322, and the number of the pressure pads 34 may be one or more, and is set according to the actual size. The supporting and pressing block 34 is used for supporting the parts to be carried, so that the upper clamping part 321 and the lower clamping part 322 completely clamp the parts when in occlusion, an adjusting gasket 35 is arranged between the supporting and pressing block 34 and the surface opposite to the upper clamping part 321 and the lower clamping part 322, the supporting and pressing block 34 is arranged on the L-shaped clamping plate through the adjusting gasket 35, here, it is easy to understand that the supporting block 34 is provided with one adjusting hole, the adjusting gasket 35 and the L-shaped clamping plate are provided with a plurality of adjusting holes, the supporting block 34 is also fixed by screws inserted into the adjusting holes of the supporting block 34, the L-shaped clamping plate and the adjusting gasket 35, the position of the supporting block 34 in the horizontal direction can be adjusted by screws inserted into different adjusting holes, can adjust the position of holding in the palm briquetting 34 in vertical direction through the adjusting shim 35 that sets up different thickness, consequently, can realize holding in the palm briquetting 34 through adjusting and make its and spare part's perfect adaptation. The pressure supporting block 34 is L-shaped, a flange clamping reference block 36 is arranged on the inner end face of the pressure supporting block 34, and the flange clamping reference block 36 is installed on the inner end face of the pressure supporting block 34 through an adjusting gasket 35. Similarly, blue centre gripping reference block 36 is equipped with an regulation hole, and support briquetting 34 is equipped with a plurality of regulation holes, adopts the screw rod to install fixedly, consequently, can carry out the regulation of vertical top through supporting briquetting 34 relatively at flange centre gripping reference block 36, also can be through setting up the adjusting shim 35 of different thickness, adjusts the position of support briquetting 34 on the horizontal direction. As shown in fig. 4, when the flange clamping datum block 36 is provided with one convex portion 37, in particular use, the convex portion 37 is made to fit the inner side wall of the component by adjustment, the top surface of the flange clamping datum block 36 fits the bottom wall of the component, and the other supporting pressing block 34 fits the outer wall of the component, so that accurate clamping and positioning are realized.
In conclusion, the welding gun device integrating welding and conveying provided by the invention realizes mechanical automatic conveying before and after the welding process, solves the problem that parts are not easy to fix, and avoids danger; the carrying speed is increased, the production efficiency is ensured, and the production speed is greatly increased by connecting the manipulator with the conveying device; through the fixed mode in the fixed location of two equidirectional static one of left and right sides, combine two clamping parts 32 of portion of grabbing to the centre gripping location of spare part, have four points to fix a position and fix on a spare part, consequently, the fixed state of spare part is very stable, is favorable to later stage welding process's execution, reduces welding error, improves spare part welding process's welding quality.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides an integrative welder device of welding transport which characterized in that includes:
the double cross frames are fixedly connected through a reinforcing piece;
the grabbing part is arranged at the tail end of the double transverse frames and comprises a corner cylinder and a clamping part, the corner cylinder is fixedly arranged at the tail end of the double transverse frames, and the corner cylinder is used for driving the clamping part to be occluded or separated;
the welding gun is fixedly arranged above the double cross frames or the reinforcing piece;
the first positioning assembly comprises a first support frame, a first adjusting block and a first positioning pin, wherein the first adjusting block is L-shaped, the first support frame is fixedly arranged at the tail end of the double cross frame, one end of the first adjusting block is movably arranged on the first support frame, and the first positioning pin is movably arranged at the other end of the first adjusting block;
the second positioning assembly comprises a linear air cylinder, a second adjusting block and a second positioning pin, wherein the second adjusting block is L-shaped, the linear air cylinder is fixedly installed at the tail end of a double cross frame adjacent to the first positioning assembly, one end of the second adjusting block is movably installed at the tail end of a drive of the linear air cylinder, and the second positioning pin is movably installed at the other end of the second adjusting block.
2. The weld handling integrated weld gun device according to claim 1, wherein the first positioning pin is disposed in a vertical direction and the second positioning pin is disposed in a horizontal direction.
3. The welding gun device with integrated welding and carrying functions according to claim 2, wherein the first adjusting block is provided with a plurality of adjusting holes, the first support frame is also provided with a plurality of adjusting holes, the first adjusting block and the first support frame are fixed after being adjusted through penetrating the adjusting holes through bolts, the first positioning pin is provided with a first bar-shaped block integrated with the first positioning pin, the first bar-shaped block is also provided with a plurality of adjusting holes, and the first adjusting block and the first bar-shaped block are fixed after being adjusted through penetrating the adjusting holes through bolts; the second adjusting block is provided with a plurality of adjusting holes, the driving tail end of the linear air cylinder is also provided with a plurality of adjusting holes, the driving tail ends of the second adjusting block and the linear air cylinder penetrate into the adjusting holes through bolts to be adjusted and fixed, the second positioning pin is provided with a second bar-shaped block integrated with the second positioning pin, the second bar-shaped block is also provided with a plurality of adjusting holes, and the second adjusting block and the second bar-shaped block penetrate into the adjusting holes through bolts to be adjusted and fixed.
4. The welding torch device with integrated welding and carrying functions as defined in claim 1, wherein the clamping portion comprises an upper clamping portion and a lower clamping portion, the corner cylinder is vertically arranged, a crank arm is fixedly mounted at a lower rotating end of the corner cylinder and fixedly connected with the lower clamping portion, and the upper clamping portion is fixedly mounted at the end of the double-cross frame.
5. The welding torch assembly according to claim 4, wherein the upper clamping portion and the lower clamping portion are both L-shaped clamping plates, and the upper clamping portion and the lower clamping portion are arranged in a vertically symmetrical manner.
6. The welding torch device with integrated welding and handling functions as defined in claim 5, wherein a plurality of pressure pads are disposed on the opposite surfaces of the upper clamping portion and the lower clamping portion, and the pressure pads are mounted on the L-shaped clamping plate through adjusting gaskets.
7. The welding torch device with integrated welding and handling functions as defined in claim 6, wherein the pressure supporting block is L-shaped, and a flange clamping reference block is provided on an inner end surface of the pressure supporting block, and is mounted on the inner end surface of the pressure supporting block through a regulating spacer.
8. The welding handling integrated torch apparatus according to claim 7, wherein the flange clamping reference block is provided with a projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010670708.3A CN111660041A (en) | 2020-07-13 | 2020-07-13 | Welding gun device integrating welding and carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010670708.3A CN111660041A (en) | 2020-07-13 | 2020-07-13 | Welding gun device integrating welding and carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111660041A true CN111660041A (en) | 2020-09-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010670708.3A Pending CN111660041A (en) | 2020-07-13 | 2020-07-13 | Welding gun device integrating welding and carrying |
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| Country | Link |
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| CN (1) | CN111660041A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113399906A (en) * | 2021-05-21 | 2021-09-17 | 上汽通用五菱汽车股份有限公司 | D-pillar clamping device and positioning method |
-
2020
- 2020-07-13 CN CN202010670708.3A patent/CN111660041A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113399906A (en) * | 2021-05-21 | 2021-09-17 | 上汽通用五菱汽车股份有限公司 | D-pillar clamping device and positioning method |
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Inventor after: Zhao Xuefei Inventor after: Yang Peng Inventor after: Li Shiqing Inventor after: Wang Yi Inventor before: Zhao Xuefei Inventor before: Zhang Hua Inventor before: Li Shiqing Inventor before: Wang Yi |