CN110014074B - Automobile workpiece punching device - Google Patents
Automobile workpiece punching device Download PDFInfo
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- CN110014074B CN110014074B CN201910294527.2A CN201910294527A CN110014074B CN 110014074 B CN110014074 B CN 110014074B CN 201910294527 A CN201910294527 A CN 201910294527A CN 110014074 B CN110014074 B CN 110014074B
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- 238000004080 punching Methods 0.000 title claims abstract description 261
- 230000007246 mechanism Effects 0.000 claims description 72
- 239000007788 liquid Substances 0.000 claims description 27
- 238000001816 cooling Methods 0.000 claims description 25
- 239000000872 buffer Substances 0.000 claims description 24
- 238000007667 floating Methods 0.000 claims description 24
- 230000003139 buffering effect Effects 0.000 claims description 18
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000012546 transfer Methods 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 4
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 239000012160 loading buffer Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 20
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000002146 bilateral effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
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- 238000010586 diagram Methods 0.000 description 8
- 239000002184 metal Substances 0.000 description 7
- 238000005520 cutting process Methods 0.000 description 6
- 238000003825 pressing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000003486 chemical etching Methods 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000009835 boiling Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000013329 compounding Methods 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D28/00—Shaping by press-cutting; Perforating
- B21D28/24—Perforating, i.e. punching holes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/16—Heating or cooling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Punching Or Piercing (AREA)
Abstract
The invention discloses a punching device for an automobile workpiece, which comprises: the robot is provided with a robot gripper and is used for transferring the automobile workpiece between stations of the automobile workpiece punching device; the punching machine is provided with a positioning and clamping tool used for fixing the automobile workpiece and a punching clamp body used for punching the automobile workpiece fixed on the positioning and clamping tool; the punching clamp body comprises a first punching clamp body, a second punching clamp body and a third punching clamp body, wherein the number of the first punching clamp body, the second punching clamp body and the third punching clamp body is two respectively, and the positioning clamping tool is arranged in a bilateral symmetry manner as a center. The punching device is used for punching on rear auxiliary frame products of automobiles, not only can meet the product requirements, but also can meet the production takt requirements, and is beneficial to realizing automatic production.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a punching device for punching on rear auxiliary frame products of automobiles.
Background
The metal plate is a comprehensive cold working process for a metal sheet (usually below 6 mm), and comprises shearing, punching/cutting/compounding, folding, riveting, splicing, forming (such as an automobile body) and the like, and the remarkable characteristic is that the thickness of the same workpiece is consistent.
The metal plate has the characteristics of light weight, high strength, conductivity (being used for electromagnetic shielding), low cost, large-scale modulus, good productivity and the like, is widely applied to the fields of electronic appliances, communication, automobile industry, medical appliances and the like, and is an indispensable component in automobiles, computer cases, mobile phones, MP3 and the like.
The four most important steps of sheet metal technology in the automobile industry are shearing, punching/cutting, folding/rolling, welding and surface treatment, wherein the punching/cutting holes of sheet metal parts are generally divided into three types: one is numerical control punching, one is laser cutting, and the other is chemical etching.
Numerical control punching refers to a technology for punching a target pattern in a plate to be processed by using a computer control punch. Numerical control punching is mainstream because of the advantages of convenience, rapidness, high accuracy, strong controllability and the like, the numerical control punching is continuously suitable for different requirements, and the traditional manual punching method is increasingly replaced.
The laser cutting machine focuses laser emitted from the laser into laser beams with high power density through an optical path system. The laser beam irradiates the surface of the workpiece to make the workpiece reach the melting point or boiling point, and high-pressure gas coaxial with the laser beam blows away the molten or gasified metal. Along with the movement of the relative positions of the light beam and the workpiece, the material is finally formed into a kerf, so that the aim of cutting is achieved.
Chemical etching is a technique in which material is removed using a chemical reaction or physical impact.
For a special-shaped workpiece on an automobile, such as a rear auxiliary frame of the automobile, twelve holes (wherein, the side of four holes is also provided with notches for placing left and right swing arm mounting shafts to prevent radial deflection) are not on a plane, but are mutually angled, the production takt time has higher requirements, four minutes/piece is required, an average twenty seconds is punched for one hole (comprising the processes of positioning, clamping, punching, resetting and the like), and the workpiece is naturally cooled to normal temperature in order to ensure the position tolerance of the holes.
The traditional numerical control punching machine tool is used for punching and cutting openings of a plurality of holes which are not in the same angle, the numerical control punching machine is used for clamping and positioning for a plurality of times, the positioning error of each time is large, the machine tool cannot effectively play a role in the occasion, and the production efficiency is low.
In addition, the following drawbacks exist:
on the one hand, the placement of the punching female die of the standard numerical control punching machine is extremely difficult, and the distance is long, so that the punching female die is difficult to realize good matching with the punching male die.
On the other hand, by using the numerical control punching machine, the workpiece adopts a manual conveying mode, and the manual conveying operation of the workpiece is poor in safety, low in efficiency and high in labor cost.
On the other hand, a plurality of station appliances are arranged beside the numerical control punching equipment and used for storing the workpiece to be punched and the workpiece after punching, so that the occupied production workshop is large, and logistics are influenced.
Disclosure of Invention
The invention aims to provide a punching device for an automobile workpiece. The punching device is used for punching on rear auxiliary frame products of automobiles, not only can meet the product requirements, but also can meet the production takt requirements, and is beneficial to realizing automatic production.
In order to achieve the above object, the present invention provides a punching device for an automobile workpiece, for punching a rear subframe of an automobile; comprising the following steps:
the robot is provided with a robot gripper and is used for transferring the rear auxiliary frame among stations of the automobile workpiece punching device through the robot gripper;
the punching machine is provided with a positioning and clamping tool used for fixing the rear auxiliary frame and a punching clamp body used for punching the rear auxiliary frame fixed on the positioning and clamping tool;
The punching pliers body comprises:
The first punching clamp body is fixed relative to the positioning and clamping tool in position and is directly positioned at a punching working position;
the second punching clamp body is provided with a reciprocating stroke moving along the horizontal direction relative to the positioning and clamping tool, and is positioned at a punching working position after moving towards the positioning and clamping tool;
The third punching clamp body is provided with a first reciprocating stroke moving along the horizontal direction and a second reciprocating stroke moving along the longitudinal direction relative to the positioning and clamping tool, and is positioned at a punching working position after moving towards the positioning and clamping tool;
The number of the first punching clamp body, the second punching clamp body and the third punching clamp body is two respectively, and the positioning and clamping tool is used as a center to be arranged in a bilateral symmetry mode.
Preferably, the method further comprises:
The upper part buffering mechanism is arranged in an upstream area of the punching machine along the circulation moving direction of the rear auxiliary frame and is used for buffering the rear auxiliary frame to be punched;
the lower part buffering mechanism is arranged in the downstream area of the punching machine along the circulation moving direction of the rear auxiliary frame and is used for buffering the punched rear auxiliary frame;
The workpiece cooling buffer storage frame is arranged in an aerial area above the punching machine and is provided with at least one workpiece cooling buffer storage position;
The robot is configured such that the robot gripper can grasp the rear subframe from the loading buffer mechanism and then transfer the rear subframe to the workpiece cooling buffer frame, can transfer the rear subframe from the workpiece cooling buffer frame to the positioning and clamping tool of the punching machine after cooling, and can transfer the rear subframe from the positioning and clamping tool to the unloading buffer mechanism after punching.
Preferably, the first punching clamp body, the second punching clamp body and the third punching clamp body all comprise:
the fixed clamp body is provided with a female die assembly or a male die assembly;
the sliding clamp body is in sliding fit with the fixed clamp body along the punching direction, and a male die assembly or a female die assembly is arranged on the sliding clamp body;
and the gas-liquid pressurizing cylinder is in transmission connection with the sliding clamp body and is used for driving the sliding clamp body to slide on the fixed clamp body so as to punch holes through the cooperation of the male die component and the female die component.
Preferably, the sliding clamp body is provided with two spaced male die components, and the fixed clamp body is provided with a female die component positioned between the two male die components; or alternatively, the first and second heat exchangers may be,
The sliding clamp body is provided with two spaced female die assemblies, and the fixed clamp body is provided with a male die assembly positioned between the two female die assemblies.
Preferably, the gas-liquid pressure cylinder includes:
The cylinder body of the first air-liquid pressurizing cylinder is arranged on the fixed clamp body, and the telescopic part of the first air-liquid pressurizing cylinder is connected with or supported by the sliding clamp body and is used for driving the sliding clamp body to slide on the fixed clamp body along one direction;
and the cylinder body of the second gas-liquid pressurizing cylinder is arranged on the sliding clamp body, and the telescopic part of the second gas-liquid pressurizing cylinder is connected with or supported by the fixed clamp body and is used for driving the sliding clamp body to slide along the other opposite direction on the fixed clamp body.
Preferably, the first punching pincer body is provided with:
the support is used for installing the first punching clamp body;
the sliding rail mechanism is positioned between the first punching clamp body and the support;
And the floating cylinders are arranged at the two ends of the sliding rail mechanism, and the cylinder bodies and the telescopic parts of the floating cylinders are respectively connected with the punching clamp body and the support and are used for driving the first punching clamp body to float on the support along the sliding direction defined by the sliding rail mechanism.
Preferably, the second punching pincer body is provided with:
The second punching clamp body is arranged on the cantilever support in a hanging manner;
And the movable air cylinder is in transmission connection with the cantilever support and is used for driving the cantilever support and the second punching clamp body on the cantilever support to move along the horizontal direction.
Preferably, the second punching pincer body is further provided with:
the sliding rail mechanism is arranged between the second punching clamp body and the cantilever support;
The floating cylinders are arranged at the two ends of the sliding rail mechanism, and the cylinder bodies and the telescopic parts of the floating cylinders are respectively connected with the second punching clamp body and the cantilever support and used for driving the second punching clamp body to float on the cantilever support along the sliding direction limited by the sliding rail mechanism.
Preferably, the third punching pincer body is provided with:
A cantilever support;
the third punching clamp body is arranged on the bearing platform in a hanging manner;
The first sliding rail mechanism is arranged between the third punching clamp body and the cantilever support;
the lifting cylinder is arranged on the cantilever part of the cantilever support along the longitudinal direction, and a telescopic driving part which extends downwards is connected with the bearing platform so as to drive the bearing platform and a third punching pliers body on the bearing platform to move along the longitudinal direction defined by the first sliding rail mechanism;
And the movable air cylinder is in transmission connection with the cantilever support and is used for driving the cantilever support and the bearing platform and the third punching clamp body on the cantilever support to move along the horizontal direction.
Preferably, the third punching clamp body is further provided with:
the second sliding rail mechanism is arranged between the third punching clamp body and the bearing platform;
and the floating cylinders are arranged at the two ends of the second sliding rail mechanism, and the cylinder bodies and the telescopic parts of the floating cylinders are respectively connected with the third punching clamp body and the bearing platform and are used for driving the third punching clamp body to float relative to the bearing platform along the sliding direction defined by the second sliding rail mechanism.
Preferably, the punching device is used for punching a rear auxiliary frame of the automobile; the positioning and clamping tool comprises:
The two guide pins are symmetrically arranged left and right, wherein the left guide pin corresponds to and supports a bushing hole on the left side of the front end of the rear auxiliary frame, and the right guide pin corresponds to and supports a bushing hole on the right side of the front end of the rear auxiliary frame;
the two supporting bodies are symmetrically arranged left and right, wherein the left supporting body corresponds to and supports a bushing hole on the left side of the rear end of the rear auxiliary frame, and the right supporting body corresponds to and supports a bushing hole on the right side of the rear end of the rear auxiliary frame;
The two positioning pins are symmetrically arranged left and right and are provided with telescopic positioning bolts which are respectively used for being inserted into left positioning holes and right positioning holes of the rear auxiliary frame;
The pressure head mechanism is respectively corresponding to each guide pin and each support body and is used for pneumatically clamping the rear auxiliary frame on the guide pins and the support bodies.
The automobile workpiece punching device is mainly used for punching the rear auxiliary frame of an automobile, and the automobile workpiece punching device is high in production efficiency and good in safety due to the fact that workpieces are taken, placed and transported by the aid of the robot grippers; moreover, after the rear auxiliary frame is fixed through the positioning and clamping tool, the first punching clamp body, the second punching clamp body and the third punching clamp body can sequentially or simultaneously work, punching of all mounting holes is completed on the rear auxiliary frame, punching of swing arm mounting holes and notch openings at different positions and at different angles can be completed through one-time positioning and clamping, multiple clamping and positioning are not needed, product requirements can be met, production beat requirements can be met, and automatic production is facilitated.
In a preferred scheme, be equipped with work piece buffer gear, lower piece buffer gear and work piece cooling buffer memory frame, and work piece cooling buffer memory frame is located the aerial region of piercing press top, does not adopt ground cooling buffer memory but adopts aerial cooling buffer memory's form, can carry out abundant natural cooling to the work piece and do not occupy ground space.
Drawings
FIG. 1 is a schematic structural view of a rear subframe of an automobile;
fig. 2 is a schematic structural diagram of a punching device for an automotive workpiece according to an embodiment of the present invention;
FIG. 3 is a schematic view of the robot and punch (part of) of FIG. 2;
Fig. 4 is a schematic structural diagram of a positioning and clamping tool according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of a first clamp body according to an embodiment;
FIG. 6 is a schematic diagram of a second clamp body according to an embodiment;
FIG. 7 is a schematic structural view of a third clamp body according to an embodiment;
Fig. 8 is a schematic structural view of the third clamp body shown in fig. 7 in another view.
In the figure:
1. The rear subframe 2, hole 2-1, cutout 3, robot 3-1, robot gripper 4, punch 5, upper buffer mechanism 6, lower buffer mechanism 7, work piece cooling buffer frame 8, positioning clamp fixture 8-1, guide pin 8-2, support 8-3, locating pin 8-4, ram 9, rail guard 11, first punched clamp 11-1, support 11-2, slide rail mechanism 11-3, floating cylinder 12, second punched clamp 12-1, cantilever support 12-2, moving cylinder 12-3, slide rail mechanism 12-4, floating cylinder 13, third punched clamp 13-1, cantilever support 13-2, load-bearing platform 13-3, first slide rail mechanism 13-4, lifting cylinder 13-5, moving cylinder 13-6, second slide rail mechanism 13-7, floating cylinder 14, fixed clamp 15, sliding clamp 16, pneumatic cylinder 16-1, first pneumatic cylinder 16-2, second pneumatic cylinder 17, die assembly 18
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
In the present specification, the terms "upper, lower, left, right" and the like are established based on the positional relationship shown in the drawings, and the corresponding positional relationship may be changed according to the drawings, so that the terms are not to be construed as absolute limitation of the protection scope; moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The rear auxiliary frame 1 on the automobile is a special-shaped workpiece, twelve holes 2 (wherein, the notches 2-1 are arranged beside four holes and used for placing eccentric screws and limiting the positions of gaskets) are machined, the twelve holes 2 and the notches 2-1 on the sheet metal part are distributed as shown in figure 1, the twelve holes 2 are not arranged on a plane and are mutually angled, the production takt time has higher requirements, four minutes/piece are required, one hole 2 is punched for twenty seconds on average (comprising the processes of positioning, clamping, punching, resetting and the like), and the workpiece is naturally cooled to normal temperature in order to ensure the position tolerance of the holes 2.
The traditional numerical control punching machine tool has large positioning error each time due to the large positioning and clamping times, and can not effectively play a role in the occasion.
Therefore, a new automobile workpiece punching device needs to be designed, so that the product requirement and the production takt requirement are met, and the automatic production can be realized.
Referring to fig. 2 and 3, fig. 2 is a schematic structural diagram of an automotive workpiece punching device according to an embodiment of the present invention; fig. 3 is a schematic view of the robot and punch (part of) shown in fig. 2.
As shown in the figure, in a specific embodiment, the automobile workpiece punching device provided by the invention is used for punching a rear auxiliary frame 1 of an automobile, and mainly comprises a robot 3, a punching machine 4, a workpiece feeding and buffering mechanism 5, a workpiece discharging and buffering mechanism 6, a workpiece cooling and buffering frame 7 and the like.
The robot 3 is provided with a robot hand 3-1, and is used for transferring the rear auxiliary frame 1 between stations of the automobile workpiece punching device through the robot hand 3-1. The robot 3 is a multi-joint manipulator or a multi-degree-of-freedom robot for industrial applications. Such as a six-axis industrial robot, a seven-axis industrial robot (including a seventh axis added to the first axis of the six-axis industrial robot and a seventh axis added to the sixth axis), can be realized by adopting a general technology. Because the robot is used for carrying instead of manpower, the labor force is saved, and the safety is high.
The punching machine 4 has a positioning and clamping tool 8 for fixing the rear subframe 1 and a plurality of punching pliers for punching the rear subframe 1 fixed to the positioning and clamping tool 8, which are provided on the robot 3.
The upper part buffer mechanism 5 is arranged in the upstream area of the punching machine 4 along the circulation moving direction of the rear auxiliary frame and is used for buffering the rear auxiliary frame 1 to be punched;
the lower part buffer mechanism 6 is arranged in the downstream area of the punching machine 4 along the circulation moving direction of the rear auxiliary frame and is used for buffering the punched rear auxiliary frame 1;
the workpiece cooling buffer frame 7 is arranged in an air area above the punching machine 4 and is provided with two to four workpiece cooling buffer positions.
The robot 3 is configured such that the robot hand 3-1 thereof can grasp the rear subframe 1 from the upper buffering mechanism 5 and then transfer to the workpiece cooling buffering frame 7, can transfer the rear subframe 1 from the workpiece cooling buffering frame 7 to the positioning and clamping fixture 8 of the punching machine 4 after cooling, and can transfer the rear subframe 1 from the positioning and clamping fixture 8 to the lower buffering mechanism 6 after punching.
The robot 3 and the punching machine 4 are provided with guard rails 9 around, the rear subframe 1 is manually carried from the previous working procedure and placed on a workpiece positioning and clamping mechanism positioned outside the guard rails 9, and the positioning and clamping mechanism is pushed into the guard rails 9 or pulled back to the original position by the combined action of the air cylinders and the guide rails.
The temperature of the workpiece is higher after the arc welding in the upper working procedure is finished, the workpiece is required to be cooled to normal temperature in air, and the deformation is reduced. After the rear subframe 1 of the robot 3 is pushed to the position in the protective guard 9, the workpiece is grabbed up and placed in a buffer position in the air for cooling, so that the workpiece is sufficiently cooled to the normal temperature.
After the workpiece is naturally cooled to normal temperature, the robot 3 clamps the workpiece by using a robot gripper 3-1 (which can be single-sided or double-sided, when the workpiece is single-sided, the gripper can only take and place the workpiece on one side, when the workpiece is double-sided, the gripper can take and place the workpiece on both sides, and the gripper can rotate circumferentially to change the front side into the back side or change the back side into the front side, so that the production efficiency is higher), and the workpiece is clamped and placed on a positioning and clamping tool 8 of the punching machine 4, then the workpiece is clamped under the action of a pressure head mechanism 8-4, and after a magnetic switch is detected in place by clamping on a clamping cylinder of the pressure head mechanism 8-4, a punching machine starting signal is triggered to start punching operation.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a positioning and clamping tool according to an embodiment of the present invention.
As shown in the figure, in a specific embodiment, the positioning and clamping fixture 8 mainly comprises a guide pin 8-1, a support body 8-2, a positioning pin 8-3, a pressure head mechanism 8-4 and the like.
The number of the guide pins 8-1 is two, and the guide pins 8-1 are symmetrically arranged left and right, wherein the left guide pin 8-1 corresponds to and supports a bushing hole on the left side of the front end of the rear auxiliary frame 1, and the right guide pin 8-1 corresponds to and supports a bushing hole on the right side of the front end of the rear auxiliary frame 1.
The number of the supporting bodies 8-2 is also two, and the supporting bodies are symmetrically arranged left and right, wherein the left supporting body 8-2 corresponds to and supports the bushing hole on the left side of the rear end of the rear auxiliary frame 1, and the right supporting body 8-2 corresponds to and supports the bushing hole on the right side of the rear end of the rear auxiliary frame 1.
The number of the positioning pins 8-3 is two, and the positioning pins are symmetrically arranged left and right and are provided with telescopic positioning pins which are respectively used for being inserted into left positioning holes and right positioning holes of the rear auxiliary frame 1.
The number of the pressing head mechanisms 8-4 can be four, and the pressing head mechanisms correspond to the guide pins 8-1 and the supporting bodies 8-2 respectively and are used for pneumatically clamping the rear auxiliary frame 1 on the guide pins 8-1 and the supporting bodies 8-2, the pressing head mechanisms 8-4 are provided with swing arms driven by air cylinders, the swing arms are provided with parts used for pressing the rear auxiliary frame 1, when the swing arms are lifted, the swing arms are positioned at vertical positions generally, the rear auxiliary frame 1 can be freely taken and placed, when the swing arms are put down, the swing arms are positioned at horizontal positions generally, and the rear auxiliary frame 1 is pressed and positioned downwards from above. Since the method can be realized by adopting the general technology, the specific structure thereof is not described in detail.
In addition, the positioning and clamping tool 8 can also detect whether a workpiece is at a processing position through a workpiece detection switch.
The punching machine 4 is a table type device in whole, and consists of a base, a positioning and clamping tool 8 and the like, wherein the base is a supporting mechanism, a waste collection box is placed on the base, the upper plane of the base is a datum plane, and the supporting mechanism of the positioning and clamping tool 8 and the like, the pressing head mechanism 8-4 and the like are arranged on the datum plane.
The rear subframe 1 is a left-right symmetric workpiece, the punching clamp bodies in the punching machine 4 are main component parts, six groups of clamp bodies are respectively two first punching clamp bodies 11, two second punching clamp bodies 12 and two third punching clamp bodies 13, wherein the two first punching clamp bodies 11 are of a left-right symmetric structure, the two second punching clamp bodies 12 are of a left-right symmetric structure, and the two third punching clamp bodies 13 are of a left-right symmetric structure.
After the punching machine 4 is started, the first punching clamp body 11 is directly positioned at the working position, and the second punching clamp body 12 and the third punching clamp body 13 are respectively moved to the working position along the linear guide rail under the action of the air cylinders. At this time, the male die or the female die of the clamp body is just positioned in the U-shaped steel plate groove to be punched, and can be used for punching on the steel plates at two sides of the groove.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a first clamp body according to an embodiment.
As shown in the drawing, in a specific embodiment, the first punching pliers 11 is located below the positioning and clamping tool 8, and corresponds to a punching position with a downward opening at the bottom of the rear subframe 1, and since the rear subframe 1 is placed behind the positioning and clamping tool 8, the first punching pliers 11 can directly correspond to the first punching pliers 11, so that the first punching pliers 11 is fixed in position relative to the positioning and clamping tool 8, and can be directly located in a punching working position without moving to the punching working position.
Specifically, the first punching clamp body 11 is provided with a support 11-1, a slide rail mechanism 11-2 and a floating cylinder 11-3, wherein the support 11-1 is used for installing the first punching clamp body 11, and the slide rail mechanism 11-2 is positioned between the first punching clamp body 11 and the support 11-1; the floating cylinders 11-3 are arranged at two ends of the sliding rail mechanism 11-2, and the cylinder body and the telescopic part of each floating cylinder 11-3 are respectively connected with the first punching pliers body 11 and the support 11-1 and are used for driving the first punching pliers body 11 to float on the support 11-1 along the sliding direction defined by the sliding rail mechanism 11-2 so as to adjust the position of the first punching pliers body 11, eliminate errors caused by factors such as machining, assembly and abrasion, and ensure that the first punching pliers body 11 is positioned at an accurate position.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a second clamp body according to an embodiment.
As shown in the drawing, in a specific embodiment, the second punching pliers bodies 12 are located at two sides of the positioning and clamping tool 8, and correspond to the punching positions of the opening of the rear subframe 1 facing to the outer side, so that in order to take and place the rear subframe 1 on the clamping tool without interference, the second punching pliers bodies 12 move to two sides for a certain distance after punching is completed, and then move back to the punching working position when punching is performed next time, so that the second punching pliers bodies 12 have a reciprocating stroke moving along the horizontal direction relative to the positioning and clamping tool 8, and the second punching pliers bodies 12 are located at the punching working position after moving to the positioning and clamping tool 8.
Specifically, the second punching pincer body 12 is provided with a cantilever support 12-1, a movable cylinder 12-2, a slide rail mechanism 12-3 and a floating cylinder 12-4, and the second punching pincer body 12 is mounted on the cantilever support 12-1 in a hanging manner; the movable air cylinder 12-2 is in transmission connection with the cantilever support 12-1 and is used for driving the cantilever support 12-1 and the second punching clamp body 12 on the cantilever support to move along the horizontal direction, the sliding rail mechanism 12-3 is arranged between the second punching clamp body 12 and the cantilever support 12-1, and the floating air cylinder 12-4 is arranged at two ends of the sliding rail mechanism 12-3.
The cylinder body and the telescopic part of each floating cylinder 12-4 are respectively connected with the second punching pliers body 12 and the cantilever support 12-1, and are used for driving the second punching pliers body 12 to float on the cantilever support 12-1 along the sliding direction defined by the sliding rail mechanism 12-3 so as to adjust the position of the second punching pliers body 12, eliminate errors caused by factors such as processing, assembly and abrasion, and ensure that the second punching pliers body 12 is positioned at an accurate position.
Referring to fig. 7 and 8, fig. 7 is a schematic structural diagram of a third clamp body according to an embodiment; fig. 8 is a schematic structural view of the third clamp body shown in fig. 7 in another view.
As shown in the drawing, in a specific embodiment, the third punching pliers body 13 is also located at two sides of the positioning and clamping tool 8, corresponding to the punching position with the opening of the rear subframe 1 facing upwards, so that, in order to be able to pick up and place the rear subframe 1 on the clamping tool without interference, the third punching pliers body 13 is lifted upwards after the punching is completed, then moves to two sides for a certain distance, and then moves back to the punching working position in the reverse direction when punching is performed next time, so that the third punching pliers body 13 has a first reciprocating stroke moving along the horizontal direction and a second reciprocating stroke moving along the longitudinal direction relative to the positioning and clamping tool 8, and the third punching pliers body 13 is located at the punching working position after moving to the positioning and clamping tool 8.
Specifically, the third punching pincer body 13 is provided with a cantilever support 13-1, a bearing platform 13-2, a first sliding rail mechanism 13-3, a lifting cylinder 13-4, a moving cylinder 13-5, a second sliding rail mechanism 13-6 and a floating cylinder 13-7, wherein the third punching pincer body 13 is installed on the bearing platform 13-2 in a hanging manner, the first sliding rail mechanism 13-3 is arranged between the third punching pincer body 13 and the cantilever support 13-1, the lifting cylinder 13-4 is installed on a cantilever part of the cantilever support 13-1 along the longitudinal direction, a telescopic driving part which extends downwards is connected with the bearing platform 13-2 to drive the bearing platform 13-2 and the third punching pincer body 13 thereon to move along the longitudinal direction defined by the first sliding rail mechanism 13-3, and the moving cylinder 13-5 is in transmission connection with the cantilever support 13-1 to drive the cantilever support 13-1 and the bearing platform 13-2 thereon and the third punching pincer body 13 thereon to move along the horizontal direction.
The second slide rail mechanism 13-6 is arranged between the third punching pliers body 13 and the bearing platform 13-2, the floating air cylinders 13-7 are arranged at two ends of the second slide rail mechanism 13-6, the cylinder bodies and the telescopic parts of the floating air cylinders 13-7 are respectively connected with the third punching pliers body 13 and the bearing platform 13-2 and are used for driving the third punching pliers body 13 to float relative to the bearing platform 13-2 along the sliding direction defined by the second slide rail mechanism 13-6 so as to adjust the position of the third punching pliers body 13, eliminate errors caused by factors such as machining, assembly and abrasion, and ensure that the third punching pliers body 13 is positioned at an accurate position.
The first punching pliers body 11, the second punching pliers body 12 and the third punching pliers body 13 all comprise a fixed pliers body 14, a sliding pliers body 15 and a gas-liquid pressurizing cylinder 16, wherein a female die assembly 17 (or a male die assembly 18) is arranged on the fixed pliers body 14, a male die assembly 18 (or a female die assembly 17) is arranged on the sliding pliers body 15, and the gas-liquid pressurizing cylinder 16 is in transmission connection with the sliding pliers body 15 and is used for driving the sliding pliers body 15 to slide on the fixed pliers body 14 so as to punch holes through the cooperation of the male die assembly 18 and the female die assembly 17.
The gas-liquid booster cylinder 16 has the advantages of a cylinder and an oil cylinder, hydraulic oil is strictly isolated from compressed air, a piston rod in the cylinder automatically starts after contacting a workpiece, the action speed is high, the pneumatic cylinder is stable in pneumatic transmission, the cylinder device is simple, the output adjustment is easy, the high output of the hydraulic press can be achieved under the same condition, the energy consumption is low, the die is not damaged by soft landing, the installation is easy, the special booster cylinder can be installed at any angle of 360 degrees, the occupied space is small, the faults are few, the trouble of temperature rise is avoided, the service life is long, the noise is small, and the like. As it is achieved by the prior art, a description thereof will not be given here.
The sliding clamp body 15 is provided with two spaced female die assemblies 17, the fixed clamp body 14 is provided with a male die assembly 18 positioned between the two female die assemblies 17, or the sliding clamp body 15 is provided with two spaced male die assemblies 18, and the fixed clamp body 15 is provided with a female die assembly 17 positioned between the two male die assemblies 18.
The female die and the female die of the punching machine 4 are designed according to the position of the workpiece, the distance between the female die and the male die is short, and the female die and the male die can be accurately matched with each other.
The two gas-liquid pressurizing cylinders 16 are arranged, the cylinder body of the first gas-liquid pressurizing cylinder 16-1 is arranged on the fixed clamp body 14, and the telescopic part of the first gas-liquid pressurizing cylinder is connected with or supported on the sliding clamp body 15 and is used for driving the sliding clamp body 15 to slide on the fixed clamp body 14 along one direction; the cylinder body of the second gas-liquid pressurizing cylinder 16-2 is arranged on the sliding clamp body 15, and the telescopic part of the second gas-liquid pressurizing cylinder is connected with or supported on the fixed clamp body 14 and is used for driving the sliding clamp body 15 to slide on the fixed clamp body 14 along the other opposite direction.
There are two cases: one is that the clamp body is provided with a female die in the middle and a male die at two ends; one is that the male die on the clamp body is arranged in the middle, and the female die is arranged at two ends.
In the first case, the die is in the middle and the punch is at both ends, the die is designed to be bi-directionally movable along the axis of the hole. In the second case, the male die is in the middle and the female die is at both ends, the male die can be designed to be stationary. In both cases, at both ends is provided in a form that can be moved bi-directionally along the axis of the punch.
In the first case, the die assembly 17 is in the middle and the punch assembly 18 is at both ends, with the operation of one of the pliers being described. After positioning and clamping, the hole on one side is punched, the middle female die assembly 17 moves to the side to be attached to the workpiece, and the male die assembly 18 on the side moves in place rapidly under the action of the gas-liquid pressurizing cylinder and is in soft contact with the workpiece without impact. And after the workpiece is contacted, the workpiece is automatically converted into a force stroke for punching. When the punching pliers body moves to the working position along the guide rail and the gas-liquid pressurizing cylinder enters a fast travel (i.e. an idle travel), the male die assembly 18 is fast and in place with small force, and is in soft contact with a workpiece without impact. After the punch assembly 18 contacts the workpiece, the gas-liquid pressurizing cylinder is automatically converted into a force stroke for punching. When the working ram pressure and position reach the set values, the machining is qualified, and the system sends out a signal to control the male die assembly 18 to return automatically. If the punching force or position does not meet the set requirement, the punching processing is unqualified, at the moment, the male die component does not return, the emergency stop button is pressed to force the return, thereby reminding an operator to check unqualified reasons and strictly ensuring the punching quality.
After the workpiece is qualified, the hole on the other side is punched, the middle female die assembly 17 moves to the other side to be attached to the workpiece, and the male die assembly 18 on the other side moves in place rapidly under the action of the gas-liquid pressurizing cylinder and is in soft contact with the workpiece without impact. And after the workpiece is contacted, the workpiece is automatically converted into a force stroke for punching. When the punching pliers body moves to the working position along the guide rail and the gas-liquid pressurizing cylinder enters a fast travel (i.e. an idle travel), the male die assembly 18 is fast and in place with small force, and is in soft contact with a workpiece without impact. After the punch assembly 18 contacts the workpiece, the gas-liquid pressurizing cylinder is automatically converted into a force stroke for punching. When the working punching force and the position reach the set values, the punching processing is qualified, and the system sends out a signal to control the male die assembly to automatically return.
The actions of other forceps bodies are identical, and no redundant description is needed.
The punched scrap is drawn into the die assembly 17, and in both cases a scrap collecting hopper and a transfer tube are provided in the die assembly 17. When the punching position is adopted, the conveying pipe on the pliers body conveys the waste materials for a certain distance, then falls into the other collecting hopper, falls into the collecting box below the workbench surface along the pipeline, and is manually punched out of the collecting box after a certain amount of waste materials are collected, and is cleaned.
After all punching holes and notch cutting are completed, the clamp body moves to the original position, the clamp is loosened, the workpiece is in a free state, the robot takes out the workpiece and places the workpiece on the clamp of the outlet rail, after the clamp detects that the workpiece is placed in place, the clamp is automatically clamped, a coding machine beside the clamp starts to automatically code, after coding is completed, the clamp horizontally moves to a workpiece unloading station outside the protective guard under the action of the air cylinder, the clamp is loosened, the workpiece is in a free state, and the workpiece is manually taken away.
The device may also set a counter (displayed on the touch screen) to count the number of jobs.
The above embodiments are merely preferred embodiments of the present invention, and are not limited thereto, and on the basis of these, specific adjustments may be made according to actual needs, thereby obtaining different embodiments. For example, in order to realize parallel production of two punches, a symmetrical layout may be adopted, where two punches correspond to one robot 3, and the robot 3 shares a double-sided gripper, and one product is produced at a time. Thus, the collinear production of two products can be used, the principle of the punching machine used by the two products is the same, and only the layout of the punching pliers body designed into different angles according to the products is needed, and the like. This is not illustrated here, as there are many possible implementations.
According to at least one embodiment, through the six industrial robot 3, robot tongs 3-1, gas-liquid booster cylinder, work piece location clamp fixture 8, the pincers body that punches a hole, garbage collection system, work piece overhead cooling buffering, go up a and lower piece conveying mechanism, safety protection network etc. mechanism's design, can accomplish automatic transportation, overhead natural cooling, the production of punching a hole, code printing behind the car sub vehicle frame class product voluntarily, the burr that punches a hole is few, high quality, production efficiency is high, be applicable to behind the car sub vehicle frame class product be located the whole punching a hole of once location of a plurality of mounting holes of different positions, different angles, and can convey the work piece fast, realize unmanned automatic production.
The automobile workpiece punching device provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (9)
1. The automobile workpiece punching device is used for punching a rear auxiliary frame of an automobile; characterized by comprising the following steps:
the robot is provided with a robot gripper and is used for transferring the rear auxiliary frame among stations of the automobile workpiece punching device through the robot gripper;
the punching machine is provided with a positioning and clamping tool used for fixing the rear auxiliary frame and a punching clamp body used for punching the rear auxiliary frame fixed on the positioning and clamping tool;
The punching pliers body comprises: the first punching clamp body is fixed relative to the positioning and clamping tool in position and is directly positioned at a punching working position; the second punching clamp body is provided with a reciprocating stroke moving along the horizontal direction relative to the positioning and clamping tool, and is positioned at a punching working position after moving towards the positioning and clamping tool; the third punching clamp body is provided with a first reciprocating stroke moving along the horizontal direction and a second reciprocating stroke moving along the longitudinal direction relative to the positioning and clamping tool, and is positioned at a punching working position after moving towards the positioning and clamping tool;
the number of the first punching clamp body, the second punching clamp body and the third punching clamp body is two respectively, and the first punching clamp body, the second punching clamp body and the third punching clamp body are symmetrically arranged left and right by taking the positioning and clamping tool as a center;
the first punching clamp body, the second punching clamp body and the third punching clamp body all comprise: the fixed clamp body is provided with a female die assembly or a male die assembly; the sliding clamp body is in sliding fit with the fixed clamp body along the punching direction, and a male die assembly or a female die assembly is arranged on the sliding clamp body; the gas-liquid pressurizing cylinder is in transmission connection with the sliding clamp body and is used for driving the sliding clamp body to slide on the fixed clamp body so as to punch holes through the cooperation of the male die component and the female die component;
the sliding clamp body is provided with two spaced male die assemblies, and the fixed clamp body is provided with a female die assembly positioned between the two male die assemblies; or, two spaced female die components are arranged on the sliding clamp body, and a male die component positioned between the two female die components is arranged on the fixed clamp body;
The first punching clamp body is provided with: the support is used for installing the first punching clamp body; the sliding rail mechanism is positioned between the first punching clamp body and the support; the floating cylinders are arranged at the two ends of the sliding rail mechanism, and the cylinder bodies and the telescopic parts of the floating cylinders are respectively connected with the first punching clamp body and the support and used for driving the first punching clamp body to float on the support along the sliding direction defined by the sliding rail mechanism.
2. The automotive workpiece punching device as recited in claim 1, further comprising:
The upper part buffering mechanism is arranged in an upstream area of the punching machine along the circulation moving direction of the rear auxiliary frame and is used for buffering the rear auxiliary frame to be punched;
the lower part buffering mechanism is arranged in the downstream area of the punching machine along the circulation moving direction of the rear auxiliary frame and is used for buffering the punched rear auxiliary frame;
The workpiece cooling buffer storage frame is arranged in an aerial area above the punching machine and is provided with at least one workpiece cooling buffer storage position;
The robot is configured such that the robot gripper can grasp the rear subframe from the loading buffer mechanism and then transfer the rear subframe to the workpiece cooling buffer frame, can transfer the rear subframe from the workpiece cooling buffer frame to the positioning and clamping tool of the punching machine after cooling, and can transfer the rear subframe from the positioning and clamping tool to the unloading buffer mechanism after punching.
3. The automotive workpiece punching device of claim 1, wherein the gas-liquid pressure cylinder comprises:
The cylinder body of the first air-liquid pressurizing cylinder is arranged on the fixed clamp body, and the telescopic part of the first air-liquid pressurizing cylinder is connected with or supported by the sliding clamp body and is used for driving the sliding clamp body to slide on the fixed clamp body along one direction;
and the cylinder body of the second gas-liquid pressurizing cylinder is arranged on the sliding clamp body, and the telescopic part of the second gas-liquid pressurizing cylinder is connected with or supported by the fixed clamp body and is used for driving the sliding clamp body to slide along the other opposite direction on the fixed clamp body.
4. The automotive workpiece punching device according to claim 2, characterized in that the second punching pincer body is provided with:
The second punching clamp body is arranged on the cantilever support in a hanging manner;
And the movable air cylinder is in transmission connection with the cantilever support and is used for driving the cantilever support and the second punching clamp body on the cantilever support to move along the horizontal direction.
5. The automotive workpiece punching device according to claim 4, characterized in that the second punching pincer body is further provided with:
the sliding rail mechanism is arranged between the second punching clamp body and the cantilever support;
The floating cylinders are arranged at the two ends of the sliding rail mechanism, and the cylinder bodies and the telescopic parts of the floating cylinders are respectively connected with the second punching clamp body and the cantilever support and used for driving the second punching clamp body to float on the cantilever support along the sliding direction limited by the sliding rail mechanism.
6. The automotive work piece punching device according to claim 1, characterized in that the third punching pincer body is provided with:
A cantilever support;
the third punching clamp body is arranged on the bearing platform in a hanging manner;
The first sliding rail mechanism is arranged between the third punching clamp body and the cantilever support;
the lifting cylinder is arranged on the cantilever part of the cantilever support along the longitudinal direction, and a telescopic driving part which extends downwards is connected with the bearing platform so as to drive the bearing platform and a third punching pliers body on the bearing platform to move along the longitudinal direction defined by the first sliding rail mechanism;
And the movable air cylinder is in transmission connection with the cantilever support and is used for driving the cantilever support and the bearing platform and the third punching clamp body on the cantilever support to move along the horizontal direction.
7. The automotive workpiece punching device of claim 6, wherein the third punching pincer body is further provided with:
the second sliding rail mechanism is arranged between the third punching clamp body and the bearing platform;
and the floating cylinders are arranged at the two ends of the second sliding rail mechanism, and the cylinder bodies and the telescopic parts of the floating cylinders are respectively connected with the third punching clamp body and the bearing platform and are used for driving the third punching clamp body to float relative to the bearing platform along the sliding direction defined by the second sliding rail mechanism.
8. The automotive workpiece punching device according to any one of claims 1 to 7, characterized in that the positioning and clamping tool includes:
Two guide pins are symmetrically arranged left and right, wherein the left guide pin corresponds to and supports a bushing hole on the left side of the front end of the rear auxiliary frame, and the right guide pin corresponds to and supports a bushing hole on the right side of the front end of the rear auxiliary frame;
The two supporting bodies are symmetrically arranged left and right, wherein the left supporting body corresponds to and supports a bushing hole on the left side of the rear end of the rear auxiliary frame, and the right supporting body corresponds to and supports a bushing hole on the right side of the rear end of the rear auxiliary frame;
The pressure head mechanism is respectively corresponding to each guide pin and each support body and is used for pneumatically clamping the rear auxiliary frame on the guide pins and the support bodies.
9. The automotive workpiece punching device of claim 8, wherein the positioning and clamping fixture further comprises:
the two locating pins are symmetrically arranged left and right and are provided with locating pins which can stretch out and draw back and are respectively used for being inserted into left locating holes and right locating holes of the rear auxiliary frame.
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| CN201910294527.2A CN110014074B (en) | 2019-04-12 | 2019-04-12 | Automobile workpiece punching device |
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| CN110014074B true CN110014074B (en) | 2024-09-03 |
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| CN110842079B (en) * | 2019-11-20 | 2024-09-13 | 上海工众机械技术有限公司 | Wedge floating punching mechanism |
| CN115634999A (en) * | 2022-10-31 | 2023-01-24 | 安徽万安汽车零部件有限公司 | Auxiliary frame punching equipment and punching method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207899967U (en) * | 2018-02-12 | 2018-09-25 | 苏州施米特机械有限公司 | Chassis punching special machine |
| CN109249282A (en) * | 2018-11-08 | 2019-01-22 | 青岛新松机器人自动化有限公司 | A kind of multimachine bed automatic loading and unloading system and method based on robot |
| CN210115371U (en) * | 2019-04-12 | 2020-02-28 | 广西汽车集团有限公司 | Automobile workpiece punching device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3937113A (en) * | 1974-03-05 | 1976-02-10 | Unipunch Products, Inc. | Punching apparatus |
| JP2008296255A (en) * | 2007-05-31 | 2008-12-11 | Kanto Auto Works Ltd | Drive unit for piercing press unit |
| CN206169060U (en) * | 2016-10-31 | 2017-05-17 | 浙江涛涛工贸有限公司 | Car rear auxiliary frame upper plate multiple operation combination stamping die |
| CN107570617B (en) * | 2017-07-24 | 2024-06-21 | 深圳市嘉熠精密自动化科技有限公司 | Automatic blanking device for punching machine |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207899967U (en) * | 2018-02-12 | 2018-09-25 | 苏州施米特机械有限公司 | Chassis punching special machine |
| CN109249282A (en) * | 2018-11-08 | 2019-01-22 | 青岛新松机器人自动化有限公司 | A kind of multimachine bed automatic loading and unloading system and method based on robot |
| CN210115371U (en) * | 2019-04-12 | 2020-02-28 | 广西汽车集团有限公司 | Automobile workpiece punching device |
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