WO2019184559A1 - Adaptive adhesion system for rolling and over-edging system - Google Patents
Adaptive adhesion system for rolling and over-edging system Download PDFInfo
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- WO2019184559A1 WO2019184559A1 PCT/CN2019/071808 CN2019071808W WO2019184559A1 WO 2019184559 A1 WO2019184559 A1 WO 2019184559A1 CN 2019071808 W CN2019071808 W CN 2019071808W WO 2019184559 A1 WO2019184559 A1 WO 2019184559A1
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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
- B21D19/00—Flanging or other edge treatment, e.g. of tubes
- B21D19/12—Edge-curling
- B21D19/14—Reinforcing edges, e.g. armouring same
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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
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
- B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
- B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
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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
- 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
Definitions
- the suction cup members 6 are independently connected to the outlet of the numerical control multi-way valve 7, and the inlet of the numerical control multi-way valve 7 is connected to the numerical control air pump 8; the numerical control air pump 8, the numerical control multi-way valve 7, and the turning mechanism 5.
- the adsorption type electromagnets 10 are respectively connected and controlled by the rolling edging system controller 9; the rolling edging system controller 9 controls the suction cup member 6 to be inverted by the turning mechanism 5, and passes through the numerical control air pump 8 and the numerical control multi-way valve 7 Control the suction cup member 6 to work.
Abstract
An adaptive adhesion system for a rolling and over-edging system, applicable to a die fixture (1) of the rolling and over-edging system and comprising a frame (2) mounted in the die fixture (1). The frame (2) is provided with an accommodation recess (3). Multiple engaging plates (4) are disposed in the accommodation recess (3). Suction cup members (6) are mounted on a side surface of the engaging plate (4). Turning over the engaging plates (4) allows for switching between an operating state in which the suction cup members are vertical and an idle state in which the suction cup members are horizontally disposed. A numerical control gas pump (8), a numerical control multi-way valve (7), and a turning mechanism (5) are connected to and controlled by a rolling and over-edging system controller (9). The adaptive adhesion system uses independent and arrayed small suction cup members; the specially designed suction cup members can be used for both adhesion and support, and solve the problem in the prior art in which excessive adhesion force causes deformation and insufficient adhesion force causes unreliable adhesion; the suction cup members can be turned over, thereby providing an intelligent adhesion and support solution meeting various machining requirements, and better meeting development requirements for flexibility and intelligence.
Description
本发明涉及滚压包边领域，尤其涉及一种滚压包边***使用的自适应吸附***。The present invention relates to the field of rolling edging, and more particularly to an adaptive sorption system for use in a rolling edging system.
常见的机器人包边***由机器人以及PLC控制***、滚轮***、安全防护***和滚边工装***等部分组成。滚边工装***中的吸附装置用于在滚压作业是将工件外板牢牢吸附，固定在模具上，吸附装置的性能对滚边的质量影响较大，吸附力和吸附方式是其主要的性能指标。现有的吸附装置主要为圆形真空吸盘，吸附并支撑外板。目前的汽车白车身的滚压包边的外板多为钣金件，表面形状具有多种弧度、且整体厚度较薄，圆形真空吸盘在具有弧度的表面，吸附效果会下降，并且如果真空吸附力度较大，板件会因为局部受力过大而形变，影响板件的外观质量。同时，真空吸盘的结构决定了其只能提供向下的吸附力，无法提供向上的支撑力。The common robotic hemming system consists of robots and PLC control systems, roller systems, safety protection systems and piping tooling systems. The adsorption device in the rolling tooling system is used to firmly adsorb the outer plate of the workpiece in the rolling operation, and is fixed on the mold. The performance of the adsorption device has a great influence on the quality of the piping, and the adsorption force and the adsorption mode are the main performance indexes. . The existing adsorption device is mainly a circular vacuum suction cup that adsorbs and supports the outer panel. At present, the outer surface of the rolling body of the automobile body-in-white is mostly sheet metal, the surface shape has various curvatures, and the overall thickness is thin, and the circular vacuum suction cup has a curved surface, the adsorption effect is lowered, and if the vacuum The adsorption force is large, and the plate will be deformed due to excessive local force, which affects the appearance quality of the plate. At the same time, the structure of the vacuum chuck determines that it can only provide downward adsorption force and cannot provide upward support.
申请人于2016年06月20日申请的实用新型专利，设计了一种滚压包边***的真空板，但实际应用过程中发现，首先真空板的曲面要与所吸附的板件相同，导致真空板的不能通用，使用成本较高，其次真空板采用的硅胶条摩擦力较大，当板件放置出现偏置，巨大的摩擦力会阻碍板件在自重作用下向模具的自适应，夹具强行施压后，硅胶条挤压受力出现不均，影响吸附效果。基于此，申请人又开发了一种新的适用于滚压包边模具的自适应吸附***。The utility model patent applied by the applicant on June 20, 2016, designed a vacuum plate for the rolling edging system, but in the actual application process, it was found that the curved surface of the vacuum plate should be the same as the plate to be adsorbed, resulting in The vacuum plate can not be used universally, and the use cost is high. Secondly, the silica gel strip used by the vacuum plate has a large friction force. When the plate member is placed biased, the huge friction force hinders the self-weight of the plate member to the mold. After forced pressure, the extrusion force of the silicone strip is uneven, which affects the adsorption effect. Based on this, the applicant has developed a new adaptive adsorption system suitable for rolling edging molds.
发明内容Summary of the invention
本发明的目的是设计一种滚压包边***使用的自适应吸附***。It is an object of the present invention to design an adaptive adsorption system for use in a rolling edging system.
为实现上述发明目的，本发明的技术方案是：一种滚压包边***使用的自适应吸附***，适用于滚压包边***的模具工装上，包括安装在模具工装内的框架，框架上表面设有容置槽，容置槽内均匀排布多条卡板，卡板通过翻转机构安装在容置槽内；所述框架四周边缘分别设有长条状的吸附式电磁铁，吸附式电磁铁外接电源；所述卡板的侧面安装有多个独立通气的吸盘件，吸盘件采用卡接方式安装在卡板上；卡板翻转实现吸盘件直立工作状态和平放闲置状态的切换；所述吸盘件分别独立连接到数控多路阀的出口上，数控多路阀的进口连接数控气泵；所述数控气泵、数控多路阀、翻转机构、吸附式电磁铁分别连接并受控于滚 压包边***控制器；滚压包边***控制器通过翻转机构控制吸盘件翻转，通过数控气泵、数控多路阀控制吸盘件工作。In order to achieve the above object, the technical solution of the present invention is: an adaptive adsorption system used in a rolling edging system, which is suitable for a mold tooling of a rolling edging system, including a frame installed in a mold tooling, on the frame. The surface is provided with a receiving groove, and a plurality of card plates are evenly arranged in the receiving groove, and the card board is installed in the receiving groove through the turning mechanism; the outer edge of the frame is respectively provided with a long strip-shaped adsorption type electromagnet, and the adsorption type The electromagnet is externally connected to the power supply; a plurality of independently ventilated suction cup members are mounted on the side of the card board, and the suction cup member is mounted on the card board by means of a snap-fit manner; the card plate is flipped to realize the switching of the suction cup member in an upright working state and a flat state; The suction cups are respectively independently connected to the outlet of the numerical control multi-way valve, and the inlet of the numerical control multi-way valve is connected with the numerical control air pump; the numerical control air pump, the numerical control multi-way valve, the turning mechanism, the adsorption electromagnet are respectively connected and controlled by rolling The edging system controller; the rolling edging system controller controls the suction cup member to be turned over by the turning mechanism, and controls the suction cup member through the numerical control air pump and the numerical control multi-way valve.
进一步，所述吸盘件包括顶部的硅胶盘，硅胶盘安装在气阀上，硅胶盘内部为工作腔，气阀设有连接所述数控多路阀的通气口，所述气阀上设有卡件，卡件与卡板配合将吸盘件安装在卡板上。Further, the chuck member comprises a top silicone disc, the silicone disc is mounted on the air valve, the inside of the silicone disc is a working chamber, the air valve is provided with a vent connecting the numerical control multi-way valve, and the valve is provided with a card The card member cooperates with the card board to mount the suction cup member on the card board.
进一步，所述硅胶盘的碗状壁内部中空，构成碗壁腔，气阀分别连通碗壁腔、工作腔，并分别独立向碗壁腔、工作腔充气或者抽气。Further, the bowl-shaped wall of the silicone disc is hollow inside, forming a bowl wall cavity, and the gas valve is respectively connected to the bowl wall cavity and the working cavity, and is independently inflated or pumped to the bowl wall cavity and the working cavity.
作为另一种优选，所述硅胶盘的工作腔内设有一弹性膜，将工作腔分割为前工作腔和后工作腔，气阀与后工作腔连通，向后工作腔充气或者抽气。As another preferred method, an elastic membrane is disposed in the working cavity of the silicone disc, and the working cavity is divided into a front working chamber and a rear working chamber, and the air valve is connected with the rear working chamber to inflate or pump the working chamber.
本发明的有益效果是：The beneficial effects of the invention are:
本发明的自适应吸附***采用独立、阵列式小型吸盘件，特殊设计的吸盘件既能用于吸附，又能用于支撑，克服了现有技术吸附力过大造成变形，吸附力过小吸不牢的问题，在滚压包边***中具有普通吸盘和真空板不能比拟的优势。还增设吸附式电磁铁，在吸附材料能被电磁铁吸住的时候予以互补。同时，吸盘件可翻转，为实现各种加工需求的智能吸附、支撑方案提供了可能，更能适应柔性、智能方向发现的需要。The adaptive adsorption system of the invention adopts an independent and array type small suction cup member, and the specially designed suction cup member can be used for both adsorption and support, and overcomes the deformation caused by excessive adsorption force in the prior art, and the adsorption force is too small to absorb. The problem of not being strong is that there is an advantage that ordinary suction cups and vacuum plates cannot match in the rolling edging system. An adsorption electromagnet is also added to complement the adsorbent material when it can be attracted by the electromagnet. At the same time, the suction cup can be turned over, which provides the possibility of intelligent adsorption and support schemes for various processing needs, and is more suitable for the needs of flexible and intelligent direction discovery.
图1为本发明的结构示意图；Figure 1 is a schematic view of the structure of the present invention;
图2为翻转机构5示意图；Figure 2 is a schematic view of the turning mechanism 5;
图3为本发明控制***示意图；Figure 3 is a schematic diagram of a control system of the present invention;
图4为实施例1中吸盘件6结构示意图；4 is a schematic structural view of a chuck member 6 in Embodiment 1;
图5为实施例2中吸盘件6结构示意图。Figure 5 is a schematic view showing the structure of the chuck member 6 in the second embodiment.
下面将结合附图对本发明实施例中的技术方案进行清楚、完整地描述。The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings.
实施例1，如图1、2所示，一种滚压包边***使用的自适应吸附***，适用于滚压包边***的模具工装1上，包括安装在模具工装1内的框架2，框架2上表面设有容置槽3，容置槽3内均匀排布多条卡板4，卡板4通过翻转机构5安装在容置槽3内；所述框架2四周边缘分别设有长条状的吸附式电磁铁10，吸附式电磁铁10外接电源；所述卡板4的侧面安装有多个独立通气的吸盘件6，吸盘件6采用卡接方式安装在卡板4上；卡板3翻转实现吸盘件6直立工作状态和平放闲置状态的切换。 Embodiment 1, as shown in FIGS. 1 and 2, an adaptive adsorption system used in a rolling edging system, which is suitable for a mold tooling 1 of a rolling edging system, comprising a frame 2 installed in a mold tooling 1, The upper surface of the frame 2 is provided with a receiving slot 3, and a plurality of card plates 4 are evenly arranged in the receiving slot 3. The card board 4 is mounted in the receiving slot 3 by the inverting mechanism 5; The strip-shaped adsorption electromagnet 10 has an external power supply for the adsorption electromagnet 10; a plurality of independently ventilated suction cup members 6 are mounted on the side of the card plate 4, and the suction cup member 6 is mounted on the card board 4 by means of a snap-fit manner; The plate 3 is turned over to realize the switching of the suction member 6 in the upright working state and the flat state.
如图3所示，所述吸盘件6分别独立连接到数控多路阀7的出口上，数控多路阀7的进口连接数控气泵8；所述数控气泵8、数控多路阀7、翻转机构5、吸附式电磁铁10分别连接并受控于滚压包边***控制器9；滚压包边***控制器9通过翻转机构5控制吸盘件6翻转，通过数控气泵8、数控多路阀7控制吸盘件6工作。As shown in FIG. 3, the suction cup members 6 are independently connected to the outlet of the numerical control multi-way valve 7, and the inlet of the numerical control multi-way valve 7 is connected to the numerical control air pump 8; the numerical control air pump 8, the numerical control multi-way valve 7, and the turning mechanism 5. The adsorption type electromagnets 10 are respectively connected and controlled by the rolling edging system controller 9; the rolling edging system controller 9 controls the suction cup member 6 to be inverted by the turning mechanism 5, and passes through the numerical control air pump 8 and the numerical control multi-way valve 7 Control the suction cup member 6 to work.
如图4所示，所述吸盘件6包括顶部的硅胶盘601，硅胶盘601安装在气阀602上，硅胶盘601内部为工作腔603，气阀602设有连接所述数控多路阀7的通气口604，所述气阀602上设有卡件605，卡件605与卡板4配合将吸盘件6安装在卡板4上。As shown in FIG. 4, the chuck member 6 includes a top silicone disc 601. The silicone disc 601 is mounted on a gas valve 602. The inside of the silicone disc 601 is a working chamber 603. The gas valve 602 is provided with a CNC multi-way valve. The air vent 604 is provided with a card member 605. The card member 605 cooperates with the card board 4 to mount the chuck member 6 on the card board 4.
所述硅胶盘601的碗状壁内部中空，构成碗壁腔606，气阀602分别连通碗壁腔606、工作腔603，并分别独立向碗壁腔606工作腔603充气或者抽气。当只向工作腔603抽气，板件在大气压作用下被牢牢吸附；当只向碗壁腔606充气时，碗壁在内部气压作用下硬度增强，实现类似气囊的功能，吸盘件就能实现气垫支撑的作用。The bowl-shaped wall of the silicone disc 601 is hollow inside, and constitutes a bowl wall cavity 606. The gas valve 602 communicates with the bowl wall chamber 606 and the working chamber 603, respectively, and independently inflates or draws air into the bowl wall chamber 606 working chamber 603. When only the working chamber 603 is evacuated, the plate member is firmly adsorbed under the action of atmospheric pressure; when only the bowl wall chamber 606 is inflated, the hardness of the bowl wall under the action of the internal air pressure is enhanced, and the function of the airbag is realized, and the suction cup member can be Achieve the role of air cushion support.
工作时，首先滚压包边***控制器8根据滚压加工产品车型，指定吸附方案，即确定需布置多少吸盘件6参与，以及哪些吸盘件6抽真空发挥吸附功能，哪些吸盘件6充气发挥支撑功能；然后翻转机构5动作，将需要参与工作的吸盘件6所在的卡板4翻转，使其上的吸盘件6进入工作状态；为了节省生产节拍，数控气泵8首先通过数控多路阀7向需要充气支撑的吸盘件6供气，与此同时板件正好被放置到模具工装1上；确定板件定位完成后，数控气泵8再次启动通过数控多路阀7向需要抽气吸附的吸盘件6抽气，将板件固定。When working, firstly, the rolling edging system controller 8 specifies the adsorption scheme according to the model of the rolling processing product, that is, determines how many suction cups 6 need to be arranged to participate, and which suction cups 6 are vacuumed to perform the adsorption function, and which suction cups 6 are inflated. Supporting function; then, the turning mechanism 5 is operated to invert the card board 4 where the sucker member 6 that needs to participate in the work, so that the sucker member 6 on the working state is put into a working state; in order to save the production cycle, the numerical control air pump 8 first passes through the numerical control multi-way valve 7 The air supply member 6 that needs the inflatable support is supplied with air, and at the same time, the plate member is placed on the mold tooling 1. After the positioning of the plate member is completed, the numerical control air pump 8 is again activated through the numerical control multi-way valve 7 to the suction cup that needs suction suction. Piece 6 is pumped to secure the panel.
实施例2，如图5所示，本发明的吸盘件6还可以为在硅胶盘601的工作腔603内设一弹性膜607，将工作腔603分割为前工作腔6031和后工作腔6032，气阀602只与后工作腔6032连通，向后工作腔6032充气或者抽气。 Embodiment 2, as shown in FIG. 5, the suction cup member 6 of the present invention may further comprise an elastic film 607 in the working cavity 603 of the silicone disk 601, and divide the working cavity 603 into a front working cavity 6031 and a rear working cavity 6032. The gas valve 602 is only in communication with the rear working chamber 6032, and is inflated or evacuated to the rear working chamber 6032.
当气阀602向后工作腔6032抽气时，弹性膜607被吸附向后工作腔6032一侧移动，前工作腔6031体积变大，内部气压降低，板件被大气压压紧在吸盘件硅胶盘601上，实现吸附功能；当气阀602向后工作腔6032充气时，弹性膜607被后工作腔6032内部气压推向前工作腔6031直至与板件接触，实现支撑功能。When the gas valve 602 is sucked into the rear working chamber 6032, the elastic film 607 is adsorbed and moved toward the side of the rear working chamber 6032. The volume of the front working chamber 6031 becomes larger, the internal air pressure is lowered, and the plate member is pressed by the atmospheric pressure against the suction cup member. On the 601, the adsorption function is realized; when the gas valve 602 is inflated to the rear working chamber 6032, the elastic film 607 is pushed by the internal air pressure of the rear working chamber 6032 to the front working chamber 6031 until it contacts the plate member to realize the supporting function.
所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
Claims (4)
- 一种滚压包边***使用的自适应吸附***，适用于滚压包边***的模具工装上，其特征在于，包括安装在模具工装内的框架，框架上表面设有容置槽，容置槽内均匀排布多条卡板，卡板通过翻转机构安装在容置槽内；所述框架四周边缘分别设有长条状的吸附式电磁铁，吸附式电磁铁外接电源；所述卡板的侧面安装有多个独立通气的吸盘件，吸盘件采用卡接方式安装在卡板上；卡板翻转实现吸盘件直立工作状态和平放闲置状态的切换；所述吸盘件分别独立连接到数控多路阀的出口上，数控多路阀的进口连接数控气泵；所述数控气泵、数控多路阀、翻转机构、吸附式电磁铁分别连接并受控于滚压包边***控制器；滚压包边***通过翻转机构控制吸盘件翻转，通过数控气泵、数控多路阀控制吸盘件工作。The utility model relates to an adaptive adsorption system used in a rolling edging system, which is suitable for a mold tooling of a rolling edging system, and is characterized in that the frame is installed in a mold tool, and the upper surface of the frame is provided with a receiving groove for accommodating A plurality of card plates are evenly arranged in the slot, and the card board is installed in the accommodating groove by the turning mechanism; the outer edge of the frame is respectively provided with a long strip-shaped adsorption type electromagnet, and the adsorption type electromagnet is externally connected with a power source; the card board The side of the side is provided with a plurality of independently ventilated suction cup members, and the suction cup member is mounted on the card board by means of a snap-fit manner; the card plate is flipped to realize the switching of the suction cup member in an upright working state and a flat state; the suction cup members are independently connected to the CNC On the outlet of the road valve, the inlet of the numerical control multi-way valve is connected to the numerical control air pump; the numerical control air pump, the numerical control multi-way valve, the turning mechanism, the adsorption electromagnet are respectively connected and controlled by the rolling edge system controller; the rolling package The edge system controls the suction cup to be turned over by the turning mechanism, and controls the suction cup member through the numerical control air pump and the numerical control multi-way valve.
- 根据权利要求1所述的滚压包边***使用的自适应吸附***，其特征在于，所述吸盘件包括顶部的硅胶盘，硅胶盘安装在气阀上，硅胶盘内部为工作腔，气阀设有连接所述数控多路阀的通气口，所述气阀上设有卡件，卡件与卡板配合将吸盘件安装在卡板上。The adaptive adsorption system for use in a rolling edging system according to claim 1, wherein the suction cup member comprises a top silicone disc, the silicone disc is mounted on the air valve, and the inside of the silicone disc is a working chamber, the air valve A vent is connected to the numerical control multi-way valve, and the air valve is provided with a card member, and the card member cooperates with the card plate to mount the suction cup member on the card board.
- 根据权利要求2所述的滚压包边***使用的自适应吸附***，其特征在于，所述硅胶盘的碗状壁内部中空，构成碗壁腔，气阀分别连通碗壁腔、工作腔，并分别独立向碗壁腔、工作腔充气或者抽气。The adaptive adsorption system used in the rolling edging system according to claim 2, wherein the bowl-shaped wall of the silicone disc is hollow inside, forming a bowl wall cavity, and the gas valve is respectively connected to the bowl wall cavity and the working cavity. And independently inflating or pumping the bowl wall cavity and the working chamber.
- 根据权利要求2所述的滚压包边***使用的自适应吸附***，其特征在于，所述硅胶盘的工作腔内设有一弹性膜，将工作腔分割为前工作腔和后工作腔，气阀与后工作腔连通，向后工作腔充气或者抽气。The adaptive adsorption system for use in a rolling edging system according to claim 2, wherein an elastic membrane is disposed in the working chamber of the silicone disc, and the working chamber is divided into a front working chamber and a rear working chamber. The valve is in communication with the rear working chamber to inflate or pump the working chamber.
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| CN201810272374.7A CN108421865A (en) | 2018-03-29 | 2018-03-29 | The adaptive adsorption system that rolling pressing edge covering system uses |
| CN201810272374.7 | 2018-03-29 |
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| CN116475326A (en) * | 2023-06-21 | 2023-07-25 | 淄博市特种设备检验研究院 | Pressure vessel head throat processingequipment |
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| CN108421865A (en) * | 2018-03-29 | 2018-08-21 | 广州瑞松北斗汽车装备有限公司 | The adaptive adsorption system that rolling pressing edge covering system uses |
| CN111702100A (en) * | 2020-06-02 | 2020-09-25 | 南京天普机电产品制造有限公司 | Sheet metal device for machining parts of railway vehicle |
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| CN108421865A (en) | 2018-08-21 |
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