Automatic stamping equipment for special-shaped pipe fittings of automobile parts

Abstract

The utility model provides automatic stamping equipment for an automobile part special-shaped pipe fitting, which comprises a plurality of stations arranged in sequence according to the stamping process of the automobile part special-shaped pipe fitting, a core rod female die is arranged in the middle of each station, a fixed die part of each core rod female die is fixed on the corresponding station, the fixed die parts clamp workpieces of the automobile part special-shaped pipe fitting, and the fixed die parts clamp the workpieces of the automobile part special-shaped pipe fitting. And the movable die part of the core rod female die performs push-pull punching movement on a workpiece. According to the utility model, the structure is simple and reasonable, the integrality is strong, the workpieces can be accurately placed in the core rod female die every time through the sequencing of a plurality of stations and the accurate positioning of the manipulator, and the labor cost is reduced; the mechanical arm grabs the workpiece, manual lightering, material mixing and other phenomena do not exist, variables do not occur, machining errors are reduced, multi-angle and accurate workpiece positioning is achieved, and mistaken placement and missing placement do not occur. The manipulator can automatically work for a long time and is easy to manage; and the movement parameters of the air cylinder are adjusted and controlled by presetting the stamping rhythm of each working procedure, so that the cost is reduced, and the productivity is improved.

Description

Technical Field

[0001] This utility model relates to the field of pipe assembly technology, and more specifically, to an automated stamping equipment for irregularly shaped pipe fittings for automobile parts. Background Technology

[0002] With the continuous development of society, the automotive industry has achieved increasingly sophisticated development. Car seats are a direct link in the driver's and passenger's experience of driving and riding in a car, and the car seat frame is one of its important components. Among them, the tubular frame, with its simple structure and low cost, is widely used in car seat frames. The tubular frame uses irregularly shaped elliptical welded tubing, designed according to ergonomics, to improve passenger support and comfort.

[0003] However, as irregularly shaped tubular components in automotive parts, the tubular frame of car seats currently faces the following difficulties and drawbacks in the stamping process:

[0004] 1. The punching process on irregularly shaped pipe fittings is quite difficult. The traditional punching method involves manual handling and single punching, which can easily deform the hole and is also costly in terms of labor.

[0005] 2. There are many uncertainties in the transfer of parts between each workstation, such as the possibility of material mixing.

[0006] 3. The stamping cycle of each process is not easy to balance, and the process control is difficult.

[0007] 4. Irregularly shaped parts have many different angle types, making it difficult to control quality factors such as dimensions. Utility Model Content

[0008] Therefore, the purpose of this utility model is to design an automated stamping equipment for irregularly shaped tubular automotive parts. Through the rational arrangement of multiple workstations, a robotic arm is installed next to each workstation. The robotic arm's accurate positioning ensures that each workpiece is precisely placed into the mandrel die, reducing labor costs. The robotic arm picks up workpieces one-to-one, eliminating manual handling and avoiding errors such as material mixing. The robotic arm executes its movement path according to a preset program, preventing variables and reducing processing errors. It achieves multi-angle, precise workpiece positioning, preventing misplacement or omissions. Based on single-step stamping, the equipment system is designed so that the robotic arm can work automatically for extended periods, facilitating management. By pre-designing the stamping cycle time for each process, the cylinder motion parameters are adjusted and controlled to meet user production capacity requirements, achieving both cost reduction and a significant increase in production capacity.

[0009] This utility model provides an automated stamping equipment for irregularly shaped tubular components of automobile parts, comprising: multiple workstations arranged sequentially according to the stamping process of irregularly shaped tubular components of automobile parts, a mandrel die provided in the middle of each workstation, the fixed mold (die) part of the mandrel die being fixed on the workstation, the fixed mold part clamping the workpiece of the irregularly shaped tubular component of automobile parts, and the moving mold (mandrel) part of the mandrel die performing a push-pull punching motion on the workpiece.

[0010] This invention uses a mandrel push-pull punching method. The mandrel serves as a support for the workpiece tube wall and will not deform during punching. When the mandrel is retracted, the workpiece can be easily removed, making the operation convenient.

[0011] Specifically, the mandrel die is designed in the mold manufacturing process to ensure that the relative moving positions of the mandrel and the die will not deviate, which facilitates the alignment of the punching part of the workpiece of the irregular tube. The fixed mold (die) of the mandrel die is fixed and the workpiece of the irregular tube clamped on the fixed mold is also fixed. The moving mold (mandrel) of the mandrel die can slide, and under the pushing and pulling of the mandrel, the precise punching operation of the workpiece of the irregular tube can be achieved.

[0012] The use of this automated stamping equipment eliminates the complex process of manual stamping using multiple machine tools in a single step, significantly saving manpower and improving stamping efficiency.

[0013] One embodiment of this utility model includes 7 workstations. The traditional stamping process cycle that requires 7 people can be completed by 2 people using this automated stamping equipment (one person performs full inspection of the finished product, and the other person adjusts and maintains the machine tool and other equipment), which greatly reduces labor costs.

[0014] Furthermore, the automated stamping equipment for the irregularly shaped tubular parts of the automobile also includes: a pneumatic core-pulling cylinder, the outer shell of which is fixedly mounted on the work station, and the piston end of which is coaxially and fixedly connected to the moving mold (mandrel) part of the mandrel die.

[0015] Traditional mandrel punching mechanisms employ hydraulic devices, which are energy-intensive, structurally complex, and require cumbersome installation and maintenance. This invention optimizes the mandrel drive structure design by using a pneumatic mandrel-pulling cylinder to drive the mandrel punching. Compared to hydraulic control, pneumatic control offers clearer control logic, a simpler structure, easier installation and operation, and lower energy consumption.

[0016] Furthermore, the moving mold (mandrel) portion of the mandrel die includes multiple mandrels, and the number of pneumatic core-pulling cylinders corresponds to the same number of mandrels. Each pneumatic core-pulling cylinder is coaxially arranged on the side of the moving mold (mandrel) portion of the corresponding mandrel die away from the workpiece.

[0017] Specifically, the position, diameter, length, and other dimensions of the mandrel in the mandrel die are determined based on the holes contained in the different irregularly shaped tubular parts of the automotive parts.

[0018] Preferably, the installation position of the pneumatic core-pulling cylinder is adjustable along the pushing and pulling direction of the core rod, which facilitates the adjustment of the punching depth.

[0019] Preferably, the installation position of the pneumatic core-pulling cylinder on the workstation is adjustable, which improves the compatibility with dimensional tolerances and enables the automated stamping equipment for the irregularly shaped tubular parts of automobiles to be adapted to various irregularly shaped tubular parts of automobiles with different hole positions, thereby improving its applicability.

[0020] Furthermore, each of the workstations is equipped with a robotic arm for gripping and placing the workpiece. The head of the robotic arm is equipped with an electronic sensing device for detecting workpiece deformation, and the electronic sensing device is connected to a terminal PLC controller.

[0021] When a robotic arm at a workstation picks up an irregularly shaped pipe, an electronic sensor detects whether the workpiece has been deformed in the previous process, checking for any defects. Upon detecting deformation, the electronic sensor sends real-time feedback to the terminal PLC controller. The PLC controller then controls the robotic arm to move the defective workpiece to a scrap bin for disposal, effectively preventing defective workpieces from being mixed into the finished product.

[0022] Preferably, the electronic sensing device uses a photoelectric sensor, which converts light signals into electrical signals through the photoelectric effect (external photoelectric effect, internal photoelectric effect, photovoltaic effect) to achieve non-contact detection with fast response speed, high sensitivity and good reliability.

[0023] Furthermore, the robotic arm includes: a base and an actuator; the actuator is mounted on the base and extends from the base toward the workpiece, and the end of the actuator is in contact with the workpiece; the actuator is driven by a drive mechanism, and the drive mechanism is signal-connected to a control system.

[0024] The base is the basic component for mounting the actuator and drive mechanism of the robot arm. The drive mechanism provides power to drive the actuator to achieve the positioning of the robot arm and complete the set workpiece gripping and placing actions. This ensures that each workpiece gripping and placing can be accurately placed into the positioning pin of the mandrel die, guaranteeing the workpiece clamping and positioning accuracy.

[0025] The control system directs the robot arm to move according to a prescribed program. The robot arm's actuators move by executing the processing program preset by the control system. The movement path will not change and will not cause movement and positioning deviations.

[0026] Preferably, the control system has the function of storing or memorizing instruction information, can measure and process information in a timely manner, issue control instructions to the actuators of the robot arm, and can also issue fault alarms when necessary.

[0027] Furthermore, the actuator includes a gripper, a wrist, and an arm. The gripper clamps or releases the workpiece, the wrist is connected between the gripper and the arm, and the arm is connected between the wrist and the machine base.

[0028] Preferably, the gripper is a claw gripper or a suction cup gripper.

[0029] The arm supports the wrist and grips the hand; preferably, the arm can extend, retract, lift, rotate, and swing. The wrist supports the grip and expands the arm's range of motion, enabling rotation and swinging movements. The base supports the arm and other components; the base can be fixed or move laterally.

[0030] Furthermore, the drive mechanism includes a pneumatic joint and a connecting rod, wherein the pneumatic joint is connected between the connecting rod and the actuator.

[0031] The drive mechanism is a device that provides power to the actuator, and drives the components of the actuator such as the arm, wrist, and gripper to perform corresponding movements.

[0032] The rotation angle of pneumatic joints can be precisely controlled, with high rotation accuracy. Compared with traditional DC and AC motors, pneumatic joints can control position and angle more accurately, making them suitable for stamping of irregularly shaped tubes in automotive parts.

[0033] Furthermore, the robotic arm also includes a walking mechanism, which includes a gear and rack mechanism, wherein the rack portion of the gear and rack mechanism is fixedly mounted on the base, and the gear portion of the gear and rack mechanism is connected to the actuator.

[0034] The walking mechanism enables the robotic arm to perform operations over long distances. The rack's trajectory is straight, and the gears run smoothly on the rack, enabling the robotic arm to move steadily.

[0035] Preferably, the rack is mounted on a guide rail, which is fixed to the machine base. The gear rolls on the rack, driving the actuator of the robot to move linearly along the guide rail, achieving stable movement with low-speed crawl-free and high-speed vibration-free operation.

[0036] Furthermore, the control system includes a cylinder control unit, which is signal-connected to each of the pneumatic core-pulling cylinders.

[0037] The cylinder control unit can actively adjust and control the pneumatic core-pulling cylinder. Specifically, the cylinder control unit controls the air pressure by controlling the pneumatic valve, thereby controlling the movement and stopping of the cylinder. It can precisely control parameters such as the cylinder's speed, acceleration, and stopping position, thus ensuring the balance of the stamping cycle in each process.

[0038] Compared with the prior art, the beneficial effects of this utility model are:

[0039] The automated stamping equipment for irregularly shaped tubular automotive parts provided by this utility model has a simple and reasonable structure with strong overall integrity. Through the rational arrangement of multiple workstations, a robotic arm is placed next to each workstation. The robotic arm's accurate positioning ensures that each workpiece is precisely placed into the mandrel die, reducing labor costs. The robotic arm picks up workpieces one-to-one, eliminating manual handling and avoiding errors such as material mixing. The robotic arm executes its movement path according to a preset program, preventing variables and reducing processing errors. It achieves multi-angle and precise workpiece positioning, preventing misplacement or omissions. Based on single-step stamping, the equipment system is designed so that the robotic arm can work automatically for extended periods, making it easy to manage. By pre-designing the stamping cycle time for each process and adjusting and controlling the cylinder motion parameters, it meets the user's production capacity requirements, achieving cost reduction and a significant increase in production capacity. It has good applicability and broad prospects for widespread application. Attached Figure Description

[0040] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0041] In the attached diagram:

[0042] Figure 1 This is an overall structural diagram of each station of the automated stamping equipment for irregularly shaped tubular automotive parts according to an embodiment of this utility model;

[0043] Figure 2 This is a schematic diagram of the seven stations of the automated stamping equipment for irregularly shaped tubular automotive parts according to an embodiment of this utility model.

[0044] Figure 3 , Figure 4 These are structural diagrams of two robotic arms in different working states according to embodiments of this utility model;

[0045] Figure 5 This is a structural diagram of the robotic arm and drive mechanism according to an embodiment of the present invention.

[0046] The markings in the attached figure are as follows:

[0047] 1. Workpiece, 2. Pneumatic core-pulling cylinder, 3. Core rod die, 4. Robot arm, 5. Workstation, 6. Electronic induction device, 7. Pneumatic joint, 8. Connecting rod, 9. Gripper, 10. Pneumatic quick-change male and female head. Detailed Implementation

[0048] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0049] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0050] It should be understood that although the terms first, second, and third may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0051] Example

[0052] This utility model embodiment provides an automated stamping equipment for irregularly shaped tubular automotive parts, such as... Figure 2 The diagram shows multiple stations 5 arranged sequentially according to the stamping process of automotive parts and irregularly shaped tubular components. Each station 5 has a mandrel die 3 (e.g., ...) in the middle. Figure 1As shown, the fixed mold (die) part of the mandrel die 3 is fixed on station 5. The fixed mold part clamps the workpiece 1 of the automotive part's irregular tube. The moving mold (mandrel) part of the mandrel die 3 performs a push-pull punching motion on the workpiece 1. Through the push-pull punching of the mandrel, the mandrel acts as a support for the tube wall of the workpiece 1, and will not deform during punching. When the mandrel is retracted, the workpiece 1 can be easily removed, making the operation convenient. The relative movement position of the mandrel and die 3 is determined in the mold manufacturing process so that there will be no deviation, which facilitates the alignment of the punching part of the workpiece 1 of the irregular tube. The fixed mold (die) of the mandrel die 3 is fixed, and the workpiece 1 of the irregular tube clamped on the fixed mold is also fixed. The moving mold (mandrel) of the mandrel die 3 can slide. Under the push-pull of the mandrel, the precise punching operation of the workpiece 1 of the irregular tube is realized, eliminating the complex process of single-step stamping processing using multiple machine tools, saving manpower, and improving stamping efficiency.

[0053] The moving mold (mandrel) portion of the mandrel die 3 includes multiple mandrels, and the number of pneumatic core-pulling cylinders 2 corresponds to the number of mandrels. Each pneumatic core-pulling cylinder 2 is coaxially arranged on the side of the moving mold (mandrel) portion of the corresponding mandrel die 3 away from the workpiece 1. In this embodiment, the position, diameter, length, and other dimensions of the mandrels in the mandrel die 3 are determined according to the holes contained in the different irregularly shaped tubular parts of the automotive parts.

[0054] Traditional mandrel punching mechanisms utilize hydraulic devices, which are energy-intensive, structurally complex, and require cumbersome installation and maintenance. This invention optimizes the mandrel drive structure design by employing a pneumatic mandrel-pulling cylinder 2 to drive the mandrel punching. The pneumatic mandrel-pulling cylinder 2 is mounted on station 5, with its cylinder body fixedly positioned there. The piston end of the cylinder 2 is coaxially and fixedly connected to the moving die (mandrel) portion of the mandrel die 3. Compared to hydraulic control, pneumatic control offers clearer control logic, a simpler structure, easier installation and operation, and lower energy consumption. The installation position of the pneumatic mandrel-pulling cylinder 2 is adjustable along the mandrel's push-pull movement direction, facilitating adjustment of the punching depth. Furthermore, the adjustable installation position of the cylinder on station 5 improves compatibility with dimensional tolerances and allows the automated stamping equipment for automotive parts with irregularly shaped tubes to be adapted to various hole positions, thus enhancing its applicability.

[0055] This embodiment includes 7 workstations 5 (e.g., Figure 2 As shown in the figure, the traditional stamping process cycle that requires 7 people can be completed by 2 people using this automated stamping equipment. One person performs full inspection of the finished product, and the other person adjusts and maintains the machine tools and other equipment, thus reducing labor costs.

[0056] Each workstation 5 is equipped with a robotic arm 4 for gripping and placing workpieces 1 (e.g., ...). Figure 3 , Figure 4 , Figure 5 As shown, the head of the robotic arm 4 is equipped with an electronic sensing device 6 for detecting the deformation of the workpiece 1. The electronic sensing device 6 is connected to the terminal PLC controller. When the robotic arm 4 at a certain station 5 is grasping the workpiece 1 of an irregularly shaped pipe, the electronic sensing device 6 detects whether the workpiece 1 has undergone deformation in the previous process, checking for any processing defects in the previous process. When deformation of the workpiece 1 is detected, the electronic sensing device 6 feeds back the detection information to the terminal PLC controller in real time. The terminal PLC controller controls the robotic arm 4 to move the defective workpiece 1 to the scrap box for scrapping, preventing the defective workpiece 1 from being mixed into the finished products. The electronic sensing device 6 uses a photoelectric sensor, which converts light signals into electrical signals through the photoelectric effect, realizing non-contact detection with fast response speed, high sensitivity, and good reliability. The robotic arm 4 includes a base and an actuator; the actuator is mounted on the base and extends from the base towards the workpiece 1, with the end of the actuator contacting and connecting to the workpiece 1; the actuator is driven by a drive mechanism, and the drive mechanism is connected to the control system. The base is the basic component for mounting the actuator, drive mechanism, etc. of the robot arm 4. The drive mechanism provides power to drive the actuator to achieve the positioning of the robot arm 4 and complete the set action of gripping and placing the workpiece 1. This ensures that each time the workpiece 1 is gripped and placed, it can be accurately placed into the positioning pin of the mandrel die 3, thus guaranteeing the clamping and positioning accuracy of the workpiece 1.

[0057] The actuator includes a gripper, wrist, and arm. The gripper 9 clamps or releases the workpiece 1. The wrist connects the gripper 9 and the arm, and the arm connects the wrist and the machine base. The gripper 9 is a pincer-type gripper. The arm supports the wrist and gripper and can perform extension, lifting, rotation, and swinging movements. The wrist supports the gripper 9 and expands the range of motion of the arm, enabling rotation and swinging movements. The machine base supports the arm and other components; the machine base can be fixed or move laterally.

[0058] The drive mechanism includes a pneumatic joint 7 and a connecting rod 8. One end of the connecting rod 8 is connected to the actuator, and the other end is connected to a pneumatic quick-change male / female connector 10 for replacing the drive mechanism. The pneumatic joint 7 connects the connecting rod 8 and the actuator. The drive mechanism is a device that provides power to the actuator, driving the actuator components such as the arm, wrist, and gripper 9 to perform corresponding movements. The rotation angle of the pneumatic joint 7 can be precisely controlled, with high rotational accuracy and typically very small errors, making it suitable for stamping applications of irregularly shaped automotive parts with high positional accuracy requirements.

[0059] The robotic arm 4 in this embodiment also includes a walking mechanism, which comprises a rack and pinion mechanism. The rack portion of the rack and pinion mechanism is fixedly mounted on the base, and the gear portion of the rack and pinion mechanism is connected to the actuator. The walking mechanism enables the robotic arm 4 to perform operations over long distances. The rack's trajectory is straight, and the gear runs smoothly on the rack, enabling the robotic arm 4 to move steadily. The rack is mounted on a guide rail, which is fixed to the base. The gear rolls on the rack, driving the actuator of the robotic arm 4 to move linearly along the guide rail, achieving stable movement with no crawling at low speeds and no vibration at high speeds.

[0060] The control system directs the robotic arm 4 to move according to a prescribed program. The actuators of the robotic arm 4 move by executing the processing program preset by the control system. The movement path remains unchanged, preventing any positioning deviations. The control system includes cylinder control units, each connected to a pneumatic core-pulling cylinder 2. The cylinder control units can actively adjust and control the pneumatic core-pulling cylinders 2. By controlling pneumatic valves, the cylinder control units control the air pressure, thereby controlling the movement and stopping of the cylinders. They can precisely control parameters such as cylinder speed, acceleration, and stopping position, ensuring a balanced stamping cycle for each process. The control system has the function of storing or memorizing instruction information, enabling timely measurement and processing of information, issuing control commands to the actuators of the robotic arm 4, and issuing fault alarms when necessary.

[0061] The automated stamping equipment for irregularly shaped automotive parts in this embodiment has a simple and reasonable structure with strong overall integrity. Through the rational arrangement of multiple workstations, a robotic arm is placed next to each workstation. The robotic arm's accurate positioning ensures that each workpiece is precisely placed into the mandrel die, reducing labor costs. The robotic arm picks up workpieces one-to-one, eliminating manual handling and avoiding errors such as material mixing. The robotic arm executes its movement path according to a preset program, preventing variables and reducing processing errors. It achieves multi-angle and precise workpiece positioning, preventing misplacement or omissions. The equipment system is designed based on single-step stamping, allowing the robotic arm to work automatically for extended periods and facilitating management. By pre-designing the stamping cycle time for each process and adjusting the cylinder motion parameters, the equipment meets user production capacity requirements, achieving cost reduction and a significant increase in production capacity.

[0062] The technical solution of this utility model has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

[0063] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automated stamping apparatus for automotive part profiled tubes, characterized by, The utility model relates to a kind of stamping process of automobile parts special-shaped pipe fittings, comprising: Multiple stations are arranged in turn according to the stamping process of automobile parts special-shaped pipe fittings, a core rod die is arranged in the middle of each station, the fixed die part of the core rod die is fixed on the station, the fixed die part clamps the workpiece of automobile parts special-shaped pipe fittings, the movable die part of the core rod die does push-pull punching motion to the workpiece.

2. The automated punching apparatus for automobile part profiled pipe as claimed in claim 1 wherein, Further comprising: A pneumatic core-pulling cylinder, the cylinder body shell end of the pneumatic core-pulling cylinder is fixedly arranged on the station, and the piston end of the pneumatic core-pulling cylinder is coaxially fixedly connected with the movable die part of the core rod die as a whole.

3. The apparatus for the automatic punching of automobile parts profiled pipes according to claim 2, characterized in that, The movable die part of the core rod die includes multiple core rods, the number of the pneumatic core-pulling cylinders corresponds to the number of the core rods, and each pneumatic core-pulling cylinder is coaxially arranged on the side of the movable die part of the corresponding core rod die away from the workpiece.

4. The apparatus for automated punching of automobile part profiled tubes as claimed in claim 2 wherein, Each station is provided with a manipulator for grabbing and placing the workpiece, the head of the manipulator is provided with an electronic sensing device for detecting the deformation of the workpiece, and the electronic sensing device is signal-connected with a terminal PLC controller.

5. The apparatus for automated punching of automotive part profiled tubes as claimed in claim 4 wherein, The manipulator includes a machine base and an actuator, the actuator is mounted on the machine base and extends from the machine base to the workpiece, and the end of the actuator is in contact with the workpiece.

6. The apparatus for automated punching of automotive part profiled tubes as claimed in claim 5 wherein, The actuator includes a gripper, a wrist and an arm, the gripper clamps or releases the workpiece, the wrist is connected between the gripper and the arm, and the arm is connected between the wrist and the machine base.

7. The apparatus for automated punching of automobile part profiled tubes as claimed in claim 5 wherein, The driving mechanism includes a pneumatic joint and a connecting rod, and the pneumatic joint is connected between the connecting rod and the actuator.

8. The apparatus for automated punching of automobile part profiled tubes as claimed in claim 5 wherein, The manipulator further includes a walking mechanism, the walking mechanism includes a gear and rack mechanism, the rack part of the gear and rack mechanism is fixedly arranged on the machine base, and the gear part of the gear and rack mechanism is connected with the actuator.

9. The apparatus for automated punching of automobile part profiled tubes as claimed in claim 5 wherein, The control system includes a cylinder control unit, and the cylinder control unit is signal-connected with each pneumatic core-pulling cylinder.

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