CN104439020A - Riveting machine - Google Patents

Riveting machine Download PDF

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Publication number
CN104439020A
CN104439020A CN201410731359.6A CN201410731359A CN104439020A CN 104439020 A CN104439020 A CN 104439020A CN 201410731359 A CN201410731359 A CN 201410731359A CN 104439020 A CN104439020 A CN 104439020A
Authority
CN
China
Prior art keywords
handgrip
lead screw
screw gear
base
slide carriage
Prior art date
Application number
CN201410731359.6A
Other languages
Chinese (zh)
Other versions
CN104439020B (en
Inventor
于今
刘彪
龚孟
萧红
Original Assignee
重庆朗正科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 重庆朗正科技有限公司 filed Critical 重庆朗正科技有限公司
Priority to CN201410731359.6A priority Critical patent/CN104439020B/en
Publication of CN104439020A publication Critical patent/CN104439020A/en
Application granted granted Critical
Publication of CN104439020B publication Critical patent/CN104439020B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21JFORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00Riveting
    • B21J15/10Riveting machines
    • B21J15/30Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32Devices for inserting or holding rivets in position with or without feeding arrangements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21JFORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00Riveting
    • B21J15/10Riveting machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21JFORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00Riveting
    • B21J15/38Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements

Abstract

The invention discloses a riveting machine. The riveting machine comprises a press (1), a material loading device (2), a rivet placing device (3) and a material taking device (4), wherein the press (1) is provided with a base (5) on which a riveting station (6) is arranged; the material loading device (2), the press (1) and the rivet placing device (3) are transversely arranged in parallel; the material taking device (4) and the material loading device (2) are longitudinally arranged in parallel. According to the riveting machine, material loading automation, rivet loading automation and material taking automation during riveting are realized, and the effects of automatic riveting and high efficiency are achieved; due to the fact that artificial errors are avoided, the riveting accuracy and the riveting quality are improved; in addition, the labor cost can be reduced.

Description

A kind of riveting machine

Technical field

The present invention relates to a kind of riveting machine.

Background technology

In current Automatic manual transmission technical process, riveting machine is a kind of conventional manufacturing equipment, may be used for the technical process such as the connection of metalwork.Existing riveting machine is only a press, needs in the course of the work manually to carry out material loading and upper rivet, then starts press and rivet, and finally manually takes off the workpiece after riveted joint again.The not high and inefficiency of manual mode of operation automaticity; Because human factor is comparatively large, easy to be shaping inconsistent and precision does not reach requirement, quality when riveting can be caused stable not; In addition, labor intensity of operating staff is large, needs to consume a large amount of human costs.

Summary of the invention

The object of the present invention is to provide a kind of automatic riveting machine.

To achieve these goals, the present invention is achieved in that a kind of riveting machine, comprises the press with the base being provided with riveted joint station, also comprises feeding device, rivet apparatus for placing and take out device; Wherein, described feeding device, press and rivet apparatus for placing are laterally set up in parallel, and described take out device and described feeding device are longitudinally set up in parallel.Such setting can realize the automation of material loading, upper rivet and feeding, improves the efficiency of riveted joint.

In order to realize the automation of material loading further, described feeding device comprises rotating disk and feeding manipulator, and described feeding manipulator is arranged on the base of described press.Be placed on by workpiece on described rotating disk, described manipulator obtains workpiece then on the base being positioned over described press from described rotating disk.

In order to make described feeding manipulator obtain workpiece from described rotating disk accurately further, described rotating disk comprises base, turntable and index dial; Wherein, described base is fixedly installed described turntable, in described turntable, is provided with rotating shaft, described index dial is arranged on described rotating shaft; Described index dial outer ring is evenly provided with multiple workpiece placement station; Described base is provided with the checkout gear for detecting the described location of workpiece.

In order to make feeding manipulator can material loading accurately further, described feeding manipulator comprises handgrip, sets a table, guide rod cylinder and electric cylinder; Wherein, described electric cylinder is laterally placed, and described electric cylinder is vertically fixedly installed described guide rod cylinder, sets a table, described setting a table arranges described handgrip described in described guide rod cylinder is arranged.

In order to realize the automation that rivet is placed further, described rivet apparatus for placing involving vibrations dish, rivet holder device and fetching device; Wherein, described vibrating disk is by flexible pipe and the link of described rivet holder device, and described rivet holder device and fetching device are disposed in parallel on the base of described press; Described fetching device comprises handgrip, handgrip fixed head, guide rod cylinder; Wherein, described guide rod cylinder is vertically arranged, and another guide rod cylinder described is horizontally set in the guide rod cylinder of vertically setting, and arrange described handgrip fixed head in one end of horizontally disposed guide rod cylinder, described handgrip is fixed on described handgrip fixed head.

In order to realize the automation of feeding further, described take out device comprises base and three-coordinate manipulator, and described three-coordinate manipulator is arranged on described base; Described three-coordinate manipulator comprises XZ axis robot and telescopic magic hand; Wherein, described XZ axis robot is arranged on described base, and described telescopic magic hand is arranged in described XZ axis robot.

In order to realize the running of three-coordinate manipulator further, described XZ axis robot comprises lead screw gear, servomotor is respectively arranged with in one end of described lead screw gear, described lead screw gear is arranged in X direction, the feed screw nut seat of described lead screw gear is installed with slide carriage, described lead screw gear also comprises the linear guides arranged in X direction, described linearly lead slide be provided with slide block, described slide carriage is connected with described slide block; The slide plate of described lead screw gear arranges described lead screw gear along Z-direction, the feed screw nut seat of described lead screw gear is installed with slide carriage, described lead screw gear also comprises the linear guides arranged along Z-direction, described linear guides slides and is provided with slide block, described slide carriage is connected with described slide block; Described slide carriage is fixedly installed Telescopic Fixed plate, described telescopic magic hand installed by described Telescopic Fixed plate;

Described telescopic magic hand comprises electric cylinder, section bar and handgrip; Wherein, described electric cylinder is arranged on described slide carriage by described Telescopic Fixed plate, and described electric cylinder is provided with secondary slide carriage, and one end of described section bar is arranged on described secondary slide carriage, and described handgrip is arranged on the other end of described section bar.

In order to protect described XZ axis robot further, outside the lead screw gear arranged in X direction and the lead screw gear arranged along Z-direction, be respectively arranged with protective cover; The two ends of described protective cover are organ protector.

In order to improve further riveted joint efficiency and, described slide carriage is two and is arranged on the both sides of described nut seat, and described slide carriage is separately installed with described Telescopic Fixed plate, and described Telescopic Fixed plate is separately installed with described telescopic magic hand; In the handgrip part of at least one telescopic magic hand, the rotary cylinder that described handgrip is rotated is installed, the bottom of described three-coordinate manipulator is provided with belt conveyor.

In order to improve the use diversity of riveting machine further, be longitudinally set side by side with the die-changing apparatus with conveyer belt with described press.

Beneficial effect of the present invention is, have employed riveting machine of the present invention, and when achieving riveted joint, material loading automation, upper rivet automation, feeding automation, reach automation riveting; Owing to avoiding human error, the precision of riveted joint and quality are improved; Rivet station owing to using two simultaneously to rivet, improve the efficiency of riveted joint; In addition, the present invention can also save labour turnover.

the figure that bows says face:

the schematic diagram of Fig. 1 riveting machine of the present invention;

Fig. 2 is the structure chart of feeding device;

Fig. 3 is the structure chart of the rotating disk of feeding device;

Fig. 4 is the structure chart of the reclaimer robot of feeding device;

Fig. 5 is the structure chart of rivet apparatus for placing;

Fig. 6 is the structure chart of the fetching device of rivet apparatus for placing;

Fig. 7 is the structure chart of take out device;

Fig. 8 is the top view of take out device;

Fig. 9 is the structure chart of the XZ axis robot of take out device;

Figure 10 is the sectional view of the XZ axis robot of take out device.

detailed description of the invention:

Introduce the present invention by by the embodiment shown in accompanying drawing below, but the present invention is not limited to introduced embodiment, any improvement or alternative on the present embodiment essence spirit, still belongs to the claims in the present invention scope required for protection.

embodiment 1: as shown in Fig. 1 to 10, a kind of riveting machine, comprises the press 1 with the base 5 being provided with riveted joint station 6, also comprises feeding device 2, rivet apparatus for placing 3 and take out device 4; Wherein, described feeding device 2, press 1 and rivet apparatus for placing 3 are laterally set up in parallel, and described take out device 4 is longitudinally set up in parallel with described feeding device 2.

Described feeding device 2 comprises rotating disk 7 and feeding manipulator 8, and described feeding manipulator 8 is arranged on the base 5 of described press 1; Described rotating disk 7 comprises base 9, turntable 10 and index dial 11; Wherein, described base 9 is fixedly installed described turntable 10, in described turntable 10, is provided with rotating shaft, described index dial 11 is arranged on described rotating shaft; Described index dial 11 outer ring is evenly provided with multiple workpiece placement station 12; Described base 9 is provided with the checkout gear 13 for detecting the described location of workpiece; Described feeding manipulator 8 comprises handgrip 14, set a table 15, guide rod cylinder 16 and electric cylinder 17; Wherein, described electric cylinder 17 is laterally placed, and described electric cylinder 17 is vertically fixedly installed described guide rod cylinder 16, sets a table 15 described in described guide rod cylinder 16 is arranged, and arranges described handgrip 14 described setting a table on 15.

Described rivet apparatus for placing 3 involving vibrations dish 18, rivet holder device 19 and fetching device 20; Wherein, described vibrating disk 18 is linked by flexible pipe 21 and described rivet holder device 19, and described rivet holder device 19 and fetching device 20 are arranged on the base 5 of described press 1; Described fetching device 20 comprises handgrip 20, handgrip fixed head 23, guide rod cylinder 24,25; Wherein, described guide rod cylinder 25 is vertically arranged, and described guide rod cylinder 24 is horizontally set in described guide rod cylinder 25, arranges described handgrip fixed head 23 in one end of described guide rod cylinder 24, and described handgrip 22 is fixed on described handgrip fixed head 23.

Described take out device 4 comprises base 26 and three-coordinate manipulator 27, and described three-coordinate manipulator 27 is arranged on described base 26; Described three-coordinate manipulator 27 comprises XZ axis robot 28 and telescopic magic hand 29; Wherein, described XZ axis robot 28 is arranged on described base 26, and described telescopic magic hand 29 is arranged in described XZ axis robot 28; Described XZ axis robot 28 comprises lead screw gear 30,31, in described lead screw gear 30, one end of 31 is respectively arranged with servomotor 32,33, and described lead screw gear 30 is arranged in X direction, the feed screw nut seat 34 of described lead screw gear 30 is installed with slide carriage 35, described lead screw gear 30 also comprises the linear guides 36 arranged in X direction, described linearly lead on 36 slide be provided with slide block 37, described slide carriage 35 is connected with described slide block 37; The slide carriage 35 of described lead screw gear 30 arranges described lead screw gear 31 along Z-direction, the feed screw nut seat 38 of described lead screw gear 31 is installed with slide carriage 39, described lead screw gear 31 also comprises the linear guides 40 arranged along Z-direction, described linear guides 40 slides and is provided with slide block 41, described slide carriage 39 is connected with described slide block 41; Described slide carriage 39 is fixedly installed Telescopic Fixed plate 42, described telescopic magic hand 29 installed by described Telescopic Fixed plate 42;

Described telescopic magic hand 29 comprises electric cylinder 43, section bar 44 and handgrip 45; Wherein, described electric cylinder 43 is arranged on described slide carriage 39 by described Telescopic Fixed plate 42, described electric cylinder 43 is provided with secondary slide carriage 46, and one end of described section bar 44 is arranged on described secondary slide carriage 46, and described handgrip 45 is arranged on the other end of described section bar 44.

Protective cover 43 is respectively arranged with outside the lead screw gear 30 arranged in X direction and the lead screw gear 34 arranged along Z-direction; The two ends of described protective cover 43 are organ protector 44; Handgrip 41 part of a telescopic magic hand 29 is provided with the cylinder 45 that described handgrip 41 is rotated wherein; The bottom of described three-coordinate manipulator 27 is provided with belt conveyor 46, is longitudinally set side by side with to have with described press 1 and creates conveyer belt die-changing apparatus 47.

In this example, described riveted joint station 6 is two, and described slide carriage 39 is two and is arranged on the both sides of 38, described nut, stretches fixed head 42 described in described slide carriage 39 is separately installed with, and described Telescopic Fixed plate 42 is separately installed with described telescopic magic hand 29.

In this example, described checkout gear 13 is the checkout gear of existing routine.

In riveting process, on described press 1 base, the riveted joint station 6 of 5 is divided into a station and secondary riveted joint station, the manipulator 8 of described feeding device 2 is placed on a described station from grabbing workpiece described index dial 11, then rivet is transported on described rivet holder device 19 by flexible pipe 21 by described vibrating disk 18, the rivet captured on described rivet holder device 19 is put into the assigned address of described press 1 by described fetching device 20, start described press 1 to rivet, the telescopic magic hand 29 with 45 cylinders that do not have of riveting complete described take out device 4 is afterwards placed on described secondary riveted joint station by capturing the workpiece after once riveting, described feeding device 2 carries out material loading to a station again, described rivet apparatus for placing 3 carries out upper rivet to a station and secondary station respectively, start press 1 to rivet, rivet complete after with 45 cylinders telescopic magic hand 29 by the riveted joint of crawls secondary afterwards workpiece be placed on described belt conveyor 46, by described belt conveyor 47, the workpiece of having riveted is transported to assigned address, described do not have the telescopic magic hand 29 with cylinder 45 to be placed on described secondary riveted joint station by capturing the workpiece after once riveting, repeat above-mentioned steps.Achieve the automation of riveted joint, improve riveted joint efficiency, precision and quality, save cost of labor.

Claims (10)

1. a riveting machine, comprises the press (1) with the base (5) being provided with riveted joint station (6), it is characterized in that: also comprise feeding device (2), rivet apparatus for placing (3) and take out device (4); Wherein, described feeding device (2), press (1) and rivet apparatus for placing (3) are laterally set up in parallel, and described take out device (4) is longitudinally set up in parallel with described feeding device (2).
2. riveting machine as claimed in claim 1, is characterized in that: described feeding device (2) comprises rotating disk (7) and feeding manipulator (8), and described feeding manipulator (8) is arranged on the base (5) of described press (1).
3. riveting machine as claimed in claim 2, is characterized in that: described rotating disk (7) comprises base (9), turntable (10) and index dial (11); Wherein, described base (9) is fixedly installed described turntable (10), in described turntable (10), is provided with rotating shaft, described index dial (11) is arranged on described rotating shaft; Described index dial (11) outer ring is evenly provided with multiple workpiece placement station (12); Described base (9) is provided with the checkout gear (13) for detecting the described location of workpiece.
4. riveting machine as claimed in claim 3, is characterized in that: described feeding manipulator (8) comprises handgrip (14), set a table (15), guide rod cylinder (16) and electric cylinder (17); Wherein, described electric cylinder (17) is laterally placed, and described electric cylinder (17) is vertically fixedly installed described guide rod cylinder (16), sets a table (15) described in described guide rod cylinder (16) is arranged, described set a table (15) arrange described handgrip (14).
5. riveting machine as claimed in claim 4, is characterized in that: described rivet apparatus for placing (3) involving vibrations dish (18), rivet holder device (19) and fetching device (20); Wherein, described vibrating disk (18) is by flexible pipe (21) and described rivet holder device (19) link, and described rivet holder device (19) and fetching device (20) are disposed in parallel on the base (5) of described press (1);
Described fetching device (20) comprises handgrip (22), handgrip fixed head (23), guide rod cylinder (24,25); Wherein, described guide rod cylinder (25) is vertically arranged, described guide rod cylinder (24) is horizontally set in described guide rod cylinder (25), arranges described handgrip fixed head (23) in one end of described guide rod cylinder (24), and described handgrip (22) is fixed on described handgrip fixed head (23).
6. riveting machine as claimed in claim 5, it is characterized in that: described take out device (4) comprises base (26) and three-coordinate manipulator (27), described three-coordinate manipulator (27) is arranged on described base (26); Described three-coordinate manipulator (27) comprises XZ axis robot (28) and telescopic magic hand (29); Wherein, described XZ axis robot (28) is arranged on described base (26), and described telescopic magic hand (29) is arranged on described XZ axis robot (28).
7. riveting machine as claimed in claim 6, it is characterized in that: described XZ axis robot (28) comprises lead screw gear (30, 31), in described lead screw gear (30, 31) one end is respectively arranged with servomotor (32, 33), described lead screw gear (30) is arranged in X direction, the feed screw nut seat (34) of described lead screw gear (30) is installed with slide carriage (35), described lead screw gear (30) also comprises the linear guides (36) arranged in X direction, linearly lead (36) upper slip be provided with slide block (37) described, described slide carriage (35) is connected with described slide block (37), the slide carriage (35) of described lead screw gear (30) arranges described lead screw gear (31) along Z-direction, the feed screw nut seat (38) of described lead screw gear (31) is installed with slide carriage (39), described lead screw gear (31) also comprises the linear guides (40) arranged along Z-direction, the upper slip of described linear guides (40) is provided with slide block (41), and described slide carriage (39) is connected with described slide block (41), described slide carriage (39) is fixedly installed Telescopic Fixed plate (42), described Telescopic Fixed plate (42) the described telescopic magic hand of upper installation (29),
Described telescopic magic hand (29) comprises electric cylinder (43), section bar (44) and handgrip (45); Wherein, described electric cylinder (43) is arranged on described slide carriage (39) by described Telescopic Fixed plate (42), described electric cylinder (43) is provided with secondary slide carriage (46), one end of described section bar (44) is arranged on described secondary slide carriage (46), and described handgrip (45) is arranged on the other end of described section bar (44).
8. riveting machine as claimed in claim 7, is characterized in that: be respectively arranged with protective cover (47) in the lead screw gear arranged in X direction (30) with outside the lead screw gear (31) of Z-direction setting; The two ends of described protective cover (47) are organ protective cover (48).
9. riveting machine as claimed in claim 8, it is characterized in that: described riveted joint station (6) is two, described slide carriage (39) is two and is arranged on the both sides of described nut seat (38), described slide carriage (39) is separately installed with described Telescopic Fixed plate (42), described Telescopic Fixed plate (42) is separately installed with described telescopic magic hand (29); Handgrip (45) part at least one telescopic magic hand (29) is provided with the cylinder (49) that described handgrip is rotated; The bottom of described three-coordinate manipulator (27) is provided with belt conveyor (50).
10. the riveting machine as described in above-mentioned any one claim, is characterized in that: be longitudinally set side by side with the die-changing apparatus (51) with conveyer belt with described press (1).
CN201410731359.6A 2014-12-05 2014-12-05 A kind of riveting machine CN104439020B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410731359.6A CN104439020B (en) 2014-12-05 2014-12-05 A kind of riveting machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410731359.6A CN104439020B (en) 2014-12-05 2014-12-05 A kind of riveting machine

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CN104439020A true CN104439020A (en) 2015-03-25
CN104439020B CN104439020B (en) 2016-08-17

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104841837A (en) * 2015-05-29 2015-08-19 东莞善泽智能化科技有限公司 Automatic nut riveting machine
CN104858354A (en) * 2015-05-18 2015-08-26 无锡市强茂金属制品有限公司 Automatic riveting machine for lock transmission elements
CN104999020A (en) * 2015-07-24 2015-10-28 天津中德职业技术学院 Automatic spin-riveting machine
CN105855447A (en) * 2016-06-07 2016-08-17 重庆航墙铝业股份有限公司 Full-automatic numerical control riveting machine
CN107030245A (en) * 2017-05-25 2017-08-11 东莞市克诺五金有限公司 Belt fastener discount nail pressing equipment
WO2018120869A1 (en) * 2016-12-30 2018-07-05 广州蓝圣智能科技有限公司 Chair frame small accessory riveting machine
CN108705021A (en) * 2018-05-23 2018-10-26 栾友祥 A kind of docking facilities of list rivet clip automatic assembling machine

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108127067A (en) * 2017-11-29 2018-06-08 安徽巨自动化装备有限公司 Lightweight vehicle body rivet line equipment investment optimization system

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Publication number Priority date Publication date Assignee Title
EP2258508A1 (en) * 2009-06-02 2010-12-08 Newfrey LLC Head arrangement for joining component with a hinged component holder ; Method of feeding a component to a hinged component holder
CN102274919A (en) * 2011-05-03 2011-12-14 苏州工业园区高登威科技有限公司 Automatic riveting system
CN202606709U (en) * 2012-05-18 2012-12-19 亿和精密金属制品(深圳)有限公司 Full-automatic accessory assembly machine
CN203734112U (en) * 2014-02-25 2014-07-23 惠州永利通金属制品有限公司 Automatic riveting machine for wire connection terminals
CN204294856U (en) * 2014-12-05 2015-04-29 重庆朗正科技有限公司 A kind of riveting machine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2258508A1 (en) * 2009-06-02 2010-12-08 Newfrey LLC Head arrangement for joining component with a hinged component holder ; Method of feeding a component to a hinged component holder
CN102274919A (en) * 2011-05-03 2011-12-14 苏州工业园区高登威科技有限公司 Automatic riveting system
CN202606709U (en) * 2012-05-18 2012-12-19 亿和精密金属制品(深圳)有限公司 Full-automatic accessory assembly machine
CN203734112U (en) * 2014-02-25 2014-07-23 惠州永利通金属制品有限公司 Automatic riveting machine for wire connection terminals
CN204294856U (en) * 2014-12-05 2015-04-29 重庆朗正科技有限公司 A kind of riveting machine

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104858354A (en) * 2015-05-18 2015-08-26 无锡市强茂金属制品有限公司 Automatic riveting machine for lock transmission elements
CN104841837A (en) * 2015-05-29 2015-08-19 东莞善泽智能化科技有限公司 Automatic nut riveting machine
CN104841837B (en) * 2015-05-29 2017-02-01 东莞善泽智能化科技有限公司 Automatic nut riveting machine
CN104999020A (en) * 2015-07-24 2015-10-28 天津中德职业技术学院 Automatic spin-riveting machine
CN105855447A (en) * 2016-06-07 2016-08-17 重庆航墙铝业股份有限公司 Full-automatic numerical control riveting machine
WO2018120869A1 (en) * 2016-12-30 2018-07-05 广州蓝圣智能科技有限公司 Chair frame small accessory riveting machine
CN107030245A (en) * 2017-05-25 2017-08-11 东莞市克诺五金有限公司 Belt fastener discount nail pressing equipment
CN108705021A (en) * 2018-05-23 2018-10-26 栾友祥 A kind of docking facilities of list rivet clip automatic assembling machine

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