EP1875976B1 - Self-piercing riveting unit - Google Patents

Self-piercing riveting unit Download PDF

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Publication number
EP1875976B1
EP1875976B1 EP20070011429 EP07011429A EP1875976B1 EP 1875976 B1 EP1875976 B1 EP 1875976B1 EP 20070011429 EP20070011429 EP 20070011429 EP 07011429 A EP07011429 A EP 07011429A EP 1875976 B1 EP1875976 B1 EP 1875976B1
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EP
European Patent Office
Prior art keywords
punching
riveting
rivet
stroke
snap die
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP20070011429
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German (de)
French (fr)
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EP1875976A1 (en
Inventor
Peter Niedenzu
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Publication of EP1875976A1 publication Critical patent/EP1875976A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B21J15/285—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups for controlling the rivet upset cycle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B21J15/025—Setting self-piercing rivets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups

Definitions

  • the invention relates to a stamped riveting unit for riveting construction, and in particular of bodyshell -Blech inconvenience, according to the preamble of claim 1.
  • the object of the invention is the riveting unit of the type mentioned in such a way that the mentioned faulty joint connections avoided in a structurally simple, series-fitting manner and a consistently high rivet quality is achieved.
  • the joining process is combined with a hardness test in such a way that only such punching elements are installed which are tested before the beginning of the actual joining operation and classified as within the permissible hardness range, while punching elements with the wrong hardness are removed from the riveting unit that hardness-related imperfect connections that must be subsequently processed in a complex manner or discarded as a committee, can not even arise, with the peculiarity that both the hardness test and the joining process with extremely low construction and time required by the riveting even in a single Working stroke are carried out during immediately consecutive Hubphasen.
  • the plastic deformation of the punching element is preferably carried out by a central, integrally formed on the Strin configuration Nietstkovs and the end side in cross-section tapering, expediently spherical segment, pyramidal or conical projection.
  • Punching rivets in particular the semi-hollow punch rivets customary for riveting body panels, but also solid rivets, punching bolts or punched nuts can be used as punching elements.
  • the punch rivet unit 1 shown in the figures is used in conjunction with a Nietmatrize 2 for riveting punch rivets 3 on sheet metal and in particular body parts 4, 5 and has as main components in a housing 6 slidably guided by housing-fixed stop pin 7 stroke-limited sheet holder 8, which is acted upon by a compression spring 9 in the extension direction, and engaging in a central Nietkanal 10 of the sheet holder 8 Nietstempel 11, which takes over the housing-side support of the compression spring 9 and is held by this in contact with the housing bottom.
  • a laterally opening into the rivet channel 10 supply channel 12 via which the punch rivets 3 cyclically air flow conveyed into the rivet channel 10 are introduced.
  • solenoid-operated cross slide 14 is arranged, which between a the rivet 10 blocking blocking position ( Fig. 1 and 2a, 2b ) and a release position is reversible.
  • the punch rivet unit 1 and the die 2 are moved apart, so that the sheet holder 8 is lowered under the action of the compression spring 9 in the housing 6 and reaches the lower, limited by the stops 7 stroke position, in which the lower Nietstempelende above of the feed channel 12, whereupon a single punch rivet 3 is introduced via the feed channel 12 into the rivet channel 10 and locked against displacement on the cross slide 14 pushed into the blocking position in the extension direction becomes.
  • the lifting drive H is activated such that the housing 6 moves in the direction of the rivet die 2 and first the sheet metal parts 4, 5 are pressed against the rivet die 2 by the sheet metal holder 8.
  • the pressure force N exerted and the stroke s of the riveting punch 11 are detected by a sensor assembly consisting of a pressure cell 17 and a displacement sensor 18 and supplied to a control stage 19 which measures the ratio of the pressure force N to the stroke s as a measure of the degree of hardness determined the rivet and the riveting unit 1 including the cross slide 14 for the subsequent joining step, when the force / displacement ratio N / s within a predetermined, in Fig. 3 hatched represented tolerance range.
  • the punch rivet 3 is then pushed out by the riveting punch 11 via the outlet end of the rivet channel 10 and, in cooperation with the rivet die 2, riveted to the sheet metal parts 4, 5, as is the case Fig.
  • the second stroke phase is omitted and the linear actuator H is reversed immediately after the hardness test, so that the punch rivet 3 past the retracted cross slide 14 from the outlet end of the rivet channel 10 freely falls and then z. B. is rejected by a via a check valve 20 released from the control stage 19 compressed air jet as a committee.
  • punch riveting unit 1 With the punch riveting unit 1 according to the invention, it is of course also possible to test other punching elements, such as punched or punched nuts, with respect to the degree of hardness and then to rivet them instead of punched rivets 3.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Insertion Pins And Rivets (AREA)
  • Connection Of Plates (AREA)

Description

Die Erfindung bezieht sich auf eine Stanznieteinheit zum Vernieten von Bau-, und insbesondere von Rohkarosserie -Blechteilen, nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a stamped riveting unit for riveting construction, and in particular of bodyshell -Blechteilen, according to the preamble of claim 1.

Es ist z. B. aus der DE 197 31 222 A1 bekannt, beim automatischen Vernieten von Blechteilen den Hubweg und die Hubkraft des Nietstempels während des Fügevorgangs mit Hilfe einer Sensoranordnung zu detektieren und die so ermittelten Messwerte auf der Basis eines Vergleichs mit vorgegebenen Soll-Kennwerten zur Qualitätsaussage der Stanznietverbindung heranzuziehen.It is Z. B. from the DE 197 31 222 A1 Known to detect during automatic riveting of sheet metal parts the stroke and the lifting force of Nietstempels during the joining operation by means of a sensor arrangement and to use the measured values determined on the basis of a comparison with predetermined target characteristic values for the quality statement of the punched rivet.

Eine Ursache für eine mangelhafte Qualität derartiger Stanznietverbindungen liegt in einem unrichtigen Härtegrad des Nietmaterials. Ist dieses zu weich, so drückt sich der Niet nicht ins Blechteil, ist es aber zu hart, so verspreizt sich der Niet nicht im Blech und die Nietverbindung ist nicht ausreichend lastsicher. Industriell gefertigte Nietelemente sind im Lieferzustand großen Härtegrad schwankungen unterworfen, die sich bis außerhalb dieses qualitätssichernden Toleranzbereichs erstrecken, so dass es zum Verbau von Nietelementen mit falscher Härte kommt. Die Folge ist eine mangelhafte Fügeverbindung, die mit den bekannten Nietsystemen der eingangs genannten Art, wenn überhaupt, erst nachträglich detektiert wird und dann nachgearbeitet oder als Ausschuss ausgemustert werden muss.One reason for a poor quality of such rivet joints lies in an incorrect degree of hardness of the rivet material. If this is too soft, the rivet is not pressed into the sheet metal part, but if it is too hard, the rivet does not spread in the sheet metal and the riveted joint is not sufficiently load-proof. Industrially manufactured rivet elements are in the state of delivery subject to large degrees of hardness fluctuations, which extend beyond this quality assurance tolerance range, so that it comes to the installation of rivet elements with the wrong hardness. The result is a defective joint connection, which is detected only later with the known riveting systems of the type mentioned, if any, and then has to be reworked or rejected as a committee.

Aufgabe der Erfindung ist es, die Nieteinheit der eingangs genannten Art so auszubilden, dass die erwähnten fehlerhaften Fügeverbindungen auf baulich einfache, seriengerechte Weise vermieden und eine gleichbleibend hohe Nietqualität erzielt wird.The object of the invention is the riveting unit of the type mentioned in such a way that the mentioned faulty joint connections avoided in a structurally simple, series-fitting manner and a consistently high rivet quality is achieved.

Diese Aufgabe wird erfindungsgemäß durch eine Nieteinheit mit den Merkmalen des Patentanspruchs 1 gelöst.This object is achieved by a riveting unit with the features of claim 1.

In der erfindungsgemäßen Nieteinheit ist der Fügevorgang in der Weise mit einer Härteprüfung kombiniert, dass nur solche Stanzelemente verbaut werden, die vor Beginn des eigentlichen Fügevorgangs geprüft und als innerhalb des zulässigen Härtebereichs klassifiziert sind, während Stanzlemente mit falscher Härte aus der Nieteinheit ausgeschleust werden, so dass härtebedingt mangelhafte Verbindungen, die in aufwändiger Weise nachträglich bearbeitet oder als Ausschuss ausgemustert werden müssen, gar nicht erst entstehen können, mit der Besonderheit, dass sowohl die Härteprüfung als auch der Fügevorgang mit äußerst geringem Bau- und Zeitaufwand durch den Nietstempel selbst in einem einzigen Arbeitshub während unmittelbar aufeinanderfolgender Hubphasen durchgeführt werden.In the riveting unit according to the invention, the joining process is combined with a hardness test in such a way that only such punching elements are installed which are tested before the beginning of the actual joining operation and classified as within the permissible hardness range, while punching elements with the wrong hardness are removed from the riveting unit that hardness-related imperfect connections that must be subsequently processed in a complex manner or discarded as a committee, can not even arise, with the peculiarity that both the hardness test and the joining process with extremely low construction and time required by the riveting even in a single Working stroke are carried out during immediately consecutive Hubphasen.

Im Hinblick auf eine besonders genaue und baulich einfache Bestimmung der Nietmaterialhärte erfolgt die plastische Verformung des Stanzelements vorzugsweise durch einen zentralen, an der Strinfläche des Nietstempels angeformten und sich endseitig im Querschnitt verjüngenden, zweckmäßigerweise kugelsegment-, pyramiden- oder kegelförmigen Vorsprung.With regard to a particularly accurate and structurally simple determination of the rivet hardness, the plastic deformation of the punching element is preferably carried out by a central, integrally formed on the Strinfläche Nietstempels and the end side in cross-section tapering, expediently spherical segment, pyramidal or conical projection.

Als Stanzelemente können Stanzniete, insbesondere die zum Vernieten von Rohkarosserieblechen üblichen Halbhohlstanzniete, aber auch Vollstanzniete, Stanzbolzen oder Stanzmuttern zum Einsatz kommen.Punching rivets, in particular the semi-hollow punch rivets customary for riveting body panels, but also solid rivets, punching bolts or punched nuts can be used as punching elements.

Die Erfindung wird nunmehr anhand eines Ausführungsbeispiels in Verbindung mit den Zeichnungen näher erläutert. Es zeigen in stark schematisierter Darstellung:

Fig. 1
einen Längsschnitt einer Stanznieteinheit nach der Erfindung in der Rückhublage des Nietstempels,
Fig. 2a, b, c
eine vergrößerte Teildarstellung der in Fig. 1 gezeigten Stanznieteinheit unmittelbar vor Beginn (a) und nach Beendigung (b) der Härteprüfung soiwe nach Fertigstellung der Stanznietung (c); und
Fig. 3
ein Diagramm zur Darstellung des Kraft-/Hubwegverlaufs.
The invention will now be explained in more detail with reference to an embodiment in conjunction with the drawings. It shows in a highly schematic representation:
Fig. 1
a longitudinal section of a punch rivet unit according to the invention in the return position of the riveting punch,
Fig. 2a, b, c
an enlarged partial view of in Fig. 1 shown punching riveting unit immediately before the start (a) and after completion (b) of the hardness test soiwe after completion of the punch riveting (c); and
Fig. 3
a diagram illustrating the force / stroke path.

Die in den Fig. gezeigte Stanznieteinheit 1 dient im Zusammenwirken mit einer Nietmatrize 2 zum Vernieten von Stanznieten 3 an Blech- und insbesondere Rohkarosserieteilen 4, 5 und besitzt als Hauptbestandteile einen in einem Gehäuse 6 verschieblich geführten, durch gehäusefeste Anschlagbolzen 7 hubbegrenzten Blechhalter 8, welcher durch eine Druckfeder 9 in Ausfahrrichtung beaufschlagt ist, sowie einen in einen zentralen Nietkanal 10 des Blechhalters 8 eingreifenden Nietstempel 11, welcher die gehäuseseitige Abstützung der Druckfeder 9 übernimmt und durch diese in Anlage am Gehäuseboden gehalten wird.The punch rivet unit 1 shown in the figures is used in conjunction with a Nietmatrize 2 for riveting punch rivets 3 on sheet metal and in particular body parts 4, 5 and has as main components in a housing 6 slidably guided by housing-fixed stop pin 7 stroke-limited sheet holder 8, which is acted upon by a compression spring 9 in the extension direction, and engaging in a central Nietkanal 10 of the sheet holder 8 Nietstempel 11, which takes over the housing-side support of the compression spring 9 and is held by this in contact with the housing bottom.

In den Blechhalter 8 integriert ist ein seitlich in den Nietkanal 10 mündender Zufuhrkanal 12, über den die Stanzniete 3 taktweise luftstromgefördert in den Nietkanal 10 eingeschleust werden. Ferner ist im Blechhalter 8 ein insgesamt mit 13 bezeichneter Sperrmechanismus mit einem z. B. solenoidbetätigten Querschieber 14 angeordnet, welcher zwischen einer den Nietkanal 10 blockierenden Sperrlage (Fig. 1 und 2a, 2b) und einer Freigabestellung umsteuerbar ist.Integrated into the sheet holder 8 is a laterally opening into the rivet channel 10 supply channel 12, via which the punch rivets 3 cyclically air flow conveyed into the rivet channel 10 are introduced. Further, in the sheet holder 8 is a generally designated 13 locking mechanism with a z. B. solenoid-operated cross slide 14 is arranged, which between a the rivet 10 blocking blocking position ( Fig. 1 and 2a, 2b ) and a release position is reversible.

Zu Beginn des Nietprozesses werden die Stanznieteinheit 1 und die Matrize 2 auseinandergefahren, so dass der Blechhalter 8 unter der Wirkung der Druckfeder 9 im Gehäuse 6 abgesenkt wird und in die untere, durch die Anschläge 7 begrenzte Hubposition gelangt, in der sich das untere Nietstempelende oberhalb des Zufuhrkanals 12 befindet, woraufhin ein einzelner Stanzniet 3 über den Zufuhrkanal 12 in den Nietkanal 10 eingeschleust und an dem in die Sperrlage vorgeschobenen Querschieber 14 in Ausschubrichtung verschiebefest arretiert wird. Sobald diese Nietposition erreicht ist, wird der Hubantrieb H aktiviert, derart, dass das Gehäuse 6 in Richtung der Nietmatrize 2 verfahren und zunächst die Blechteile 4, 5 vom Blechhalter 8 an die Nietmatrize 2 angedrückt werden.At the beginning of the riveting process, the punch rivet unit 1 and the die 2 are moved apart, so that the sheet holder 8 is lowered under the action of the compression spring 9 in the housing 6 and reaches the lower, limited by the stops 7 stroke position, in which the lower Nietstempelende above of the feed channel 12, whereupon a single punch rivet 3 is introduced via the feed channel 12 into the rivet channel 10 and locked against displacement on the cross slide 14 pushed into the blocking position in the extension direction becomes. As soon as this riveting position is reached, the lifting drive H is activated such that the housing 6 moves in the direction of the rivet die 2 and first the sheet metal parts 4, 5 are pressed against the rivet die 2 by the sheet metal holder 8.

Bei der weiteren Hubbewegung wird der Nietstempel 11 mehr und mehr in den Nietkanal 10 eingeschoben und ein kugelsegment- oder kegelstumpfförmiger Vorsprung 15 an der Stirnfläche des Nietstempels 11 auf die aus den Fig. 2a und 2b am deutlichsten ersichtliche Weise zunehmend in den Nietkopf 16 des nach wie vor am Querschieber 14 arretierten Stanzniets 3 eingedrückt und so das Nietmaterial in einem begrenzten, sich im Querschnitt stetig vergrößernden, in Fig. 2c gestrichelt dargestellten Teilbereich des Nietkopfes 16 plastisch verformt. Synchron zur plastischen Verformung werden die dabei ausgeübte Druckkraft N und der Hubweg s des Nietstempels 11 durch eine aus einer Druckdose 17 und einem Weggeber 18 bestehende Sensoranordnung detektiert und einer Steuerstufe 19 zugeführt, welche das Verhältnis der Druckraft N zum Hubweg s als Maß für den Härtegrad des Nietmaterials ermittelt und die Nieteinheit 1 einschließlich des Querschiebers 14 für den nachfolgenden Fügeschritt freischaltet, wenn das Kraft-/Wegverhältnis N/s innerhalb eines vorgegebenen, in Fig. 3 schraffiert dargestellten Toleranzbereichs liegt. In der so eingeleiteten Fügephase wird der Stanzniet 3 dann durch den Nietstempel 11 über das Auslassende des Nietkanals 10 ausgeschoben und im Zusammenwirken mit der Nietmatrize 2 mit den Blechteilen 4, 5 vernietet, wie dies aus Fig. 2c ersichtlich ist. Dabei können die Druckkraft N und der Hubweg s des Nietstempels 11 weiterhin gemessen und auf hier nicht näher erläuterte und an sich bekannte Weise ausgewertet werden. Anschließend wird der Hubantrieb H umgesteuert und die Stanznieteinheit 1 gelangt erneut in die Ausgangslage. Ein typischer Kraft-Wegverlauf in den beiden Hubphasen des Nietstempels 11 ist in Fig. 3 in gestrichelten Linien dargestellt.In the further lifting movement of the riveting punch 11 is more and more inserted into the rivet channel 10 and a spherical segment or frustoconical projection 15 on the end face of the riveting punch 11 on the from Fig. 2a and 2b most clearly visible manner increasingly pressed into the rivet head 16 of the still fixed to the cross slide 14 punch rivet 3 and so the rivet material in a limited, steadily increasing in cross-section, in Fig. 2c dashed illustrated portion of the rivet head 16 plastically deformed. In synchronism with the plastic deformation, the pressure force N exerted and the stroke s of the riveting punch 11 are detected by a sensor assembly consisting of a pressure cell 17 and a displacement sensor 18 and supplied to a control stage 19 which measures the ratio of the pressure force N to the stroke s as a measure of the degree of hardness determined the rivet and the riveting unit 1 including the cross slide 14 for the subsequent joining step, when the force / displacement ratio N / s within a predetermined, in Fig. 3 hatched represented tolerance range. In the joining phase introduced in this way, the punch rivet 3 is then pushed out by the riveting punch 11 via the outlet end of the rivet channel 10 and, in cooperation with the rivet die 2, riveted to the sheet metal parts 4, 5, as is the case Fig. 2c is apparent. In this case, the pressure force N and the stroke s of the riveting punch 11 can continue to be measured and evaluated in a manner which is not described here in detail and known per se. Subsequently, the lifting drive H is reversed and the punch riveting unit 1 returns to the starting position. A typical force-displacement curve in the two stroke phases of the riveting punch 11 is in FIG Fig. 3 shown in dashed lines.

Liegt hingegen die Materialhärte des Stanzniets 3 außerhalb des zugelassenen Toleranzbereichs, so unterbleibt die zweite Hubphase und der Hubantrieb H wird unmittelbar nach der Härteprüfung umgesteuert, so dass der Stanzniet 3 vorbei an dem zurückgezogenen Querschieber 14 aus dem Auslassende des Nietkanals 10 frei herausfällt und dann z. B. durch einen über ein Sperrventil 20 von der Steuerstufe 19 freigeschalteten Druckluftstrahl als Ausschuss ausgesondert wird.If, on the other hand, the material hardness of the punch rivet 3 is outside the permitted tolerance range, the second stroke phase is omitted and the linear actuator H is reversed immediately after the hardness test, so that the punch rivet 3 past the retracted cross slide 14 from the outlet end of the rivet channel 10 freely falls and then z. B. is rejected by a via a check valve 20 released from the control stage 19 compressed air jet as a committee.

Mit der erfindungsgemäßen Stanznieteinheit 1 können anstelle von Stanznieten 3 selbstverständlich auch andere Stanzelemente, wie Stanzbolzen oder Stanzmuttern, bezüglich des Härtegrades geprüft und dann vernietet werden.With the punch riveting unit 1 according to the invention, it is of course also possible to test other punching elements, such as punched or punched nuts, with respect to the degree of hardness and then to rivet them instead of punched rivets 3.

Ebenso ist es in bestimmten Anwendungsfällen auch möglich, auf den Sperrmechanismus 13 zu verzichten und stattdessen das Stanzelement 3 bei der Härteprüfung unmittelbar auf dem Blechteil 4 abzustützen. Bei einem fehlerhaften Härtegrad wird dann der Nietprozess wiederum auf dem Wege über die Steuerstufe 19 abgebrochen und das Nietelement 3 unter Druckluftwirkung oder auch manuell als Ausschuss ausgesondert.Likewise, it is also possible in certain applications to dispense with the locking mechanism 13 and instead support the punching element 3 in the hardness test directly on the sheet metal part 4. In the case of a faulty degree of hardness, the riveting process is then stopped again on the way via the control stage 19 and the rivet element 3 is eliminated under the action of compressed air or manually as rejects.

Claims (4)

  1. A punching and riveting unit (1) for riveting sheet-metal parts (14, 5) of components, especially car-body shells, comprising a snap die (11) driven in reciprocation in a riveting duct (10), a supply mechanism (12) opening into the duct in order intermittently to supply the elements (3) for punching, and a sensor arrangement (17, 18) which measures the compressive force exerted on the punching element and the distance travelled during the stroke of the snap die, characterised in that before riveting, the punching element (3) is non-displaceably locked in the duct (10) and is subjected to force by the snap die (11) so that a part-region of the punching element facing the snap die and increasing in size during the stroke of the snap die is plastically deformed, and when the punching element (3) is in the locked position the force to stroke length ratio (N/s) is determined by the sensor device (17, 18) in synchronism with the plastic deformation and the sensor device rejects the punching element (3) when a set tolerance range of the measured force to stroke length ratio is exceeded and enables it for the joining process when the tolerance range is not exceeded, the sensor arrangement (17, 18) being disposed in front of the control mechanism (19, 20).
  2. A riveting and punching unit according to claim 1, characterised in that the snap die (11), at its end face co-operating with the punching element (3), has a projection (15) which ends in a tapering cross-section and during plastic deformation is increasingly pressed into the material for riveting when the punching element is in the locked position.
  3. A punching and riveting unit according to claim 2, characterised in that the projection (15) is in the shape of a spherical segment or pyramid or cone.
  4. A punching and riveting unit according to any of the preceding claims, characterised in that the riveting element (3) is a semi-tubular punching rivet.
EP20070011429 2006-07-07 2007-06-12 Self-piercing riveting unit Expired - Fee Related EP1875976B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200610031465 DE102006031465A1 (en) 2006-07-07 2006-07-07 Stanznieteinheit

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EP1875976A1 EP1875976A1 (en) 2008-01-09
EP1875976B1 true EP1875976B1 (en) 2009-01-07

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CN106925713B (en) * 2017-05-09 2018-12-18 苏州宝成汽车冲压有限公司 A kind of riveting detects mistake proofing and mechanical lever type automatic material separator mechanism automatically
CN109047622A (en) * 2018-08-31 2018-12-21 苏州瑞玛精密工业股份有限公司 Connecting rod pressure riveting mechanism
CN117282909B (en) * 2023-11-22 2024-02-09 成都航空职业技术学院 Intelligent riveting control system and intelligent riveting method based on man-machine cooperation

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DE502007000361D1 (en) 2009-02-26
DE102006031465A1 (en) 2008-01-10
EP1875976A1 (en) 2008-01-09

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