WO2022257635A1 - Appareil de rivetage aveugle automatique et procédé de rivetage aveugle automatique associé - Google Patents

Appareil de rivetage aveugle automatique et procédé de rivetage aveugle automatique associé Download PDF

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Publication number
WO2022257635A1
WO2022257635A1 PCT/CN2022/089430 CN2022089430W WO2022257635A1 WO 2022257635 A1 WO2022257635 A1 WO 2022257635A1 CN 2022089430 W CN2022089430 W CN 2022089430W WO 2022257635 A1 WO2022257635 A1 WO 2022257635A1
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WO
WIPO (PCT)
Prior art keywords
rivet
nail
block
riveting
cylinder
Prior art date
Application number
PCT/CN2022/089430
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English (en)
Chinese (zh)
Inventor
唐文献
郭胜
李小宝
徐根元
庄宏
苏世杰
钱超
Original Assignee
江苏科技大学
镇江宇诚智能装备科技有限责任公司
张家港市通达电梯装璜有限公司
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Application filed by 江苏科技大学, 镇江宇诚智能装备科技有限责任公司, 张家港市通达电梯装璜有限公司 filed Critical 江苏科技大学
Publication of WO2022257635A1 publication Critical patent/WO2022257635A1/fr

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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
    • B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
    • 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
    • B21J15/16—Drives for riveting machines; Transmission means therefor
    • B21J15/26—Drives for riveting machines; Transmission means therefor operated by rotary drive, e.g. by electric motor
    • 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
    • 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
    • B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • 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
    • B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • B21J15/386—Pliers for riveting
    • 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
    • B21J15/38—Accessories for use in connection with riveting, e.g. pliers for upsetting; Hand tools for riveting
    • B21J15/44—Rivet hole positioners

Definitions

  • Blind rivets are a kind of rivets for single-sided riveting, which are widely used in automobiles, ships and other fields.
  • the rivet mandrel is pulled by the riveting gun to expand the riveting body and play the role of riveting.
  • the riveting method of blind rivets is mostly performed by hand-held riveting guns, which is time-consuming and laborious and has low precision; in order to improve production efficiency, many automatic riveting equipment have been developed, which are mainly divided into automatic nail feeding and riveting.
  • the two parts of automatic riveting basically adopts the rivet vibrating plate to feed the material, the main problem is that the stability of the feeding process needs to be improved, and the rivet can not be reliably guaranteed to enter the next process in a timely and orderly manner; and
  • the automatic riveting part generally adopts an automatic riveting gun. Due to the different power sources of the riveting, the different mechanisms for receiving the rivets conveyed by the vibrating plate, the different principles of clamping the rivets, and the different ways of discharging the tail nails, there is a lot of room for improvement.
  • the fully automatic rivet pulling equipment disclosed in the invention patent with the application number 201520484147.2 the rivets conveyed by the vibrating plate are picked up by the clamping knife and enter the next process, the structure is complex and the stability is poor; for example, an automatic rivet puller disclosed in the invention patent with the application number 201110087121.0 Riveting device, there are straight holes and inclined holes in the shell of the riveting chamber, and the outer end of the inclined holes is connected with the external riveting tube. The rivets are pushed into the through holes by the high-pressure riveting gas.
  • the automatic feeding device of the riveting gun disclosed in the invention patent with the application number of 201621247523.7 adopts a pneumatic method for riveting.
  • Nails also require high-pressure gas, which can easily lead to insufficient air pressure. For this reason, it is necessary to further improve the existing automatic riveting equipment.
  • the object of the present invention is to provide an automatic riveting device capable of stably feeding nails and efficiently riveting.
  • An automatic riveting device comprising a frame, a three-axis displacement device is provided on the frame, a riveting device is provided on the three-axis displacement device, a nail feeding device is provided on the frame, and the nail feeding device includes a Vibrating feeding tray, the frame is provided with a support at the outlet of the vibrating feeding tray, the frame is equipped with a splitting cylinder, and the end of the piston rod of the splitting cylinder is provided with the outermost part of the outlet of the vibrating feeding tray.
  • a split nail block separated from a rivet with a fixed seat on the frame, a nail transfer cylinder on the fixed seat, a nail transfer block at the end of the piston rod of the nail transfer cylinder, and a nail transfer block on the fixed seat.
  • Blocks are provided between the blocks to block the rivets separated from the split nail block, a rivet groove for accommodating the separated rivets is provided on the nail removal block, and a first device for detecting whether there is a rivet in the rivet groove is provided on the fixing seat.
  • Photoelectric switch the upper part of the baffle is provided with a top plate, the top plate is provided with a nail hole, the fixed seat is provided with an air supply hole, and the air supply hole orifice is provided with a ventilating pipe leading to high-pressure gas, and the top plate is provided with a nail outlet hole.
  • the nail feeding tube is connected with the riveting device;
  • the riveting device includes a mounting plate connected to the three-axis displacement device.
  • the mounting plate is connected with the upper clamping nozzle through the upper parallelogram linkage mechanism.
  • the mounting plate is connected with the lower clamping nozzle and the upper clamping nozzle through the lower parallelogram linkage mechanism.
  • the guide rod and the guide rod drive mechanism, the riveting gun head device includes a hollow outer holster with one end embedded in the shell, the end of the outer holster away from the shell is provided with a front tube for the rivet head to enter, and the movable device in the outer holster
  • the mandrel part is connected with the mandrel, the mandrel is provided with an axial through hole to avoid the rivet core, the mandrel is covered with a spring, the end of the spring is provided with a claw top seat, and the claw top seat is provided with a nail core.
  • Matching core through hole; the end of the top seat of the claw is tapered, and three claws are movable between the top seat of the claw and the cone-shaped end of the inner sleeve.
  • the support is provided with a first photoelectric switch for detecting whether there is material at the output of the vibrating feeding tray.
  • the upper clamping nozzle is provided with a pulley
  • the lower clamping nozzle is provided with a pulley
  • the sliding mounting plate is provided with a guide block
  • the side of the guide block away from the cylinder of the slide table is provided with two upper and lower
  • the upper guide slope and the lower guide slope are matched with the two pulleys respectively.
  • the guide rod drive mechanism includes a lead screw driven by a motor and a shaft coupling arranged in the housing, a support block is threaded on the lead screw, and a guide rod fixing seat is provided on the upper part of the support block.
  • the guide rod is provided on the guide rod fixing seat.
  • a guide rail is provided in the housing, and the lower part of the support block is connected with a slider provided on the guide rail.
  • the beneficial effect of the device is that the device integrates the functions of automatic nail feeding and automatic riveting, and can be integrated into an automatic assembly line, so that the efficiency of riveting is improved and labor costs are saved.
  • the feeding device vibrates and feeds the material through the vibrating plate. After the rivets are arranged in a row, the separating device separates the rivets individually.
  • the nail moving device transports the separated rivets to the nail blowing port, and uses high-pressure riveting gas to send the rivets to the next process.
  • the nail feeding process Stable and reliable and compact and simple structure.
  • the clamping device is fixedly connected to the front end of the outer holster of the riveting gun head device through the lock plate. It includes the upper clamping nozzle and the lower clamping nozzle, which are hinged with the connecting rod respectively to form a parallelogram linkage mechanism. Driven by the cylinder of the slide table , The upper and lower clamps move in translation along the guide block through the tail pulley, and the movement track is stable, which makes the clamping of the rivets conveyed by the vibrating plate more accurate and reliable.
  • the vacuum self-priming device includes a vacuum generator, which generates negative pressure to suck the rivet clamped by the clamping nozzle device into the nozzle of the riveting gun head device. It has a simple structure, takes up little space, and is very convenient.
  • the riveting gun head device includes a three-jaw card, which is closely attached to the conical surface of the inner sleeve under the action of the spring and the top seat of the jaws.
  • the left and right movement of the mandrel makes the jaws loose and clamped, and can accept various specifications.
  • the rivets have high versatility.
  • the riveting device is installed on the three-axis numerical control device. Under the control of the control system, the riveting gun device can be quickly and accurately positioned to the position of the rivet hole for riveting.
  • Another object of the present invention is to provide a riveting method for the above-mentioned automatic riveting device.
  • an automatic riveting method for automatic riveting equipment the steps of which are:
  • Step 1 The vibrating plate performs torsional vibration under the drive of the energized electromagnetic base, so that the rivets are aligned along the spiral track; at the same time, the three-axis numerical control device drives the riveting device to move to the top of the rivet hole;
  • Step 2 The completed rivets slide down along the track and are blocked by the front bump of the separation block.
  • the second photoelectric switch detects the existence of the rivets, and the control system drives the separation cylinder to move forward, which drives the separation block to move forward.
  • the bump moves forward, and the blocked rivet is separated and released to enter the next process.
  • the rear bump also moves forward to block the rivet behind, and the separation cylinder retracts, driving the separation block to return to the initial position, ready for the next round of rivet separation ;
  • Step 3 The separated rivet slides into the nail groove of the nail removal block, the first photoelectric switch detects the existence of the rivet, and the control system drives the nail removal cylinder to move forward, driving the nail removal block to move along the inner side of the baffle, When the rivet reaches the blowing hole of the baffle and stops moving, the air supply system supplies high-pressure riveting gas to transport the rivet to the riveting device along the nail feeding pipe;
  • Step 4 The rivet is transported from the nail feeding pipe to the connecting pipe of the automatic riveting device.
  • the tail pulleys of the upper clamp and the lower clamp are located on the plane part of the guide block outline, and the clamp is in an open state; the rivet passes through
  • the control system starts the sliding table cylinder, which pushes the upper clamp and the lower clamp to move forward in a straight line, but at the same time the clamp The tail pulley slides along the outline of the guide block.
  • the control system activates the vacuum self-priming device, the gas enters from the air inlet of the vacuum generator, is discharged from the muffler, and a negative pressure is generated at the vacuum interface, and the rivets are sucked into the riveting gun head device through the air guide tube.
  • the muzzle of the outer holster On the muzzle of the outer holster;
  • Step 5 The three-axis numerical control device drives the riveting device to move down, and sends the rivet to the rivet hole; when the rivet is sucked on the gun mouth of the outer holster, the control system controls the sliding table cylinder to retract the cylinder rod, and the upper and lower clamps
  • the nozzle returns to the open state, the motor of the driving device starts to start, and the torque is transmitted to the lead screw through the coupling, so that the slider slides backward along the guide rail, the guide rod is connected to the mandrel by thread, and the mandrel is connected to the inner cylinder by thread Put it on, move backward together under the drive of the slider, the spring releases the elastic force, and the outer tapered surface of the claw is pressed against the inner tapered surface of the inner sleeve by the top seat of the claw, so that the aperture of the claw is reduced, and the rivet is clamped.
  • the riveting force reaches a certain level, the nail core is broken and the riveting is completed;
  • Step 6 After the nail core is broken, the motor reverses, the mandrel drives the inner sleeve to move forward, the spring is compressed, the top seat of the claw moves upward along the tapered surface of the inner sleeve against the claw, the claw is released, and the nail The core is released and the riveting cycle ends.
  • Fig. 1 overall structure schematic diagram of the present invention
  • Fig. 2 schematic diagram of the nail feeding device of the present invention
  • Fig. 3 schematic diagram of the riveting device of the present invention
  • Fig. 4 schematic diagram of the clamping device of the present invention
  • Fig. 5 schematic diagram of vacuum self-priming device of the present invention
  • FIG. 6 Schematic diagram of the riveting gun head device of the present invention.
  • Fig. 7 schematic diagram of the driving device of the present invention.
  • Fig. 8(a) Schematic diagram of vibrating plate feeding riveting
  • Fig. 8(b) Schematic diagram of separation device separating rivets
  • Fig. 8(c) Schematic diagram of nail removal device
  • Fig. 8(d) Fig. 8(e): Clip Schematic diagram of clamping and riveting of nozzle device
  • Fig. 8(f) Fig. 8(g): Schematic diagram of riveting riveting gun head device
  • Fig. (h) Schematic diagram of rowing nails;
  • Riveting device 501. Outer holster, 502. Inner sleeve, 503. Claw, 504. Claw top seat, 505. Spring, 506. Mandrel;
  • Vacuum generator 402. Muffler;
  • the automatic riveting equipment includes a frame 1, a three-axis numerical control device 3, a riveting device 4, a nail feeding tube 5, and a nail feeding device 6.
  • a three-axis numerical control device 3 is provided on the top beam of the frame 1, a nail feeding device 6 is provided on the bottom platform, a riveting device 4 is installed on the mounting plate of the three-axis numerical control device, and the nail feeding pipe 5 and the clamping device in the riveting device 4
  • the connecting pipe 303 of 201 is connected, and is connected with the nail feeding hole of the baffle plate 109 in the nail feeding device 6 at the same time, that is to say, the riveting device 4 is connected with the nail feeding device 6 .
  • Nail sending device 6 comprises vibrating plate 101, and it is installed on the electromagnetic base 102, and vibrating plate 101 is provided with the helical track of whole column rivet, is provided with the second photoelectric switch supporting seat 104 on the right side of the second section track, and is provided with on the left side.
  • the split nail cylinder 105 is connected and fixed with the mounting hole of the vibrating plate platform.
  • the split nail cylinder 105 is equipped with a separation block 106.
  • the right half of the separation block 106 is provided with a cavity, and two protrusions protrude from the bottom of the cavity.
  • the spacing distance is slightly greater than the diameter of the rivet nail body, so that when a rivet reaches the front bump, the rear bump can be in the gap between adjacent rivets, and the second photoelectric switch 103 is fixedly installed on the second photoelectric switch support seat 104.
  • the end of the second section of the track is provided with a nail-moving block 110, the center line of the nail groove of the nail-moving block 110 coincides with the center line of the track, the nail-moving block 110 is connected with the side plate of the nail-moving cylinder 108, and is driven by the nail-moving cylinder 108 Down, it can slide along the inner side of the baffle 109, the first photoelectric switch 111 is installed on the side mounting hole of the nail moving block 110, and the nail moving block 110 and the baffle 109 are all provided with a blower that is coaxial with the nail feeding tube 5. stomata.
  • the clip device 201 is connected to the front end of the outer holster 501 of the riveting gun head device 202 by the lock plate 310, and it includes an upper clip 301 and a lower clip 308 hingedly connected with the connecting rod 302.
  • the connecting pipe 303 connected with the nail feeding pipe and the through hole on the same axis as the connecting pipe 301, the diameter of the through hole is larger than the maximum diameter of the rivet 2, which is convenient for the rivet 2 to pass through the upper clamp nozzle 301, and the connecting rod 302 passes through the hinge and the slide table
  • the heads of the cylinder 305 are connected to form a parallelogram linkage.
  • the slide cylinder 305 is fixedly installed on the shell 203 through the slide mounting plate 307 connected thereto.
  • Plate 307 front end connects guide block 309, and guides open block 309 and lock plate 310 is connected, and upper clip is chewed 307 and lower clip is chewed 308 afterbody and is hingedly connected with pulley 304, and pulley 304 can slide along guides open block 309.
  • the vacuum self-priming device 205 includes a vacuum generator 401 , and the vacuum generator 401 is provided with a muffler 402 , and the vacuum self-priming device 205 is fixedly installed on the casing 203 .
  • the riveting gun head device 202 includes an outer holster 501 fixedly installed on the shell 203, the inner sleeve 502 is connected with the inner cylindrical surface of the outer holster 501, and the outer tapered surface of the three jaws 503 is connected with the inner cone of the inner sleeve 502.
  • jaw top seat 504 is connected with spring 505, the conical surface of its head is connected with the tail plane of jaw 503 tangentially, spring 505 is connected with mandrel 506 coaxially, and mandrel 506 is connected at the drive device 204 on the guide rod 602.
  • the driving device 204 includes a guide rail fixing base 611, on which a guide rail 609, a motor support base 607 and a bearing support base 601 are arranged, the motor 608 is fixedly mounted on the motor support base 607, and one end of the lead screw 605 is connected with the motor 608 through a shaft coupling 606 , the other end is connected with the bearing support seat 601 through a bearing, the screw 605 is provided with a slider 610, the slider 610 can slide along the guide rail 609, the slider 610 is provided with a guide rod support block 604, and the guide rod support block 604 is provided with There is a guide rod fixing seat 603 , one end of the guide rod 602 is connected with the guide rod fixing seat 503 , and the other end is connected with the mandrel 506 of the riveting gun head device 202 .
  • Step 1 As shown in FIG. 8( a ), the vibrating plate 101 performs torsional vibration under the drive of the energized electromagnetic base 102 , so that the rivets 2 are aligned along the spiral track. Simultaneously, the three-axis numerical control device 3 drives the riveting device 4 to move to the top of the rivet hole.
  • Step 2 As shown in Figure 8(b), the completed rivets 2 slide down along the track and are blocked by the front bump of the separation block 106.
  • the second photoelectric switch 103 detects the existence of the rivets 2, and the control system drives the separation cylinder 105 moves forward, that is, it drives the separating block 106 to move forward, the front bump moves forward, and the blocked rivet 2 is separated and released to enter the next process, while the rear bump also moves forward to block the rear rivet 2, separating the cylinder 105 It is retracted to drive the separation block 106 back to the initial position, ready for the next round of separation of the rivets 2 .
  • Step 3 As shown in Figure 8(c), the separated rivet 2 slides into the nail slot of the nail moving block 110, the first photoelectric switch 111 detects the presence of the rivet 2, and the control system drives the nail moving cylinder 108 to The front movement drives the rivet moving block 110 to move along the inner side of the baffle 109.
  • the air supply system supplies high-pressure riveting gas to transport the rivet 2 along the rivet feeding pipe 5 to the In the riveting device 4.
  • Step 4 As shown in Figure 8 (d), (e), the rivet 2 is transported to the connecting pipe 303 of the automatic riveting device by the nail feeding pipe 5, and at this time, the tail pulley 304 of the upper clamp nozzle 301 and the lower clamp nozzle 308 Located on the plane part of the outline of the guide block 309, the clamping nozzle is in an open state.
  • the rivet 2 passes through the through hole of the upper clamp nozzle 301, and the sensor senses that the rivet is pushed into the connecting pipe 303 by the high-pressure riveting gas, and the control system starts the sliding table cylinder 305, and the sliding table cylinder 305 pushes the upper clamp nozzle 301 and the lower clamp nozzle 308 Make a linear motion forward, but at the same time the tail pulley 304 of the clamp slides along the outline of the guide block 309, and under the action of the parallelogram linkage mechanism, the upper clamp 301 and the lower clamp 308 move in translation along the slope of the guide block 309 Movement, from the open state to the closed state, clamp the rivet 2 passing through the upper clamp nozzle 301, the control system starts the vacuum self-priming device 205, the gas enters from the air inlet of the vacuum generator 401, and is discharged from the 402 muffler, Negative pressure is generated at the vacuum interface, and the rivet 2 is sucked onto the nozzle of the outer holster 501 of the riveting gun head
  • Step 5 The three-axis numerical control device 3 drives the riveting device 4 to move down, and sends the rivet 2 to the rivet hole.
  • the control system controls the slide cylinder 305 to retract the cylinder rod, and the upper clamp nozzle 301 and the lower clamp nozzle 308 recover
  • the motor 608 of the driving device 204 starts to start, and the torque is transmitted to the screw 605 through the coupling 606, so that the slider 610 slides backward along the guide rail 609, and the guide rod 602 is screwed on the mandrel 506, and the mandrel 506 is threadedly connected to the inner sleeve 502, and moves backward together under the drive of the slider 610.
  • the spring 505 releases the elastic force, and the outer tapered surface of the jaw 503 is pressed against the inner sleeve 502 by the claw top seat 504.
  • the tapered surface reduces the aperture of the claw 503 and clamps the rivet 2.
  • Step 6 As shown in Figure 8(e), after the nail core 7 is pulled off, the motor 608 reverses, the mandrel 506 drives the inner sleeve 502 to move forward, the spring 505 is compressed, and the claw top seat 504 bears against the claw 503 moves upward along the tapered surface of the inner sleeve, the jaws 503 are released, the mandrel is released, and the riveting cycle ends.

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

Abstract

Est divulgué dans la présente invention un appareil de rivetage aveugle automatique comprenant un cadre, un dispositif de déplacement à trois axes étant disposé sur le cadre et un dispositif de rivetage aveugle étant disposé sur le dispositif de déplacement à trois axes ; un dispositif d'alimentation en rivets est disposé sur le cadre, le dispositif d'alimentation en rivets comprenant un disque d'alimentation vibrant disposé sur le cadre ; le cadre est pourvu d'un support au niveau d'une position de sortie du disque d'alimentation vibrant ; le cadre est pourvu d'un cylindre de séparation de rivets, une partie d'extrémité d'une tige de piston du cylindre de séparation de rivets étant pourvue d'un bloc de séparation de rivets ; le cadre est pourvu d'une base de fixation, la base de fixation étant pourvue d'un cylindre de déplacement de rivet, une partie d'extrémité d'une tige de piston du cylindre de déplacement de rivet étant pourvue d'un bloc de déplacement de rivet, la base de fixation étant pourvue, entre le bloc de séparation de rivets et le bloc de déplacement de rivets, d'un bloc d'arrêt pour arrêter un rivet séparé par le bloc de séparation de rivets, le bloc de déplacement de rivet étant pourvu d'une fente de serrage de rivet pour recevoir le rivet séparé, et un premier commutateur photoélectrique étant disposé sur la base de fixation ; et la partie supérieure d'une plaque déflectrice est pourvue d'une plaque supérieure, la plaque supérieure étant pourvue d'un orifice de sortie de rivet, la base de fixation étant pourvue d'un orifice d'alimentation en air, l'ouverture de l'orifice d'alimentation en air étant pourvue d'un tuyau d'évent, la plaque supérieure étant pourvue d'un tuyau d'alimentation en rivets au niveau de l'ouverture de l'orifice de sortie de rivet, et le tuyau d'alimentation en rivets étant relié au dispositif de rivetage aveugle. La présente invention concerne en outre un procédé de rivetage aveugle associé à l'appareil.
PCT/CN2022/089430 2021-06-10 2022-04-27 Appareil de rivetage aveugle automatique et procédé de rivetage aveugle automatique associé WO2022257635A1 (fr)

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CN202110647303.2 2021-06-10
CN202110647303.2A CN113560480A (zh) 2021-06-10 2021-06-10 自动拉铆设备及其自动拉铆方法

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CN113560480A (zh) * 2021-06-10 2021-10-29 江苏科技大学 自动拉铆设备及其自动拉铆方法
CN114523064B (zh) * 2022-01-24 2023-03-24 常州纳弘智能科技有限公司 一种板材环保全自动打孔铆钉高效工作站
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CN117245015A (zh) * 2023-11-14 2023-12-19 苏州猎奇智能设备有限公司 一种旋转夹持机构及滚槽设备
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CN117961123B (zh) * 2024-03-29 2024-05-31 苏州骏昌通讯科技股份有限公司 一种用于电子接插件的钻孔设备
CN117960926B (zh) * 2024-03-29 2024-05-31 江苏昊冠精密机械制造有限公司 一种电磁阀的阀芯电枢同步径向铆压装置
CN118162582A (zh) * 2024-05-11 2024-06-11 中信戴卡股份有限公司 自动拉铆装置和自动装配工作站

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