CN107812877A - A kind of seat slide automatic riveting rivet special plane - Google Patents
A kind of seat slide automatic riveting rivet special plane Download PDFInfo
- Publication number
- CN107812877A CN107812877A CN201711159983.3A CN201711159983A CN107812877A CN 107812877 A CN107812877 A CN 107812877A CN 201711159983 A CN201711159983 A CN 201711159983A CN 107812877 A CN107812877 A CN 107812877A
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- Prior art keywords
- disposed
- plate
- top plate
- riveting
- groove
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- 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.)
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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
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
-
- 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
- B21J15/20—Drives for riveting machines; Transmission means therefor operated by hydraulic or liquid pressure
-
- 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
- B21J15/42—Special clamping devices for workpieces to be riveted together, e.g. operating through the rivet holes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Insertion Pins And Rivets (AREA)
Abstract
The invention discloses a kind of seat slide automatic riveting rivet special plane, including frame and the bottom plate being arranged in frame, the top plate moved along bottom plate X-direction is disposed with above the bottom plate, riveting profiling seat is disposed with the bottom plate, working chamber under at least one riveting is disposed with the riveting profiling seat, the riveted joint that can vertically move back and forth is disposed with above the top plate, the lower surface of riveted joint is disposed with working chamber on the rivet that quantity matches with the lower working chamber of riveting, one dynamic plate is installed between top plate and bottom plate, first groove is disposed with top plate, the both ends of first groove are respectively disposed with a floating adjustment unit, the motion end of each floating adjustment unit is connected after being passed down through top plate with dynamic plate, slide rail clamping fixture is disposed with the dynamic plate, the slide rail clamping fixture is located in the first groove.The present invention realizes that rivet automates, and improves productive temp.
Description
Technical field
The present invention relates to a kind of riveting equipment in auto parts and components PRODUCTION TRAITS field, particularly a kind of seat slide is certainly
Dynamic riveting rivet special plane.
Background technology
In auto parts and components, most of auto parts are divided into left member and right member.In most part, left member and
The structure of right member is substantially the same, but also has that least a portion of part is variant, such as the left member and right member of seat slide.It is present
, it is necessary to rivet two pieces of rivets, two pieces of rivets are at a distance of distant in the left member of chair slide rail；, it is necessary to riveting in the right member of two seat slides
Three pieces of rivets are connect, wherein the position of two pieces of rivets is as rivet location in the left member of seat slide, remaining one piece of rivet position
In wherein by one piece of rivet.Therefore, in the prior art, in the riveting installation of the left member of seat slide and right member, using artificial
Single-station rivets, and specific mode is that first one piece of rivet is placed on seat slide, after having riveted this piece, then by rivet
It is put into, then rivets, until the seat slide completes the riveting of all rivets.Such operating type, operator number of operations is more,
Operation intensity is high, and riveting beat is low, about 50PCS/H；Because rivet substep rivets, relative position size is unstable between rivet
It is fixed, it is bad to easily cause quality.
The content of the invention
The purpose of the present invention, it is to provide a kind of seat slide automatic riveting rivet special plane, it can be realized rivet
On seat slide, operating personnel's operation intensity is reduced.
The present invention solve its technical problem solution be：A kind of seat slide automatic riveting rivet special plane, including machine
Frame and the bottom plate being arranged in frame, are disposed with the top plate moved along bottom plate X-direction above the bottom plate, on the bottom plate
Riveting profiling seat is disposed with, working chamber under at least one riveting is disposed with the riveting profiling seat, is arranged above the top plate
There is the riveted joint that can vertically move back and forth, the lower surface of riveted joint is disposed with what quantity matched with the lower working chamber of riveting
Working chamber on rivet, a dynamic plate is installed between top plate and bottom plate, first groove is disposed with top plate, described first is logical
The both ends of groove are respectively disposed with a floating adjustment unit, the motion end of each floating adjustment unit be passed down through after top plate with
Dynamic plate connects, and is disposed with slide rail clamping fixture on the dynamic plate, the slide rail clamping fixture is located in the first groove.
As the further improvement of above-mentioned technical proposal, the slide rail clamping fixture includes two the first slide rail profiling blocks,
The upper end of each first slide rail profiling block is hinged with briquetting, and a clamping is disposed with by each first slide rail profiling block
Cylinder, rear one end with briquetting is hinged the motion end of the clamping cylinder upward, and the other end of the briquetting extends to the first cunning
Above the profiling chamber of rail profiling block.
As the further improvement of above-mentioned technical proposal, it is disposed between two the first slide rail profiling blocks at least one
Alignment pin and at least one auxiliary positioning block.
As the further improvement of above-mentioned technical proposal, discharging cylinder is disposed between two the first slide rail profiling blocks
And unloading rack, upward, the motion end of discharging cylinder is connected the motion end of the discharging cylinder with the unloading rack, on the top plate
It is disposed with splicing frame.
As the further improvement of above-mentioned technical proposal, each floating adjustment unit includes floating cylinder, the floating
The motion end of cylinder is connected after passing through top plate down with dynamic plate.
As the further improvement of above-mentioned technical proposal, a guide pin bushing and installation are disposed with by each floating cylinder
Guide rod in guide pin bushing, one end of the guide rod are connected after passing through top plate with dynamic plate, and the other end of guide rod is disposed with limited block.
As the further improvement of above-mentioned technical proposal, servomotor is disposed with the bottom plate, the servomotor
Screw mandrel is installed in output end, at least one movable block is set with the screw mandrel, each movable block is fixedly connected with top plate,
The upper surface of bottom plate is disposed with two guide rails, and the lower surface of the top plate is disposed with two chutes to match with slide rail, described
Hydraulic drive source is installed, the riveted joint is arranged on the working end of hydraulic drive source in frame.
As the further improvement of above-mentioned technical proposal, the dynamic plate is between two guide rails.
As the further improvement of above-mentioned technical proposal, first groove is divided into the second groove and the 3rd by spacing block
Groove, two slide rail profiling blocks are arranged in the second groove and the 3rd groove.
As the further improvement of above-mentioned technical proposal, the quantity of working chamber is 2 under the riveting.
The beneficial effects of the invention are as follows：The present invention is by setting floating adjustment unit, during work, first passes through slide rail and clamps and control
After tool clamps seat slide, rivet is manually placed into corresponding position, top plate movement so that one of rivet is located at riveting
Below joint, after floating adjustment unit drives dynamic plate descending, plate and contacts baseplate are moved, riveted joint is descending, realizes riveting, floats and adjusts
Section unit carries start-up plate, top plate movement, another position rivet is located at below riveted joint, floating adjustment unit is driven under dynamic plate
After row, plate and contacts baseplate are moved, riveted joint is descending, completes riveting, seat slide is taken out；Realize that rivet automates, carry
High productive temp, operation do not need special messenger, and 1 people is shared with side spot-welding equipment；Left and right part number of rivets is inconsistent, by least
The lower working chamber of one riveting and the upper working chamber of riveting, it is ensured that left and right part shares tool, when handling the right member of seat slide, to it
In two rivetings rivet simultaneously, accelerate beat；Reduce operation intensity, lifting product riveting quality.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described.Obviously, described accompanying drawing is the part of the embodiment of the present invention, rather than is all implemented
Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings
Scheme and accompanying drawing.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that the structural representation on plate is moved in the present invention；
Fig. 3 is the structural representation on bottom plate of the present invention and top plate.
Embodiment
Carried out below with reference to the design of embodiment and accompanying drawing to the present invention, concrete structure and caused technique effect clear
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright part of the embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, be previously mentioned in text
All connection/annexations, not singly refer to component and directly connect, and refer to be added deduct by adding according to specific implementation situation
Few couple auxiliary, to form more excellent draw bail.
1~Fig. 3 of reference picture, a kind of seat slide automatic riveting rivet special plane, including frame 1 and it is arranged in frame 1
Bottom plate 2, the top of the bottom plate 2 is disposed with the top plate 5 moved along bottom plate 2X direction of principal axis, it is imitative that riveting is disposed with the bottom plate 2
Shape seat, described rivet are disposed with working chamber under at least one riveting on profiling seat, the top of top plate 5 is disposed with can be along vertical side
To the riveted joint 7 moved back and forth, the lower surface of riveted joint 7, which is disposed with the rivet that quantity matches with riveting lower working chamber, to work
Chamber, a dynamic plate 4 is installed between top plate 5 and bottom plate 2, is disposed with first groove on top plate 5, the two of first groove
End is respectively disposed with a floating adjustment unit, and the motion end of each floating adjustment unit is passed down through after top plate 5 and dynamic plate 4
Connect, be disposed with slide rail clamping fixture on the dynamic plate 4, the slide rail clamping fixture is located in the first groove.Under the riveting
The quantity of working chamber is 2.Servomotor 6 is disposed with the bottom plate 2, silk is installed in the output end of the servomotor 6
Bar 60, at least one movable block 61 is set with the screw mandrel 60, each movable block 61 is fixedly connected with top plate 5, bottom plate 2
Upper surface is disposed with two guide rails 3, and the lower surface of the top plate 5 is disposed with two chutes to match with slide rail, the frame 1
Upper installation hydraulic drive source, the riveted joint 7 are arranged on the working end of hydraulic drive source.Certainly, it is also equipped with controlling in frame 1
Panel and multiple inductors, the effect of inductor mainly detect seat slide whether in slide rail clamping fixture, top plate 5 whether
Move into place and move whether plate 4 contacts with bottom plate 2.Hydraulic drive source is hydraulic press.Move plate 4 during riveting to contact with bottom plate 2, riveting
Relay is born by bottom plate 2, avoids seat slide stress from damaging.
By setting floating adjustment unit, during work, first pass through after slide rail clamping fixture clamps seat slide, manually will
Rivet is placed into corresponding position, and top plate 5 moves so that one of rivet is located at the lower section of riveted joint 7, and floating adjustment unit is driven
After making plate 4 descending, dynamic plate 4 contacts with bottom plate 2, and riveted joint 7 is descending, realizes riveting, and floating adjustment unit carries start-up plate 4, pushes up
Plate 5 is moved, and another position rivet is located at into the lower section of riveted joint 7, after floating adjustment unit drives dynamic plate 4 descending, moves plate 4 and bottom
Plate 2 contacts, and riveted joint 7 is descending, completes riveting, seat slide is taken out；Realize that rivet automates, improve productive temp,
By 50PCS/H liftings to 80PCS/H, operation does not need special messenger, and 1 people is shared with side spot-welding equipment；Left and right part number of rivets is not
Unanimously, working chamber under at least one riveting and the upper working chamber of riveting are passed through, it is ensured that left and right part shares tool, in processing seat slide
Right member when, to two of which riveting rivet simultaneously, accelerate beat；Reduce operation intensity, lifting product riveting quality.
Preferred embodiment is further used as, the slide rail clamping fixture includes two the first slide rail profiling blocks 40, often
The upper end of the individual first slide rail profiling block 40 is hinged with briquetting 42, and one is disposed with by each first slide rail profiling block 40
Clamping cylinder 41, rear one end with briquetting 42 is hinged the motion end of the clamping cylinder 41 upward, the other end of the briquetting 42
Extend to above the profiling chamber of the first slide rail profiling block 40.
Preferred embodiment is further used as, it is at least one fixed to be disposed between two the first slide rail profiling blocks 40
Position pin 45 and at least one auxiliary positioning block 46.
Preferred embodiment is further used as, discharging cylinder 43 is disposed between two the first slide rail profiling blocks 40
With unloading rack 44, upward, the motion end of discharging cylinder 43 is connected the motion end of the discharging cylinder 43 with the unloading rack 44, institute
State and splicing frame 53 is disposed with top plate 5.
Preferred embodiment is further used as, each floating adjustment unit includes floating cylinder 50, the floating gas
The motion end of cylinder 50 is connected after passing through top plate 5 down with dynamic plate 4.
Preferred embodiment is further used as, a guide pin bushing 52 and installation are disposed with by each floating cylinder 50
Guide rod 51 in guide pin bushing 52, one end of the guide rod 51 are connected after passing through top plate 5 with dynamic plate 4, the other end arrangement of guide rod 51
Limited location block, the dynamic plate 4 improve the stationarity that dynamic plate 4 vertically moves between two guide rails 3.
Preferred embodiment is further used as, first groove is divided into the second groove and threeway by spacing block
Groove, two slide rail profiling blocks are arranged in the second groove and the 3rd groove, and the second groove and the 3rd groove are spacing
Left and right.
It is currently preferred one embodiment below：
1. during piece installing, seat slide is attached on the first slide rail profiling block 40 by hand first, the motion end of clamping cylinder 41
After stretching out upward, briquetting 42 compresses seat slide, then places rivet in the pin locating holes of seat slide：Slide rail seat
Left member be 2 rivets, the right member of slide rail seat is 3 rivets, start button, and special plane selects corresponding journey according to different product
Sequence is acted, and corresponding inductor is also equipped with frame 1, it is slide rail seat that sensing, which is placed into slide rail clamping fixture,
The right member of left member or slide rail seat；
2. top plate 5 is slided by servomotor 6X directions, seat slide is delivered into riveting location, the action of floating cylinder 50
End causes dynamic plate 4 to be contacted with bottom plate 2 after stretching out down, then hydraulic press declines and riveted, and 2 rivets of left member of rail chair chair are controlled
Mobile 2 positions of tool are riveted, and 3 rivet fixtures of right member of rail chair chair are also mobile 2 positions, wherein 2 that lean on closely
Rivet is riveted simultaneously by the upper working chamber of two rivetings on riveted joint 7；
After 3. product riveting is complete, after the motion end of discharging cylinder 43 stretches out upward, unloading rack 44 automatically ejects seat slide,
Seat slide is slided into splicing frame 53 along unloading rack 44, realizes automatic riveting automatic material jacking splicing.
Above is the better embodiment of the present invention is illustrated, but the invention is not limited to the reality
Example is applied, those skilled in the art can also make a variety of equivalent modifications on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (10)
- A kind of 1. seat slide automatic riveting rivet special plane, it is characterised in that：Including frame and the bottom plate being arranged in frame, The top plate moved along bottom plate X-direction is disposed with above the bottom plate, riveting profiling seat, the riveting are disposed with the bottom plate Working chamber under at least one riveting is disposed with profiling seat, the riveting that can vertically move back and forth is disposed with above the top plate Joint, the lower surface of riveted joint are disposed with working chamber on the rivet that quantity matches with the lower working chamber of riveting, top plate and bottom plate it Between a dynamic plate is installed, be disposed with first groove on top plate, the both ends of first groove be respectively disposed with one it is floating Dynamic adjustment unit, the motion end of each floating adjustment unit are connected with dynamic plate after being passed down through top plate, arranged on the dynamic plate There is slide rail clamping fixture, the slide rail clamping fixture is located in the first groove.
- 2. seat slide automatic riveting rivet special plane according to claim 1, it is characterised in that：The slide rail clamping fixture Including two the first slide rail profiling blocks, the upper end of each first slide rail profiling block is hinged with briquetting, and each described first slides A clamping cylinder is disposed with by rail profiling block, rear one end with briquetting is hinged the motion end of the clamping cylinder upward, described The other end of briquetting is extended to above the profiling chamber of the first slide rail profiling block.
- 3. seat slide automatic riveting rivet special plane according to claim 2, it is characterised in that：Two first slide rails At least one alignment pin and at least one auxiliary positioning block are disposed between profiling block.
- 4. seat slide automatic riveting rivet special plane according to claim 2, it is characterised in that：Two first slide rails Be disposed with discharging cylinder and unloading rack between profiling block, the motion end of the discharging cylinder upward, the motion end of discharging cylinder with The unloading rack is connected, and splicing frame is disposed with the top plate.
- 5. the seat slide automatic riveting rivet special plane according to any one of Claims 1 to 4, it is characterised in that：It is each described Floating adjustment unit includes floating cylinder, and the motion end of the floating cylinder is connected after passing through top plate down with dynamic plate.
- 6. seat slide automatic riveting rivet special plane according to claim 5, it is characterised in that：Each floating cylinder Side is disposed with a guide pin bushing and the guide rod in guide pin bushing, and one end of the guide rod is connected after passing through top plate with dynamic plate, is led The other end of bar is disposed with limited block.
- 7. the seat slide automatic riveting rivet special plane according to any one of Claims 1 to 4, it is characterised in that：The bottom Servomotor is disposed with plate, screw mandrel is installed in the output end of the servomotor, is set with the screw mandrel at least one Movable block, each movable block are fixedly connected with top plate, and the upper surface of bottom plate is disposed with two guide rails, the lower surface of the top plate Two chutes to match with slide rail are disposed with, hydraulic drive source is installed in the frame, the riveted joint drives installed in hydraulic pressure The working end in dynamic source.
- 8. seat slide automatic riveting rivet special plane according to claim 7, it is characterised in that：The dynamic plate is located at two Between guide rail.
- 9. the seat slide automatic riveting rivet special plane according to any one of claim 2~4, it is characterised in that：Described One groove is divided into the second groove and the 3rd groove by spacing block, two slide rail profiling blocks be arranged in the second groove and In 3rd groove.
- 10. the seat slide automatic riveting rivet special plane according to any one of Claims 1 to 4, it is characterised in that：The riveting The quantity for connecing lower working chamber is 2.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711159983.3A CN107812877B (en) | 2017-11-20 | 2017-11-20 | Automatic riveting rivet special machine for seat slide rail |
| PCT/CN2017/120012 WO2019095522A1 (en) | 2017-11-20 | 2017-12-29 | Specialized riveting machine for automatic riveting for seat slide rail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711159983.3A CN107812877B (en) | 2017-11-20 | 2017-11-20 | Automatic riveting rivet special machine for seat slide rail |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107812877A true CN107812877A (en) | 2018-03-20 |
| CN107812877B CN107812877B (en) | 2023-07-18 |
Family
ID=61609512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711159983.3A Active CN107812877B (en) | 2017-11-20 | 2017-11-20 | Automatic riveting rivet special machine for seat slide rail |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107812877B (en) |
| WO (1) | WO2019095522A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230030A (en) * | 2020-01-20 | 2020-06-05 | 浙江理工大学瓯海研究院有限公司 | Riveting machine and processing method using same |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643184B (en) * | 2020-12-11 | 2024-06-04 | 唐山金亨通车料有限公司 | Automatic welding device for storage rack spot rivet |
| CN113953393B (en) * | 2021-10-25 | 2024-03-08 | 安徽鲲鹏装备模具制造有限公司 | Automatic adjusting device for refrigerator liner riveting clamp body |
| CN114101568B (en) * | 2021-11-12 | 2024-04-30 | 安徽鲲鹏装备模具制造有限公司 | Sole riveting machine compatible with different sole plates |
| CN116765311B (en) * | 2023-06-20 | 2023-12-12 | 湖南六九零六信息科技股份有限公司 | Riveting device of parabolic antenna for satellite communication vehicle |
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| JP2000135541A (en) * | 1998-10-28 | 2000-05-16 | Fuji Heavy Ind Ltd | Riveting method and device therefor |
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- 2017-11-20 CN CN201711159983.3A patent/CN107812877B/en active Active
- 2017-12-29 WO PCT/CN2017/120012 patent/WO2019095522A1/en active Application Filing
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|---|---|---|---|---|
| JP2000135541A (en) * | 1998-10-28 | 2000-05-16 | Fuji Heavy Ind Ltd | Riveting method and device therefor |
| US6546609B1 (en) * | 2001-12-12 | 2003-04-15 | Hon Hai Precision Ind. Co., Ltd. | Automatic riveting apparatus |
| CN104249127A (en) * | 2014-06-26 | 2014-12-31 | 宁波裕民机械工业有限公司 | Automatic riveting device for automobile skylight guide rail |
| CN104174804A (en) * | 2014-07-26 | 2014-12-03 | 安徽省地坤汽车天窗科技有限公司 | Automobile sunroof riveting device |
| CN204295116U (en) * | 2014-11-20 | 2015-04-29 | 广州敏实汽车零部件有限公司 | A kind of cushion screw spot welding tool |
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| CN205798675U (en) * | 2016-06-12 | 2016-12-14 | 广州敏实汽车零部件有限公司 | A kind of seat heel row backrest automatic spot welding equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111230030A (en) * | 2020-01-20 | 2020-06-05 | 浙江理工大学瓯海研究院有限公司 | Riveting machine and processing method using same |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019095522A1 (en) | 2019-05-23 |
| CN107812877B (en) | 2023-07-18 |
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