| 摘要 |
Two riveting-set assemblies (14) are each mounted on a carrier device (4, 5) which may be an effector mounted on a robot arm (A, B), on each side of the workpieces (2, 3) to be joined by riveting. Each carrier device is provided with driving means which comprise an electric motor (21), preferably a brushless motor, which drives the riveting-set assembly translationally, for example via ball screws (18, 19). Control means (25) are designed to actuate the two motors (21) in such a manner that the riveting sets (14) encounter the rivet (1) with a time delay and/or a kinetic energy difference which are chosen in order to form the rivet in the desired manner, avoiding, at the workpieces to be joined, undesirable movements or stresses.
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