Servo riveting system and method

Abstract

The invention discloses a servo riveting system and method, and the system comprises an equipment rack which is used for supporting and installing all parts; the servo tool mechanism is installed at the position close to the lower portion of the equipment rack, carries the press-fitting piece and moves the press-fitting piece to a preset press-fitting position and moves the press-fitting piece away from the press-fitting position; the servo pressing machine is installed at the position, close to the upper portion relative to the servo tool mechanism, of the equipment rack and matched with the servo tool mechanism to conduct riveting operation on the press-fitting piece; the visual camera mechanism is arranged at the position, which does not hinder the movement of the servo tool mechanism and the servo press, of the equipment rack, the visual range of the position covers the movement range of the press-fitting part, and the camera engineering displacement of the press-fitting position of the press-fitting part relative to the reference point is detected; and the control mechanism is mounted at a position, which does not interfere with the movement of the servo tool mechanism and the servo press, of the equipment rack, is connected with the servo tool mechanism and the servo press to control the movement of the servo tool mechanism and the servo press and the riveting operation of a press fitting piece, and corrects the deviation of the movement amount of the servo tool mechanism based on the engineering displacement amount of the camera.

Description

Technical Field

[0001] The present invention relates to the technical field of component assembly, and in particular to a servo riveting system and method. Background Art

[0002] In existing servo riveting systems, the product to be pressed is placed on a movable tooling, which is mounted on a servo motor that allows for X and Y axis movement. The pressing positions are pre-set. A control program is then edited, and the servo motor drives the movable tooling to each pressing position, whereupon the servo press begins riveting each position sequentially. This method requires regular manual calibration of each pressing position to prevent positional drift.

[0003] In the servo riveting system of the existing technology, the servo motor is in motion for a long time, which will produce cumulative displacement deviation. The product placement position on the movable tooling may also produce displacement deviation with the movement, resulting in the production of defective riveted products due to position changes, causing an increase in the scrap rate. Summary of the Invention

[0004] In view of this, the present application provides a servo riveting system and method to at least solve the above technical problems.

[0005] In order to achieve the above-mentioned purpose, the technical solution of this application is implemented in the following manner.

[0006] According to one aspect of the present application, a servo riveting system is provided, which includes: an equipment stand for supporting and installing the various components of the servo riveting system; a servo tooling mechanism installed at a lower position of the equipment stand for carrying a press-fitting part to be riveted, and capable of moving the press-fitting part to a preset press-fitting position for riveting and moving the press-fitting part away from the press-fitting position; a servo press installed at a position above the equipment stand relative to the servo tooling mechanism for cooperating with the servo tooling mechanism to perform a riveting operation on the press-fitting part carried on the servo tooling mechanism and moved to the press-fitting position; a visual camera mechanism provided on the equipment stand The frame is at a position that does not hinder the movement of the servo tooling mechanism and the servo press and the visual range can cover the moving range of the press-fitted part, and is used to detect the relative distance of the press-fitting position of the press-fitted part carried on the servo tooling mechanism relative to the reference point as the camera engineering displacement; and a control mechanism, which is installed at a position on the equipment stand that does not hinder the movement of the servo tooling mechanism and the servo press, and is connected to the servo tooling mechanism and the servo press to control the movement of the servo tooling mechanism and the servo press and the riveting operation of the press-fitted part, and the control mechanism corrects the deviation of the movement of the servo tooling mechanism based on the camera engineering displacement detected by the visual camera mechanism.

[0007] In the above solution, the visual camera mechanism is arranged between the servo tooling mechanism and the servo press and at an oblique side of the servo tooling mechanism and the servo press to facilitate photographing the servo tooling mechanism and the servo press within the visual range.

[0008] In the above scheme, the visual camera mechanism is a visual ranging camera. Within its visual range, a reference point that is fixed relative to the equipment stand is set. The visual camera mechanism detects the camera engineering displacement of each pressing position of the pressing part loaded on the servo tooling mechanism based on the reference point.

[0009] In the above scheme, the work of the servo riveting system includes an offset calculation stage and a riveting operation stage. The offset calculation stage calculates the offset between the camera engineering displacement of each pressing position of the press-fitted part detected by the visual camera mechanism and the actual engineering displacement. In the riveting operation stage, the offset is used to compensate the camera engineering displacement of each pressing position detected by the visual camera mechanism for the press-fitted part to be riveted to obtain the engineering displacement, and the control mechanism controls the servo working mechanism to move based on the engineering displacement to perform the riveting operation of the press-fitted part to be riveted.

[0010] In the above solution, the offset calculation stage is performed before the riveting operation of each press-fitted part, or before each riveting operation of batch press-fitted parts, or is performed regularly as regular maintenance.

[0011] In the above solution, the visual camera mechanism is connected to the control mechanism and can communicate with the control mechanism. The various pressing positions of the pressing parts are pre-set in the visual camera mechanism or obtained from the control mechanism.

[0012] In the above solution, the visual camera mechanism is fixed at the installation position of the equipment stand.

[0013] In the above solution, the visual camera mechanism also serves as a mechanism for identifying poor riveting. After the riveting operation of the press-fitted part is completed, the visual camera mechanism takes a picture of the press-fitted part to identify poor riveting.

[0014] According to another aspect of the present application, a riveting method of a servo riveting system is provided, wherein the servo riveting system is the above-mentioned servo riveting system, and the riveting method includes: an offset calculation stage, in which the offset between the camera engineering displacement of each pressing position of the press-fitted part detected by the visual camera mechanism and the actual engineering displacement is calculated; and a riveting operation stage, in which the offset is used to compensate the camera engineering displacement of each pressing position detected by the visual camera mechanism for the press-fitted part to be riveted to obtain the engineering displacement, and the control mechanism controls the servo working mechanism to move based on the engineering displacement to perform the riveting operation of the press-fitted part to be riveted.

[0015] In the above scheme, the offset calculation stage further includes: using the visual camera mechanism to take a picture of the press-fitted part placed on the servo fixture mechanism, and detecting the camera engineering displacement of each press-fitting position of the press-fitted part; using the control mechanism to calculate the actual engineering displacement from the servo fixture mechanism to each press-fitting position of the press-fitted part; and calculating the offset between the camera engineering displacement of each press-fitting position of the press-fitted part detected by the visual camera mechanism and the actual engineering displacement.

[0016] The riveting operation stage further includes: using the visual camera mechanism to take pictures of the press-fitted parts to be riveted and placed on the servo tooling mechanism, and detecting the camera engineering displacement of each pressing position of the press-fitted parts to be riveted; using the calculated offset to compensate for the camera engineering displacement of each pressing position of the press-fitted parts to be riveted detected by the visual camera mechanism, and obtaining the engineering displacement of the servo tooling mechanism; and the control mechanism controls the movement of the servo tooling mechanism based on the obtained engineering displacement, so as to realize the riveting operation of the press-fitted parts to be riveted at each pressing position.

[0017] According to the present application, by adding a visual camera mechanism, in the control process of the riveting operation, before each riveting operation, the visual camera mechanism is first used to take a visual photo, calculate the precise point that needs to be riveted each time, and set the calculated engineering displacement into the control mechanism. The control mechanism controls the servo tooling mechanism to accurately move to the riveting position based on the set engineering displacement, which can ensure the accuracy of each riveting point and achieve precise riveting, thereby reducing scrap caused by poor riveting. In addition, it can also avoid the preventive maintenance task of regularly manually calibrating the press position. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a servo riveting system according to an embodiment of the present invention;

[0019] Figure 2Flowchart of a riveting method of a servo riveting system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The technical solution of the present application is further elaborated in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The various specific technical features in the various embodiments described in the specific implementation methods can be combined in various ways without contradiction. For example, different implementation methods can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0022] The servo riveting system and method of the present invention mainly solve the problem of poor riveting caused by position change in a system using a servo press for riveting.

[0023] Figure 1 FIG. 1 is a schematic diagram showing the structure of a servo riveting system according to an embodiment of the present invention. Figure 1 As shown, the servo riveting system includes: an equipment stand 11, a servo tooling mechanism 12, a servo press 13, a visual camera mechanism 14, and a control mechanism. The servo tooling mechanism 12, the servo press 13, the visual camera mechanism 14, and the control mechanism are all installed on the equipment stand 11, and the servo tooling mechanism 12, the servo press 13, and the visual camera mechanism 14 are all connected to the control mechanism.

[0024] The equipment stand 11 is used to support and install various components of the servo riveting system.

[0025] The servo tooling mechanism 12 is installed at a lower position of the equipment stand 11, and is used to carry the press-fitting part 20 for riveting operation, and is capable of moving the press-fitting part 20 to a pre-set pressing position for riveting operation and moving the press-fitting part 20 from the pressing position. The servo tooling mechanism 12 includes a movable tooling 121 and a servo motor 122. The movable tooling 121 is installed on the servo motor 122, and is used to carry the press-fitting part 20 and serve as a workbench for the riveting operation of the press-fitting part 20. The servo motor 122 is movably installed at a lower position of the equipment stand 11 relative to the servo press 13, and is capable of moving along the horizontal X and Y axes respectively along the guide rails provided on the equipment stand 11, thereby driving the movable tooling 121 to move along the horizontal X and Y axes.

[0026] The servo press 13 is mounted on the equipment stand 11 above the servo tooling mechanism 12 and is used to cooperate with the servo tooling mechanism 12 to perform riveting operations on the press-fitting component 20 that has been placed on the servo tooling mechanism 12 and moved to the press-fitting position. In the preferred embodiment, the servo press 13 is configured to move up and down along a guide rail provided on the equipment stand 11. Of course, in an alternative embodiment, the servo press 13 can also be configured to move up and down and horizontally along the guide rail provided on the equipment stand 11 to accommodate a wider range of press-fitting positions.

[0027] The visual camera mechanism 14 is arranged at a position on the equipment stand 11 where it does not hinder the movement of the servo tooling mechanism 12 and the servo press 13 and the visual range can cover the moving range of the press-fitted part 20. It is used to detect the relative distance of the press-fitting position of the press-fitted part 20 loaded on the servo tooling mechanism 12 relative to the reference point as the camera engineering displacement.

[0028] In a preferred embodiment, the visual camera mechanism 14 is disposed between the servo tooling mechanism 12 and the servo press 13 and at an oblique side of the servo tooling mechanism 12 and the servo press 13 to facilitate photographing the servo tooling mechanism 12 and the servo press 13 within the visual range.

[0029] In the preferred embodiment, the visual camera mechanism 14 is a visual ranging camera. Within its visual range, a reference point that is fixed relative to the equipment stand 11 is set as the reference origin for the camera to take pictures and measure distance. Based on the reference origin, the camera engineering displacement (x1, y1; ...; xn, yn) of each pressing position (1...n) of the pressing part 20 placed on the servo tooling mechanism 12 is detected.

[0030] In a preferred embodiment, the visual camera mechanism 14 is able to communicate with the control mechanism and transmit the detected camera engineering displacement of each press-fitting position of the press-fitting part 20 to the control mechanism.

[0031] In a preferred embodiment, each pressing position (1...n) of the pressing part 20 is pre-set in the visual camera mechanism 14 or each pressing position (1...n) of the pressing part 20 is obtained from the control mechanism, and the visual camera mechanism 14 detects the camera engineering displacement (x1, y1;...; xn, yn) of each pressing position (1...n) of the pressing part 20.

[0032] In addition, in the preferred embodiment, the installation position of the visual camera mechanism 14 is fixed relative to the equipment stand 11. However, in an optional embodiment, the installation position of the visual camera mechanism 14 can also be variable, and the installation position of the visual camera mechanism 14 on the equipment stand 11 can be manually adjusted.

[0033] In addition, in the preferred embodiment, the visual camera mechanism 14 also serves as a mechanism for identifying poor riveting. After the riveting operation is completed, the entire press-fitted part 20 is photographed again to judge the quality of the press-fitted part 20 after press-fitting, so as to identify poor riveting.

[0034] The control mechanism is mounted on the equipment stand 11 at a position that does not interfere with the movement of the servo tooling mechanism 12 and the servo press 13, and is connected to the servo tooling mechanism 12 and the servo press 13 to control the movement of the servo tooling mechanism 12 and the servo press 13 and the riveting operation of the press-fitted part 20. Specifically, the control mechanism first controls the servo tooling mechanism 12, which carries the press-fitted part 20, to move to a predetermined press-fitting position, and then controls the servo press 13 to move downward and align it with the press-fitting position of the press-fitted part 20 placed on the servo tooling mechanism 12 to perform the riveting operation.

[0035] In the previous scheme, each pressing position (1...n) of the pressing part 20 is pre-set in the control mechanism, and the control mechanism calculates the engineering movement amount of the servo tooling mechanism 12 based on the pressing position (1...n) to control the movement of the servo tooling mechanism 12 carrying the pressing part 20.

[0036] However, in the servo riveting system of the present invention, the control mechanism corrects the deviation of the movement amount of the servo tooling mechanism 12 calculated by the control mechanism itself during the riveting operation based on the relative distance of each pressing position of the pressing part 20 loaded on the servo tooling mechanism 12 relative to the reference point detected by the visual camera mechanism 14.

[0037] The working process of the servo riveting system of the embodiment of the present invention includes an offset calculation phase and a riveting operation phase. The offset calculation phase calculates the offset (Δx1, Δy1; ...; Δxn, Δyn) between the camera engineering displacement (x1, y1; ...; xn, yn) of each pressing position detected by the visual camera mechanism 14 and the actual engineering displacement (X1, Y1; ...; Xn, Yn). The riveting operation phase uses the offset (Δx1, Δy1; ...; Δxn, Δyn) to compensate the camera engineering displacement (x1, y1; ...; xn, yn) of each pressing position of the press-fitting part 20 to be riveted by the visual camera mechanism 14 to obtain the engineering displacement (X1, Y1; ...; Xn, Yn) of the servo tooling mechanism 12. The control mechanism controls the servo tooling mechanism 12 to move based on the engineering displacement (X1, Y1; ...; Xn, Yn) to perform the riveting operation of the press-fitting part 20. The specific process is as follows.

[0038] Offset calculation phase:

[0039] The press-fitting part 20 is placed at the press-fitting part loading position on the movable tooling 121 of the servo tooling mechanism 12, and the press-fitting position (1…n) of the press-fitting part 20 is set in the control mechanism and the visual camera mechanism 14; before the control mechanism controls the servo motor 122 of the servo tooling mechanism 12 based on the press-fitting position (1…n) to move the press-fitting part 20 to each press-fitting position (1…n), the visual camera mechanism 14 takes a picture of the press-fitting part 20 placed on the servo tooling mechanism 12, and detects the camera engineering displacement (x1, y1;…; xn, yn) of each press-fitting position (1…n) of the press-fitting part 20 based on the reference origin; then, the control mechanism controls the servo motor 122 to move to each press-fitting position (1…n), and accurately calibrates each press-fitting position ( 1…n), calculate the actual engineering displacement (X1, Y1; …; Xn, Yn) of the servo motor 122 to each pressing position (1…n); through engineering calculation, calculate the offset (Δx1, Δy1; …; Δxn, Δyn) between the camera engineering displacement (x1, y1; …; xn, yn) of each pressing position (1…n) on the pressing part 20 and the actual engineering displacement (X1, Y1; …; Xn, Yn) of the servo motor 122, that is, the camera engineering displacement (x1, y1; …; xn, yn) and the actual engineering displacement (X1, Y1; …; Xn, Yn) have the following relationship: x1+Δx1=X1; y1+Δy1=Y1; …; xn+Δxn=Xn; yn+Δyn=Yn.

[0040] Riveting operation stage:

[0041] The visual camera mechanism 14 takes a picture of the press-fitted part 20 that needs to be riveted and is placed on the servo tooling mechanism 12, and detects the camera engineering displacement (x1, y1; ...; xn, yn) of each pressing position (1...n) of the press-fitted part 20 that needs to be riveted based on the reference origin; then, the camera engineering displacement (x1, y1; ...; xn, yn) detected by the visual camera mechanism 14 for the press-fitted part 20 that needs to be riveted is added to the offset (Δx1, Δy1; ...; Δxn, Δyn) calculated in the offset calculation stage as the engineering displacement of the servo motor 122, and is set in the control mechanism, replacing the displacement calculated by the control mechanism itself each time the servo motor 122 is moved; the control mechanism controls the movement of the servo motor 122 based on the set engineering displacement, so as to achieve precise riveting of the press-fitted part 20 that needs to be riveted at each pressing position (1...n).

[0042] In addition, after the riveting operation is completed, the visual camera mechanism 14 can also serve as a riveting quality inspection mechanism to take pictures of the entire press-fitted part 20 again to determine the quality of the press-fitted part 20 after press-fitting, thereby identifying defective riveted parts.

[0043] As described above, according to the servo riveting system of the embodiment of the present application, by adding a visual camera mechanism 14, in the control process of the riveting operation, before each riveting, the visual camera mechanism 14 is first used to take a visual photo, calculate the precise point that needs to be riveted each time, and set the calculated engineering displacement into the control mechanism. The control mechanism controls the servo tooling mechanism 12 to accurately move to the riveting position based on the set engineering displacement, which can ensure the accuracy of each riveting point and achieve precise riveting, thereby reducing scrap caused by poor riveting. In addition, it can also avoid the preventive maintenance task of regularly manually calibrating the press position.

[0044] In addition, after the product is press-fitted, the entire press-fitted product can be photographed again using the visual camera mechanism 14, so that defective riveted products can be preliminarily identified, further ensuring the yield of finished products.

[0045] It should be noted that the offset calculation stage in the above embodiment in which the offset is calculated using the visual camera mechanism 14 can be performed before the riveting operation of each press-fitted part, or before each batch riveting operation of press-fitted parts, or can be performed regularly as regular maintenance.

[0046] Figure 2 FIG. 1 is a flow chart of a riveting method of a servo riveting system according to an embodiment of the present invention. Figure 2 As shown, the method includes an offset calculation phase of steps 201-205 and a riveting operation phase of steps 206-208.

[0047] In step 201 , the press-fitting part and the press-fitting position are set. Specifically, the press-fitting part 20 is placed at the press-fitting part placement position on the movable fixture 121 of the servo fixture mechanism 12 , and the press-fitting positions ( 1 . . . n ) of the press-fitting part 20 are set in the control mechanism and the visual camera mechanism 14 .

[0048] In step 202, the visual camera mechanism 14 detects the camera engineering displacement (x1, y1; ...; xn, yn) of each press-fitting position (1 ... n) of the press-fitting part 20. Specifically, the visual camera mechanism 14 photographs the press-fitting part 20 placed on the servo fixture mechanism 12, and detects the camera engineering displacement (x1, y1; ...; xn, yn) of each press-fitting position (1 ... n) of the press-fitting part 20 based on the reference origin.

[0049] In step 203, the control mechanism calculates the actual engineering displacement (X1, Y1; ...; Xn, Yn) of the servo tooling mechanism 12 to each press-fitting position (1 ... n). Specifically, the control mechanism controls the servo tooling mechanism 12 to move to each press-fitting position (1 ... n), accurately calibrates each press-fitting position (1 ... n), and calculates the actual engineering displacement (X1, Y1; ...; Xn, Yn) of the servo tooling mechanism 12 to each press-fitting position (1 ... n).

[0050] In step 204, the offset (Δx1, Δy1; ...; Δxn, Δyn) between the camera engineering displacement (x1, y1; ...; xn, yn) and the actual engineering displacement (X1, Y1; ...; Xn, Yn) of the servo motor 122 is calculated for each press-fitting position (1 ... n) on the press-fitting component 20. That is, the camera engineering displacement (x1, y1; ...; xn, yn) and the actual engineering displacement (X1, Y1; ...; Xn, Yn) are in the following relationship: x1 + Δx1 = X1; y1 + Δy1 = Y1; ...; xn + Δxn = Xn; yn + Δyn = Yn.

[0051] In step 205, the visual camera mechanism 14 is used to detect the camera engineering displacement (x1, y1; ...; xn, yn) of each press-fitting position (1 ... n) of the press-fitting part 20 to be riveted. Specifically, the visual camera mechanism 14 is used to take a picture of the press-fitting part 20 to be riveted and placed on the servo fixture mechanism 12, and the camera engineering displacement (x1, y1; ...; xn, yn) of each press-fitting position (1 ... n) of the press-fitting part 20 is detected based on the reference origin.

[0052] In step 206, the calculated offset is used to compensate for the camera engineering displacement (x1, y1; ...; xn, yn) of each press position (1 ... n) of the press-fitted part 20 undergoing the riveting operation detected by the visual camera mechanism 14, and the engineering displacement of the servo tooling mechanism 12 is calculated. Specifically, the camera engineering displacement (x1, y1; ...; xn, yn) detected by the visual camera mechanism 14 for the press-fitted part 20 undergoing the riveting operation is added to the offset (Δx1, Δy1; ...; Δxn, Δyn) calculated in step 204 as the engineering displacement of the servo tooling mechanism 12, which is set in the control mechanism, replacing the displacement calculated by the control mechanism each time the servo tooling mechanism 12 is moved.

[0053] In step 207 , the control mechanism controls the movement of the servo tooling mechanism 12 based on the calculated engineering displacement, so as to achieve accurate riveting of the press-fitted part 20 at each press-fitting position ( 1 . . . n ) during the riveting operation.

[0054] According to the riveting method of the servo riveting system of the embodiment of the present invention, the visual camera mechanism 14 is used to calculate the precise point where riveting is required each time, and the calculated engineering displacement is set in the control mechanism. The control mechanism controls the servo tooling mechanism 12 to move precisely to the riveting position based on the set engineering displacement. This ensures the accuracy of the riveting point each time, achieves precise riveting, and reduces scrap caused by poor riveting. In addition, the preventive maintenance task of regularly manually calibrating the press position can be avoided.

[0055] It should be noted that the servo riveting method provided in the above embodiment is the same as the above embodiment. Figure 1 The provided servo riveting system belongs to the same concept. The specific implementation process can refer to the above system embodiment and will not be repeated here.

[0056] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A servo riveting system, characterized in that: include: An equipment stand, which is used to support and install the components of the servo riveting system; a servo tooling mechanism, which is installed at a lower position of the equipment stand and is used to carry a press-fitting part to be riveted and is capable of moving the press-fitting part to a pre-set press-fitting position for riveting and removing the press-fitting part from the press-fitting position; A servo press is installed on the equipment stand at a position above the servo tooling mechanism, and is used to cooperate with the servo tooling mechanism to perform riveting operations on the press-fit parts placed on the servo tooling mechanism and moved to the press-fitting position; a visual camera mechanism, which is arranged at a position on the equipment stand so as not to hinder the movement of the servo fixture mechanism and the servo press and whose visual range can cover the movement range of the press-fitted part, and is used to detect the relative distance of the press-fitted part placed on the servo fixture mechanism relative to a reference point as a camera engineering displacement; as well as A control mechanism is installed at a position of the equipment stand that does not hinder the movement of the servo tooling mechanism and the servo press, and is connected to the servo tooling mechanism and the servo press to control the movement of the servo tooling mechanism and the servo press and the riveting operation of the press-fitted part. The control mechanism corrects a deviation in a movement amount of the servo tooling mechanism based on the camera process displacement amount detected by the visual camera mechanism.

2. The servo riveting system according to claim 1, characterized in that: The visual camera mechanism is arranged between the servo tooling mechanism and the servo press and at an oblique side of the servo tooling mechanism and the servo press to facilitate photographing the servo tooling mechanism and the servo press within a visual range.

3. The servo riveting system according to claim 1, characterized in that: The visual camera mechanism is a visual ranging camera. Within its visual range, a reference point that is stationary relative to the equipment stand is set. The visual camera mechanism detects the camera engineering displacement of each pressing position of the pressing part placed on the servo tooling mechanism based on the reference point.

4. The servo riveting system according to claim 1, characterized in that: The operation of the servo riveting system includes an offset calculation stage and a riveting operation stage. The offset calculation stage calculates the offset between the camera engineering displacement of each pressing position of the press-fitted part detected by the visual camera mechanism and the actual engineering displacement. In the riveting operation stage, the offset is used to compensate the camera engineering displacement of each pressing position detected by the visual camera mechanism for the press-fitted part to be riveted to obtain the engineering displacement, and the control mechanism controls the servo working mechanism to move based on the engineering displacement to perform the riveting operation of the press-fitted part to be riveted.

5. The servo riveting system according to claim 4, characterized in that: The offset calculation stage is performed before performing the riveting operation of each press-fitted part, or before performing the riveting operation of batch press-fitted parts each time, or is performed regularly as regular maintenance.

6. The servo riveting system according to claim 1, characterized in that: The visual camera mechanism is connected to the control mechanism and can communicate with the control mechanism. The various press-fitting positions of the press-fitting parts are preset in the visual camera mechanism or obtained from the control mechanism.

7. The servo riveting system according to claim 1, characterized in that: The visual camera mechanism is fixed at the installation position of the equipment stand.

8. The servo riveting system according to claim 1, characterized in that: The visual camera mechanism also serves as a mechanism for identifying poor riveting. After the riveting operation of the press-fitted part is completed, the visual camera mechanism takes a picture of the press-fitted part to identify poor riveting.

9. A riveting method for a servo riveting system, characterized in that: The servo riveting system is the servo riveting system according to any one of claims 1 to 8, The riveting method comprises: In the offset calculation stage, the offset between the camera engineering displacement and the actual engineering displacement of each press-fitting position of the press-fitting part detected by the visual camera mechanism is calculated; and During the riveting operation stage, the offset is used to compensate for the camera engineering displacement of each pressing position detected by the visual camera mechanism to obtain the engineering displacement for the press-fitted parts to be riveted. The control mechanism controls the servo working mechanism to move based on the engineering displacement to perform the riveting operation on the press-fitted parts to be riveted.

10. The riveting method of the servo riveting system according to claim 9, characterized in that: The offset calculation stage further includes: Using the visual camera mechanism to take a picture of the press-fitted part placed on the servo fixture mechanism, and detecting the camera engineering displacement of each press-fitting position of the press-fitted part; Calculating the actual engineering displacement of the servo tooling mechanism to each press-fitting position of the press-fitting part using the control mechanism; and Calculate the offset between the camera engineering displacement of each press-fitting position of the press-fitting part detected by the visual camera mechanism and the actual engineering displacement, The riveting operation stage further includes: Using the visual camera mechanism to take pictures of the press-fitted parts placed on the servo tooling mechanism and undergoing riveting operations, and detecting the camera engineering displacement of each press-fitting position of the press-fitted parts undergoing riveting operations; Compensating the camera engineering displacement of each press-fitting position of the press-fitting part undergoing riveting operation detected by the visual camera mechanism using the calculated offset to obtain the engineering displacement of the servo tooling mechanism; and The control mechanism controls the movement of the servo tooling mechanism based on the obtained engineering displacement, thereby achieving the riveting operation of the press-fitted part at each press-fitting position.

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