Riveting device and riveting method

Abstract

The present application relates to the field of automation technology, and aims to solve the technical problem of poor riveting quality, and provides a riveting device and a riveting method. Among them, the riveting device includes a first transfer mechanism, a second transfer mechanism and a riveting mechanism. The first transfer mechanism includes a first moving assembly and a first carrier, the first carrier is used to carry the target part, the first moving assembly is connected to the first carrier by transmission, and can drive the target part from the side close to the first surface to the side close to the second surface. The second transfer mechanism is used to drive the product to move so that the through hole moves to the corresponding target part along the first direction, and the second surface of the product remains between the first surface and the target part. The riveting mechanism and the first transfer mechanism are spaced apart in the first direction, and the riveting mechanism can drive the product to move along the first direction so that the target part resting against the first carrier is riveted into the through hole. The beneficial effect of the present application is to improve the riveting quality of the target part on the product.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a riveting device and a riveting method. Background Art

[0002] Conventional technology involves inserting nuts into product holes. The product carrying the nuts is then moved onto a riveting jig, where a cylinder presses the nuts into the product. Due to the shape of some products, the nuts can only be riveted in from one side, limiting the operating space and resulting in poor nut riveting quality. Summary of the Invention

[0003] The present application provides a riveting device and a riveting method to solve the technical problem of poor riveting quality.

[0004] The embodiment of the present application is implemented as follows:

[0005] In the first aspect, the present application provides a riveting device for riveting a target part to a product, wherein the product has a first surface and a second surface arranged opposite to each other along a first direction, and a through hole extending from the first surface to the second surface, and the riveting device includes a first transfer mechanism, a second transfer mechanism and a riveting mechanism. The first transfer mechanism includes a first moving assembly and a first bearing member, the first bearing member being used to carry the target part, the first moving assembly being connected to the first bearing member by transmission, and being able to drive the target part to move from a side close to the first surface to a side close to the second surface. The second transfer mechanism is used to drive the product to move so that the through hole moves to a position corresponding to the target part along the first direction, and the second surface of the product remains between the first surface and the target part. The riveting mechanism and the first transfer mechanism are spaced apart in the first direction, and the riveting mechanism is able to drive the product to move along the first direction so that the target part abutting against the first bearing member is riveted into the through hole.

[0006] In a possible embodiment: the product includes a main body, the main body has a receiving groove with an opening at one end, the main body is provided with an extension plate extending from the inner wall toward the center of the receiving groove, the through hole is opened in the extension plate, the first surface is the side of the extension plate facing away from the bottom surface of the receiving groove, the second surface is the side of the extension plate close to the bottom surface of the groove, the first moving component can drive the first supporting part to move from the opening to the receiving groove, and make the target part enter between the second surface and the bottom surface of the groove.

[0007] In a possible embodiment: the first carrier is rotatably provided on the first movable component around a rotation axis, the rotation axis is parallel to the first direction, the riveting mechanism is provided on the first movable component, the riveting mechanism includes a riveting head, and the first carrier can drive the target part to rotate to correspond to the riveting head along the first direction.

[0008] In a possible embodiment: the riveting device further includes an image acquisition component, the image acquisition component and the riveting mechanism are spaced apart in the second direction, the image acquisition component and the second transfer mechanism are spaced apart in the first direction, the image acquisition component can obtain image information of the through hole of the product along the first direction, and the second transfer mechanism can drive the product to move according to the image information until the through hole, the riveting head and the target part are located on the same straight line in the first direction.

[0009] In a possible implementation manner, the first carrier includes a plurality of carrier arms, each of the plurality of carrier arms having a carrier position for carrying the target component, and the plurality of carrier positions are equidistant from the rotation axis of the first carrier.

[0010] In a possible embodiment: the second transfer mechanism includes: a second moving component; a mounting plate, the mounting plate is transmission-connected to the second moving component; a second carrier, the second carrier is movably connected to the mounting plate along a first direction, the second carrier is used to carry the product, and when the riveting mechanism drives the product to move along the first direction, the second carrier moves relative to the mounting plate along the first direction.

[0011] In a possible embodiment: the second transfer mechanism also includes a plurality of first guide assemblies, and the plurality of first guide assemblies are arranged at equal intervals on the side of the second carrier, and the plurality of first guide assemblies are also connected to the mounting plate, and the plurality of first guide assemblies are used to guide the second carrier to move relative to the mounting plate along the first direction.

[0012] In a possible embodiment: the riveting device also includes a loading mechanism, the loading mechanism includes an operating part, the operating part is used to grab and place the target part, the loading mechanism can drive the target part to move after the first moving component drives the first carrier to move to one side of the second surface, and place the target part on the first transfer mechanism.

[0013] In a second aspect, an embodiment of the present application further provides a riveting method, based on the aforementioned riveting device, the riveting method comprising: causing the first moving component to drive the first carrier to move, so that the target part on the first carrier moves from the side close to the first surface to the side close to the second surface; causing the second transfer mechanism to drive the product to move, so that the through hole moves to a second riveting position, and the central axis of the through hole at the second riveting position coincides with the central axis of the target part at the first riveting position; causing the riveting mechanism to drive the product to move along the first direction, so that the target part abutting against the first carrier is riveted into the through hole.

[0014] In the third aspect, the embodiment of the present application also provides another riveting method, based on the aforementioned riveting device, the riveting device also includes a loading mechanism, the loading mechanism is used to grab and place the target part, the riveting method includes: causing the second transferring mechanism to drive the product to move until the product corresponds to the first carrier in the first direction; causing the first moving assembly to drive the first carrier to move into the receiving groove of the product, causing the loading mechanism to grab the target part and place it on the first carrier, causing the first carrier to drive the target part to rotate a preset angle and then stop rotating; causing the second transferring mechanism to drive the product to move until the through hole, the target part and the riveting mechanism correspond to each other in the first direction; the riveting mechanism drives the product to move along the first direction, so that the target part against the first carrier is riveted into the through hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a structural diagram of a riveting device according to an embodiment of the present application;

[0017] Figure 2 This is a structural diagram of a riveting device according to an embodiment of the present application without the machine platform;

[0018] Figure 3 This is a schematic diagram of the partial structure of the riveting device of one embodiment of the present application when it is working;

[0019] Figure 4 This is a schematic diagram of a partial structure of a riveting device according to an embodiment of the present application;

[0020] Figure 5This is a structural diagram of a first transfer mechanism according to an embodiment of the present application;

[0021] Figure 6 A side view of a first transfer mechanism according to an embodiment of the present application;

[0022] Figure 7 This is a structural diagram of a riveting mechanism according to an embodiment of the present application;

[0023] Figure 8 This is a schematic diagram of the exploded structure of a riveting mechanism according to an embodiment of the present application;

[0024] Figure 9 A side view of a riveting mechanism according to an embodiment of the present application;

[0025] Figure 10 This is a schematic diagram of the exploded structure of an image acquisition component according to an embodiment of the present application;

[0026] Figure 11 This is a partial structural diagram of a second transfer mechanism according to an embodiment of the present application;

[0027] Figure 12 This is a schematic diagram of a partially exploded structure of a second transfer mechanism according to an embodiment of the present application;

[0028] Figure 13 This is a structural diagram of a feeding mechanism according to an embodiment of the present application;

[0029] Figure 14 This is a schematic diagram of the partial structure of a feeding mechanism according to an embodiment of the present application;

[0030] Figure 15 A cross-sectional view of an operating portion according to an embodiment of the present application;

[0031] Figure 16 This is a structural diagram of the blanking mechanism and product according to one embodiment of the present application.

[0032] Description of main component symbols:

[0033] Riveting device 100

[0034] The first transfer mechanism 10

[0035] First moving component 11

[0036] First linear drive element 111

[0037] Adapter 112

[0038] First plate 1121

[0039] Second plate 1122

[0040] First rotary driving member 113

[0041] First supporting member 12

[0042] Carrying arm 121

[0043] Loading position 122

[0044] Positioning portion 123

[0045] Second guide assembly 13

[0046] Guide Rail 131

[0047] Slider 132

[0048] Buffer protrusion 14

[0049] The second transfer mechanism 20

[0050] Second moving component 21

[0051] Second linear drive member 211

[0052] Second rotary driving member 212

[0053] Mounting plate 213

[0054] Second supporting member 22

[0055] Carrying plate 221

[0056] Positioning protrusion 222

[0057] Limiting platform 223

[0058] Guide slope 2231

[0059] Stopper 224

[0060] First guide assembly 23

[0061] Guide rail 231

[0062] Guide slider 232

[0063] First elastic member 24

[0064] Position sensor 25

[0065] Guide column 26

[0066] Riveting mechanism 30

[0067] Fixed plate 31

[0068] Riveting drive 32

[0069] Riveted connecting rod 33

[0070] Sliding groove 331

[0071] First end portion 332

[0072] Middle part 333

[0073] Second end portion 334

[0074] Side panels 34

[0075] Connecting shaft 35

[0076] Riveting head 36

[0077] Pressure sensor 37

[0078] Top plate 38

[0079] Pin 39

[0080] Feeding mechanism 40

[0081] Feeding drive 41

[0082] The first linear module 411

[0083] Second linear module 412

[0084] Adapter plate 42

[0085] Operation unit 43

[0086] Connecting plate 431

[0087] Adsorption unit 432

[0088] Air hole 433

[0089] Step 434

[0090] Guide assembly 44

[0091] Guide rail 441

[0092] Guide slider 442

[0093] Second elastic member 45

[0094] Limiting portion 46

[0095] Discharging mechanism 50

[0096] Vibration plate 51

[0097] Image acquisition component 60

[0098] Connecting rod 61

[0099] Industrial Camera 62

[0100] Light source 63

[0101] Shield 64

[0102] Unloading mechanism 70

[0103] Displacement drive member 71

[0104] Horizontal drive module 711

[0105] Vertical drive module 712

[0106] Clamping drive 72

[0107] Clamping arm 73

[0108] Clamping port 731

[0109] Pipeline 74

[0110] Machine 80

[0111] Mounting table 81

[0112] Gantry 82

[0113] Cover body 83

[0114] First display screen 84

[0115] Second display screen 85

[0116] Human-computer interaction interface 86

[0117] Safety light curtain 87

[0118] Mounting piece 88

[0119] First direction L

[0120] The second direction M

[0121] The third direction N

[0122] Target 200

[0123] Product 300

[0124] Through hole 301

[0125] First side 302

[0126] Second side 303

[0127] Receiving slot 304

[0128] Opening 305

[0129] Positioning port 306

[0130] Extension plate 307 DETAILED DESCRIPTION

[0131] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0132] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be an element centered therein. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be an element centered therein. When an element is considered to be "set on" another element, it may be directly set on the other element or there may also be an element centered therein. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0133] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "or / and" as used herein includes any and all combinations of one or more of the relevant listed items.

[0134] Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

[0135] The present application provides a riveting device 100 for riveting a target part 200 onto a product 300. The product 300 has a first surface 302 and a second surface 303 arranged opposite to each other along a first direction L, and a through hole 301 extending from the first surface 302 to the second surface 303. The riveting device 100 includes a first transfer mechanism 10, a second transfer mechanism 20, and a riveting mechanism 30. The first transfer mechanism 10 includes a first moving assembly 11 and a first carrier 12. The first carrier 12 is used to carry the target part 200. The first moving assembly 11 is connected to the first carrier 12 in a transmission manner and can drive the target part 200 to move from a side close to the first surface 302 to a side close to the second surface 303. The second transfer mechanism 20 is used to drive the product 300 to move so that the through hole 301 moves to the corresponding target part 200 along the first direction L, and the second surface 303 of the product 300 remains between the first surface 302 and the target part 200. The riveting mechanism 30 is spaced apart from the first moving mechanism 10 in the first direction L. The riveting mechanism 30 can drive the product 300 to move along the first direction L, so that the target component 200 abutting against the first carrier 12 is riveted into the through hole 301 .

[0136] When the riveting device 100 in the present application is used, the product 300 is carried on the carrying surface of the second transfer mechanism 20, and the first moving component 11 drives the first carrier 12 to move to the side of the second surface 303 close to the product 300 away from the first surface 302, and then the target part 200 is carried on the first carrier 12, and the target part 200 is also located on the side of the second surface 303 of the product 300 away from the first surface 302, and the second transfer mechanism 20 drives the product 300 to move, and makes the through hole 301 correspond to the target part 200 in the first direction L; then, the product 300 is driven to move along the first direction L by the riveting mechanism 30, so that the target part 200 against the first carrier 12 is riveted into the through hole 301, and the riveting is completed.

[0137] During the overall riveting process of the riveting device 100 in the present application, the target part 200 is placed on the first carrier 12 located on the side of the second surface 303 of the product 300 facing away from the first surface 302 and is kept against the first carrier 12, so that the position of the target part 200 remains unchanged, and the riveting mechanism 30 drives the product 300 to move relative to the target part 200 until the target part 200 is riveted into the product 300, thereby avoiding the possibility of the target part 200 being first installed into the through hole 301 of the product 300 in the known technology, and causing shaking when the product 300 is placed in the riveting fixture, and avoiding the relative position relationship between the target part 200 and the product 300 to tilt in a direction other than the first direction L, thereby ensuring that the target part 200 can be riveted into the through hole 301 along the first direction L, which not only improves the riveting quality of the target part 200 on the product 300, but also avoids the riveting deviation caused by the tilting that causes partial deformation of the through hole 301 of the product 300, thereby ensuring the shape of the product 300 is intact. At the same time, the riveting bases of the known riveting jigs are all fixed positions that cannot be moved, so the positions of the product 300 and the target part 200 can only be adjusted to adapt to the position of the riveting base, which easily leads to limited operating space for the product 300 and the target part 200. However, the first transfer mechanism 10 in the present application moves relative to the product 300, so that the first carrier 12 forms a riveting base with a high degree of freedom, so that the first carrier 12 can form a variety of positional relationships with the product 300 in a spatial range, so that the positional relationship between the first carrier 12 and the product 300 can be determined according to the specific shape of the product 300, and then the riveting mechanism 30 can drive the product 300 to move relative to the target part 200 to achieve riveting. That is, the riveting device 100 in the present application can also be applied to a variety of riveting operations in limited spaces, and has a wider range of applications.

[0138] The following combination Figures 1-16 Some exemplary embodiments of the present application are described in detail.

[0139] See also Figure 1 This embodiment provides a riveting device 100 for riveting a target part 200 to a product 300 .

[0140] For example, see Figure 3 Product 300 includes a body having a receiving slot 304 with an opening 305 at one end. An extension plate 307 is provided on the body, extending from the inner wall toward the center of the receiving slot 304. A through hole 301 is provided in the extension plate 307. A first surface 302 is the side of the extension plate 307 facing away from the bottom of the receiving slot 304, and a second surface 303 is the side of the extension plate 307 closer to the bottom. The first moving assembly 11 is capable of driving the first carrier 12 from the opening 305 into the receiving slot 304 and positioning the target component 200 between the second surface 303 and the bottom. Multiple through holes 301 may be provided on the extension plate 307, and the multiple through holes 301 are spaced apart around the receiving slot 304.

[0141] For the product 300 with the above structure, in the prior art, the extension plate 307 is placed on the riveting plane, and then the target part 200 is riveted by the riveting structure extending into the receiving groove 304. The first surface 302 of some extension plates 307 is not flat, which can easily damage the extension plate 307. If a riveting platform with a riveting plane that matches the first surface 302 is manufactured, the mold production cost will be too high, making it difficult to achieve efficient batch processing. The riveting device 100 of the present application can overcome the above problems. The first transfer mechanism 10 drives the target part 200 to move, and the second moving mechanism drives the product 300 to move, thereby realizing automated riveting processing and improving the riveting efficiency of the target part 200 on the above-mentioned complex-shaped product 300.

[0142] Continue to see Figure 3 For example, the target part 200 is a nut having a riveted portion and a pressed portion. The cross-section of the pressed portion is larger than that of the riveted portion. After the nut is riveted into the through hole 301 of the product 300, the pressed portion abuts against the second surface 303.

[0143] The aforementioned shape and type of target part 200, the number and location of through-holes 301, and the shape and type of target part 200 are exemplary. In other embodiments, product 300 may simply be a plate-like structure with a complex surface on first surface 302, or product 300 may not require the additional extension plate 307, with through-holes 301 formed in the sidewalls of the body. Similarly, target part 200 may also have other shapes, such as a single column or cone.

[0144] See also Figure 1 and Figure 2The riveting device 100 in this embodiment includes a machine platform 80, a first transfer mechanism 10, a second transfer mechanism 20, a riveting mechanism 30, a loading mechanism 40, a discharging mechanism 50, an image acquisition component 60, and a discharging mechanism 70. The first transfer mechanism 10, the second transfer mechanism 20, the loading mechanism 40, the discharging mechanism 50, and the discharging mechanism 70 are all disposed on the machine platform 80. In this embodiment, multiple first transfer mechanisms 10, the second transfer mechanism 20, the loading mechanism 40, and the discharging mechanism 50 can be provided to simultaneously rivet target parts 200 onto multiple products 300.

[0145] In other embodiments, the loading mechanism 40 and the discharging mechanism 50 may be omitted, and the target parts 200 may be placed manually on the first carrier 12 of the first transfer mechanism 10. Furthermore, the discharging mechanism 50 is not limited to the vibration plate 51 and may be, for example, a tray pre-loaded with a plurality of target parts 200.

[0146] See also Figure 3 The first carrier 12 is rotatably provided on the first movable component 11 around a rotation axis, and the rotation axis is parallel to the first direction L. The riveting mechanism 30 is provided on the first movable component 11, and the riveting mechanism 30 includes a riveting head 36. The first carrier 12 can drive the target part 200 to rotate to the corresponding riveting head 36 along the first direction L.

[0147] After the first moving component 11 drives the first carrier 12 to move to the side of the second surface 303 of the product 300 away from the first surface 302, the loading mechanism 40 can place the target part 200 on the first carrier 12. Thereafter, the first carrier 12 drives the target part 200 to rotate to the corresponding riveting head 36 along the first direction L. In the subsequent actions of the riveting device 100, the first moving component 11 no longer needs to drive the first carrier 12 to move along the first direction L to avoid shaking and deviation of the target part 200. Moreover, after the target part 200 on the first carrier 12 rotates to the corresponding riveting head 36 along the first direction L, the loading mechanism 40 can place the target part 200 at other positions of the first carrier 12. In this way, after the riveting head 36 drives the product 300 to move and rivets the previous target part 200 into the through hole 301, the first carrier 12 can then drive the next target part 200 to move and make it correspond to the riveting head 36 along the first direction L, thereby reducing the placement waiting time of the target part 200 and reducing the riveting working hours of a single target part 200, so as to improve the riveting efficiency of the target part 200 on the product 300.

[0148] The specific structure of the first carrier 12 can be set as needed. Figure 3As shown, the first carrier 12 includes a plurality of carrying arms 121, each of which has a carrying position 122, the carrying position 122 being used to carry the target part 200, and the distances between the plurality of carrying positions 122 and the rotation axis of the first carrier 12 are equal. Since the distances between the plurality of carrying positions 122 and the rotation axis of the first carrier 12 are equal, after the first carrier 12 moves to the inside of the receiving groove 304, the first carrier 12 can rotate and drive the target part 200 on each carrying position 122 to move to a fixed spatial position relative to the machine 80, thereby reducing the cumbersomeness of the second transfer mechanism 20 when moving according to the spatial position of the target part 200, so that the second transfer mechanism 20 can drive the product 300 to move slightly to achieve the through hole 301 corresponding to the target part 200 in the first direction L, thereby further improving the riveting efficiency. In addition, the plurality of carrying arms 121 can also save the overall processing material requirements of the first carrier 12, thereby reducing the production cost of the riveting device 100. In this embodiment, the number of the carrying arms 121 is exemplarily set to four, and the angle between two adjacent carrying arms 121 is 90°, so as to achieve the purpose of simplifying control.

[0149] Of course, in other embodiments of the present application, the first carrier 12 can also be directly formed as a disc structure, and the center of the disc structure is rotatably connected to the first movable component 11, and multiple carrier positions 122 are spaced apart on a circle with the center of the disc structure as the center. It can also achieve the above-mentioned effect, and can also improve the overall strength of the first carrier 12, making the first carrier 12 more stable and reliable as a riveted base.

[0150] In some embodiments, optionally, see Figure 5 and Figure 6 The first carrier 12 also includes a positioning portion 123, which is arranged at the carrier position 122. The positioning portion 123 is conical to guide the target part 200 to be mounted on the positioning portion 123, thereby positioning the target part 200 in the carrier position 122. Since the positioning portion 123 passes through the target part 200, the positioning portion 123 will not interfere with the riveting of the target part 200 into the through hole 301.

[0151] Optionally, a riveting hole (not shown) is provided at the end of the riveting head 36 facing the first carrier 12, and the cross-sectional size of the riveting hole is larger than the cross-sectional size of the through hole 301 on the product 300. Therefore, when the riveting head 36 drives the product 300 to move along the first direction L, the riveting head 36 will not interfere with the target part 200 and cause the problem of failure to rivet smoothly, thereby ensuring that the riveting mechanism 30 can complete the riveting action smoothly.

[0152] In this embodiment, see Figures 4 to 6The first moving assembly 11 includes a first linear drive member 111, an adapter member 112, and a first rotary drive member 113. The adapter member 112 is transmission-connected to the first linear drive member 111 and can move along the first direction L driven by the first linear drive member 111. The first rotary drive member 113 is disposed on the adapter member 112. The first carrier 12 is transmission-connected to the first rotary drive member 113 and can rotate about the rotation axis driven by the first rotary drive member 113.

[0153] In this embodiment, see Figure 2 and Figure 5 The machine 80 includes a mounting platform 81 and a gantry 82 . The gantry 82 is disposed on the mounting platform 81 , and the first linear drive member 111 is disposed on the gantry 82 through a mounting member 88 .

[0154] Optionally, the first linear drive member 111 can be a linear module, electric push rod, cylinder or screw module, etc. The first rotary drive member 113 can be a motor, etc., and can be a servo motor with high precision.

[0155] Alternatively, see Figure 5 The adapter 112 includes a first plate 1121 and a second plate 1122. The first plate 1121 is connected to the mounting member 88 along the first direction L through the second guide assembly 13. The second plate 1122 is located at the end of the first plate 1121 away from the machine 80 and is in transmission connection with the first linear drive member 111. The first rotary drive is fixed to the second plate 1122. In this embodiment, see Figure 6 The second guide assembly 13 includes a guide rail 131 and a sliding block 132. The guide rail 131 extends along the first direction L and is disposed on the mounting member 88. The sliding block 132 slides along the first direction L on the guide rail 131. The sliding block 132 is connected to the first plate 1121 of the adapter 112.

[0156] Alternatively, see Figure 6 The first moving component 11 also includes a buffer protrusion 14, which is provided on the first linear driving member 111 and located between the second plate 1122 and the mounting platform 81. The buffer protrusion 14 is used to limit the movement of the adapter 112 driven by the first linear driving member 111 along the first direction L, thereby preventing the first rotary driving member 113 from driving the first carrier 12 to move along the first direction L into the product 300 and damaging the inner surface of the product 300, thereby ensuring the safety of riveting the target part 200 on the product 300.

[0157] Continue to see Figure 4In this embodiment, the riveting mechanism 30 is fixed to the adapter 112, so that the rotation of the first carrier 12 and the riveting mechanism 30 will not interfere with each other, and the first moving component 11 can also drive the riveting mechanism 30 to move at the same time, so that the positional relationship between the riveting head 36 of the riveting mechanism 30 and the first carrier 12 remains relatively fixed, so that the first moving component 11 only needs to drive the first carrier 12 to enter one side of the second surface 303 of the product 300, without additionally adjusting the relative positional relationship between the first carrier 12 and the riveting mechanism 30, thereby simplifying the motion control of the riveting device 100 and ensuring the riveting quality.

[0158] In this embodiment, see Figures 7 to 9 The riveting mechanism 30 further includes a fixing plate 31, a riveting driver 32, and a riveting connecting rod 33. The fixing plate 31 is fixed to the first plate 1121 of the adapter 112 and is spaced apart from the first rotating driver 113 in the second direction M. The second direction M is obliquely or perpendicular to the first direction L to prevent the movement of the riveting mechanism 30 from interfering with the rotation of the first carrier 12.

[0159] Optionally, the fixing plate 31 is provided with two side plates 34 spaced apart along the third direction N, and the two side plates 34 are connected to the first plate body 1121 via a top plate 38. The riveting head 36 is provided with a connecting shaft 35, and the third direction N, the second direction M and the first direction L are obliquely intersected or perpendicular to each other.

[0160] The riveting connecting rod 33 has a first end 332, an intermediate portion 333, and a second end 334, which are arranged in sequence along the third direction N. The first end 332 is rotatably connected between the two side plates 34. The intermediate portion 333 defines a sliding groove 331, and the connecting shaft 35 on the riveting head 36 is slidably engaged in the sliding groove 331. The second end 334 is transmission-connected to the riveting driving member 32. The riveting driving member 32 can drive the second end 334 to move along the first direction L, and drive the riveting connecting rod 33 to rotate about the connection between the first end 332 and the two side plates 34, thereby driving the sliding groove 331 to move relative to the connecting shaft 35. Under the action of the sliding groove 331, the connecting shaft 35 drives the riveting head 36 to move along the first direction L, so that the riveting head 36 drives the product 300 to move along the first direction L, or releases the product 300. Optionally, the first end 332 is rotatably connected between the two side plates 34 via a pin 39.

[0161] The above-mentioned structural arrangement eliminates the need for the riveting drive member 32 to be positioned above the riveting head 36 along the first direction L, thereby enabling a larger riveting drive member 32 with greater pressure to pass through, thereby avoiding interference between the larger riveting drive member 32 and other structures, thereby increasing the integration of the riveting device 100.

[0162] Optionally, in this embodiment, a pressure sensor 37 is further provided between the riveting head 36 and the connecting shaft 35. The pressure sensor 37 can obtain the numerical value of the force applied by the riveting head 36 on the product 300, thereby facilitating the operator to adjust the driving force of the riveting driver 32 according to the actual riveting pressure, so as to avoid insufficient riveting pressure or excessive riveting pressure, thereby improving the riveting quality of the target part 200 on the product 300.

[0163] Specifically, the riveting driving member 32 of this embodiment can be selected as a cylinder.

[0164] See also Figure 9 The distance between the first end 332 and the middle part 333 in the third direction N is L1 (46.5mm), the distance between the second end 334 and the middle part 333 in the third direction N is L2 (166mm), the force output by the cylinder is F1, and the force output by the riveting head 36 is F2. Since the above-mentioned riveting mechanism 30 is formed as a lever structure, F1*L2=F2*L1.

[0165] In one implementation of this embodiment, the shaft diameter of the cylinder is 20 mm, and the air pressure range that can be provided is 0.4 MPa to 0.6 MPa, and is calculated as 0.5 MPa. L1 is set to 46.5 mm, L2 is set to 166 mm, and the action efficiency of the riveting mechanism 30 is set to 80%. Then F1 = 0.5*10.2*3.14*(3.15*3.15-1*1)*9.8*80% N = 1220 N, F2 = 3999 N. In this implementation, the force F3 acting on the riveting target part 200 is 1764 N. Therefore, in this implementation, the riveting pressure output by the riveting mechanism 30 can meet the demand, and the power of the cylinder can also be adjusted according to the actual pressure to avoid excessive pressure damaging the product 300.

[0166] Continue to see Figure 4 and Figure 10 The riveting device 100 of this embodiment further includes an image acquisition assembly 60, which is mounted on the mounting member 88. In the second direction M, the riveting mechanism 30 is located between the image acquisition assembly 60 and the mounting member 88. With the aforementioned structure of the riveting mechanism 30, the installation of the image acquisition assembly 60 does not interfere with the riveting mechanism 30, thereby improving the integration of the riveting device 100. Furthermore, the image acquisition assembly 60 is secured to the mounting platform 81 via the mounting member 88, thereby maintaining a constant relative position between the image acquisition assembly 60 and the mounting platform 81. This prevents problems such as changes in object distance or light caused by the image acquisition assembly 60 moving with the first movable assembly 11, thereby ensuring image acquisition quality.

[0167] Since the image acquisition component 60 is arranged on the side of the riveting mechanism 30 away from the mounting member 88, the image acquisition component 60 can collect the position information of the through hole 301 on the product 300, so that the second transfer mechanism 20 can drive the product 300 to move according to the position information until the through hole 301 corresponds to the target part 200 on the first carrier 12 in the first direction L, thereby realizing an automated riveting action.

[0168] In this embodiment, see Figure 10 The image acquisition assembly 60 includes two connecting rods 61, an industrial camera 62, a light source 63, and a protective cover 64. The connecting rods 61 are spaced apart on the mounting member 88 along the third direction N. The industrial camera 62 and the light source 63 are both connected to the two connecting rods 61, and the industrial cameras 62 and the light source 63 are spaced apart in the first direction L, with the industrial camera 62 being located on the side of the light source 63 that faces away from the first transfer mechanism 10. The protective cover 64 is provided on the two connecting rods 61 and is located on the side of the industrial camera 62 and the light source 63 that faces away from the mounting member 88 along the second direction M, so as to provide better protection for the industrial camera 62 and the light source 63.

[0169] Optionally, the light source 63 in this embodiment is an annular light source 63 having an annular hole, and the industrial camera 62 is arranged corresponding to the annular hole so that the light source 63 does not interfere with the industrial camera 62 in obtaining image information.

[0170] Figure 2 、 Figure 11 and Figure 12 The second transfer mechanism 20 provided in this embodiment is shown. The second transfer mechanism 20 includes a second moving assembly 21, a mounting plate 213, and a second carrier 22. The mounting plate 213 is transmission-connected to the second moving assembly 21. The second carrier 22 is movably connected to the mounting plate 213 along a first direction L. The second carrier 22 is used to carry the product 300. When the riveting mechanism 300 drives the product 300 to move along the first direction L, the second carrier 22 moves relative to the mounting plate 213 along the first direction L. Since the second carrier 22 can move with the mounting plate 213 in the first direction L, the problem of the second carrier 22 being fixedly connected to the second moving assembly 21 and causing the riveting mechanism 300 to be unable to smoothly drive the product 300 to move along the first direction L is avoided.

[0171] When the riveting mechanism 30 of this embodiment moves the product 300, it uses the riveting head 36 to move the area near the through-hole 301 of the product 300 in the first direction L. This causes uneven force to be applied to various parts of the product 300, which can easily cause the product 300 to tilt and cause the target part 200 to shift relative to the through-hole 301. Referring to the figure, the second transfer mechanism 20 of this embodiment also includes a plurality of first guide assemblies 23. These first guide assemblies 23 are evenly spaced along the sides of the second carrier 22 and connected to the mounting plate 213. The plurality of first guide assemblies 23 are used to guide the movement of various parts of the second carrier 22 relative to the mounting plate 213 in the first direction L. When one part of the product 300 is forced to move in the first direction L, other parts will also move in the first direction L under the constraints of the first guide assemblies 23. This prevents tilting of the product 300 during the riveting process, ensures that the target part 200 can be accurately riveted into the through-hole 301 in the first direction L, and improves the riveting quality of the target part 200 on the product 300.

[0172] Alternatively, see Figure 12 The first guide assembly 23 includes a guide rail 231 and a guide slider 232. The guide rail 231 extends along the first direction L and is disposed on the outer circumference of the mounting plate 213. The guide slider 232 slides along the first direction L on the guide rail 231. The guide rail 231 is connected to the second bearing member 22. In other embodiments of the present application, the first guide assembly 23 can also be configured as a guide post (not shown). The guide post is disposed on the second bearing member 22 and penetrates the mounting plate 213, which can also achieve a guiding effect.

[0173] Alternatively, see Figure 12 The second carrier 22 includes a carrier plate 221, a positioning protrusion 222, and a plurality of limiting platforms 223. The carrier plate 221 is movably mounted on the mounting plate 213 along the first direction L. The positioning protrusion 222 is disposed on the carrier plate 221 and is capable of engaging with the positioning opening 306 on the product 300 to position the product 300 on the carrier plate 221. The plurality of limiting platforms 223 are disposed around the positioning protrusion 222. The limiting platforms 223 are provided with guide slopes 2231 on the sides facing the positioning protrusion 222. The guide slopes 2231 are used to guide the placement of the product 300 on the carrier plate 221, thereby facilitating the automated placement of the product 300.

[0174] Alternatively, see Figure 11 The second carrier 22 further includes a stopper 224 , which is disposed on one side of a limiting platform 223 and is capable of limiting the product 300 .

[0175] Alternatively, see Figure 12The second transfer mechanism 20 also includes a first elastic member 24, and both ends of the first elastic member 24 are connected to the second carrier 22 and the mounting plate 213. When the second carrier 22 is in the initial position, when the riveting mechanism 30 drives the product 300 and the second carrier 22 to move along the first direction L, the first elastic member 24 also enters the elastic state at the same time. After the riveting mechanism 30 completes the riveting action and leaves the second transfer mechanism 20, the second carrier 22 is driven by the first elastic member 24 and moves to its initial position along the first direction L, thereby realizing the automatic reset of the second carrier 22 on the mounting plate 213, and there is no need to control the initial position of the second carrier 22 on the mounting plate 213 through a drive structure such as a motor, thereby reducing the control cost. Of course, in other embodiments of the present application, in order to accurately control the riveting stroke, the initial position of the second carrier 22 on the mounting plate 213 can also be controlled by a drive structure such as a motor. In this embodiment, the mounting plate 213 is provided with a guide column 26 extending along the first direction L and passing through the second supporting member 22. The first elastic member 24 is sleeved on the guide column 26 so that the first elastic member 24 can accurately drive the second supporting member 22 to move along the first direction L toward the initial position.

[0176] In some embodiments, optionally, see Figure 11 and Figure 12 The second transfer mechanism 20 also includes a position sensor 25, which is used to obtain an angle signal of the rotation of the second carrier 22 relative to the mounting plate 213. The angle signal can be transmitted to a host computer (such as an industrial control system, a control center, a control computer, a PLC system, etc.), which is used by the host computer to implement control as needed, and can be used to realize automatic control of the second transfer mechanism 20. The position sensor 25 can be a photoelectric sensor, a magnetic sensor or other form of sensor, as long as it can obtain position information, and is not limited here. In this embodiment, two position sensors 25 are provided, which are spaced apart along the second direction M; the position sensor exemplarily adopts a metal sensor.

[0177] In some embodiments, optionally, see Figure 2 The second moving assembly 21 includes a second linear drive member 211 and a second rotary drive member 212. The second rotary drive member 212 is transmission-connected to the second linear drive member 211 and is capable of moving in the second direction M driven by the second linear drive member 211. The mounting plate 213 is transmission-connected to the second rotary drive member 212 and is capable of rotating under the drive of the second rotary drive member 212. The rotation of the second rotary drive member 212 and the driving of the second linear drive member 211 enable the product 300 to move with four degrees of freedom in the second direction M and the third direction N, thereby enabling the through hole 301 of the product 300 to correspond to the target part 200 in the first direction L.

[0178] In addition, in this embodiment, when the second rotary driving member 212 drives the product 300 to rotate, the rotation axis of the product 300 and the rotation axis of the target member 200 driven by the first rotary driving member 113 are staggered on a plane perpendicular to the first direction L, so that when a target member 200 is located between the second surface 303 and the bottom surface of the receiving groove 304 under the drive of the first carrier 12, the other carrier position 122 on the first carrier 12 is located at the opening 305 of the product 300. At this time, the loading mechanism 40 can place another target member 200 on the other carrier position 122 to achieve the purpose of improving the overall riveting efficiency.

[0179] Optionally, the second linear drive member 211 can be configured as a linear module, an electric push rod, a cylinder, a screw module, etc. The second rotary drive member 212 can be configured as a motor, etc., and can be configured as a servo motor with high precision.

[0180] Continue to see Figures 13 to 15 In this embodiment, the loading mechanism 40 includes an operating part 43, which is used to grab and place the target part 200. The loading mechanism 40 can drive the target part 200 to move after the first moving component 11 drives the first carrier 12 to move to one side of the second surface 303, and place the target part 200 on the first transfer mechanism 10.

[0181] There are two common ways to grasp nuts. First, the grasping mechanism extends into the nut and magnetically absorbs the nut. Second, the grasping mechanism absorbs the end of the nut by negative pressure. However, after the grasping mechanism extends into the nut, the nut cannot be fitted onto the positioning portion 123 of the first carrier 12. If negative pressure absorption is used, the absorption area of the end of the nut is too small, making the absorption of the nut unstable. Alternatively, see Figure 15 The operating portion 43 includes an adsorption portion 432, an air hole 433 is provided at the end of the adsorption portion 432, and a step 434 is provided on the inner wall of the air hole 433, so that when the adsorption portion 432 adsorbs the target part 200, the target part 200 can extend into the air hole 433 and abut against the step 434, thereby increasing the surface area of the nut adsorbed, so that the adsorption portion 432 can adsorb the nut more stably, and improve the reliability of the automatic grasping and placing of the nut; at the same time, since the adsorption portion 432 does not extend into the threaded hole in the nut, the nut can also be directly put on the positioning portion 123 to complete the positioning of the nut in the bearing position 122, so as to avoid deviation in the relative position of the through hole 301 and the nut in the first direction L, and further ensure the riveting quality of the target part 200 on the product 300.

[0182] In some embodiments, optionally, see Figure 14The loading mechanism 40 also includes a loading drive 41, an adapter plate 42 and a second elastic member 45. The adapter plate 42 is transmission-connected to the loading drive 41 and can move under the drive of the loading drive 41. The second elastic member 45 is connected to the adapter plate 42 and the operating part 43. When the loading drive 41 drives the operating part 43 to grab the target part 200 and places the target part 200 on the carrier position 122, the loading drive 41 drives the operating part 43 to move along the first direction L close to the first carrier 12, and makes the target part 200 abut against the first carrier 12. After that, the loading drive 41 continues to drive the operating part 43 to move, and the second elastic member 45 is compressed, so that the second elastic member 45 provides a margin for the stroke of the operating part 43 along the first direction L during the loading process, so as to prevent the loading drive 41 from damaging the first carrier 12 when placing the target part 200, thereby improving the placement reliability of the target part 200.

[0183] When the operating portion 43 and the adapter plate 42 are connected only by the second elastic member 45, after the target part 200 abuts the first carrier 12, the loading drive member 41 must still drive the operating portion 43 to continue moving a certain distance in the first direction L before the second elastic member 45 enters a compressed state and acts as a buffer. Optionally, the operating portion 43 also includes a connecting plate 431, the suction portion 432 is disposed on the connecting plate 431, and the adapter plate 42 is provided with a limiter 46. The limiter 46 is used to limit the connecting plate 431 to keep the operating portion 43 and the adapter plate 42 relatively stationary, thereby preventing the second elastic member 45 from remaining in a stretched state due to the weight of the operating portion 43, ensuring that the second elastic member 45 can provide displacement margin and a buffering effect.

[0184] Exemplarily, the limiting portion 46 extends along the second direction M and can support the connecting plate 431 to achieve a limiting effect. In other embodiments, the limiting portion 46 can also pass through the connecting plate 431 along the first direction L to limit the connecting plate 431.

[0185] In this embodiment, see Figure 13 The loading drive 41 includes a first linear module 411 and a second linear module 412. The first linear module 411 is mounted on the gantry 82, the second linear module 412 is connected to the first linear module 411, and the adapter plate 42 is connected to the second linear module 412. The first linear module 411 can drive the second linear module 412 to move along the third direction N, and the second linear module 412 can drive the adapter plate 42 to move along the first direction L. In this embodiment, the first linear module 411 and the second linear module 412 can each be configured as a synchronous belt structure or a lead screw structure.

[0186] Alternatively, see Figure 14The loading mechanism 40 further includes a guide assembly 44. The guide assembly 44 is connected to the adapter plate 42 and the operating portion 43 to guide the operating portion 43 to move relative to the adapter plate 42 along the first direction L, thereby preventing the operating portion 43 from shifting and moving, and improving the positioning accuracy of the target part 200 on the first carrier 12. Optionally, the guide assembly 44 includes a guide rail 441 and a guide slider 442. The guide rail 441 extends along the first direction L and is provided on the adapter plate 42. The guide slider 442 is slidably provided on the guide rail 441 along the first direction L. The guide slider 442 is connected to the operating portion 43. Exemplarily, the guide slider 442 is provided on the connecting plate 431 of the operating portion 43.

[0187] Continue to see Figure 2 and Figure 16 In this embodiment, the unloading mechanism 70 includes a displacement drive member 71, a clamping drive member 72 and a clamping arm 73. The displacement drive member 71 is arranged on the gantry 82. The clamping drive member 72 is connected to the displacement drive member 71 and can move under the drive of the displacement drive member 71. The clamping arm 73 is arranged on the clamping drive member 72 and can move under the drive of the clamping drive member 72. Optionally, in this embodiment, the displacement drive member 71 includes a horizontal drive module 711 and a vertical drive module 712. The horizontal drive module 711 is arranged on the machine 80 and connected to the vertical drive module 712, and can drive the vertical drive module 712 to move along the third direction N. The vertical drive module 712 is connected to the clamping drive member 72 and can drive the clamping drive member 72 to move along the first direction L, so as to drive the clamping arm 73 to extend into the receiving groove 304 of the product 300, thereby facilitating the clamping arm 73 to clamp the product 300.

[0188] In this embodiment, the end of the clamping arm 73 is provided with a clamping opening 731. The clamping driver 72 is capable of driving the clamping arm 73 to move along a plane perpendicular to the first direction L, and causing the extension plate 307 of the product 300 to enter the clamping opening 731, thereby enabling the clamping arm 73 to clamp the product 300. Optionally, multiple clamping arms 73 are provided, and the multiple clamping arms 73 are radially distributed. The clamping driver 72 is capable of driving the multiple clamping arms 73 to extend or retract along their respective extension directions, thereby achieving reliable clamping of the product 300. In this embodiment, the clamping driver 72 can be configured as a cylinder, or alternatively, as a motor. A gear is provided at the output end of the motor. The gear mates with multiple racks extending in different directions, each rack being connected to a clamping arm 73.

[0189] In this embodiment, the unloading mechanism 70 also includes an assembly line 74, which is arranged on one side of the machine 80. The displacement drive 71 can drive the clamping arm 73 to move to place the product 300 on the assembly line 74, thereby transporting the riveted product 300 to the next workstation.

[0190] Continue to see Figure 1 In this embodiment, the machine 80 includes a mounting platform 81, a gantry 82, and a cover 83. The gantry 82 is mounted on the mounting platform 81 along the third direction N. The first transfer mechanism 10 and the unloading mechanism 70 are respectively arranged on both sides of the gantry 82 in the second direction M to avoid interference between the two. The riveting mechanism 30 and the loading mechanism 40 are arranged on the gantry 82 and are located on the same side of the gantry 82 as the first transfer mechanism 10 to facilitate the loading and riveting actions. The second transfer mechanism 20 and the unloading mechanism 50 are arranged on the mounting platform 81. The cover 83 is arranged on the mounting platform 81 and covers the mechanism cover other than the unloading mechanism 70 to achieve a better protection effect.

[0191] In this embodiment, the cover body 83 is provided with a first display screen 84 and a second display screen 85. The first display screen 84 is used to display the parameters of the riveting nut of the riveting mechanism 30, such as riveting pressure and other parameters, and the second display screen 85 is used to display the image captured by the image acquisition component, so that the operator can observe the image of the target part 200 and the through hole 301 of the product 300 in real time, thereby judging the riveting quality and quickly adjusting the operating procedures of the first transfer mechanism 10 and the second transfer mechanism 20 according to actual conditions.

[0192] In this embodiment, the mounting platform 81 is further provided with a human-machine interface 86 to facilitate the operator to debug the riveting device 100. Optionally, the human-machine interface 86 is a keyboard and a mouse. In other embodiments, the human-machine interface 86 can also be a touch screen. Optionally, the mounting platform 81 is further provided with a safety grating 87 to protect the operator.

[0193] An embodiment of the present application also provides a riveting method, based on the aforementioned riveting device 100, including: causing the first moving component 11 to drive the first carrier 12 to move, so that the target part 200 on the first carrier 12 moves from the side close to the first surface 302 to the side close to the second surface 303; causing the second transfer mechanism 20 to drive the product 300 to move, so that the through hole 301 moves to a second riveting position, and the central axis of the through hole 301 at the second riveting position coincides with the central axis of the target part 200 at the first riveting position; causing the riveting mechanism 30 to drive the product 300 to move along the first direction L, so that the target part 200 abutting against the first carrier 12 is riveted into the through hole 301.

[0194] The embodiment of the present application also provides another riveting method, based on the aforementioned riveting device 100, the riveting method includes: causing the second transfer mechanism 20 to drive the product 300 to move until the product 300 corresponds to the first carrier 12 in the first direction L; causing the first moving component 11 to drive the first carrier 12 to move into the receiving groove 304 of the product 300, causing the loading mechanism 40 to grab the target part 200 and place it on the first carrier 12, causing the first carrier 12 to drive the target part 200 to rotate a preset angle and then stop rotating; causing the second transfer mechanism 20 to drive the product 300 to move until the through hole 301, the target part 200 and the riveting mechanism 30 correspond to each other in the first direction L; the riveting mechanism 30 drives the product 300 to move along the first direction L, so that the target part 200 abutting against the first carrier 12 is riveted into the through hole 301.

[0195] According to the riveting method of the embodiment of the present application, compared with the known technology, in which the product 300 is kept fixed and the target part 200 is driven to move relative to the product 300 to achieve the goal of riveting the target part 200 into the product 300, by keeping the target part 200 relatively still and driving the product 300 to move relative to the target part 200, the target part 200 is then riveted into the through hole 301 of the product 300, so that the target part 200 can be maintained in an accurate position, solving the problem of position deviation during the movement and motion of the target part 200 and resulting in poor riveting quality, and eliminating the need to adjust the position of the target part 200 through other structures, thereby improving the riveting efficiency.

[0196] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present application should not depart from the spirit and scope of the technical solutions of the present application.

Claims

1. A riveting device for riveting a target part to a product, characterized in that: The product has a first surface and a second surface arranged opposite to each other along a first direction, and a through hole is provided from the first surface to the second surface. The riveting device includes: a first transfer mechanism, comprising a first moving assembly and a first bearing member, wherein the first bearing member is used to carry the target member, and the first moving assembly is connected to the first bearing member and can drive the target member to move from a side close to the first surface to a side close to the second surface; a second transfer mechanism, the second transfer mechanism being configured to drive the product to move so that the through hole moves to correspond to the target part along the first direction, and the second surface of the product remains between the first surface and the target part; a riveting mechanism, the riveting mechanism and the first transfer mechanism being spaced apart in a first direction, the riveting mechanism being capable of driving the product to move along the first direction so that the target component abutting against the first carrier is riveted into the through hole; The product includes a body having a receiving groove with an opening at one end, an extension plate extending from an inner wall toward the center of the receiving groove, the through hole being formed in the extension plate, the first surface being a surface of the extension plate facing away from the bottom surface of the receiving groove, the second surface being a surface of the extension plate close to the bottom surface of the groove, the first moving assembly being capable of driving the first bearing member to move from the opening into the receiving groove and allowing the target member to enter and be located between the second surface and the bottom surface of the groove; The first carrier is rotatably provided on the first movable component around a rotation axis, and the rotation axis is parallel to the first direction. The riveting mechanism is provided on the first movable component, and the riveting mechanism includes a riveting head. The first carrier can drive the target component to rotate to correspond to the riveting head along the first direction.

2. The riveting device according to claim 1, characterized in that: The riveting device also includes an image acquisition component, which is spaced apart from the riveting mechanism in the second direction, and spaced apart from the second transfer mechanism in the first direction. The image acquisition component can obtain image information of the through hole of the product along the first direction, and the second transfer mechanism can drive the product to move according to the image information until the through hole, the riveting head and the target part are located in the same straight line in the first direction.

3. The riveting device according to claim 1, characterized in that: The first bearing member comprises: A plurality of carrying arms are provided, each of the plurality of carrying arms has a carrying position, the carrying position is used to carry the target component, and the distances between the plurality of carrying positions and the rotation axis of the first carrying component are equal.

4. The riveting device according to claim 1, characterized in that: The second transfer mechanism includes: a second mobile component; a mounting plate, the mounting plate being drivingly connected to the second moving assembly; The second supporting member is movably connected to the mounting plate along a first direction, and the second supporting member is used to support the product. When the riveting mechanism drives the product to move along the first direction, the second supporting member moves relative to the mounting plate along the first direction.

5. The riveting device according to claim 4, characterized in that: The second transfer mechanism also includes multiple first guide components, which are evenly spaced on the side of the second carrier. The multiple first guide components are also connected to the mounting plate. The multiple first guide components are used to guide the second carrier to move relative to the mounting plate along the first direction.

6. The riveting device according to claim 1, characterized in that: The riveting device also includes a loading mechanism, which includes an operating part. The operating part is used to grab and place the target part. The loading mechanism can drive the target part to move after the first moving component drives the first carrier to move to one side of the second surface, and place the target part on the first transfer mechanism.

7. A riveting method, characterized in that: Based on the riveting device according to claim 1, the riveting method includes: The first moving component drives the first supporting member to move, so that the target member on the first supporting member moves from a side close to the first surface to a side close to the second surface; The second transfer mechanism drives the product to move until the through hole moves to a second riveting position, and the central axis of the through hole at the second riveting position coincides with the central axis of the target part at the first riveting position; The riveting mechanism drives the product to move along a first direction, so that the target component abutting against the first supporting component is riveted into the through hole.

8. A riveting method, characterized in that: Based on the riveting device according to claim 1, the riveting device further includes a loading mechanism, the loading mechanism is used to grasp and place the target part, and the riveting method includes: The second transfer mechanism drives the product to move until the product corresponds to the first carrier in the first direction; The first moving assembly drives the first carrier to move into the receiving groove of the product, the loading mechanism grabs the target part and places it on the first carrier, and the first carrier drives the target part to rotate by a preset angle and then stops rotating; The second transfer mechanism drives the product to move until the through hole, the target part, and the riveting mechanism correspond to each other in the first direction; The riveting mechanism drives the product to move along a first direction, so that the target component abutting against the first supporting component is riveted into the through hole.

Images