A high-precision riveting equipment based on visual compensation

Abstract

The present invention relates to a high-precision riveting equipment based on visual compensation applied in the field of riveting technology. During processing, the cumulative tolerance between the workpiece to be riveted and the target position can be obtained by visual recognition, and position compensation can be performed on the X-axis, Y-axis and angle. Compared with the prior art, the influence of the cumulative tolerance on the riveting accuracy can be effectively eliminated, and the riveting accuracy and the qualified rate of the workpiece can be effectively guaranteed; at the same time, with the setting of a unidirectional offset detection unit, the position detection of each moving axis can be performed in real time, so as to facilitate timely detection of tolerances and achieve the effect of stopping the machine for compensation only when tolerances occur, effectively avoiding the situation that the offset tolerance does not appear during regular detection and compensation, or the offset tolerance has already appeared but the corresponding compensation is not performed in time, so that the position compensation effect and accuracy can be improved, and the number of invalid stop compensation times can be reduced, and the influence of stop compensation on the riveting efficiency can be reduced.

Description

Technical Field

[0001] The present invention relates to a high-precision riveting device, and in particular to a high-precision riveting device based on visual compensation and applied in the field of riveting technology. Background Art

[0002] The riveting equipment uses a stamping machine and a special connecting die through an instantaneous high-pressure processing process. According to the cold extrusion deformation of the plate material itself, a stress-free internal inlaid dot with a certain tensile and shear strength is formed, which can connect two or more layers of plates of different materials and thicknesses.

[0003] When riveting, the riveting equipment generally requires multi-axis cooperation to complete the riveting process. However, after working for a long time, the moving components of the multi-axis are prone to cumulative tolerances, resulting in a decrease in the accuracy of riveting as the working time increases, leading to a decrease in the qualified rate of workpieces. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that when riveting is completed by multi-axis cooperation, cumulative tolerance is likely to occur, which affects the processing progress and the qualified rate of the workpiece after riveting.

[0005] In order to solve the above problems, the present invention provides a high-precision riveting and pressing equipment based on visual compensation, including an equipment body, a gantry is fixedly connected to the upper end of the equipment body, an X-axis transfer unit is installed at the front end of the gantry, a suction riveting and pressing unit is connected to the X-axis transfer unit, a Y-axis transfer unit is also installed at the upper end of the equipment body, a hollow table is fixedly connected to the upper end of the Y-axis transfer unit, the hollow table is located in front of the gantry, the upper end of the equipment body is also fixedly connected to a material rack, the material rack includes a material discharge platform, the end of the material discharge platform away from the hollow table is fixedly connected to a storage box, a waste collection box is placed on the storage box, a rotating platform group is installed at the upper end of the hollow table through an electric turntable, and a visual The sensor detection unit comprises a rotating platform group including a rotating disk, a shading unit, a Y-axis side thrust unit and an X-axis side thrust unit respectively fixedly connected to the upper end of the rotating disk, a camera hole is bored in the middle of the rotating disk, the shading unit, the Y-axis side thrust unit and the X-axis side thrust unit are respectively located on the left side, the rear side and the left side of the camera hole, the shading unit comprises a cylinder for driving and a shading plate fixedly connected to the extended end of the cylinder, a fixture is fixedly connected to the upper mouth of the camera hole, a side groove is bored at the upper end of the fixture near the X-axis side thrust unit, an L-shaped strip is placed in the middle of the upper end of the fixture, and the vertical end of the L-shaped strip extends into the side groove, and two limit grooves are bored at one end of the fixture near the Y-axis side thrust unit;

[0006] The Y-axis transplanting unit includes a bottom plate fixedly connected to the upper end of the equipment body, a top plate slidably connected to the upper end of the bottom plate, and a Y-axis cylinder fixedly connected to the side of the bottom plate away from the discharge platform, the end of the top plate is extended to above the Y-axis cylinder, and the extended end of the top plate is fixedly connected to the extended end of the Y-axis cylinder, the visual inspection unit includes a shooting component fixedly installed on the upper end of the bottom plate and a monitoring hole drilled in the center of the jig opposite to the camera hole, the shooting component, the camera hole and the monitoring hole are all coaxially arranged.

[0007] In the above-mentioned high-precision riveting equipment based on visual compensation, during processing, the cumulative tolerance between the workpiece to be riveted and the target position can be detected by visual recognition, and position compensation can be performed on the X-axis, Y-axis and angle. Compared with the existing technology, the influence of the cumulative tolerance on the riveting accuracy can be effectively eliminated, and the riveting accuracy and workpiece qualification rate can be effectively guaranteed.

[0008] As a further improvement of the present application, a profiling groove is drilled on the upper end of the discharge platform and the upper end of the L-shaped bar, and the profiling groove matches the shape of the lower end of the workpiece to be riveted. The downward edge of the profiling groove on the L-shaped bar is coated with a colored ring layer, and the monitoring hole is coaxially arranged with the profiling groove, and the edge of the monitoring hole is larger than the edge of the profiling groove.

[0009] As a further improvement of the present application, the Y-axis side thrust unit includes two cylinders and a double-claw pressure plate and a double-head floating claw respectively fixedly connected to the extended ends of the two cylinders, and the two ends of the double-head floating claw are respectively matched with two limit grooves. The X-axis side thrust unit includes a cylinder for driving and a single-head floating claw connected to the extended end of the cylinder, and the single-head floating claw is matched with the side groove. The distance between the two claw ends of the double-claw pressure plate is greater than the lateral distance of the workpieces to be riveted.

[0010] As a further improvement of the present application, the suction riveting unit includes a riveting cylinder installed on the sliding end of the X-axis transfer unit, a driving motor for driving the riveting cylinder, and a suction riveting head arranged below the extended end of the riveting cylinder, an external pressure sensor is fixedly connected between the riveting cylinder and the suction riveting head, a negative pressure suction hole is opened in the middle of the suction riveting head, a negative pressure adsorption assembly is installed on the upper end of the suction riveting head, and the negative pressure adsorption assembly is communicated with the negative pressure suction hole.

[0011] As a further improvement of the present application, a unidirectional offset detection unit is arranged between the bottom plate and the top plate, between the suction riveting unit and the gantry, and between the rotating disk and the bottom of the hollow table. The unidirectional offset detection unit includes detection columns and a detection reference plate arranged corresponding to each other, and a misalignment sensing unit fixedly connected to one end of the detection reference plate facing the detection column. The detection reference plate is fixedly arranged, and the detection column is freely arranged.

[0012] As another improvement of the present application, the misalignment sensing unit includes three boss discs and two transition bands respectively fixedly connected between two adjacent boss discs, and the end of the detection column corresponds to the boss disc in the middle.

[0013] As another improved supplement of the present application, the height of the boss disc is higher than the transition zone, and when the detection post corresponds to the boss disc, the detection post and the upper surface of the boss disc are in contact with each other.

[0014] As another improvement supplement of the present application, a sensing hole is drilled in the middle of the upper end of the middle boss disc, a reset plate is fixedly connected to the inner wall of the sensing hole, an internal pressure sensor is fixedly embedded in the middle of the reset plate, and an iron ring is fixedly connected to the outer end of the internal pressure sensor, and the iron ring is located below the reset plate.

[0015] As another improved supplement of the present application, the reset plate is made of elastic material, the lower end of the internal pressure sensor contacts the bottom of the sensing hole, the upper end of the internal pressure sensor is lower than the mouth of the sensing hole, and the reset plate is in a horizontal state.

[0016] In summary, during processing, the cumulative tolerance between the workpiece to be riveted and the target position can be obtained by visual recognition, and position compensation can be performed on the X-axis, Y-axis and angle. Compared with the existing technology, the influence of the cumulative tolerance on the riveting accuracy is effectively eliminated, and the riveting accuracy and the workpiece qualification rate are effectively guaranteed; at the same time, with the setting of the unidirectional offset detection unit, the position of each moving axis can be detected in real time, so as to facilitate timely detection of tolerances and achieve the effect of stopping the machine for compensation only when tolerances occur, effectively avoiding the situation where the offset tolerance does not appear during regular detection and compensation, or the offset tolerance has already appeared but the corresponding compensation is not performed in time, so that the position compensation effect and accuracy can be improved, and the number of invalid stop compensations can be reduced, and the impact of stop compensation on the riveting efficiency can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional diagram of the first embodiment of the present application;

[0018] Figure 2 This is a partial front view of the rotating platform assembly of the first embodiment of the present application;

[0019] Figure 3 This is a partial three-dimensional diagram of the rotating platform assembly of the first embodiment of the present application;

[0020] Figure 4 It is a partial stereoscopic diagram of the Y-axis thrust unit of the first embodiment of the present application;

[0021] Figure 5 A three-dimensional diagram of a feeding rack portion of the first embodiment of the present application;

[0022] Figure 6This is a front view of the suction riveting unit of the first embodiment of the present application;

[0023] Figure 7 This is a schematic diagram of the principle of multi-axis compensation in the first embodiment of the present application;

[0024] Figure 8 A top view of a unidirectional offset detection unit according to a second embodiment of the present application;

[0025] Fig. 9 This is a front view of a unidirectional offset detection unit according to a second embodiment of the present application;

[0026] Fig.10 This is a schematic diagram of a unidirectional offset detection unit after an X-axis, Y-axis or angle offset occurs in the second embodiment of the present application;

[0027] Fig.11 A partial cross-sectional view of a misalignment sensing unit according to a second embodiment of the present application;

[0028] Fig.12 This is a schematic diagram of the second embodiment of the present application when the detection column is facing the middle of the misalignment sensing unit.

[0029] Description of the numbers in the figure:

[0030] 1 Equipment body, 2 Gantry, 3 X-axis transfer unit, 4 Suction riveting unit, 5 Hollow table, 501 Camera hole, 502 L-shaped bar, 503 Shooting assembly, 51 Rotating disk, 52 Shading unit, 53 Y-axis side push unit, 531 Double-claw pressure plate, 532 Double-head floating claw, 533 Cylinder, 54 X-axis side push unit, 55 Fixture, 6 Y-axis transfer unit, 61 Y-axis cylinder, 62 Bottom plate, 63 Top plate, 71 Unloading platform, 72 Waste collection box, 41 Drive motor, 42 Riveting cylinder, 43 Suction riveting head, 401 External pressure sensor, 402 Negative pressure adsorption assembly, 81 Detection column, 82 Detection reference plate, 91 Boss disc, 92 Transition belt, 901 Sensing hole, 902 Internal pressure sensor, 903 Reset sheet, 904 Iron ring. DETAILED DESCRIPTION

[0031] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0032] The first implementation method:

[0033] Figure 1A high-precision riveting equipment based on visual compensation is shown, including an equipment body 1, a gantry 2 is fixedly connected to the upper end of the equipment body 1, an X-axis transfer unit 3 is installed at the front end of the gantry 2, a suction riveting unit 4 is connected to the X-axis transfer unit 3, a Y-axis transfer unit 6 is also installed at the upper end of the equipment body 1, a hollow table 5 is fixedly connected to the upper end of the Y-axis transfer unit 6, the hollow table 5 is located in front of the gantry 2, a rotating platform group is installed on the upper end of the hollow table 5 through an electric turntable, and a visual detection unit is arranged in the hollow table 5.

[0034] like Figure 2-Figure 3 , in the figure, a represents the workpiece to be riveted, the rotating platform group includes a rotating disk 51, a shading unit 52, a Y-axis side pushing unit 53 and an X-axis side pushing unit 54 respectively fixedly connected to the upper end of the rotating disk 51, a camera hole 501 is drilled in the middle of the rotating disk 51, the shading unit 52, the Y-axis side pushing unit 53 and the X-axis side pushing unit 54 are respectively located on the left side, the rear side and the left side of the camera hole 501, the shading unit 52 includes a cylinder for driving and a shading plate fixedly connected to the extended end of the cylinder. When the cumulative tolerance is detected, the shading plate can be controlled to move toward the top of the camera hole 501, so as to effectively block part of the external light, so that the shooting component 503 can stably capture a relatively clear picture, so that the subsequent position compensation adjustment of the workpiece can be better and more accurate.

[0035] like Figure 4, a jig 55 is fixedly connected to the upper mouth of the camera hole 501, and a side groove is chiseled at the upper end of the jig 55 near the X-axis side thrust unit 54, an L-shaped bar 502 is placed in the middle of the upper end of the jig 55, and the vertical end of the L-shaped bar 502 extends into the side groove, and two limit grooves are chiseled at one end of the jig 55 near the Y-axis side thrust unit 53; the Y-axis side thrust unit 53 includes two cylinders 533 and a double-claw pressure plate 531 and a double-head floating claw 532 respectively fixedly connected to the extended ends of the two cylinders 533, wherein one cylinder 533 is arranged horizontally for simultaneously pushing the double-claw pressure plate 531 and the double-head floating claw 532 on the Y-axis, and the other cylinder 533 is arranged longitudinally for driving the double-claw pressure plate 531 to move up and down on the Z-axis, and the two ends of the double-head floating claw 532 are matched with the two limit grooves respectively, and the X-axis side thrust unit 54 includes a cylinder for driving and a single-head connected to the extended end of the cylinder. The floating claw, the single-head floating claw is matched with the side groove. When the suction riveting unit 4 negatively absorbs the workpiece on the discharge platform 71 and places it on the upper end of the L-shaped bar 502, the single-head floating claw can be driven close to the fixture 55 and enter into the side groove to extrude the L-shaped bar 502 in the X-axis. At the same time, the double-head floating claw 532 can be driven close to the fixture 55 and enter into the two limit grooves to extrude the L-shaped bar 502 in the Y-axis. Finally, the double-claw pressure plate 531 is controlled to move downward to press the X-axis side push unit 54 from above. Through three-way adjustment, the position of the workpiece can be adjusted to stabilize it in the target position of the fixture 55, and the relative position of the workpiece itself and the fixture 55 is stable and not prone to deviation, which is convenient for subsequent stable and accurate riveting. At the same time, the image information obtained by the visual inspection unit is more stable, and the subsequent position compensation effect is better, which is better for eliminating the influence of cumulative tolerance on riveting accuracy.

[0036] The distance between the two claw ends of the double-claw pressure plate 531 is greater than the lateral distance of the workpieces to be riveted, so that the double-claw pressure plate 531 can directly press the main L-shaped bar 502 when moving downward to limit it, thereby facilitating the riveting unit 4 to rivet the workpiece on the L-shaped bar 502.

[0037] The Y-axis transplanting unit 6 includes a bottom plate 62 fixedly connected to the upper end of the equipment body 1, a top plate 63 slidably connected to the upper end of the bottom plate 62, and a Y-axis cylinder 61 fixedly connected to the bottom plate 62 on the side away from the discharge platform 71. The end of the top plate 63 is extended to above the Y-axis cylinder 61, and the extended end of the top plate 63 is fixedly connected to the extended end of the Y-axis cylinder 61. The visual inspection unit includes a shooting component 503 fixedly installed on the upper end of the bottom plate 62 and a monitoring hole drilled in the center of the jig 55 facing the camera hole 501. The shooting component 503, the camera hole 501 and the monitoring hole are all coaxially arranged.

[0038] like Figure 5The upper end of the equipment body 1 is also fixedly connected to a material rack, which includes a material discharge platform 71. The end of the material discharge platform 71 away from the hollow table 5 is fixedly connected to a storage box, and a waste collection box 72 is placed on the storage box. The upper end of the material discharge platform 71 and the upper end of the L-shaped bar 502 are both provided with profiling grooves, which match the shape of the lower end of the workpiece to be riveted, so that the workpiece can be placed stably and is not easily changed in position due to force during riveting. The edge of the profiling groove on the L-shaped bar 502 facing downward is coated with a colored ring layer, the monitoring hole is coaxially arranged with the profiling groove, and the edge of the monitoring hole is larger than the edge of the profiling groove, so that when the shooting component 503 shoots image information, the colored ring layer can be used as an image reference, which is more eye-catching and convenient for image acquisition.

[0039] like Figure 6 The suction riveting unit 4 includes a riveting cylinder 42 installed on the sliding end of the X-axis transfer unit 3, a driving motor 41 for driving the riveting cylinder 42, and a suction riveting head 43 arranged below the extended end of the riveting cylinder 42. An external pressure sensor 401 is fixedly connected between the riveting cylinder 42 and the suction riveting head 43. A negative pressure suction hole is drilled in the middle of the suction riveting head 43. A negative pressure adsorption component 402 is installed on the upper end of the suction riveting head 43, and the negative pressure adsorption component 402 is communicated with the negative pressure suction hole. Among them, the external pressure sensor 401 is used to monitor the force during riveting, so that it is not easy to have a situation where the riveting pressure is too small and the riveting pressure is not in place, and it is not easy to have a situation where the riveting pressure is too large and the workpiece is damaged. In addition, the suction riveting head 43 is used as a riveting head during riveting, and can also absorb the workpiece under the action of negative pressure, which is convenient for loading.

[0040] In the above-mentioned high-precision riveting device based on visual compensation, during processing, at intervals or after a certain number of workpieces are riveted, after the next workpiece is transferred from the material discharging platform 71 to the fixture 55 and adjusted in position by the Y-axis side push unit 53 and the X-axis side push unit 54, the visual inspection unit can be started, such as Figure 7 , photograph and obtain the image information of the colored ring layer on the profiling groove, and compare the relationship between the image information in the acquired picture and the edge of the picture. When the image is tilted, it is necessary to compensate and adjust the angle by rotating the rotating disk 51. When the image is biased upward or downward, it is necessary to compensate and adjust the Y-axis position through the Y-axis transfer unit 6. When the image is biased to the left or right, it is necessary to compensate and adjust the X-axis through the X-axis transfer unit 3, so that the acquired image with the colored ring layer is in the center of the shooting picture. Compared with the prior art, the cumulative tolerance between the workpiece to be riveted and the target position can be detected by visual recognition, and position compensation can be performed on the X-axis, Y-axis and angle. Compared with the prior art, the influence of the cumulative tolerance on the riveting accuracy is effectively eliminated, and the riveting accuracy and the qualified rate of the workpiece are effectively guaranteed.

[0041] The second implementation method:

[0042] Based on the first embodiment, this embodiment adds a unidirectional offset detection unit and related settings, and the rest of the parts are consistent with the first embodiment.

[0043] Figure 8-Figure 9 It is shown that a unidirectional offset detection unit is arranged between the bottom plate 62 and the top plate 63, between the suction riveting unit 4 and the gantry 2, and between the rotating disk 51 and the bottom of the hollow table 5. The unidirectional offset detection unit includes a detection column 81 and a detection reference plate 82 which are arranged corresponding to each other, and a misalignment sensing unit fixedly connected to one end of the detection reference plate 82 facing the detection column 81.

[0044] like Fig.11 The misalignment sensing unit includes three boss discs 91 and two transition bands 92 fixedly connected between two adjacent boss discs 91. The end of the detection column 81 corresponds to the middle boss disc 91. The height of the boss disc 91 is higher than the transition band 92. When the detection column 81 corresponds to the boss disc 91, the detection column 81 and the upper surface of the boss disc 91 are in contact with each other. The detection column 81 is made of magnetic material.

[0045] A sensing hole 901 is drilled in the middle of the upper end of the middle boss disc 91, and a reset plate 903 is fixedly connected to the inner wall of the sensing hole 901. An internal pressure sensor 902 is fixedly inlaid in the middle of the reset plate 903. An iron ring 904 is fixedly connected to the outer end of the internal pressure sensor 902. The iron ring 904 is located below the reset plate 903. The reset plate 903 is made of elastic material. The lower end of the internal pressure sensor 902 contacts the bottom of the sensing hole 901, and the upper end of the internal pressure sensor 902 is lower than the mouth of the sensing hole 901, and the reset plate 903 is in a horizontal state. Fig.12 When the detection column 81 is facing the middle sensing hole 901, the detection column 81 generates a magnetic attraction on the iron ring 904, so that the internal pressure sensor 902 moves toward the detection column 81 and collides with it, and then the internal pressure sensor 902 generates data. When tolerance occurs, the detection column 81 will gradually be misaligned with the sensing hole 901. At this time, the adsorption area of ​​the detection column 81 on the iron ring 904 will gradually decrease, and the magnetic attraction it receives will decrease, causing the data on the reset sheet 903 to gradually decrease or even disappear.

[0046] For the X-axis, the detection column 81 is fixed on the back of the suction riveting unit 4, and the detection reference plate 82 is fixed on the gantry 2; for the Y-axis, the detection column 81 is fixedly connected to the bottom plate 62, and the detection reference plate 82 is fixedly connected to the lower end of the top plate 63; for angle compensation, the detection column 81 is fixedly connected inside the hollow table 5, and the detection reference plate 82 is fixedly connected to the lower end of the rotating disk 51; when there is no cumulative tolerance, that is, when there is no offset, in the Y-axis and the unidirectional offset detection unit in the hollow table 5, the detection column 81 corresponds to and contacts the middle of the misalignment sensing unit, and when the suction riveting unit 4 reaches the target position and starts riveting, the detection column 81 of the X-axis corresponds to and contacts the middle of the misalignment sensing unit, so that stable data appears on the reset sheet 903, such as Fig.10 When there is an offset, there is a cumulative tolerance or the cumulative tolerance is relatively large, the detection column 81 and the middle part of the misalignment sensing unit will be misaligned, which will cause the data on the reset sheet 903 to change. When the tolerance is large, the data may even disappear. Based on this, the cumulative tolerance formed on each axis during riveting can be monitored in real time, so as to detect abnormalities in time. When cumulative tolerances are detected during monitoring, the machine can be stopped, and then the visual inspection unit can be used for photo inspection to determine the specific compensation data and operations of the X-axis, Y-axis and angle. Compared with the first embodiment, which detects at intervals or a certain number of times of riveting, and then detects through the visual inspection unit, the cumulative tolerance can be detected and eliminated more timely, effectively ensuring the overall riveting accuracy. At the same time, it can effectively avoid stopping for inspection when no abnormality occurs, or avoiding the situation where tolerances have occurred but have not been detected before the detection time is reached, thereby effectively ensuring the detection results.

[0047] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A high-precision riveting device based on visual compensation, characterized in that: The invention comprises an equipment body (1), wherein the upper end of the equipment body (1) is fixedly connected to a gantry (2), the front end of the gantry (2) is equipped with an X-axis transfer unit (3), the X-axis transfer unit (3) is connected to a suction riveting unit (4), the upper end of the equipment body (1) is also equipped with a Y-axis transfer unit (6), the upper end of the Y-axis transfer unit (6) is fixedly connected to a hollow table (5), the hollow table (5) is located in front of the gantry (2), the upper end of the equipment body (1) is also fixedly connected to a material rack, the material rack comprises a material discharge platform (71), one end of the material discharge platform (71) away from the hollow table (5) is fixedly connected to a storage box, a waste collection box (72) is placed on the storage box, a rotating platform group is installed on the upper end of the hollow table (5) via an electric turntable, a visual detection unit is arranged inside the hollow table (5), and the rotating platform group comprises a rotating disk (51), a plurality of A shading unit (52), a Y-axis side thrust unit (53) and an X-axis side thrust unit (54) are fixedly connected to the upper end of the rotating disk (51); a camera hole (501) is bored in the middle of the rotating disk (51); the shading unit (52), the Y-axis side thrust unit (53) and the X-axis side thrust unit (54) are respectively located on the left side, the rear side and the left side of the camera hole (501); the shading unit (52) comprises a cylinder for driving and a fixed A light shielding plate is fixedly connected to the extended end of the cylinder, a jig (55) is fixedly connected to the upper opening of the camera hole (501), a side groove is cut at the upper end of the jig (55) close to the X-axis side thrust unit (54), an L-shaped bar (502) is placed in the middle of the upper end of the jig (55), and the vertical end of the L-shaped bar (502) extends into the side groove, and two limit grooves are cut at one end of the jig (55) close to the Y-axis side thrust unit (53); The Y-axis transfer unit (6) comprises a bottom plate (62) fixedly connected to the upper end of the equipment body (1), a top plate (63) slidably connected to the upper end of the bottom plate (62), and a Y-axis cylinder (61) fixedly connected to the side of the bottom plate (62) away from the material discharge platform (71), the end of the top plate (63) extending to above the Y-axis cylinder (61), and the extended end of the top plate (63) is fixedly connected to the extended end of the Y-axis cylinder (61), the visual inspection unit comprises a shooting component (503) fixedly mounted on the upper end of the bottom plate (62) and a monitoring hole drilled at the center of the jig (55) facing the camera hole (501), and the shooting component (503), the camera hole (501) and the monitoring hole are all coaxially arranged; A unidirectional offset detection unit is provided between the bottom plate (62) and the top plate (63), between the suction riveting unit (4) and the gantry (2), and between the rotating disk (51) and the bottom of the hollow platform (5). The unidirectional offset detection unit comprises a detection column (81) and a detection reference plate (82) which are arranged corresponding to each other, and a misalignment sensing unit which is fixedly connected to one end of the detection reference plate (82) facing the detection column (81). The misalignment sensing unit comprises three boss discs (91) and two transition bands (92) which are respectively fixedly connected between two adjacent boss discs (91). The end of the detection column (81) and the middle boss discs (91) are connected to each other. The boss disc (91) corresponds to the boss disc (91), the height of the boss disc (91) is higher than the transition zone (92), and when the detection column (81) corresponds to the boss disc (91), the detection column (81) and the upper surface of the boss disc (91) contact each other, a sensing hole (901) is drilled in the middle of the upper end of the middle boss disc (91), a reset plate (903) is fixedly connected to the inner wall of the sensing hole (901), an internal pressure sensor (902) is fixedly embedded in the middle of the reset plate (903), and an iron ring (904) is fixedly connected to the outer end of the internal pressure sensor (902), and the iron ring (904) is located below the reset plate (903).

2. The high-precision riveting equipment based on visual compensation according to claim 1 is characterized in that: The upper end of the discharge platform (71) and the upper end of the L-shaped bar (502) are both provided with a profiling groove, the profiling groove matches the shape of the lower end of the workpiece to be riveted, the profiling groove on the L-shaped bar (502) is coated with a colored ring layer at the edge facing downward, the monitoring hole is coaxially arranged with the profiling groove, and the edge of the monitoring hole is larger than the edge of the profiling groove.

3. The high-precision riveting equipment based on visual compensation according to claim 2 is characterized in that: The Y-axis side thrust unit (53) comprises two cylinders (533) and a double-claw pressure plate (531) and a double-head floating claw (532) respectively fixedly connected to the extended ends of the two cylinders (533), and the two ends of the double-head floating claw (532) are matched with two limit grooves respectively. The X-axis side thrust unit (54) comprises a cylinder for driving and a single-head floating claw connected to the extended end of the cylinder, and the single-head floating claw is matched with the side groove. The distance between the two claw ends of the double-claw pressure plate (531) is greater than the lateral distance of the workpieces to be riveted.

4. The high-precision riveting equipment based on visual compensation according to claim 1 is characterized in that: The suction riveting unit (4) comprises a riveting cylinder (42) mounted on the sliding end of the X-axis transfer unit (3), a driving motor (41) for driving the riveting cylinder (42), and a suction riveting head (43) arranged below the extended end of the riveting cylinder (42); an external pressure sensor (401) is fixedly connected between the riveting cylinder (42) and the suction riveting head (43); a negative pressure suction hole is drilled in the middle of the suction riveting head (43); a negative pressure adsorption component (402) is installed at the upper end of the suction riveting head (43); and the negative pressure adsorption component (402) is communicated with the negative pressure suction hole.

5. The high-precision riveting equipment based on visual compensation according to claim 1 is characterized in that: The reset sheet (903) is made of elastic material, the lower end of the internal pressure sensor (902) contacts the bottom of the sensing hole (901), the upper end of the internal pressure sensor (902) is lower than the mouth of the sensing hole (901), and the reset sheet (903) is in a horizontal state.

Images