Automatic riveting process method for miniature hollow parts

Abstract

The invention belongs to the technical field of electronic information, and particularly provides an automatic riveting process method for miniature hollow parts, an executing mechanism is a servo motor, a material distributing mechanism is a blowing device, and the process method comprises the following steps that feeding is conducted, a riveting program is edited or called in a control system, and riveting parameters are set; correcting the printed circuit board to be riveted; riveting is conducted; performing quality inspection and maintenance on the riveted printed board; the problem that an existing anti-high-overload electronic part is riveted through a miniature hollow part and cannot be automatically riveted in a pneumatic mode, a hydraulic mode and the like is solved. The servo motor is used for conducting full-automatic riveting on the miniature hollow part and the printed circuit board, the riveting precision and the riveting process quality consistency are improved, and it is guaranteed that riveting force is stable.

Description

Technical Field

[0001] The invention belongs to the field of electronic information technology, and in particular relates to an automatic riveting process method for micro hollow parts. Background Art

[0002] The high overload resistant electronic components are structurally connected to multiple printed circuit boards through wiring harnesses to achieve complex circuit signal processing and transmission. Micro hollow parts are riveted on printed circuit boards and are mainly used for wiring harness connections between different printed circuit boards.

[0003] According to the different riveting tools or equipment, riveting can be divided into hand riveting, hammer riveting, pressure riveting, drilling riveting and fully automatic riveting. Among them, hand riveting and hammer riveting are inefficient, noisy, and have a poor working environment. The riveting quality is limited by factors such as manual proficiency and physical strength, and the consistency of riveting quality cannot be guaranteed. The power source of the fully automatic riveting process mostly uses pneumatic, hydraulic, mechanical or hybrid power sources, with poor accuracy, and is mainly used for rivets in the size range of φ2mm to φ10mm. The riveting of micro hollow parts (i.e. micro hollow rivets with an outer diameter of φ1.5mm and an inner diameter of only φ0.8mm) used in high overload-resistant electronic components cannot be automatically riveted by pneumatic, hydraulic, etc.

[0004] The Chinese patent document with the publication number CN106216990A discloses a fully automatic assembly line for PCB boards and its production process, including a PCB board loading station, a fully automatic assembly station for PCB boards, a PCB board unloading station, and a general control system; the PCB board loading station includes a PCB board feeding and conveying mechanism, a first lifting mechanism, an empty material cage recovery mechanism, a PCB board delivery mechanism, a first material cage, and a first auxiliary controller, which are used for continuous loading of PCB boards; the PCB board fully automatic assembly station includes a frame, a protective cover, an XY mobile platform, a rivet installation mechanism, a riveting mechanism, a shaping mechanism, a height detection mechanism, and a CCD detection mechanism, which are used for riveting, shaping, height detection, and riveting CCD image detection of PCB boards to obtain qualified finished PCB boards; the PCB board unloading station includes a PCB board pushing mechanism, a second lifting mechanism, a PCB board collection and conveying mechanism, an empty material cage delivery mechanism, a second material cage, and a second auxiliary controller, which are used for continuous unloading of PCB boards. The problem of low precision and low efficiency of manual assembly is solved. This document does not solve the problem that the riveting of micro hollow parts (with an outer diameter of φ1.5mm and an inner diameter of only φ0.8mm) used in high overload resistant electronic components cannot be performed automatically by pneumatic, hydraulic or other methods. Summary of the invention

[0005] The invention provides a method for automatically riveting a micro hollow part, aiming to overcome the problem in the prior art that the riveting of micro hollow parts of high overload resistant electronic components cannot be automatically riveted by pneumatic, hydraulic or other methods.

[0006] To this end, the present invention provides a method for automatically riveting micro hollow parts, comprising the following steps: 1) Loading printed circuit boards and micro hollow rivets; 2) Edit or call the riveting program in the control system and set the riveting parameters; the riveting parameters include the size of the printed circuit board, the riveting path and the mark point; 3) Calibrate the printed circuit board to be riveted, and rivet it after the calibration is qualified; 4) Riveting, the riveting comprising the following steps: the servo motor in the automatic plug-in device controls the insertion head and the rivet head to move, so that the insertion head presses the micro hollow rivet down onto the printed circuit board on the mobile platform, the rivet head moves upward, and the rivet head and the micro hollow rivet are butted, thus completing the riveting of one micro hollow rivet; repeating the above steps to complete the riveting of all micro hollow rivets on the printed circuit board to be riveted; 5) Carry out quality inspection on the riveted printed circuit board. If it passes the quality inspection, it will proceed to the next process. Preferably, the printed circuit board loading in step 1) is to put multiple printed circuit boards on a material rack, and the automatic board loading machine transfers the printed circuit boards to be riveted to the mobile platform in the automatic plug-in device. When the automatic plug-in device completes the riveting work of each panel, it will send a board request signal to the automatic board loading machine, and the automatic board loading machine repeats the above steps to complete the board loading; The micro hollow rivet feeding is that a plurality of micro hollow rivets are neatly arranged on a vibrating feeding tray, and then transported to a first material channel of an automatic plug-in device to be arranged in a vertical row, and then separated from the vertical row by a dividing mechanism to a second material channel of the automatic plug-in device, and the micro hollow rivet is sent to the plug-in head position by blowing.

[0007] Preferably, in step 1), the micro hollow rivet is required to have no residual flux crystals on the surface.

[0008] Preferably, setting the size of the printed circuit board in step 2) includes the following steps: moving the camera of the automatic plug-in device to a corner of the printed circuit board, determining a point, and then moving the camera of the automatic plug-in device to a diagonal position at the corner, determining another point, and completing the setting of the size of the printed circuit board.

[0009] Preferably, the step 2) setting the riveting path includes the following steps: the mobile workbench in the automatic plug-in device moves the first hole on the printed circuit board that needs to be plug-in to the bottom of the camera in the automatic plug-in device, and performs point picking for a hole position. After completing the point picking for one hole position, move to the next hole position to pick the point, and repeat the above point picking steps until the riveting hole position picking of the entire printed circuit board is completed.

[0010] Preferably, in step 4), a pressure sensor is provided on the riveted head.

[0011] Preferably, during the step 3) of calibrating the board, if the calibration fails, the unqualified printed circuit board is removed, and the above steps 1) to 2) are repeated until the calibration passes.

[0012] Preferably, during the quality inspection in step 5), if the quality inspection fails, the unqualified micro hollow rivets are repaired until they pass.

[0013] As described in any one of the above-mentioned micro hollow parts automatic riveting process methods, the micro hollow parts automatic riveting device is used for riveting, and the micro hollow parts automatic riveting device includes a material rack, an automatic plate loading machine, an automatic plate unloading machine, an automatic plug-in device, a detection mechanism, an automatic plug-in device and a control system. The automatic plug-in device includes a mobile platform, a camera, an actuator, an X-direction grating ruler, a Y-direction grating ruler, a stepper motor, a stepper motor driver, a vibration loading tray, a first material channel, a second material channel, a material dividing mechanism, an insertion head and a riveting head; the material rack is used to place printed circuit boards and micro hollow parts; the automatic plate loading machine is used to transport the printed circuit boards on the material rack to the mobile platform; the camera is used to collect video information of the printed circuit boards on the mobile platform; the actuator is used to control the movement of the insertion head and the riveting head; the X-direction grating ruler and the Y-direction grating ruler are used to control the movement of the insertion head and the riveting head. The directional grating ruler is used to measure the position information of the mobile platform and the printed circuit boards and micro hollow parts on the mobile platform; the stepper motor driver controls the position movement of the mobile platform through the stepper motor; the vibrating loading tray is used to vibrate the micro hollow parts on the material rack and then transport them to the first material channel; the material dividing mechanism is used to divide the required micro hollow parts from the first material channel to the second material channel; the plug connector is used to plug the micro hollow parts; the riveting connector is used to rivet the micro hollow parts; the control system is used to control the automatic loading machine, the automatic unloading machine, the automatic plug-in device, the detection mechanism and the automatic plug-in device; the detection mechanism is used to calibrate the printed circuit board before riveting, and to inspect the printed circuit board after riveting; the automatic unloading machine is used to send the riveted printed circuit board to the detection mechanism; the actuator is a servo motor, and the material dividing mechanism is a blowing device.

[0014] Preferably, when the mobile platform in the automatic plug-in device moves, the movement amounts in the X direction and the Y direction are compared with the coordinate displacement values ​​of the printed circuit board and compensated to form a closed-loop control.

[0015] Beneficial effects of the present invention: 1. The automatic riveting process method for micro hollow parts provided by the present invention has a servo motor as the actuator. The existing mature pneumatic control mechanism is converted into a servo motor. Compared with the pneumatic control mechanism, the positioning accuracy is poor and the power cannot be accurately controlled. The servo motor of the present invention has high positioning accuracy and the power can be accurately controlled by the servo. The servo motor is used for full-automatic riveting, which improves the riveting accuracy and the consistency of the riveting process quality and ensures the stability of the riveting force. The material distribution mechanism of the present invention adopts a blowing device, and the blowing feeding method can ensure that the micro hollow parts accurately reach the riveting position.

[0016] 2. In the automatic riveting process method for micro hollow parts provided by the present invention, a pressure sensor is provided on the rivet head, and the movement of the insertion head and the rivet head is controlled by a servo motor. At the same time, the riveting force during the riveting process is monitored by a pressure sensor at the bottom of the rivet head to ensure the consistency of the riveting quality of the micro hollow rivets.

[0017] 3. In the automatic riveting process method for micro hollow parts provided by the present invention, the riveting position accuracy of the micro hollow rivet and the printed circuit board is ensured by the mobile platform, the X-direction grating ruler and the Y-direction grating ruler measure the X and Y-direction movement of the mobile platform, the X-direction and Y-direction movement are compared with the coordinate displacement value of the printed circuit board and compensated, forming a closed-loop control to ensure the riveting position accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described in detail below with reference to the accompanying drawings.

[0019] Figure 1 It is a schematic diagram of the automatic riveting process flow of micro hollow parts; Figure 2 It is the principle diagram of motion precision control; Figure 3 It is a schematic diagram of riveting a printed circuit board with micro hollow rivets. DETAILED DESCRIPTION

[0020] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0021] Embodiment 1: On the basis of Example 1, Figure 1 and Figure 3 As shown, a method for automatically riveting a micro hollow part comprises the following steps: 1) Loading printed circuit boards and micro hollow rivets; The printed circuit board loading is to transfer the printed circuit board to be riveted onto the moving platform in the automatic plug-in device; The micro hollow rivet feeding is to deliver the micro hollow rivet to the insertion head position; Preferably, the printed circuit board loading in step 1) is to put multiple printed circuit boards on a material rack, and the automatic board loading machine transfers the printed circuit boards to be riveted to the mobile platform in the automatic plug-in device. When the automatic plug-in device completes the riveting work of each panel, it will send a board request signal to the automatic board loading machine, and the automatic board loading machine repeats the above steps to complete the board loading; The micro hollow rivet feeding is that a plurality of micro hollow rivets are neatly arranged on a vibrating feeding tray, and then transported to a first material channel of an automatic plug-in device to be arranged in a vertical row, and then separated from the vertical row by a dividing mechanism to a second material channel of the automatic plug-in device, and the micro hollow rivet is sent to the plug-in head position by blowing.

[0022] Specifically, since micro hollow rivets are smaller and lighter than conventional rivets, they cannot be fed using the traditional gravity push method. Therefore, the second material channel innovatively uses a blowing method to quickly and accurately deliver the micro hollow rivets to the plug-in head position.

[0023] Preferably, the blowing method adopts blowing from left and right air sources.

[0024] Specifically, the micro hollow rivet is quickly and accurately delivered to the head position of the plug-in through air pressure blowing from the left and right air sources, and the blowing effect is optimal.

[0025] Preferably, the plurality of printed circuit boards are placed on the material rack according to the positive direction of the characters (error-proofing mark), ensuring that the riveting program corresponds to the actual riveting path of the printed circuit board one by one, and waiting for the automatic loading machine to feed the material.

[0026] Preferably, in step 1), the micro hollow rivet is required to have no residual flux crystals on the surface.

[0027] Specifically, when micro hollow rivets require residual flux crystals on the surface, use anhydrous ethanol to clean the parts and leave them at room temperature for no less than 30 minutes to ensure that they are clean and free of residual flux crystals, so as to improve the accuracy of riveting.

[0028] Preferably, the thickness of the printed circuit board is 1.5 mm or 2 mm.

[0029] Specifically, printed circuit boards with a thickness of 1.5 mm or 2 mm are two commonly used thicknesses for high overload resistant electronic components, and have good riveting effects.

[0030] 2) Edit or call the riveting program in the control system and set the riveting parameters; the riveting parameters include the size of the printed circuit board, the riveting path and the mark point; Specifically, when editing the riveting program, it is edited according to the existing technology to meet the needs. When calling the riveting program, if the printed circuit board has been riveted, the program corresponding to the printed circuit board to be riveted is directly called from the riveting program interface when the printed circuit board is riveted again.

[0031] Preferably, setting the size of the printed circuit board in step 2) includes the following steps: moving the camera of the automatic plug-in device to a corner of the printed circuit board, determining a point, and then moving the camera of the automatic plug-in device to a diagonal position at the corner, determining another point, and completing the setting of the size of the printed circuit board.

[0032] Specifically, enter the camera operation interface of the control system, move the camera to the lower right corner of the printed circuit board, determine a point, then move the camera to the diagonal position (upper left corner), determine another point, complete the printed circuit board size setting, determine the riveting area, and ensure that the riveting area is within the maximum working range of the equipment.

[0033] Preferably, the step 2) setting the riveting path includes the following steps: the mobile workbench in the automatic plug-in device moves the first hole on the printed circuit board that needs to be plug-in to the bottom of the camera in the automatic plug-in device, and performs point picking for a hole position. After completing the point picking for one hole position, move to the next hole position to pick the point, and repeat the above point picking steps until the riveting hole position picking of the entire printed circuit board is completed.

[0034] Specifically, edit and set the riveting plug-in path, move the workbench so that the first hole on the printed circuit board that needs a plug-in is moved under the camera, click "Set Hole Template", follow the prompts to set the operation, and then click the "Add Location" button to move to the next hole position to pick a point, and repeat the operation until the riveting hole position of the entire printed circuit board is completed. The operation is simple.

[0035] Preferably, in step 2), Mark points are set by selecting two diagonal points of the entire printed circuit board as Mark points, which serve as positioning reference points for the device.

[0036] 3) Calibrate the printed circuit board to be riveted. If the calibration fails, remove the unqualified printed circuit board and repeat the above steps 1) to 2) until the calibration passes. After the calibration passes, rivet the board; Specifically, the corresponding calibration function is turned on in the control system for calibration, for example, the editing board function is turned on, and the printed circuit board to be riveted is calibrated under the editing board function, and riveting is performed after the calibration is qualified to ensure the riveting accuracy.

[0037] 4) Riveting, the riveting comprising the following steps: the servo motor in the automatic plug-in device controls the insertion head and the rivet head to move, so that the insertion head presses the micro hollow rivet down onto the printed circuit board on the mobile platform, the rivet head moves upward, and the rivet head and the micro hollow rivet are butted, thus completing the riveting of one micro hollow rivet; repeating the above steps to complete the riveting of all micro hollow rivets on the printed circuit board to be riveted; Specifically, the insertion head of the insertion mechanism sends the micro hollow rivet to the printed circuit board, the pin stops descending at the limit position, and the insertion sleeve continues to descend, pressing the rivet down onto the printed circuit board. At the same time, the riveting mechanism moves upward, and the rivet head contacts the rivet. Under the action of the rivet head, the hollow rivet mouth expands and deforms, and fits tightly and tightens to the printed circuit board.

[0038] Preferably, in step 4), a pressure sensor is provided on the riveted head.

[0039] Specifically, the movement of the insertion head and the rivet head is controlled by a servo motor, and the riveting force during the riveting process is monitored by a pressure sensor at the bottom of the rivet head to ensure the consistency of the riveting quality of the micro hollow rivets.

[0040] Preferably, the riveting force of the printed circuit board is 600±50N.

[0041] Specifically, the riveting force is achieved by adjusting the lower limit of the plug-in (plug-in head) and the upper limit of the ejector (riveting head). Increasing the stroke of the lower limit of the plug-in and the upper limit of the ejector can increase the riveting force, and vice versa. The riveting force of 600±50N has high accuracy. See Table 1 for fully automatic riveting data: Table 1 Statistics of fully automatic riveting data verification

[0042] According to the data analysis in Table 1 above, the average riveting force is 591N, the upper deviation is 602N, the lower deviation is 581N, and the riveting force repetition accuracy is ±1.86%, which meets the requirement of repetition accuracy of riveting set load ≤±2%.

[0043] For the two commonly used thickness specifications of 1.5mm and 2mm printed circuit boards for high overload resistant electronic components, the parameters for determining the lower limit of the plug-in and the upper limit of the ejector are shown in Table 2 below: Table 2 Parameters of plug-in lower limit and ejector upper limit

[0044] Preferably, Figure 2 As shown, when the mobile platform in the automatic plug-in device moves, the movement amounts in the X direction and the Y direction are compared with the coordinate displacement values ​​of the printed circuit board and compensated to form a closed-loop control.

[0045] The riveting position accuracy between the micro hollow rivet and the printed circuit board is ensured by the mobile platform. The control system (PLC control system) controls the stepper motor through the stepper motor driver. The stepper motor drives the mobile platform to move. The mobile platform can be an XY mobile platform. The X-direction grating ruler and the Y-direction grating ruler measure the X and Y-direction movement of the mobile platform. The X and Y-direction movement of the mobile platform is transmitted to the PLC control system through the signal converter. In the PLC control system, the movement in the X and Y directions is compared with the coordinate displacement value of the printed circuit board and compensated to form a closed-loop control to ensure the riveting position accuracy.

[0046] 5) Carry out quality inspection on the riveted printed circuit board. If the quality inspection fails, repair the unqualified micro hollow rivets until they pass. If the quality inspection passes, proceed to the next process. Specifically, a 4x magnifying glass is used to visually inspect the riveting quality of the micro hollow rivets. No cracks are allowed, and the rivets are not allowed to rotate. Individual riveting points are repaired by manual riveting.

[0047] Compared with the traditional manual riveting method, the present invention has high riveting accuracy, real-time display and controllable riveting force, good riveting quality consistency, and if the riveting force does not meet the requirements, the equipment will automatically perform riveting, and has screening and error prevention functions for solid parts. Compared with the common pneumatic riveting method on the market, the servo motor can meet the high riveting accuracy requirements of micro hollow parts, the riveting process has good stability, and the riveting force is controllable. Compared with the conventional gravity feeding method, the air blowing feeding method can ensure that the micro hollow parts accurately reach the riveting position.

[0048] Embodiment 2: An automatic riveting process method for micro hollow parts as described in Example 1 adopts an automatic riveting device for micro hollow parts for riveting, and the automatic riveting device for micro hollow parts includes a material rack, an automatic plate loader, an automatic plate unloader, an automatic plug-in device, a detection mechanism, an automatic plug-in device and a control system, and the automatic plug-in device includes a mobile platform, a camera, an actuator, an X-direction grating ruler, a Y-direction grating ruler, a stepper motor, a stepper motor driver, a vibration loading tray, a first material channel, a second material channel, a material dividing mechanism, an insertion head and a riveting head; the material rack is used to place printed circuit boards and micro hollow parts; the automatic plate loader is used to transport the printed circuit boards on the material rack to the mobile platform; the camera is used to collect video information of the printed circuit boards on the mobile platform; the actuator is used to control the movement of the insertion head and the riveting head; the X-direction grating ruler and The Y-direction grating ruler is used to measure the position information of the mobile platform and the printed circuit boards and micro hollow parts on the mobile platform; the stepper motor driver controls the position movement of the mobile platform through the stepper motor; the vibrating loading tray is used to vibrate the micro hollow parts on the material rack and then transport them to the first material channel; the material dividing mechanism is used to divide the required micro hollow parts from the first material channel to the second material channel; the plug connector is used to plug the micro hollow parts; the riveting connector is used to rivet the micro hollow parts; the control system is used to control the automatic loading machine, the automatic unloading machine, the automatic plug-in device, the detection mechanism and the automatic plug-in device; the detection mechanism is used to calibrate the printed circuit board before riveting, and to inspect the printed circuit board after riveting; the automatic unloading machine is used to send the riveted printed circuit board to the detection mechanism; the actuator is a servo motor, and the material dividing mechanism is a blowing device.

[0049] Specifically, the present invention transforms the existing mature pneumatic control mechanism into a servo motor. Compared with the pneumatic control mechanism, which has poor positioning accuracy and cannot accurately control the power, the servo motor of the present invention has high positioning accuracy, and the power can be accurately controlled by the servo. The servo motor is used for full-automatic riveting, which improves the riveting accuracy and the consistency of the riveting process quality, and ensures the stability of the riveting force. The material distribution mechanism of the present invention adopts a blowing device, and the blowing feeding method can ensure that the micro hollow parts accurately reach the riveting position.

[0050] In the description of the present invention, it is necessary to understand that if there are terms indicating an orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on the present invention.

[0051] The above examples are merely illustrative of the present invention and do not constitute a limitation on the protection scope of the present invention. All designs that are the same or similar to the present invention fall within the protection scope of the present invention.

Claims

1. A method for automatic riveting of micro hollow parts, characterized in that: The steps include: 1) Loading printed circuit boards and micro hollow rivets; 2) Edit or call the riveting program in the control system and set the riveting parameters; the riveting parameters include the size of the printed circuit board, the riveting path and the mark point; 3) Calibrate the printed circuit board to be riveted, and rivet it after the calibration is qualified; 4) Riveting, the riveting comprising the following steps: the servo motor in the automatic plug-in device controls the insertion head and the rivet head to move, so that the insertion head presses the micro hollow rivet down onto the printed circuit board of the mobile platform, the rivet head moves upward, and the rivet head and the micro hollow rivet are butted, thus completing the riveting of one micro hollow rivet; Repeat the above steps to complete the riveting of all micro hollow rivets on the printed circuit board to be riveted; 5) Carry out quality inspection on the riveted printed circuit board. If it passes the quality inspection, it will proceed to the next process.

2. The automatic riveting process for micro hollow parts according to claim 1, characterized in that: In step 1), the printed circuit board loading is to put multiple printed circuit boards on the material rack, and the automatic board loading machine transfers the printed circuit boards to be riveted to the mobile platform in the automatic plug-in device. When the automatic plug-in device completes the riveting work of each panel, it will send a board request signal to the automatic board loading machine, and the automatic board loading machine repeats the above steps to complete the board loading; The micro hollow rivet feeding is that a plurality of micro hollow rivets are neatly arranged on a vibrating feeding tray, and then transported to a first material channel of an automatic plug-in device to be arranged in a vertical row, and then separated from the vertical row by a dividing mechanism to a second material channel of the automatic plug-in device, and the micro hollow rivet is sent to the plug-in head position by blowing.

3. The automatic riveting process for micro hollow parts according to claim 1, characterized in that: In the step 1), the micro hollow rivet is required to have no flux crystal residue on the surface.

4. The automatic riveting process for micro hollow parts according to claim 1, characterized in that: Setting the size of the printed circuit board in step 2) includes the following steps: moving the camera of the automatic plug-in device to a corner of the printed circuit board, determining a point, and then moving the camera of the automatic plug-in device to the diagonal position of the corner, determining another point, and completing the size setting of the printed circuit board.

5. The automatic riveting process for micro hollow parts according to claim 1, characterized in that: The step 2) setting the riveting path includes the following steps: the mobile workbench in the automatic plug-in device moves the first hole on the printed circuit board that needs to be plug-in to the bottom of the camera in the automatic plug-in device, and a hole position is picked. After completing the point picking of a hole position, it moves to the next hole position to pick the point, and repeats the above point picking steps until the riveting hole positions of the entire printed circuit board are picked.

6. The automatic riveting process for micro hollow parts according to claim 1, characterized in that: In the step 4), a pressure sensor is provided on the riveting head.

7. The automatic riveting process for micro hollow parts according to claim 1, characterized in that: During the step 3) of calibrating the board, if the calibration fails, the unqualified printed circuit board is removed, and the above steps 1) to 2) are repeated until the calibration passes.

8. The automatic riveting process for micro hollow parts according to claim 1, characterized in that: During the quality inspection in step 5), if the quality inspection fails, the unqualified micro hollow rivets are repaired until they pass.

9. The method for automatically riveting micro hollow parts according to any one of claims 1 to 8, wherein the micro hollow parts automatic riveting device is used for riveting, and the micro hollow parts automatic riveting device comprises a material rack, an automatic plate loader, an automatic plate unloader, an automatic plug-in device, a detection mechanism, an automatic plug-in device and a control system, and the automatic plug-in device comprises a mobile platform, a camera, an actuator, an X-direction grating ruler, a Y-direction grating ruler, a stepper motor, a stepper motor driver, a vibrating loading tray, a first material channel, a second material channel, a material dividing mechanism, a plug-in head and a riveting head; the material rack is used to place printed circuit boards and micro hollow parts; the automatic plate loader is used to transport the printed circuit boards on the material rack to the mobile platform; the camera is used to collect video information of the printed circuit boards on the mobile platform; the actuator is used to control the plug-in head and the riveting head. The joint moves; the X-direction grating ruler and the Y-direction grating ruler are used to measure the position information of the mobile platform and the printed circuit board and the micro hollow parts on the mobile platform; the stepper motor driver controls the position movement of the mobile platform through the stepper motor; the vibrating loading tray is used to vibrate the micro hollow parts on the material rack and then transport them to the first material channel; the material separation mechanism is used to separate the required micro hollow parts from the first material channel to the second material channel; the plug connector is used to plug the micro hollow parts; the riveting connector is used to rivet the micro hollow parts; the control system is used to control the automatic loading machine, the automatic unloading machine, the automatic plug-in device, the detection mechanism and the automatic plug-in device; the detection mechanism is used to calibrate the printed circuit board before riveting, and is used to inspect the printed circuit board after riveting; the automatic unloading machine is used to send the riveted printed circuit board to the detection mechanism; it is characterized by: The actuator is a servo motor, and the material distribution mechanism is a blowing device.

10. The automatic riveting process for micro hollow parts according to claim 9, characterized in that: When the mobile platform in the automatic plug-in device moves, the movement amounts in the X direction and the Y direction are compared with the coordinate displacement values ​​of the printed circuit board and compensated to form a closed-loop control.

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