Assembly fixture and control method

Abstract

The present invention relates to an assembly jig and a control method, wherein the assembly jig comprises a workbench, a positioning mechanism, a travel mechanism and a riveting device, wherein the workbench comprises an assembly plane, the assembly plane is used to place a workpiece, the assembly plane is parallel to a horizontal plane, the positioning mechanism is installed at the assembly plane to limit the movement of the workpiece placed at the assembly plane, the travel mechanism is arranged at the assembly plane, the travel mechanism comprises a first displacement component, the first displacement component is arranged at the assembly plane, and the first displacement component comprises a first moving end. The assembly jig, by adopting the technical means of the workbench, the positioning mechanism and the travel mechanism, can accurately limit the position of the workpiece and control the motion trajectory of the riveting device, effectively solving the positioning difficulties and cumbersome operation problems caused by the complex shape of the aluminum profile door sill beam in the prior art, thereby achieving higher assembly accuracy and production efficiency, reducing the dependence on manual adjustment in the production process, and reducing production costs.

Description

Technical Field

[0001] The invention relates to an assembly jig, and in particular to an assembly jig based on riveting and a control method. Background Art

[0002] With the advancement of the trend of lightweight automobiles, many traditional metal materials are gradually being replaced. Among them, aluminum has become the first choice for new automotive structural materials due to its low density and good corrosion resistance. Especially in the design of key components such as door sill beams, aluminum can not only effectively reduce the overall weight of the vehicle body, but also improve the vehicle's endurance performance. However, aluminum faces more complex processing requirements during the manufacturing process, especially in the production process of aluminum profiles for door sill beams. Due to its complex cross-section and large changes in shape and structure at different positions, the complexity and cost of the production process have increased accordingly.

[0003] At present, the mounting points (components) on the aluminum profile sill beam are usually connected by fixings, among which the more common connection method is blind rivet. Blind rivet has good fixation and reliability and is widely used in automobile manufacturing.

[0004] However, due to the complex cross-section of the aluminum profile door sill beam and the large changes in shape and structure at different positions, the traditional core-pulling riveting process faces certain challenges during the installation process. In particular, during the installation process, multiple positioning and adjustments are required according to the shape and structure of each position, which not only makes the operation cumbersome, but also consumes a lot of time. Each time riveting is performed, the accurate positioning of the workpiece and the alignment of the rivet holes need to be finely adjusted, which greatly increases the complexity of the production process and reduces production efficiency. Therefore, the existing riveting assembly method has certain limitations and operational difficulties when dealing with the complex shape of the aluminum profile door sill beam. Therefore, there is an urgent need for an assembly jig that can adapt to the different shape changes of the aluminum profile door sill beam to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide an assembly jig that can accurately fix the installation point at the riveting hole on the door sill beam by optimizing the design of the positioning mechanism and the stroke mechanism, effectively adapt to the complex cross-section and shape changes of the aluminum profile, reduce the debugging and operation time during the assembly process, and thus improve production efficiency.

[0006] The technical solution adopted by the present invention to solve the above problem is: an assembly jig for assembling parts at the circular riveting holes on the side of the workpiece, comprising:

[0007] The workbench comprises an assembly plane for holding workpieces, wherein the assembly plane is parallel to a horizontal plane.

[0008] A positioning mechanism is arranged at the assembly plane to limit the movement of a workpiece placed on the assembly plane.

[0009] A travel mechanism is arranged at the assembly plane, and the travel mechanism comprises:

[0010] The first displacement assembly is arranged at the assembly plane, and the first displacement assembly includes a first moving end, the first moving end moves in a controlled manner, and the first moving end is configured to move toward a side surface of the workpiece or away from the side surface of the workpiece.

[0011] The riveting device is connected to the travel mechanism to move with the first moving end. The riveting device includes a riveting end, a blind rivet is installed at the riveting end, and the riveting end is aligned with the circular riveting hole on the side of the workpiece.

[0012] Preferably, the number of the travel mechanisms and the number of the riveting devices are both plural, and each of the travel mechanisms is connected to each of the riveting devices in a one-to-one correspondence.

[0013] Preferably, the travel mechanism further comprises:

[0014] The mounting bracket is used for connecting the riveting device to the travel mechanism, so that the riveting device moves with the first moving end.

[0015] A telescopic component is arranged on the mounting bracket, and the telescopic component includes a first telescopic end, the first telescopic end moves in a controlled manner, and the moving direction of the first telescopic end is parallel to the moving direction of the first moving end.

[0016] A centering mechanism is provided at the first telescopic end of the telescopic assembly to move with the first telescopic end, and the centering mechanism comprises:

[0017] An annular member is arranged at the first telescopic end, the annular member is sleeved on the outside of the riveted end, and the annular member is coaxially arranged with the blind rivet at the riveted end.

[0018] A centering piece is arranged on the annular piece, and the centering piece moves in a controlled manner. The moving direction of the centering piece is in the same radial direction as the annular piece. The number of the centering pieces is at least three, and each of the centering pieces is evenly spaced along the annular edge contour of the annular piece, and each of the centering pieces is configured to move synchronously.

[0019] The second displacement assembly is arranged at the first moving end of the first displacement assembly, and the second displacement assembly includes a second moving end, the second moving end moves in a controlled manner, and the moving direction of the second moving end is limited to be perpendicular to the assembly plane.

[0020] A third displacement assembly is arranged at the second movable end, and the third displacement assembly includes a third movable end, and the third movable end is connected to the mounting bracket so that the third movable end moves with the mounting bracket, and the movement trajectory of the third movable end is limited to be parallel to the assembly plane.

[0021] Wherein, the centering mechanism includes a centering state. When the centering mechanism is in the centering state, the centering mechanism moves with the first telescopic end to the circular riveting hole corresponding to the side of the workpiece, and the side of each centering member away from the center of the annular member is abutted against the inner circumference of the circular riveting hole, so that the axis of the annular member is colinear with the axis of the circular riveting hole.

[0022] Preferably, the third displacement assembly comprises:

[0023] The third mounting seat includes a displacement plane, and the displacement plane is arranged parallel to the assembly plane.

[0024] The third movable member comprises a magnetic conductive end and the third movable end, wherein the magnetic conductive end comprises a sliding surface, and the sliding surface is in sliding cooperation with the displacement plane.

[0025] The electromagnetic component generates a magnetic field in a controlled manner. The electromagnetic component is arranged at the third mounting seat so that the magnetic conductive end is placed in the magnetic field to adjust the friction between the sliding surface and the displacement plane.

[0026] Preferably, the second displacement assembly comprises:

[0027] A second driver controls the movement of the second moving end.

[0028] The travel mechanism also includes:

[0029] The first pressure sensors are equal in number to the centering members, and the first pressure sensors are arranged in a one-to-one correspondence on a side of each centering member away from the center of the annular member.

[0030] The controller is connected to the second driver and the first pressure sensors to drive the second driver to operate according to feedback from the first pressure sensors.

[0031] Preferably, the centering member comprises an arcuate surface, the arcuate surface is arranged on a side of the centering member away from the center of the annular member, and the radius corresponding to the arcuate surface is the same as the radius of the circular riveting hole on the side of the workpiece.

[0032] Preferably, the travel mechanism further comprises:

[0033] The first abutment members, the number of which is the same as the number of the centering members, each of which is arranged in a one-to-one correspondence at an end of each of the centering members away from the telescopic assembly, and each of which is extended and formed in a direction away from the center of the annular member, and each of which includes a first abutment plane, which is perpendicular to the moving direction of the first telescopic end, and is arranged on a side of the first abutment member facing the riveting device.

[0034] A second abutment, the number of the second abutment is at least three, each of the second abutment is evenly spaced along the annular edge contour of the annular member, and each of the second abutment moves in a controlled manner, the movement direction of the second abutment is parallel to the movement direction of the first telescopic end, the second abutment includes a second abutment plane, the second abutment plane is perpendicular to the movement direction of the first telescopic end, and the second abutment plane is arranged on a side of the second abutment away from the riveting device.

[0035] Second pressure sensors, the number of the second pressure sensors is the same as the number of the centering members, each of the second pressure sensors is arranged at the first abutting plane of each of the first abutting members in a one-to-one correspondence, and each of the second pressure sensors is connected to the controller.

[0036] The third pressure sensor, the number of the third pressure sensors is the same as the number of the centering members, each of the third pressure sensors is arranged at the second abutting plane of each of the second abutting members in a one-to-one correspondence, and each of the third pressure sensors is connected to the controller.

[0037] Preferably, the positioning mechanism comprises:

[0038] A first limiting member is arranged at the assembly plane, and the first limiting member includes a first limiting surface, a second limiting surface and a third limiting surface. The first limiting surface is arranged parallel to the assembly plane, and the second limiting surface and the third limiting surface are configured to abut against two opposite sides of the workpiece when the workpiece is placed at the first limiting surface, so as to limit the movement of the workpiece along a first direction, and the first direction is parallel to the assembly plane.

[0039] A second limit member is arranged at the assembly plane, and the second limit member is configured to be located at one end of the workpiece when the workpiece is placed at the assembly plane and abutted by the first limit member, so as to limit the workpiece from moving along a second direction toward the direction close to the second limit member, and the second direction is perpendicular to the first direction.

[0040] A third limit member is arranged at the assembly plane, and the third limit member moves in a controlled manner. The moving direction of the third limit member is parallel to the second direction. The third limit member is arranged at the other end of the workpiece away from the second limit member. When the third limit member abuts against the end of the workpiece, it applies a thrust directed to the second limit member to the workpiece, so that the workpiece moves in a direction close to the second limit member or the end of the workpiece away from the third limit member abuts against the second limit member.

[0041] A fourth limit member is arranged at the assembly plane, and the fourth limit member moves in a controlled manner. The moving direction of the fourth limit member is perpendicular to the first limit surface. The fourth limit member includes a fourth limit surface, and the fourth limit surface is configured to abut against the side of the workpiece away from the assembly plane when the fourth limit member abuts against the workpiece, so as to apply pressure to the workpiece directed toward the assembly plane.

[0042] In particular, a control method for the above-mentioned assembly fixture includes:

[0043] After the workpiece is placed on the assembly plane, the workpiece is restricted to a preset position by the positioning mechanism so that each circular riveting hole on the side of the workpiece is aligned with the riveting end of each riveting device.

[0044] The moving distance of the first telescopic end is controlled according to the distance from the riveting end of the riveting equipment to the workpiece, so that each of the centering members is moved into the circular riveting hole aligned therewith, and each of the first abutting members is moved into the interior of the workpiece through the corresponding circular riveting hole, while each of the second abutting members is placed outside the workpiece.

[0045] Each of the centering parts is controlled to move in a direction away from the corresponding annular part, so that the side of each of the centering parts away from the center of the corresponding annular part abuts against the inner wall of the circular riveting hole, and the pressure value of each of the centering parts is detected by the first pressure sensor located on the side of the centering parts away from the corresponding annular part.

[0046] The operation of the second driver and the electromagnetic assembly in the stroke mechanism is controlled according to the pressure values ​​corresponding to each of the centering parts in the stroke mechanism to adjust the posture of the blind rivet at the riveting end of the riveting device connected to the stroke mechanism so that the axis of the blind rivet at the riveting end of the riveting device passes through the center of the corresponding circular riveting hole.

[0047] Preferably, a control method for the above-mentioned assembly jig further includes:

[0048] Control the contraction of each of the first telescopic ends so that the first abutment plane of the first abutment member abuts against the inside of the workpiece at the edge of the corresponding circular rivet hole, and control each of the second abutment members to move toward the direction approaching the workpiece so that the second abutment plane of the second abutment member abuts against the outside of the workpiece at the edge of the corresponding circular rivet hole, so as to clamp the edge of the corresponding circular rivet hole between the first abutment member and the second abutment member.

[0049] The operation of the electromagnetic assembly is controlled according to the detection values ​​of each of the second pressure sensors and the detection values ​​of each of the third pressure sensors in the stroke mechanism to adjust the posture of the blind rivet at the riveting end of the riveting device connected to the stroke mechanism so that the axis of the blind rivet at the riveting end of the riveting device is coaxial with the axis of the corresponding circular riveting hole.

[0050] The beneficial effects of each embodiment of the present invention are as follows:

[0051] The assembly jig, by adopting the technical means of a workbench, a positioning mechanism and a travel mechanism, can accurately limit the position of the workpiece and control the movement trajectory of the riveting equipment, effectively solving the problems of difficult positioning and complicated operation caused by the complex shape of the aluminum profile door sill beam in the prior art, thereby achieving higher assembly accuracy and production efficiency, reducing dependence on manual adjustment in the production process, and reducing production costs.

[0052] The assembly jig, by using technical means such as a workbench, a positioning mechanism, a travel mechanism, a telescopic component, and a centering mechanism, can accurately control the position of the riveting device after the sill beam body is positioned by the positioning mechanism, and in particular, ensure that the riveting end of each riveting device is accurately aligned with the axis of multiple riveting holes on the side of the sill beam through the centering mechanism. This design effectively solves the problem in the prior art that the axis of the blind rivet at the riveting end is not in line with the center of gravity of the riveting hole due to factors such as production process accuracy and positioning assembly accuracy, thereby improving assembly accuracy and efficiency, reducing production time and cost caused by multiple adjustments and alignments, and significantly improving the degree of production automation.

[0053] The assembly jig can accurately align the riveting end of the riveting device with the circular riveting hole on the side of the workpiece after the workpiece is positioned by the positioning mechanism. By setting a centering mechanism, a stroke mechanism and various pressure sensors, the centering state of the riveting device can be monitored in real time, and the posture of the riveting device can be adjusted according to the measured pressure value, thereby ensuring that the axis of the blind rivet at the riveting end is in line with the center of gravity axis of the riveting hole, avoiding alignment errors caused by production accuracy problems.

[0054] The control method of the assembly jig makes the riveting process more accurate and efficient by intelligently adjusting the posture of the riveting end of the riveting equipment, significantly reduces production waste caused by inaccurate alignment, and improves assembly efficiency and product quality. The assembly jig not only reduces the tedious manual operations in traditional processes, but also realizes high-precision automated assembly, significantly improving the automation level and reliability of the production line, thereby helping to reduce production costs and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic structural diagram of an assembly fixture in one embodiment of the present invention.

[0056] Figure 2 It is a schematic structural diagram of a centering mechanism in one embodiment of the present invention.

[0057] Figure 3 It is a schematic structural diagram of a centering mechanism in an assembly state in one embodiment of the present invention.

[0058] Figure 4 The present invention Figure 3 Schematic enlargement of point A in the middle.

[0059] Figure 5 It is a schematic structural diagram of a centering mechanism in one embodiment of the present invention.

[0060] Figure 6 It is a schematic structural diagram of a riveting device, a telescopic assembly and a centering mechanism in one embodiment of the present invention.

[0061] Wherein: 100, workpiece; 110, circular riveting hole; 200, workbench; 210, bottom bracket; 220, lifting mechanism; 230, lifting plate; 231, assembly plane; 300, positioning mechanism; 310, first stopper; 320, second stopper; 330, third stopper; 340, fourth stopper; 400, travel mechanism; 410, first displacement assembly; 411, first moving end; 420, mounting bracket; 430, telescopic assembly; 431, first telescopic end; 432, moving tube; 433, driving tube; 434, first driving gear; 435, first driving motor; 436, fixed tube; 440, centering mechanism; 441 , annular member; 442, centering member; 443, turntable; 444, second drive motor; 450, second displacement assembly; 451, second moving end; 460, third displacement assembly; 461, third mounting seat; 4611, displacement plane; 462, third moving member; 4621, magnetic conductive end; 4622, third moving end; 4623, sliding surface; 470, first pressure sensor; 480, first abutment member; 481, first abutment plane; 490, second abutment member; 491, second abutment plane; 4100, second pressure sensor; 4110, third pressure sensor; 500, riveting equipment; 510, riveting end; 600, blind rivet. DETAILED DESCRIPTION

[0062] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0063] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, 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, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description created by the present application, unless otherwise specified, "multiple" means two or more.

[0064] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0065] like Figure 1 A preferred embodiment of the present application provides an assembly jig for assembling parts at a circular rivet hole 110 on the side of a workpiece 100. The workpiece 100 can be embodied as a threshold beam or other parts. Taking the threshold beam as an example, the specific example is as follows: Figure 1 shown.

[0066] like Figure 1 and Figure 2 As shown, an assembly fixture includes a workbench 200, a positioning mechanism 300, a travel mechanism 400 and a riveting device 500. The workbench 200 includes an assembly plane 231, the assembly plane 231 is used to hold a workpiece 100, and the assembly plane 231 is parallel to a horizontal plane; the positioning mechanism 300 is installed at the assembly plane 231 to limit the movement of the workpiece 100 placed at the assembly plane 231; the travel mechanism 400 is arranged at the assembly plane 231, and the travel mechanism 400 includes a first displacement component 410, the first displacement component 410 is arranged at the assembly plane 231, and the first displacement component 410 includes a first movable end 411, which moves in a controlled manner and is configured to move toward a side of the workpiece 100 or away from the side of the workpiece 100; a riveting device 500 is connected to the stroke mechanism 400 to move with the first movable end 411, and the riveting device 500 includes a riveting end 510, a blind rivet 600 is installed at the riveting end 510, and the riveting end 510 is aligned with the circular riveting hole 110 on the side of the workpiece 100.

[0067] The assembly jig uses technical means of cooperation among the workbench 200, the positioning mechanism 300 and the travel mechanism 400 to accurately limit the position of the workpiece 100 and control the movement trajectory of the riveting device 500, effectively solving the problems of difficult positioning and complicated operation caused by the complex shape of the workpiece 100 (aluminum profile door sill beam) in the prior art, thereby achieving higher assembly accuracy and production efficiency, reducing dependence on manual adjustment in the production process, and reducing production costs.

[0068] Wherein, in some embodiments, Figure 1As shown, the workbench 200 further includes a bottom bracket 210, in which a lifting mechanism 220 is installed. The lifting mechanism 220 includes a lifting part with controlled movement, and the movement of the lifting part is configured to be perpendicular to the assembly plane 231. A lifting plate 230 is installed at the lifting part, and the side of the lifting plate 230 away from the lifting mechanism 220 is a plane, which is the assembly plane 231. The lifting mechanism 220 can cooperate with the positioning mechanism 300 to achieve the positioning of the workpiece 100 placed on the assembly plane 231.

[0069] Specifically, the bottom bracket 210 is formed by splicing a plurality of profiles. When the workbench 200 is placed on a plane parallel to the horizontal plane, the top surface of the bottom bracket 210 is parallel to the horizontal plane. At this time, the moving direction of the lifting part in the lifting mechanism 220 is perpendicular to the horizontal plane, that is, the assembly plane 231 is parallel to the horizontal plane. The lifting mechanism 220 is specifically embodied as a combination of a linear drive mechanism and a lifting plate 230. The linear drive mechanism includes a telescopic cylinder or an electric push cylinder driven by a motor and a lead screw. The linear drive mechanism is a prior art and will not be described in detail here.

[0070] This embodiment realizes the stability and adjustability of the assembly plane 231 through the design of the bottom bracket 210 and the lifting mechanism 220 in the workbench 200, ensures the height adjustment of the workpiece 100 during the assembly process, and further improves the accuracy of positioning and the convenience of operation. At the same time, the cooperation of the lifting mechanism 220 and the positioning mechanism 300 makes the positioning of the workpiece 100 more flexible and accurate, providing a reliable guarantee for the subsequent riveting operation.

[0071] In order to match the number of circular rivet holes 110 opened on the side of the workpiece 100, in some embodiments, as Figure 1 As shown, the number of the travel mechanisms 400 and the number of the riveting devices 500 are both several, and each of the travel mechanisms 400 is connected to each of the riveting devices 500 in a one-to-one correspondence manner.

[0072] The riveting device 500 is specifically embodied as a device for blind riveting. The riveting device 500 has a riveting interface (i.e., a riveting end 510), and the blind rivet 600 is installed at the riveting interface. The riveting device 500 is a device specifically used for performing the blind riveting process. It integrates multiple functions such as riveting, positioning, and control, and can complete the installation and automatic riveting process of the blind rivet 600. The riveting device 500 is a prior art and will not be described in detail here.

[0073] Since the present embodiment adopts the technical means of connecting the stroke mechanism 400 and the riveting device 500 in a one-to-one correspondence, and the riveting device 500 is specially used to perform the core-pulling riveting process, integrating multiple functions such as riveting, positioning, and control, it effectively solves the technical problems of low riveting efficiency and insufficient precision caused by the large number of circular riveting holes 110 opened on the side of the workpiece 100 (aluminum profile door sill beam) in the prior art, and through the corresponding connection of multiple stroke mechanisms 400 and multiple riveting devices 500, the synchronous operation of multiple riveting points is realized, which greatly improves the riveting efficiency and meets the needs of large-scale and rapid production. At the same time, it also optimizes the riveting process of complex workpieces 100, making the production process smoother, reducing the waiting and adjustment time in production, and further improving the overall efficiency of the production line.

[0074] In order to accurately limit the position of the workpiece 100, the positioning mechanism 300 may be configured as follows: Figure 1 As shown, the positioning mechanism 300 includes a first limit member 310, a second limit member 320 and a third limit member 330, wherein the first limit member 310 is installed at the assembly plane 231, the first limit member 310 includes a first limit surface, a second limit surface and a third limit surface, the first limit surface is arranged in parallel with the assembly plane 231, the second limit surface and the third limit surface are configured to abut against the two sides opposite to the workpiece 100 when the workpiece 100 is placed at the first limit surface, so as to limit the workpiece 100 from moving along a first direction, and the first direction is parallel to the assembly plane 231; the second limit member 320 is installed at the assembly plane 231, and the second limit member 320 is configured to be installed at one end of the workpiece 100 when the workpiece 100 is placed on the assembly plane 231 and abutted by the first limit member 310, so as to limit the workpiece 100 from moving along a second direction toward the direction close to the second limit member 320, and the second direction is perpendicular to the first direction. When the workpiece 100 is a gate railing beam, the first direction is parallel to the width or height direction of the gate railing beam, and the second direction is parallel to the length direction of the gate railing beam. The third stopper 330 is arranged at the assembly plane 231, and the third stopper 330 moves in a controlled manner. The moving direction of the third stopper 330 is parallel to the second direction. The third stopper 330 is installed at the other end of the workpiece 100 away from the second stopper 320. When the third stopper 330 abuts against the end of the workpiece 100, it will apply a thrust directed to the second stopper 320 to the workpiece 100, so that the workpiece 100 moves in a direction close to the second stopper 320 or the end of the workpiece 100 away from the third stopper 330 abuts against the second stopper 320.

[0075] Specifically, the first limiting member 310 can be embodied as a positioning base in a specific manner, such as Figure 1As shown, the positioning base is fixedly mounted on the assembly plane 231, and the side of the positioning base facing away from the assembly plane 231 is constructed as a positioning groove that matches the bottom and bottom edge shape of the workpiece 100, so that when the workpiece 100 is placed on the assembly plane 231, the bottom and edge of the workpiece 100 fit with the inner wall of the positioning groove, thereby limiting the movement of the workpiece 100 along the first direction. The second limiter 320 is fixedly mounted on the assembly plane 231, and it has a supporting surface to abut against one end of the workpiece 100 (gate railing beam). The third limiter 330 includes a linear guide rail, a slider and a positioning member. The linear guide rail is mounted on the bottom bracket 210, and the linear extension direction of the linear guide rail is parallel to the second direction. The slider is connected to the linear guide rail in a sliding fit manner, and the positioning member is mounted on the slider so that the positioning member moves along the second direction with the slider. When the workpiece 100 is positioned in a plane, the slider is pushed to move toward the workpiece 100 so that one end of the positioning member abuts against the end of the workpiece 100 away from the second limiting member 320 to push the workpiece 100 toward the second limiting member 320 until the workpiece 100 is clamped by the second limiting member 320 and the positioning member.

[0076] In this embodiment, since a positioning mechanism 300 including a first limiting member 310, a second limiting member 320 and a third limiting member 330 is adopted, and a multi-directional and multi-point precise limiting design is adopted, the technical problem of difficult positioning and easy displacement of the workpiece 100 (such as an aluminum profile door sill beam) in the prior art is effectively solved, thereby achieving precise horizontal positioning of the workpiece 100 during the assembly process, improving assembly accuracy and efficiency, reducing the need for manual adjustment, reducing production costs, and improving the automation level and reliability of the production line.

[0077] Furthermore, in order to achieve precise positioning of the workpiece 100 in the vertical direction, in some embodiments, the positioning mechanism 300 further includes a fourth limiting member 340, such as Figure 1 As shown, the fourth limit member 340 is arranged at the assembly plane 231, and the fourth limit member 340 moves in a controlled manner. The moving direction of the fourth limit member 340 is perpendicular to the first limiting surface, that is, the moving direction of the fourth limit member 340 is perpendicular to the assembly plane 231. The fourth limit member 340 includes a fourth limiting surface, and the fourth limiting surface is configured to abut against the side of the workpiece 100 away from the assembly plane 231 when the fourth limit member 340 abuts against the workpiece 100, so as to apply pressure to the workpiece 100 directed to the assembly plane 231.

[0078] Specifically, the fourth limiting member 340 can be specifically embodied as consisting of a telescopic cylinder and a positioning pressure block. The telescopic cylinder is fixedly installed on the assembly plane 231, and the telescopic direction of the telescopic end of the telescopic cylinder is perpendicular to the assembly plane 231. The positioning pressure block is fixedly installed at the telescopic end of the telescopic cylinder to move with the telescopic end. During the contraction of the telescopic end, the side of the positioning pressure block facing the assembly plane 231 (the fourth limiting surface) will abut against the side of the workpiece 100 away from the workbench 200 to fix the workpiece 100 on the workbench 200, thereby completing the limitation of the workpiece 100 in the vertical direction.

[0079] In this embodiment, due to the technical means of adding a fourth limit member 340, controlled movement and pressure application in the vertical direction are realized through the design of a telescopic cylinder and a positioning pressure block. Therefore, the technical problems of unstable positioning and easy deviation of the workpiece 100 in the vertical direction in the prior art are effectively solved, thereby realizing all-round and precise positioning of the workpiece 100 in three-dimensional space, ensuring the stability and consistency of the workpiece 100 during the assembly process, further improving the assembly accuracy and efficiency, and at the same time enhancing the automation capability of the production line and the reliability of product quality.

[0080] The side of the workpiece 100 is provided with a plurality of rivet holes (i.e., the installation points of the parts), and the parts are installed in these circular rivet holes 110 through the blind riveting process. Because the design purpose of the assembly jig is to improve the assembly production efficiency, after the workpiece 100 is restricted on the assembly plane 231 by the positioning mechanism 300, each riveting device 500 in the assembly jig can install each part in the corresponding circular rivet hole 110 on the side of the workpiece 100 through the blind rivet 600. At this time, the axis of the blind rivet 600 in the riveting end 510 of each riveting device 500 is not colinear with the axis of the corresponding circular rivet hole 110 due to the influence of positioning error, part tolerance and assembly deformation. Therefore, in order to ensure the riveting quality of the rivet, in some embodiments, such as Figures 1 to 6 The travel mechanism 400 further includes a mounting bracket 420 , a telescopic assembly 430 , a centering mechanism 440 , a second displacement assembly 450 and a third displacement assembly 460 .

[0081] Among them, the riveting device 500 is connected to the stroke mechanism 400 through the mounting bracket 420, so that the riveting device 500 moves with the first moving end 411; the telescopic component 430 is fixedly mounted on the mounting bracket 420, and the telescopic component 430 includes a first telescopic end 431, the first telescopic end 431 moves in a controlled manner, and the moving direction of the first telescopic end 431 is parallel to the moving direction of the first moving end 411; the centering mechanism 440 is arranged at the first telescopic end 431 of the telescopic component 430 to move with the first telescopic end 431, and the centering mechanism 440 includes a ring member 441 and a centering member 442, the ring member 441 is fixedly mounted at the first telescopic end 431, the ring member 441 is sleeved on the outside of the riveting end 510, and the ring member 441 is coaxially arranged with the blind rivet 600 at the riveting end 510, and the centering member 442 is mounted on the ring member 441 in a movable connection manner, and the centering member 442 is controlled The centering member 442 moves in a controlled manner, the moving direction of the centering member 442 is in the same radial direction as the annular member 441, the number of the centering members 442 is at least three, the centering members 442 are evenly spaced along the annular edge contour of the annular member 441, and the centering members 442 are configured to move synchronously; the second displacement assembly 450 is arranged at the first moving end 411 of the first displacement assembly 410, the second displacement assembly 450 includes a second moving end 451, the second moving end 451 moves in a controlled manner, and the moving direction of the second moving end 451 is limited to be perpendicular to the assembly plane 231; the third displacement assembly 460 is arranged at the second moving end 451, the third displacement assembly 460 includes a third moving end 4622, the third moving end 4622 is connected to the mounting bracket 420, so that the third moving end 4622 moves with the mounting bracket 420, and the moving trajectory of the third moving end 4622 is limited to be parallel to the assembly plane 231. Among them, the centering mechanism 440 includes a centering state. When the centering mechanism 440 is in the centering state, the centering mechanism 440 moves with the first telescopic end 431 to the circular riveting hole 110 corresponding to the side of the workpiece 100, and the side of each centering member 442 away from the center of the annular member 441 is abutted against the inner circumference of the circular riveting hole 110, so that the axis of the annular member 441 is colinear with the axis of the circular riveting hole 110.

[0082] Among them, the telescopic component 430 also includes a fixed tube 436, a movable tube 432, a driving tube 433, a first driving gear 434 and a first driving motor 435 fixedly mounted on the mounting bracket 420. The outer peripheral side profile of the fixed tube 436 is a regular polygon when observed from a cross section. The axial direction of the fixed tube 436 is colinear with the axis of the blind rivet 600 at the riveting end 510 of the corresponding riveting device 500. The inner peripheral side of the movable tube 432 is a regular polygon that matches the outer peripheral side profile of the fixed tube 436 when observed from a cross section. The movable tube 432 is movably sleeved on the outside of the fixed tube 436 so that the movable tube 432 can only move along its own axial direction. The end of the movable tube 432 away from the mounting bracket 420 is the first A telescopic end 431, the centering mechanism 440 is installed at this end of the moving tube 432, the outer circumference of the moving tube 432 is provided with a thread, the driving tube 433 is sleeved on the outside of the moving tube 432, and the inner circumference of the driving tube 433 is provided with a thread, so that the driving tube 433 is threadedly connected to the moving tube 432, and the driving tube 433 is rotatably connected to the mounting bracket 420 so that the driving tube 433 is restricted to rotate on the mounting bracket 420. When the driving tube 433 rotates, the moving tube 432 moves along its own axis under the cooperation of the threaded connection and the fixed tube 436, so as to move the annular member 441 fixed on the end of the moving tube 432 away from the mounting bracket 420 to the corresponding circular riveting hole 110. The first driving gear 434 is fixedly sleeved on the outside of the driving tube 433, the first driving motor 435 is installed on the mounting bracket 420, and a transmission gear meshingly connected with the first driving gear 434 is provided on the output shaft of the first driving motor 435, so that the first driving motor 435 can drive the driving tube 433 to rotate.

[0083] The outer diameter of the ring member 441 should be smaller than the inner diameter of the corresponding circular riveting hole 110, so that the centering mechanism 440 can perform the centering operation. The axis of the ring member 441 is collinear with the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 at the corresponding position, that is, the ring member 441 is sleeved on the outside of the blind rivet 600, and the two are coaxially arranged. When the number of centering members 442 in a centering mechanism 440 is three, the three centering members 442 are movably connected to the ring member 441 in an equidistant manner, that is, the interval angle between the three adjacent centering members 442 is 120°. The centering mechanism 440 further includes a second driving motor 444 and a turntable 443 installed inside the annular member 441. A through hole is provided at the center of the turntable 443. The diameter of the through hole is larger than the inner diameter of the annular member 441. The turntable 443 is coaxially arranged with the annular member 441. A spiral line protrusion is provided on the side of the turntable 443 away from the mounting bracket 420 to cooperate with the arc groove provided on the side of each centering member 442 toward the mounting bracket 420. In addition, the turntable 443 is configured to rotate only around its own axis. In order to provide power for the movement of the centering member 442, a guide groove is provided on the side of the ring member 441 away from the mounting bracket 420, the extension direction of the guide groove is parallel to the radial direction of the ring member 441, and the number of the guide grooves is equal to the number of the centering members 442. Each centering member 442 is installed in each guide groove in a one-to-one correspondence. When the turntable 443 rotates, each centering member 442 can move along the extension direction of the corresponding guide groove under the cooperation of the arc groove, the spiral line protrusion and the guide groove. The outer peripheral side of the turntable 443 is constructed as a tooth groove structure, and the second drive gear is sleeved on the output shaft of the second drive motor 444. The second drive gear is meshed with the tooth groove structure on the outer peripheral side of the turntable 443, so that the turntable 443 can be driven by the second drive motor 444.

[0084] The second displacement assembly 450 can be embodied as an electric slide or an electric push rod in a specific manner, and the second moving end 451 is a slider on the electric slide or a moving end on the electric push rod. The third moving end 4622 of the third displacement assembly 460 is fixedly connected to the mounting bracket 420, so that the third displacement assembly 460 can move with the mounting bracket 420 during the centering process of the centering mechanism 440. The centering mechanism 440 abuts against the inner wall of the circular riveting hole 110 through each centering member 442 away from the center of the annular member 441, so that the mounting bracket 420 is passively stressed, so as to adjust the posture of the riveting device 500 and the blind rivet 600 under the cooperation of the second displacement assembly 450 and the third displacement assembly 460.

[0085] In order to further illustrate the change process of the third displacement assembly 460 after the mounting bracket 420 is passively subjected to force, the third displacement assembly 460 also includes a third mounting seat 461, a third moving member 462 and an electromagnetic assembly (not shown in the figure), wherein the third mounting seat 461 is arranged at the second moving end 451 to move with the second moving end 451, and a displacement plane 4611 is constructed on the side of the third mounting seat 461 away from the second moving end 451, and the third moving member 462 includes a magnetic conductive end 4621 and the third moving end 4622, and the magnetic conductive end 4621 includes a sliding surface 4623, and the sliding surface 4623 is slidably matched with the displacement plane 4611, so that the mounting bracket 420 slides after the centering member 442 abuts against the inner wall of the circular riveting hole 110 and is passively subjected to force, thereby realizing the adjustment of the position and posture of the riveting device 500 and the blind rivet 600 paper strip, and the third moving end 4622 is connected to the mounting bracket 420. It should be noted that, in addition to the sliding fit between the third moving member 462 and the third mounting seat 461, in order to prevent the third moving member 462 from being separated from the third mounting seat 461, a limiting structure is also provided at the connection between the two to limit the third moving member 462 from being separated from the third mounting seat 461, so that the sliding surface 4623 is limited to sliding only along the displacement plane 4611. The electromagnetic component generates a magnetic field in a controlled manner, and the electromagnetic component is installed at the third mounting seat 461 so that the magnetic conductive end 4621 is placed in the magnetic field to adjust the friction between the sliding surface 4623 and the displacement plane 4611. The electromagnetic component can enhance the magnetic field when the third displacement component 460 has been adjusted after the mounting bracket 420 is passively subjected to force, so as to limit the relative movement of the sliding surface 4623 and the displacement plane 4611, thereby achieving precise positioning of the riveting device 500.

[0086] In order to further explain the change process of the second displacement assembly 450 after the mounting bracket 420 is passively stressed, the second displacement assembly 450 includes a second driver (not shown in the figure), and the second driver controls the movement of the second moving end 451. In addition, the stroke mechanism 400 also includes first pressure sensors 470 and a controller (not shown in the figure), wherein the number of the first pressure sensors 470 is equal to the number of the centering members 442, and each of the first pressure sensors 470 is arranged on the side of each of the centering members 442 away from the center of the annular member 441 in a one-to-one correspondence manner, and the controller is connected to the second driver and the first pressure sensor 470 to drive the second driver to operate according to the feedback of each of the first pressure sensors 470. So that the second moving end 451 can determine the moving direction and distance according to the feedback of the detection values ​​of each of the first pressure sensors 470 in the stroke mechanism 400.

[0087] When the difference of the detection data of each first pressure sensor 470 in the stroke mechanism 400 is less than the first preset value, it can be considered that the centering mechanism 440 has completed the centering, that is, the axis of the blind rivet 600 in the riveting end 510 of the riveting device 500 passes through the center of the corresponding circular riveting hole 110 on the workpiece 100. In the process of completing the centering, the second moving end 451 is adjusted by the feedback of the second driver and the electromagnetic component in the controller, and the position and posture of the riveting device 500 gradually change until the centering is completed.

[0088] In this embodiment, a travel mechanism 400 including a mounting bracket 420, a telescopic assembly 430, a centering mechanism 440, a second displacement assembly 450 and a third displacement assembly 460 is adopted. Through a multi-stage displacement and precise centering design, combined with feedback adjustment of a pressure sensor and a controller, the technical problems of misalignment between the axis of the blind rivet 600 and the axis of the circular riveting hole 110 and unstable riveting quality in the prior art in the riveting device 500 are effectively solved, thereby achieving precise positioning and posture adjustment of the riveting device 500 in three-dimensional space, ensuring precise centering of the blind rivet 600 and the circular riveting hole 110, improving riveting quality and efficiency, and at the same time enhancing the automation level and production reliability of assembly jigs, significantly reducing adjustment time and scrap rate in the production process, and improving overall production efficiency.

[0089] Furthermore, in order to ensure accurate centering, the centering piece 442 includes an arcuate surface, which is located on the side of the centering piece 442 away from the center of the annular piece 441. The radius corresponding to the arcuate surface should be the same as the radius of the circular rivet hole 110 on the side of the workpiece 100, so that during the centering process, the centering piece 442 can better fit with the inner wall of the circular rivet hole 110 to further ensure the accuracy of the centering.

[0090] In the present embodiment, due to the technical means adopted that the centering piece 442 includes an arc surface, it is ensured that the radius of the arc surface of the centering piece 442 is the same as the radius of the circular rivet hole 110 on the side of the workpiece 100, thereby achieving a close fit between the centering piece 442 and the inner wall of the circular rivet hole 110. Therefore, the technical problems of insufficient centering accuracy and easy error in the prior art are effectively solved, thereby achieving a higher precision centering effect, significantly improving the accuracy and quality of riveting, reducing adjustments and rework during the assembly process, and further improving production efficiency and product consistency.

[0091] When the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 passes through the center of the circular riveting hole 110 aligned with it on the workpiece 100, the axis of the blind rivet 600 and a side wall of the workpiece 100 with the circular riveting hole 110 aligned with it may be in a non-vertical state. In order to further improve the riveting quality, in some embodiments, such as Figure 5 and Figure 6 As shown, the travel mechanism 400 further includes a first abutment member 480 , a second abutment member 490 , a second pressure sensor 4100 and a third pressure sensor 4110 .

[0092] Among them, the number of the first abutment members 480 is the same as the number of the centering members 442, and each of the first abutment members 480 is arranged in a one-to-one correspondence at an end of each of the centering members 442 away from the telescopic assembly 430, and each of the first abutment members 480 is extended and formed in a direction away from the center of the annular member 441, and each of the first abutment members 480 includes a first abutment plane 481, which is perpendicular to the moving direction of the first telescopic end 431, and the first abutment plane 481 is arranged on the side of the first abutment member 480 facing the riveting device 500.

[0093] The number of the second abutment members 490 is at least three, and the second abutment members 490 are evenly spaced along the annular edge contour of the annular member 441, and the second abutment members 490 move in a controlled manner. The movement direction of the second abutment member 490 is parallel to the movement direction of the first telescopic end 431, and the second abutment member 490 includes a second abutment plane 491, which is perpendicular to the movement direction of the first telescopic end 431, and the second abutment plane 491 is arranged on the side of the second abutment member 490 away from the riveting device 500.

[0094] The number of the second pressure sensors 4100 is the same as the number of the centering members 442 , and each of the second pressure sensors 4100 is arranged at the first abutment plane 481 of each of the first abutment members 480 in a one-to-one correspondence, and each of the second pressure sensors 4100 is connected to the controller.

[0095] The number of the third pressure sensors 4110 is the same as the number of the centering members 442, and each of the third pressure sensors 4110 is arranged at the second abutment plane 491 of each of the second abutment members 490 in a one-to-one correspondence, and each of the third pressure sensors 4110 is connected to the controller.

[0096] Specifically, the first abutment member 480 is embodied as a plate member, and the first abutment plane 481 is located on the side of the plate member facing the telescopic assembly 430. After the centering mechanism 440 completes the preliminary centering of the first abutment member 480 (that is, the axis of the blind rivet 600 in the riveting end 510 of the riveting device 500 passes through the center of the circular riveting hole 110 on the workpiece 100 aligned with it), the first telescopic end 431 of the telescopic assembly 430 is controlled to shrink so that the first abutment plane 481 of the first abutment member 480 abuts against the edge of the corresponding circular riveting hole 110 inside the workpiece 100. The second abutment 490 can also be embodied as a plate in a specific manner. Each second abutment 490 is equipped with a telescopic cylinder. The second abutment 490 is fixedly mounted on the telescopic end of the telescopic cylinder. The telescopic end of the telescopic cylinder moves in a controlled manner. When the first abutment plane 481 of the first abutment 480 abuts against the edge of the corresponding circular riveting hole 110 inside the workpiece 100, after the second pressure sensor 4100 receives the pressure data, the telescopic end of the telescopic cylinder is extended to make the second abutment plane 491 of the second abutment 490 abut against the edge of the corresponding circular riveting hole 110 outside the workpiece 100 until the third pressure sensor 4110 receives the pressure data. Finally, the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 and the workpiece are judged based on the detection values ​​of the second pressure sensor 4100 and the detection values ​​of the third pressure sensor 4110. Whether a side wall of the workpiece 100 having a corresponding circular riveting hole 110 is in a non-vertical state, that is, whether the maximum difference between the detection data of each second pressure sensor 4100 in the stroke mechanism 400 and the maximum difference between the detection data of each third pressure sensor 4110 are both smaller than the second preset value, and when the maximum difference between the detection data of each second pressure sensor 4100 in the stroke mechanism 400 and the maximum difference between the detection data of each third pressure sensor 4110 are both smaller than the second preset value, the difference between the average value of the detection data of each second pressure sensor 4100 and the average value of the detection data of each third pressure sensor 4110 is also smaller than the third preset value. At this time, it can be determined that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 and the side wall of the workpiece 100 having a corresponding circular riveting hole 110 are in an approximately vertical state. At this time, the position and posture of the riveting device 500 and the blind rivet 600 are adjusted, achieving a more accurate positioning of the blind rivet 600 and the corresponding circular riveting hole 110, so that the blind rivet 600 has a higher riveting quality after the part is riveted in the circular riveting hole 110.

[0097] In this embodiment, due to the use of a stroke mechanism 400 including a first abutment member 480, a second abutment member 490, a second pressure sensor 4100 and a third pressure sensor 4110, a precise adjustment of the relative posture between the axis of the blind rivet 600 and the circular riveting hole 110 in the riveting device 500 is achieved through multi-directional abutment and pressure sensing feedback technology. Therefore, the technical problems of the non-perpendicularity of the axis of the blind rivet 600 and the circular riveting hole 110 and the unstable riveting quality in the prior art in the riveting device 500 are effectively solved, thereby achieving high-precision positioning and verticality assurance of the blind rivet 600 and the circular riveting hole 110, significantly improving the riveting quality and centering, reducing assembly errors and rework rates, further improving the automation level of the production line and product consistency, optimizing the production process, reducing production costs, and enhancing overall production efficiency and product quality reliability.

[0098] In order to control the operation of the assembly jig in the above embodiment, a control method of the assembly jig includes:

[0099] After the workpiece 100 is placed on the assembly plane 231 , the workpiece 100 is restricted to a preset position by the positioning mechanism 300 , so that the circular riveting holes 110 on the side of the workpiece 100 are aligned with the riveting ends 510 of the riveting devices 500 .

[0100] The moving distance of the first telescopic end 431 is controlled according to the distance from the riveting end 510 of the riveting device 500 to the workpiece 100, so that each of the centering members 442 is moved into the circular riveting hole 110 aligned therewith, and each of the first abutment members 480 is moved into the interior of the workpiece 100 through the corresponding circular riveting hole 110, while each of the second abutment members 490 is placed outside the workpiece 100.

[0101] Each of the centering pieces 442 is controlled to move in a direction away from the corresponding annular piece 441, so that the side of each of the centering pieces 442 away from the center of the corresponding annular piece 441 abuts against the inner wall of the circular riveting hole 110, and the pressure value of each of the centering pieces 442 is detected by the first pressure sensors 470 located on the side of the centering pieces 442 away from the corresponding annular piece 441.

[0102] The operation of the second driver and the electromagnetic assembly in the stroke mechanism 400 is controlled according to the pressure values ​​corresponding to each of the centering parts 442 in the stroke mechanism 400 to adjust the posture of the blind rivet 600 at the riveting end 510 of the riveting device 500 connected to the stroke mechanism 400 so that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 passes through the center of the corresponding circular riveting hole 110.

[0103] Among them, in “after placing the workpiece 100 on the assembly plane 231, the workpiece 100 is restricted to a preset position by the positioning mechanism 300 so that each circular riveting hole 110 on the side of the workpiece 100 is aligned with the riveting end 510 of each riveting device 500”: the preset position refers to the position where the circular riveting hole 110 on the side of the workpiece 100 is approximately aligned with the riveting end 510 of each corresponding riveting device 500 after the workpiece 100 is placed on the assembly plane 231. The preset position needs to be determined according to the actual shape of the workpiece 100.

[0104] The phrase “controlling the moving distance of the first telescopic end 431 according to the distance between the riveting end 510 of the riveting device 500 and the workpiece 100, so that each of the centering members 442 moves into the circular riveting hole 110 aligned therewith, and each of the first abutting members 480 passes through the corresponding circular riveting hole 110 and moves into the workpiece 100, while each of the second abutting members 490 is placed outside the workpiece 100.” specifically refers to controlling the moving distance of the first telescopic end 431 according to the distance between the riveting end 510 of the riveting device 500 and the workpiece 100, so that each of the centering members 442 moves into the circular riveting hole 110 aligned therewith, and each of the first abutting members 480 moves into the workpiece 100 through the corresponding circular riveting hole 110, and each of the second abutting members 490 is placed outside the workpiece 100. The distance between the riveted end 510 of 500 and the circular riveted hole 110 aligned with the side of the workpiece 100 can determine the moving distance of the first telescopic end 431. The moving distance of the first telescopic end 431 needs to satisfy that each centering member 442 is moved into the corresponding circular riveted hole 110, and each first abutment member 480 passes through the corresponding circular riveted hole 110 and moves to the inside of the workpiece 100, while each second abutment member 490 is retained outside the workpiece 100 to provide a prerequisite for subsequent positioning and calibration. "Controlling the moving distance of the first telescopic end 431" can be achieved by controlling the first moving end 411 of the first displacement assembly 410 to drive the telescopic assembly 430 to move as a whole, or by controlling the movement of the first telescopic end 431, or by the first moving end 411 and the first telescopic end 431 to cooperate in telescopic movement.

[0105] “Control each of the centering parts 442 to move in a direction away from the corresponding annular part 441, so that the side of each of the centering parts 442 away from the center of the corresponding annular part 441 abuts against the inner wall of the circular riveting hole 110, and detect the pressure value of each of the centering parts 442 by using the first pressure sensor 470 located on the side of the centering part 442 away from the corresponding annular part 441”, “pressure value” refers to the value collected after the first pressure sensor 470 located on the side of the centering part 442 away from the corresponding annular part 441 abuts against the inner wall of the corresponding circular riveting hole 110, which represents the pressure when the centering part 442 contacts the inner wall of the circular riveting hole 110.

[0106] When the first pressure sensors 470 on each centering member 442 in a stroke mechanism 400 are in contact with the inner wall of the corresponding circular riveting hole 110, the data collected by each first pressure sensor 470 can be used to determine whether the axis of the annular member 441 is approximately through the center of the corresponding circular riveting hole 110.

[0107] In “controlling the operation of the second driver and the electromagnetic assembly in the stroke mechanism 400 according to the pressure values ​​corresponding to the centering members 442 in the stroke mechanism 400, so as to adjust the posture of the blind rivet 600 at the riveting end 510 of the riveting device 500 connected to the stroke mechanism 400, so that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 passes through the center of the corresponding circular riveting hole 110”:

[0108] The pressure value of each centering member 442 in the stroke mechanism 400 reflects the centering accuracy of the centering mechanism 440 . If the pressure value is too large or too small, it may indicate that the axis of the blind rivet 600 at the riveting end 510 in the riveting device 500 is not correctly aligned with the circular riveting hole 110 .

[0109] Control of the stroke mechanism 400:

[0110] When the pressure values ​​of each centering member 442 reach a preset standard range, the stroke mechanism 400 will adjust the operation of the second driver and the electromagnetic assembly according to these pressure values ​​to accurately control the position of the riveting device 500 and ensure that the axis of the blind rivet 600 at the riveting end 510 is aligned with the center of the circular riveting hole 110. Specifically, the second driver is responsible for accurately controlling the movement of the second movable end 451. When the pressure value collected by the first pressure sensor 470 on a certain centering part 442 is larger than the pressure value collected by the first pressure sensor 470 on other centering parts 442 on the same annular part 441, the second movable end 451 is adjusted to move in a specific direction according to the positive or negative value of the difference, so as to change the size of the pressure value collected by the first pressure sensor 470 on the corresponding centering part 442, until the pressure value collected by the first pressure sensor 470 on the centering part 442 and the pressure value collected by the first pressure sensor 470 on other centering parts 442 are less than the first preset value, then it can be considered that the axis of the blind rivet 600 at the riveting end 510 on the riveting device 500 is approximately through the center of the corresponding circular riveting hole 110. For example, when the difference between the pressure value collected by the first pressure sensor 470 on the highest centering piece 442 in a stroke mechanism 400 and the pressure values ​​collected by the first pressure sensors 470 on other centering pieces 442 is greater than the first preset value, the controller will control the second driver to operate, so that the second movable end 451 moves toward the direction close to the workbench 200 to reduce the pressure value collected by the first pressure sensor 470 on the highest centering piece 442, so that the difference between the pressure value collected by the first pressure sensor 470 on the highest centering piece 442 and the pressure values ​​collected by the first pressure sensors 470 on other centering pieces 442 is reduced until the difference is less than the first preset value.

[0111] The electromagnetic component controls the motion state of the third displacement component 460 by controlling the friction force. The electromagnetic component is also controlled by the controller. When the difference between the pressure value collected by a first pressure sensor 470 at the middle position and the pressure value collected by the first pressure sensor 470 on other centering pieces 442 is greater than a first preset value, the electromagnetic component is turned off or the electromagnetic field generated by it is weakened, so that the third moving end 4622 of the third displacement component 460 can be shifted with the passive force of the mounting bracket 420, so that the centering piece 442 at the middle position is 2 and the pressure value collected by the first pressure sensor 470 on the other centering member 442 decreases until the difference is less than the first preset value, and then the controller controls the electromagnetic component to operate or enhance the magnetic field to increase the friction between the sliding surface 4623 and the displacement plane 4611 to limit the movement of the third moving end 4622, thereby achieving the limitation of the position of the riveting device 500 and the blind rivet 600 arranged at the riveting end 510 of the riveting device 500.

[0112] It should be noted that each centering member 442 in the stroke mechanism 400 moves synchronously, which means that the position and posture of the riveting device 500 and the blind rivet 600 installed on the riveting device 500 will change during the adjustment process of each centering member 442. Therefore, when the pressure values ​​collected by the first pressure sensors 470 on each centering member 442 are similar, it can be inferred that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 approximately passes through the center of the corresponding circular riveting hole 110.

[0113] Specifically, when the pressure values ​​collected by the first pressure sensors 470 of the centering members 442 in a stroke mechanism 400 are similar, this means that the contact force between each centering member 442 and the inner wall of the corresponding circular riveting hole 110 is relatively balanced. This usually means that these centering members 442 have been relatively accurately aligned with the corresponding circular riveting holes 110, and the axis of the blind rivet 600 of the riveting end 510 of the riveting device 500 should also be close to the center of the circular riveting hole 110. Because the contact pressure of each centering member 442 is similar, this means that their centering accuracy is high and the position of the riveting end 510 is close to the ideal state.

[0114] The first preset value can be understood as the measurement error range of the first pressure sensor 470, which means that it is normal for the pressure value to fluctuate within a certain range due to the accuracy limitation of the first pressure sensor 470 itself, the slight unevenness of the workpiece 100, or other slight changes. Therefore, when the difference in the pressure value is less than the preset value, it can be considered that the centering has been completed and no further adjustment is required.

[0115] For example, the first preset value may be a tolerance range, indicating that during the centering process, when the pressure error measured by the first pressure sensor 470 is within this range, the system considers that the centering requirement has been met and the device can continue the riveting operation.

[0116] The setting of the first preset value needs to take into account multiple factors, such as the accuracy of the first pressure sensor 470 , the dimensional tolerance of the workpiece 100 , the material properties of the centering member 442 and the circular riveting hole 110 , and the like.

[0117] Furthermore, the first preset value is not fixed, but is set according to the design requirements of the system, the accuracy of the equipment, and the production requirements. Generally, this value will be slightly larger than the actual measurement error of the sensor to ensure that the system will not stop working due to a small error during the alignment process.

[0118] For example, assuming that the measurement accuracy of the sensor is 0.1N and the preset value is 0.2N, when the difference in the pressure values ​​of the centering parts 442 is less than 0.2N, it can be considered that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 is close enough to the center of the corresponding circular riveting hole 110.

[0119] In summary, in the stroke mechanism 400, the centering member 442 constrains and adjusts the position of the blind rivet 600 through the annular member 441. The pressure value collected by the first pressure sensor 470 on each centering member 442 reflects the force of the centering member 442 in contact with the inner wall of the circular riveting hole 110. When there is a significant difference between the pressure values, it means that the posture of the blind rivet 600 at the riveting end 510 of the riveting device 500 is deviated, and its axis is not correctly aligned with the center of the circular riveting hole 110.

[0120] In order to accurately adjust the posture of the blind rivet 600, the stroke mechanism 400 controls the operation of the second driver and the electromagnetic assembly through the following steps:

[0121] Adjustment of the second driver: The second driver is responsible for controlling the movement direction and amplitude of the second moving end 451 .

[0122] Working logic: When the pressure-bearing value of a centering member 442 significantly deviates from the pressure-bearing values ​​of other centering members 442, the controller will identify the positive and negative directions of the difference and drive the second movable end 451 to move in a direction that is conducive to balancing the pressure-bearing value.

[0123] For example: If the pressure-bearing value of the centering piece 442 at the highest point is higher than the pressure-bearing values ​​of other centering pieces 442, it means that the force on this centering piece 442 is too large. The controller will drive the second movable end 451 to move toward the workbench 200 to reduce the pressure-bearing value of the centering piece 442 until the difference is less than the first preset value.

[0124] Auxiliary control of the electromagnetic component: The electromagnetic component mainly affects the motion state of the third displacement component 460 by controlling the friction force.

[0125] When the difference is significant, the electromagnetic assembly finely adjusts the position of the centering member 442 by controlling the friction resistance, thereby further optimizing the balance state of the pressure value. This process is usually carried out in coordination with the action of the second drive to ensure the efficiency and accuracy of the centering adjustment.

[0126] Centering completion judgment when the difference is less than the first preset value: when the maximum difference between the pressure values ​​collected by the first pressure sensors 470 of all the centering parts 442 in a stroke mechanism 400 is less than the first preset value, it can be considered that the pressures of the centering parts 442 are close to being balanced, and the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 approximately passes through the center of the circular riveting hole 110.

[0127] Control logic example: if the pressure value of a certain centering component 442 is higher than the pressure value of other centering components 442, the controller detects the difference and drives the second driver to move the second movable end 451 in the direction of reducing the pressure of the centering component 442. At the same time, the electromagnetic component further fine-tunes the positions of other centering components 442 by adjusting the friction force, and gradually balances the pressure of all centering components 442. When the difference is less than the first preset value, the controller stops adjusting and considers that the centering is completed. Therefore, the stroke mechanism 400 uses the pressure value collected by the first pressure sensor 470 as the feedback basis for the centering accuracy, and gradually adjusts the posture of the blind rivet 600 by controlling the coordinated work of the second driver and the electromagnetic component.

[0128] The significance of the first preset value is to balance the measurement accuracy and the feasibility of the actual operation. When the pressure difference is less than this range, the centering task is completed to ensure that the axis of the blind rivet 600 passes through the center of the circular riveting hole 110.

[0129] In order to make the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 perpendicular to a side wall of the workpiece 100 on which the circular rivet hole 110 aligned with the workpiece 100 is opened after the axis of the blind rivet 600 passes through the center of the circular rivet hole 110 aligned with the workpiece 100, thereby further improving the centering accuracy and improving the riveting quality, a control method for an assembly jig further includes:

[0130] Control each of the first telescopic ends 431 to contract so that the first abutment plane 481 of the first abutment member 480 abuts against the edge of the corresponding circular rivet hole 110 inside the workpiece 100, and control each of the second abutment members 490 to move toward the direction close to the workpiece 100 so that the second abutment plane 491 of the second abutment member 490 abuts against the edge of the corresponding circular rivet hole 110 outside the workpiece 100, so as to clamp the edge of the corresponding circular rivet hole 110 between the first abutment member 480 and the second abutment member 490.

[0131] The operation of the electromagnetic component is controlled according to the detection values ​​of each of the second pressure sensors 4100 and the detection values ​​of each of the third pressure sensors 4110 in the stroke mechanism 400 to adjust the posture of the blind rivet 600 at the riveting end 510 of the riveting device 500 connected to the stroke mechanism 400, so that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 is coaxial with the axis of the corresponding circular riveting hole 110.

[0132] Among them, the step of "controlling the contraction of each of the first telescopic ends 431 so that the first abutment plane 481 of the first abutment member 480 abuts against the edge of the corresponding circular riveting hole 110 inside the workpiece 100, and controlling each of the second abutment members 490 to move toward the direction close to the workpiece 100 so that the second abutment plane 491 of the second abutment member 490 abuts against the edge of the corresponding circular riveting hole 110 outside the workpiece 100, so as to clamp the edge of the corresponding circular riveting hole 110 between the first abutment member 480 and the second abutment member 490" involves how to accurately align the circular riveting hole 110 on the workpiece 100 through a mechanical control device, and clamp it with the first abutment member 480 and the second abutment member 490 to ensure accurate centering during the riveting process. Specifically, it involves the coordinated actions of the first telescopic end 431, the first abutment member 480, and the second abutment member 490. This step is specifically described as follows:

[0133] The purpose of the contraction of the first telescopic end 431 is to bring the first abutment member 480 closer to the workpiece 100. The first telescopic end 431 is usually driven by pneumatic or hydraulic pressure, and its contraction or extension can be precisely controlled. Under the command of the controller, the first telescopic end 431 contracts so that the first abutment plane 481 of the first abutment member 480 contacts the inner edge of the corresponding circular rivet hole 110 on the workpiece 100. This action fits the edge of the circular rivet hole 110 on the inner side of the workpiece 100 with the first abutment plane 481 of the first abutment member 480.

[0134] The purpose of the movement of the second abutment member 490 is to move in a direction close to the workpiece 100 so as to clamp the outer edge of the circular rivet hole 110 of the workpiece 100. By controlling the extension of the telescopic end of the telescopic cylinder, the second abutment member 490 can be moved in a direction close to the workpiece 100. During the movement, the second abutment plane 491 of the second abutment member 490 contacts the edge of the corresponding circular rivet hole 110 on the outside of the workpiece 100. This action clamps the edge of the circular rivet hole 110 on the outside of the workpiece 100 between the first abutment member 480 and the second abutment member 490.

[0135] During the clamping process, the edge of the circular rivet hole 110 of the workpiece 100 is clamped between the two abutting members under the coordinated action of the first telescopic end 431 and the second abutting member 490. The first abutting plane 481 and the second abutting plane 491 respectively apply clamping forces to the opposite sides of the periphery of the circular rivet hole 110 on the workpiece 100, forcing the riveting device 500 to change its position and posture under the action of the reaction force.

[0136] After the clamping is completed, the clamping pressure and the working state of the riveting device 500 are detected by the second pressure sensor 4100 and the third pressure sensor 4110. The detection data of the second pressure sensor 4100 and the third pressure sensor 4110 help control the adjustment of the electromagnetic assembly to further optimize the accuracy of the riveting end 510. The electromagnetic assembly adjusts the posture of the riveting device 500 according to the values ​​of the second pressure sensor 4100 and the third pressure sensor 4110 to ensure that the axis of the blind rivet 600 is coaxially aligned with the circular riveting hole 110 on the workpiece 100.

[0137] The realization of this step relies on the precise coordination of multiple mechanical components, including the contraction of the first telescopic end 431 to control the contact of the first abutment 480, and the movement of the second abutment 490 to ensure the clamping of the outer edge of the circular riveting hole 110 on the side of the workpiece 100. Through these precise adjustments, it is ensured that the axis of the blind rivet 600 at the riveting end 510 is concentric with the center of the circular riveting hole 110 and coaxial with the axis during the riveting process, thereby ensuring the riveting quality.

[0138] Among them, in the step of "controlling the operation of the electromagnetic assembly according to the detection values ​​of each of the second pressure sensors 4100 and the detection values ​​of each of the third pressure sensors 4110 in the stroke mechanism 400 to adjust the posture of the blind rivet 600 at the riveting end 510 of the riveting device 500 connected to the stroke mechanism 400, so that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 is coaxial with the axis of the corresponding circular riveting hole 110", the detection data of the second pressure sensor 4100 and the third pressure sensor 4110 play a key role in determining the centering accuracy between the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 and the circular riveting hole 110 on the workpiece 100. The details are as follows:

[0139] First, data collection and difference calculation are performed. Each second pressure sensor 4100 and third pressure sensor 4110 will detect the pressure value in the clamping process in real time. These pressure data can reflect the force conditions of different parts during the clamping process, and indirectly reflect the state of the circular riveting hole 110 on the side of the clamping alignment workpiece 100.

[0140] First, each second pressure sensor 4100 and each third pressure sensor 4110 respectively record a plurality of real-time pressure data. The second pressure sensor 4100 and the third pressure sensor 4110 respectively record the pressure data during the clamping process. Each sensor detects different pressure values ​​at different positions in real time, and these data reflect the state of force applied to each part during the clamping process.

[0141] The difference between these pressure data is calculated again, and the maximum difference between all the pressure data in the second pressure sensor 4100 is calculated. Similarly, the maximum difference between the pressure data of all sensors in the third pressure sensor 4110 is calculated. The magnitude of these two differences reflects the relationship between the axis of the blind rivet 600 in the riveting device 500 and the axis of the corresponding circular riveting hole 110, that is, if the difference is large, it may indicate that the clamping device has an asymmetric pressure distribution during the adjustment process, which may cause the riveting end 510 to fail to accurately align with the riveting hole on the workpiece 100.

[0142] Next, the calculated maximum difference is compared with the second preset value. When the calculated maximum difference is less than the second preset value, it indicates that the axis of the blind rivet 600 in the riveting device 500 is approximately coaxial with the axis of the corresponding circular riveting hole 110. The first abutting plane 481 of the first abutting member 480 is parallel to the second abutting plane 491 of the second abutting member 490. At the same time, the first abutting plane 481 and the second abutting plane 491 are parallel to the side of the workpiece 100 with the circular riveting hole 110, so as to ensure that the clamping force is evenly distributed on both sides of the workpiece 100. In addition, the determination of the second preset value is similar to the determination method of the first preset value. If the maximum difference is greater than the second preset value, the controller controls the state of the electromagnetic component to turn off the magnetic field or reduce the magnetic field, so that the riveting device 500 and the blind rivet 600 are displaced under the reaction of the first abutting member 480 and the second abutting member 490 and the side abutting force of the workpiece 100, thereby passively adjusting the posture of the riveting end 510 of the riveting device 500. The second pressure sensor 4100 and the third pressure sensor 4110 continuously feed back the collected pressure data until each maximum difference is less than the second preset value. During this process, the riveting device 500 is passively subjected to force, and fine-tuning of the position and angle of the riveting end 510 has been achieved.

[0143] Then, after the maximum difference is less than the second preset value, the clamping accuracy needs to be further judged. At this time, it is necessary to calculate the average value of all pressure data of the second pressure sensor 4100 and the average value of all pressure data of the third pressure sensor 4110. Compare the difference between the two average values ​​to determine whether the difference is less than the set third preset value. This difference is used to further judge the accuracy of clamping. When the difference is smaller, that is, the closer the two average values ​​are, the more uniform the force after the first abutting plane 481 and the second abutting plane 491 abut against the side of the workpiece 100, that is, the higher the centering accuracy. If the average value difference is greater than the third preset value, it means that the force of the clamping device is uneven, the centering accuracy is insufficient, and further adjustment is required. Among them, the method for determining the third preset value is similar to the method for determining the first preset value and the second preset value mentioned above.

[0144] In summary, if the maximum difference of each second pressure sensor 4100 and the maximum difference of each third pressure sensor 4110 are both less than the second preset value, and the difference between the average value of each second pressure sensor 4100 and the average value of each third pressure sensor 4110 is less than the third preset value, then it can be determined that the axis of the blind rivet 600 at the riveting end 510 of the riveting device 500 is approximately vertical to the side wall of the workpiece 100 with the circular riveting hole 110. At this time, the axis of the blind rivet 600 is almost completely coaxial with the axis of the circular riveting hole 110, ensuring that the blind rivet 600 can accurately enter the circular riveting hole 110 for riveting. This precise alignment can significantly improve the quality and stability of riveting and avoid riveting defects caused by inaccurate alignment.

[0145] Furthermore, with continuous feedback and adjustment, the second pressure sensor 4100 and the third pressure sensor 4110 will continue to provide real-time pressure data, which will be continuously collected and fed back to the control system. The position and angle of the riveting device 500 and the blind rivet 600 will gradually reach the optimal alignment state under the cooperation of the electromagnetic component until the above conditions are met and the accuracy of the riveting device 500 is finally confirmed.

[0146] In this step, by real-time monitoring and processing of the pressure data of the second pressure sensor 4100 and the third pressure sensor 4110, combined with the judgment of the maximum difference and the average value, the system can accurately adjust the position and posture of the riveting device 500. In this way, it is ensured that the axis of the blind rivet 600 is coaxial with the circular riveting hole 110 on the workpiece 100, thereby improving the riveting quality and stability.

[0147] The above contents described in this specification are merely examples of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, as long as they do not deviate from the contents of the present specification or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. An assembly jig for assembling parts at a circular riveting hole on the side of a workpiece, characterized in that: include: The workbench comprises an assembly plane for holding the workpiece, wherein the assembly plane is parallel to the horizontal plane; A positioning mechanism is arranged at the assembly plane to limit the movement of the workpiece placed on the assembly plane; The travel mechanism is arranged at the assembly plane, and the travel mechanism includes: A first displacement assembly is disposed at the assembly plane, the first displacement assembly includes a first moving end, the first moving end moves in a controlled manner, and the first moving end is configured to move toward a side surface of the workpiece or away from the side surface of the workpiece; A mounting bracket connected to the first moving end; A telescopic assembly is arranged on the mounting bracket, the telescopic assembly comprises a first telescopic end that moves in a controlled manner, and a moving direction of the first telescopic end is parallel to a moving direction of the first moving end; A riveting device is connected to the mounting bracket to move with the first moving end, the riveting device includes a riveting end, a blind rivet is installed at the riveting end, and the riveting end is aligned with a circular riveting hole on the side of the workpiece; The itinerary also includes: A centering mechanism, arranged at the first telescopic end, comprises: An annular member connected to the first telescopic end, the annular member being coaxially sleeved on the outer side of the riveted end; At least three centering members, each of which is arranged on the ring member at equal intervals along the annular edge contour of the ring member, and the centering members are controlled to move synchronously along the radial direction of the ring member; A controller, a first abutment, a second abutment, a second pressure sensor and a third pressure sensor, the number of the first abutment, the second abutment, the second pressure sensor and the third pressure sensor is the same as the number of the centering member, and the controller is connected to the second pressure sensor and the third pressure sensor, wherein: Each first abutment member is arranged one by one at an end of each centering member away from the telescopic assembly, and the first abutment member includes a first abutment plane perpendicular to the moving direction of the first telescopic end, and the first abutment plane is arranged toward the riveting device; The second abutment members are distributed at equal intervals along the annular edge contour of the annular member, the moving direction of the second abutment members is parallel to the moving direction of the first telescopic end, and the second abutment members include a second abutment plane perpendicular to the moving direction of the first telescopic end, and the second abutment plane is a side of the second abutment member away from the riveting device; The second pressure sensors are arranged on the first abutting planes in a one-to-one correspondence; The third pressure sensors are arranged at the second abutting planes in a one-to-one correspondence.

2. An assembly jig according to claim 1, characterized in that: The number of the travel mechanisms and the number of the riveting devices are both several, and each of the travel mechanisms is connected to each of the riveting devices in a one-to-one correspondence manner.

3. An assembly jig according to any one of claims 1 or 2, characterized in that: The travel mechanism also includes: a second displacement assembly, arranged at the first moving end of the first displacement assembly, the second displacement assembly comprising a second moving end, the second moving end moving in a controlled manner, and a moving direction of the second moving end being limited to be perpendicular to the assembly plane; a third displacement assembly, arranged at the second moving end, the third displacement assembly comprising a third moving end, the third moving end being connected to the mounting bracket so that the third moving end moves with the mounting bracket, and a moving track of the third moving end is limited to be parallel to the assembly plane; Wherein, the centering mechanism includes a centering state. When the centering mechanism is in the centering state, the centering mechanism moves with the first telescopic end to the circular riveting hole corresponding to the side of the workpiece, and the side of each centering member away from the center of the annular member is abutted against the inner circumference of the circular riveting hole, so that the axis of the annular member is colinear with the axis of the circular riveting hole.

4. An assembly jig according to claim 3, characterized in that: The third displacement assembly comprises: The third mounting seat comprises a displacement plane, wherein the displacement plane is arranged parallel to the assembly plane; A third moving member, comprising a magnetic conductive end and the third moving end, wherein the magnetic conductive end comprises a sliding surface, and the sliding surface is in sliding cooperation with the displacement plane; The electromagnetic component generates a magnetic field in a controlled manner. The electromagnetic component is arranged at the third mounting seat so that the magnetic conductive end is placed in the magnetic field to adjust the friction between the sliding surface and the displacement plane.

5. An assembly jig according to claim 4, characterized in that: The second displacement assembly comprises: a second driver, the second driver controlling the second moving end to move; The travel mechanism also includes: first pressure sensors, the number of the first pressure sensors being equal to the number of the centering members, and the first pressure sensors being arranged in a one-to-one correspondence on a side of each centering member away from the center of the annular member; The controller is connected to the second driver and the first pressure sensors to drive the second driver to operate according to feedback from the first pressure sensors.

6. An assembly jig according to claim 3, characterized in that: The centering piece includes an arcuate surface, which is arranged on a side of the centering piece away from the center of the annular piece, and the radius corresponding to the arcuate surface is the same as the radius of the circular riveting hole on the side of the workpiece.

7. An assembly jig according to claim 1, characterized in that: The positioning mechanism comprises: a first limiting member, arranged at the assembly plane, the first limiting member comprising a first limiting surface, a second limiting surface and a third limiting surface, the first limiting surface being arranged parallel to the assembly plane, the second limiting surface and the third limiting surface being configured to abut against two opposite sides of the workpiece when the workpiece is placed at the first limiting surface, so as to limit the workpiece from moving along a first direction, the first direction being parallel to the assembly plane; a second stopper, disposed at the assembly plane, and configured to be located at one end of the workpiece when the workpiece is placed at the assembly plane and abutted by the first stopper, so as to limit the workpiece from moving in a second direction toward the second stopper, wherein the second direction is perpendicular to the first direction; A third stopper is arranged at the assembly plane, the third stopper moves in a controlled manner, the moving direction of the third stopper is parallel to the second direction, the third stopper is arranged at the other end of the workpiece away from the second stopper, and when the third stopper abuts against the end of the workpiece, a thrust directed toward the second stopper is applied to the workpiece, so that the workpiece moves in a direction close to the second stopper or the end of the workpiece away from the third stopper abuts against the second stopper; A fourth limit member is arranged at the assembly plane, and the fourth limit member moves in a controlled manner. The moving direction of the fourth limit member is perpendicular to the first limit surface. The fourth limit member includes a fourth limit surface, and the fourth limit surface is configured to abut against the side of the workpiece away from the assembly plane when the fourth limit member abuts against the workpiece, so as to apply pressure to the workpiece directed toward the assembly plane.

8. A control method for an assembly jig as claimed in claim 5, characterized in that: include: After placing the workpiece on the assembly plane, the workpiece is restricted to a preset position by the positioning mechanism so that each circular riveting hole on the side of the workpiece is aligned with the riveting end of each riveting device; The moving distance of the first telescopic end is controlled according to the distance between the riveting end of the riveting device and the workpiece, so that each of the centering members is moved into the circular riveting hole aligned therewith, and each of the first abutting members is moved into the interior of the workpiece through the corresponding circular riveting hole, and each of the second abutting members is placed outside the workpiece; Control each of the centering members to move in a direction away from the corresponding annular member, so that the side of each of the centering members away from the center of the corresponding annular member abuts against the inner wall of the circular riveting hole, and detect the pressure value of each of the centering members through the first pressure sensors located on the side of the centering members away from the corresponding annular member; The operation of the second driver and the electromagnetic assembly in the stroke mechanism is controlled according to the pressure values ​​corresponding to each of the centering parts in the stroke mechanism to adjust the posture of the blind rivet at the riveting end of the riveting device connected to the stroke mechanism so that the axis of the blind rivet at the riveting end of the riveting device passes through the center of the corresponding circular riveting hole.

9. The control method of an assembly jig according to claim 8, characterized in that: Also includes: Controlling each of the first telescopic ends to contract so that the first abutting plane of the first abutting member abuts against the inner edge of the workpiece at the corresponding circular rivet hole, and controlling each of the second abutting members to move toward the direction approaching the workpiece so that the second abutting plane of the second abutting member abuts against the outer edge of the workpiece at the corresponding circular rivet hole, so that the edge of the corresponding circular rivet hole is clamped between the first abutting member and the second abutting member; The operation of the electromagnetic assembly is controlled according to the detection values ​​of each of the second pressure sensors and the detection values ​​of each of the third pressure sensors in the stroke mechanism to adjust the posture of the blind rivet at the riveting end of the riveting device connected to the stroke mechanism so that the axis of the blind rivet at the riveting end of the riveting device is coaxial with the axis of the corresponding circular riveting hole.

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