An automated screw connection and riveting fastening method for inner cavity components

Abstract

The present invention discloses an automated screw connection and riveting method for inner cavity components, which relates to the field of automatic parts assembly technology and includes a motion platform, a fixture, a rivet guide mechanism, a rivet pusher mechanism, a rivet feeder mechanism, a nut feeding mechanism, a rivet pusher, a riveting punch, and an electric screwdriver. The present invention adopts the above-mentioned automated screw connection and riveting method for inner cavity components, combining the automated screw connection of the inner cavity components with the riveting and fastening of semi-hollow externally threaded rivets after assembly, thereby achieving automated screw connection and riveting of the inner cavity components and automatically assembling multiple side holes of workpieces, greatly improving assembly accuracy and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic assembly of parts, and in particular to an automated screw connection and riveting fastening method for an inner cavity component. Background Art

[0002] Riveting, as a non-detachable connection, offers unique advantages for connecting dissimilar materials with reliable, non-loose connections. Riveting is generally categorized into press riveting, spin riveting, pull riveting, and flip riveting. Flip riveting, due to its high connection strength, excellent corrosion resistance, and simple structure, is widely used in industries such as aerospace, high-speed rail, and machinery. Compared to other riveting methods, flip riveting eliminates the need for welding, avoiding many of the drawbacks of heat treatment, and requiring less assembly equipment. Therefore, flip riveting is often used in mass production and automated production lines.

[0003] During the riveting process of the inner cavity component, the semi-hollow external thread rivet needs to be passed through the through hole of the workpiece and the side hole of the component in the inner cavity of the through hole. The assembly gap is less than 0.1mm. The inner cavity components are stacked in multiple layers, and the components need to be in a specific posture to complete the assembly. Even manual work is extremely difficult. The operator is also required to hold the semi-hollow external thread rivet to prevent it from falling, and then use tools to assemble the upper nut. This operation is relatively laborious. During the tightening process, the nut is also easy to slip out and scratch the workpiece due to the small tightening force area, which reduces the installation efficiency. After the nut is assembled, the semi-hollow front part of the rivet is deformed by extrusion after insertion to achieve riveting. However, this traditional riveting method is prone to the phenomenon that the position of the riveting punch is not concentric with the process hole and cannot be accurately aligned. Therefore, the actual riveting process can be said to be blind riveting, which requires skilled workers to judge whether the riveting is completed during the riveting process. However, even if operated by skilled workers, the probability of riveting failure due to inaccurate position of the riveting punch and the process hole is still very high, and rework is often required, resulting in poor operability and consistency. Summary of the Invention

[0004] The purpose of the present invention is to provide an automated screw connection and riveting method for an inner cavity component, so as to solve the problem of low alignment efficiency in the traditional riveting method.

[0005] To achieve the above objectives, the present invention provides an automated screw connection and riveting fastening method for an inner cavity component, comprising the following steps:

[0006] S1. Install the inner cavity assembly into the side hole of the workpiece to complete the installation of the inner cavity assembly of all side holes on the workpiece;

[0007] S2. Place the workpiece to be assembled on the fixture, pre-position it using the pre-positioning tool on the fixture, and move the workpiece to the assembly station via the motion platform, aligning the assembly through hole and the riveting punch in a vertical line;

[0008] S3, extending the flip riveting punch through the inner cavity component at the bottom of the assembly through hole, and aligning the spatial position of the inner cavity component with the cone at the front end of the flip riveting punch, and continuing to extend it until it penetrates the inner cavity component and reaches the other end of the side hole, determining the position of the assembly through hole and completing the final positioning of the assembly through hole. The clamping mechanism fixes the position of the assembly through hole;

[0009] S4: The rivet feeding mechanism sends the rivet to the front end of the rivet pushing mechanism, and the rivet pushing mechanism sends the rivet to the guide hole at the front end of the rivet guide mechanism, completing the pre-positioning of the rivet;

[0010] S5. The rivet guide mechanism is lifted up, and the tip of the riveting punch is inserted into the semi-hollow circular hole on the upper part of the rivet. The rivet and the riveting punch are made concentric by the cooperation of the cone and the hole, thus completing the final positioning of the rivet.

[0011] S6, the rivet pusher and the riveting punch are raised synchronously and at the same speed, so that the rivet passes through the inner cavity component and penetrates the assembly through hole. After reaching the rivet assembly position, the rivet pusher is held in place and the rivet assembly is completed;

[0012] S7, the riveting punch is lifted, and the nut feeding mechanism pushes the nut into the assembly through hole to complete the feeding;

[0013] S8, the electric screwdriver moves to the assembly position, completes the tightening assembly work of the nut, and presses the riveting punch down to perform riveting operation on the rivet;

[0014] S9, after the riveting is completed, the riveting punch retracts, the clamping mechanism, the rivet guide mechanism and the rivet pusher retreat, and the workpiece is sent to the next side hole station to be riveted through the motion platform;

[0015] S10. Repeat steps S1-S9 until all assembly through-hole screw connections and riveting are completed, the clamping mechanism is released, and the workpiece is sent to the unloading position through the motion platform to complete unloading.

[0016] Preferably, the rivet pushing mechanism is arranged on the upper part of the rivet guide mechanism, a guide circular hole is provided on the rivet guide mechanism, a guide through hole is provided below the guide circular hole, and the guide through hole and the guide circular hole pass through the rivet guide mechanism.

[0017] Preferably, a rivet push rod is provided at the lower portion of the rivet guide mechanism, a buffer medium is provided at the upper portion of the rivet push rod, and the rivet push rod is coaxially arranged with the guide through hole and the guide circular hole.

[0018] Preferably, a nail feeding mechanism is provided on the upper portion of the nail pushing mechanism, and a detection mechanism is provided at the front end of the nail feeding mechanism.

[0019] Preferably, a nut feeding mechanism is provided at the end of the nail feeding mechanism, the nut feeding mechanism is arranged parallel to the nail feeding mechanism, and the nut feeding mechanism is moved left and right by a cylinder.

[0020] Preferably, the riveting punch is arranged above the nut feeding mechanism, and the riveting punch is coaxially arranged with the rivet push rod and the guide circular hole.

[0021] Preferably, the flip rivet punch includes a tip and a cylindrical end, the diameter of the cylindrical end is larger than the diameter of the semi-hollow part of the rivet and smaller than the diameter of the assembly through hole, and the length of the conical end is smaller than the length of the semi-hollow part of the rivet.

[0022] Therefore, the present invention adopts the above-mentioned automated screw connection and riveting fastening method for the inner cavity component, which has the following beneficial effects:

[0023] (1) The present invention aims to solve the problem of automated screw connection and riveting of inner cavity components, and proposes the principle of self-positioning reference. When the workpiece is assembled, the features of the assembled object itself are used as the precise assembly positioning reference. This principle is used to transform the random spatial posture problem of the inner cavity component and the uncertain spatial posture problem of the side hole of the inner cavity workpiece into the coordination problem between the alignment mechanism and the side hole and the inner cavity component, thereby realizing the automated assembly of rivets and the automated screw connection of the inner cavity component, thereby greatly improving the production efficiency.

[0024] (2) The present invention addresses the problem that the position of the riveting punch cannot be completely concentric with the process hole during manual riveting of semi-hollow external threaded rivets after assembly, and cannot be accurately aligned. The alignment component in the screw connection process is innovatively used as the riveting punch in the flanging process to ensure the accurate alignment of the riveting punch and the process hole, thereby solving the problem of possible riveting failure caused by inaccurate positions of the riveting punch and the process hole, and improving the operability and consistency of the riveting process.

[0025] (3) The present invention combines the automated screw connection of the inner cavity component with the riveting and fastening of the semi-hollow external thread rivets after assembly, thereby realizing the automated screw connection and riveting of the inner cavity component, and can automatically realize the automated assembly of multiple side holes of the workpiece, greatly improving the assembly accuracy and efficiency.

[0026] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the structure of the automated screw connection and riveting fastening method of the inner cavity component of the present invention;

[0028] Figure 2 for Figure 1 Middle A is an enlarged view of the structure;

[0029] Figure 3 This is a schematic diagram of the side structure of the assembly of the present invention;

[0030] Figure 4 This is a schematic diagram of the workpiece installation of the present invention;

[0031] Figure 5 This is a schematic diagram of the workpiece pre-positioning of the present invention;

[0032] Figure 6 Schematic diagram of the final positioning method of the workpiece, inner cavity component, and rivet of the present invention;

[0033] Figure 7 This is a schematic diagram of the assembly technology route of the present invention;

[0034] Reference numerals

[0035] 1. Clamp; 2. Clamping mechanism; 3. Rivet pusher; 4. Rivet guide mechanism; 5. Riveting punch; 6. Electric screwdriver; 7. Pre-positioning tool; 8. Workpiece to be assembled; 9. Assembly through hole; 10. Guide hole; 11. Semi-hollow external thread rivet; 12. Inner cavity assembly; 13. Nut; 14. Nail pusher mechanism; 15. Nail feeder mechanism; 16. Nut loading mechanism; 17. Side hole. DETAILED DESCRIPTION

[0036] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0037] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0038] Example

[0039] See also Figure 1-7 The present invention provides an automated screw connection and riveting fastening method for an inner cavity component, comprising the following steps:

[0040] S1. Install the inner cavity assembly 12 into the side hole 17 of the workpiece, and complete the installation of the inner cavity assembly 12 in all the side holes 17 on the workpiece. During this process, it is only necessary for the inner cavity assembly 12 to be roughly in the correct posture;

[0041] S2. Place the workpiece 8 to be assembled on the fixture 1, pre-position it using the pre-positioning tool 7 on the fixture 1, and send the workpiece to the assembly station via the motion platform, so that the assembly through hole 9 and the riveting punch 5 are roughly in a vertical line;

[0042] S3, extend the flip riveting punch 5, pass through the inner cavity component 12 at the lower part of the assembly through hole 9, and use the cone at the front end of the flip riveting punch 5 to align the spatial position of the inner cavity component 12, and continue to extend it until it penetrates the inner cavity component 12 and reaches the other end of the side hole, determining the position of the assembly through hole 9, completing the final positioning of the assembly through hole 9, and the clamping mechanism 2 fixes the position of the assembly through hole 9;

[0043] S4, the rivet feeding mechanism 15 delivers the rivet to the front end of the rivet pushing mechanism 14, and the rivet pushing mechanism 14 delivers the rivet to the guide hole at the front end of the rivet guide mechanism 4, completing the pre-positioning of the rivet;

[0044] S5, the rivet guide mechanism 4 is lifted up, and the tip of the riveting punch 5 is inserted into the semi-hollow circular hole on the upper part of the rivet. The rivet and the riveting punch 5 are made concentric by the cooperation of the cone and the hole, thus completing the final positioning of the rivet;

[0045] S6, the rivet push rod 3 and the riveting punch 5 are raised synchronously and at the same speed, so that the rivet passes through the inner cavity component 12 and penetrates the assembly through hole 9. After reaching the rivet assembly position, the rivet push rod 3 is held in place and the rivet assembly is completed;

[0046] S7, the riveting punch 5 is lifted up, and the nut feeding mechanism 16 pushes the nut 13 into the assembly through hole 9 to complete the feeding;

[0047] S8, the electric screwdriver 6 moves to the assembly position, completes the tightening assembly work of the nut 13, and the riveting punch 5 is pressed down to perform riveting operation on the rivet;

[0048] S9, after the riveting is completed, the riveting punch 5 retracts, the clamping mechanism 2, the rivet guide mechanism 4 and the rivet pusher 3 retreat, and the workpiece is sent to the next side hole station to be riveted through the motion platform;

[0049] S10. Repeat steps S1-S9 until all the assembly through holes 9 are screwed and riveted, the clamping mechanism 2 is released, and the workpiece is sent to the unloading position through the motion platform to complete unloading.

[0050] The pre-positioning tool 7 on the fixture 1 is used to pre-position the workpiece and its inner cavity component 12. The pre-positioning tool 7 can be implemented in a variety of ways, such as two pins on one side, a positioning pin, a mandrel or a cone tip, or a support pin, depending on the characteristics of the workpiece and the inner cavity component 12. The pre-positioning tool 7 limits the freedom of the workpiece and its inner cavity component 12, so that they can only float within a small range, thereby confirming the approximate position of the hole to be assembled and the inner cavity component 12.

[0051] The riveting punch 5 is mainly used for final positioning of the workpiece, the rivet and the inner cavity component 12 and subsequent riveting work in a pre-positioned state of the workpiece.

[0052] The final positioning process of the workpiece 8 to be assembled is: insert the riveting punch 5 into the assembly through hole 9 for alignment. At this time, the riveting punch 5 can be regarded as a positioning pin. The clearance between the riveting punch 5 and the assembly through hole 9 is used to align the precise position of the side hole on the workpiece surface in the pre-positioning state, and the assembly through hole 9 is accurately positioned, thereby ensuring the precise positional relationship between the assembly through hole 9 and the riveting punch 5.

[0053] The diameter of the cylindrical part of the riveting punch 5 must be smaller than the minimum diameter of the assembly through hole 9, that is: D0≤d 0min .

[0054] When the inner cavity component 12 is pre-positioned, there is still a certain error between the spatial position of the inner cavity component 12 in the workpiece and the actual installation position. If the rivet is directly inserted, it will not be able to be inserted smoothly due to the error. The final positioning process of the inner cavity component 12 is as follows: after the riveting punch 5 enters the assembly through hole 9, the tip of the riveting punch 5 is used as a guide head to enter the inner cavity component 12, and the error is corrected by using the conical part of the riveting punch 5. In the subsequent process of the riveting punch 5 continuing to penetrate deeper, the mutual force between the cone and the inner cavity component 12 and the workpiece is used to force the inner cavity to return to the correct installation position until the riveting punch 5 passes through the inner cavity component 12, completing the final positioning of the inner cavity component 12.

[0055] During the final positioning of the inner cavity component, the riveting punch 5 is concentric with the assembly through hole 9, and the alignment range of the riveting punch 5 to the inner cavity component 12 is the radius of the side hole, that is, when the inner cavity component 12 is pre-positioned, the error between it and the actual installation posture cannot be greater than the radius of the assembly through hole 9.

[0056] The rivet is a semi-hollow external thread rivet 11. The final positioning of the rivet is as follows: after the riveting punch 5 passes through the inner cavity component 12 and the assembly through hole 9, it is lifted up by the rivet guide mechanism 4 until the tip of the riveting punch 5 is inserted into the semi-hollow circular hole on the upper part of the rivet, completing the final positioning of the rivet.

[0057] The combination of the cone and the hole makes the rivet and the riveting punch 5 concentric. Due to the final positioning of the workpiece and the inner cavity component 12, the rivet, the inner cavity component 12, the assembly through-hole 9, and the riveting punch 5 are all concentric, ensuring the subsequent rivet assembly accuracy and riveting accuracy. During the subsequent riveting process, the riveting punch 5 needs to rivet the rivet, so the diameter of its cylindrical portion should be greater than the diameter of the semi-hollow portion of the rivet, that is, D0 ≥ D1, and the length of its conical portion cannot be greater than the length of the semi-hollow portion of the rivet, that is, L1 ≤ L2.

[0058] The cylindrical part of the riveting punch 5 must satisfy the following requirements: D1≤D0≤d 0min The length of the conical part should be less than the length of the semi-hollow part of the rivet, that is: L1≤L2.

[0059] The rivet guide mechanism 4 is used to pre-position the rivets when the rivets are loaded.

[0060] The front end of the rivet guide mechanism 4 is provided with a rivet guide circular hole 10, the diameter of which is slightly larger than the diameter of the rivet. The rivet pushing mechanism 14 pushes the rivet into the circular hole to complete the pre-guiding positioning of the rivet's spatial posture. At the bottom of the circular hole is a push rod guide through hole with a diameter slightly smaller than the circular hole, for the rivet push rod 3 to pass through. The guide circular hole 10, the through hole, the rivet push rod 3 and the riveting punch 5 are coaxially arranged to ensure that the riveting punch is roughly concentric with the rivet in the pre-positioned state, ensuring that the riveting punch 5 can align the rivet in subsequent operations. At the same time, the mechanism can move up and down to initially push the rivet into the side hole so that the riveting punch 5 can align the rivet. The radius of the riveting punch 5 is the alignment range. Therefore, the coaxiality error between the rivet in the pre-positioned state and the riveting punch 5 must not exceed the alignment range, otherwise the rivet cannot be smoothly aligned. That is, the difference in diameter between the guide circular hole and the bottom of the rivet must not be greater than the radius of the riveting punch.

[0061] The rivet pusher 3 is used to push the rivet into the assembly through hole 9 during rivet assembly, and acts as an auxiliary support during the subsequent tightening of the nut 13 and the riveting process. The rivet pusher 3 is arranged at the bottom of the rivet guide mechanism 4. The rivet pusher 3 is driven by a cylinder to move the pusher to assist in the rivet assembly process.

[0062] After the tip of the riveting punch 5 is inserted into the semi-hollow circular hole on the upper part of the rivet, the rivet is in the pre-positioned state. The rivet push rod 3 rises synchronously with the riveting punch 5 at the same speed to ensure that the tip of the riveting punch 5 is always in the semi-hollow circular hole on the upper half of the rivet during this process. In a manner similar to threading a needle, the rivet can pass through the inner cavity component 12, penetrate the side hole, and reach the installation position. There is a thin layer of buffer medium on the upper part of the rivet push rod 3, and the friction coefficient of the buffer medium should be as large as possible, so that during the rivet assembly process, the rivet will not slide from the rivet push rod 3, affecting the rivet assembly. At the same time, the rivet push rod 3 also plays a role in assisting the workpiece support during the riveting process, absorbing the impact stress in the riveting, and reducing the stress deformation that may be caused to the workpiece by the stress. The buffer medium on it is used to protect the outer surface of the workpiece and prevent the rivet push rod from damaging the workpiece surface.

[0063] The feeding mechanism 15 is mainly used to deliver rivets to the front end of the pushing mechanism 14. The feeding method can be pneumatic, mechanical, or manual. There are many ways to feed the rivets. The front end of the feeding mechanism 15 should be equipped with a detection mechanism that can cooperate with a photoelectric sensor, a magnetic induction sensor, or a weight sensor to complete the rivet delivery detection.

[0064] The rivet pushing mechanism 14 is mounted on the rivet guide mechanism 4 and is used to push the rivets delivered by the rivet feeding mechanism 15 to the front through-hole of the rivet guide mechanism 4. The pushing mechanism 14 can be a pneumatic cylinder, an electric cylinder, an oil cylinder, etc. There are many ways to push the rivets, as long as the stroke is sufficient to push the rivets to the front end of the rivet guide mechanism 4. The rivet pushing mechanism 14 and the rivet feeding mechanism 15 work together to complete the rivet loading work in the press-fitting operation.

[0065] The nut feeding mechanism 16 is used to feed the nut 13 into the through-hole after the rivet is assembled, completing the loading of the nut 13. Nut feeding can be performed by various methods, such as pneumatic, mechanical, or manual feeding. The nut feeding mechanism and the nail feeding mechanism 15 are arranged parallel to each other, and both are located above the rivet guide mechanism 4.

[0066] The fixture 1 is mounted on a motion platform, and the workpiece is placed on the fixture 1. The motion platform is used to move to different workstations when screwing and riveting operations are required on different side holes to complete the subsequent final positioning and screwing and riveting operations. The motion platform can use a variety of motion methods, including slide rails, slides, motors and screws, or slides, slide rails and cylinders.

[0067] Therefore, the present invention adopts the above-mentioned automated screw connection and riveting fastening method for inner cavity components. To solve the problem that the position of the riveting punch and the process hole cannot be completely concentric and accurately aligned during the manual riveting process of the semi-hollow external threaded rivet after assembly, the alignment component in the screw connection process is innovatively used as the riveting punch in the flanging process to ensure the precise alignment of the riveting punch and the process hole, solving the problem of possible riveting failure caused by inaccurate positions of the riveting punch and the process hole, and improving the operability and consistency of the riveting process; the present invention combines the automated screw connection of the inner cavity component with the riveting fastening of the semi-hollow external threaded rivet after assembly, thereby realizing the automated screw connection and riveting fastening of the inner cavity component, and can automatically realize the automated assembly of multiple side holes of workpieces, greatly improving the assembly accuracy and efficiency.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automated screw connection and riveting fastening method for inner cavity components, characterized in that: The following steps are involved: S1. Install the inner cavity assembly into the side hole of the workpiece to complete the installation of the inner cavity assembly of all side holes on the workpiece; S2. Place the workpiece to be assembled on the fixture, pre-position it using the pre-positioning tool on the fixture, and move the workpiece to the assembly station via the motion platform, aligning the assembly through hole and the riveting punch in a vertical line; S3, extending the flip riveting punch through the inner cavity component at the bottom of the assembly through hole, and aligning the spatial position of the inner cavity component with the cone at the front end of the flip riveting punch, and continuing to extend it until it penetrates the inner cavity component and reaches the other end of the side hole, determining the position of the assembly through hole and completing the final positioning of the assembly through hole. The clamping mechanism fixes the position of the assembly through hole; S4: The rivet feeding mechanism sends the rivet to the front end of the rivet pushing mechanism, and the rivet pushing mechanism sends the rivet to the guide hole at the front end of the rivet guide mechanism, completing the pre-positioning of the rivet; S5. The rivet guide mechanism is lifted up, and the tip of the riveting punch is inserted into the semi-hollow circular hole on the upper part of the rivet. The rivet and the riveting punch are made concentric by the cooperation of the cone and the hole, thus completing the final positioning of the rivet. S6, the rivet pusher and the riveting punch are raised synchronously and at the same speed, so that the rivet passes through the inner cavity component and penetrates the assembly through hole. After reaching the rivet assembly position, the rivet pusher is held in place and the rivet assembly is completed; S7, the riveting punch is lifted, and the nut feeding mechanism pushes the nut into the assembly through hole to complete the feeding; S8, the electric screwdriver moves to the assembly position, completes the tightening assembly work of the nut, and presses the riveting punch down to perform riveting operation on the rivet; S9, after the riveting is completed, the riveting punch retracts, the clamping mechanism, the rivet guide mechanism and the rivet pusher retreat, and the workpiece is sent to the next side hole station to be riveted through the motion platform; S10. Repeat steps S1-S9 until all assembly through-hole screw connections and riveting are completed, the clamping mechanism is released, and the workpiece is sent to the unloading position through the motion platform to complete unloading.

2. The method for automated screw connection and riveting of inner cavity components according to claim 1, characterized in that: The rivet pushing mechanism is arranged on the upper part of the rivet guide mechanism. A guide circular hole is arranged on the rivet guide mechanism. A guide through hole is arranged below the guide circular hole. The guide through hole and the guide circular hole penetrate the rivet guide mechanism.

3. The automated screw connection and riveting method for inner cavity components according to claim 2, characterized in that: A rivet push rod is provided at the lower part of the rivet guide mechanism, a buffer medium is provided at the upper part of the rivet push rod, and the rivet push rod is coaxially arranged with the guide through hole and the guide circular hole.

4. The automated screw connection and riveting method for inner cavity components according to claim 3, characterized in that: The upper part of the nail pushing mechanism is provided with a nail feeding mechanism, and the front end of the nail feeding mechanism is provided with a detection mechanism.

5. The automated screw connection and riveting method for inner cavity components according to claim 4, characterized in that: A nut feeding mechanism is provided at the end of the nail feeding mechanism. The nut feeding mechanism is arranged parallel to the nail feeding mechanism, and the nut feeding mechanism moves left and right through the cylinder.

6. The automated screw connection and riveting method for inner cavity components according to claim 5, characterized in that: The riveting punch is arranged above the nut feeding mechanism, and the riveting punch is coaxially arranged with the rivet push rod and the guide circular hole.

7. The automated screw connection and riveting method for inner cavity components according to claim 6, characterized in that: The flip rivet punch includes a tip and a cylindrical end. The diameter of the cylindrical end is larger than the diameter of the semi-hollow part of the rivet and smaller than the diameter of the assembly through hole. The length of the conical end is smaller than the length of the semi-hollow part of the rivet.

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