Riveting press suitable for heavy load environment
By designing a riveting machine containing dual motors and direct contact fixtures, the problem of insufficient pressure rivet and low efficiency in the treatment of high-strength materials and complex workpieces is solved, and efficient heavy-load riveting is achieved and good maintenance is achieved.
Patent Information
- Application Number
- CN202411903370.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-04-04
AI Technical Summary
When facing high-strength materials and complex workpieces, the traditional semi-automatic and automatic riveting presses have insufficient rivet force and low efficiency. The traditional screw structure cannot withstand high pressure and is difficult to adapt to heavy-load environments.
A riveting machine including a frame, a riveting platform, a connecting arm, a fixture and a dual motor is designed. The rotating platform is driven by a motor one, and the motor two controls the expansion and contraction of the connecting arm through the gear and rack system. The fixture is in direct contact with the riveting platform to realize the positioning of the workpiece and the pressure rivet under high pressure.
Without increasing the volume of the riveting machine, the maximum pressure can reach more than ten tons, improve the efficiency and strength of the riveting, and have excellent disassembly and installation properties for easy maintenance.
Smart Images
Figure CN119747564A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of automation equipment in the field of mechanical manufacturing, and relates to a riveting machine suitable for heavy-load environments. Background Art
[0002] In modern industrial production, riveting machines are widely used in aviation, automobile, electronics and other industries as an efficient connection method. Traditional semi-automatic riveting machines often have problems such as insufficient riveting force and low efficiency when facing high-strength materials and complex workpieces. Therefore, it is of great practical significance to develop a heavy-duty riveting machine that is easy to operate and can withstand high pressure.
[0003] Traditional automatic riveting machines use mutually perpendicular and crossed screws to achieve the movement of the entire platform, but the screws cannot withstand large pressures and are therefore not suitable for heavy-load riveting machines that require large loads. Summary of the invention
[0004] In order to make up for the deficiencies of the prior art, the present invention provides a riveting machine suitable for heavy-load environments. The present invention is achieved through the following technical solutions: The present invention provides a riveting machine suitable for heavy-load environments, including a frame, a riveting platform is installed on the frame, a connecting arm is arranged on the riveting platform, and one end of the connecting arm on the riveting platform is connected to a clamp; the clamp is arranged on the riveting platform and directly contacts the riveting platform, a rotating platform is arranged on one side of the riveting platform, a motor 1 is connected to the bottom of the rotating platform, and the motor 1 is fixedly installed on the frame; a motor 2 is installed on one end of the rotating platform; a riveting bracket is installed on the riveting platform, and a riveting head, a camera and a light source are arranged on the riveting bracket; the connecting arm is fixedly installed on the rotating platform through a connecting arm base, one end of the connecting arm is connected to the motor 2, and the other end is arranged on the riveting platform to connect the clamp; the motor 1 works and directly drives the rotating platform above it to rotate; the motor 2 and the connecting arm track are fixedly installed on the rotating platform, and the motor 2 is connected to the connecting arm.
[0005] The beneficial effects of the present invention are:
[0006] The invention increases the maximum pressure that the riveting machine can withstand by directly contacting the workpiece fixing fixture with the riveting platform.
[0007] (1) The traditional screw-moving riveting platform realizes full-plane movement by placing two screws vertically and crosswise, but the pressure that such a structure can withstand depends on the material strength of the screw. When it is necessary to be able to withstand greater pressure, a thicker screw is required. The present invention controls the rotation of the connecting arm base and the connecting arm by inserting the convex key on the rotating shaft of motor one under the rotating platform. The other motor two controls the extension length of the connecting arm by rotating the gear connected to the rotating shaft of the motor to directly rotate the rack on the connecting arm to control the movement of the clamp in the full plane of the riveting platform, and directly contacts the clamp with the riveting platform, so that the maximum pressure can reach more than ten tons without increasing the size of the riveting machine.
[0008] (2) The present invention has excellent disassembly and installation properties and is easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The present invention will be further described below in conjunction with the accompanying drawings;
[0010] Figure 1 A three-dimensional diagram of the present invention;
[0011] Figure 2 It is a schematic diagram of the dual motors and the riveting platform of the present invention.
[0012] In the figure, there are a frame 1, a motor 1 2, a motor 2 3, a connecting arm 4, a clamp 5, a riveting head 6, a camera 7, a light source 8, a riveting platform 9, a riveting bracket 10, a connecting arm base 11, a rotating platform 12, and a rotating platform rotation axis 13. DETAILED DESCRIPTION
[0013] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.
[0014] The accompanying drawing shows a specific embodiment of a riveting machine suitable for heavy-load environments according to the present invention. This embodiment includes a frame 1, on which a riveting platform 9 is installed, on which a connecting arm 4 is arranged, and one end of the connecting arm on the riveting platform is connected to a clamp 5; the clamp is arranged on the riveting platform and is in direct contact with the riveting platform, and a rotating platform 12 is arranged on one side of the riveting platform, and a motor 2 is connected to the bottom of the rotating platform, and the motor 2 is fixedly installed on the frame 1; a motor 2 3 is installed at one end of the rotating platform; a riveting bracket 10 is installed on the riveting platform, and a riveting head 6, a camera 7 and a light source 8 are arranged on the riveting bracket; the connecting arm 4 is fixedly installed on the rotating platform 12 through a connecting arm base 11, one end of the connecting arm is connected to the motor 2 3, and the other end is arranged on the riveting platform to connect the clamp; the motor 1 2 directly drives the rotating platform 12 above it to rotate when it works; the motor 2 3 and the connecting arm track 4-1 are fixedly installed on the rotating platform, the motor 2 is connected to the connecting arm, and the motor 2 3 can directly drive the connecting arm to extend and retract on the rotating platform; the motor 1 2 can directly drive the motor 2 3, the rotating platform and the connecting arm to rotate, and the clamp is fixed at the end of the connecting arm and rotates with the connecting arm.
[0015] The convex key on the rotating shaft of motor 1 2 is inserted into the rotating shaft 13 of the rotating platform under the rotating platform to control the rotation of the rotating platform, and then control the rotation of the connecting arm. During this period, the riveting platform remains stationary. Another motor 2 3 controls the extension length of the connecting arm by rotating the gear connected to the motor rotating shaft to directly rotate the rack on the connecting arm, thereby controlling the movement of the clamp in the entire plane of the riveting platform.
[0016] A riveting machine suitable for heavy-load environments includes the following main components. The frame is the main structure used to support the entire equipment. The workpiece positioning device includes a riveting platform, a clamp and a connecting arm: used to fix and position the copper busbar workpiece; the clamp fixes the copper busbar workpiece, and the motor drives the rotating platform to rotate, thereby driving the connecting arm and the clamp to rotate, and controlling the copper busbar workpiece on the clamp to the riveting position on the riveting platform. Visual inspection system: includes a camera and a light source installed on the riveting bracket. The camera is used to identify the rivet hole position on the copper busbar, and the light source works with the camera. Riveting head: provides riveting force to press the rivet into the copper busbar.
[0017] The working principle of the present invention is as follows:
[0018] Workpiece positioning: Use a clamp to fix the copper busbar to ensure the stable position of the workpiece.
[0019] Visual inspection: Use a camera to capture images of the copper busbar and identify the locations of the rivet holes on the busbar.
[0020] Coordinate transformation: The position of the rivet hole in the image coordinate system is transformed into the position in the mechanical coordinate system to ensure that the connecting arm can accurately move to the target position.
[0021] The specific steps of the riveting machine are as follows:
[0022] (1) Calibration: Determine the focal length of the camera, the coordinates of the principal point, the base position of the connecting arm, and the positional relationship of the end of the connecting arm relative to the rotation axis of the connecting arm.
[0023] The principal point coordinates are key reference points used to determine the position of the workpiece. In this invention, they refer to the coordinates of the rotation axis of the rotating platform. The purpose of acquisition is to determine the relative position and posture between the camera and the end fixture of the connecting arm. These data can be obtained through hand-eye calibration. The specific steps are as follows: first prepare the calibration plate, move the connecting arm to multiple different positions, and record the corresponding images of the connecting arm. Use image processing technology to extract the feature points on the calibration plate, and then calculate Where T CE is the transformation matrix from the camera coordinate system to the arm end coordinate system, T EB,i is the transformation matrix from the arm base coordinate system to the camera coordinate system, T CB,i is the transformation matrix from the camera coordinate system to the calibration board coordinate system. The least squares method is used to minimize the error between all measurement data to solve the most accurate hand-eye relationship matrix T CE This is then verified by moving the connecting arm to a known position and checking that the actual position matches the expected position.
[0024]
[0025] Where k is the internal parameter matrix, f x 、f y is the focal length, (c x， c y ) is the principal point coordinate; f x 、f y Represent the focal length along the x-axis and y-axis respectively, (c x， c y ) represents the origin position of the image plane;
[0026]
[0027] Where [R|T] is the external parameter matrix, R is the rotation matrix, and T is the translation vector. By collecting images taken by the camera at different positions, the Zhang Zhengyou calibration method is applied to solve the rotation matrix R. After calculating the rotation matrix R, the translation vector T can be calculated using the following formula:
[0028] T=P′ centroid -RP centroid
[0029] Where: P centroid and P′ centroidare the centroid coordinates of the camera coordinate system and the connecting arm base coordinate system respectively. (2) Use the camera intrinsic parameters to convert the pixel coordinates in the image into coordinates in the camera coordinate system.
[0030]
[0031] Where (u, v) is the image coordinate, (X c ,Y c ,Z c ) are the coordinates in the camera coordinate system.
[0032] (3) Use the camera external parameters to convert the coordinates in the camera coordinate system into coordinates in the world coordinate system.
[0033]
[0034] Where (X w ,Y w ,Z w ) is the world coordinate system.
[0035] (4) Using the base position of the connecting arm, convert the coordinates in the world coordinate system to coordinates in the mechanical coordinate system.
[0036]
[0037] Where (X m ,Y m ,Z m ) is the mechanical coordinate system, and M is the transformation matrix of the connecting arm base position.
[0038] (5) Convert the mechanical coordinate system into a polar coordinate system;
[0039]
[0040] Where r is the length;
[0041] θ=arctan2(Y m ,X m )
[0042] Where θ is the angle.
[0043] (6) The calculated angle and length are converted into specific motor control instructions, and the above instructions are sent to the corresponding motor driver through the embedded system; finally, the motor driver drives the motor to run, motor 1 2 controls the rotation angle, and motor 2 3 controls the extension length of the connecting arm.
[0044] The purpose of the two motors working together is to realize the rotation of the rotating platform and then drive the connecting arm to rotate, and control the extension length of the connecting arm so that the rivet hole of the workpiece on the fixture is aligned with the rivet head.
[0045] (7) Riveting is performed by applying pressure to the rivet hole with the riveting head to press the rivet into the workpiece.
Claims
1. A riveting machine suitable for heavy-load environments, characterized in that: It includes a frame, a riveting platform is installed on the frame, a connecting arm is arranged on the riveting platform, one end of the connecting arm on the riveting platform is connected to a clamp; the clamp is arranged on the riveting platform and is in direct contact with the riveting platform, a rotating platform is arranged on one side of the riveting platform, a motor one is connected to the bottom of the rotating platform, and the motor one is fixedly installed on the frame; a motor two is installed on one end of the rotating platform; a riveting bracket is installed on the riveting platform, and a riveting head, a camera and a light source are arranged on the riveting bracket; the connecting arm is fixedly installed on the rotating platform through a connecting arm base, one end of the connecting arm is connected to the motor two, and the other end is arranged on the riveting platform to connect the clamp; when the motor one works, it directly drives the rotating platform above it to rotate; the motor two and the connecting arm track are fixedly installed on the rotating platform, and the motor two is connected to the connecting arm.
2. The riveting machine suitable for heavy-load environments according to claim 1, characterized in that: The convex key on the rotating shaft of motor one is inserted into the rotating shaft of the rotating platform under the rotating platform to control the rotation of the rotating platform, and then control the rotation of the connecting arm. During this period, the riveting platform remains stationary. The other motor two controls the extension length of the connecting arm by rotating the gear connected to the rotating shaft of the motor to directly rotate the rack on the connecting arm, thereby controlling the movement of the fixture on the entire plane of the riveting platform.
3. The riveting machine suitable for heavy-load environments according to claim 1, characterized in that: Motor 2 can directly drive the connecting arm to extend and retract on the rotating platform; Motor 1 can directly drive Motor 2, the rotating platform and the connecting arm to rotate, and the clamp is fixed at the end of the connecting arm and rotates with the connecting arm.
4. The riveting machine suitable for heavy-load environments according to claim 1, characterized in that: The method of working of the riveting machine includes the following steps: (1) Calibration: Determine the focal length and principal point coordinates of the camera; determine the base position of the connecting arm and the position relationship between the end of the connecting arm and the rotation axis of the connecting arm; Where k is the internal parameter matrix, f x 、f y is the focal length, (c x， c y ) is the principal point coordinate; f x 、f y Respectively represent the focal length along the x-axis and y-axis, (c x， c y ) represents the origin position of the image plane; Where [R|T] is the external parameter matrix, R is the rotation matrix, and T is the translation vector. By collecting images taken by the camera at different positions, the Zhang Zhengyou calibration method is applied to solve the rotation matrix R. After calculating the rotation matrix R, the translation vector T can be calculated using the following formula: T=P′ centroid -RP centroid Where: P centroid and P′ centroid are the centroid coordinates of the camera coordinate system and the connecting arm base coordinate system respectively; (2) Use the camera intrinsic parameters to convert the pixel coordinates in the image into coordinates in the camera coordinate system; Where (u, v) is the image coordinate, (X c ,Y c ,Z c ) are coordinates in the camera coordinate system; (3) Use the camera external parameters to convert the coordinates in the camera coordinate system into the coordinates in the world coordinate system; Where (X w ,Y w ,Z w ) is the world coordinate system. (4) Using the base position of the connecting arm, the coordinates in the world coordinate system are converted into coordinates in the mechanical coordinate system; Where (X m ,Y m ,Z m ) is the mechanical coordinate system, and M is the transformation matrix of the connecting arm base position. (5) Convert the mechanical coordinate system into a polar coordinate system; Where r is the length; θ=arctan2(Y m ,X m ) Where θ is the angle; (6) converting the calculated angle and length into specific motor control instructions, and sending the above instructions to the corresponding motor driver through the embedded system; finally, the motor driver drives the motor to run, the motor 1 controls the rotation angle, and the motor 2 controls the extension length of the connecting arm; (7) Riveting is performed by applying pressure to the rivet hole with the riveting head to press the rivet into the workpiece.
5. The riveting machine suitable for heavy-load environments according to claim 4, characterized in that: The principal point coordinates are the coordinates of the rotation axis of the connecting arm base; the data is obtained through hand-eye calibration; The specific steps are as follows: first prepare the calibration plate, move the connecting arm to multiple different positions, and record the corresponding images of the connecting arm; use image processing technology to extract the feature points on the calibration plate, and then calculate Where T CE is the transformation matrix from the camera coordinate system to the arm end coordinate system, T EB,i is the transformation matrix from the arm base coordinate system to the camera coordinate system, T CB,i is the transformation matrix from the camera coordinate system to the calibration plate coordinate system; The least squares method is used to minimize the error between all measurement data to solve the most accurate hand-eye relationship matrix T. CE ; Verify by moving the connecting arm to a known position and checking that the actual position matches the expected position.