Automatic rivet pressing device

Abstract

The invention provides an automatic rivet pressing device which is applied to the technical field of industrial automatic equipment and comprises a base, and the base is of an L-shaped structure; the power driving assembly comprises an air cylinder and an output shaft; the air cylinder is attached to the base. The output shaft is connected with the output end of the air cylinder. The shaft positioning assembly comprises a transverse seat, a central clamping plate and a shaft lever; one end of the central clamping plate is connected with the transverse seat, the other end of the central clamping plate is connected with the shaft lever, and the output shaft is connected with one end of the shaft lever; the problems that in the prior art, an effective demolding auxiliary mechanism is lacked, and pressure control and demolding efficiency are difficult to balance, so that the production takt is reduced; along with popularization of industrial robots and improvement of precision manufacturing requirements, the stability, compatibility and automation level of the rivet pressing device need to be improved urgently, so that the technical problems of material adaptation, positioning precision, demolding efficiency and other core problems are solved.

Description

Technical Field

[0001] This application relates to the technical field of industrial automation equipment, and particularly relates to an automated riveting device. Background Art

[0002] A riveting device is an automated equipment that embeds fasteners such as rivets or nuts into workpieces through pressure to achieve reliable connections. Its technical background can be traced back to the limitations of traditional riveting processes;

[0003] In the field of automated assembly, riveting is a widely used connection method, but traditional riveting devices have significant problems: it is difficult to separate the workpiece and the lower die after riveting due to frictional resistance, especially when the robot holds and transfers, it is easy to trigger alarms or the workpiece falls off; the instability of the clamping mechanism causes the transfer of the rivet to deviate, affecting the alignment accuracy of the rivet hole;

[0004] In addition, the existing technology lacks an effective demolding auxiliary mechanism, and it is difficult to balance pressure control and demolding efficiency, resulting in a reduction in the production rhythm; with the popularization of industrial robots and the increasing demand for precision manufacturing, it is urgent to improve the stability, compatibility, and automation level of the riveting device to solve core problems such as material adaptability, positioning accuracy, and demolding efficiency. Summary of the Invention

[0005] This application aims to solve the technical problem that the existing technology lacks an effective demolding auxiliary mechanism, making it difficult to balance pressure control and demolding efficiency, resulting in a reduction in the production rhythm; with the popularization of industrial robots and the increasing demand for precision manufacturing, it is urgent to improve the stability, compatibility, and automation level of the riveting device to solve core problems such as material adaptability, positioning accuracy, and demolding efficiency, and provides an automated riveting device.

[0006] This application adopts the following technical means to solve the technical problem: an automated riveting device,

[0007] An automated riveting device, the device includes:

[0008] A base, the base is arranged in an L-shaped structure;

[0009] A power drive assembly, the power drive assembly includes a cylinder and an output shaft; the cylinder is attached to the base, and the output shaft is connected to the output end of the cylinder;

[0010] A shaft positioning assembly, the shaft positioning assembly includes a horizontal seat, a center clamping plate, and a shaft lever; the horizontal seat is horizontally placed in the middle of the base, one end of the center clamping plate is connected to the horizontal seat, the other end of the center clamping plate is connected to the shaft lever, and the output shaft is connected to one end of the shaft lever;

[0011] A riveting assembly, the riveting assembly includes an upper positioning block and a lower pressing block;

[0012] The upper positioning block and the lower positioning block, the upper positioning block is arranged at the other end of the shaft lever, and the lower positioning block is arranged in the base.

[0013] Further, the cross base, the center clamping plate and the shaft lever are arranged in an H structure.

[0014] Further, the two sides of the shaft lever respectively correspond to the air cylinder and the upper positioning block.

[0015] Further, an air intake system is further included, and the air intake system is adapted to the air cylinder.

[0016] Further, it further includes:

[0017] A pressure sensor, the pressure sensor is embedded in the pressing surface of the lower positioning block;

[0018] A controller, the controller is signal-connected to the pressure sensor and the air intake system;

[0019] The controller dynamically adjusts the output pressure of the air cylinder according to the real-time data of the pressure sensor.

[0020] Further, the pressure sensor and the controller system further include:

[0021] Initializing the riveting parameters of the target part;

[0022] Real-time measurement of pressure monitoring and adjustment parameters;

[0023] Dynamic pressure regulation of the controller system;

[0024] Abnormal riveting handling mechanism.

[0025] This application provides an automatic riveting device, which has the following beneficial effects: through a base, the base is arranged in an L-shaped structure; a power drive assembly, the power drive assembly includes an air cylinder and an output shaft; the air cylinder is attached to the base, and the output shaft is connected to the output end of the air cylinder; a shaft positioning assembly, the shaft positioning assembly includes a cross base, a center clamping plate and a shaft lever; the cross base is horizontally arranged in the middle of the base, one end of the center clamping plate is connected to the cross base, the other end of the center clamping plate is connected to the shaft lever, and the output shaft is connected to one end of the shaft lever; a riveting assembly, the riveting assembly includes an upper positioning block and a lower pressing block; the upper positioning block and the lower positioning block, the upper positioning block is arranged at the other end of the shaft lever, and the lower positioning block is arranged in the base; it has the technical problem of solving the lack of an effective demoulding auxiliary mechanism in the current prior art, which is difficult to balance pressure control and demoulding efficiency, resulting in a reduction in the production beat; with the popularization of industrial robots and the improvement of the demand for precision manufacturing, it is urgent to improve the stability, compatibility and automation level of the riveting device to solve the core problems such as material adaptation, positioning accuracy, and demoulding efficiency. Brief Description of the Drawings

[0026] Figure 1 One of the overall structural schematic diagrams of an embodiment of the automatic riveting device of the present application;

[0027] Figure 2 Another overall structural schematic diagram of an embodiment of the automatic riveting device of the present application;

[0028] Figure 3 The system flowchart of an embodiment of the automatic riveting device of the present application.

[0029] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed Description of the Embodiments

[0030] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0032] It should be noted that the terms "including", "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned accompanying drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. In the terms in the claims, specification and specification drawings of the present application, relational terms such as "first" and "second" are only used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0033] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0034] Reference appendix Figures 1-3 is a schematic structural diagram of an automatic riveting device in an embodiment of the present application;

[0035] Embodiment 1

[0036] An automatic riveting device, the device includes:

[0037] A base 1, the base 1 is arranged in an L-shaped structure;

[0038] A power drive assembly, the power drive assembly includes a cylinder 2 and an output shaft 3; the cylinder 2 is attached to the base 1, and the output shaft 3 is connected to the output end of the cylinder 2;

[0039] A shaft positioning assembly, the shaft positioning assembly includes a cross base 5, a center clamping plate 6 and a shaft lever 4; the cross base 5 is horizontally placed in the middle of the base 1, one end of the center clamping plate 6 is connected to the cross base 5, the other end of the center clamping plate 6 is connected to the shaft lever 4, and the output shaft 3 is connected to one end of the shaft lever 4;

[0040] A riveting assembly, the riveting assembly includes an upper positioning block 8 and a lower pressing block;

[0041] The upper positioning block 8 and the lower positioning block, the upper positioning block 8 is arranged at the other end of the shaft lever 4, and the lower positioning block is arranged in the base 1.

[0042] In this embodiment, the cross base 5, the center clamping plate 6 and the shaft lever 4 are arranged in an H-shaped structure.

[0043] Both sides of the shaft lever 4 respectively correspond to the cylinder 2 and the upper positioning block 8.

[0044] It further includes an air intake system, and the air intake system is adapted to the cylinder 2.

[0045] Specifically,

[0046] When the cylinder 2 is started, the output shaft 3 advances linearly, driving the shaft lever 4 to rotate around the hinge point of the cross base 5 and the center clamping plate 6, so that the upper positioning block 8 at the other end of the shaft lever 4 moves downward, and the upper positioning block 8 presses vertically downward, contacts the lower pressing block on the lower positioning block fixed in the base 1 and applies a preset pressure. After the riveting is completed, the air intake system switches the air flow direction. Among them, the air intake port 9 and the air outlet port 10 are respectively located on one side of the cylinder 2. The cylinder 2 drives the output shaft 3 to retract, the shaft lever 4 rotates in the reverse direction, the upper positioning block 8 rises and resets, the lower positioning block remains stationary, the riveting assembly separates, and the cycle ends, waiting for the next riveting instruction to be triggered.

[0047] It further includes:

[0048] A pressure sensor, which is embedded in the pressing surface of the lower positioning block;

[0049] A controller, which is signal-connected to the pressure sensor and the intake system;

[0050] The controller dynamically adjusts the output pressure of cylinder 2 according to the real-time data of the pressure sensor

[0051] The pressure sensor and the controller system further include:

[0052] Initializing the riveting parameters of the target part;

[0053] Measuring the pressure monitoring adjustment parameters in real time;

[0054] Dynamic pressure regulation of the controller system;

[0055] A riveting abnormality handling mechanism.

[0056] Embodiment 2

[0057] An automatic riveting device, which includes:

[0058] A base 1, which is arranged in an L-shaped structure;

[0059] A power driving component, which includes a cylinder 2 and an output shaft 3; the cylinder 2 is attached to the base 1, and the output shaft 3 is connected to the output end of the cylinder 2;

[0060] A shaft positioning component, which includes a cross base 5, a center clamping plate 6 and a shaft lever 4; the cross base 5 is horizontally arranged in the middle of the base 1, one end of the center clamping plate 6 is connected to the cross base 5, the other end of the center clamping plate 6 is connected to the shaft lever 4, and the output shaft 3 is connected to one end of the shaft lever 4;

[0061] A riveting component, which includes an upper positioning block 8 and a lower pressing block;

[0062] The upper positioning block 8 and the lower positioning block, the upper positioning block 8 is arranged at the other end of the shaft lever 4, and the lower positioning block is arranged in the base 1.

[0063] In this embodiment, the cross base 5, the center clamping plate 6 and the shaft lever 4 are arranged in an H-shaped structure.

[0064] The two sides of the shaft lever 4 respectively correspond to the cylinder 2 and the upper positioning block 8.

[0065] It further includes an intake system, which is adapted to the cylinder 2.

[0066] Specifically,

[0067] After the cylinder 2 is started, the output shaft 3 advances linearly, driving the shaft lever 4 to rotate around the hinge point of the cross base 5 and the center clamping plate 6, causing the upper positioning block 8 at the other end of the shaft lever 4 to move downward. The upper positioning block 8 then presses vertically downward, contacts the pressing block on the lower positioning block fixed inside the base 1, and applies a preset pressure. After the riveting is completed, the air intake system switches the air flow direction, the cylinder 2 drives the output shaft 3 to retract, the shaft lever 4 rotates in the reverse direction, the upper positioning block 8 rises and resets, the lower positioning block remains stationary, and the riveting assembly separates. The cycle ends and waits for the next riveting instruction to be triggered.

[0068] It further includes:

[0069] A pressure sensor, which is embedded in the pressing surface of the lower positioning block;

[0070] A controller, which is signal-connected to the pressure sensor and the air intake system;

[0071] The controller dynamically adjusts the output pressure of the cylinder 2 according to the real-time data of the pressure sensor

[0072] The pressure sensor and the controller system further include:

[0073] Initializing the riveting parameters of the target part;

[0074] Real-time measuring the pressure monitoring and adjustment parameters;

[0075] The controller system dynamically adjusts the pressure;

[0076] The riveting abnormal handling mechanism.

[0077] Specifically, initializing the riveting parameters of the target part means presetting the process parameters according to the rivet material, diameter, and workpiece thickness, including the target pressure value Parget = A·σy converted from the material yield strength σ (A is the cross-sectional area of the rivet), the pressure tolerance range △P = aParget (a is the material safety factor, 0.05 for aluminum and 0.1 for steel), the PID control parameters Kp, Ki, Kd, which are set based on the material hardness and the response speed of the cylinder 2 (increase Kp for hard materials to improve stiffness, increase Ki for soft materials to suppress oscillation). The press-fitting displacement-pressure reference curve S(P) is calibrated through a pre-pressing test and stored in the controller. The calibration process includes zero-drift compensation and sensor linearity verification. During the initialization stage, the safety threshold Pmaz = 1.5Parget and Pin = 0.7Parget are synchronously loaded, and the riveting times and the holding pressure time thold are set through the human-machine interface. After the parameter loading is completed, a self-check program is started to verify the stroke limit of the cylinder 2, the signal stability of the sensor, and the airtightness of the air circuit to ensure that the system is ready;

[0078] The real-time measured pressure monitoring and adjustment parameter refers to continuously collecting the instantaneous pressure value P.a(t) of the lower positioning block contact surface through a pressure sensor at a fixed sampling frequency (such as 1000Hz) during the riveting process;

[0079] Perform Kalman filtering on the original signal to reduce noise and obtain a smooth pressure curve

[0080] Calculate the pressure deviation e(t)=Parget - P(t) in real time;

[0081] Dynamically adjust the opening degree u(t)=u(t - 1)+Δu(t) of the air inlet valve of cylinder 2 through the incremental PID algorithm Δu(t)=K,[e(t)-e(t - 1)]+K;·e(t)+Ka·[e(t)-2e(t - 1)+e(t - 2)];

[0082] Synchronously monitor the pressure change rate to predict the overshoot risk and adaptively adjust the integral term weight K:=K;·exp(-λ|“(2|)(λ is the damping d coefficient);

[0083] When it is detected that P(t)>Pa, immediately cut off the air source and start the retraction program of cylinder 2. When P(t)<P…in exceeds the set time threshold, trigger the compensation riveting cycle. The real-time data stream is stored through a circular buffer and a pressure-time relationship graph is generated for online quality assessment and iterative optimization of process parameters;

[0084] Among them, the dynamic pressure regulation of the controller system is realized based on real-time pressure feedback and closed-loop control algorithm. The specific process includes:

[0085] Continuously collect the instantaneous pressure Pca(t) of the lower positioning block pressing surface through a pressure sensor. After Kalman filtering, obtain the smooth signal P(t) and calculate the deviation e(t)=Paryet - P(t) with the preset target pressure Parget,

[0086] Adopt the incremental PID control law Δu(t)=K,[e(t)-e(t - 1)]+〖:·e(t)+Ⅸ·[e(t)-2e(t - 1)+e(t - 2)] to generate the control quantity u(t)=u(t - 1)+Δu(t)

[0087] Drive the adjustment of the opening degree of the air inlet valve of cylinder 2. At the same time, introduce a pressure change rate adaptive mechanism. When dP / dt>γ (set rate threshold), dynamically adjust the integral term coefficient area:=K:tanh(B / dP / dt) to prevent integral saturation. If it is detected that P(t)>Pmaz, trigger the emergency pressure relief valve and record the fault code. If P(t)<P…im lasts for more than tdelay, start the secondary pressurization cycle and accumulate the retry times. All pressure-time data are stored in the non-volatile memory in real time.

[0088] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0089] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0090] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0092] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application. The scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An automated riveting device, characterized in that: The device comprises: A base, wherein the base is arranged in an L-shaped structure; A power drive assembly, the power drive assembly comprising a cylinder and an output shaft; the cylinder is attached to the base, and the output shaft is connected to the output end of the cylinder; A shaft positioning assembly, the shaft positioning assembly comprises a cross seat, a center clamping plate and a shaft lever; the cross seat is horizontally placed in the middle of the base, one end of the center clamping plate is connected to the cross seat, the other end of the center clamping plate is connected to the shaft lever, and the output shaft is connected to one end of the shaft lever; A press riveting assembly, the press riveting assembly comprising an upper positioning block and a lower pressing block; The upper positioning block and the lower positioning block, the upper positioning block is arranged at the other end of the shaft lever, and the lower positioning block is arranged in the base.

2. The automatic riveting device according to claim 1, characterized in that: The cross seat, the center clamping plate and the shaft lever are arranged in an H structure.

3. The automatic riveting device according to claim 1, characterized in that: The two sides of the shaft lever correspond to the cylinder and the upper positioning block respectively.

4. The automated riveting device according to claim 1, characterized in that: An air intake system is also included, and the air intake system is adapted to the cylinder.

5. The automated riveting device according to claim 1, characterized in that: Also includes: A pressure sensor, the pressure sensor being embedded in the pressing surface of the lower positioning block; A controller, the controller being connected to the pressure sensor and the intake system signal; The controller dynamically adjusts the output pressure of the cylinder according to the real-time data of the pressure sensor.

6. The automatic riveting device according to claim 5, characterized in that: The pressure sensor and controller system also includes: Initialize the riveting parameters of the target part; Real-time measurement of pressure, monitoring and adjustment parameters; Dynamic pressure regulation of controller system; Riveting exception handling mechanism.

Images