Friction riveting apparatus and method

Abstract

The invention provides friction riveting equipment and a friction riveting method, and relates to the technical field of riveting. The executing mechanism comprises a shell suitable for being driven by the feeding mechanism to move horizontally in the first direction close to a connected piece. The inner shell is sleeved in the outer shell; the clamping assembly is arranged in the inner shell and suitable for clamping a rivet rod of the rivet, and in the state that the rivet is clamped by the clamping assembly, a rivet cap of the rivet is located between the outer shell and the connected piece; wherein the nail rod is provided with a through hole penetrating in the axial direction of the nail rod, the nail rod is inserted into the insertion end of a connected piece to form cutting teeth, and the side, facing the insertion end, of the nail cap is sunken inwards to form a chip containing groove; the rotating assembly is suitable for driving the shell to rotate, so that the nail rod rotates along with the shell; and the lifting assembly is suitable for driving the inner shell to move in the second direction deviating from the connected piece relative to the outer shell while the rivet rod rotates, so that the rivet sleeve of the rivet rotating along with the rivet rod expands and deforms, and the connected piece is riveted.

Description

Technical Field

[0001] The present invention relates to the field of riveting technology, and in particular to a friction riveting device and method. Background Art

[0002] In the field of joining lightweight materials, friction stir self-piercing riveting (FSSPR) and friction stir blind riveting (FSBRS) technologies have received extensive attention due to their high efficiency and environmental friendliness. However, both of these technologies have certain limitations. Specifically, in the joining process of friction stir self-piercing riveting and friction stir blind riveting, pressure needs to be applied simultaneously on both sides of the workpiece to be joined, that is, operations need to be carried out simultaneously on the upper and lower surfaces of the workpiece to be joined. This operation mode makes friction stir self-piercing riveting and friction stir blind riveting not applicable to the connection of closed structures or structures that are difficult to perform double-sided operations, such as certain types of boxes, pipes, or complex curved surface structural parts, greatly limiting the application scenarios.

[0003] Friction stir blind riveting (FSBR) technology combines the advantages of friction stir welding and blind riveting, and theoretically can achieve efficient and reliable joining of lightweight materials. However, in the process of the rivet frictionally penetrating the workpiece to be joined in the existing FSBR technology, due to the action of high temperature (for example, about 400 - 600 °C) and extrusion, flash will inevitably be generated on the upper and lower surfaces of the workpiece to be joined. In particular, the flash on the lower surface of the workpiece to be joined will hinder the extraction of the mandrel and the formation of the upset head during the riveting process of the rivet, resulting in insufficient strength, dimensional deviation or even complete failure of the finally formed riveted joint, and it is difficult to meet the requirements of actual applications. Summary of the Invention

[0004] In view of this, the present invention provides a friction riveting device and method, which can reduce the flash after riveting.

[0005] As one aspect of an embodiment of the present invention, a friction riveting device is provided, comprising: an actuator, including: an outer shell, adapted to translate in a first direction toward a connected part under the drive of a feeding mechanism; an inner shell, sleeved in the above-mentioned outer shell; a clamping assembly, arranged in the above-mentioned inner shell, adapted to clamp the nail rod of the rivet, and when the above-mentioned clamping assembly clamps the above-mentioned rivet, the nail cap of the above-mentioned rivet is located between the above-mentioned outer shell and the above-mentioned connected part; wherein the above-mentioned nail rod has a through hole passing through along the axial direction of the above-mentioned nail rod, the above-mentioned nail rod is inserted into the insertion end of the above-mentioned connected part to form cutting teeth, and the side of the above-mentioned nail cap facing the above-mentioned insertion end is recessed inward to form a chip groove; a rotating assembly, adapted to drive the above-mentioned outer shell to rotate so that the above-mentioned nail rod rotates with the above-mentioned outer shell; a lifting assembly, adapted to drive the above-mentioned inner shell to move in a second direction away from the above-mentioned connected part relative to the above-mentioned outer shell while the above-mentioned nail rod rotates, so that the nail sleeve of the above-mentioned rivet that rotates following the above-mentioned nail rod expands and deforms, thereby riveting the above-mentioned connected part.

[0006] According to an embodiment of the present invention, the end wall of the inner shell facing the clamping assembly extends along the first direction to form a plurality of mating portions with sloped surfaces; the clamping assembly includes: a plurality of wedge-shaped portions, which are respectively arranged on the plurality of mating portions and are configured to slide along the sloped surfaces respectively; a plurality of clamping portions, which are respectively arranged on the side of the plurality of wedge-shaped portions away from the sloped surfaces to form an accommodating space for accommodating the nail rod, and the plurality of clamping portions are configured to approach each other as the plurality of wedge-shaped portions translate along the first direction to clamp the nail rod.

[0007] According to an embodiment of the present invention, the clamping assembly further comprises: a plurality of elastic components, respectively arranged between the plurality of the wedge-shaped portions and the end wall, adapted to provide a thrust along the second direction for the plurality of the wedge-shaped portions, so that the plurality of the clamping portions move away from each other and release the nail rod.

[0008] According to an embodiment of the present invention, the clamping assembly further includes: a first driving portion, configured to extend along the first direction and contract along the second direction; a transmission member, disposed between the first driving portion and the plurality of wedge-shaped portions, adapted to translate relative to the inner shell under the drive of the first driving portion so as to press against the plurality of wedge-shaped portions in the first direction.

[0009] According to an embodiment of the present invention, one of the transmission member and the inner shell forms a protrusion, and the other forms a slide groove extending along the first direction. The protrusion and the slide groove are matched in a concave-convex manner in the circumferential direction of the inner shell, so that the transmission member follows the inner shell to rotate relative to the first driving part.

[0010] According to an embodiment of the present invention, the above-mentioned rotating assembly includes: a second driving part; a transmission belt, which is wound between the second driving part and the above-mentioned housing, so that the above-mentioned housing rotates under the drive of the second driving part.

[0011] According to an embodiment of the present invention, the above-mentioned actuating mechanism further includes: a bracket, which is connected to the above-mentioned feeding mechanism to translate under the drive of the above-mentioned feeding mechanism, and the above-mentioned housing is rotatably arranged on the above-mentioned bracket; wherein, the above-mentioned lifting assembly is arranged between the above-mentioned bracket and the above-mentioned inner housing along the first direction, and is configured to extend in the first direction and contract in the second direction relative to the above-mentioned bracket to drive the above-mentioned inner housing to translate relative to the above-mentioned housing.

[0012] According to an embodiment of the present invention, the above-mentioned feeding mechanism includes: a slider, which is connected to the above-mentioned bracket; a third driving part, which is connected to the above-mentioned slider and is suitable for driving the above-mentioned slider to move along the first direction or the second direction.

[0013] According to an embodiment of the present invention, the friction riveting device further includes a base; the above-mentioned third driving part includes: a driving motor, which is installed on the above-mentioned base; a threaded rod, which is arranged on the above-mentioned base parallel to the first direction and is suitable for rotating under the drive of the above-mentioned driving motor; a slide rail, which is arranged on the above-mentioned bracket parallel to the above-mentioned threaded rod; wherein, the above-mentioned slider is threadedly engaged with the above-mentioned threaded rod to translate along the above-mentioned slide rail under the drive of the above-mentioned driving motor.

[0014] As another aspect of the embodiment of the present invention, a riveting method is provided, which is applied to any of the above-mentioned friction riveting devices. The above-mentioned riveting method includes: the clamping assembly clamps the shank of the rivet, wherein the head of the above-mentioned rivet is located between the housing and the workpiece to be connected; the rotating assembly drives the above-mentioned housing to rotate, so that the above-mentioned rivet rotates with the inner housing; the feeding mechanism drives the above-mentioned housing to translate along the first direction, so that the above-mentioned rotating rivet rubs against the workpiece to be connected and inserts into the above-mentioned workpiece to be connected; after the feeding mechanism drives the above-mentioned housing to translate a target distance, the feeding mechanism stops feeding; the lifting assembly drives the inner housing to translate relative to the above-mentioned housing along the second direction, so that the sleeve of the above-mentioned rotating rivet expands and deforms to rivet the above-mentioned workpiece to be connected.

[0015] According to the friction riveting device provided by an embodiment of the present invention, the housing and the rivet (the shank and the sleeve) are driven to rotate by a rotating assembly, and at the same time, a lifting assembly drives the inner housing to move relative to the outer housing in a second direction, realizing "rotary core pulling" during the riveting process. The rotational movement of the sleeve continuously generates frictional heat, keeping the material of the workpiece to be joined in a softened state. At the same time, the "core pulling" action causes the sleeve to expand and deform, evenly dispersing the stress generated by riveting over the entire circumferential area where the sleeve contacts the workpiece to be joined, enabling the material of the workpiece to be joined to undergo continuous, uniform, and controllable plastic flow along the circumferential direction of the sleeve when the sleeve expands and deforms, allowing the material of the workpiece to be joined to more smoothly fill the gap between the deformed sleeve and the workpiece to be joined. Compared with the existing process, in which the material of the workpiece to be joined is extruded at local points to form large-sized (e.g., about 6 mm) flash, and the flash affects the extraction of the shank (the mandrel) and the formation of the upset head after cooling, the present invention reduces the flash after friction stir core-pulling riveting, thereby improving the quality of the riveted joint and the connection reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shows a cross-sectional view of a rivet according to a first embodiment of the present invention;

[0017] Figure 2 Shows a cross-sectional view of a rivet according to a second embodiment of the present invention;

[0018] Figure 3 Shows a cross-sectional view of a rivet according to a third embodiment of the present invention;

[0019] Figure 4 Shows a cross-sectional view of a rivet according to a fourth embodiment of the present invention;

[0020] Figure 5 is Figure 4 A partial enlarged view of part A shown;

[0021] Figure 6 Shows a perspective view of a friction riveting device according to an embodiment of the present invention;

[0022] Figure 7 Shows Figure 6 A cross-sectional view of the friction riveting device shown;

[0023] Figure 8 is Figure 7 A partial enlarged view of part B shown;

[0024] Figure 9 Shows a perspective view of a wedge portion according to an embodiment of the present invention;

[0025] Figure 10 Shows a partial cross-sectional view of a friction riveting device according to an embodiment of the present invention;

[0026] Figure 11 Shows a partial cross-sectional view of a friction riveting device according to another embodiment of the present invention;

[0027] Figure 12 Shows a flowchart of a riveting method according to an embodiment of the present invention;

[0028] Figure 13 Schematically shows a flowchart of a riveting process according to a first embodiment of the present invention;

[0029] Figure 14 Shows a flowchart of a riveting process according to a second embodiment of the present invention;

[0030] Figure 15 Shows a flowchart of a riveting process according to a third embodiment of the present invention.

[0031] The description of the reference numerals is as follows:

[0032] 1, base; 11, support table;

[0033] 2, feeding mechanism; 21, third driving part; 211, driving motor; 212, threaded rod; 213, slide rail; 22, slider;

[0034] 3, execution mechanism; 31, outer shell; 311, replacement part; 32, inner shell; 321, fitting part; 322, chute; 33, clamping assembly; 331, wedge part; 3311, first guiding groove; 332, clamping part; 333, elastic member; 334, first driving part; 335, transmission member; 3351, protrusion; 336, first bearing group; 3361, outer ring, 3362, inner ring; 3363, rolling element; 337, third bearing group; 34, rotating assembly; 341, second driving part; 342, transmission belt; 343, second bearing group; 35, lifting assembly; 36, bracket;

[0035] 4, rivet; 41, nail rod; 411, rod body; 412, first ring groove; 413, receiving groove; 414, through hole; 415, step part; 416, flange; 42, nail sleeve; 421, sleeve body; 422, second ring groove; 423, nail cap; 424, chip receiving groove; 425, third ring groove;

[0036] 5, connected parts; 51, first connected part; 52, second connected part. Detailed implementation manners

[0037] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0038] The terms used herein are for describing specific embodiments only and are not intended to limit the present invention. The terms "comprising", "including" and the like as used herein indicate the presence of the described features, steps, operations and / or components, but do not preclude the presence or addition of one or more other features, steps, operations or components.

[0039] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0040] In cases where expressions such as "at least one of A, B, and C, etc." are used, generally, it should be interpreted according to the meaning commonly understood by those of ordinary skill in the art. For example, a "system having at least one of A, B, and C" should include, but is not limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc. In cases where expressions such as "at least one of A, B, or C, etc." are used, generally, it should be interpreted according to the meaning commonly understood by those of ordinary skill in the art. For example, a "system having at least one of A, B, or C" should include, but is not limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.

[0041] It should also be noted that the directional terms mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right", etc., are only references to the directions in the drawings and are not used to limit the protection scope of the present invention. Throughout the drawings, the same elements are denoted by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present invention.

[0042] In the process of implementing the present invention, it is found that based on the high-speed rotation of the connecting member (for example, at a rotational speed of about 12000 r / min), frictional heat is generated with the workpiece to be connected, and a series of joining processes are derived, including friction stir self-piercing riveting, hot melt drilling screws, friction plug riveting welding, and friction stir blind riveting, etc. These processes all generate heat by friction to soften the workpiece to be joined. The traditional materials of the connecting members (rivets, screws) are close to or penetrate, and mechanical locking is relied on to achieve the connection purpose. And in addition to mechanical locking, the melting and phase change of the materials generated by frictional heat produce local welding and bonding effects.

[0043] Among them, friction stir self-piercing riveting and friction plug riveting welding need to be operated simultaneously on both sides of the workpieces to be joined, which have obvious limitations in closed structures, workpieces with complex geometries, and scenarios where one side is inaccessible. Hot melt drill screws and friction stir blind rivets only need to be operated on one side of the workpieces to be joined.

[0044] After the rivet is inserted into the workpiece to be joined, the mandrel is pulled back, and the sleeve further expands and locks the workpiece to be joined. Among them, if the material of the workpiece to be joined flows unevenly during the expansion of the sleeve, large burrs are likely to be generated.

[0045] Burrs are irregular excess parts formed when the material of the workpiece to be joined overflows or is extruded from the edge of the riveting hole when the sleeve of the rivet is compressed and expanded during the riveting process. The existence of burrs not only affects the appearance quality of the riveted parts but also may reduce the connection accuracy and strength.

[0046] Fiber-reinforced resin matrix composites are reinforced with carbon fibers or glass fibers. Carbon fibers and glass fibers are heat-resistant and will not be softened by the heat generated by friction penetration. During the friction penetration process, effective fiber cutting is required to finally form a qualified joint. If the fibers cannot be effectively cut during the friction penetration process, damages such as delamination, cracks, and fiber pull-out will occur in the composite material. Currently, the connection technology mainly targets metal materials. Metals are homogeneous materials and will be softened by the heat generated by friction penetration. The softened metal material can be plastically deformed by the extrusion of the rivet, and a rivet hole can be formed without the need for a cutting action. In addition, resin matrix composites are more sensitive to temperature, and too high a temperature will cause their thermal degradation. Existing connection processes based on frictional heat have not been optimized for the above material characteristics.

[0047] Figure 1 A cross-sectional view of a rivet according to a first embodiment of the present invention is shown. Figure 2 A cross-sectional view of a rivet according to a second embodiment of the present invention is shown. Figure 3 A cross-sectional view of a rivet according to a third embodiment of the present invention is shown. Figure 4 A cross-sectional view of a rivet according to a fourth embodiment of the present invention is shown.

[0048] As Figures 1 to 4 shown, the rivet 4 includes a shank 41 and a sleeve 42 sleeved outside the shank 41. The shank 41 includes a rod body 411, and a circumferential receiving groove 413 extends radially inward in the middle of the rod body 411. The receiving groove 413 has a first groove wall and a second groove wall facing each other along the axial direction of the shank 41.

[0049] The rod body 411 has an insertion end inserted into the workpiece to be joined ( Figures 1 to 4 the lower end in the perspective shown), and a lifting end opposite to the insertion end ( Figures 1 to 4the upper end of the shown perspective). A stepped portion 415 is formed to extend radially outward at a position near the insertion end, and the nail sleeve 42 is disposed between the stepped portion 415 and the first groove wall of the receiving groove 413 away from the stepped portion 415, and the other end of the rod body 411 extends out of the nail sleeve 42.

[0050] On the bottom wall between the first groove wall and the second groove wall of the receiving groove 413, a first annular groove 412 is formed to be recessed radially inward. When a separating force is applied after riveting is completed, the first annular groove 412 guides the nail rod 41 to brittlely fracture at this specific position, thereby realizing the separation of the nail rod 41 from the riveting structure.

[0051] A through hole 414 is formed along the axial direction of the nail rod 41 through the nail rod 41. The insertion end is formed with a chamfer (cutting teeth) to cut the connected member 5 (cut carbon fiber) during the process of inserting the rivet 4 into the connected member 5, so that the rivet 4 can more easily penetrate through multiple thin plates or composite materials, reduce the riveting resistance, reduce the heat generation, and avoid thermal damage to the material of the connected member 5. And necessary holes or cutting paths are formed during the riveting process to ensure that the rivet 4 smoothly enters the predetermined connection position. The material of the cut connected member 5 can be received by the through hole 414, reducing the size of the burrs generated during the riveting of the connected member 5.

[0052] The nail sleeve 42 includes a sleeve body 421, and one end of the sleeve body 421 near the lifting end extends radially outward to form a nail head 423. A chip receiving groove 424 is formed to be recessed inward on the side of the nail head 423 facing the insertion end. A second annular groove 422 is formed in the middle of the sleeve body 421, causing the sleeve body 421 to expand and deform at the position of the second annular groove 422.

[0053] Further, as Figures 1 to 3 shown, the portion of the nail rod 41 extending out of the nail sleeve 42 may further extend radially outward to form a flange 416. A plurality of flanges 416 are arranged at intervals along the axial direction of the nail rod 41 to increase the frictional force with the clamping assembly 33 (to be described in detail later) through the plurality of flanges 416.

[0054] Figure 5 is Figure 4 a partial enlarged view of part A shown.

[0055] Further, as Figure 5 shown, third annular grooves 425 are formed on the wall surface of the nail sleeve 42 near the insertion end and arranged at intervals along the axial direction of the nail sleeve 42, and the third annular grooves 425 are adapted to guide the nail sleeve 42 to uniformly expand and deform outward.

[0056] Figure 6 A perspective view of a friction riveting device according to an embodiment of the present invention is shown.

[0057] As an aspect of an embodiment of the present invention, a friction riveting device is provided. As Figure 6 shown, the friction riveting device includes an actuating mechanism 3 and a feeding mechanism 2. The actuating mechanism 3 includes a housing 31, an inner housing 32, a clamping assembly 33, a rotating assembly 34 and a lifting assembly 35. The housing 31 is adapted to translate in a first direction (such as the X direction as shown in Figure 6 the figure) close to the workpiece to be joined 5 under the drive of the feeding mechanism 2. The inner housing 32 is sleeved inside the housing 31, and the clamping assembly 33 is arranged inside the inner housing 32 and is adapted to clamp the shank 41 of the rivet 4. And in the state where the clamping assembly 33 clamps the rivet 4, the head 423 of the rivet 4 is located between the housing 31 and the workpiece to be joined 5. Wherein, the shank 4 has a through hole 414 penetrating along the axial direction of the shank 4, the insertion end of the shank 4 inserted into the workpiece to be joined 5 forms cutting teeth, and one side of the head 423 facing the insertion end is recessed inward to form a chip receiving groove 424; the rotating assembly 34 is adapted to drive the housing 31 to rotate so that the shank 41 rotates with the housing 31. The lifting assembly 35 is adapted to drive the inner housing 32 to move relative to the housing 31 in a second direction (a direction opposite to the X direction as shown in Figure 6 the figure) away from the workpiece to be joined 5 while the shank 41 rotates, so that the sleeve 42 of the rivet 4 following the rotation of the shank 41 expands and deforms to rivet the workpiece to be joined 5.

[0058] According to the friction riveting device provided by the embodiment of the present invention, the rotating assembly 34 drives the housing 31 and the rivet 4 (the shank 41 and the sleeve 42) to rotate, and at the same time the lifting assembly 35 drives the inner housing 32 to move relative to the housing 31 in the second direction, realizing "rotary core pulling" during the riveting process. The rotational movement of the sleeve 42 evenly disperses the stress generated by the riveting to the entire circumferential area where the sleeve 42 contacts the workpiece to be joined 5, so that when the material of the workpiece to be joined 5 expands and deforms the sleeve 42, it can perform continuous, uniform and controllable plastic flow along the circumferential direction of the sleeve 42, rather than being instantaneously extruded at local points, making the material of the workpiece to be joined 5 more smoothly fill the gap between the deformed sleeve 42 and the workpiece to be joined 5, rather than being forcibly extruded to form flash, improving the flow behavior of the material of the workpiece to be joined 5 during the riveting process, reducing flash, and thus improving the quality of the riveted joint and the connection reliability.

[0059] The workpiece to be joined 5 includes a first workpiece to be joined 51 and a second workpiece to be joined 52 lapped with the first workpiece to be joined 51. The rivet 4 passes through the first workpiece to be joined 51 and the second workpiece to be joined 52 in sequence to rivet the first workpiece to be joined 51 and the second workpiece to be joined 52.

[0060] The material of the first workpiece to be joined 51 may be the same as that of the second workpiece to be joined 52. Or, the material of the first workpiece to be joined 51 may be different from that of the second workpiece to be joined 52.

[0061] For example, the material of the first connected part 51 may include composite materials, metals (such as copper, aluminum, etc.).

[0062] The material of the second connected part 52 may include composite materials, metals (such as copper, aluminum, etc.).

[0063] The connected part 5 may further include a third connected part (not shown in the figure). The third connected part is disposed between the first connected part 51 and the second connected part 52 and is respectively lapped with the first connected part 51 and the second connected part 52. The rivet 4 sequentially passes through the first connected part 51, the third connected part, and the second connected part 52 to rivet the first connected part 51, the third connected part, and the second connected part 52 together.

[0064] The number of the third connected parts may be 1, 2, or 3.

[0065] The material of the third connected part may include composite materials, metals (such as copper, aluminum, etc.).

[0066] According to an embodiment of the present invention, the nail sleeve 42 rotates synchronously with the nail rod 41. Further, a spline connection may be provided between the nail sleeve 42 and the nail rod 41.

[0067] According to an embodiment of the present invention, the outer shell 31 may be configured in a cylindrical shape, and the axial direction of the outer shell 31 is parallel to the first direction and the second direction. In a state where the clamping assembly 33 clamps the rivet 4, the axis of the rivet 4 coincides with the axis of the outer shell 31.

[0068] The inner shell 32 is coaxial with the outer shell 31. The inner shell 32 is sleeved inside the outer shell 31, and the outer shell 31 restricts the radial position of the inner shell 32 relative to the outer shell 31. The inner shell 32 is configured to rotate following the outer shell 31 and can translate relative to the outer shell 31 along the axial direction of the outer shell 31.

[0069] In some illustrative embodiments, a limiting block is formed by the outer wall of the inner shell 32 protruding radially outward. A slideway extending in the axial direction is formed at a position of the outer shell 31 facing the limiting block. The limiting block and the slideway are in concave-convex fit, so that the inner shell 32 rotates following the outer shell 31 and allows the inner shell 32 to translate relative to the outer shell 31 along the axial direction. Similarly, the limiting block may also be provided on the inner wall of the outer shell 31, and the slideway is formed on the outer wall of the inner shell 32. It can be understood that the embodiments of the present invention are not limited thereto, as long as the inner shell 32 can rotate following the outer shell 31 and allows the inner shell 32 to translate relative to the outer shell 31 along the axial direction.

[0070] A first channel is formed in the middle of the bottom wall of the outer shell 31. A second channel is formed at a position of the inner shell 32 facing the first channel. The bottom wall of the outer shell 31 restricts the nail sleeve 42 outside the outer shell 31, and the nail rod 41 is sequentially passed through the first channel and the second channel and is clamped by the clamping assembly 33.

[0071] According to an embodiment of the present disclosure, the cap 423 of the rivet 4 abuts against the surface of the bottom wall of the outer shell 31 facing the workpiece to be connected 5, that is, the surface of the cap 423 facing the outer shell 31 closely adheres to the surface of the outer shell 31 facing the workpiece to be connected 5.

[0072] Figure 7 shows Figure 6 a cross-sectional view of the friction riveting device shown. Figure 8 is Figure 7 a partial enlarged view of part B shown.

[0073] According to an embodiment of the present invention, as Figure 6 and Figure 7 shown, the actuator 3 further includes a bracket 36. The bracket 36 is connected to the feeding mechanism 2 to translate under the drive of the feeding mechanism 2, and the outer shell 31 is rotatably arranged on the bracket 36. Wherein, the lifting assembly 35 is arranged between the bracket 36 and the inner shell 32 along a first direction, and is configured to extend in the first direction and contract in a second direction relative to the bracket 36 to drive the inner shell 32 to translate relative to the outer shell 31.

[0074] The lifting assembly 35 can include any one of a cylinder, a hydraulic cylinder, etc., as long as it can extend in the first direction to drive the inner shell 32 to translate in the first direction, and contract in the second direction to drive the inner shell 32 to translate in the second direction.

[0075] The lifting assembly 35 is connected to the inner shell 32 through a first bearing set 336, so that the inner shell 32 can rotate relative to the lifting assembly 35, while the lifting assembly 35 remains stationary relative to the bracket 36. This can prevent the air pipes, hydraulic pipes, cables, etc. of the lifting assembly 35 from rotating with the inner shell 32.

[0076] The first bearing set 336 includes a plurality of bearings, and each bearing includes an outer ring 3361, an inner ring 3362, and a plurality of rolling elements 3363. The plurality of rolling elements 3363 are arranged between the inner ring 3362 and the outer ring 3361, so that the outer ring 3361 can rotate relative to the inner ring 3362.

[0077] One end of the lifting assembly 35 is connected to the inner ring 3362.

[0078] One end of the inner shell 32 facing away from the lifting assembly 35 extends radially outward to form an annular groove, and the first bearing set 336 is arranged in the annular groove. Further, at least a part of the inner ring 3362 is located in the annular groove. A connecting plate is installed between the inner rings of two adjacent first bearing sets 336. The lifting assembly 35 is connected to the inner ring 3362 through the connecting plate. When the lifting assembly 35 drives the inner shell 32 to translate in the first direction or the second direction through the connecting plate, the annular groove provides support for the plurality of first bearing sets 336, so that the inner shell 32 follows the telescopic translation of the lifting assembly 35.

[0079] The first bearing group 336 may be a roller bearing group. The first bearing group 336 can withstand an axial upsetting force of not less than 3 kN and a rotation speed of not less than 12,000 r / min.

[0080] One end of the inner shell 32 provided with the annular groove extends from the outer shell 31 , and the axial position of the inner shell 32 relative to the outer shell 31 is limited by the lifting assembly 35 .

[0081] According to an embodiment of the present invention, Figure 6 and Figure 7 As shown, the rotating assembly 34 includes a second driving portion 341 and a transmission belt 342. The transmission belt 342 is looped between the second driving portion 341 and the housing 31, so that the housing 31 rotates under the drive of the second driving portion 341.

[0082] The second driving unit 341 may include a motor and a transmission wheel, wherein the motor drives the transmission wheel to rotate. A transmission belt 342 is looped between the transmission wheel and the housing 31, so that the housing 31 rotates along with the transmission wheel.

[0083] As an example, the rated speed of the motor may be 12000 rpm, and the rated torque may be 10 Nm.

[0084] As an example, the transmission belt 342 may include a toothed belt, the transmission wheel may be a pulley meshed with the toothed belt, and tooth grooves meshed with teeth of the toothed belt are formed on the housing 31 along the circumferential direction.

[0085] In another exemplary embodiment, the second driving portion 341 may also be coupled to the housing 31 via a gear structure.

[0086] During the riveting process, the nail rod 41 is clamped by the clamping assembly 33 provided on the inner shell 32 and rotates synchronously with the inner shell 32. The nail sleeve 42 and the outer shell 31 are tightly fitted during the riveting process. The synchronous rotation of the inner shell 32 and the outer shell 31 forces the nail rod 41 and the nail sleeve 42 to maintain synchronous rotation, eliminating the relative rotation tendency that may occur between the nail rod 41 and the nail sleeve 42 and reducing the force between the nail rod 41 and the nail sleeve 42. In addition, the synchronous rotation during the riveting process ensures that the nail rod 41 and the nail sleeve 42 have a relative movement tendency at the moment when the material of the connected part 5 solidifies, avoiding the slight relative displacement between the nail rod 41 and the nail sleeve 42 due to the release of residual stress or slight vibration after the riveting is completed, thereby ensuring the immediate and long-term stability of the riveting effect.

[0087] According to an embodiment of the present invention, the second driving part 341 is installed on the bracket 36, and the outer shell 31 can rotate relative to the bracket 36 under the drive of the second driving part 341. A plurality of second bearing groups 343 are arranged between the bracket 36 and the outer shell 31, so that the outer shell 31 can rotate relative to the bracket 36.

[0088] The second bearing group 343 can be a plurality of ball bearings.

[0089] The second bearing group 343 can withstand an axial upsetting force of not less than 5 KN and a rotational speed of not less than 12000 r / min.

[0090] According to an embodiment of the present invention, as Figure 6 and Figure 7 shown, the feeding mechanism 2 includes a slider 22 and a third driving part 21. The slider 22 is connected to the bracket 36, and the third driving part 21 is connected to the slider 22 and is adapted to drive the slider 22 to move along a first direction or a second direction.

[0091] According to an embodiment of the present invention, as Figure 6 and Figure 7 shown, the friction riveting device further includes a base 1.

[0092] As an example, the base 1 can be configured to be generally L-shaped. The first part of the base 1 extends along a first direction, and the second part extends along a direction perpendicular to the first direction. A support platform 11 can be provided on the second part. The workpiece to be joined 5 is arranged on the support platform 11, and a groove is formed at the position of the support platform 11 facing the rivet 4 to accommodate the rivet 4 penetrating the workpiece to be joined 5.

[0093] It can be understood that the base 1 can also have a connection structure to set the friction riveting device on the robotic arm through the connection structure.

[0094] As Figure 6 and Figure 7 shown, the third driving part 21 includes a driving motor 211, a threaded rod 212 and a slide rail 213. The driving motor 211 is installed on the base 1, the threaded rod 212 is arranged on the base 1 parallel to the first direction and is adapted to rotate under the drive of the driving motor 211. The slide rail 213 is arranged on the bracket 36 parallel to the threaded rod 212. Among them, the slider 22 is threadedly engaged with the threaded rod 212 to translate along the slide rail 213 under the drive of the driving motor 211.

[0095] As an example, the maximum lifting speed of the feeding mechanism 2 for driving the bracket 36 to translate is not less than 10 mm / s to meet the feeding drive of the rivet 4.

[0096] As an example, there can be a plurality of slide rails 213. For example, there can be 2, 3 or 4.

[0097] According to an embodiment of the present invention, Figure 7 and Figure 8 As shown, the end wall of the inner shell 32, facing the clamping assembly 33, extends along a first direction to form a plurality of mating portions 321 having a sloped surface. The clamping assembly 33 includes a plurality of wedge-shaped portions 331 and a plurality of clamping portions 332. The plurality of wedge-shaped portions 331 are respectively disposed on the plurality of mating portions 321 and are configured to slide along the sloped surfaces. The plurality of clamping portions 332 are respectively disposed on the side of the plurality of wedge-shaped portions 331 facing away from the sloped surface to enclose a space for accommodating the nail rod 41. The plurality of clamping portions 332 are configured to approach each other as the plurality of wedge-shaped portions 331 translate along the first direction to clamp the nail rod 41.

[0098] Figure 9 A perspective view of a wedge-shaped portion according to an embodiment of the present invention is shown.

[0099] like Figure 9 As shown, a first guide groove 3311 is formed on the wall surface of the wedge-shaped portion 331 facing the mating portion 321. A first guide block is formed on the slope of the mating portion 321 facing the first guide groove 3311. The first guide groove 3311 and the first guide block cooperate with each other in a concave-convex manner, restraining the wedge-shaped portion 331 to the mating portion 321 and enabling the wedge-shaped portion 331 to translate along the slope. Similarly, the first guide groove 3311 can also be formed on the first mating portion 321, and the first guide block can also be formed on the wedge-shaped portion 331.

[0100] The cross-sectional shape of the first guide groove 3311 may include a trapezoidal shape, a T-shape, etc., and the cross-sectional shape of the first guide block matches the cross-sectional shape of the first guide groove 3311 .

[0101] The number of the wedge-shaped portions 331 and the number of the clamping portions 332 can be 2, 3, or 4.

[0102] The clamping portion 332 is provided in a one-to-one correspondence with the wedge-shaped portion 331 .

[0103] Figure 10 A partial cross-sectional view of a friction riveting device according to one embodiment of the present invention is shown.

[0104] In some exemplary embodiments, Figure 10 As shown, the wedge portion 331 and the clamping portion 332 remain fixed, and the clamping portion 332 moves in translation following the translation of the wedge portion 331. The clamping portion 332 and the wedge portion 331 can be formed integrally, or the clamping portion 332 and the wedge portion 331 can be installed by welding, screwing, etc.

[0105] Figure 11 A partial cross-sectional view of a friction riveting device according to another embodiment of the present invention is shown.

[0106] In other exemplary embodiments,Figure 11 As shown, a plurality of clamping portions 332 are respectively slidably disposed on one side of the plurality of wedge portions 331 away from the slope surface.

[0107] On one side of the wedge portion 331 away from the slope surface, a third guiding groove is formed. At the position where the clamping portion 332 faces the third guiding groove, a third guiding block is formed. The third guiding block and the third guiding groove are in concave-convex fit, so that the third guiding block slides along the third guiding groove without detaching from the third guiding groove. The extending direction of the third guiding groove is parallel to the axial direction of the outer shell 31.

[0108] The clamping portion 332 is slidably disposed on the end wall of the inner shell 32, and the clamping portion 332 is configured to slide along the radial direction of the inner shell 32. One end of the clamping portion 332 facing the end wall forms a second guiding block. At the position where the end wall of the inner shell 32 body faces the second guiding block, a second guiding groove is formed. The second guiding groove extends along the radial direction of the inner shell 32. The second guiding block and the second guiding groove cooperate to limit the clamping portion 332 to the end wall of the inner shell 32 and allow the clamping portion 332 to slide along the second guiding groove.

[0109] During the translation of the plurality of wedge portions 331 in the first direction, under the action of the slope surface, while the wedge portion 331 translates along the slope surface, a component force perpendicular to the first direction is generated, causing the plurality of wedge portions 331 to approach each other, so that the clamping portions 332 disposed on the wedge portions 331 approach each other.

[0110] In some exemplary embodiments, as Figure 10 and Figure 11 shown, the outer shell 31 includes a plurality of replacement parts 311, and the replacement parts 311 are detachably connected to the bottom wall of the outer shell 31.

[0111] The replacement part 311 is configured to be annular, and the diameters of the inner rings of the plurality of replacement parts 311 are different from each other to adapt to the sizes of different nail caps 423, so that the replacement part 311 can limit the nail cap 423 outside the outer shell 31.

[0112] For example, Figure 10 the diameter D1 of the inner ring of the replacement part 311 in Figure 11 is not equal to the diameter D2 of the inner ring of the replacement part 311 in

[0113] That is, D1≠D2. The outer rings of the plurality of replacement parts 311 have the same size to be connected to the first channel of the outer shell 31.

[0114] As an example, the outer ring of the replacement part 311 may form an external thread, and the first channel of the outer shell 31 forms an internal thread, so that the replacement part 311 can be threadedly combined with the first channel to mount the replacement part 311 on the outer shell 31.

[0115] Further, during the riveting process, the surface of the nail head 423 facing the housing 31 closely adheres to the surface of the replacement part 311 facing the part to be connected 5.

[0116] According to an embodiment of the present invention, the clamping assembly 33 further includes a plurality of elastic members 333. The plurality of elastic members 333 are respectively arranged between the plurality of wedge-shaped portions 331 and the end wall, and are adapted to provide a thrust force in the second direction for the plurality of wedge-shaped portions 331, so that the plurality of clamping portions 332 move away from each other and release the nail rod 41.

[0117] As an example, the elastic member 333 includes a spring. When the lifting assembly 35 drives the inner housing 32 to move in the second direction (contraction direction), or when the rivet 4 needs to be replaced, the elastic member 333 will push the wedge-shaped portion 331 to slide along the slope surface in the second direction, driving the clamping portions 332 to move away from each other, thereby releasing the clamping force on the nail rod 41.

[0118] In addition, the elastic member 333 can compensate for the space change caused by the slight change in the size of the rivet 4 or the wear of the end wall fitting portion 321. After the nail rod 41 is taken out, the elastic member 333 can ensure that the clamping portions 332 return to a relatively consistent open state, preparing for the insertion and clamping of the next rivet 4.

[0119] According to an embodiment of the present invention, the clamping assembly 33 further includes a first driving portion 334 and a transmission member 335. The first driving portion 334 is configured to extend in the first direction and contract in the second direction. The transmission member 335 is arranged between the first driving portion 334 and the plurality of wedge-shaped portions 331, and the transmission member 335 is adapted to translate relative to the inner housing 32 under the drive of the first driving portion 334 to press against the plurality of wedge-shaped portions 331 in the first direction.

[0120] When the clamping assembly 33 needs to clamp the rivet 4, the first driving portion 334 drives the transmission member 335 to translate in the first direction, so that the transmission member 335 presses against the plurality of wedge-shaped portions 331 in the first direction. The plurality of wedge-shaped portions 331 overcome the elastic force provided by the elastic member 333 and translate in the first direction to clamp the rivet 4.

[0121] When the clamping assembly 33 needs to release the rivet 4, the first driving portion 334 drives the transmission member 335 to translate in the second direction, so that the transmission member 335 disengages from the plurality of wedge-shaped portions 331. The elastic force of the elastic member 333 causes the plurality of wedge-shaped portions 331 to translate in the second direction to release the rivet 4.

[0122] The first driving portion 334 may include any one of a cylinder and a hydraulic cylinder, etc., as long as it can extend in the first direction to drive the transmission member 335 to translate in the first direction, and contract in the second direction to drive the transmission member 335 to translate in the second direction.

[0123] Along the first direction, the first driving part 334 is arranged between the lifting component 35 and the connecting piece. The lifting component 35 passes through the inner ring 3362 and is connected to the first driving part 334, so as to install the first driving part 334 on the bracket 36 through the lifting component 35, realizing the fixation of the first driving part 334. A third bearing group 337 is arranged in the transmission part 335, enabling the transmission part 335 to rotate relative to the first driving part 334, while the first driving part 334 remains stationary relative to the bracket 36. This can prevent the air pipes, hydraulic pipes, etc. of the first drive from rotating following the transmission part 335.

[0124] As an example, the third bearing group 337 can withstand an axial upsetting force of not less than 15 KN.

[0125] As an example, the third bearing group 337 can be multiple roller bearings. The structure of the third bearing group 337 is similar to that of the first bearing group 336, and will not be elaborated here.

[0126] According to an embodiment of the present invention, one of the transmission part 335 and the inner shell 32 forms a protrusion 3351, and the other forms a chute 322 extending along the first direction. The protrusion 3351 and the chute 322 are in concave-convex fit in the circumferential direction of the inner shell 32, enabling the transmission part 335 to rotate following the inner shell 32 relative to the first driving part 334.

[0127] As an example, as Figure 8 shown, the protrusion 3351 is formed on the transmission part 335, and the chute 322 is formed on the inner shell 32. The chute 322 extends in the axial direction, enabling the transmission part 335 to rotate following the inner shell 32, and enabling the transmission part 335 to translate relative to the inner shell 32 along the first direction or the second direction under the drive of the first driving part 334.

[0128] According to an embodiment of the present disclosure, the second driving part 341 drives the outer shell 31 to rotate through a transmission belt 342. The inner shell 32 follows the outer shell 31 to rotate. A plurality of wedge-shaped parts 331 arranged on the inner shell 32 rotate together with a plurality of mating parts 321 and the inner shell, and a plurality of clamping parts 332 follow the plurality of wedge-shaped parts 331 to rotate, thereby driving the nail rod 41 clamped by the plurality of clamping parts 332 to rotate.

[0129] Figure 12 Shows a flowchart of a riveting method according to an embodiment of the present invention.

[0130] As another aspect of an embodiment of the present invention, a riveting method is provided, which is applied to any of the above friction riveting devices, as Figure 12 shown, the riveting method includes operations S121 to S125.

[0131] In operation S121, the clamping assembly 33 clamps the shank of the rivet 4, where the head 423 of the rivet 4 is located between the housing 31 and the workpiece to be joined 5.

[0132] In operation S122, the rotating assembly 34 drives the housing 31 to rotate, causing the rivet 4 to rotate with the housing 31.

[0133] In operation S123, the feeding mechanism 2 drives the housing 31 to translate in the first direction, causing the rotating rivet 4 to rub against the workpiece to be joined 5 and insert into the workpiece to be joined 5.

[0134] In operation S124, after the feeding mechanism 2 drives the housing 31 to translate a target distance, the feeding mechanism 2 stops feeding.

[0135] In operation S125, the lifting assembly 35 drives the inner housing 32 to translate relative to the housing 31 in the second direction, causing the sleeve 42 of the rotating rivet 4 to expand and deform, thereby riveting the workpiece to be joined 5.

[0136] Figure 13 Schematically shows a flowchart of a riveting process according to a first embodiment of the present invention. Figure 14 Shows a flowchart of a riveting process according to a second embodiment of the present invention. Figure 15 Shows a flowchart of a riveting process according to a third embodiment of the present invention.

[0137] The first driving part 334 drives the workpiece to be joined 5 to translate in the first direction, and the transmission member 335 applies a force in the first direction to the plurality of wedge parts 331, causing the plurality of wedge parts 331 to overcome the elastic force of the elastic member 333 and move closer to each other while translating in the first direction under the guidance of the fitting part 321. The clamping part 332 provided on the wedge part 331 away from the fitting part 321 clamps the shank 41 of the rivet 4, and the head 423 of the rivet 4 is restricted outside the housing 31 by the housing 31.

[0138] The second driving part 341 of the rotating assembly 34 drives the housing 31 to rotate at a high speed of W through the transmission belt 342. The inner housing 32 follows the housing 31 to rotate, and the transmission member 335 and the plurality of wedge parts 331 follow the inner housing 32 to rotate, so that the rivet 4 clamped by the plurality of clamping parts 332 rotates at a high speed of W with the housing 31. The first driving part 334 and the lifting mechanism do not follow the housing 31 to rotate due to the arrangement of the first bearing group 336 and the third bearing.

[0139] The driving motor 211 of the feeding mechanism 2 drives the threaded rod 212 to rotate, causing the slider 22 threadedly engaged with the threaded rod 212 to translate in the first direction under the guidance of the slide rail 213, so that the bracket 36 connected to the slider 22 translates.

[0140] As Figure 13 of (a),Figure 14 as shown in (a) of Figure 15 As shown in (a) of

[0141] As Figure 13 shown in (b) of Figure 14 as shown in (b) of Figure 15 As shown in (b) of

[0142] The outer shell 31 is arranged on the bracket 36 through the second bearing group 343, so that the outer shell 31 in a high-speed rotation state can follow the bracket 36 to translate in the first direction, and the rivet 4 in a high-speed rotation state is inserted into the workpiece to be connected 5 in the first direction to a preset position.

[0143] Furthermore, as Figure 13 shown in (c) of

[0144] Or, as Figure 14 shown in (c) of Figure 15 As shown in (c) of

[0145] After the rivet 4 is inserted into the preset position of the workpiece to be connected 5 in the first direction, as Figure 13 shown in (d) of Figure 14 as shown in (d) of Figure 15 As shown in (d) of

[0146] Specifically, referring to Figure 13 As shown in

[0147] Alternatively, referring to Figure 14 as shown, after the rivet 4 is inserted into the preset position of the workpiece to be joined 5 in the first direction, the sleeve 42 moves in the second direction under the action of the step portion 415 of the shank, deforms at the second annular groove, and gradually expands and deforms under the action of the third annular groove, and rivets the first workpiece to be joined 51 and the second workpiece to be joined 52 inside the second workpiece to be joined 52.

[0148] Alternatively, referring to Figure 15 as shown, after the rivet 4 is inserted into the preset position of the workpiece to be joined 5 in the first direction, the sleeve 42 moves in the second direction under the action of the step portion 415 of the shank 41, and folds at the second annular groove 422, and rivets the first workpiece to be joined 51 and the second workpiece to be joined 52 inside the second workpiece to be joined 52.

[0149] Further, after the riveting of the rivet 4 is completed, the depth at which the second annular groove 422 is inserted into the workpiece to be joined 5 may be the sum of half of the thickness of the first workpiece to be joined 51 and the thickness of the second workpiece to be joined 52. It should be understood that the embodiments of the present invention are not limited thereto, and the depth at which the second annular groove 422 is inserted into the workpiece to be joined 5 may also be the sum of two-thirds of the thickness of the first workpiece to be joined 51 and the thickness of the second workpiece to be joined 52.

[0150] As Figure 13 shown in (e) of Figure 14 shown in (e) of Figure 15 shown in (e) of, after the sleeve 42 generates expansion deformation, the lifting assembly 35 continues to drive the shank 41 to translate in the second direction, so that the shank 41 breaks at the position of the first annular groove 412, completing the riveting.

[0151] The description of other features of this embodiment has become obvious in the above embodiments and will not be repeated here.

[0152] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and not for limiting the scope of the present invention. Although the embodiments have been described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present invention.

Claims

1. A friction riveting device, characterized in that, Comprising: An actuator, comprising: A housing, adapted to translate in a first direction towards the workpiece to be joined under the drive of a feed mechanism; An inner housing, sleeved within the housing; A clamping assembly, disposed within the inner housing, adapted to clamp the shank of a rivet, and in a state where the clamping assembly clamps the rivet, the head of the rivet is located between the housing and the workpiece to be joined; wherein, the shank has a through hole penetrating along the axial direction of the shank, the insertion end of the shank inserted into the workpiece to be joined forms cutting teeth, and one side of the head facing the insertion end is recessed inward to form a chip receiving groove; A rotation assembly, adapted to drive the housing to rotate, so that the shank rotates with the housing; A lifting assembly, adapted to drive the inner housing to move in a second direction away from the workpiece to be joined relative to the housing while the shank rotates, causing the sleeve of the rivet following the rotation of the shank to expand and deform, thereby riveting the workpiece to be joined.

2. The friction riveting device according to claim 1, wherein, The end wall of the inner housing facing the clamping assembly extends in the first direction to form a plurality of mating portions having slopes; The clamping assembly includes: A plurality of wedge-shaped portions, respectively disposed on the plurality of mating portions and configured to slide along the slopes respectively; A plurality of clamping portions, respectively disposed on one side of the plurality of wedge-shaped portions facing away from the slopes, so as to enclose a receiving space for receiving the shank, and the plurality of clamping portions are configured to move closer to each other along the first direction with the plurality of wedge-shaped portions, so as to clamp the shank.

3. The friction riveting device according to claim 2, wherein, The clamping assembly further includes: A plurality of elastic members, respectively disposed between the plurality of wedge-shaped portions and the end wall, adapted to provide a thrust force in the second direction for the plurality of wedge-shaped portions, so that the plurality of clamping portions move away from each other to release the shank.

4. The friction riveting device according to claim 2, wherein, The clamping assembly further includes: A first driving portion, configured to extend in the first direction and contract in the second direction; A transmission member, disposed between the first driving portion and the plurality of wedge-shaped portions, adapted to translate relative to the inner housing under the drive of the first driving portion, so as to press against the plurality of wedge-shaped portions in the first direction.

5. The friction riveting device according to claim 4, characterized in that, One of the transmission member and the inner housing forms a protrusion, and the other forms a chute extending in the first direction, and the protrusion and the chute are in concave-convex fit in the circumferential direction of the inner housing, so that the transmission member follows the inner housing to rotate relative to the first driving portion.

6. The friction riveting device according to any one of claims 1-5, characterized in that The rotation assembly includes: A second driving portion; A transmission belt, wound around the second driving portion and the housing, so that the housing rotates under the drive of the second driving portion.

7. The friction riveting device according to any one of claims 1-5, characterized in that, The actuator further includes: A bracket, connected to the feed mechanism to translate under the drive of the feed mechanism, and the housing is rotatably disposed on the bracket; Wherein, the lifting assembly is disposed between the bracket and the inner housing along the first direction and is configured to extend in the first direction and contract in the second direction relative to the bracket, so as to drive the inner housing to translate relative to the housing.

8. The friction riveting device according to claim 7, characterized in that, The feed mechanism includes: A slider, connected to the bracket; A third driving portion, connected to the slider, adapted to drive the slider to move in the first direction or the second direction.

9. The friction riveting device according to claim 8, characterized in that, It further includes a base; The third driving part includes: A driving motor mounted on the base; A threaded rod arranged parallel to the first direction on the base and adapted to rotate under the drive of the driving motor; A slide rail arranged on the bracket parallel to the threaded rod; Wherein, the slider is threadedly engaged with the threaded rod to translate along the slide rail under the drive of the driving motor.

10. A riveting method, characterized in that, Applied to the friction riveting device according to any one of claims 1-9, the riveting method includes: A clamping assembly clamps the shank of the rivet, wherein the head of the rivet is located between the housing and the workpiece to be joined; A rotating assembly drives the housing to rotate so that the rivet rotates with the housing; A feeding mechanism drives the housing to translate in the first direction so that the rotating rivet frictions with the workpiece to be joined and inserts into the workpiece to be joined; After the feeding mechanism drives the housing to translate a target distance, the feeding mechanism stops feeding; A lifting assembly drives the inner housing to translate relative to the housing in the second direction so that the sleeve of the rotating rivet expands and deforms to rivet the workpiece to be joined.

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