Friction riveting equipment and method

Abstract

The present invention provides a friction riveting device and method, relating to the field of riveting technology. The friction riveting device includes: an actuator. The actuator includes: an outer shell, adapted to translate in a first direction toward a connected part under the drive of a feed mechanism; an inner shell, sleeved within the outer shell; a clamping assembly, disposed within the inner shell, adapted to clamp the shank of a rivet, wherein when the clamping assembly clamps the rivet, the cap of the rivet is located between the outer shell and the connected part; wherein the shank has a through hole extending axially therethrough, the insertion end of the shank inserted into the connected part forms cutting teeth, and the side of the cap facing the insertion end is recessed inwardly to form a chip groove; a rotating assembly, adapted to drive the outer shell to rotate so that the shank rotates with the outer shell; and a lifting assembly, adapted to drive the inner shell to move in a second direction away from the connected part relative to the outer shell while the shank rotates, causing the rivet sleeve, which rotates with the shank, to expand and deform, thereby riveting the connected part.

Description

Technical Field

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

[0002] In the field of lightweight material connection, Friction Stir Self-Piercing Riveting (FSSPR) and Friction Stir Blind Riveting (FSBRS) technologies have attracted widespread attention due to their high efficiency and environmental protection. However, both technologies have certain limitations. Specifically, during the connection process, Friction Stir Self-Piercing Riveting and Friction Blind Riveting require simultaneous pressure application on both sides of the connected parts, that is, the operation needs to be performed simultaneously on the upper and lower surfaces of the connected parts. This operation method makes Friction Stir Self-Piercing Riveting and Friction Blind Riveting unsuitable for closed structures or structural connections that are difficult to operate on both sides, such as certain types of boxes, pipes, or complex curved surface structures, which greatly limits the application scenarios.

[0003] Friction stir blind riveting (FSBR) technology combines the advantages of friction stir welding and blind riveting, theoretically enabling efficient and reliable joining of lightweight materials. However, existing FSBR technology inevitably produces flash on the upper and lower surfaces of the connected parts due to high temperatures (e.g., around 400-600°C) and extrusion during the rivet's frictional penetration of the connected parts. Flash on the lower surface, in particular, hinders the extraction of the mandrel and the formation of the piercing head during the rivet pulling process, resulting in insufficient strength, dimensional differences, or even complete failure of the resulting riveted joint, making it difficult to meet the requirements of practical 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 rotating assembly includes: a second driving portion; and a transmission belt looped between the second driving portion and the housing, such that the housing rotates under the drive of the second driving portion.

[0011] According to an embodiment of the present invention, the above-mentioned actuator further includes: a bracket, connected to the above-mentioned feeding mechanism to translate under the drive of the above-mentioned feeding mechanism, and the above-mentioned outer shell 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 shell along the above-mentioned first direction, and is configured to extend in the above-mentioned first direction and contract in the above-mentioned second direction relative to the above-mentioned bracket to drive the above-mentioned inner shell to translate relative to the above-mentioned outer shell.

[0012] According to an embodiment of the present invention, the feeding mechanism includes: a slider connected to the bracket; and a third driving unit connected to the slider, adapted to drive the 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, mounted on the above-mentioned base; a threaded rod, arranged on the above-mentioned base in parallel with the above-mentioned first direction, and suitable for rotating under the drive of the above-mentioned driving motor; a slide rail, arranged on the above-mentioned bracket in parallel with the above-mentioned threaded rod; wherein the above-mentioned slider is threadedly coupled to the above-mentioned threaded rod so as to translate along the above-mentioned slide rail under the drive of the above-mentioned driving motor.

[0014] As another aspect of an embodiment of the present invention, a riveting method is provided, which is applied to any of the above-mentioned friction riveting devices, and the above-mentioned riveting method includes: a clamping component clamps the nail rod of the rivet, wherein the nail cap of the above-mentioned rivet is located between the outer shell and the connected part; a rotating component drives the above-mentioned outer shell to rotate, so that the above-mentioned rivet rotates with the inner shell; a feeding mechanism drives the above-mentioned outer shell to translate along a first direction, so that the above-mentioned rivet in the rotating state rubs against the connected part and is inserted into the above-mentioned connected part; after the above-mentioned feeding mechanism drives the above-mentioned outer shell to translate a target distance, the above-mentioned feeding mechanism stops feeding; the lifting component drives the inner shell to translate along a second direction relative to the above-mentioned outer shell, so that the nail sleeve of the above-mentioned rivet in the above-mentioned rotating state expands and deforms, and the above-mentioned connected part is riveted.

[0015] According to the friction riveting equipment provided by the embodiments of the present invention, a rotating assembly drives the outer shell and rivet (shank and sleeve) to rotate, while a lifting assembly drives the inner shell to move relative to the outer shell in a second direction, achieving "rotational core pulling" during the riveting process. The rotational motion of the sleeve continuously generates frictional heat, keeping the material of the connected parts in a softened state. Simultaneously, the core pulling action causes the sleeve to expand and deform, evenly distributing the stress generated by the riveting process throughout the entire circumferential area where the sleeve contacts the connected parts. This allows the material of the connected parts to undergo continuous, uniform, and controllable plastic flow along the sleeve's circumference as the sleeve expands and deforms, allowing the material of the connected parts to more smoothly fill the gap between the deformed sleeve and the connected parts. Compared to existing processes, in which localized material of the connected parts is extruded to form large (e.g., approximately 6 mm) flash, which, upon cooling, affects the extraction of the shank (mandrel) and the formation of the butt head, the present invention reduces flash after friction stir core pulling riveting, thereby improving the quality and reliability of the riveted joint. 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 yes 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 Shown Figure 6 A cross-sectional view of the friction riveting apparatus shown;

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

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

[0025] Figure 10 A partial cross-sectional view of a friction riveting device according to one embodiment of the present invention is shown;

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

[0027] Figure 12 A flow chart of a riveting method according to an embodiment of the present invention is shown;

[0028] Figure 13 A flow chart of a riveting process according to a first embodiment of the present invention is schematically shown;

[0029] Figure 14 A flow chart of a riveting process according to a second embodiment of the present invention is shown;

[0030] Figure 15 FIG. 4 is a flow chart showing a riveting process according to a third embodiment of the present invention.

[0031] The following are the descriptions of the reference numerals:

[0032] 1. Base; 11. Support platform;

[0033] 2. Feed mechanism; 21. Third driving unit; 211. Driving motor; 212. Threaded rod; 213. Slide rail; 22. Slider;

[0034] 3. Actuator; 31. Outer shell; 311. Replacement part; 32. Inner shell; 321. Mating portion; 322. Slide groove; 33. Clamping assembly; 331. Wedge-shaped portion; 3311. First guide groove; 332. Clamping portion; 333. Elastic member; 334. First driving portion; 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 portion; 342. Transmission belt; 343. Second bearing group; 35. Lifting assembly; 36. Bracket;

[0035] 4. Rivet; 41. Rivet rod; 411. Rod body; 412. First annular groove; 413. Receiving groove; 414. Through hole; 415. Step portion; 416. Flange; 42. Rivet sleeve; 421. Sleeve body; 422. Second annular groove; 423. Rivet cap; 424. Chip receiving groove; 425. Third annular groove;

[0036] 5. Connected part; 51. First connected part; 52. Second connected part. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0038] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the presence of the features, steps, operations and / or components, but do not exclude 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 skilled 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] When expressions such as “at least one of A, B, and C, etc.” are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art. For example, “a system having at least one of A, B, and C” should include but is not limited to systems having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, and C, etc. When expressions such as “at least one of A, B, or C, etc.” are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art. For example, “a system having at least one of A, B, or C” should include but is not limited to systems having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, and C, etc.

[0041] It should also be noted that directional terms such as "upper," "lower," "front," "back," "left," and "right" mentioned in the embodiments are merely references to the directions in the accompanying drawings and are not intended to limit the scope of protection of the present invention. Throughout the drawings, identical elements are represented by identical or similar reference numerals. Conventional structures or configurations will be omitted where they may cause confusion in understanding the present invention.

[0042] During the implementation of this invention, it was discovered that the high-speed rotation of the connecting parts (e.g., approximately 12,000 r / min) generates frictional heat with the connected workpieces, leading to the development of a series of joining processes, including friction stir riveting, flow drilling screws, friction plug welding, and friction stir blind riveting. These processes all utilize frictional heat to soften the connected parts. Traditional connecting parts (rivets and screws) achieve connection through mechanical locking, or near-penetration. In addition to mechanical locking, frictional heat also generates material melting and phase transformation, producing localized welding and bonding effects.

[0043] Friction stir self-pierce riveting and friction plug riveting require simultaneous operation on both sides of the workpieces being joined, which presents significant limitations in closed structures, workpieces with complex geometries, and where one side is inaccessible. Flow drill screws and friction stir blind riveting only require operation on one side of the workpieces being joined.

[0044] After the rivet is inserted into the connected parts, the core rod is pulled back, the rivet sleeve further expands and locks the connected parts. Among them, if the material of the connected parts flows unevenly during the expansion of the rivet sleeve, it is easy to produce large flash.

[0045] Flash is the irregular excess material that overflows or is squeezed out of the edge of the rivet hole when the rivet sleeve expands and deforms under pressure during the riveting process. The presence of flash not only affects the appearance of the riveted part but can also reduce the precision and strength of the connection.

[0046] Fiber-reinforced resin-based composite materials are reinforced with carbon fibers or glass fibers, and carbon fibers and glass fibers are resistant to high temperatures and will not be softened by the heat generated by friction penetration. During the friction penetration process, the fibers need to be effectively cut to finally form a qualified joint. If the fibers cannot be effectively cut during the friction penetration process, damage such as delamination, cracks, and fiber pullout will occur in the composite material. Current connection technology is mainly aimed at metal materials. Metal is a homogeneous material and will be softened by the heat generated by friction penetration. The softened metal material can be squeezed by rivets to produce plastic deformation, and rivet holes can be formed without cutting. In addition, resin-based composite materials are more sensitive to temperature, and excessively high temperatures will cause thermal degradation. Existing connection processes based on friction heat have not been optimized for the above-mentioned material properties.

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

[0048] like Figures 1 to 4 As shown, the rivet 4 includes a shank 41 and a shank 42 sleeved outside the shank 41. The shank 41 includes a rod body 411, the middle portion of which radially extends inward to form a circle of receiving grooves 413, and the receiving grooves 413 have a first groove wall and a second groove wall facing each other along the axis of the shank 41.

[0049] The rod body 411 has an insertion end ( Figures 1 to 4 The lower end of the perspective shown), and the lifting end away from the insertion end ( Figures 1 to 4A step portion 415 is radially extended outward near the insertion end. The nail sleeve 42 is disposed between the step portion 415 and a first groove wall of the accommodating groove 413 away from the step portion 415. The other end of the rod body 411 extends from the nail sleeve 42.

[0050] A first annular groove 412 is formed on the bottom wall between the first and second groove walls of the receiving groove 413. When a separation force is applied after riveting, the first annular groove 412 guides the nail rod 41 to undergo brittle fracture at this specific position, thereby separating the nail rod 41 from the riveted structure.

[0051] A through hole 414 is formed along the axial direction of the shank 41 and extends through the shank 41. The insertion end is chamfered (cutting teeth) to cut (sever) the carbon fibers of the component 5 during insertion. This allows the rivet 4 to more easily penetrate multiple layers of thin sheet material or composite material, reducing riveting resistance and heat generation, thereby preventing thermal damage to the material of the component 5. The necessary holes or cutting paths are also formed during the riveting process, ensuring that the rivet 4 enters the intended connection position smoothly. The cut material of the component 5 is accommodated by the through hole 414, minimizing the size of the flash generated during the riveting process.

[0052] The nail sleeve 42 includes a sleeve body 421. The end of the sleeve body 421, which is close to the lifting end, extends radially outward to form a nail cap 423. The side of the nail cap 423 facing the insertion end is recessed inward to form a chip groove 424. A second annular groove 422 is formed in the middle of the sleeve body 421, allowing the sleeve body 421 to expand and deform at the location of the second annular groove 422.

[0053] Furthermore, if Figures 1 to 3 As shown, the portion of the nail rod 41 extending out of the nail sleeve 42 can also extend radially outward to form a flange 416. Multiple flanges 416 are arranged at intervals along the axial direction of the nail rod 41 to increase the friction between the clamping assembly 33 (described in detail later) through the multiple flanges 416.

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

[0055] Furthermore, if Figure 5 As shown, third annular grooves 425 are formed on the wall surface of the nail sleeve 42 near the insertion end and are spaced apart along the axial direction of the nail sleeve 42 . The third annular grooves 425 are suitable for guiding the nail sleeve 42 to expand and deform uniformly outward.

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

[0057] As one aspect of an embodiment of the present invention, a friction riveting device is provided. Figure 6 As shown, the friction riveting device includes an actuator 3 and a feeding mechanism 2. The actuator 3 includes an outer shell 31, an inner shell 32, a clamping assembly 33, a rotating assembly 34 and a lifting assembly 35. The outer shell 31 is suitable for moving in a first direction (such as 4) close to the connected part 5 under the drive of the feeding mechanism 2. Figure 6 The inner shell 32 is sleeved in the outer shell 31, and the clamping assembly 33 is arranged in the inner shell 32, which is suitable for clamping the nail rod 41 of the rivet 4, and when the clamping assembly 33 clamps the rivet 4, the nail cap 423 of the rivet 4 is located between the outer shell 31 and the connected part 5. The nail rod 4 has a through hole 414 that passes through along the axial direction of the nail rod 4, and the insertion end of the nail rod 4 is inserted into the connected part 5 to form cutting teeth, and the side of the nail cap 423 facing the insertion end is recessed inward to form a chip groove 424; the rotating assembly 34 is suitable for driving the outer shell 31 to rotate so that the nail rod 41 rotates with the outer shell 31. The lifting assembly 35 is suitable for driving the inner shell 32 relative to the outer shell 31 to move in a second direction away from the connected part 5 (as shown in the figure) while the nail rod 41 rotates. Figure 6 The rivet 4 moves in the opposite direction of the X direction shown in the figure, so that the rivet sleeve 42 of the rivet 4 rotating with the rivet rod 41 expands and deforms, thereby riveting the connected part 5.

[0058] According to the friction riveting device provided by the embodiment of the present invention, the outer shell 31 and the rivet 4 (the shank 41 and the sleeve 42) are rotated by the rotating assembly 34, while the lifting assembly 35 drives the inner shell 32 to move relative to the outer shell 31 in a second direction, thereby achieving "rotational core pulling" during the riveting process. The rotational movement of the sleeve 42 evenly distributes the stress generated by the riveting to the entire circumferential area where the sleeve 42 contacts the connected part 5. As the sleeve 42 expands and deforms, the material of the connected part 5 can undergo continuous, uniform, and controllable plastic flow along the circumference of the sleeve 42, rather than being concentrated and instantaneously squeezed out at a local point. This allows the material of the connected part 5 to more smoothly fill the gap between the deformed sleeve 42 and the connected part 5, rather than being forcibly squeezed out to form flash. This improves the flow behavior of the material of the connected part 5 during the riveting process, reduces flash, and thus improves the quality and reliability of the riveted joint.

[0059] The connected member 5 includes a first connected member 51 and a second connected member 52 overlapped with the first connected member 51. The rivet 4 passes through the first connected member 51 and the second connected member 52 in sequence to rivet the first connected member 51 and the second connected member 52 together.

[0060] The material of the first connected member 51 may be the same as that of the second connected member 52. Alternatively, the material of the first connected member 51 may be different from that of the second connected member 52.

[0061] For example, the material of the first connected member 51 may include composite materials, metal (copper, aluminum, etc.), etc.

[0062] The material of the second connected member 52 may include composite materials, metal (copper, aluminum, etc.), etc.

[0063] The connected member 5 may further include a third connected member (not shown), which is disposed between the first connected member 51 and the second connected member 52 and overlaps the first connected member 51 and the second connected member 52. The rivet 4 sequentially passes through the first connected member 51, the third connected member, and the second connected member 52, thereby riveting the first connected member 51, the third connected member, and the second connected member 52 together.

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

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

[0066] According to an embodiment of the present invention, the nail sleeve 42 rotates synchronously with the nail rod 41. Further, the nail sleeve 42 and the nail rod 41 can be spline-connected.

[0067] According to an embodiment of the present invention, the housing 31 may be cylindrical, with the axial direction of the housing 31 being parallel to the first direction and the second direction.

[0068] The inner shell 32 is coaxial with the outer shell 31 and is sleeved inside the outer shell 31. The outer shell 31 limits the radial position of the inner shell 32 relative to the outer shell 31. The inner shell 32 is configured to rotate with 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 exemplary embodiments, the outer wall of the inner shell 32 protrudes radially outward to form a stopper, and the outer shell 31 forms a slideway extending in the axial direction at a position facing the stopper. The stopper and the slideway cooperate with each other to enable the inner shell 32 to rotate with the outer shell 31 and allow the inner shell 32 to translate axially relative to the outer shell 31. Similarly, the stopper may be provided on the inner wall of the outer shell 31, with the slideway formed on the outer wall of the inner shell 32. It will be understood that the embodiments of the present invention are not limited to this, as long as the inner shell 32 can rotate with the outer shell 31 and allow the inner shell 32 to translate axially relative to the outer shell 31.

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

[0071] According to an embodiment of the present disclosure, the nail cap 423 of the rivet 4 abuts against the surface of the bottom wall of the shell 31 facing the connected part 5, that is, the surface of the nail cap 423 facing the shell 31 is in close contact with the surface of the shell 31 facing the connected part 5.

[0072] Figure 7 Shown Figure 6 A cross-sectional view of the friction riveting equipment is shown. Figure 8 yes Figure 7 A partial enlarged view of part B is shown.

[0073] According to an embodiment of the present invention, Figure 6 and Figure 7 As shown, the actuator 3 further includes a bracket 36. The bracket 36 is connected to the feed mechanism 2 so as to translate when driven by the feed mechanism 2. The outer shell 31 is rotatably mounted on the bracket 36. The lifting assembly 35 is disposed between the bracket 36 and the inner shell 32 along a first direction and is configured to extend in the first direction and retract 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 may include any one of a pneumatic cylinder and a hydraulic cylinder, etc., as long as it can extend in a first direction to drive the inner shell 32 to translate along the first direction, and contract in a second direction to drive the inner shell 32 to translate along the second direction.

[0075] The lifting assembly 35 is connected to the inner housing 32 via a first bearing assembly 336, allowing the inner housing 32 to rotate relative to the lifting assembly 35 while the lifting assembly 35 remains stationary relative to the bracket 36. This prevents the air pipes, hydraulic pipes, cables, etc. of the lifting assembly 35 from rotating with the inner housing 32.

[0076] The first bearing assembly 336 includes a plurality of bearings, each of which includes an outer ring 3361, an inner ring 3362, and a plurality of rolling elements 3363. The plurality of rolling elements 3363 are disposed 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] An annular groove extends radially outward at one end of the inner housing 32, facing away from the lifting assembly 35. The first bearing group 336 is disposed within the annular groove. Furthermore, at least a portion of the inner ring 3362 is positioned within the annular groove. A connecting plate is installed between the inner rings of two adjacent first bearing groups 336. The lifting assembly 35 is connected to the inner ring 3362 via the connecting plate. When the lifting assembly 35 drives the inner housing 32 to translate in the first or second direction via the connecting plate, the annular groove provides support for the multiple first bearing groups 336, allowing the inner housing 32 to follow 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 portion 341 is mounted on the bracket 36, and the housing 31 can rotate relative to the bracket 36 under the drive of the second driving portion 341. A plurality of second bearing groups 343 are provided between the bracket 36 and the housing 31, so that the housing 31 can rotate relative to the bracket 36.

[0088] The second bearing group 343 may 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 12,000 r / min.

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

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

[0092] As an example, the base 1 can be configured in a roughly L-shape. A first portion of the base 1 extends in a first direction, and a second portion extends perpendicular to the first direction. A support platform 11 can be provided on the second portion. The connected component 5 is positioned on the support platform 11. The support platform 11 has a recess formed in the position opposite the rivet 4 to accommodate the rivet 4 that penetrates the connected component 5.

[0093] It is understandable that the base 1 may further have a connection structure so that the friction riveting device can be set on the robot arm through the connection structure.

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

[0095] As an example, the maximum lifting speed of the feeding mechanism 2 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 may be multiple slide rails 213, such as 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, the plurality of clamping portions 332 are slidably disposed on a side of the plurality of wedge-shaped portions 331 that is away from the slope surface.

[0107] The side of the wedge-shaped portion 331 facing away from the slope forms a third guide groove. The position of the clamping portion 332 facing the third guide groove forms a third guide block. The third guide block engages with the third guide groove in a concave-convex manner, allowing the third guide block to slide along the third guide groove without disengaging from the third guide groove. The third guide groove extends parallel to the axis of the housing 31.

[0108] The clamping portion 332 is slidably disposed on the end wall of the inner shell 32 and is configured to slide in the radial direction of the inner shell 32. A second guide block is formed at one end of the clamping portion 332 that faces the end wall, and a second guide groove is formed at the end wall of the inner shell 32 that faces the second guide block. The second guide groove extends in the radial direction of the inner shell 32. The second guide block cooperates with the second guide groove to constrain the clamping portion 332 to the end wall of the inner shell 32 and allow the clamping portion 332 to slide along the second guide groove.

[0109] During the translation of the multiple wedge-shaped portions 331 along the first direction, under the action of the slope, the wedge-shaped portions 331 translate along the slope while generating a component force perpendicular to the first direction, causing the multiple wedge-shaped portions 331 to approach each other, thereby causing the clamping portions 332 provided on the wedge-shaped portions 331 to approach each other.

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

[0111] The replacement piece 311 is configured in a ring shape, and the inner rings of the multiple replacement pieces 311 have different diameters to accommodate the sizes of different nail caps 423 , so that the replacement piece 311 can restrict the nail cap 423 outside the housing 31 .

[0112] For example, Figure 10 The diameter D1 of the inner ring of the replacement part 311 is Figure 11 The diameters D2 of the inner rings of the middle replacement part 311 are not equal, ie, D1≠D2.

[0113] The outer rings of the plurality of replacement parts 311 have the same size so as to be connected to the first channel of the housing 31 .

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

[0115] Furthermore, during the riveting process, the surface of the nail cap 423 facing the housing 31 is in close contact with the surface of the replacement part 311 facing the connected part 5 .

[0116] According to an embodiment of the present invention, the clamping assembly 33 also includes a plurality of elastic components 333, which are respectively arranged between the plurality of wedge-shaped portions 331 and the end wall, and are suitable for providing a thrust along the second direction to 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 (the contraction direction), or when the rivet 4 needs to be replaced, the elastic member 333 pushes the wedge portion 331 to slide along the slope in the second direction, driving the clamping portions 332 away from each other, thereby releasing the clamping force on the rivet rod 41.

[0118] In addition, the elastic member 333 can compensate for the spatial changes caused by slight changes in the size of the rivet 4 or wear of the end wall mating portion 321. When the shank 41 is removed, the elastic member 333 can ensure that the clamping portion 332 returns to a relatively consistent open state, ready 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 a first direction and contract in a second direction. The transmission member 335 is disposed between the first driving portion 334 and the plurality of wedge-shaped portions 331. The transmission member 335 is adapted to translate relative to the inner housing 32 under the drive of the first driving portion 334, thereby pressing 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 part 334 drives the transmission member 335 to translate along the first direction, so that the transmission member 335 presses against the multiple wedge-shaped parts 331 along the first direction. The multiple wedge-shaped parts 331 overcome the elastic force provided by the elastic part 333 and translate along the first direction to clamp the rivet 4.

[0121] When the clamping assembly 33 needs to release the rivet 4, the first driving part 334 drives the transmission member 335 to translate along the second direction, so that the transmission member 335 is disengaged from the multiple wedge-shaped parts 331. The elastic force of the elastic part 333 causes the multiple wedge-shaped parts 331 to translate along the second direction to release the rivet 4.

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

[0123] Along the first direction, the first drive unit 334 is positioned between the lifting assembly 35 and the connector. The lifting assembly 35 connects to the first drive unit 334 through the inner ring 3362. This allows the lifting assembly 35 to securely mount the first drive unit 334 to the bracket 36, securing the first drive unit 334. A third bearing assembly 337 is positioned within the transmission member 335, enabling the transmission member 335 to rotate relative to the first drive unit 334 while the first drive unit 334 remains stationary relative to the bracket 36. This prevents the air pipe, hydraulic piping, and other components of the first drive unit from rotating with the transmission member 335.

[0124] As an example, the third bearing set 337 can withstand an axial upsetting force of no less than 15 kN.

[0125] As an example, the third bearing group 337 may be a plurality of roller bearings. The structure of the third bearing group 337 is similar to that of the first bearing group 336 and will not be described in detail here.

[0126] According to an embodiment of the present invention, one of the transmission member 335 and the inner shell 32 forms a protrusion 3351, and the other forms a slide groove 322 extending along the first direction. The protrusion 3351 and the slide groove 322 are matched in a concave-convex manner in the circumferential direction of the inner shell 32, so that the transmission member 335 follows the inner shell 32 to rotate relative to the first driving part 334.

[0127] As an example, Figure 8 As shown, a protrusion 3351 is formed on the transmission member 335, and a slide groove 322 is formed on the inner housing 32. The slide groove 322 extends in the axial direction, allowing the transmission member 335 to rotate with the inner housing 32, and allowing the transmission member 335 to translate relative to the inner housing 32 in the first direction or the second direction under the drive of the first driving portion 334.

[0128] According to an embodiment of the present disclosure, the second driving portion 341 drives the outer shell 31 to rotate through the transmission belt 342, and the inner shell 32 rotates following the outer shell 31. The multiple wedge-shaped portions 331 arranged on the inner shell 32 rotate together with the inner shell following the multiple matching portions 321, and the multiple clamping portions 332 rotate following the multiple wedge-shaped portions 331, thereby driving the nail rod 41 clamped by the multiple clamping portions 332 to rotate.

[0129] Figure 12 A flow chart of a riveting method according to an embodiment of the present invention is shown.

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

[0131] In operation S121 , the clamping assembly 33 clamps the shank of the rivet 4 , wherein the nut 423 of the rivet 4 is located between the housing 31 and the connected member 5 .

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

[0133] In operation S123 , the feeding mechanism 2 drives the housing 31 to translate along the first direction, so that the rivet 4 in the rotating state rubs against the connected member 5 and is inserted into the connected member 5 .

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

[0135] In operation S125 , the lifting assembly 35 drives the inner shell 32 to translate relative to the outer shell 31 along the second direction, so that the nail sleeve 42 of the rivet 4 in the rotating state expands and deforms, thereby riveting the connected member 5 .

[0136] Figure 13 The flowchart of the riveting process according to the first embodiment of the present invention is schematically shown. Figure 14 FIG. 1 shows a flow chart of a riveting process according to a second embodiment of the present invention. Figure 15 FIG. 4 is a flow chart showing a riveting process according to a third embodiment of the present invention.

[0137] The first driving part 334 drives the connected part 5 to translate along the first direction, and the transmission part 335 applies a force along the first direction to the multiple wedge-shaped parts 331, so that the multiple wedge-shaped parts 331 overcome the elastic force of the elastic part 333, and approach each other while translating along the first direction under the guidance of the matching part 321. The clamping part 332 set on the wedge-shaped part 331 away from the matching part 321 clamps the nail rod 41 of the rivet 4, and the nail cap 423 of the rivet 4 is restricted outside the shell 31 by the shell 31.

[0138] The second driving portion 341 of the rotating assembly 34 drives the outer shell 31 to rotate at a high speed of W via the transmission belt 342. The inner shell 32 rotates along with the outer shell 31. The transmission member 335 and the plurality of wedge-shaped portions 331 rotate along with the inner shell 32, thereby causing the rivets 4 clamped by the plurality of clamping portions 332 to rotate along with the outer shell 31 at a high speed of W. The first driving portion 334 and the lifting mechanism do not rotate along with the outer shell 31 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, so that the slider 22 threadedly coupled to the threaded rod 212 translates along the first direction under the guidance of the slide rail 213 , thereby causing the bracket 36 connected to the slider 22 to translate.

[0140] like Figure 13 (a) Figure 14 (a) and Figure 15 As shown in (a), the feeding mechanism 2 drives the rivet 4 in a rotating state to approach the connected member 5 along the first direction.

[0141] like Figure 13 (b) Figure 14 (b) and Figure 15 As shown in (b), the feeding mechanism 2 drives the rivet 4 in a rotating state to pass through the first connecting member and insert into the second connecting member along the first direction.

[0142] The housing 31 is arranged on the bracket 36 through the second bearing group 343, so that the housing 31 in the highly rotated state can follow the bracket 36 to translate along the first direction, so that the rivet 4 in the high-speed rotating state can be inserted into the connected part 5 to a preset position along the first direction.

[0143] Further, such as Figure 13 As shown in (c), when the rivet 4 reaches the preset position along the first direction, the rivet 4 can penetrate the connected member 5.

[0144] Or, as Figure 14 (c) and Figure 15 As shown in (c), when rivet 4 reaches the preset position along the first direction, rivet 4 is located within the second connected member. This eliminates the need for through-holes in the second connected member, ensuring waterproofness and airtightness. Furthermore, it is suitable for low-ductility metals, avoiding fractures caused by material stress concentration.

[0145] After the rivet 4 is inserted into the preset position of the connected member 5 along the first direction, Figure 13 (d) Figure 14 (d) and Figure 15 As shown in (d), the rotating assembly 34 drives the rivet 4 to maintain high-speed rotation. The lifting assembly 35 pulls the inner shell 32 to translate relative to the outer shell 31 in the second direction, thereby pulling the nail rod 41 to translate in the second direction. The outer shell 31 follows the feed mechanism 2 and remains stationary in the axial direction relative to the connected member 5. The outer shell 31 abuts the nail cap 423, and the end of the nail sleeve 42 closest to the insertion end is squeezed by the first step, expanding to form a bulge in the second annular groove 422.

[0146] For details, see Figure 13 As shown, after the rivet 4 is inserted into the preset position of the connected part 5 along the first direction, the nail sleeve 42 moves along the second direction under the action of the step portion 415 of the nail rod, and folds at the second annular groove 422 to form a bulge, so that the protruding portion of the connected part 5 formed by following the displacement of the rivet (such as the protruding portion at the lower end of the second connected part 52 from the perspective shown in Figure 13) is continuously and evenly deformed and fills the gap between the rivet hole and the nail sleeve 42, reducing the burr.

[0147] Alternatively, see Figure 14 As shown, after the rivet 4 is inserted into the preset position of the connected part 5 along the first direction, the nail sleeve 42 moves along the second direction under the action of the step portion 415 of the nail rod, and is deformed at the second annular groove. Under the action of the third annular groove, it gradually expands and deforms, and rivets the first connected part 51 and the second connected part 52 inside the second connected part 52.

[0148] Alternatively, see Figure 15 As shown, after the rivet 4 is inserted into the preset position of the connected part 5 along the first direction, the nail sleeve 42 moves along the second direction under the action of the step portion 415 of the nail rod 41, and folds at the second annular groove 422, riveting the first connected part 51 and the second connected part 52 inside the second connected part 52.

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

[0150] like Figure 13 (e), Figure 14 (e) and Figure 15 As shown in (e), after the nail sleeve 42 expands and deforms, the lifting assembly 35 continues to drive the nail rod 41 to translate along the second direction, so that the nail rod 41 breaks at the position of the first annular groove 412, completing the riveting.

[0151] Other features of this embodiment have become apparent in the above embodiments and will not be repeated here.

[0152] The above describes embodiments of the present invention. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used 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 may make various substitutions and modifications, which are intended to fall within the scope of the present invention.

Claims

1. A friction riveting device, characterized in that: include: Executive bodies, including: The housing is adapted to translate toward a first direction close to the connected component under the drive of the feeding mechanism; An inner shell, sleeved inside the outer shell; a clamping assembly disposed within the inner shell and adapted to clamp the shank of a rivet, wherein when the clamping assembly clamps the rivet, the rivet cap is located between the outer shell and the connected member; wherein the shank has a through hole extending therethrough in its axial direction, the insertion end of the shank inserted into the connected member forms cutting teeth, and a side of the rivet cap facing the insertion end is recessed inwardly to form a chip groove; A rotating assembly, adapted to drive the housing to rotate so that the nail rod rotates along with the housing; The lifting assembly is adapted to drive the inner shell to move in a second direction away from the connected member relative to the outer shell while the nail rod rotates, so that the nail sleeve of the rivet rotating with the nail rod expands and deforms to rivet the connected member.

2. The friction riveting device according to claim 1, characterized in that The end wall of the inner shell facing the clamping assembly extends along the first direction to form a plurality of matching portions with sloped surfaces; The clamping assembly comprises: a plurality of wedge-shaped portions, respectively provided on the plurality of matching portions and configured to slide along the slope surfaces respectively; Multiple clamping parts are respectively arranged on the side of the multiple wedge-shaped parts away from the slope surface to form an accommodating space for accommodating the nail rod. The multiple clamping parts are constructed to approach each other as the multiple wedge-shaped parts translate along the first direction to clamp the nail rod.

3. The friction riveting device according to claim 2, characterized in that: The clamping assembly further comprises: A plurality of elastic components are respectively arranged between the plurality of wedge-shaped portions and the end wall, and are adapted to provide a thrust along the second direction for the plurality of wedge-shaped portions, so that the plurality of clamping portions move away from each other and release the nail rod.

4. The friction riveting device according to claim 2, characterized in that: The clamping assembly further comprises: a first driving portion configured to extend along the first direction and contract along the second direction; The transmission member is arranged between the first driving portion and the plurality of wedge-shaped portions, and is adapted to translate relative to the inner shell under the drive of the first driving portion so as to press 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 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.

6. The friction riveting device according to any one of claims 1 to 5, characterized in that: The rotating assembly comprises: a second driving unit; A transmission belt is looped between the second driving part and the housing, so that the housing is driven to rotate by the second driving part.

7. The friction riveting device according to any one of claims 1 to 5, characterized in that: The execution mechanism further comprises: a bracket connected to the feeding mechanism to translate under the drive of the feeding mechanism, the housing being rotatably disposed on the bracket; The lifting assembly is disposed between the bracket and the inner shell along the first direction, and is configured to extend in the first direction and contract in the second direction relative to the bracket to drive the inner shell to translate relative to the outer shell.

8. The friction riveting device according to claim 7, characterized in that: The feeding mechanism comprises: a slider connected to the bracket; The third driving part is connected to the slider and is suitable for driving the slider to move along the first direction or the second direction.

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

10. A riveting method, characterized in that: The friction riveting device according to any one of claims 1 to 9, wherein the riveting method comprises: The clamping assembly clamps the shank of the rivet, wherein the shank of the rivet is located between the housing and the connected member; The rotating assembly drives the shell to rotate, so that the rivet rotates along with the shell; The feeding mechanism drives the housing to translate along a first direction, so that the rivet in a rotating state rubs against the connected member and is inserted into the connected member; After the feeding mechanism drives the housing to translate a target distance, the feeding mechanism stops feeding; The lifting assembly drives the inner shell to translate relative to the outer shell along the second direction, so that the rivet sleeve in the rotating state expands and deforms, thereby riveting the connected parts.

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