A rivet gun, a rivet control system and a rivet control method

Abstract

The application discloses a rivet gun, a rivet control system and a rivet control method, which are stable in clamping force of a rivet, and can self-adaptively adjust control parameters, so that manual continuous modification of values is saved, and pre-tightening tension is more accurate. The rivet gun comprises a clamping sleeve, a clamping jaw and a row of rivet pipe assembly, the row of rivet pipe assembly is arranged in the clamping sleeve, the clamping jaw is arranged in the clamping sleeve, the end of the clamping sleeve is provided with a pushing surface facing the clamping jaw, the row of rivet pipe assembly comprises a top rod and a row of rivet pipe, the top rod is fixedly connected to the end of the row of rivet pipe, and the clamping jaw is located between the pushing surface and the top rod; the clamping sleeve is provided with a gas chamber, the gas chamber is located on the side of the top rod away from the clamping jaw, the gas chamber is filled with compressed gas, and the compressed gas is used for providing the top rod with a pushing force facing the clamping jaw; when the clamping sleeve moves to the tail end, the top rod drives the clamping jaw to be closely combined with the pushing surface under the action of gas pressure, the pushing surface pushes the outer periphery of the clamping jaw, so that the clamping jaw clamps the rivet rod.

Description

Technical Field

[0001] This application relates to the field of battery processing equipment technology, and in particular to a rivet gun, a rivet control system, and a rivet control method. Background Technology

[0002] A rivet gun is a tool used to install blind rivets, widely used in metal processing, automotive manufacturing, battery processing, aerospace, and other fields. It can replace welding processes and effectively solve the problem of weld penetration in sheet metal. A rivet gun includes a rivet mechanism that transmits tension, pulling the rivet shank outwards. Over time, the spring in the rivet mechanism can fatigue, reducing the clamping force of the rivet gun and causing rivet breakage, resulting in unsatisfactory product quality. Therefore, frequent spring replacements are necessary during rivet gun maintenance, impacting production efficiency and posing product quality risks. Furthermore, due to individual rivet variations or wear on the rivet insertion jaws, rivets may deform without breaking or not be properly tightened during riveting, requiring constant manual adjustment of the preset tension value, making the operation cumbersome. Summary of the Invention

[0003] The rivet gun, rivet control system, and rivet control method provided in this application reduce the decrease and instability of the rivet gun's clamping force. Furthermore, they can adaptively adjust the control parameters, eliminating the need for constant manual adjustments and resulting in more precise preload tension of the rivet gun.

[0004] This application provides a rivet gun comprising a clamping sleeve, jaws, a tension detection unit, a rivet tube assembly, and a drive mechanism. The rivet tube assembly is disposed within the clamping sleeve. The tension detection unit is used to detect the tension of the clamping sleeve. The drive mechanism includes a motor for driving the clamping sleeve to move axially along the clamping sleeve. The jaws are disposed within the clamping sleeve, and the end of the clamping sleeve has a pushing surface facing the jaws. The rivet tube assembly includes a push rod and a rivet tube. The rod is fixedly connected to the end of the nail tube, and the jaws are located between the pushing surface and the push rod; the clamping sleeve has a gas chamber located on the side of the push rod away from the jaws, and the gas chamber is filled with compressed gas, which is used to provide the push rod with a thrust toward the jaws; when the clamping sleeve moves toward the tail end, under the action of air pressure, the push rod drives the jaws to fit tightly against the pushing surface, and the pushing surface pushes against the outer periphery of the jaws so that the jaws clamp the nail rods.

[0005] In the above embodiments, the clamping sleeve, jaws, and pin-pile tube assembly constitute the riveting mechanism of the rivet gun. During riveting, the clamping sleeve applies a positive pulling force to the jaws, causing them to retract. The pin-pile tube assembly moves within the clamping sleeve under bidirectional thrust, similar in principle to the syringe barrel and the sliding plunger structure within it; the movement of the plunger adjusts the air pressure within the barrel. Compressed gas applies a counter-thrust force towards the jaws to the push rod, ensuring the jaws remain in contact with the pushing surface. Compared to using a spring to provide the counter-thrust force, using a gas chamber with air pressure as the counter-thrust force on the jaws makes the clamping force more reliable and prevents a decrease in clamping force due to spring fatigue. The tension detection unit detects the tension in the clamping sleeve. The tension detection unit is electrically connected to the control system and can promptly send the detected tension to the control system. Attached Figure Description

[0006] Figure 1 This is a structural schematic diagram of a blind rivet in related technologies;

[0007] Figure 2 A diagram showing the state changes of a blind rivet during riveting in related technologies;

[0008] Figure 3 This is a structural diagram of a rivet gun in related technologies;

[0009] Figure 4 This is a schematic diagram of the structure of a rivet gun provided in one embodiment of this application;

[0010] Figure 5 A cross-sectional view of a riveting mechanism and a transmission mechanism provided in one embodiment of this application;

[0011] Figure 6 An assembly drawing of a riveting mechanism and a transmission mechanism provided for one embodiment of this application;

[0012] Figure 7 An exploded view of a riveting mechanism and a transmission mechanism provided in one embodiment of this application;

[0013] Figure 8 A schematic diagram of the structure of a rivet gun provided for another embodiment of this application;

[0014] Figure 9 This is a schematic diagram of the riveting mechanism and the adsorption mechanism provided in one embodiment of this application;

[0015] Figure 10 This is a schematic diagram of the structure of the nail tube assembly and adsorption mechanism provided in one embodiment of this application;

[0016] Figure 11 This is a schematic diagram of the structure of the nail-laying tube and the adsorption mechanism provided in one embodiment of this application;

[0017] Figure 12 A schematic diagram of the structure of the nail-laying tube and the adsorption mechanism provided in another embodiment of this application;

[0018] Figure 13 This is a schematic diagram of the structure of the nail-laying tube and the adsorption mechanism provided in another embodiment of this application.

[0019] Related technical figures and symbols:

[0020] 01-Core rod; 02-Nail body; 011-Nail rod; 012-Head; 013-Break groove; 021-Nail cap; 022-Sleeve; 023-Expansion section; 00-Rivet gun; 001-Claw; 002-Sleeve; 003-Top rod assembly; 004-Spring; 005-Spring sleeve; 0031-Top head; 0032-Top rod; 000-Cover plate assembly; 006-Adsorption mechanism; 0061-Negative pressure tube.

[0021] Reference numerals in the accompanying drawings of the embodiments of this application:

[0022] 1-Clamping sleeve; 2-Claw; 3-Pin tube assembly; 301-Push rod; 302-Pin tube; 101-Gas chamber; 102-Pushing surface; 4-Housing; 5-Nail head assembly; 501-Tip; 201-Claw plate; 6-Transmission mechanism; 601-Lead screw; 602-Lead screw nut; 100-Motor; 7-First seal; 8-Second seal; 9-Third seal; 112-Pushing section; 103-Extension section; 10-Gas pipe connector; 401-Allowing hole; 11 - Adsorption mechanism; 111- Liquid storage chamber; 112- Negative pressure pipe; 1111- First surface; 1112- Second surface; 1101- Body; 1102- First opening; 1103- Fourth seal; 1104- Plunger; 1105- Second opening; 1106- Fifth seal; 11041- Boss; 1107- Liquid storage tank; 11071- First side wall; 11072- Second side wall; 11073- Bottom wall of the tank; 12- Pressure sensor; 13- Pressure bearing sleeve. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description of the application is provided in conjunction with the accompanying drawings and embodiments.

[0024] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more” unless the context clearly indicates otherwise.

[0025] References to “an embodiment” or “a specific embodiment” as used in this specification mean that one or more embodiments of this application include a particular feature, structure, or characteristic described in connection with that embodiment. The terms “comprising,” “including,” “having,” and variations thereof mean “including, but not limited to,” unless otherwise specifically emphasized.

[0026] A single battery cell mainly consists of a housing that encloses a cavity, a battery cover assembly, a cell assembly located within the cavity, and electrolyte filling the cavity through an injection hole on the battery cover assembly. In some related technologies, after the battery cell has been filled with electrolyte, the injection hole is typically sealed using a sealing pin. The sealing pin is connected to the cover assembly by laser welding. However, laser welding equipment is expensive, increasing the production cost of the battery cell. Furthermore, the welding positioning requirements are high, making it prone to weld misalignment and incomplete welding, which increases the difficulty of assembling the sealing pin and affects the yield of the battery cell.

[0027] Using blind rivets instead of welded sealing pins to plug the electrolyte injection holes improves assembly efficiency and increases the yield of individual battery cells. During battery cell manufacturing, the cell assembly is first placed inside the battery casing, then the battery cover assembly is fitted onto the casing. Electrolyte is then injected into the cavity formed by the battery cover assembly and the battery casing through the electrolyte injection hole on the battery cover assembly. Next, a blind rivet is inserted into the electrolyte injection hole and riveted using a rivet gun. This causes the rivet body to deform within the injection hole, resulting in an interference fit that seals the hole.

[0028] A blind rivet is a fastener that is installed from one side and is suitable for situations where it is not possible to operate from the back. Figure 1 This is a structural diagram of a blind rivet in related technologies, such as... Figure 1 As shown, a blind rivet consists of two parts: a core rod 01 and a rivet body 02. It is fixed by deformation through the pulling force of a rivet gun. The core rod 01 includes a head 012 and a shank 011. The shank 011 is a smooth or toothed metal rod used to transmit tensile force. The head 012 is located at the top of the shank 011 and is typically spherical or flat. A fracture groove 013, an annular groove, is provided on the shank 011 near the head 012. The rivet body 02 is sleeved on the outside of the core rod 01 and includes a rivet head 021, a sleeve 022, and an expansion section 023. The rivet head 021 and the expansion section 023 are located at opposite ends of the sleeve 022. Figure 2 This is a diagram showing the state changes of the cover plate assembly and the blind rivet during riveting in related technologies, such as... Figure 2As shown, during riveting, the head of the rivet gun 00 presses against the nail head 021 around the injection hole of the cover plate assembly 000, and pulls the end of the nail rod 011 away from the head 012. The head 012 causes the expansion section 023 of the nail body 02 to deform and roll inward. When the pulling force reaches the preset value, the nail rod 011 breaks at the fracture groove 013, fixing the nail body 02 and the head 012 to the cover plate assembly 000.

[0029] Figure 3 This is a structural diagram of a rivet gun in related technologies, such as... Figure 3 As shown, in some related technologies, a rivet gun typically includes a jaw 001, a sleeve 002, a push rod assembly 003, a spring 004, a spring sleeve 005, and a suction mechanism 006. The jaw 001 is housed within the sleeve 002. The push rod assembly 003 is located on the side of the jaw 001 opposite to the muzzle of the rivet gun. The push rod assembly 003 includes a push head 0031 and a push rod 0032 located at the rear end of the push head 0031. A spring 004 is sleeved on the outer wall of the push rod 0032, and a spring sleeve 005 is located outside the spring 004. The spring 004 exerts its elastic force on the push rod 0032 to press against the jaw 001. During riveting, the rivet shank extends into the jaw and the rivet shank. Sleeve 002 drives jaw 001 to move backward. Guided by the inner conical surface of sleeve 002, jaw 001 automatically tightens and clamps the rivet shank. As the pulling force increases and reaches a preset value, the rivet shank is broken off, and the broken rivet shank remains inside the push rod. Adsorption mechanism 006 is installed at the tail end of the rivet gun. Adsorption mechanism 006 has a negative pressure tube 0061. The end of push rod 0032 away from the push head 0031 is inserted into the negative pressure tube 0061. Both push rod 0032 and negative pressure tube 0061 are hollow structures. After the rivet shank is broken off, it is adsorbed by adsorption mechanism 006, passes through push rod 0032 and negative pressure tube 0061, and is discharged from the tail end of the rivet gun.

[0030] The strength design of the fracture groove 013 of the rivet shank 011 needs to match the pulling force of the rivet gun. Due to fatigue of the spring 004 in the rivet gun after a period of use, the preload of the spring 004 decreases. This causes the push rod 0032 to fail to properly engage the chuck 001, resulting in a decrease in the chuck 001's clamping force. During riveting, the chuck 001 is prone to slipping against the rivet shank 011, causing the rivet gun's pulling force to fall short of the preset value, leading to abnormal breakage of the fracture groove 013 in the core rod 01. Furthermore, due to individual rivet differences or wear on the rivet insertion jaws, during riveting, the rivet may be deformed but not broken, or it may not be properly tightened. This necessitates continuous manual adjustment of the rivet gun's preset pulling force, making the operation cumbersome.

[0031] In view of this, embodiments of this application provide a rivet gun and a rivet control method, reducing the decrease and instability of the rivet gun's clamping force. Furthermore, it can adaptively adjust control parameters, eliminating the need for manual modification of preset tension values ​​and making the pre-tension of the rivet gun more precise. Embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0032] Figure 4 A schematic diagram of the structure of a rivet gun provided in one embodiment of this application is shown below. Figure 4 As shown in the embodiment of this application, a rivet gun is provided. The rivet gun provided in this application includes: a clamping sleeve 1, a jaw 2, a rivet tube assembly 3, and a tensile force detection unit. The tensile force detection unit is used to detect the tensile force of the clamping sleeve 1. The rivet tube assembly 3 is disposed within the clamping sleeve 1 and is movable relative to the clamping sleeve 1. The jaw 2 is also disposed within the clamping sleeve 1. The end of the clamping sleeve 1 has a pushing surface 102 facing the jaw 2. The outer wall of the jaw 2 abuts against the pushing surface 102, and the jaw 2 is slidable along the pushing surface 102. The rivet tube assembly 3 includes a push rod 301 and a rivet tube 302. The push rod 301 is fixedly connected to the end of the rivet tube 302. The jaw 2 is located between the pushing surface 102 and the push rod 301. The jaw 2 and the push rod 301 are arranged sequentially along the axial direction of the clamping sleeve 1, and the push rod 301 abuts against the jaw 2. The clamping sleeve 1 has a gas chamber 101 located on the side of the push rod 301 opposite to the jaw 2. The gas chamber 101 is filled with compressed gas, which has pressure that always provides a thrust to the push rod 301 toward the jaw 2.

[0033] As the clamping sleeve 1 moves toward the tail end of the rivet gun, the pushing surface 102 causes the jaws 2 to retract, and the jaws 2 and the push rod 301 also move toward the tail end. Under the pressure of the compressed gas, the push rod 301 provides a reverse thrust to the jaws 2, making the jaws 2 fit tightly against the pushing surface 102. The pushing surface 102 pushes against the outer periphery of the jaws 2 to clamp the rivet. As the push rod 301 moves, the thrust on the jaws 2 gradually increases until the clamping force of the jaws 2 on the rivet reaches a preset value, at which point the clamping sleeve 1 stops moving.

[0034] In the above embodiment, the clamping sleeve 1, the jaws 2, and the pin-pile assembly 3 constitute the riveting mechanism of the rivet gun. During riveting, the clamping sleeve 1 applies a positive pulling force to the jaws 2, causing the jaws 2 to retract. The pin-pile assembly 3 moves within the clamping sleeve 1 under bidirectional thrust, similar in principle to the syringe barrel and the movable plunger structure sliding within the barrel; the movement of the movable plunger adjusts the air pressure within the barrel. Compressed gas applies a counter-thrust force towards the jaws 2 to the push rod 301, ensuring that the jaws 2 remain in contact with the pushing surface 102. Compared to using a spring to provide the counter-thrust force, using the gas chamber 101 to utilize air pressure as the counter-thrust force on the jaws 2 makes the clamping force of the jaws 2 more reliable and prevents a decrease in clamping force due to spring fatigue. The tension detection unit can detect the tension of the clamping sleeve. The tension detection unit is electrically connected to an external control system and can promptly send the detected tension to the control system. The control system can adaptively adjust the control parameters, which not only saves the need for manual modification of the preset tension value, but also makes the pre-tension of the rivet gun more precise.

[0035] The compressed gas mentioned above can be, for example, air, nitrogen, or an inert gas, which offers a high level of safety.

[0036] Figure 6 An assembly drawing of the riveting mechanism and the transmission mechanism provided in one embodiment of this application. Figure 7 An exploded view of the riveting mechanism and transmission mechanism provided in one embodiment of this application, combined with... Figures 5-7 In one embodiment, the rivet gun further includes a housing 4 and a head assembly 5. The head assembly 5 is installed at the opening of the housing 4. A clamping sleeve 1 and a jaw 2 are disposed within the housing 4, with at least a portion of the jaw 2 extending beyond the clamping sleeve 1. The clamping sleeve 1 is axially movable relative to the housing 4. The head assembly 5 is hollow and has a tip 501 facing the jaw 2. The tip 501 abuts against the portion of the jaw 2 extending beyond the clamping sleeve 1 to open the jaw 2. A recess is provided at the end of the jaw 2 facing the head assembly 5. In the initial state, the push rod 301 presses against the jaw 2, causing the jaw 2 to abut against the tip 501 of the head assembly 5. The tip 501 opens the jaw 2, allowing the rivet shank to be inserted into the clamping space of the jaw 2.

[0037] Please continue to refer to this. Figure 5In one embodiment, the tension detection unit may include a pressure bearing sleeve 13 and a pressure sensor 12. The pressure bearing sleeve 13 is disposed between the pressure sensor 12 and the housing 4 and abuts against the housing 4. The pressure bearing sleeve 13 can contact the pressure sensor 12. After the rivet is tightened by the riveting mechanism, the gun head assembly 5 abuts against the battery cell. Thus, when the battery cell is subjected to the rivet tension, it will also act on the gun head assembly 5, thereby applying a thrust to the housing 4. This thrust is the same as the tension. The housing 4 being pushed will squeeze the pressure bearing sleeve 13, and the pressure bearing sleeve 13 will transmit the thrust to the pressure sensor 12. The pressure sensor 12 then detects the magnitude of the thrust. Since the thrust is the same as the tension, the pressure sensor 12 can detect the tension, thereby controlling the movement of the riveting mechanism according to the tension, avoiding the tension being too low or too high, thereby improving the quality of the battery cell and increasing the product qualification rate.

[0038] In one embodiment, the gripper 2 includes multiple claw plates 201, forming a clamping space for holding the rivet shank. Specifically, the gripper 2 may include three claw plates 201. The inner side of each claw plate 201 has multiple protruding ridges arranged along its length, i.e., the inner surface of each claw plate 201 is serrated to increase the friction between the claw plate 201 and the rivet shank. The side of each claw plate 201 facing the rivet gun opening has an inclined surface. When the gripper 2 retracts, the inclined surfaces of the three claw plates 201 form a recess that indents inwards from the gripper 2. When the tip of the rivet gun extends into the recess, it can separate the claw plates 201, thereby opening the gripper 2.

[0039] Continue to refer to Figure 4 In one embodiment, the rivet gun further includes a transmission mechanism 6. A clamping sleeve 1 is connected to the end of the transmission mechanism 6, which drives the clamping sleeve 1 to move axially. The transmission mechanism 6 can be a telescopic rod, a telescopic cylinder, a ball screw, a screw nut, or other similar mechanism.

[0040] In one specific embodiment, the transmission mechanism 6 may include a lead screw 601 and a lead screw nut 602 sleeved on the outer periphery of the lead screw 601, with the lead screw 601 rotatably connected to the lead screw nut 602. This transmission mechanism 6 can be driven by a drive device. The drive device may include a motor 100 and meshing transmission gears. The lead screw nut 602 is driven to rotate by the drive device, thereby enabling the lead screw 601 to move axially. A clamping sleeve 1 is sleeved on the outer periphery of the end of the lead screw 601. When the lead screw 601 moves from the front end to the rear end, or from the rear end to the front end, it can drive the clamping sleeve 1 to move along with it. The clamping sleeve 1 and the end of the lead screw 601 are connected by threads, facilitating later disassembly and maintenance. It is worth noting that the drive device is a common device in the prior art, and its specific structure will not be described in detail in this application.

[0041] like Figure 5As shown, in one embodiment, the lead screw 601 is a hollow tubular structure, with the nail-pile tube 302 passing through it, and the end of the nail-pile tube 302 away from the nail rod protruding outside the lead screw 601. A first sealing element 7 is provided between the outer wall of the nail-pile tube 302 and the inner wall of the lead screw 601, and a second sealing element 8 is provided between the outer wall of the push rod 301 and the inner wall of the clamping sleeve 1. The end face of the push rod 301 facing the lead screw 601, the wall of the clamping sleeve 1, the wall of the nail-pile tube 302, and the end face of the lead screw 601 facing the nail rod 301 enclose a gas chamber 101. The first sealing element 7 and the second sealing element 8 can seal the gas chamber 101, reducing the possibility of gas leakage.

[0042] In some of the above embodiments, the push rod 301 can be made of the same material as the nail tube 302. In another embodiment, the push rod 301 can also be made of a flexible material, such as rubber. When the push rod 301 is made of a flexible material, the second sealing element 8 can be omitted. The push rod 301 fits tightly against the inner wall of the clamping sleeve, providing good sealing. The outer wall of the push rod 301 can also be coated with an oil film or other lubricating film to reduce the friction between the push rod 301 and the inner wall of the clamping sleeve.

[0043] Because the push rod 301 can move relative to the clamping sleeve 1, and the pin-pile assembly 302 can also move relative to the lead screw 601, air leakage may occur at the first seal 7 and the second seal 8 when the pressure in the gas chamber 101 is too high or when the pin-pile assembly 3 is moving. In one embodiment, the wall of the clamping sleeve 1 is provided with a vent hole, and an air pipe connector 10 is installed in the vent hole for connecting to an external air source. When the air pressure in the gas chamber 101 decreases due to air leakage, the gas chamber 101 can be inflated by the air source to adjust the pressure inside the gas chamber 101 and maintain the thrust on the push rod 301.

[0044] Connecting the gas chamber 101 to an external air source also has the following beneficial effects: First, the gas chamber 101 can be inflated by the air source to increase the pressure, thereby increasing the clamping force of the gripper 2. Second, by adjusting the pressure of the gas chamber 101, the push rod 301 can be moved into position quickly so that the clamping force of the gripper 2 can quickly reach the preset value.

[0045] In a further embodiment, the clamping sleeve 1 includes a pushing section 112 and an extension section 103, with the pushing section 112 and the extension section 103 threadedly connected. The pushing surface 102 is located in the pushing section, and the extension section 103 is a straight tube. Specifically, the extension section 103 includes a first end and a second end. The first end has an external thread, the pushing section 112 has an internal thread, and the first end is threadedly connected to the pushing section 112. The second end has an internal thread, the lead screw 601 has an external thread, and the second end is threadedly connected to the lead screw 601. The segmented design facilitates maintenance of the clamping sleeve 1. The end face of the push rod 301 facing the gas chamber 101 moves only within the range of the extension section 103. In some of the above embodiments, the second seal 8 is located between the inner wall of the extension section 103 and the outer wall of the push rod 301.

[0046] In one specific embodiment, the aforementioned vent is located in the extension section 103 of the clamping sleeve 1. The extension section 103, the push rod 301, and the lead screw 601 enclose and form the gas chamber 101. Since the pushing surface 102 is located in the pushing section 112, its machining difficulty is greater than that of the straight pipe of the extension section 103. Therefore, when the gas chamber 101 is damaged, only the extension section 103 needs to be replaced, saving machining costs.

[0047] like Figure 6 As shown, in one embodiment, the housing 4 is provided with a clearance hole 401, through which the air pipe connector 10 can extend to the outside of the housing 4. The clearance hole 401 is an elongated hole, and the air pipe connector 10 can slide along the axial direction of the housing 4 within the elongated hole. Specifically, the clearance hole 401 can be an oblong hole, a rectangular hole, an elliptical hole, etc.

[0048] It is worth noting that, within the allowable error range, the housing 4, clamping sleeve 1, gun head assembly 5, nail tube assembly 3, and lead screw 601 are coaxially arranged.

[0049] Because the lead screw 601 and the clamping sleeve 1 are detachably connected, air leakage may occur between the lead screw 601 and the clamping sleeve 1. In one embodiment, a third sealing element 9 may be provided between the outer wall of the lead screw 601 and the inner wall of the clamping sleeve 1, such as... Figure 5 The third seal 9 is located between the inner wall of the extension section 103 and the outer wall of the screw 601.

[0050] When selecting seals, sealing rings can be selected as the first seal 7, the second seal 8, and the third seal 9 mentioned above.

[0051] Continue to refer to Figure 4To facilitate the direct discharge of the rivet shank from the tail end of the rivet gun and prevent broken rivet shanks from detaching from the nozzle after riveting and once the rivet gun is away from the workpiece, thus affecting workpiece processing, in one embodiment, the rivet gun further includes a suction mechanism 11. The suction mechanism 11 is connected to the end of the rivet tube 302 away from the top rod 301. The suction mechanism 11 provides negative pressure to the rivet tube 302, allowing the broken rivet shank to be suctioned and moved towards the tail end away from the gripper 2, and then discharged from the tail end.

[0052] Figure 8 A schematic diagram of the structure of a rivet gun provided for another embodiment of this application, as shown below. Figure 8 As shown, in one embodiment, the adsorption mechanism 11 is installed at the tail end of the rivet gun and includes a liquid storage chamber 111 and a negative pressure tube 112 that are in communication with each other. The end of the nail-pile tube 302 away from the push rod 301 is inserted into the liquid storage chamber 111 and is movable relative to the liquid storage chamber 111 along the axial direction of the nail-pile tube 302. The nail-pile tube 302 and the negative pressure tube 112 are spaced at a predetermined distance to prevent the nail-pile tube 302 from obstructing the gas flow between the negative pressure tube 112 and the liquid storage chamber 111.

[0053] During riveting, a small amount of electrolyte is drawn into the rivet gun. The electrolyte flows towards the tail end of the rivet gun through the nail-pile tube 302. Part of the electrolyte is drawn into the negative pressure tube 112 and directly discharged from the rivet gun, while some residual electrolyte flows into the storage chamber 111. The storage chamber 111 seals and contains the residual electrolyte, preventing it from flowing into other areas of the rivet gun and affecting other components. In addition, since the negative pressure tube 112 is connected to the storage chamber 111, and the nail-pile tube 302 is spaced at a preset distance from the negative pressure tube 112, the strong airflow formed in the negative pressure tube 112 can continue to discharge the residual electrolyte in the storage chamber 111, avoiding crystallization problems caused by long-term stagnation of electrolyte in the storage chamber 111.

[0054] Figure 9 This is a schematic diagram of the riveting mechanism and the adsorption mechanism provided in one embodiment of this application. Figure 10 This is a schematic diagram of the structure of the nail-packing tube assembly and the adsorption mechanism provided in one embodiment of this application. Figure 9 and Figure 10As shown, in one embodiment, the inner wall of the liquid storage chamber 111 has a first surface 1111 and a second surface 1112 connected to each other. The first surface 1111 is parallel to the nail-pile tube 302, and the second surface 1112 forms an angle with the nail-pile tube 302. That is, the first surface 1111 is a cylindrical surface, and the second surface 1112 is a frustum. The second surface 1112 has a first edge and a second edge. The first edge is connected to the negative pressure tube 112, and the second edge is connected to the first surface 1111. The diameter of the second edge is larger than the diameter of the first edge. The second surface 1112 gradually decreases in size from the front end to the rear end, so that when the electrolyte in the liquid storage chamber 111 is adsorbed, it flows more smoothly from the sloped second surface 1112 into the negative pressure tube 112, reducing dead corners in the liquid storage chamber 111 and thus reducing the possibility of electrolyte residue in the liquid storage chamber 111.

[0055] In one specific embodiment, the angle between the second surface 1112 and the nail tube 302 is in the range of 115°-120°.

[0056] Along the direction perpendicular to the pin-lay tube 302, the pin-lay tube 302 at least partially overlaps with the vertical projection of the first surface 1111.

[0057] In one embodiment, the adsorption mechanism 110 includes a body 1101 with an opening at one end facing the nail-pile tube 302, referred to as the first opening 1102. The nail-pile tube 302 is inserted into the liquid storage chamber 111 through the first opening 1102. A fourth sealing element 1103 is provided on the inner wall of the first opening 1102 and the outer wall of the nail-pile tube 302 to seal the gap between the nail-pile tube 302 and the first opening 1102. In this embodiment, the liquid storage chamber 111 is a one-piece molded structure, and the opening at the end of the body 1101 facing the nail-pile tube 302 is relatively small, with the diameter of the opening being approximately the same as the diameter of the nail-pile tube 302. Providing only one fourth sealing element 1103 ensures good sealing of the liquid storage chamber 111.

[0058] Since the pin-pile tube 302 can move relative to the liquid storage chamber 111 during riveting and pin removal, to prevent liquid droplets from entering between the fourth seal 1103 and the pin-pile tube 302 during movement, in one embodiment, an oil film may be provided between the fourth seal 1103 and the pin-pile tube 302 to improve sealing and reduce friction between them.

[0059] Figure 11 This is a schematic diagram of the structure of the nail-laying tube and the adsorption mechanism provided in one embodiment of this application, as shown below. Figure 11As shown, in the above embodiment, the opening of the liquid storage chamber 111 is relatively small, which is not conducive to the assembly and cleaning of the interior of the liquid storage chamber 111. In another embodiment, the adsorption mechanism 110 may further include a plunger 1104. The body 1101 has an opening at one end facing the nail-pile tube 302, which is called the second opening 1105. The diameter of the second opening 1105 is the inner diameter of the liquid storage chamber 111, and the plunger 1104 is used to seal the second opening 1105. The second opening 1105 is larger than the first opening 1102 in the above embodiment, and the plunger 1104 is detachably installed in the second opening 1105, which facilitates the cleaning of the interior of the liquid storage chamber 111. The plunger 1104 has a through hole through which the nail-pile tube 302 passes. To prevent electrolyte from flowing out between the pin pack tube 302 and the plunger 1104, a fourth seal 1103 is installed between the inner wall of the through hole and the outer wall of the pin pack tube 302 to seal the gap between the pin pack tube 302 and the plunger 1104.

[0060] Continue to refer to Figure 11 In one embodiment, the adsorption mechanism 110 further includes at least one fifth sealing element 1106, which is installed between the plunger 1104 and the body 1101 to seal the gap between the plunger 1104 and the body 1101. The number of fifth sealing elements 1106 can be two, three, etc., and this application does not impose a specific limitation, in order to improve the sealing effect between the plunger 1104 and the body 1101.

[0061] The fourth seal 1103 and the fifth seal 1106 can be sealing rings.

[0062] In a further embodiment, a boss 11041 may be provided on the outer periphery of the plunger 1104 away from the negative pressure pipe 112. The boss 11041 abuts against the end face of the body 1101 facing the front end of the rivet gun, which can improve the sealing effect. At the same time, the boss 11041 can extend the flow path of the electrolyte, and it is only possible for the electrolyte to flow out of the storage chamber 111 after a large amount of electrolyte has accumulated in the storage chamber 111, thus increasing the difficulty for the electrolyte to flow out of the storage chamber 111.

[0063] When using a rivet gun to rivet the electrolyte injection hole, a common arrangement is to have the nozzle facing the battery cell below the rivet gun, meaning the adsorption mechanism 110 is positioned above the rivet mechanism. In this arrangement, the surface of the plunger 1104 facing the negative pressure tube 112 serves as the bottom wall of the electrolyte storage chamber 111. When there is a large amount of electrolyte in the storage chamber 111, droplets will collect on the plunger 1104 under gravity and may flow into the gap between the plunger 1104 and the pin-mounting tube 302, contacting the fourth seal 1103. This can cause corrosion of the fourth seal 1103.

[0064] To reduce corrosion of the fourth seal 1103, in one embodiment, the inner wall of the liquid storage chamber 111 may also be provided with a liquid storage tank 1107, which is located at the end of the first surface 111 near the negative pressure pipe 112. When the electrolyte enters the liquid storage chamber 111 from the pin-pile pipe 302, it usually splashes into the liquid storage chamber 111 in the form of droplets due to the airflow adsorption of the adsorption mechanism 110. Since the opening of the pin-pile pipe 302 is close to the opening of the negative pressure pipe 112, providing a liquid storage tank 1107 at the end of the liquid storage chamber 111 near the negative pressure pipe 112 helps to collect the droplets splashed out of the pin-pile pipe 302, thereby reducing the amount of electrolyte falling into the bottom of the liquid storage chamber 111.

[0065] Figure 12 A schematic diagram of the structure of the nail-laying tube and the adsorption mechanism provided for another embodiment of this application is shown below. Figure 12 As shown, in a further embodiment, the liquid storage tank 1107 is inclined toward the negative pressure pipe 112. The liquid storage tank 1107 includes a first side wall 11071, a second side wall 11072, and a bottom wall 11073. The first side wall 11071 and the second side wall 11072 are arranged opposite to each other and are respectively connected to the bottom wall 11073. The first side wall 11071 is connected to the second surface 1112 and is in the same plane. During riveting, a small amount of liquid droplets splash into the liquid storage tank 1107. Because the liquid storage tank 1107 is inclined, the droplets in the liquid storage tank 1107 flow toward the bottom wall 11073 under the action of gravity and are not easy to flow out of the liquid storage tank 1107 and fall onto the plunger 1104. Furthermore, the liquid storage tank 1107 is inclined toward the negative pressure pipe 112, and the first side wall 11071 is connected to the second surface 1112 and is on the same plane, which is conducive to the liquid droplets being sucked into the negative pressure pipe 112 and discharged.

[0066] Figure 13 A schematic diagram of the structure of the nail-laying tube and the adsorption mechanism provided for another embodiment of this application is shown below. Figure 13 As shown, in a further embodiment, the first surface 111 may be provided with a plurality of liquid storage tanks 1107, which are arranged at intervals along the axial direction of the liquid storage cavity 111. The plurality of liquid storage tanks 1107 can store more droplets, reducing the occurrence of droplets falling onto the surface of the plunger 1104.

[0067] The rivet gun of this application can be used to seal the electrolyte injection holes of battery cells. During battery cell manufacturing, the cell assembly is first placed inside the battery casing, then the battery cover assembly is fitted onto the battery casing. Electrolyte is then injected into the cavity formed by the battery cover assembly and the battery casing through the electrolyte injection hole on the battery cover assembly. A pop rivet is then inserted into the injection hole, and after riveting, the electrolyte injection hole on the battery cover assembly is sealed. Using the rivet gun of this application provides reliable riveting quality and high riveting efficiency. The electrolyte drawn into the rivet gun during riveting can be collected and discharged promptly, preventing damage to the components inside the rivet gun and improving its service life.

[0068] Secondly, embodiments of this application also provide a riveting control system, which includes the aforementioned riveting gun and control device. The control device includes a receiving unit and a control unit. The receiving unit is used to receive the tension value detected by the tension detection unit, and the control unit is used to control the rotation of the motor.

[0069] Thirdly, embodiments of this application also provide a riveting control method, comprising the following steps:

[0070] S1: Generate the training set;

[0071] S2: Set the preset tension value;

[0072] S3: Controls the motor's speed and angle and acquires the tension value in real time;

[0073] S4: Based on the training set, adjust the motor speed and angle to break the rivet by combining the actual tensile force value obtained in real time.

[0074] Specifically, the rivet gun is equipped with grippers of varying wear levels as samples, and rivet samples of different specifications and materials are used for multiple riveting sample training sessions. The control system algorithm is trained using these samples, and the algorithm iterates multiple times to form a training set, thereby completing self-learning. Generating the training set includes: establishing multiple sets of riveting test samples; and collecting the motor's rotation speed and angle under different tensile force values ​​in multiple sets of test samples.

[0075] The wear levels of the clamps in the rivet gun varied in each rivet test sample, and the specifications of the rivets also differed. These different specifications included rivets of different materials and sizes.

[0076] The algorithm model is established by using feedback from the rivet gun's tension detection unit, combined with the soft competitive algorithm ART-RBF (Soft Competitive Adaptive Resonance Theory & Radial Basis Function) and PID control. This allows for adaptive adjustment of PID control parameters to improve rivet preload accuracy and efficiency. PID (Proportional-Integral-Derivative) control is a widely used engineering control technique that adjusts system errors through proportional, integral, and derivative control methods to achieve precise control. Its controller parameters can be determined through theoretical calculations or engineering experience, and it features simple structure, good stability, and convenient adjustment, making it widely used in industrial automation.

[0077] During the sample experiment, 50 sets of claw plates 201 with different wear levels can be set up. The rotation angle and speed of motor 100 during the pre-tightening process are collected by the tension detection unit when the pre-tightening force starts from 0 to reach 100N, and the parameters of rivets of different specifications are recorded to construct a training set.

[0078] ,

[0079] in, s is the motor rotation angle. These are the parameters for the rivet.

[0080] For PID controller parameters, To output the absolute value error, after 1000 iterations of system training, the actual preload of the rivet is controlled within 3% of the expected value.

[0081] Because rivets deform (expand) when subjected to force, the expansion will eliminate some of the tensile force;

[0082] The peak tensile force is used as the data acquisition target, and the peak force for rivet retrieval is controlled to ensure that the rivet is gripped while maintaining its deformation. For example, if the initial motor speed is 8 mm / s, the peak tensile force for rivet retrieval is set to 100 N.

[0083] The control system adjusts the motor speed and angle based on the peak tension feedback from the rivet gun tension detection unit. The closer the peak tension feedback is to the preset tension value, the slower the motor speed, thereby accurately controlling the rivet removal tension.

[0084] The soft competition algorithm ART-RBF, combined with the PID algorithm, can adaptively adjust the PID control parameters and provide the optimal motor speed and angle values ​​in real time based on the tensile force detection results. During the rivet breakage stage, the motor's current position is fed back to the control system, which then provides the motor angle value. The motor rotates to that angle value, thus breaking the rivet.

[0085] The riveting control method of this application improves the pre-tightening accuracy of riveting, ensuring no deformation of the rivet during the pre-tightening stage. The rivet gun's grippers experience wear after repeated use; the control method of this application can automatically and accurately correct parameters, improving riveting efficiency and accuracy.

[0086] The specific riveting process is as follows:

[0087] 1. Nail removal stage:

[0088] 1) Rivet gun removal: The rivet extends into the gun head assembly;

[0089] 2) During the rivet pre-tightening stage, for example, the pre-tightening force is set to 100N. The control system controls the motor to rotate at high speed in the forward direction, driving the riveting mechanism upward. At the same time, the tension detection unit detects the real-time tension value and sends it to the control system. The control system changes the rotation speed of the motor according to the feedback tension value. When it approaches 100N, the control system controls the motor speed to slow down until the tension reaches 100N, at which point the motor stops rotating. The rivet pre-tightening by the rivet gun is complete.

[0090] 2. Tension-breaking stage:

[0091] 1) The rivet gun drives the pre-tightened rivet into the electrolyte inlet of the battery cell;

[0092] 2) The control system controls the motor to start rotating in the forward direction to drive the riveting mechanism to rise. The control system judges the execution status based on the tension value fed back by the tension detection unit. When the rivet is pulled off, if the tension feedback exceeds 500N, the system waits for the tension feedback to drop below 50N before considering the rivet to be pulled off.

[0093] 3) After the rivet is pulled off, the control system controls the motor to rotate and move the riveting mechanism a fixed distance, so that the broken rivet rod is completely separated from the rivet head.

[0094] 3. Waste nail removal stage:

[0095] 1) Activate the negative pressure mechanism to generate negative pressure;

[0096] 2) The control system controls the motor to rotate in the opposite direction, driving the riveting mechanism to descend and return to the initial position. At this time, the gun head assembly 5 causes the gripper 2 to open, releasing the rivet rod. The rivet rod is attracted by the negative pressure mechanism and discharged from the tail end of the riveting gun.

[0097] 3) At this point, the sealing and riveting of the injection port is complete.

[0098] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A rivet gun, characterized in that, include: The system includes a clamping sleeve, grippers, a tension detection unit, a nail-pile assembly, and a drive mechanism. The nail-pile assembly is disposed within the clamping sleeve. The tension detection unit detects the tension in the clamping sleeve. The drive mechanism includes a motor that drives the clamping sleeve to move axially along its axis. The gripper is disposed inside the clamping sleeve, and the end of the clamping sleeve has a pushing surface facing the gripper. The nail tube assembly includes a push rod and a nail tube. The push rod is fixedly connected to the end of the nail tube, and the gripper is located between the pushing surface and the push rod. The clamping sleeve has a gas chamber located on the side of the push rod away from the jaws, and the gas chamber is filled with compressed gas, which is used to provide a thrust to the push rod toward the jaws; When the clamping sleeve moves to the tail end, under the action of air pressure, the push rod drives the jaws to fit tightly against the pushing surface, and the pushing surface pushes against the outer periphery of the jaws so that the jaws clamp the nail rod.

2. The rivet gun according to claim 1, characterized in that, The drive mechanism further includes a lead screw connected to the clamping sleeve, and the motor is used to drive the lead screw to rotate so that the clamping sleeve moves along the axial direction of the clamping sleeve.

3. The rivet gun according to claim 2, characterized in that, The lead screw has a hollow structure, and the nail-pile tube is inserted inside the lead screw. A first sealing element is provided between the outer wall of the nail-pile tube and the inner wall of the lead screw, and a second sealing element is provided between the outer wall of the top rod and the inner wall of the clamping sleeve. The nail-pile tube assembly, the cylinder wall of the clamping sleeve, and the lead screw together form the gas chamber.

4. A riveting control system, characterized in that, include: The rivet gun and control device according to any one of claims 1 to 3, wherein the control device includes a receiving unit and a control unit, the receiving unit being used to receive the tensile force value detected by the tensile force detection unit, and the control unit being used to control the rotation of the motor.

5. A riveting control method, characterized in that, The riveting control method, applied to the riveting control system as described in claim 4, includes the following steps: S1: Establish multiple sets of riveting test samples; collect the rotation speed and angle of the motor under different tensile force values ​​in the multiple sets of riveting test samples to generate a training set; S2: Set the preset tension value; S3: Controls the motor's speed and angle and acquires the tension value in real time; S4: Based on the training set, adjust the motor speed and angle to break the rivet by combining the actual tensile force value obtained in real time.

6. The riveting control method according to claim 5, characterized in that, The different tensile force values ​​F satisfy the following condition: 0N < F < 100N.

7. The riveting control method according to claim 5, characterized in that, The multiple sets of riveting test samples include clamps with different degrees of wear and rivets of different specifications.

8. The riveting control method according to claim 7, characterized in that, The different specifications of rivets include rivets of different materials and different sizes.

9. The riveting control method according to claim 5, characterized in that, Adjusting the motor speed based on the training set and the real-time acquired actual tension value to break the rivet includes, when approaching the preset tension value, controlling the motor rotation speed to slow down according to the training set; When the preset tension value is reached, the motor is controlled to stop rotating.

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