Intelligent electromagnetic riveting gun based on series excited machine

Abstract

The invention relates to the technical field of electromagnetic riveting, in particular to an intelligent electromagnetic riveting gun based on a series motor. Comprising a gun body shell, a riveting punch, a driving assembly and a control assembly. The driving assembly comprises a series excitation linear motor, a stator of the series excitation linear motor coaxially sleeves a rotor, and the rotor performs reciprocating linear motion in the axial direction through excitation magnetic field coupling between the stator and the rotor. The riveting punch is connected to the rotor so as to convert thrust of the rotor into impact pressure needed during riveting. The control assembly can adjust the magnitude and the direction of current in the rotor magnet exciting coil and the stator magnet exciting coil so as to control the displacement of the riveting punch and the magnitude of output riveting force. The electromagnetic riveting gun is simple in structure and high in stability, has efficient and strong power output, can meet the high-strength riveting requirement, and meanwhile has the characteristics of high speed and high precision, the driving assembly is small in size and convenient to integrate in the gun body, an additional driving electric cabinet is not needed, the overall portability of equipment is improved, and operation and maintenance are easy.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic riveting, and in particular to an intelligent electromagnetic riveting gun based on a series motor. Background Art

[0002] In modern industrial manufacturing, electromagnetic riveting, as an efficient and precise connection process, is widely used in many fields such as aerospace, automobile manufacturing, and mechanical processing. Traditional electromagnetic riveting equipment has certain limitations in power control and operating accuracy. For example, its power unit usually adopts the induction electromagnetic principle, which has low energy efficiency, weak power output, and difficulty in achieving a combination of high speed and high precision. At the same time, it is large in size, which is not conducive to portable operation. During the riveting process, the control of the riveting stroke and riveting force is not precise enough, which may lead to unstable riveting quality and affect the connection strength and accuracy of the workpiece. In addition, when the operator holds the riveting gun, there is a lack of effective posture assistance, which can easily cause riveting deviations due to inaccurate gun posture. Moreover, the power supply method of traditional equipment is relatively single, and it cannot be flexibly selected according to different on-site environments. It is inconvenient to use in some scenarios where there is no external power supply or mobile operation is required.

[0003] Therefore, there is an urgent need for an electromagnetic riveting gun with strong power output, high riveting precision, reliable riveting quality, high level of intelligence, and easy operation. Summary of the Invention

[0004] (1) Technical issues to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an intelligent electromagnetic riveting gun based on a series motor, which solves the technical problems of low energy efficiency, insufficient power output and low control accuracy of traditional electromagnetic riveting equipment.

[0006] (2) Technical solution

[0007] In order to achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] An embodiment of the present invention provides an intelligent electromagnetic riveting gun based on a series-excited motor, comprising a gun housing, a riveting punch extending through the front end of the gun housing, and a drive assembly and a control assembly integrated within the gun housing. The drive assembly includes a series-excited linear motor, the stator of which is coaxially sleeved on the outside of its mover. The mover excitation coil in the mover and the stator excitation coil in the stator are connected in series. The excitation magnetic field coupling between the two causes the mover to perform reciprocating linear motion along the axial direction, forming a direct-drive structure. The rear end of the riveting punch is connected to the front end of the mover to convert the thrust of the mover into the impact pressure required for riveting. The control assembly can obtain the movement information of the mover in real time and adjust the magnitude and direction of the current in the mover excitation coil and the stator excitation coil to control the displacement of the riveting punch and the magnitude of the output riveting force.

[0009] Optionally, the stator housing of the stator is fixedly connected to the gun body housing, and stator winding slots are axially provided on the inner circumferential wall of the stator housing to match the number and position of the stator excitation coils, and the stator excitation coils are wound in the stator winding slots. The mover core of the mover is slidably connected to the gun body housing, and mover winding slots are axially provided on the outer circumferential wall of the mover core to match the number and position of the mover excitation coils, and the mover excitation coils are wound in the mover winding slots. The number of mover excitation coils is always one less than the number of stator excitation coils, and both are arranged axially, with each group of mover excitation coils being arranged axially midway between two adjacent groups of stator excitation coils to form an I-shaped arrangement, and the mover excitation coils are partially overlapped axially with the stator excitation coils on both sides.

[0010] The rear end of the riveting punch is connected to the front end of the mover core through a force transmission rod.

[0011] Optionally, a linear guide is fixedly connected to the inner wall of the gun body shell, and the rear end of the mover core is connected to the linear guide via a mover connecting seat. A linear bearing is provided at the front end of the series-excited linear motor and is mounted on a force transmission rod. The linear bearing and the linear guide together limit the movement of the mover.

[0012] Optionally, an energy-absorbing spring is provided between the mover connecting seat and the inner wall of the gun body shell to buffer the movement of the mover.

[0013] Optionally, a first connecting plate is provided at the top of the inner wall of the gun housing, and a second connecting plate is provided at the front end of the stator housing. The first and second connecting plates are arranged perpendicularly and fixedly connected at their intersection. The linear guide is secured to the inner wall of the gun housing via the first connecting plate, and the stator housing is secured to the inner wall of the gun housing via the second connecting plate. The first connecting plate, second connecting plate, stator housing, and mover connector together form a frame structure for the drive assembly.

[0014] Optionally, the control component receives mode selection information from the operator via a human-machine interface or operating buttons. The control component includes an ARM drive control board and a displacement sensor. The displacement sensor is used to detect the displacement of the mover in real time and is electrically connected to the ARM drive control board.

[0015] If the mode selection information is force control mode, the ARM drive control board adopts a multi-level control linkage mechanism. Based on the mapping relationship between current and riveting force, as well as the pre-given target riveting force, the output adjusts the magnitude and direction of the current in the mover excitation coil and the stator excitation coil.

[0016] If the mode selection information is displacement control mode, the ARM drive control board adopts a closed-loop system framework. Based on the mapping relationship between current and riveting force, as well as the pre-given target riveting force and target position information, it outputs the magnitude and direction of the current in the mover excitation coil and the stator excitation coil.

[0017] If the mode selection information is the position-force hybrid control mode, the ARM drive control board adopts a hierarchical control framework. The upper layer makes mode decisions through the state machine, and the lower layer dynamically integrates the two modes of force control and displacement control, and uses fuzzy logic to dynamically adjust the hybrid weight of the two. Based on the mapping relationship between current and riveting force, as well as the pre-given target riveting force and target position information, the output adjusts the magnitude and direction of the current in the mover excitation coil and the stator excitation coil.

[0018] Optionally, the control component includes a circuit component electrically connected to the ARM drive control board, and the circuit component is provided with an H-bridge circuit at a position electrically connected to the mover excitation coil or the stator excitation coil.

[0019] According to the current direction output by the ARM drive control board, the switch at the specified position of the H-bridge circuit is opened or closed, so that the current direction in the mover excitation coil or the stator excitation coil is switched.

[0020] Optionally, the mapping relationship between the current and the riveting force stored in the ARM drive control board is:

[0021] F=k1I 2 +k2I+k3;

[0022] Where: F is the target riveting force, I is the current, k1, k2, k3 are fitting coefficients;

[0023] Based on the pre-given target riveting force, the ARM drive control board obtains the current through the mapping relationship between current and riveting force. In all three modes, the error of the obtained current is adjusted through fuzzy PID control, and then the final current adjustment value is output to adjust the current in the mover excitation coil and the stator excitation coil.

[0024] Optionally, the control assembly also includes a posture measurement sensor and a three-dimensional force sensor, both of which are electrically connected to the ARM drive control board. The posture measurement sensor is used to detect the posture information of the gun body in real time; the three-dimensional force sensor is used to detect the direction of force applied when the riveting punch contacts the rivet surface.

[0025] When the riveting punch contacts the rivet, the three-dimensional force sensor detects a sudden increase in contact force and triggers measurement. The ARM drive control board reversely infers the rivet normal based on the force direction information feedback from the three-dimensional force sensor, compares it with the information detected by the posture measurement sensor, and calculates the holding angle and direction that need to be adjusted.

[0026] Optionally, the control assembly further includes a kinetic braking resistor electrically connected to the ARM drive control board. The kinetic braking resistor is connected in parallel to the DC bus of the circuit assembly within the control assembly and is connected at the end of each rivet punching operation to convert the mechanical energy generated by the recoil force into heat energy that is dissipated by the kinetic braking resistor.

[0027] (3) Beneficial effects

[0028] The beneficial effects of the present invention are:

[0029] The present invention is an intelligent electromagnetic riveting gun based on a series-excited motor. A series-excited linear motor is used instead of the discharge coil of the traditional induction electromagnetic riveting as the main power unit of the riveting gun. The series-excited linear motor is fully utilized to replace the discharge coil of the traditional induction electromagnetic riveting as the main power unit of the riveting gun. The characteristics of the series-excited motor are high efficiency, high starting thrust, and the driving force can be controlled by adjusting the current. The excitation magnetic field coupling between the mover excitation coil in the mover and the stator excitation coil in the stator causes the mover to perform reciprocating linear motion along the axial direction. The riveting punch is directly fixedly connected to the mover to convert the thrust of the mover into the required riveting pressure. This direct-drive connection structure has significant advantages. It has high energy efficiency and can efficiently convert electrical energy into power. It does not require other force transmission components. The structure is simpler, the stability is higher, and the force transmission is more accurate. It has efficient and powerful power output, which can meet the high-strength riveting requirements. It also has the characteristics of high speed and high precision. The series-excited linear motor is small in size and is easy to integrate inside the gun body. No additional drive cabinet is required, which improves the overall portability of the equipment. In addition, a control unit is integrated inside the gun body, which can obtain the movement information of the mover in real time and accurately adjust the magnitude and direction of the current in the excitation coil, thereby controlling the displacement of the riveting punch and the output riveting force, further improving the accuracy and quality of riveting, and making operation more convenient and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of the appearance of embodiment 1 of an intelligent electromagnetic riveting gun based on a series motor of the present invention;

[0031] Figure 2 for Figure 1Internal diagram of the electromagnetic riveting gun;

[0032] Figure 3 for Figure 1 A cross-sectional view of an electromagnetic riveting gun;

[0033] Figure 4 for Figure 1 Schematic diagram of the H-bridge circuit used for reversing in the electromagnetic riveting gun;

[0034] Figure 5 This is a schematic diagram of embodiment 2 of the intelligent electromagnetic riveting gun based on a series motor of the present invention connected to a battery module.

[0035] [Description of Reference Numerals]

[0036] 1: Gun body shell; 11: First connecting plate; 12: Second connecting plate;

[0037] 2: Riveting punch;

[0038] 3: drive assembly; 31: mover excitation coil; 32: stator excitation coil; 33: stator housing; 34: mover core; 35: force transmission rod; 36: linear guide; 37: mover connection seat; 38: linear bearing; 39: energy absorption spring;

[0039] 4: Control component; 41: ARM drive control board; 42: Displacement sensor; 43: Three-dimensional force sensor; 44: Kinetic brake resistor;

[0040] 5: cooling fan; 51: cooling hole;

[0041] 6: Power supply assembly; 61: Battery module;

[0042] 7: indicator light;

[0043] 8: Human-machine interface;

[0044] 9: Operation button;

[0045] 10: Firing switch;

[0046] S1: first switch; S2: second switch; S3: third switch; S4: fourth switch. DETAILED DESCRIPTION

[0047] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below with reference to the accompanying drawings and through specific embodiments. Figure 1 The orientation is referenced.

[0048] An embodiment of the present invention proposes an intelligent electromagnetic riveting gun based on a series-excited motor, which uses a series-excited linear motor instead of the discharge coil of the traditional induction electromagnetic riveting as the main power unit of the riveting gun. It fully utilizes the characteristics of the series-excited motor, such as high efficiency, high starting thrust, and the ability to control the driving force by adjusting the current. The excitation magnetic field coupling between the mover excitation coil in the mover and the stator excitation coil in the stator causes the mover to perform reciprocating linear motion along the axial direction. The riveting punch is directly fixed to the mover to convert the thrust of the mover into the required riveting pressure. This direct-drive connection structure has significant advantages. It has high energy efficiency and can efficiently convert electrical energy into power. It does not require other force transmission components, has a simpler structure, higher stability, and more accurate force transmission. It has efficient and powerful power output, can meet the high-strength riveting requirements, and has the characteristics of high speed and high precision. In addition, the series-excited linear motor is small in size and easy to integrate inside the gun body. No additional drive cabinet is required, which improves the overall portability of the equipment. In addition, a control unit is integrated inside the gun body, which can obtain the movement information of the mover in real time and accurately adjust the magnitude and direction of the current in the excitation coil, thereby controlling the displacement of the riveting punch and the output riveting force, further improving the accuracy and quality of riveting, and making operation more convenient and easy to maintain.

[0049] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0050] Example 1:

[0051] Reference Figures 1 to 3 This embodiment provides an intelligent electromagnetic riveting gun based on a series-excited motor, comprising a gun housing 1, a riveting punch 2, a drive assembly 3, and a control assembly 4. The riveting punch 2 is disposed through the front end of the gun housing 1 and is used to directly apply force to the rivet. The drive assembly 3 is integrated within the gun housing 1 and connected to the riveting punch 2 to provide the impact pressure required for riveting. The control assembly 4 is also integrated within the gun housing 1 and serves as the intelligent control unit of the electromagnetic riveting gun.

[0052] The drive assembly 3 includes a series-excited linear motor, the stator of which is coaxially sleeved on the outside of its mover. The mover includes a mover excitation coil 31 and a mover core 34 for winding the mover excitation coil 31. The outer peripheral wall of the mover core 34 is axially provided with mover winding grooves adapted to the number and position of the mover excitation coils 31, and the mover excitation coils 31 are wound within the mover winding grooves. The rear end of the riveting punch 2 is connected to the front end of the mover to convert the thrust of the mover into the impact pressure applied by the riveting punch 2 during riveting. In this embodiment, the rear end of the riveting punch 2 is connected to the front end of the mover core 34 via a dowel rod 35. The movement between the riveting punch 2 and the mover needs to ensure high consistency. Therefore, the dowel rod 35 and the mover core 34 can be fixed by threading or welding to form a rigid connection. The connection between the dowel rod 35 and the riveting punch 2 can also be fixed by welding. Of course, it is not limited to this. The force transmission rod 35 and the riveting punch 2 can also be set as an integrated structure. Those skilled in the art can adjust it according to actual needs, as long as the thrust obtained by the mover core 34 can be completely transferred to the riveting punch 2.

[0053] The stator includes a stator excitation coil 32 and a stator housing 33 for winding the stator excitation coil 32. The stator housing 33 has stator winding slots axially arranged on its inner circumference, matching the number and position of the stator excitation coils 32. The stator excitation coils 32 are wound within these stator winding slots. The stator housing 33 is connected to the interior of the gun housing 1.

[0054] The mover excitation coil 31 in the mover and the stator excitation coil 32 in the stator are connected in series. The excitation magnetic field coupling between the two causes the mover to perform reciprocating linear motion along the axial direction, thereby driving the riveting punch 2 to also perform reciprocating linear motion synchronously. This structure no longer relies on traditional permanent magnets to form a magnetic field, effectively reducing the manufacturing cost of the motor and avoiding the assembly and failure problems associated with permanent magnets. The mover excitation coil 31 and the stator excitation coil 32 are connected in series to form a closed loop. When current flows through the series coils, magnetic fields are generated on the stator and mover respectively. The interaction between the two (attraction or repulsion) directly drives the mover to move, forming a direct-drive structure. The movement of the mover is directly driven by electromagnetic force without the need for intermediate conversion mechanisms such as gears and connecting rods. The series excitation connection method also allows for greater thrust to be output under the same current. Therefore, the series-excited linear motor has a simpler structure, higher stability, more accurate force transmission, and a small size, making it easy to integrate into the gun body without the need for an additional drive cabinet, improving the overall portability of the equipment and making it easy to operate and maintain.

[0055] Furthermore, the number of mover excitation coils 31 is always one less than the number of stator excitation coils 32, and both are arranged axially. Each group of mover excitation coils 31 is arranged axially in the middle of two adjacent groups of stator excitation coils 32 to form an I-shaped arrangement, and the mover excitation coils 31 are partially overlapped with the stator excitation coils 32 on both sides in the axial direction, with the overlapping distance being 1 / 2-1 / 3 of the winding length of the mover excitation coil 31, so that the side of the stator excitation coil 32 close to the mover excitation coil 31 can be within the magnetic field lines of the mover excitation coil 31. This arrangement of coils makes the overall structure more compact, and under the condition of the same required thrust, it can be smaller and more portable. At the same time, this arrangement of coils also makes the magnetic circuit more compact, not only fully utilizing the magnetic field lines on both sides of the mover excitation coil 31, but also not limited by the saturation magnetic induction intensity of the mover core 34, allowing it to operate beyond the limit. Using this structure as the driving element of a riveting gun, a series-excited linear motor can deliver efficient and powerful power output, meeting the demands of high-strength riveting. To better accommodate the range of impact pressures required during actual use of the electromagnetic riveting gun and maximize its portability, the number of mover excitation coils 31 on the mover core 34 can be set between 2 and 5 groups, and the number of stator excitation coils 32 on the stator housing 33 can be set between 3 and 6 groups. By adjusting the number of coils and the number of turns, the thrust output by the motor can be adjusted for the same current. In this embodiment, two groups of mover excitation coils 31 and three groups of stator excitation coils 32 are preferably provided. With this configuration, the series-excited linear motor can achieve a maximum thrust output of 40-50 kN. The impact pressure required for aluminum rivets (φ4–φ6 mm) typically ranges from 12 to 36 kN. Therefore, this series-excited linear motor can easily meet the impact pressure requirements of aluminum rivets (φ4–φ6 mm) and facilitates manual operation.

[0056] In order to ensure the smooth movement of the riveting punch 2 during the riveting process and to prevent the mover from rotating, shaking or other non-linear motions, thereby affecting the normal operation of the riveting punch 2, the driving assembly 3 also includes a linear guide 36, which is fixed to the inner wall of the gun body housing 1. The rear end of the mover is connected to the linear guide 36 through a mover connecting seat 37. The front end of the series-excited linear motor is provided with a linear bearing 38 sleeved on the force transmission rod 35. The linear bearing 38 and the linear guide 36 jointly limit the movement of the mover, preventing the mover from circumferential rotation or unstable linear motion, thereby ensuring that the riveting punch 2 can accurately perform reciprocating linear motion and ensure the quality of the riveting operation.

[0057] Specifically, a first connecting plate 11 is disposed at the top of the inner wall of the gun housing 1, and a second connecting plate 12 is disposed at the front end of the stator housing 33, which is fixedly connected thereto. The first connecting plate 11 and the second connecting plate 12 are arranged perpendicularly between them, and the two connecting plates are fixedly connected at their perpendicular intersection. The linear guide 36 is then fixed to the inner wall of the gun housing 1 via the first connecting plate 11, while the stator housing 33 is fixed to the inner wall of the gun housing 1 via the second connecting plate 12. The first connecting plate 11 and the second connecting plate 12 not only establish a fixed connection between the drive assembly 3 and the gun housing 1, but also secure the series-excited linear motor and linear guide 36 to the gun housing 1. The first connecting plate 11, the second connecting plate 12, the stator housing 33, and the mover connection seat 37 also collectively form a stable frame structure for the drive assembly 3. During the riveting process, the possibility of malfunctions such as abnormal noise, sticking, and wear between the components due to vibration can be effectively reduced. An energy absorbing spring 39 is provided between the mover connecting seat 37 and the inner wall of the gun body shell 1 . The energy absorbing spring 39 can provide a certain buffering effect on the movement of the mover.

[0058] The control component 4 includes an ARM drive control board 41, a displacement sensor 42, a posture measurement sensor, a three-dimensional force sensor 43, a kinetic braking resistor 44, and a circuit component. The ARM drive control board 41 is a highly integrated drive control motherboard with high-speed computing capabilities. By integrating the ARM drive control board 41 into the gun body housing 1, there is no need to set up an additional drive electrical cabinet, which can effectively improve the portability of the electromagnetic riveting gun. Furthermore, the ARM drive control board 41 can obtain feedback information from the displacement sensor 42, the posture measurement sensor, and the three-dimensional force sensor 43 in real time, perform processing operations, and then output an accurate current adjustment value, thereby adjusting the magnitude and direction of the current in the stator excitation coil 32 and the mover excitation coil 31, so as to more accurately and conveniently control the pressure and displacement output by the riveting punch 2.

[0059] Specifically, the displacement sensor 42, the posture measurement sensor, the three-dimensional force sensor 43, the brake resistor 44 and the circuit components are all electrically connected to the ARM drive control board 41. Among them, the displacement sensor 42 is used to detect the displacement information of the mover in real time. The position at which it is set needs to correspond to the position of the mover, and then it is fixed on the inner wall of the gun body shell 1. Preferably, it can be fixed on the first connecting plate 11 above the series-excited linear motor, as long as it is convenient to detect the position of the mover. And the displacement sensor 42 preferably adopts a magnetic scale, which can provide high-precision position feedback information, and the positioning accuracy can reach the micron level. The posture measurement sensor is used to detect the posture information of the gun body in real time. It can be set inside the gun body shell 1. The specific position can be adjusted according to the space inside the gun body shell 1 and does not have to be limited to a specific position. The three-dimensional force sensor 43 is used to detect the force direction when the riveting punch 2 contacts the rivet surface. It is set at the front end position inside the gun body shell 1 and is fixedly connected to the riveting punch 2. The circuit components can at least provide functions such as signal transmission (connecting the ARM drive control board 41 and each sensor), power regulation (converting the main power supply into low voltage, such as 24V→5V / 3.3V, to power each sensor and the ARM drive control board 41), and electrical protection (preventing interference or voltage mutation from damaging the equipment through isolation and filtering circuits). It does not participate in logic control.

[0060] Before riveting begins, the ARM control panel 41 can first obtain the posture information of the gun body fed back by the posture measurement sensor in real time. Then the electromagnetic riveting gun approaches the rivet at a low speed, and the three-dimensional force sensor triggers the measurement when it detects a sudden increase in contact force (the threshold is usually 5-10N), and feeds the measurement data back to the ARM control panel 41. Based on the force direction fed back by the three-dimensional force sensor and the data detected by the posture sensor, the ARM control panel 41 reversely infers the rivet normal (the rivet normal is the vertical vector in the direction of the rivet axis, which determines the ideal stamping direction of the riveting gun, and it needs to completely coincide with the rivet axis to avoid tilting), and generates a gun posture calibration prompt, that is, the grip angle and direction required to be adjusted. The operator can adjust the gun posture through the indicator light 7 on the gun body and the prompt on the human-machine interface 8. It can effectively reduce the riveting problems caused by gun posture deviation and further improve the quality and stability of riveting. The attitude measurement sensor preferably uses a nine-axis IMU (Inertial Measurement Unit), which integrates a gyroscope, accelerometer, and magnetometer. It can detect the object's angular velocity, acceleration, and geomagnetic field information in real time, and calculate the object's three-dimensional attitude through sensor fusion algorithms (such as Kalman filtering).

[0061] The kinetic braking resistor 44 is connected in parallel to the DC busbar of the circuit components in the control assembly 4. At the end of each rivet punching operation (i.e., at the end of a single riveting operation), the ARM drive control board 41 dynamically adjusts power system parameters (such as reverse current) to cause the series-excited linear motor to produce a reverse braking effect. Simultaneously, the kinetic braking resistor 44 is connected to convert the mechanical energy that generates recoil into heat energy that is dissipated by the kinetic braking resistor 44. This reduces recoil, significantly improving operational safety and comfort while reducing operator workload.

[0062] For ease of operation, three commonly used modes are preset for operators to select directly through the human-machine interface 8 or the operation buttons 9: force control mode, displacement control mode, and force-position hybrid control mode. Operators can flexibly select the appropriate riveting mode based on the different riveted workpieces and process requirements to meet diverse riveting needs. The force control mode is suitable for scenarios requiring stable force output, such as thin plate riveting; the displacement control mode is suitable for scenarios requiring high-precision positioning, such as precision riveting holes; and the force-position hybrid control mode is suitable for more complex riveting processes, such as curved workpieces. The control component 4 receives and processes the operator's mode selection information based on the human-machine interface 8 or the operation buttons 9.

[0063] The control component 4 receives the operator's mode selection information based on the human-machine interface 8 or the operation button 9. Here, the mode selection information of the human-machine interface 8 or the operation button 9 can be directly fed back to the ARM drive control board 41, or it can be received and fed back to the ARM drive control board 41 through other components that can receive the information.

[0064] If the mode selection information is force control mode:

[0065] The ARM drive control board 41 employs a multi-level control linkage mechanism. Based on the mapping relationship between current and riveting force, as well as the target riveting force set via the human-machine interface, it converts the target riveting force into a target electric drive current value. Fuzzy PID control is then used to output information that ultimately adjusts the magnitude and direction of the current in the mover excitation coil 31 and stator excitation coil 32. The mapping relationship between current and riveting force can be pre-determined using multi-order polynomial fitting, such as through experimental testing before use.

[0066] A possible implementation is listed below:

[0067] The first step is to build a motor model in ANSYS Maxwell, define the scanning range and step size of the current I, calculate the size of the riveting force F for each data point, and generate a data set.

[0068] Step 2: Import the data set into the ARM drive control board 41 and calculate the fitting coefficient based on the following formula:

[0069] F=k1I 2 +k2I+k3;

[0070] Where: F is the target riveting force, I is the current, k1, k2, k3 are fitting coefficients;

[0071] Step 3: Based on the obtained fitting coefficient and the target riveting force set manually from the human-machine interface, the ARM drive control board 41 converts the target riveting force into a target armature current value, thereby adjusting the magnitude of the current in the mover excitation coil 31 and the stator excitation coil 32.

[0072] Furthermore, a fuzzy PID algorithm is integrated within the ARM control board 41. This algorithm compares the real-time force information fed back by the three-dimensional force sensor 43 with the target riveting force value, calculates the error, and adjusts the current output to compensate for the deviation. Furthermore, the ARM control board 41 can also perform fuzzy logic optimization on relevant parameters (such as the fitting coefficient). This dynamically adjusts the fitting coefficient based on the rate of change of force, making the mapping between current and riveting force more accurate and further improving response speed.

[0073] In this mode, precise control of the riveting force can be achieved, achieving sub-micron accuracy and ensuring consistent riveting strength. For example, when the actual force detected is lower than the target riveting force, the ARM control board 41 increases the current to increase the force output; conversely, it decreases the current to reduce the force output. If the three-dimensional force sensor 43 detects that the output force is too high (a threshold is set that may damage the workpiece), the ARM control board 41 can also trigger the kinetic braking resistor 44 to dissipate excess energy and prevent damage to the workpiece.

[0074] At the same time, in this mode, the displacement sensor 42 can also be connected to assist in confirming the position during the initial riveting process. When the riveting is completed, the ARM drive control board 41 adjusts the power system parameters (such as the direction of the current) and combines with the kinetic energy braking resistor 44 to brake and convert the recoil energy into heat energy for dissipation, effectively improving the safety and comfort of the operation.

[0075] In displacement control mode:

[0076] The ARM drive control board 41 adopts a closed-loop system framework. Based on the mapping relationship between current and riveting force, as well as the target riveting force and target position information set by the human-machine interface, the target riveting force is first converted into an initial target electric drive current value, and the magnitude and direction of the current in the mover excitation coil 31 and the stator excitation coil 32 are adjusted through the fuzzy PID control output. Then, the ARM drive control board 41 compares the target position information with the real-time position information fed back by the displacement sensor 42, and calculates the current adjustment value after processing by the feedforward composite algorithm. Based on the initial target electric drive current value and the current adjustment value, the final current is finally output through fuzzy PID control (fuzzy PID control refers to adjusting the PID parameters in real time through fuzzy rules to adapt to changes in system status), and the magnitude and direction of the current in the mover excitation coil 31 and the stator excitation coil 32 are further adjusted.

[0077] This mode is based on the force control mode and adds displacement control of the riveting punch 2. The ARM drive control board 41 adopts a closed-loop system framework, namely position-speed-current three-loop control. For the control of the position loop, the ARM drive control board 41 calculates the position deviation (i.e., target position minus real-time position) based on the real-time position information fed back by the displacement sensor 42 and the given target position information, and uses the PID and feedforward composite algorithm to calculate the target speed. The feedforward part predicts dynamic changes (such as acceleration) to reduce delays. For the control of the speed loop, the ARM drive control board 41 converts the calculated target speed into a target current, and then the PID algorithm processes the speed error (target speed minus actual speed, the actual speed is derived from the position change rate) to calculate the current adjustment value.

[0078] Ultimately, based on the initial target electric drive current value and the current adjustment value, the FOC algorithm is used for decoupling, and the final current output is achieved through fuzzy PID control, ensuring more precise control of the direction of the magnetic field, thereby achieving smooth movement of the riveting punch 2 driven by the mover. Furthermore, in this mode, the ARM drive control board 41 can optimize the current adjustment value based on real-time feedback from the posture measurement sensor and combine fuzzy logic to compensate for gun posture deviations and avoid position deviations caused by such deviations.

[0079] In this mode, precise control of displacement (i.e. riveting stroke) can be achieved, with micron-level accuracy. For example: when the actual position deviates from the target position, the ARM drive control board 41 adjusts the current to accelerate or decelerate the mover to the set position. During the movement of the mover, the displacement sensor 42 detects the position information of the mover in real time. If there is a deviation, the ARM drive control board 41 can immediately activate the kinetic braking resistor 44 for braking. After the riveting is completed, as in the force control mode, the ARM drive control board 41 adjusts the power system parameters (such as the direction of the current) and combines with the kinetic braking resistor 44 to brake and reduce the impact.

[0080] In the position-force hybrid control mode:

[0081] The ARM drive control board 41 adopts a hierarchical control framework. The upper layer makes mode decisions through a state machine, and the lower layer dynamically integrates the two modes of force control and displacement control, and uses fuzzy logic to dynamically adjust the mixed weight of the two. Based on the mapping relationship between current and riveting force, as well as the target riveting force and target position information set by the human-machine interface, the control parameters are optimized through an adaptive algorithm, and then the magnitude and direction of the current in the mover excitation coil 31 and the stator excitation coil 32 are adjusted through the fuzzy PID control output.

[0082] This mode is a fusion and optimization of the force control mode and the position control mode to meet the higher requirements of riveting. The operator can set the target riveting force and the range of the target displacement information through the human-machine interface 8, thereby realizing the dual-control output of force and position. For example: the ARM drive control board 41 adopts a hierarchical control framework. The upper state machine determines the current stage based on the information fed back by the displacement sensor 42 and the three-dimensional force sensor 43, thereby making decisions and switching modes. Different stages can be free movement stages (the riveting punch 2 is not in contact with the rivet) or contact stages (the riveting punch 2 is in contact with the rivet). The lower layer dual-mode control prioritizes position control during free movement, controlling the riveting punch 2 to accurately move to the contact point to ensure fast and accurate positioning; when in contact, force control is prioritized, and the target riveting force is controlled by adjusting the current to ensure stable and accurate control of the riveting force to prevent overload. For example: when contacting the rivet, the ARM drive control board 41 switches from position dominance to force dominance, and at the same time controls the magnitude of the corresponding output current. During use, the ARM drive control board 41 can use fuzzy logic to adaptively and dynamically adjust the mixed weight of the two (position control and force control) according to the contact state and force change rate. Specifically, it can improve the adaptive ability and optimize the PID parameters through virtual impedance adjustment (simulating mechanical impedance and smoothing force transition), delay compensation (predicting system response), and machine learning algorithms, so as to more accurately output the final current value that needs to be adjusted. In this mode, after the riveting is completed, as in the force control mode, the ARM drive control board 41 adjusts the power system parameters (such as the direction of the current) and combines with the kinetic braking resistor 44 to brake and reduce the impact.

[0083] In the above three modes, when riveting is completed, the riveting punch 2 returns to its original position, that is, it is necessary to adjust the direction of the current in the excitation coil 31 and the stator excitation coil 32 so that the mover drives the riveting punch 2 to return to its original position. The specific commutation can be achieved by setting an H-bridge circuit at the position where the circuit component is electrically connected to the mover excitation coil 31 or the stator excitation coil 32. According to the direction of the current output by the ARM drive control board 41, the switch at the specified position of the H-bridge circuit is opened or closed, so that the current direction in the mover excitation coil 31 or the stator excitation coil 32 is switched. In this embodiment, it is preferred to control by adjusting the current in the mover excitation coil 31. As Figure 4As shown, it is a schematic diagram of the principle of achieving commutation by changing the direction of the current in the mover excitation coil 31. When the first switch S1 and the fourth switch S4 are controlled to be closed, the direction of the current in the mover excitation coil 31 is from top to bottom; when the second switch S2 and the third switch S3 are controlled to be closed, the direction of the current in the mover excitation coil 31 is from bottom to top. Therefore, by controlling the closure of two different sets of switches, the direction of the current in the mover excitation coil 31 can be adjusted, so that the mover belt riveting punch 2 can be used for impact or return. Of course, it is not limited to this. Those skilled in the art can also achieve commutation by controlling the stator excitation coil 32. The method of changing the direction of the current in the stator excitation coil 32 is similar to the method of changing the direction of the current in the mover excitation coil 31, and will not be repeated here. Since traditional series-excited motors are rotating motors and do not require commutation operations, this embodiment is a linear motor and has a commutation requirement. Therefore, by setting an H-bridge in the series-excited circuit for commutation, the circuit structure is simpler and easier to control. At the same time, this control method can achieve efficient adjustment, high flexibility, and low energy loss, and is suitable for high-current applications.

[0084] In addition, the electromagnetic riveting gun shown in this embodiment also has a maintenance prediction function. Specifically, at least one early warning sensor can be set in its control component 4, such as: vibration (such as accelerometer), temperature (such as infrared / contact type), current (such as Hall sensor), sound wave (such as microphone array) and other sensors. All early warning sensors are electrically connected to the ARM drive control board 41. All early warning sensors collect equipment status signals and feed them back to the ARM drive control board 41. The ARM drive control board 41 uses LSTM neural network to process time series signals (such as vibration waveforms) and random forest to process structured features (such as temperature statistics). The remaining service life (RUL) is predicted by feature splicing or weighted fusion, and the model performance is evaluated by time series cross validation. A fault mode library is established based on FMEA and fault tree analysis (FTA), forming a mapping relationship of "sensor characteristics-equipment components-fault severity", and dynamic updates are achieved by combining historical operation and maintenance data. Then, three threshold levels are set: attention (<2σ), warning (2σ~3σ), and danger (>3σ). An adaptive strategy is used to adjust the confidence interval, and differentiated handling processes are associated (such as attention level triggering log recording, and danger level triggering automatic shutdown).

[0085] The electromagnetic riveting gun shown in this embodiment uses a series-wound linear motor as the main driving component, replacing the discharge coil of the induction electromagnetic riveting of a traditional riveting gun. This fully utilizes the high efficiency, high starting thrust, and transient response characteristics of the series-wound linear motor. Through the specific arrangement of the coils, the series-wound linear motor has the characteristics of small size and high output. The control circuit of the series-wound linear motor is also relatively simple. The direct-drive connection structure not only can efficiently convert electrical energy into power, but also does not require other force transmission components. Therefore, the overall structure is simpler and can be fully integrated into the gun body, eliminating the need for an additional drive cabinet, improving the portability of the entire device and making it easy to operate and maintain. At the same time, the gun body housing 1 is integrated with a control component 4. The ARM drive control board 41 can integrate and process the information fed back by the displacement sensor 42, the attitude measurement sensor, and the three-dimensional force sensor 43 (forming complementary data) and achieve accurate output (riveting force and displacement) based on the global parameters set by the human-machine interface 8. This integrated design improves the intelligence level of the electromagnetic riveting gun and achieves submicron riveting accuracy.

[0086] When performing riveting operations, the desired mode is selected through the operating button 9, and relevant parameters are set in the human-machine interface 8. Then, the riveting punch 2 is brought into contact with the rivet at a low speed, the gun posture is adjusted according to the information from the posture measurement sensor and the three-dimensional force sensor 43, and the firing switch 10 is pressed to complete the operation.

[0087] Example 2:

[0088] This embodiment provides an intelligent electromagnetic riveting gun based on a series motor, which differs from the first embodiment in that it further includes a cooling fan 5 and a power supply assembly 6. The rest of the parts are the same as those in the first embodiment and will not be described in detail here.

[0089] The electromagnetic riveting gun shown in the present embodiment, its gun body shell 1 is internally integrated with a cooling fan 5, forms active air-cooled heat dissipation, and the position of the cooling fan 5 is preferably arranged at the rear end position of the drive assembly 3. Simultaneously, on the inner wall of the gun body shell 1, be provided with several heat dissipation holes 51 that are communicated with the outside world, form passive heat dissipation of housing. Under the effect of the cooling fan 5, in the inside of the gun body shell 1, the cooling fan 5 and the heat dissipation holes 51 can form a circulating heat dissipation together, force air to flow, and cooling air flow can flow through the control assembly 4, the drive assembly 3 in sequence, improves heat dissipation effect. In order to be able to operate more conveniently, the cooling fan 5 and the ARM drive control board 41 to be electrically connected, and then according to actual demand, the ARM drive control board 41 to control the rotating speed and the start-stop situation of the cooling fan 5, synchronously can be set temperature sensor in the gun body shell 1, the ARM drive control board 41 can dynamically adjust the power of the cooling fan 5 according to the temperature information fed back by the temperature sensor, to balance heat dissipation efficiency, and improve the intelligent level of the electromagnetic riveting gun.

[0090] The power supply assembly 6 of the electromagnetic riveting gun includes a battery module 61 and an external power line, which can form a dual-mode power supply of battery module power supply or wired power supply. The operator can flexibly select different power supply modes according to actual needs. Figure 5 ), suitable for scenarios without an external power source or requiring mobile operations, ensuring the device's portability and flexibility. Wired power supply is suitable for fixed work locations, ensuring a stable power supply. To facilitate switching between the two power supply modes, the power supply assembly 6 can be electrically connected to the ARM drive control board 41. Based on actual needs, the ARM drive control board 41 can select the power supply path using switches in the existing circuit assembly, enhancing the intelligence of the electromagnetic riveting gun.

[0091] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0092] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0093] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0094] In the description of this specification, the terms "one embodiment", "some embodiments", "embodiments", "examples", "specific examples" or "some examples" refer to the specific features, structures, materials or characteristics described in conjunction with the embodiment or example and included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and features of different embodiments or examples, unless they are mutually inconsistent.

[0095] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An intelligent electromagnetic riveting gun based on a series motor, characterized in that: It comprises a gun body shell (1), a riveting punch (2) penetrating the front end of the gun body shell (1), and a driving component (3) and a control component (4) integrated inside the gun body shell (1); The drive assembly (3) includes a series-excited linear motor, wherein the stator of the series-excited linear motor is coaxially sleeved on the outside of its mover, and the mover excitation coil (31) in the mover and the stator excitation coil (32) in the stator are connected in series. The excitation magnetic field coupling between the two causes the mover to perform reciprocating linear motion along the axial direction, thereby forming a direct-drive structure. The rear end of the riveting punch (2) is connected to the front end of the mover to convert the thrust of the mover into the impact pressure required for riveting; The control component (4) can obtain the movement information of the mover in real time, and adjust the magnitude and direction of the current in the mover excitation coil (31) and the stator excitation coil (32) to control the displacement of the riveting punch (2) and the magnitude of the output riveting force.

2. The intelligent electromagnetic riveting gun based on a series motor according to claim 1, characterized in that: The stator housing (33) of the stator is fixedly connected to the gun body housing (1), and stator winding slots are axially provided on the inner peripheral wall of the stator housing (33) so as to match the number and position of the stator excitation coils (32), and the stator excitation coils (32) are wound in the stator winding slots; The mover core (34) of the mover is slidably connected to the gun body shell (1), and mover winding grooves are axially provided on the outer peripheral wall of the mover core (34) so ​​as to match the number and position of the mover excitation coils (31), and the mover excitation coils (31) are wound in the mover winding grooves; The number of the mover excitation coils (31) is always one less than the number of the stator excitation coils (32), and both are arranged in the axial direction. Each group of the mover excitation coils (31) is arranged in the middle position of the axial direction of two adjacent groups of stator excitation coils (32) to form an I-shaped arrangement, and the mover excitation coils (31) are arranged to partially overlap with the stator excitation coils (32) on both sides in the axial direction. The rear end of the riveting punch (2) is connected to the front end of the mover core (34) through a force transmission rod (35).

3. The intelligent electromagnetic riveting gun based on a series motor as claimed in claim 2, characterized in that: A linear guide rail (36) is fixedly connected to the inner wall of the gun body shell (1), and the rear end of the mover core (34) is connected to the linear guide rail (36) through a mover connecting seat (37); The front end of the series-excited linear motor is provided with a linear bearing (38) sleeved on the force transmission rod (35); the linear bearing (38) and the linear guide rail (36) together form a limit for the movement of the mover.

4. The intelligent electromagnetic riveting gun based on a series motor as claimed in claim 3, characterized in that: An energy absorbing spring (39) is provided between the mover connecting seat (37) and the inner wall of the gun body shell (1) to buffer the movement of the mover.

5. The intelligent electromagnetic riveting gun based on a series motor as claimed in claim 4, characterized in that: A first connecting plate (11) is provided at the top of the inner wall of the gun body shell (1), and a second connecting plate (12) is provided at the front end of the stator shell (33). The first connecting plate (11) and the second connecting plate (12) are arranged vertically and fixedly connected at the intersection. The linear guide rail (36) is fixed to the inner wall of the gun body shell (1) through a first connecting plate (11), and the stator shell (33) is fixed to the inner wall of the gun body shell (1) through a second connecting plate (12); The first connecting plate (11), the second connecting plate (12), the stator housing (33) and the mover connecting seat (37) together form a frame structure of the driving component (3).

6. The intelligent electromagnetic riveting gun based on a series motor according to claim 1, characterized in that: The control component (4) receives mode selection information from the operator based on the human-machine interface or the operation button; The control component (4) includes an ARM drive control board (41) and a displacement sensor (42); The displacement sensor (42) is used to detect the displacement information of the mover in real time and is electrically connected to the ARM drive control board (41); If the mode selection information is the force control mode, the ARM drive control board (41) adopts a multi-level control linkage mechanism, and outputs the magnitude and direction of the current in the mover excitation coil (31) and the stator excitation coil (32) based on the mapping relationship between the current and the riveting force, and the predetermined target riveting force; If the mode selection information is the displacement control mode, the ARM drive control board (41) adopts a closed-loop system framework, and based on the mapping relationship between current and riveting force, as well as pre-given target riveting force and target position information, outputs the magnitude and direction of the current in the mover excitation coil (31) and the stator excitation coil (32); If the mode selection information is a position-force hybrid control mode, the ARM drive control board (41) adopts a hierarchical control framework. The upper layer makes mode decisions through a state machine, and the lower layer dynamically integrates the two modes of force control and displacement control. Fuzzy logic is used to dynamically adjust the hybrid weight of the two. Based on the mapping relationship between current and riveting force, as well as pre-given target riveting force and target position information, the output adjusts the magnitude and direction of the current in the mover excitation coil (31) and the stator excitation coil (32).

7. The intelligent electromagnetic riveting gun based on a series motor as claimed in claim 6, characterized in that: The control component (4) includes a circuit component electrically connected to the ARM drive control board (41), wherein the circuit component is provided with an H-bridge circuit at a position electrically connected to the mover excitation coil (31) or the stator excitation coil (32); According to the current direction output by the ARM drive control board (41), the switch at a designated position of the H-bridge circuit is opened or closed, so that the current direction in the mover excitation coil (31) or the stator excitation coil (32) is switched.

8. The intelligent electromagnetic riveting gun based on a series motor as claimed in claim 6, characterized in that: The mapping relationship between the current and the riveting force stored in the ARM drive control board (41) is: <h2 style=";text-align:left;direction:ltr">F=k1I<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +k2I+k3; Where: F is the target riveting force, I is the current, k1, k2, k3 are fitting coefficients; The ARM drive control board (41) obtains the magnitude of the current based on a predetermined target riveting force through a mapping relationship between the current and the riveting force. In all three modes, the error of the obtained current is adjusted through a fuzzy PID control method, and then a final current adjustment value is output to adjust the magnitude of the current in the mover excitation coil (31) and the stator excitation coil (32).

9. The intelligent electromagnetic riveting gun based on a series motor as claimed in claim 6, characterized in that: The control component (4) also includes a posture measurement sensor and a three-dimensional force sensor (43), both of which are electrically connected to the ARM drive control board (41); The posture measurement sensor is used to detect the posture information of the gun body in real time; The three-dimensional force sensor (43) is used to detect the direction of force applied when the riveting punch (2) contacts the rivet surface; When the riveting punch (2) contacts the rivet, the three-dimensional force sensor (43) detects a sudden increase in the contact force and triggers measurement. The ARM drive control board (41) reversely infers the rivet normal based on the force direction information fed back by the three-dimensional force sensor (43), compares it with the information detected by the posture measurement sensor, and calculates the gripping angle and direction that need to be adjusted.

10. The intelligent electromagnetic riveting gun based on a series motor according to claim 7, characterized in that: The control component (4) further includes a kinetic energy braking resistor (44), and the kinetic energy braking resistor (44) is electrically connected to the ARM drive control board (41); The kinetic energy braking resistor (44) is connected in parallel to the DC bus of the circuit component in the control component (4) and is connected each time the riveting punch (2) finishes punching the rivet, and is used to convert the mechanical energy generated by the recoil force into heat energy consumed by the kinetic energy braking resistor (44).

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