Self-piercing riveting apparatus

Abstract

The application provides a self-piercing riveting device, which comprises a rack arranged on a mechanical arm, a punch arranged on the rack, the punch comprising a shell and a stamping assembly arranged in the shell, the stamping assembly being movable in the axial direction relative to the shell, the stamping assembly having a working end extending out of the shell and used for stamping a rivet, and at least one softening module arranged on the rack or the punch, the softening module being used for heating and softening a predetermined riveting area of a workpiece. According to the self-piercing riveting device, the softening module is arranged on the rack or the punch, the predetermined area of the workpiece can be heated and softened before riveting, so that the hardness of the material is reduced and the deformation resistance in the stamping process is reduced. Through local heating and softening, the riveting quality is ensured, and the influence of the heat treatment on the mechanical properties of the workpiece is avoided.

Description

Technical Field

[0001] This invention relates to the field of self-piercing riveting equipment technology, and specifically to a self-piercing riveting device. Background Technology

[0002] In the field of self-piercing riveting, self-piercing riveting involves a rivet piercing through the upper sheet metal without penetrating the lower sheet metal, causing the rivet legs to plastically deform and open within the lower sheet metal, thus forming a mechanical interlock to achieve a connection between the sheet metals. Self-piercing riveting technology is widely used in manufacturing fields requiring high-strength connections, such as automobile body manufacturing. Self-piercing riveting equipment typically includes a power unit, riveting gun, riveting die, and control system. During the riveting process, the rivet is usually fed to the riveting station, and pressure is applied by a punch to force the rivet to pierce through the upper sheet metal and expand its diameter within the lower sheet metal. However, when the sheet metal assembly to be riveted exhibits significant piercing resistance due to high material hardness or thickness, the rivet insertion process becomes difficult, resulting in poor riveting quality.

[0003] Therefore, there is an urgent need for a new type of self-piercing riveting equipment. Summary of the Invention

[0004] In view of this, the present invention aims to provide a self-piercing riveting device to solve the problem of poor riveting quality in the prior art when the materials to be riveted are high in hardness or thickness.

[0005] In a first aspect, this application proposes a self-piercing riveting device, comprising: A frame, used to mount the robotic arm; A punch is mounted on the frame. The punch includes a housing and a stamping assembly disposed within the housing. The stamping assembly is axially movable relative to the housing and has a working end extending out of the housing for stamping rivets. At least one softening module is disposed on the frame or the punch, the softening module being used to heat and soften a predetermined riveting area of ​​the workpiece.

[0006] According to the self-piercing riveting equipment of this application, the frame is provided with a riveting die mounting position, the punch is arranged opposite to the riveting die mounting position, and when the softening module is arranged on the frame, the softening module and the punch are both located on the same side of the riveting die.

[0007] The self-piercing riveting device according to this application further includes an adjustment component connected to the frame, the adjustment component being rotatable circumferentially along the punch to adjust the circumferential relative position of the softening module and the punch.

[0008] According to the self-piercing riveting device of this application, the frame includes a mounting sleeve, the punch is fixed in the mounting sleeve, and the adjusting component is disposed on the outer wall of the mounting sleeve.

[0009] According to the self-piercing riveting device of this application, the adjusting component includes a mounting member disposed outside the mounting sleeve. The mounting member is rotatable around the circumference of the mounting sleeve. The mounting member has an inclined mounting surface. The softening module is fixed to the mounting surface, and the irradiation end of the softening module is oriented at a preset angle to the axis of the mounting sleeve.

[0010] According to the self-piercing riveting device of this application, the outer side wall of the mounting component is provided with a positioning mark, and the outer side wall of the mounting sleeve is provided with a circumferential scale line. The positioning mark and the circumferential scale line cooperate to indicate the rotation angle of the mounting component.

[0011] According to the self-piercing riveting device of this application, the outer wall of the housing is formed with an annular mounting groove, and the mounting collar is disposed outside the housing and engaged in the mounting groove.

[0012] According to the self-piercing riveting device of this application, the housing is provided with a driving assembly and a transmission assembly. The transmission assembly includes a lead screw and a first transmission member sleeved on the lead screw. The first transmission member is pulsatorically connected to the driving assembly. The lead screw is connected to the stamping assembly. The first transmission member is provided with a buffer member on at least one side in the axial direction. The buffer member is in direct or indirect contact with the first transmission member.

[0013] According to the self-piercing riveting device of this application, the punch further includes a force sensor, which is adjacent to the side of the first transmission member away from the stamping assembly. The force sensor is used to detect the axial force transmitted by the first transmission member. The first transmission member is provided with a buffer member on at least one side of the axial direction. The buffer member is in direct or indirect contact with the first transmission member and provides the first transmission member with a buffering force and a preload force along the axial direction.

[0014] The self-piercing riveting device according to this application also includes: A temperature sensor is provided on the punch or the softening module, and the detection axis of the temperature sensor is aligned with the irradiation axis of the softening module.

[0015] The self-piercing riveting device according to this application also includes: A control module, electrically connected to the softening module and the temperature sensor, is configured to control the softening module to turn on before the punch performs the riveting action.

[0016] According to the self-piercing riveting device of this application, the control module is further configured to: receive the real-time temperature signal from the temperature sensor, and control the opening and closing of the softening module and adjust the heating power of the softening module according to the temperature of the predetermined riveting area.

[0017] The technical solutions provided in this application have the following advantages compared with the prior art: The self-piercing riveting equipment provided in this application typically has a box-shaped, frame-type, or C-shaped frame. The frame is equipped with mounting flanges, bolt holes, or quick-change interfaces for securely connecting the entire self-piercing riveting equipment to the end effector interface of a robotic arm. A punch is mounted on the frame, and the punching assembly is axially movable relative to the housing. The punching assembly has a working end extending from the housing for punching rivets, and the working end of the punch performs the punching action in self-piercing riveting.

[0018] At least one softening module is mounted on the frame or punch. The softening module is used to heat and soften the predetermined riveting area of ​​the workpiece. Heating the predetermined riveting area of ​​the workpiece before the stamping operation softens the workpiece and reduces its puncture hardness. The power and heating time of the softening module can be controlled by the control module according to process parameters.

[0019] The self-piercing riveting equipment provided in this application has a softening module installed on the frame or punch, which can heat and soften a predetermined area of ​​the workpiece before riveting, thereby reducing the hardness of the material and reducing the deformation resistance during the stamping process. By locally heating and softening, the riveting quality is ensured, while avoiding heat treatment of the entire workpiece, which would affect its mechanical properties. Attached Figure Description

[0020] Figure 1 The image shown is a perspective view of a self-piercing riveting device according to some embodiments of this application.

[0021] Figure 2 As shown Figure 1 Enlarged view of point A in the middle.

[0022] Figure 3 The image shown is a cross-sectional view of the punch of a self-piercing riveting device according to some embodiments of this application.

[0023] Figure 4 As shown Figure 3 Enlarged view of point B in the middle.

[0024] Figure 5 As shown Figure 4 Enlarged view of point C in the middle.

[0025] Figure 6 The image shown is a cross-sectional view of the punch of a self-piercing riveting device according to some other embodiments of this application.

[0026] Figure 7 As shown Figure 5 Enlarged view of point D in the middle.

[0027] Figure label: 100 punches 10. Housing 11. Transmission sleeve 12. Outer tube 13. Lead screw sleeve 14. Bearing assembly 15. Mounting groove 16. Transmission assembly 20, first transmission component 21, nut 211, gear sleeve 212, first limiting groove 213, buffer component 22, lead screw 23, limiting ring 24, thrust bearing 25, bearing washer 27. Force sensor 30, second limiting groove 31, Drive assembly 40, drive motor 41, multi-stage transmission gear 42 Floating assembly 50, extension rod 51, spring assembly 52, first spring 521, second spring 522, extension rod seat 53, inner tube 54, floating support seat 55, front accessory 56. Distance sensor 60, Stamping assembly 70, rivet 71, rivet rivet guide sleeve 72, rivet nut 73. Rack 200, Mounting sleeve 201 Softening module 300, Adjustment component 400, mounting component 402, Riveting mold 500. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0030] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0031] In the field of self-piercing riveting technology, to join multi-layer metal sheets, axial pressure is typically applied to the rivet using a punch 100, causing the rivet to pierce through the upper sheet and expand in diameter within the lower sheet without penetrating it. However, as the hardness and thickness of the sheet material increase, the rivet's piercing resistance rises sharply. Excessive piercing resistance can prevent the rivet legs from fully opening, and may even cause the rivet to crush, severely affecting the quality of the rivet connection.

[0032] like Figure 1 and Figure 2 As shown, the self-piercing riveting device according to an embodiment of this application includes: a frame 200, a punch 100, and at least one softening module 300.

[0033] Specifically, the frame 200 is used to mount the robotic arm; the punch 100 is mounted on the frame 200, and the punch 100 includes a housing 10 and a stamping assembly 70 disposed within the housing 10. The stamping assembly 70 is axially movable relative to the housing 10 and has a working end extending out of the housing 10 for stamping rivets; at least one softening module 300 is mounted on the frame 200 or the punch 100, and the softening module 300 is used to heat and soften the predetermined riveting area of ​​the workpiece.

[0034] The frame 200 is typically box-shaped, frame-type, or C-shaped. The frame 200 is equipped with mounting flanges, bolt holes, or quick-change interfaces for securely connecting the entire self-piercing riveting device to the end effector interface of the robotic arm. The punch 100 is mounted on the frame 200, and the punching assembly 70 is axially movable relative to the housing 10. The punching assembly 70 has a working end extending from the housing 10 for punching rivets; the working end of the punch 100 performs the punching action in self-piercing riveting.

[0035] At least one softening module 300 is disposed on the frame 200 or the punch 100. The softening module 300 is used to heat and soften the predetermined riveting area of ​​the workpiece. Heating the predetermined riveting area of ​​the workpiece by the softening module 300 before the stamping operation can soften the workpiece and reduce its puncture hardness. The power and heating time of the softening module 300 can be controlled by the control module according to the process parameters.

[0036] The self-piercing riveting equipment provided in this application has a softening module 300 installed on the frame 200 or the punch 100. This module can heat and soften a predetermined area of ​​the workpiece before riveting, thereby reducing the hardness of the material and decreasing the deformation resistance during the stamping process. By using localized heating and softening, the riveting quality is ensured while avoiding heat treatment of the entire workpiece, which would affect its mechanical properties.

[0037] In this embodiment, the direction of the punching axis of the punch 100 is defined as axial, the direction perpendicular to the axial direction is defined as radial, and the direction of rotation about the axial direction is defined as circumferential.

[0038] In this embodiment, the softening module 300 can be one or more. The softening module 300 can be a resistance heating module, an induction heating module, a laser heating module, or an infrared heating module, etc.

[0039] In this embodiment, when there is only one softening module 300, if the softening module 300 is disposed on the frame 200, it is usually fixed in the area of ​​the frame 200 near the working end of the punch 100, so that the heating area of ​​the softening module 300 is aligned with the predetermined riveting area of ​​the workpiece corresponding to the working end of the punch 100; if the softening module 300 is disposed on the punch 100, it can be disposed on the outside of the punch 100 or near the working end of the punch 100, and move together with the punch 100 to heat the predetermined riveting area of ​​the workpiece before riveting. When there are multiple softening modules 300, they can all be set on the frame 200 and fixed in the area of ​​the frame 200 near the working end of the punch 100, so that the heating area of ​​each softening module 300 is aligned with the workpiece predetermined riveting area corresponding to the working end of the punch 100; or they can all be set on the punch 100, installed on the outside of the punch 100 or near the working end of the punch 100, and move together with the punch 100 to heat the workpiece predetermined riveting area before riveting.

[0040] According to the self-piercing riveting equipment of this application embodiment, the frame 200 is provided with a riveting die mounting position, and the punch 100 is arranged opposite to the riveting die mounting position. When the softening module 300 is arranged on the frame 200, the softening module 300 and the punch 100 are both located on the same side of the riveting die 500.

[0041] like Figure 1 As shown, the frame 200 is provided with a riveting die mounting position for fixing the riveting die 500. The riveting die 500 is used to support the workpiece during the stamping process. The punch 100 is mounted on the frame 200 and is positioned opposite the riveting die mounting position. The punch 100 is axially aligned with the riveting die mounting position, allowing the working end of the punch 100 to move towards the riveting die 500 to perform the stamping action. When the softening module 300 is mounted on the frame 200, the softening module 300 and the punch 100 are both located on the same side of the riveting die 500, that is, the punch 100 and the softening module 300 are arranged together above the riveting die 500, allowing the softening module 300 to locally heat the workpiece before stamping. Positioning the punch 100 and the softening module 300 on the same side of the riveting die 500 facilitates wiring and simplifies the structural design.

[0042] like Figure 2 As shown, the self-piercing riveting device according to an embodiment of this application further includes an adjustment component 400, which is connected to the punch 100. The adjustment component 400 can rotate circumferentially along the punch 100 to adjust the circumferential relative position between the softening module 300 and the punch 100.

[0043] The adjusting component 400 is connected to the punch 100. The adjusting component 400 can rotate around the punch 100 to adjust the relative position of the softening module 300 and the punch 100 in the circumferential direction.

[0044] The softening module 300 is used to heat and soften the predetermined riveting area of ​​the workpiece before riveting. Self-piercing riveting is often used in complex structures such as irregularly shaped body parts, bent parts, and edge overlap plates. The space around the riveting point is usually very limited, and the workpiece may have bent edges, protruding structures, or interference structures. By adjusting the relative circumferential position between the softening module 300 and the punch 100 through the adjusting component 400, the heating spot of the softening module 300 can avoid the above obstacles and fall on the narrow riveting area, ensuring that the heating energy is not blocked by the workpiece body or tooling, thereby achieving effective local heating in a limited space.

[0045] Exemplarily, the adjusting assembly 400 includes a rotating sleeve rotatably fitted around the outer periphery of the punch 100. The inner circumferential surface of the rotating sleeve engages with the outer circumferential surface of the punch 100 via a bearing or sliding bushing, allowing the rotating sleeve to rotate freely about the axis of the punch 100. The softening module 300 is fixedly mounted on the outside of the rotating sleeve. When the rotating sleeve rotates relative to the punch 100, the softening module 300 rotates together with the rotating sleeve about the axis of the punch 100, thereby changing the circumferential position of the softening module 300 relative to the punch 100.

[0046] like Figure 2 As shown, in the self-piercing riveting device according to an embodiment of this application, the frame 200 includes a mounting sleeve 201, the punch 100 is fixed in the mounting sleeve 201, and the adjustment component 400 is disposed on the outer wall of the mounting sleeve 201.

[0047] The frame 200 includes a mounting sleeve 201, which is a cylindrical structure and is fixed to the main body of the frame 200 or integrally formed with the frame 200. The inner wall of the mounting sleeve 201 forms mounting holes for accommodating and fixing the punch 100. The punch 100 is fixed in the mounting sleeve 201, meaning that the outer circumferential surface of the punch 100 and the inner wall surface of the mounting sleeve 201 are fixed by means of interference fit, threaded connection, flange connection, or pin positioning, etc., so that the punch 100 is constrained in both the axial and circumferential directions, ensuring that the working axis of the punch 100 coincides with or is parallel to the axis of the mounting sleeve 201.

[0048] like Figures 3-5 As shown, the punch 100 typically includes a drive assembly 40, a transmission assembly 20, a stamping assembly 70, a force sensor 30, and a softening module 300. The adjustment assembly 400 is located on the outer wall of the mounting sleeve 201. The adjustment assembly 400 is used to adjust the relative circumferential position between the softening module 300 and the punch 100. Because the adjustment assembly 400 is located on the outer wall of the mounting sleeve 201, it does not require additional axial length, resulting in a compact structure.

[0049] According to the embodiments of this application, the self-piercing riveting device, by setting the adjustment component 400 on the outer wall of the mounting sleeve 201, enables the operator to manually or automatically adjust the orientation of the softening module 300 directly outside the self-piercing riveting device, thereby improving the ease of operation of the self-piercing riveting device.

[0050] According to the self-piercing riveting device of the present application embodiment, the adjustment component 400 includes a mounting member 402, which is disposed outside the mounting sleeve 201. The mounting member 402 can rotate around the circumference of the mounting sleeve 201. The mounting member 402 has an inclined mounting surface. The softening module 300 is fixed to the mounting surface, and the irradiation end of the softening module 300 is oriented at a preset angle with the axis of the mounting sleeve 201.

[0051] Mounting sleeve 201 is a cylindrical structure fixed to frame 200. The inner wall of mounting sleeve 201 is used to fix punch 100, and the outer wall of mounting sleeve 201 is used to support adjustment assembly 400. Adjustment assembly 400 includes mounting member 402, which is located outside mounting sleeve 201. Mounting member 402 can rotate circumferentially around mounting sleeve 201, that is, mounting member 402 can rotate circumferentially relative to mounting sleeve 201 about the axis of mounting sleeve 201. Mounting member 402 has an inclined mounting surface, which is flat or slightly curved, and forms a preset angle with the axis of mounting sleeve 201. That is, the mounting surface is neither parallel to nor perpendicular to the axis, but is inclined. Softening module 300 is fixed to the mounting surface. The shell or mounting base of softening module 300 is tightly fitted to the mounting surface by means of screws, adhesive, or snap-fit, so that the overall orientation of softening module 300 is determined by the inclination direction of the mounting surface. The softening module 300 has an irradiation end for emitting heating energy, which is typically an outlet for electromagnetic waves or thermal radiation. Due to the inclined mounting surface, the irradiation end of the softening module 300 is oriented at a predetermined angle to the axis of the mounting sleeve 201.

[0052] Mounting component 402 can be a wedge-shaped block structure, a bent plate structure, or a ring structure with an inclined boss. One side of mounting component 402 is a mounting reference surface that mates with the outer wall of mounting sleeve 201, and the other side is an inclined mounting surface. The angle between the mounting reference surface and the mounting surface determines the inclination angle of the mounting surface, which in turn determines the angle between the irradiation end of softening module 300 and the axis of mounting sleeve 201. During assembly, the back of softening module 300 or the fixing seat can be attached to the mounting surface and secured with fasteners.

[0053] The mounting component 402 can rotate circumferentially along the mounting sleeve 201, allowing the operator to adjust the circumferential position of the softening module 300 by rotating the mounting component 402 circumferentially. Thus, when the operator rotates the mounting component 402 circumferentially, the irradiation end of the softening module 300 both rotates circumferentially around its axis and, due to its tilted installation, has an angle of inclination towards the workpiece. This allows the heating spot to irradiate the riveting area of ​​the workpiece surface at a certain incident angle, making it particularly suitable for scenarios where the workpiece surface is curved, bent, or has overlapping edges with limited space.

[0054] According to the self-piercing riveting equipment of this application embodiment, the softening module 300 is tilted and fixed on the mounting sleeve 201 by the wedge-shaped mounting member 402, so that the irradiation end of the softening module 300 is oriented at a preset angle with the axis of the mounting sleeve 201, thereby realizing the angular orientation of the heating spot in space. With the circumferential adjustment of the mounting sleeve 201, it can flexibly adapt to the heating requirements of various complex workpiece surfaces, thus improving the applicability of the self-piercing riveting equipment.

[0055] In this embodiment, the preset included angle can be set according to the actual riveting process requirements to adapt to the incident angle requirements of the riveting area on workpieces of different shapes, such as 15°, 30°, 45° or 60°.

[0056] For example, the outer circumferential surface of the mounting sleeve 201 is provided with an arc-shaped adjustment groove extending circumferentially, and the mounting member 402 is provided with a locking bolt passing through the arc-shaped adjustment groove. The softening module 300 is mounted on the mounting sleeve 201 through the mounting member 402. When adjusting the circumferential position of the softening module 300 relative to the transmission sleeve 11, first loosen the locking bolt so that the softening module 300 can rotate circumferentially relative to the mounting sleeve 201 to the required angle, and then tighten the locking bolt to lock the softening module 300 relative to the mounting sleeve 201.

[0057] According to the self-piercing riveting device of the present application embodiment, the outer side wall of the mounting member 402 is provided with a positioning mark, and the outer side wall of the mounting sleeve 201 is provided with a circumferential scale line. The positioning mark and the circumferential scale line cooperate to indicate the rotation angle of the mounting member 402.

[0058] The outer wall of the mounting component 402 is provided with positioning marks. The outer wall of the mounting sleeve 201 is provided with circumferential scale lines for quantifying and displaying circumferential angles. The mounting component 402 is fitted over the mounting sleeve 201. The positioning marks are located on the outer wall of the mounting component 402, and the circumferential scale lines are located on the outer wall of the mounting sleeve 201. Both are exposed to the external field of vision, allowing the operator to observe both the positioning marks and the circumferential scale lines simultaneously. The circumferential scale lines cooperate with the positioning marks to indicate the rotation angle of the mounting component 402.

[0059] When the mounting component 402 rotates circumferentially along the mounting sleeve 201, the positioning mark fixed on the mounting component 402 moves relative to the circumferential scale line fixed on the mounting sleeve 201. By observing the position of the scale line indicated by the positioning mark, the operator can directly read the current circumferential angle of the mounting component 402 relative to the mounting sleeve 201.

[0060] During assembly or use, the operator manually or automatically rotates the mounting component 402, causing the softening module 300 fixed to it to adjust its circumferential orientation. By observing the circumferential scale line aligned with the positioning mark, the operator can precisely control the rotation of the mounting component 402, achieving quantitative adjustment of the heating spot orientation of the softening module 300. For example, when it is necessary to rotate the softening module 300 15° clockwise from its current position, the operator only needs to rotate the mounting component 402 to move the positioning mark from the current scale line to another scale line 15° apart, without relying on visual inspection or repeated trial and error. Furthermore, during the operation of the self-piercing riveting equipment, it can also be used to monitor whether the mounting sleeve 201 has shifted its angle due to vibration or accidental collision. Once it is found that the positioning mark is not aligned with the preset scale line, timely adjustment can be made to ensure the positioning accuracy of the heating spot.

[0061] In this embodiment, the circumferential scale lines are marking lines that are uniformly engraved, etched, or printed along the circumference of the mounting sleeve 201 or at specific angular intervals. Each scale line corresponds to a circumferential angle value. For example, a scale line is set every 1°, 5°, or 10°, and numbers or symbols are marked at specific positions to indicate the rotation angle of the mounting sleeve 201.

[0062] In this embodiment, the positioning marks are protrusions, grooves, color marks, or engravings fixed to the outer wall of the mounting component 402.

[0063] like Figure 3 and Figure 6 As shown, in some embodiments, the outer wall of the housing 10 is formed with an annular mounting groove 15, and the mounting sleeve 201 is arranged around the outer wall of the housing 10 and snapped into the mounting groove 15.

[0064] The outer wall of the housing 10 has an annular mounting groove 15. The cross-sectional shape of the mounting groove 15 is rectangular, trapezoidal, or semi-circular, used to accommodate and position the mounting sleeve 201. The mounting sleeve 201 is arranged around the outer wall of the housing 10 and is engaged within the mounting groove 15. After the mounting sleeve 201 is engaged within the mounting groove 15, the mounting groove 15 limits the mounting sleeve 201 on both sides in the axial direction, preventing the mounting sleeve 201 from moving axially relative to the housing 10. The outer wall of the mounting sleeve 201 can be used to fix the adjustment assembly 400, the softening module 300, or other accessories. For example, the mounting piece 402 can be provided on the outer wall of the mounting sleeve 201.

[0065] According to the self-piercing riveting device of this application embodiment, by providing an annular mounting groove 15 on the outer wall of the housing 10 and snapping the mounting sleeve 201 into the mounting groove 15, a reliable connection between the mounting sleeve 201 and the housing 10 is achieved, resulting in high assembly efficiency and easy disassembly and maintenance.

[0066] like Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, the housing 10 is provided with a drive assembly 40 and a transmission assembly 20. The transmission assembly 20 includes a lead screw 23 and a first transmission member 21 sleeved on the lead screw 23. The first transmission member 21 is connected to the drive assembly 40 in a transmission manner. The lead screw 23 is connected to the stamping assembly 70. The first transmission member 21 is provided with a buffer member 22 on at least one side in the axial direction. The buffer member 22 is in direct or indirect contact with the first transmission member 21.

[0067] The drive assembly 40 provides rotational power, and its output end is connected to the first transmission member 21 of the transmission assembly 20, enabling the first transmission member 21 to rotate around its own axis. The drive assembly 40 can be a servo motor, a stepper motor, or a hydraulic motor, etc. For example, the drive assembly 40 includes a drive motor 41, and the output shaft of the drive motor 41 can be connected to the first transmission member 21 through intermediate transmission elements such as a coupling, a gear pair, or a timing belt.

[0068] The drive motor 41 can be located outside the housing 10, and the transmission component 20 can be located inside the housing 10.

[0069] The stamping assembly 70 is axially disposed on one side of the transmission assembly 20 and is connected to the lead screw 23 through an intermediate structure, thereby converting the rotational motion of the first transmission member 21 into the linear motion of the stamping assembly 70.

[0070] Exemplarily, the housing 10 includes a transmission sleeve 11, which is a cylindrical shell fixed to the frame 200. The inner cavity of the transmission sleeve 11 is used to accommodate the first transmission member 21. The first transmission member 21 includes a nut 211 and a gear sleeve 212 sleeved outside the nut 211. The gear sleeve 212 is fixedly connected to the nut 211 and is drively connected to the drive assembly 40. The first transmission member 21 is rotatably supported inside the transmission sleeve 11 by a bearing assembly 14.

[0071] like Figure 3 and Figure 6 As shown, in some embodiments, the punch 100 further includes a force sensor 30, which is adjacent to the side of the first transmission member 21 facing away from the stamping assembly 70. The force sensor 30 is used to detect the axial force transmitted by the first transmission member 21. The first transmission member 21 has a buffer member 22 on at least one side in the axial direction. The buffer member 22 is in direct or indirect contact with the first transmission member 21 and provides the first transmission member 21 with axial buffering force and preload.

[0072] The first transmission component 21 is rotatably supported within the transmission sleeve 11 via a bearing assembly 14, which is typically a rolling bearing. The inner ring of the bearing assembly 14 mates with the first transmission component 21, and the outer ring mates with the inner wall of the transmission sleeve 11, allowing the first transmission component 21 to rotate freely around its own axis. The first transmission component 21 has a buffer component 22 on at least one side in the axial direction. The buffer component 22 is in direct contact with the first transmission component 21, or indirect contact via an intermediate structure. This intermediate structure can be a bearing gasket 27, a spacer ring, or a thrust bearing 25, etc. The buffer component 22 provides the first transmission component 21 with axial buffering force and preload. In the assembled state, the buffer component 22 is pre-compressed, applying an axial elastic force to the first transmission component 21. This allows the first transmission component 21 to generate a small axial elastic displacement during fluctuations to absorb impact energy, and also eliminates the axial clearance between the first transmission component 21 and the thrust bearing 25, providing a stable preload.

[0073] Force sensor 30 is located adjacent to the side of the first transmission member 21 facing away from the stamping assembly 70. The sensing surface of force sensor 30 is in direct contact with the corresponding end face of the first transmission member 21 or in contact through a force transmission pad. Force sensor 30 is used to detect the axial force transmitted by the first transmission member 21. During the stamping process, the reaction force applied to the working end of the stamping assembly 70 is transmitted to the first transmission member 21 through the transmission connection path, and further transmitted to the adjacent force sensor 30. Force sensor 30 converts the axial force into an electrical signal output in real time.

[0074] A buffer 22 is introduced into the transmission path of the stamping assembly 70, the transmission assembly 20, and the force sensor 30. When the working end pushes against the rivet to clamp the workpiece, the internal clearance between the transmission assembly 20 and the stamping assembly 70 generates instantaneous impacts and transmission fluctuations, leading to unstable axial force transmission and consequently axial movement and force fluctuations in the first transmission component 21. At this time, the buffer 22 absorbs the impact energy through its own elastic deformation, filtering out interference components in the force signal transmitted from the first transmission component 21 to the force sensor 30. This ensures that the force sensor 30 can accurately capture the preload signal, providing relatively accurate data for calculating the workpiece thickness and reliable data support for the selection of the riveting die 500.

[0075] In this embodiment, the buffer 22 can be a wave spring, a disc spring, or an elastic rubber ring.

[0076] If the buffer 22 is located on the side of the first transmission member 21 near the stamping assembly 70, it may be housed within the space formed between a spacer fitted onto the first transmission member 21 and the shoulder of the first transmission member 21. If the buffer 22 is located on the side of the first transmission member 21 near the force sensor 30, it may be sandwiched between the end face of the first transmission member 21 and the shaft ring of a thrust bearing 25, or directly sandwiched between the end face of the first transmission member 21 and the sensing surface of the force sensor 30. The buffer 22 is in direct contact with the first transmission member 21, or indirectly in contact through intermediate structures such as the thrust bearing 25. The inner and outer diameters of the buffer 22 are adapted to the first transmission member 21 and its surrounding structure.

[0077] The punch 100 typically includes a distance sensor 60 for detecting the axial displacement of the punch 100 or the real-time position of the stamping assembly 70. The distance sensor 60 is mounted on the frame or housing 10 and is used for non-contact or direct measurement of the axial distance between the working end of the stamping assembly 70 and the riveting die or a fixed reference. The distance sensor 60 can be a laser displacement sensor, a magnetostrictive displacement sensor, or a linear encoder, etc. By synchronously acquiring the axial force signal output by the force sensor 30 and the displacement signal output by the distance sensor 60, the control system can construct a force-displacement curve in real time, thereby more accurately determining the workpiece clamping state and calculating the workpiece thickness. For example, as... Figure 1 As shown, the distance sensor 60 is mounted on the punch 100.

[0078] like Figure 5 As shown, in some embodiments, the first transmission member 21 is provided with a first limiting groove 213 on the side facing the limiting ring 24, and the buffer member 22 is engaged between the groove wall of the first limiting groove 213 and the axial inner wall of the limiting ring 24.

[0079] The first limiting groove 213 is an annular groove formed on the first transmission member 21, located at the axial end face or shoulder of the first transmission member 21 opposite to the limiting ring 24. The buffer member 22 is accommodated within the groove space of the first limiting groove 213. The radially outer and / or radially inner sides of the buffer member 22 contact or maintain a small gap with the corresponding groove wall of the first limiting groove 213, thereby being constrained radially. The end face of the buffer member 22 facing the limiting ring 24 abuts against the axial inner wall of the limiting ring 24.

[0080] The cross-sectional shape of the first limiting groove 213 can be rectangular, trapezoidal, or arc-shaped. The first limiting groove 213 is coaxial with the rotation axis of the first transmission member 21. The buffer member 22 is usually a ring-shaped element such as a wave spring, a set of disc springs, or an elastic rubber ring. The outer diameter of the buffer member 22 is slightly smaller than the outer groove wall diameter of the first limiting groove 213, and the inner diameter is slightly larger than the inner groove wall diameter, so that it maintains a small gap or slight contact with the groove wall in the radial direction, thereby being confined within the first limiting groove 213.

[0081] The first limiting groove 213 provides precise radial positioning and accommodating space for the buffer member 22. The buffer member 22 is confined within the first limiting groove 213, preventing radial displacement, torsion, or dislodgement due to force or vibration during operation. This ensures the buffer member 22 remains in the predetermined position, guaranteeing the accuracy and consistency of the applied buffer force direction. Furthermore, the axial inner wall of the limiting ring 24 contacts the end face of the buffer member 22, axially compressing and limiting the buffer member 22.

[0082] like Figure 7 As shown, in some embodiments, the force sensor 30 is provided with a second limiting groove 31 on the side facing the first transmission member 21, and a buffer member 22 is locked in the second limiting groove 31.

[0083] A second limiting groove 31 is provided on the force sensor 30 to hold the buffer 22. The second limiting groove 31 provides the installation position and radial positioning of the buffer 22, simplifying the assembly process. Furthermore, by directly holding the buffer 22 in the second limiting groove 31 on the force sensor 30, the force transmission path from the buffer 22 to the sensing element of the force sensor 30 is shortened, which helps to improve the response speed of force transmission.

[0084] The second limiting groove 31 can be an annular groove formed on the housing of the force sensor 30 or its front force transmission cover plate. The cross-sectional shape of the second limiting groove 31 can be rectangular, trapezoidal, or semi-circular, and the depth and width of the second limiting groove 31 are adapted to the cross-sectional dimensions of the selected buffer 22. The second limiting groove 31 is usually coaxially arranged with the central axis of the force sensor 30 to ensure symmetrical force distribution.

[0085] like Figure 3 and Figure 6 As shown, in some embodiments, the punch 100 further includes a lead screw sleeve 13, which is fixed to the rear end of the transmission sleeve 11, and the rear end portion of the lead screw 23 is accommodated within the lead screw sleeve 13.

[0086] like Figure 3 and Figure 6 As shown, the punch 100 includes an outer tube 12, and a floating assembly 50 is installed inside the outer tube 12. The floating assembly 50 includes an extension rod 51 and a spring assembly 52 sleeved on the extension rod 51. The two ends of the spring assembly 52 are limited in the axial direction. The extension rod 51 is connected to the lead screw 23 and the punching assembly 70.

[0087] The outer tube 12 is connected to the front end of the transmission sleeve 11. The floating assembly 50 typically includes an extension rod 51 and a spring assembly 52 sleeved on the extension rod 51. The two ends of the extension rod 51 are respectively connected to the lead screw 23 and the stamping assembly 70. One end of the extension rod 51 forms a limiting shoulder, or the extension rod 51 and the lead screw 23 are connected by an extension rod seat 53. A limiting shoulder is formed between the extension rod seat 53 and the extension rod 51. The front end of the outer tube 12 forms an axial limiting end face. The spring assembly 52 is sleeved on the extension rod 51 and its two ends are respectively limited to the limiting shoulder and the axial limiting end face.

[0088] During normal clamping, the floating assembly 50 is rigidly connected due to the preload of the built-in spring assembly 52, thus enabling it to transmit axial force.

[0089] When the lead screw 23 moves axially under the drive of the first transmission component 21, it pushes the stamping assembly 70 closer to the workpiece through the extension rod 51. The spring assembly 52 is compressed and contracts to adapt to displacement compensation during the transmission process. When unloading, the spring assembly 52 elastically rebounds and drives the extension rod 51 and the stamping assembly 70 to reset.

[0090] According to the self-piercing riveting equipment of this application embodiment, the floating component 50 can only float axially by limiting the axial ends of the spring assembly 52. ​​The spring assembly 52 can absorb the instantaneous impact and transmission fluctuations at the beginning of the stamping process, reducing the transmission of fluctuations to the first transmission component 21 and the force sensor 30. The cooperation between the extension rod 51 and the extension rod seat 53 can constrain the deformation stroke of the spring assembly 52, which not only improves the stability and accuracy of the force sensor 30 in detecting axial force, providing a reliable guarantee for workpiece thickness measurement and die matching, but also reduces the fatigue wear of the transmission components, improving the working stability of the punch 100 and the riveting forming quality.

[0091] like Figure 3 and Figure 6 As shown, in some embodiments, the spring assembly 52 includes a first spring 521 and a second spring 522, and the floating assembly 50 further includes a floating support 55. The floating support 55 is sleeved on the extension rod 51 and sandwiched between the first spring 521 and the second spring 522, providing axial limiting for the first spring 521 and the second spring 522 on both sides. The first spring 521 is axially clamped between the floating support 55 and the axially limiting end face, and the second spring 522 is axially clamped between the floating support 55 and the extension rod seat 53. The wire diameter of the first spring 521 is smaller than the wire diameter of the second spring 522.

[0092] like Figure 3 and Figure 6As shown, in some embodiments, an inner tube 54 is provided inside the outer tube 12. The inner tube 54 is connected to the extension rod seat 53. The extension rod 51 and the spring assembly 52 are disposed in the inner tube 54. A front attachment 56 is provided at the front end of the inner tube 54. The front attachment 56 is located outside the front end of the outer tube 12, and a limiting end face is formed at the rear end of the front attachment 56. In the initial state, the limiting end face of the front attachment 56 abuts against the front end of the outer tube 12, and an axial limiting end face is formed on the front attachment 56.

[0093] like Figure 3 and Figure 6 As shown, the front end of the front accessory 56 is also provided with a rivet rod guide sleeve 72. The rivet rod 71 and the extension rod 51 are locked together by the rivet rod nut 73. The rivet rod 71 passes through the rivet rod guide sleeve 72. The rivet rod guide sleeve 72 is formed with a stepped hole. The diameter of the front end of the stepped hole is small and it is clearance-fitted with the rivet rod 71, thereby radially limiting the rivet rod 71. The diameter of the rear end of the stepped hole is large and it is spaced from the outer peripheral wall of the rivet rod 71.

[0094] The complete working principle is as follows: The first transmission component 21 rotates and drives the lead screw 23 to move axially in a linear motion via the threaded pair. The lead screw 23 drives the extension rod 51 and the inner tube 54 connected to it to move axially via the extension rod seat 53. The inner tube 54 synchronously drives the front accessory 56 to move. The rear end of the front accessory 56 forms an axial limiting end face, which, together with the extension rod seat 53, clamps the first spring component 521 and the second spring component 522, which are separated and limited by the floating support seat 55. During normal clamping, the spring assembly 52 achieves rigid axial force transmission by relying on the preload. The extension rod 51 drives the rivet 71 to move axially through the rivet nut 73. The stepped hole of the rivet guide sleeve 72 guides the rivet 71. When the stamping generates impact and transmission fluctuations, the spring assembly 52 is compressed and axially floats and contracts, compensating for the threaded transmission clearance and absorbing the impact fluctuations, reducing the reverse transmission of fluctuations to the first transmission component 21 and the force sensor 30. After the force is released, the spring assembly 52 elastically rebounds and resets.

[0095] Taking the end closer to the workpiece as the front end and the end farther from the workpiece as the rear end as the reference, a specific embodiment is described by way of example: the stamping assembly 70 includes a rivet 71, the rear end of the rivet 71 is connected to the first transmission member 21 for transmission, the front end of the rivet 71 is the working end, and the working end has a recess or plane that matches the rivet head.

[0096] The self-piercing riveting device according to an embodiment of this application further includes a control module, which is electrically connected to the softening module 300. The control module is configured to control the softening module 300 to turn on before the punch 100 performs the riveting action.

[0097] The control module can be mounted on the rack 200 or housed in a separate control cabinet. Electrically connected to the softening module 300, the control module sends heating control signals to the softening module 300 to adjust its heating power, heating time, and start / stop sequence. Before the punch 100 begins to move, approaches the workpiece, or executes the stamping stroke, the control module first sends a start command to the softening module 300, causing it to preheat the predetermined riveting area of ​​the workpiece. Once the temperature of the predetermined riveting area reaches the set value or after a preset preheating time, the control module then controls the drive assembly 40 to drive the punch 100 to perform the stamping action. This ensures that the softening module 300 has heated the material in the riveting area to a softened state before the rivet contacts the workpiece, thereby reducing the material's hardness and decreasing deformation resistance during the stamping process.

[0098] According to the self-piercing riveting equipment of this application embodiment, by advancing the opening sequence of the softening module 300 to before the punch 100 performs the riveting action, the workpiece is effectively softened before stamping, which can improve the joint forming quality.

[0099] In this embodiment, the control module can also work with the force sensor 30, temperature sensor, etc., to adjust the activation timing or heating parameters of the softening module 300 based on the real-time detected axial force or temperature feedback.

[0100] For example, force sensor 30 collects and records the axial resistance and peak stamping pressure of the sheet metal to be punctured as raw reference data. Then, different heating powers and preheating times are sequentially set for comparative experiments, and force sensor 30 collects data on the axial force changes after heating under each group of conditions. By comparing the resistance difference between unheated and heated conditions, the impact of the current heating parameters on the softening effect of the sheet metal is determined, and a suitable combination of preheating parameters for the current sheet metal is selected. During normal mass production operation of the self-piercing riveting equipment, the softening module 300 is controlled by the control module according to the preheating parameter combination to ensure riveting quality.

[0101] The self-piercing riveting device according to the embodiments of this application further includes a temperature sensor, which is disposed on the punch 100 or the softening module 300. The detection axis of the temperature sensor is arranged in the same direction as the irradiation axis of the softening module 300, and the temperature sensor is electrically connected to the control module.

[0102] The irradiation axis of the softening module 300 is the central propagation direction of the heating energy beam emitted by the softening module 300, and the detection axis of the temperature sensor is the center line of the field of view or the probe optical axis. The temperature sensor is mounted on the punch 100 or the softening module 300. If the temperature sensor is mounted on the punch 100, it is usually fixed to the outside of the mounting sleeve 201 of the punch 100; if the temperature sensor is mounted on the softening module 300, it can be mounted on the outer shell 10 of the softening module 300. The detection axis of the temperature sensor is set in the same direction as the irradiation axis of the softening module 300, that is, the two axes are parallel to each other and point in the same direction, so that the temperature sensor can accurately measure the surface temperature of the heated area on the workpiece.

[0103] The temperature sensor is electrically connected to the control module. The temperature signal output by the temperature sensor is transmitted to the control module. The control module adjusts the heating power or heating time of the softening module 300 based on the temperature signal. For example, it increases the heating power when the detected temperature is lower than the preset threshold and stops heating when the detected temperature reaches the target value.

[0104] According to the embodiments of this application, the self-piercing riveting equipment achieves accurate temperature measurement of the heating area by setting a temperature sensor with the detection axis in the same direction as the irradiation axis. This avoids overheating that prolongs the waiting time or underheating that leads to a decline in riveting quality, thereby improving the processing yield of the self-piercing riveting equipment.

[0105] According to the self-piercing riveting device of this application embodiment, the control module is further configured to: receive the real-time temperature signal from the temperature sensor, and control the opening and closing of the softening module 300 and adjust the heating power of the softening module 300 according to the temperature of the predetermined riveting area.

[0106] The control module is typically a programmable logic controller (PLC), an industrial computer, or a dedicated control circuit. It can be mounted on the rack 200 or housed in a separate control cabinet. A temperature sensor is mounted on the punch 100 or the softening module 300, with its detection axis aligned with the irradiation axis of the softening module 300. This sensor detects the surface temperature of the predetermined riveting area of ​​the workpiece and transmits the real-time temperature signal to the control module. The control module is electrically connected to the temperature sensor and is configured to receive this real-time temperature signal and control the opening and closing of the softening module 300 and adjust its heating power based on the temperature of the predetermined riveting area.

[0107] When the real-time temperature fed back by the temperature sensor is lower than the lower limit of the preset target temperature, the control module determines that the pre-riveting area is underheated. It then sends a start command to the softening module 300 and outputs a corresponding heating power control signal, causing the softening module 300 to heat the workpiece. During the heating process, the control module continuously receives the real-time temperature signal from the temperature sensor and adjusts the heating power of the softening module 300 according to the deviation between the temperature and the target value. For example, if the real-time temperature is much lower than the target value, the control module outputs higher power to quickly raise the temperature; if the real-time temperature is close to the target value, the power is reduced. When the real-time temperature fed back by the temperature sensor reaches or approaches the preset target temperature, the control module determines that heating is complete and then sends a shut-off command to the softening module 300 to stop heating.

[0108] According to the self-piercing riveting equipment of this application embodiment, the control module controls the opening and closing of the softening module 300 and adjusts its heating power according to the temperature of the predetermined riveting area, thereby achieving accurate control of the heating process and ensuring that the workpiece heating area is in the optimal softening temperature range before each riveting, thus improving the riveting quality of the self-piercing riveting equipment under different working conditions.

[0109] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms such as “a,” “an,” etc., used herein may also refer to the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0110] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0111] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-piercing riveting device, characterized in that, include: A frame, used to mount the robotic arm; A punch is mounted on the frame. The punch includes a housing and a stamping assembly disposed within the housing. The stamping assembly is axially movable relative to the housing and has a working end extending out of the housing for stamping rivets. At least one softening module is disposed on the frame or the punch, the softening module being used to heat and soften a predetermined riveting area of ​​the workpiece.

2. The self-piercing riveting equipment according to claim 1, characterized in that, The frame is provided with a riveting die mounting position, and the punch is arranged opposite to the riveting die mounting position. When the softening module is set on the frame, the softening module and the punch are both located on the same side of the riveting die.

3. The self-piercing riveting equipment according to claim 1 or 2, characterized in that, It also includes an adjustment assembly connected to the frame, the adjustment assembly being circumferentially rotatable along the punch to adjust the circumferential relative position of the softening module and the punch.

4. The self-piercing riveting equipment according to claim 3, characterized in that, The frame includes a mounting sleeve, the punch is fixed in the mounting sleeve, and the adjustment component is disposed on the outer wall of the mounting sleeve.

5. The self-piercing riveting equipment according to claim 4, characterized in that, The adjustment component includes a mounting member disposed outside the mounting sleeve. The mounting member is rotatable around the circumference of the mounting sleeve. The mounting member has an inclined mounting surface. The softening module is fixed to the mounting surface, and the irradiation end of the softening module is oriented at a preset angle to the axis of the mounting sleeve.

6. The self-piercing riveting equipment according to claim 5, characterized in that, The outer side wall of the mounting component is provided with a positioning mark, and the outer side wall of the mounting sleeve is provided with a circumferential scale line. The positioning mark and the circumferential scale line cooperate to indicate the rotation angle of the mounting component.

7. The self-piercing riveting equipment according to claim 4, characterized in that, The outer wall of the housing has an annular mounting groove, and the mounting collar is located outside the housing and is engaged in the mounting groove.

8. The self-piercing riveting equipment according to claim 7, characterized in that, The housing is provided with a drive assembly and a transmission assembly. The transmission assembly includes a lead screw and a first transmission member sleeved on the lead screw. The first transmission member is connected to the drive assembly in a driving manner. The lead screw is connected to the stamping assembly. The first transmission member is provided with a buffer member on at least one side in the axial direction. The buffer member is in direct or indirect contact with the first transmission member.

9. The self-piercing riveting equipment according to claim 8, characterized in that, The punch also includes a force sensor, which is adjacent to the side of the first transmission member away from the stamping assembly. The force sensor is used to detect the axial force transmitted by the first transmission member. The first transmission member has a buffer member on at least one side of the axial direction. The buffer member is in direct or indirect contact with the first transmission member and provides the first transmission member with a buffering force and a preload force along the axial direction.

10. The self-piercing riveting equipment according to claim 1 or 2, characterized in that, Also includes: A temperature sensor is provided on the punch or the softening module, and the detection axis of the temperature sensor is aligned with the irradiation axis of the softening module.

11. The self-piercing riveting equipment according to claim 10, characterized in that, Also includes: A control module, electrically connected to the softening module and the temperature sensor, is configured to control the softening module to turn on before the punch performs the riveting action.

12. The self-piercing riveting equipment according to claim 11, characterized in that, The control module is also configured to: receive the real-time temperature signal from the temperature sensor, and control the opening and closing of the softening module and adjust the heating power of the softening module according to the temperature of the predetermined riveting area.

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