Full-automatic visual positioning servo riveting machine

Abstract

The application discloses a full-automatic visual positioning servo rivet machine, which comprises a rack, a tension controller, an X-axis beam, an X-axis slide rail assembly, a Y-axis slide rail assembly, a Y-axis conveying guide rail assembly, a rivet feeding mechanism, a servo electric rivet mechanism, a visual positioning device and a blocking positioning device. The full-automatic visual positioning servo rivet machine has a reasonable structure design, the visual positioning device can collect workpiece images in real time, accurately identify rivet holes, the rivet feeding mechanism can automatically feed a rivet nut to the servo electric rivet mechanism synchronously, and finally, the servo electric rivet mechanism can complete full-automatic and accurate rivet operation. By using the servo electric rivet mechanism, the rivet tension and stroke can be monitored and dynamically controlled in real time, the rivet tension accuracy can reach ±50N, the displacement accuracy can reach ±0.05mm, the problems of rivet loosening, rivet misplacement or workpiece damage caused by over riveting can be solved, the operation stability can be greatly improved, the riveting consistency and product reliability can be maintained, and the full-automatic visual positioning servo rivet machine is particularly suitable for batch and precision production requirements of box type workpieces.

Description

Technical Field

[0001] This invention relates to the field of riveting technology, and more specifically to a fully automatic vision-positioning servo riveting machine. Background Technology

[0002] Riveting, with its advantages of strong connections, convenient assembly, and high adaptability, is widely used in the assembly and processing of various box-type products such as battery boxes and vehicle frames. It is one of the core processes for lightweight assembly and precision splicing of industrial products. With the rapid development of the new energy and high-end equipment manufacturing industries, the production volume of box-type products continues to expand. The industry's requirements for the processing accuracy, production efficiency, finished product consistency, and quality traceability of riveting operations are constantly increasing. Traditional riveting operation modes and equipment are no longer suitable for the needs of modern precision production.

[0003] Currently, riveting operations for box-type products mainly fall into two categories: manual riveting and semi-automatic equipment riveting. Both methods suffer from numerous unavoidable technical drawbacks. Manual riveting involves workers using pneumatic or electric riveting guns to complete riveting operations point by point, making the entire operation highly dependent on manual intervention. This method not only results in high labor intensity, high labor costs, and low production efficiency, making it unsuitable for large-scale mass production, but also relies entirely on worker experience for quality control. Human error can easily cause riveting angle deviations, leading to uneven tension at each riveting point and poor connection stability. Furthermore, the riveting pressure of traditional pneumatic riveting equipment is greatly affected by fluctuations in on-site air pressure, with a tension control accuracy of only ±500N, which cannot meet the precision requirements of precision products. In addition, manual operation cannot record data for each riveting step. If quality problems such as missed or incorrect riveting occur, process traceability is impossible, making product quality control extremely difficult and resulting in a persistently high defect rate.

[0004] To address the drawbacks of manual riveting, semi-automatic riveting equipment has gradually emerged in the industry. This type of equipment automates basic riveting operations, replacing manual mechanical operations to some extent, reducing labor intensity, and improving efficiency compared to purely manual work. However, this semi-automatic equipment has extremely low levels of intelligence and integration; the core riveting point positioning process still requires manual assistance, meaning it remains dependent on human labor. Manual positioning is highly subjective and lacks precision; long-term operation can easily lead to fatigue errors, frequently causing quality defects such as missing rivets, incomplete rivets, and riveting misalignment, resulting in poor product consistency.

[0005] In summary, current riveting operations for box-type products generally suffer from problems such as low automation, poor positioning accuracy, insufficient riveting force control precision, low operation efficiency, and poor product consistency, which cannot meet the needs of high-precision, mass production in industrial manufacturing. Summary of the Invention

[0006] To address the aforementioned shortcomings, the present invention aims to provide a fully automatic vision positioning servo riveting machine with a reasonable structural design, accurate positioning, and good riveting effect.

[0007] To achieve the above objectives, the technical solution provided by this invention is as follows: A fully automatic vision-positioning servo riveting machine includes a frame, a tension controller, an X-axis crossbeam, an X-axis slide rail assembly, a Y-axis slide rail assembly, a Y-axis conveying guide rail assembly, a rivet feeding mechanism, a servo-electric riveting mechanism, a vision positioning device, and a blocking positioning device. The frame has symmetrically arranged side frames on both sides, forming a conveying channel between them. The Y-axis conveying guide rail assembly is located on both sides of the conveying channel, and the blocking positioning device is located in the middle of the conveying channel. The Y-axis slide rail assembly is mounted on the side frames. The two ends of the X-axis crossbeam are movably mounted on the Y-axis slide rail assembly. The servo-electric riveting mechanism is mounted on the X-axis crossbeam via the X-axis slide rail assembly. The rivet feeding mechanism is connected to the servo-electric riveting mechanism. The vision positioning device is mounted on the servo-electric riveting mechanism. The X-axis slide rail assembly, Y-axis slide rail assembly, Y-axis conveying guide rail assembly, rivet feeding mechanism, servo-electric riveting mechanism, vision positioning device, and blocking positioning device are all connected to and controlled by the tension controller. The conveying channel forms an automatic Y-axis conveying path for the workpiece; the blocking and positioning device is centrally located in the conveying channel to achieve fixed-point interception and initial positioning of the conveyed workpiece; the Y-axis slide rail assembly is mounted on the side frame of the machine, enabling the X-axis crossbeam to slide precisely along the Y-axis of the equipment; the X-axis crossbeam is equipped with the X-axis slide rail assembly, allowing the servo-electric riveting mechanism to move laterally along the X-axis of the equipment, forming a planar dual-axis linkage displacement structure in conjunction with the Y-axis slide rail assembly. The rivet feeding mechanism is connected to the servo-electric riveting mechanism to achieve automatic rivet supply; the vision positioning device is integrated into the riveting execution end to achieve visual recognition and alignment of the rivet holes.

[0008] In a preferred embodiment of the present invention, the servo-electric riveting mechanism includes a vertical base, a Z-axis movement module, a rivet placement device, and a servo-electric rivet pulling device. The Z-axis movement module is mounted on the vertical base, the servo-electric rivet pulling device is mounted on the Z-axis movement module, and the rivet placement device is positioned below the Z-axis movement module on the vertical base. Through the coordinated operation of these modules, a riveting cycle is completed.

[0009] In a preferred embodiment of the present invention, the rivet-releasing device includes a back plate, a side plate, a feeding seat, a feeding tube, an X-axis rodless cylinder, a Z-axis slide cylinder, a gripper cylinder, a left gripper block, a right gripper block, a movable gripper block, a spring, and a release cylinder. The X-axis rodless cylinder is disposed on the back plate, the Z-axis slide cylinder is disposed on the X-axis rodless cylinder, the gripper cylinder is disposed on the Z-axis slide cylinder, the left and right grippers are disposed on the two grippers of the gripper cylinder, and the movable gripper block is disposed on the right gripper block via a slide rail assembly, and the movable gripper block is close to the left... One end of the clamping block has a clamping portion extending between the left and right clamping blocks. A spring is positioned between the clamping portion and the right clamping block. A release cylinder is mounted on the left clamping block and can push the clamping portion away from the left clamping block. A feeding seat is mounted on the back plate via a side plate. A feeding pipe is positioned above the left and right clamping blocks on the feeding seat. The feeding pipe is connected to the rivet feeding mechanism via a conveying pipe. The bottom surface of the movable clamping block has a locking position, and the piston rod of the release cylinder has a locking head that matches the locking position. Through the nested matching of the locking position and the locking head, precise transmission of power from the release cylinder is achieved. When it is necessary to loosen the rivet nut, the piston rod of the release cylinder extends, pushing the movable clamping block to move smoothly along the slide rail, overcoming the spring force to complete the material release action.

[0010] In a preferred embodiment of the present invention, the servo-electric rivet device includes a displacement sensor, a rotary base, a geared servo motor, a tension sensing device, a rotary power device, a rivet rod, a transmission spline shaft, a spline nut, a bushing, a rivet nozzle, and a clutch transmission assembly. The rotary base is fixedly mounted on the vertical base, and the spline nut is mounted on the rotary base via a bearing. The upper end of the transmission spline shaft movably passes through the spline nut and is rotatably connected to the lower end of the tension sensing device. The geared servo motor is mounted on the vertical base and is connected to the upper end of the tension sensing device via a lead screw extension assembly. The displacement sensor is mounted on the lead screw extension assembly, the rotary power device is mounted on the rotary seat, and drives the spline nut to rotate via the rotary transmission assembly; the bushing is movably sleeved on the transmission spline shaft, and its upper end is rotatably mounted on the rotary seat via a bearing assembly; the rivet nozzle is mounted on the lower end of the bushing; the upper end of the rivet rod is connected to the transmission spline shaft, and its lower end extends out of the rivet nozzle; the rotary power device drives the bushing to rotate via a clutch transmission assembly; and the tension controller is connected to the displacement sensor, the reduction servo motor, and the tension sensing device respectively. The lead screw telescopic assembly converts the rotational motion of the geared servo motor into linear motion to drive the rivet rod to move axially; the tension sensor is used to collect the actual value of the axial tension in real time; the displacement sensor, using a magnetic grating ruler or optical grating ruler, is installed on the tension seat of the lead screw telescopic assembly or the moving part of the rivet rod to collect the displacement value of the rivet stroke in real time; the tension controller is used to receive the feedback signals from the tension sensor and the displacement sensor, and precisely control the output torque and position of the geared servo motor through a PID / servo closed-loop control algorithm to form a force-displacement closed-loop control system.

[0011] In a preferred embodiment of the present invention, the lead screw telescopic assembly includes a coupling, a lead screw, a lead screw nut, and a tension seat. The geared servo motor is mounted on the vertical base via a motor mount. The drive shaft of the geared servo motor is connected to the lead screw via the coupling. The tension seat is mounted on the vertical base via a linear guide assembly. The displacement sensor is mounted on the tension seat, and the lead screw nut is mounted on the tension seat and is adapted to the lead screw. The lead screw telescopic assembly features high transmission accuracy, small clearance, and smooth operation. The displacement sensor is dynamically mounted, and the collected data is completely synchronized with the actual stroke, ensuring the real-time performance and accuracy of displacement feedback, and providing a hardware foundation for closed-loop precision control.

[0012] The tension sensing device includes an upper support, a tension sensor, a lower support, and a connecting seat. The upper and lower supports are respectively located at the upper and lower ends of the tension sensor. The connecting seat is located on the lower support, and the bottom of the connecting seat has a rotating hole with a bearing cavity. A flat bearing is installed inside the bearing cavity. The upper end of the transmission spline shaft passes through the rotating hole and the flat bearing, and a washer and a tension nut are sequentially installed thereon. In the riveting and stretching process, a reduction servo motor drives the tension seat to move upward, lifting the tension sensor through the upper support. After being subjected to force, the tension sensor transmits the axial tension to the lower support and the connecting seat, ultimately acting on the transmission spline shaft, driving the riveting rod to retract and perform riveting. During this process, the tension sensor collects the real axial riveting force throughout and transmits the analog signal to the tension controller in real time, realizing dynamic monitoring and feedback control of the tension.

[0013] In a preferred embodiment of the present invention, the rotary transmission assembly includes a drive shaft, a rotary drive wheel, a rotary driven wheel, and a rotary belt. The drive shaft is mounted in the rotary seat via a bearing, and the upper end of the drive shaft is connected to the rotary power device. The rotary drive wheel is mounted on the drive shaft, and the rotary driven wheel is mounted on the spline nut and connected to the rotary drive wheel via the rotary belt. The clutch transmission assembly includes a sliding key shaft, a sliding bushing, an upper engagement disc, a lower engagement disc, a clutch drive wheel, a clutch driven wheel, a clutch belt, a clutch cylinder, and a ball joint. The upper engagement disc is located at the lower end of the drive shaft. The sliding bushing is positioned below the drive shaft and is mounted in the rotating seat via a bearing. The clutch drive wheel is mounted on the sliding bushing. The sliding key shaft moves through the sliding bushing. The lower engagement disc is located at the upper end of the sliding key shaft and engages with the upper engagement disc when the sliding key shaft moves upward. The clutch driven wheel is located at the upper end of the bushing and is connected to the clutch drive wheel via a clutch belt. The clutch cylinder is positioned at the lower end of the sliding key shaft on the rotating seat. The ball joint is mounted on the piston rod of the clutch cylinder and pushes the sliding key shaft upward when the piston rod of the clutch cylinder extends. Power cutting and transmission are achieved by separating and engaging the upper and lower meshing discs, eliminating the need for two independent power mechanisms, simplifying the equipment structure, reducing manufacturing costs, and minimizing equipment size.

[0014] In a preferred embodiment of the present invention, the visual positioning device includes a Z-axis visual slide rail, a Z-axis visual slide block, a light source, a light source mounting plate, a camera, and a stepping cylinder. The Z-axis visual slide rail is mounted on the vertical base, the Z-axis visual slide block is movably mounted on the Z-axis visual slide rail, the camera is mounted on the upper part of the Z-axis visual slide block, the light source is mounted on the lower part of the Z-axis visual slide block via the light source mounting plate, and the stepping cylinder is mounted on the vertical base and can drive the Z-axis visual slide block to reciprocate on the Z-axis visual slide rail. Through adjustment by the stepping cylinder, it can adapt to the visual focusing requirements of workpieces of different specifications, providing clear imaging and accurate recognition, completely replacing the traditional manual point positioning process. This solves the problems of high subjectivity, low accuracy, and susceptibility to fatigue errors in manual positioning, improving the positioning accuracy of riveting points and the consistency of product processing.

[0015] In a preferred embodiment of the present invention, the Y-axis conveyor guide assembly includes two sets of oppositely arranged conveyor guide modules. One conveyor guide module is fixedly mounted on the frame, and the other conveyor guide module is fixedly mounted on the frame via a transverse slide rail assembly. Each conveyor guide module includes a conveyor frame, a conveyor belt assembly, a lateral guide wheel assembly, a clamping and positioning device, and tilting blocks. Two tilting blocks are located at both ends of the conveyor frame. The conveyor belt assembly runs along the long side of the conveyor frame, and the lateral guide wheel assembly is positioned on the conveyor frame at a location corresponding to the outer side of the conveyor belt assembly. By adjusting the transverse slide rail assembly, the conveying requirements of workpieces of different widths can be adapted, resulting in strong equipment versatility.

[0016] As a preferred embodiment of the present invention, it further includes a lifting and unloading rack, which is located at the end of the conveying channel. The lifting and unloading rack includes a moving trolley and two sets of lifting and conveying modules symmetrically arranged on both sides of the moving trolley. The lifting and conveying module includes a lifting frame, side plates, bottom pulley blocks, side pulley blocks, a support frame, and a lifting cylinder. The lifting frame is mounted on the support frame via a lifting guide rod assembly. The lifting cylinder drives the lifting frame to move up and down relative to the support frame. The bottom pulley blocks are located on the upper surface of the lifting frame. The side plates are vertically mounted on the lifting frame. The side pulley blocks are located on the side plates at positions corresponding to the outer side of the bottom pulley blocks. The clamping and positioning device is located on the conveying frame at positions corresponding to the inner side of the conveyor belt assembly. Adding a lifting and unloading rack enables automatic loading and unloading of workpieces, completely replacing manual loading and unloading operations, significantly reducing labor intensity and improving loading and unloading efficiency.

[0017] In a preferred embodiment of the present invention, two servo-electric riveting mechanisms are arranged side-by-side on the X-axis slide rail assembly. The two servo-electric riveting mechanisms can independently complete displacement adjustment, alignment, and riveting operations, achieving parallel riveting operations at two workstations. Compared to single-head riveting equipment, the operating efficiency is doubled, perfectly adapting to the needs of mass production.

[0018] The beneficial effects of this invention are as follows: The structure of this invention is rationally designed. The workpiece is conveyed into the conveying channel by the Y-axis conveying guide assembly. After traveling to the preset working position, it is intercepted and limited by the blocking positioning device, completing the workpiece positioning. Subsequently, the tension controller coordinates the work of each module. The Y-axis slide rail assembly drives the X-axis crossbeam to move in the Y direction, and the X-axis slide rail assembly drives the servo-electric riveting mechanism to move in the X direction. The dual-axis linkage moves the servo-electric riveting mechanism above the workpiece riveting area. Simultaneously, the vision positioning device acquires workpiece images in real time, accurately identifies rivet holes, and the rivet feeding mechanism automatically feeds rivet nuts to the servo-electric riveting mechanism. Finally, the servo-electric riveting mechanism completes the precise riveting operation, thus realizing integrated automatic operation of workpiece conveying, positioning, alignment, feeding, and riveting. By eliminating reliance on manual labor, it effectively solves the problems of large positioning errors, riveting misalignment, and missed or incorrect riveting in traditional manual methods. At the same time, by adopting servo-controlled electric riveting, it can monitor and dynamically adjust the riveting force and stroke in real time, achieving precise and controllable parameters. This eliminates problems such as loose riveting, incomplete riveting, or over-riveting that damages the workpiece, greatly improving operational stability, maintaining riveting consistency and product reliability, and adapting to the needs of batch and precision production of box-type workpieces.

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0021] Figure 2 This is a three-dimensional structural diagram of the servo-electric riveting mechanism in this invention.

[0022] Figure 3 This is a cross-sectional structural schematic diagram of the servo electric riveting mechanism in this invention.

[0023] Figure 4 This is a partial structural schematic diagram of the servo-electric riveting mechanism in this invention.

[0024] Figure 5 This is a three-dimensional structural diagram of the rivet placement device in this invention.

[0025] Figure 6 This is an exploded structural diagram of the rivet placement device in this invention.

[0026] Figure 7 This is a schematic diagram of the visual positioning device in this invention.

[0027] Figure 8 This is a schematic diagram of the Y-axis conveyor guide assembly in this invention.

[0028] Figure 9 This is a schematic diagram of the lifting and lowering material rack in this invention. Detailed Implementation

[0029] See Figures 1 to 9 This embodiment provides a fully automatic vision positioning servo riveting machine, which includes a frame 1, an X-axis crossbeam 2, an X-axis slide rail assembly 3, a Y-axis slide rail assembly 4, a Y-axis conveying guide rail assembly 5, a rivet feeding mechanism 6, a servo electric riveting mechanism 7, a vision positioning device 8, a lifting loading and unloading rack 9, a blocking positioning device 10, and a tension controller 11. The frame 1 has symmetrically arranged side frames 12 on both sides, and a conveying channel 13 is formed between the two side frames 12. The conveying channel 13 constitutes an automatic Y-axis conveying path for the workpiece.

[0030] The Y-axis conveying guide rail assembly 5 is located on both sides of the conveying channel 13, and the blocking and positioning device 10 is located in the middle of the conveying channel 13 to achieve fixed-point interception and positioning of the conveyed workpiece.

[0031] The Y-axis slide rail assembly 4 is mounted on the side frame 12, and the two ends of the X-axis crossbeam 2 are movably mounted on the Y-axis slide rail assembly 4, so as to realize the precise sliding of the X-axis crossbeam 2 as a whole along the Y direction of the equipment.

[0032] The servo-electric riveting mechanism 7 is mounted on the X-axis crossbeam 2 via the X-axis slide rail assembly 3. The servo-electric riveting mechanism 7 can move laterally along the X-axis of the equipment, forming a planar dual-axis linkage displacement structure in conjunction with the Y-axis slide rail assembly 4. In this embodiment, the number of servo-electric riveting mechanisms 7 is preferably two, arranged side-by-side on the X-axis slide rail assembly 3. The two servo-electric riveting mechanisms 7 can independently complete displacement adjustment, alignment, and riveting operations, realizing parallel riveting operations at two workstations. Compared to single-head riveting equipment, the operating efficiency is doubled, perfectly adapting to the needs of mass production.

[0033] The rivet feeding mechanism 6 is connected to the servo electric riveting mechanism 7, and the visual positioning device 8 is installed on the servo electric riveting mechanism 7 to realize visual recognition and alignment of the rivet holes.

[0034] The X-axis slide rail assembly 3, Y-axis slide rail assembly 4, Y-axis conveying guide rail assembly 5, rivet feeding mechanism 6, servo electric riveting mechanism 7, vision positioning device 8, and blocking positioning device 10 are respectively connected to and controlled by the tension controller 11.

[0035] The servo-electric riveting mechanism 7 includes a vertical base 71, a Z-axis movement module 72, a rivet placement device 73, and a servo-electric rivet pulling device 74. The Z-axis movement module 72 is mounted on the vertical base 71, the servo-electric rivet pulling device 74 is mounted on the Z-axis movement module 72, and the rivet placement device 73 is mounted on the vertical base 71 below the Z-axis movement module 72. Through the coordinated operation of these modules, a riveting cycle is completed.

[0036] The rivet release device 73 includes a back plate 731, a side plate 732, a feeding seat 733, a feeding tube 734, an X-axis rodless cylinder 735, a Z-axis slide cylinder 736, a gripper cylinder 737, a left gripper block 738, a right gripper block 739, a movable gripper block 740, a spring 741, and a release cylinder 742. The X-axis rodless cylinder 735 is mounted on the back plate 731, the Z-axis slide cylinder 736 is mounted on the X-axis rodless cylinder 735, the gripper cylinder 737 is mounted on the Z-axis slide cylinder 736, and the left gripper block 738 and the right gripper block 739 are mounted on the gripper cylinder 737. On the two grippers, the movable clamping block 740 is mounted on the right clamping block 739 via a slide rail assembly. The movable clamping block 740 has a clamping portion extending between the left and right clamping blocks 738 at its end near the left clamping block 738. A spring 741 is disposed between the clamping portion and the right clamping block 739. A release cylinder 742 is mounted on the left clamping block 738 and can push the clamping portion to move away from the left clamping block 738. Specifically, a locking position is provided on the bottom surface of the movable clamping block 740, and a locking head adapted to the locking position is provided on the piston rod of the release cylinder 742. Through the nested adaptation of the locking position and the locking head, the power of the release cylinder 742 is precisely transmitted. When it is necessary to loosen the rivet nut, the piston rod of the release cylinder extends, pushing the movable clamping block 740 to move smoothly along the slide rail, overcoming the spring force to complete the material loosening action. The feeding seat 733 is mounted on the back plate 731 via a side plate 732. The feeding tube 734 is positioned above the feeding seat 733, corresponding to the position between the left clamping block 738 and the right clamping block 739. The feeding tube 734 is connected to the rivet feeding mechanism 6 via a conveying tube. In the initial state, the gripper cylinder 737 is open. The rivet feeding mechanism 6 conveys the rivet nut to the feeding tube 734 via the conveying tube, and the rivet nut falls into the clamping position between the left and right clamping blocks. The gripper cylinder 737 closes, the left and right clamping blocks close, and the spring pushes the movable clamping block 740 to cooperate with the left clamping block 738 to elastically clamp the rivet nut, completing the positioning of the rivet nut. Through the coordinated action of the X-axis rodless cylinder 735 and the Z-axis slide cylinder 736, the clamped rivet nut is accurately transferred to the preset riveting operation position. After the rivet rod descends and is screwed into the rivet nut, the piston rod of the release cylinder extends and pushes the movable clamping block 740 to overcome the spring force and displace, releasing the clamped rivet nut and completing the automatic feeding. After the feeding is completed, each cylinder resets and enters the next feeding cycle.

[0037] The servo-electric rivet device 74 includes a displacement sensor 741, a rotary seat 742, a reduction servo motor 743, a tension sensor 744, a rotational power device 745, a rivet rod 746, a transmission spline shaft 747, a spline nut 748, a bushing 749, a rivet nozzle 750, and a clutch transmission assembly 751.

[0038] The rotating seat 742 is fixedly mounted on the vertical base 71. The spline nut 748 is mounted on the rotating seat 742 via a bearing. The upper end of the transmission spline shaft 747 movably passes through the spline nut 748 and is rotatably connected to the lower end of the tension sensing device 744. The reduction servo motor 743 is mounted on the vertical base 71 and is connected to the upper end of the tension sensing device 744 via a lead screw telescopic assembly 752. The tension sensing device 744 is used to collect the actual value of axial tension in real time. The lead screw telescopic assembly 752 converts the rotational motion of the reduction servo motor 743 into linear motion to drive the rivet rod 746 to move axially.

[0039] The displacement sensor 741 is installed on the lead screw telescopic assembly 752. The displacement sensor 741 is a magnetic grating ruler or optical grating ruler installed on the moving parts such as the tension seat or rivet rod 746 of the lead screw telescopic assembly 752 to collect the rivet stroke displacement value in real time.

[0040] The rotary power unit 745 is mounted on the rotary seat 742 and drives the spline nut 748 to rotate via the rotary transmission assembly 753. The bushing 749 is movably sleeved on the transmission spline shaft 747, and its upper end is rotatably mounted on the rotary seat 742 via a bearing assembly. The rivet nozzle 750 is located at the lower end of the bushing 749. The upper end of the rivet rod 746 is connected to the transmission spline shaft 747, and its lower end extends out of the rivet nozzle 750. The rotary power unit 745 drives the bushing 749 to rotate via the clutch transmission assembly 751. The tension controller 11 is connected to the displacement sensor 741, the reduction servo motor 743, and the tension sensing device 744. The tension controller 11 receives feedback signals from the tension sensing device 744 and the displacement sensor 741, and precisely controls the output torque and position of the reduction servo motor 743 through a PID / servo closed-loop control algorithm, forming a force-displacement closed-loop control system.

[0041] The lead screw telescopic assembly 752 includes a coupling, a lead screw, a lead screw nut, and a tension seat. The geared servo motor 743 is mounted on the vertical base 71 via a motor mount. The drive shaft of the geared servo motor 743 is connected to the lead screw via the coupling. The tension seat is mounted on the vertical base 71 via a linear guide assembly. The displacement sensor 741 is mounted on the tension seat and is dynamically installed, ensuring that the collected data is completely synchronized with the actual stroke, guaranteeing the real-time performance and accuracy of the displacement feedback. The lead screw nut is mounted on the tension seat and is compatible with the lead screw, resulting in high transmission precision, small backlash, and smooth operation. During operation, the geared servo motor 743 receives the control signal from the tension controller 11, driving the output shaft to rotate, which in turn drives the lead screw to rotate synchronously via the coupling. The rotating lead screw, relying on the threaded engagement of the lead screw nut, converts the rotational torque into linear thrust / tension, driving the lead screw nut and the fixedly connected tension seat to move vertically and precisely along the linear guide assembly. The tension seat synchronously drives the tension sensor 744, transmission spline shaft 747, and riveting rod 746 connected to the upper end to complete axial feed and retraction actions, achieving precise execution of the riveting stroke. At the same time, the displacement sensor 741 moves synchronously with the tension seat, collects stroke data in real time, and feeds it back to the controller, providing accurate data support for closed-loop displacement control and ensuring that the riveting stroke strictly conforms to the preset parameters.

[0042] The tension sensing device 744 includes an upper support, a tension sensor 7441, a lower support 7442, and a connecting seat 7443. The upper support and the lower support 7442 are respectively disposed at the upper and lower ends of the tension sensor 7441. The connecting seat 7443 is disposed on the lower support 7442. The bottom of the connecting seat 7443 is provided with a rotating hole, and a bearing cavity is provided on the rotating hole. A flat bearing 7444 is disposed in the bearing cavity. The upper end of the transmission spline shaft 747 passes through the rotating hole and the flat bearing 7444, and a washer 7445 and a tension nut 7446 are disposed thereon. In the riveting and stretching process, the reduction servo motor 743 drives the tension seat to move upward, and the tension sensor 7441 is lifted by the upper pull support. After the tension sensor 7441 is subjected to force, it transmits the axial tension to the lower pull support 7442 and the connecting seat 7443, and finally acts on the transmission spline shaft 747, which drives the riveting rod 746 to move backward to perform riveting. During this process, the tension sensor 7441 collects the real axial riveting force throughout the process and transmits the analog signal to the tension controller 11 in real time to realize the dynamic monitoring and feedback control of the tension.

[0043] The rotary transmission assembly 753 includes a drive shaft 7531, a rotary drive wheel 7532, a rotary driven wheel 7533, and a rotary belt 7534. The drive shaft 7531 is mounted in the rotary seat 742 via bearings, and its upper end is connected to the rotary power device 745. The rotary drive wheel 7532 is mounted on the drive shaft 7531, and the rotary driven wheel 7533 is mounted on the spline nut 748 and connected to the rotary drive wheel 7532 via the rotary belt 7534. The transmission is smooth and the operation is stable.

[0044] The clutch transmission assembly 751 includes a sliding key shaft 7511, a sliding bushing 7512, an upper engagement disc 7513, a lower engagement disc 7514, a clutch drive wheel 7515, a clutch driven wheel 7516, a clutch belt 7517, a clutch cylinder 7518, and a ball joint 7519. The upper engagement disc 7513 is located at the lower end of the drive shaft 7531. The sliding bushing 7512 is positioned below the drive shaft 7531 and is mounted in the rotating seat 742 via a bearing. The clutch drive wheel 7515 is mounted on the sliding bushing 7512. The sliding key shaft 7511 movably passes through the sliding bushing 7512. 2. The lower engagement disc 7514 is located at the upper end of the sliding key shaft 7511 and can engage with the upper engagement disc 7513 when the sliding key shaft 7511 moves upward. The clutch driven wheel 7516 is located at the upper end of the bushing 749 and is connected to the clutch driving wheel 7515 through the clutch belt 7517. The clutch cylinder 7518 is located on the rotating seat 742 at the lower end position of the sliding key shaft 7511. The ball joint 7519 is located on the piston rod of the clutch cylinder 7518 and can push the sliding key shaft 7511 upward when the piston rod of the clutch cylinder 7518 extends. Power cutting and transmission are achieved by the separation and engagement of the upper engagement disc 7513 and the lower engagement disc 7514, eliminating the need for two independent power mechanisms, simplifying the equipment structure, reducing manufacturing costs, and reducing the size of the equipment. Before the rivet rod 746 is screwed into the rivet nut, the sliding key shaft 7511 is in a downward state, the upper and lower meshing discs 7514 are separated, and the rotational power is only transmitted to the spline nut 748, driving the rivet rod 746 to rotate alone, ensuring precise threading without interference from other components. When the rivet nut needs to be aligned, the sliding key shaft 7511 moves upward, the lower meshing disc 7514 and the upper meshing disc 7513 are tightly engaged, and the power is transmitted to the clutch drive wheel 7515, which then drives the clutch driven wheel 7516, the bushing and the rivet nozzle 750 to rotate through the clutch belt 7517, causing the rivet nut to rotate synchronously, completing the precise alignment of the hexagonal step and the hexagonal rivet hole.

[0045] The visual positioning device 8 includes a Z-axis visual slide rail 81, a Z-axis visual slide block 82, a light source 83, a light source mounting plate 84, a camera 85, and a stepping cylinder 86. The Z-axis visual slide rail 81 is mounted on the vertical base 71, the Z-axis visual slide block 82 is movably mounted on the Z-axis visual slide rail 81, the camera 85 is mounted on the upper part of the Z-axis visual slide block 82, the light source 83 is mounted on the lower part of the Z-axis visual slide block 82 via the light source mounting plate 84, and the stepping cylinder 86 is mounted on the vertical base 71 and can drive the Z-axis visual slide block 82 to reciprocate along the Z-axis visual slide rail 81. During operation, the stepping cylinder 86 drives the Z-axis visual slide block 82 to move vertically along the Z-axis visual slide rail 81 according to the workpiece specifications, adjusts the optimal imaging height of the camera 85, and completes focus calibration. During operation, the light source 83 is turned on to provide supplementary lighting to the riveting area of ​​the workpiece, and the camera 85 captures high-definition images of the workpiece surface, identifies the rivet hole positions, and transmits them to the tension controller 11. The tension controller 11 corrects the displacement parameters of each motion module on the X, Y, and Z axes based on visual feedback data, guides the riveting mechanism to accurately align with the riveting hole positions, and achieves automatic visual alignment.

[0046] The Y-axis conveying guide rail assembly 5 includes two sets of transport guide rail modules 51 arranged opposite to each other. One transport guide rail module 51 is fixedly mounted on the frame 1, and the other transport guide rail module 51 is fixedly mounted on the frame 1 through the transverse slide rail assembly 52. ​​By adjusting the transverse slide rail assembly 52, it can adapt to the conveying requirements of workpieces of different widths, and the equipment has strong versatility.

[0047] The transport guide module 51 includes a conveyor frame 511, a conveyor belt assembly 512, a lateral guide wheel set 513, a clamping and positioning device 514, and tilting blocks 515. Two tilting blocks 515 are located at both ends of the conveyor frame 511. The conveyor belt assembly 512 is arranged along the long side of the conveyor frame 511. The lateral guide wheel set 513 is positioned on the outer side of the conveyor belt assembly 512 on the conveyor frame 511, and the clamping and positioning device 514 is positioned on the inner side of the conveyor belt assembly 512 on the conveyor frame 511. Before operation, the spacing of the movable guide modules is adjusted according to the workpiece width using the transverse slide rail assembly 52 to adapt to the workpiece size. The workpiece is introduced from the end position and guided by the tilting blocks 515 at both ends into the space between the two sets of transport guide modules 51. The conveyor belt assembly 512 drives the workpiece to move automatically along the Y direction, and the lateral guide wheel set 513 corrects the workpiece's transport posture in real time to prevent deviation or skew. After the workpiece moves into the work area, it is intercepted and positioned by the blocking and positioning device 10, ensuring that the workpiece is transported smoothly and in a regular posture throughout the process, providing a foundation for subsequent precise riveting.

[0048] The lifting and unloading rack 9 is located at the front and rear ends of the conveying channel 13. The addition of the lifting and unloading rack 9 enables automatic loading and unloading of workpieces, completely replacing manual loading and unloading operations, significantly reducing labor intensity and improving loading and unloading efficiency. The lifting and unloading rack 9 includes a mobile trolley 91 and two sets of lifting and conveying modules symmetrically arranged on both sides of the mobile trolley 91. Each lifting and conveying module includes a lifting frame 92, side plates 93, a bottom pulley group 94, a side pulley group 95, a support frame 96, and a lifting cylinder 97. The lifting frame 92 is mounted on the support frame 96 via a lifting guide rod assembly. The lifting cylinder 97 drives the lifting frame 92 to move up and down relative to the support frame 96. The bottom pulley group 94 is located on the upper surface of the lifting frame 92. The side plates 93 are vertically mounted on the lifting frame 92. The side pulley groups 95 are located on the side plates 93 corresponding to the outer side of the bottom pulley group 94. During loading and unloading operations, the mobile trolley 91 drives the work alignment conveyor channel 13, and the lifting cylinder 97 drives the lifting frame 92 to precisely lift and lower along the lifting guide rod, adjusting the workpiece height to align with the height of the conveyor channel 13. The bottom pulley block 94 and the side pulley block 95 work together to realize the smooth sliding of the workpiece into and out of the conveyor channel 13, completing the automatic loading and unloading of the workpiece, seamlessly connecting with the main conveying and riveting processes of the equipment, and realizing fully automated production line operation.

[0049] The following example illustrates how a rivet nut with a regular hexagonal step is riveted to a regular hexagonal rivet hole on a box-shaped workpiece.

[0050] Before starting work, the target tension and displacement curves are preset using the tension controller 11.

[0051] During operation, the box-shaped workpiece is moved onto the mobile trolley 91. The mobile trolley aligns the workpiece with the conveyor channel 13. The lifting cylinder 97 drives the lifting frame 92 to precisely rise and fall along the lifting guide rod, adjusting the height of the box-shaped workpiece to align with the height of the conveyor channel 13. The bottom pulley group 94 and the side pulley group 95 work together to smoothly slide the box-shaped workpiece into the conveyor channel 13. After the box-shaped workpiece is conveyed into the preset working position of the conveyor channel 13 by the Y-axis conveyor guide rail assembly 5, it is intercepted and limited by the blocking positioning device 10, completing the workpiece positioning.

[0052] Subsequently, the tension controller 11 coordinates the work of each module. The Y-axis slide rail assembly 4 drives the X-axis crossbeam 2 to move in the Y direction, and the X-axis slide rail assembly 3 drives the servo-electric riveting mechanism 7 to move in the X direction. The dual-axis linkage moves the servo-electric riveting mechanism 7 above the workpiece riveting area. At the same time, the vision positioning device 8 collects images of the box-shaped workpiece in real time and accurately identifies the position and rotation angle of the regular hexagonal rivet hole. The rivet feeding mechanism 6 automatically feeds the rivet nut to the servo-electric riveting mechanism 7. The rivet nut falls into the clamping position between the left and right clamping blocks; the gripper cylinder 737 closes, the left and right clamping blocks close, and the spring pushes the movable clamping block 740 to cooperate with the left clamping block 738 to achieve elastic clamping of the rivet nut, completing the positioning of the rivet nut. Then, through the coordinated action of the X-axis rodless cylinder 735 and the Z-axis slide cylinder 736, the clamped rivet nut is accurately transferred to the preset riveting operation position.

[0053] The Z-axis movement module 72 drives the servo-electric riveting actuator downwards, causing the rivet rod 746 to extend into the rivet nut. Simultaneously, the rotary power unit 745, through the sequential transmission of the rotary transmission assembly 753, the spline nut 748, and the transmission spline shaft 747, drives the rivet rod 746 to rotate and screw into the threaded hole of the rivet nut, causing the rivet nozzle 750 to contact the rivet nut. During this process, the clutch transmission assembly 751 is in a disengaged state. The release cylinder piston rod extends, pushing the movable clamping block 740 to overcome the spring force and displace, releasing the clamped rivet nut.

[0054] When the servo-electric riveting actuator is moved to the position directly above the hexagonal rivet hole, the clutch transmission assembly 751 engages. Through the sequential transmission of the bushing and the rivet nozzle 750, the rivet nut and the rivet rod 746 rotate synchronously to align the hexagonal step on the rivet nut with the hexagonal rivet hole. Then, the rotational power device 745 stops working. At this time, the Z-axis movement module 72 drives the servo-electric riveting actuator downward to accurately insert the rivet nut on the rivet rod 746 into the hexagonal rivet hole. Next, the reduction servo motor 743 drives the rivet rod 746 backward. The tension sensor 744 and the displacement sensor 741 provide millisecond-level feedback of the actual value to the tension controller 11. The tension controller 11 dynamically adjusts the output of the reduction servo motor 743 to keep the actual value close to the set curve. When the riveting reaches the set displacement / force value, it automatically stops and resets, thus riveting the rivet nut onto the hexagonal rivet hole. Subsequently, the rotary power unit 745 drives the rivet rod 746 to reverse and exit the threaded hole of the rivet nut, thus completing the entire riveting operation. This invention achieves a rivet pulling force accuracy of ±50N and a displacement accuracy of ±0.05mm, approximately 10 times the accuracy of traditional pneumatic riveting. Furthermore, it outputs real-time pulling force, displacement, and time curves, which can be directly read by a PLC or MES system. This allows for real-time monitoring and dynamic adjustment of the rivet pulling force and stroke, ensuring precise and controllable parameters and eliminating problems such as loose riveting, incomplete riveting, or over-riveting that damages the workpiece, significantly improving operational stability.

[0055] Based on the disclosure and teachings of the above specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention. Other devices obtained using the same or similar structures as described in the above embodiments of the present invention are all within the protection scope of the present invention.

Claims

1. A fully automatic vision positioning servo riveting machine, comprising a frame, characterized in that, It also includes a tension controller, an X-axis crossbeam, an X-axis slide rail assembly, a Y-axis slide rail assembly, a Y-axis conveyor rail assembly, a rivet feeding mechanism, a servo-electric riveting mechanism, a vision positioning device, and a blocking positioning device. Side frames are symmetrically arranged on both sides of the frame, forming a conveying channel between them. The Y-axis conveyor rail assembly is located on both sides of the conveying channel, and the blocking positioning device is located in the middle of the conveying channel. The Y-axis slide rail assembly is mounted on the side frames. The two ends of the X-axis crossbeam are movably mounted on the Y-axis slide rail assembly. The servo-electric riveting mechanism is mounted on the X-axis crossbeam via the X-axis slide rail assembly. The rivet feeding mechanism is connected to the servo-electric riveting mechanism. The vision positioning device is mounted on the servo-electric riveting mechanism. The X-axis slide rail assembly, Y-axis slide rail assembly, Y-axis conveyor rail assembly, rivet feeding mechanism, servo-electric riveting mechanism, vision positioning device, and blocking positioning device are all connected to and controlled by the tension controller.

2. The fully automatic vision positioning servo riveting machine according to claim 1, characterized in that, The servo-electric riveting mechanism includes a vertical base, a Z-axis moving module, a rivet placement device, and a servo-electric rivet pulling device. The Z-axis moving module is mounted on the vertical base, the servo-electric rivet pulling device is mounted on the Z-axis moving module, and the rivet placement device is mounted on the vertical base at a position below the Z-axis moving module.

3. The fully automatic vision positioning servo riveting machine according to claim 2, characterized in that, The rivet release device includes a back plate, side plates, a feeding seat, a feeding tube, an X-axis rodless cylinder, a Z-axis slide cylinder, a gripper cylinder, a left gripper block, a right gripper block, a movable gripper block, a spring, and a release cylinder. The X-axis rodless cylinder is mounted on the back plate, the Z-axis slide cylinder is mounted on the X-axis rodless cylinder, the gripper cylinder is mounted on the Z-axis slide cylinder, the left and right grippers are mounted on the two grippers of the gripper cylinder, and the movable gripper block is mounted on the right gripper block via a slide rail assembly. The movable gripper block has a [missing information - likely a design feature or design] at one end near the left gripper block. The clamping part extends to the left and right clamping blocks. The spring is disposed between the clamping part and the right clamping block. The release cylinder is disposed on the left clamping block and can push the clamping part to move away from the left clamping block. The feeding seat is disposed on the back plate through the side plate. The feeding tube is disposed on the feeding seat at the upper position corresponding to the left and right clamping blocks. The feeding tube is connected to the rivet feeding mechanism through the conveying tube. The bottom surface of the movable clamping block is provided with a locking position. The piston rod of the release cylinder is provided with a locking head that matches the locking position.

4. The fully automatic vision positioning servo riveting machine according to claim 3, characterized in that, The servo-electric rivet device includes a displacement sensor, a rotary base, a geared servo motor, a tension sensing device, a rotary power device, a rivet rod, a transmission spline shaft, a spline nut, a bushing, a rivet nozzle, and a clutch transmission assembly. The rotary base is fixedly mounted on the vertical base. The spline nut is mounted on the rotary base via a bearing. The upper end of the transmission spline shaft movably passes through the spline nut and is rotatably connected to the lower end of the tension sensing device. The geared servo motor is mounted on the vertical base and connected to the upper end of the tension sensing device via a lead screw extension assembly. The displacement sensor... The sensor is mounted on the lead screw extension assembly, the rotary power device is mounted on the rotary seat, and drives the spline nut to rotate via the rotary transmission assembly; the bushing is movably sleeved on the transmission spline shaft, and its upper end is rotatably mounted on the rotary seat via a bearing assembly; the rivet nozzle is mounted on the lower end of the bushing; the upper end of the rivet rod is connected to the transmission spline shaft, and its lower end extends out of the rivet nozzle; the rotary power device drives the bushing to rotate via a clutch transmission assembly; and the tension controller is connected to the displacement sensor, the reduction servo motor, and the tension sensing device respectively.

5. The fully automatic vision positioning servo riveting machine according to claim 4, characterized in that, The lead screw telescopic assembly includes a coupling, a tension lead screw, a lead screw nut, and a tension seat. The geared servo motor is mounted on the vertical base via a motor mount. The drive shaft of the geared servo motor is connected to the tension lead screw via a coupling. The tension seat is mounted on the vertical base via a linear guide assembly. The displacement sensor is mounted on the tension seat. The lead screw nut is mounted on the tension seat and is adapted to the tension lead screw. The tension sensing device includes an upper pull support, a tension sensor, a lower pull support, and a connecting seat. The upper and lower pull supports are respectively located at the upper and lower ends of the tension sensor. The connecting seat is located on the lower pull support. The bottom of the connecting seat has a rotating hole with a bearing cavity. A flat bearing is located inside the bearing cavity. The upper end of the transmission spline shaft passes through the rotating hole and the flat bearing, and a washer and a tension nut are sequentially provided thereon.

6. The fully automatic vision positioning servo riveting machine according to claim 4, characterized in that, The rotary transmission assembly includes a drive shaft, a rotary drive wheel, a rotary driven wheel, and a rotary belt. The drive shaft is mounted in the rotary seat via bearings, and its upper end is connected to the rotary power device. The rotary drive wheel is mounted on the drive shaft, and the rotary driven wheel is mounted on the spline nut and connected to the rotary drive wheel via the rotary belt. The clutch transmission assembly includes a sliding key shaft, a sliding bushing, an upper engagement disc, a lower engagement disc, a clutch drive wheel, a clutch driven wheel, a clutch belt, a clutch cylinder, and a ball joint. The upper engagement disc is located at the lower end of the drive shaft, and the sliding bushing corresponds to... The drive shaft is positioned below a bearing within the rotating seat. The clutch drive wheel is mounted on the sliding bushing. The sliding key shaft moves through the sliding bushing. The lower engagement disc is positioned at the upper end of the sliding key shaft and engages with the upper engagement disc when the sliding key shaft moves upward. The clutch driven wheel is positioned at the upper end of the bushing and is connected to the clutch drive wheel via a clutch belt. The clutch cylinder is positioned on the rotating seat at the lower end of the sliding key shaft. The ball joint is mounted on the piston rod of the clutch cylinder and pushes the sliding key shaft upward when the piston rod of the clutch cylinder extends.

7. The fully automatic vision positioning servo riveting machine according to claim 4, characterized in that, The visual positioning device includes a Z-axis visual slide rail, a Z-axis visual slide block, a light source, a light source mounting plate, a camera, and a stepper cylinder. The Z-axis visual slide rail is mounted on the vertical base, the Z-axis visual slide block is movably mounted on the Z-axis visual slide rail, the camera is mounted on the upper part of the Z-axis visual slide block, the light source is mounted on the lower part of the Z-axis visual slide block via the light source mounting plate, and the stepper cylinder is mounted on the vertical base and can drive the Z-axis visual slide block to reciprocate on the Z-axis visual slide rail.

8. The fully automatic vision positioning servo riveting machine according to claim 2, characterized in that, The Y-axis conveyor rail assembly includes two sets of oppositely arranged transport rail modules. One transport rail module is fixedly mounted on the frame, and the other transport rail module is fixedly mounted on the frame via a transverse slide rail assembly. Each transport rail module includes a conveyor frame, a conveyor belt assembly, a lateral guide wheel assembly, a clamping and positioning device, and tilting blocks. Two tilting blocks are located at both ends of the conveyor frame. The conveyor belt assembly is arranged along the long side of the conveyor frame, and the lateral guide wheel assembly is located on the conveyor frame at a position corresponding to the outer side of the conveyor belt assembly.

9. The fully automatic vision positioning servo riveting machine according to claim 1, characterized in that, It also includes a lifting and unloading rack, which is located at the end of the conveying channel. The lifting and unloading rack includes a moving trolley and two sets of lifting and conveying modules symmetrically arranged on both sides of the moving trolley. The lifting and conveying module includes a lifting frame, side plates, bottom pulley blocks, side pulley blocks, legs, and lifting cylinders. The lifting frame is mounted on the legs via a lifting guide rod assembly. The lifting cylinders drive the lifting frame to move up and down relative to the legs. The bottom pulley blocks are located on the upper surface of the lifting frame. The side plates are vertically mounted on the lifting frame. The side pulley blocks are located on the side plates at the outer positions corresponding to the bottom pulley blocks. The clamping and positioning device is located on the conveying frame at the inner position corresponding to the conveyor belt assembly.

10. The fully automatic vision positioning servo riveting machine according to any one of claims 1-9, characterized in that, There are two servo-electric riveting mechanisms, which are arranged side by side on the X-axis slide rail assembly.

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