Systems and construction methods for loosening-resistant mechanical connection

Abstract

The invention provides an anti-loose mechanical connection system and a construction method. The system comprises an embedded part with a containing cavity, a ring groove rivet, a fastening clamp, an image obtaining device and a processor. And the ring groove rivet is used for connecting and fixing the fastener to the embedded part accommodating cavity. The fastening clamp is configured to drive the ring groove rivet to rivet and lock the embedded part and the fastening part. The image acquisition device is configured to acquire an image. The processor is configured to determine the actual position of the embedded part based on the image and the BIM model; based on the actual position of the embedded part, a plurality of riveting point positions are determined; for each riveting point position, the intelligent operation equipment is controlled to grab the ring groove rivets and place the ring groove rivets into the riveting point positions; and the fastening clamp is controlled to rivet and lock the ring groove rivet. According to the scheme, dynamic and accurate positioning riveting can be achieved, and the connection strength is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202610218243.5 (22) Application Date 2026.02.24 (71) Applicant Chengdu Baiqin Technology Co., Ltd. Address 610093 No. 3, Unit 1, Building 2, No. 19, Fangcao East Street, High-tech Zone, Chengdu, Sichuan Province (72) Inventors Li Huaiguang, Zhong Shuxian, Fei Haolin, Zhu Yeyu (74) Patent Agency Chengdu Zhonghui Youchuang Intellectual Property Agency Co., Ltd. 51384 Patent Attorney Xue Hong (51) Int.Cl. E04B 1 / 41 (2006.01) F16B 19 / 08 (2006.01) E04G 21 / 14 (2006.01) E04G 21 / 18 (2006.01) E02D 29 / 045(2006.01) E02D 29 / 16(2006.01) G06V 20 / 60(2022.01) (54) Invention Title: Anti-loosening Mechanical Connection System and Construction Method (57) Abstract: This invention provides an anti-loosening mechanical connection system and construction method. The system includes: an embedded part with a receiving cavity, a grooved rivet, a fastening clamp, an image acquisition device, and a processor. The grooved rivet is used to connect and fix the fastener to the receiving cavity of the embedded part. The fastening clamp is configured to drive the grooved rivet to rivet and lock the embedded part and the fastener. The image acquisition device is configured to acquire an image. The processor is configured to: determine the actual position of the embedded part based on the image and the BIM model; determine multiple riveting points based on the actual position of the embedded part; for each riveting point: control the intelligent operation equipment to grab the grooved rivet and place it into the riveting point; control the fastening clamp to rivet and lock the grooved rivet. The above solution can achieve dynamic and precise positioning and riveting, thereby improving the connection strength. Claims 2 pages, Description 12 pages, Drawings 9 pages, CN 121760456 A 2026.03.31 CN 1 21 76 04 56 A 1. A system for preventing loosening of pre-embedded parts in a mechanical connection, characterized in that it comprises: a pre-embedded part with a receiving cavity, a grooved rivet, a fastening clamp, an image acquisition device, and a processor; the grooved rivet is used to connect a fastener and fix the fastener to the receiving cavity of the pre-embedded part; the fastening clamp is configured to drive the grooved rivet to rivet and lock the pre-embedded part and the fastener; the image acquisition device is configured to acquire image information; the processor is configured to: determine the actual position of the pre-embedded part based on the image information and a BIM model; determine multiple riveting points based on the actual position of the pre-embedded part; for each riveting point: control an intelligent operating device to grab the grooved rivet and place it into the riveting point; control the fastening clamp to rivet and lock the grooved rivet.2. The system as described in claim 1, characterized in that the annular groove rivet comprises a rivet and a sleeve; the rivet comprises a rivet head, a rivet shank, a locking section, and a tail section arranged sequentially along a first direction, the tail section comprising a groove and a tail tooth section, the groove being a continuous smooth arc surface; the sleeve comprises a flange and a connecting section arranged sequentially along the first direction, the connecting section being sleeved on the locking section; the flange and the rivet head of the sleeve are respectively located on both sides of the fastener; when the sleeve is compressed, the inner wall of the connecting section deforms and is riveted and locked to the locking section. 3. The system of claim 2, wherein controlling the fastening clamp to rivet and lock the annular groove rivet comprises: controlling the annular groove rivet to pass through the mounting hole of the fastener along the first direction, pressing the sleeve to move the sleeve along the locking section in the opposite direction to the first direction until the fastener abuts; controlling the jaws of the fastening clamp to engage with the tail section, and controlling the jaw contouring portion of the fastening clamp to engage and clamp the groove; controlling the fastening clamp to apply an axial force to the fastener, the sleeve pressing the fastener and deforming the sleeve to lock it on the locking section; controlling the fastening clamp to retract, completing the riveting. 4. The system of claim 2, wherein the groove comprises a first arc, a second arc, and a third arc arranged sequentially along the first direction, the radius of the second arc being greater than the radius of the first arc, and the radius of the second arc being greater than the radius of the third arc. 5. The system of claim 2, wherein the locking section includes a threaded section near the tail tooth section and a toothed section away from the tail tooth section; when the sleeve is compressed and moves from the threaded section to the toothed section, the inner wall of the sleeve deforms to complete the riveting and locking. 6. The system of claim 5, wherein the inner wall of the sleeve is provided with an internal thread, which matches the threaded section. 7. The system of claim 2, wherein the rivet head is a T-shaped dovetail structure, and the angle between the side wall of the rivet head near the tail section and the first direction is 60°–90°. 8. The system of claim 6, wherein a spring is provided on the side of the inner wall of the sleeve near the flange, and the spring is inclined toward the side away from the flange. 9. The system of claim 7, wherein: the spring sheet comprises two lateral spring sheets and a middle spring sheet; the toothed section of the locking section is provided with a spring sheet groove; the spring sheet engages with the spring sheet groove; the spring sheet groove is a concave trapezoid; when the two lateral spring sheets are located within the concave trapezoid, the two lateral spring sheets are compressed. 10. The system of claim 9, wherein:Along the first direction, the size of the spring slot decreases. 11. The system of claim 9, wherein: a hot melt adhesive block is provided in the spring slot; after the annular groove rivet is riveted and locked, the sleeve is heated, and the hot melt adhesive block melts and fills the gap between the toothed section and the spring slot. 12. The system of claim 9, wherein: an adhesive layer and a sealing film are provided in the spring slot; before the sleeve is installed, the adhesive layer is in a sealed state; when the spring is inserted into the spring slot, the spring breaks the sealing film, and the adhesive in the adhesive layer flows and diffuses to the toothed section. 13. A construction method for an anti-loosening mechanical connection, characterized in that the method is processor-based and includes: determining the actual position of the embedded part based on image information and BIM model acquired by an image acquisition device; determining multiple riveting points based on the actual position of the embedded part; for each riveting point: controlling an intelligent operation device to grab a grooved rivet and sequentially place it into the riveting point; controlling a fastening clamp to rivet and lock the grooved rivet. 14. The method of claim 13, characterized in that the method further includes: obtaining the embedded part error through a total station and correcting the BIM model based on the embedded part error. Claims 2 / 2 Page 3 CN 121760456 A Anti-loosening Mechanical Connection System and Construction Method Technical Field

[0001] This invention relates to the field of construction technology, and particularly to an anti-loosening mechanical connection system and construction method. Background Art

[0002] With the acceleration of infrastructure construction such as high-speed rail, pipe corridors and nuclear power, the application of embedded parts in structural fixing is becoming increasingly widespread. However, existing embedded parts mainly rely on pre-drilled holes for positioning, which often leads to physical conflicts between anchor rods and structural steel bars, forcing the cutting of steel bars or anchor rods, seriously damaging the structural integrity. At the same time, traditional manual riveting is inefficient, and existing grooved rivets have defects such as insufficient fastening force, easy slippage of the chuck, stress concentration leading to tooth damage, and difficulty in processing and inspection, making it difficult to meet the requirements of high reliability working conditions.

[0003] Therefore, it is necessary to propose an anti-loosening mechanical connection system and construction method to achieve non-dynamic precise positioning riveting, while improving connection strength. Summary of the Invention

[0004] The present invention provides an anti-loosening mechanical connection system, including: an embedded part with a receiving cavity, a grooved rivet, a fastening clamp, an image acquisition device, and a processor. The grooved rivet is used to connect fasteners and fix the fasteners to the receiving cavity of the embedded part. The fastening clamp is configured to drive the grooved rivet to rivet and lock the embedded part and the fasteners. The image acquisition device is configured to acquire image information. The processor is configured to: determine the actual location of the embedded parts based on image information and the BIM model; determine multiple riveting points based on the actual location of the embedded parts; and for each riveting point: control intelligent operating equipment to grasp the ring groove rivet.And place it at the riveting point; control the fastening clamp to rivet and lock the annular groove rivet.

[0005] In some embodiments, the annular groove rivet includes a rivet and a sleeve; the rivet includes a rivet head, a rivet shank, a locking section and a tail section arranged sequentially along a first direction, the tail section includes a groove and a tail tooth section, the groove being a continuous smooth arc surface; the sleeve includes a flange and a sleeve section arranged sequentially along the first direction, the sleeve section being sleeved on the locking section; the flange and rivet head of the sleeve are respectively located on both sides of the fastener; when the sleeve is squeezed, the inner wall of the sleeve section deforms and is riveted and locked with the locking section.

[0006] In some embodiments, the processor is further configured to: control the annular groove rivet to pass through the mounting hole of the fastener along a first direction, compress the sleeve to move the sleeve along a direction opposite to the first direction on the locking section until it abuts against the fastener; control the riveting jaws of the fastening fixture to engage with the tail section, and control the jaw contouring portion of the fastening fixture and the groove to engage and clamp; control the fastening fixture to apply an axial force to the fastener, the sleeve presses against the fastener and the sleeve deforms to lock onto the locking section; control the fastening fixture to retract, completing the riveting.

[0007] In some embodiments, the groove includes a first arc, a second arc and a third arc arranged sequentially along the first direction, the radius of the second arc being greater than the radius of the first arc, and the radius of the second arc being greater than the radius of the third arc.

[0008] In some embodiments, the locking section includes a threaded section near the tail tooth section and a toothed section away from the tail tooth section. When the sleeve is compressed and moves from the threaded section to the toothed section, the inner wall of the sleeve deforms to complete the riveting locking.

[0009] In some embodiments, the inner wall of the sleeve is provided with an internal thread, which matches the thread tooth segment.

[0010] In some embodiments, the rivet head is a T-shaped dovetail structure, and the angle between the side wall of the rivet head near the tail segment and the first direction is 60°-90°.

[0011] In some embodiments, a spring is provided on the side of the inner wall of the sleeve near the flange, and the spring is inclined towards the side away from the flange.

[0012] In some embodiments, the spring includes two lateral springs and a middle spring, and the toothed section of the locking segment is provided with a spring groove, and the spring engages with the spring groove; the spring groove is a concave trapezoid, and when the two lateral springs are located within the concave trapezoid, the two lateral springs are compressed.

[0013] In some embodiments, the size of the spring groove decreases along the first direction.

[0014] In some embodiments, a hot melt adhesive block is provided in the spring slot. After the ring groove rivet is riveted and locked, the sleeve is heated, and the hot melt adhesive block melts and fills the gap between the toothed section and the spring slot.

[0015] In some embodiments, an adhesive layer and a sealing film are provided in the spring slot. Before the sleeve is installed, the adhesive layer is in a sealed state. When the spring is inserted into the spring slot, the spring breaks the sealing film, and the adhesive in the adhesive layer flows and diffuses to the toothed section.

[0016] This invention provides a construction method for preventing loosening of mechanical connections, which is processor-based and includes: determining the actual position of embedded parts based on image information and BIM model acquired by an image acquisition device; determining multiple riveting points based on the actual position of the embedded parts; for each riveting point: controlling an intelligent operating device to grab a grooved rivet and sequentially place it into the riveting point; controlling a fastening clamp to rivet and lock the grooved rivet.

[0017] The invention will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers denote the same structures, wherein:

[0018] FIG1 is a schematic diagram of an anti-loosening mechanical connection system according to some embodiments of the present specification; FIG2 is a schematic diagram of a fastener riveted in a receiving cavity according to some embodiments of the present specification; FIG3 is a side view of a grooved rivet according to some embodiments of the present specification; FIG4 is a top view of a grooved rivet according to some embodiments of the present specification; FIG5 is a schematic diagram of a sleeve according to some embodiments of the present specification; FIG6 is a schematic diagram of a grooved structure according to some embodiments of the present specification; FIG7 is a schematic diagram of the installation position of a spring according to some embodiments of the present specification; FIG8 is a cross-sectional schematic diagram of a sleeve according to some embodiments of the present specification; FIG9 is a schematic diagram of a spring according to some embodiments of the present specification; FIG10 is a cross-sectional schematic diagram of a toothed segment according to some embodiments of the present specification; FIG11 is an exemplary flowchart of a construction method for an anti-loosening mechanical connection according to some embodiments of the present specification.

[0019] Explanation of reference numerals: 1-ring groove rivet; 11-rivet; 111-rivet head; 112-rivet shank; 113-locking section; 1131-threaded section; 1132-toothed section; 1133-spring slot; 114-tail section; 1141-pull groove; a-first arc; b-second arc; c-third arc; 1142-tail tooth section; 12-sleeve; 121-flange; 122-sleeve section; 123-textured groove; 124-spring; 1241-lateral spring; 1242-intermediate spring; 2-embedded part; 21-receiving cavity; 3-fastener; 4-fastening fixture; 5-image acquisition device; 6-processor. Detailed Description of Embodiments

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are merely some examples or embodiments of the present invention. Those skilled in the art can, without creative effort, apply the present invention (page 2 / 12, CN 121760456 A) to other similar scenarios based on these drawings. Unless obvious from the linguistic context or otherwise specified, the same reference numerals in the drawings represent...Same structure or operation.

[0021] It should be understood that the terms “system,” “apparatus,” “unit,” and / or “module” used herein are methods used to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0022] As shown in the invention and claims, unless the context clearly indicates an exception, words such as “a,” “an,” “an,” and / or “the” do not specifically refer to the singular and may also include the plural. Generally speaking, the terms “comprising” and “including” only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0023] Flowcharts are used in this invention to illustrate the operations performed by a system according to embodiments of the invention. It should be understood that preceding or following operations are not necessarily performed in exact order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more steps may be removed from these processes.

[0024] FIG1 is a schematic diagram of an anti-loosening mechanical connection system according to some embodiments of this specification. FIG2 is a schematic diagram of a fastener riveted in a receiving cavity according to some embodiments of this specification.

[0025] In some embodiments, as shown in FIG1-FIG2, the anti-loosening mechanical connection system 100 (hereinafter referred to as system 100) includes: an embedded part 2 having a receiving cavity 21, a grooved rivet 1, a fastening clamp 4, an image acquisition device 5, and a processor 6. The grooved rivet 1 is used to connect the fastener 3 and fix the fastener 3 to the receiving cavity 21 of the embedded part 2. The fastening clamp 4 is configured to drive the grooved rivet to rivet and lock the embedded part and the fastener. The image acquisition device 5 is configured to acquire image information. The processor 6 is configured to: determine the actual position of the embedded part 2 based on image information and BIM model; determine multiple riveting points based on the actual position of the embedded part 2; for each riveting point: control the intelligent operation equipment to grab the grooved rivet 1 and place it into the riveting point; control the fastening clamp 4 to rivet and lock the grooved rivet 1.

[0026] The grooved rivet 1 is used to fix the fastener 3 to the embedded part 2.

[0027] In some embodiments, the number of grooved rivets 1 can be one or more. In some embodiments, the grooved rivets 1 correspond one-to-one with the fastener 3. In some embodiments, multiple grooved rivets 1 can be used to fix one fastener 3.

[0028] In some embodiments, the grooved rivet 1 further includes a rivet 11 and a sleeve 12. For more details about the grooved rivet 1, see Figures 2-4 and related descriptions.

[0029] The fastener 3 refers to the workpiece that needs to be riveted by the grooved rivet 1 to achieve a fastening effect. For example, fastener 3 can be a cable bracket, contact wire support, pipe hanger, curtain wall hanger, or other workpiece that needs to be fastened.

[0030] The embedded part 2 is a structural component used to rivet the fastener 3. The embedded part 2 is used to support and carry the grooved rivet 1 and the fastener 3. For example, the embedded part 2 can be a channel steel, T-shaped steel, C-shaped steel, etc. The receiving cavity 21 is a cavity opened inside the embedded part 2. The receiving cavity 21 is used to receive and fix the grooved rivet 1.

[0031] In some embodiments, the embedded part 2 can be set inside the concrete of a preset construction scenario. For example, the embedded part 2 is embedded in a tunnel. For another example, in a pipe gallery project, the embedded part 2 is pre-fixed with other pipe galleries. In some embodiments, before concrete pouring and vibration, the embedded part 2 is filled with polyethylene foam strips, groove adhesive, or EV foam tape to prevent concrete from seeping in.

[0032] In some embodiments, the embedded part 2 and the fastener 3 are provided with openings through which the grooved rivet 1 passes.

[0033] The fastening clamp 4 is used to perform the riveting operation. The fastening clamp 4 may include a drive mechanism, jaws, an anvil, etc. The mechanism may be an electric, pneumatic, or hydraulic drive. The jaws are used to clamp and deform the grooved rivet 1. The jaws include a contouring part, the shape of which can be designed according to the shape of the grooved rivet 1 or the embedded part 2. For example, the contouring part may be an arc-shaped or irregular structure that matches the edge of the embedded part 2 or the contour of the fastener 3. The anvil is used to press the sleeve 12.

[0034] In some embodiments, the fastener 3 can be locked by the grooved rivet 1 and the fastening clamp 4 to achieve riveting and locking of the fastener 3. Before riveting, the fastener 3 can be clamped by a workpiece clamping device to make the fastener 3 abut against the opening of the embedded part 2, preventing displacement during riveting.

[0035] The image acquisition device 5 may include at least one of a lidar, an industrial camera, a depth camera, a laser scanner, etc.

[0036] Image information refers to image information containing the embedded part 2. Image information includes point cloud data. Point cloud data is a set of discrete points with three-dimensional coordinates and reflection intensity information. Point cloud data includes the three-dimensional coordinates of multiple sampling points of the embedded part 2. Sampling points can be randomly selected.

[0037] Processor 6 is configured to process data related to system 100. In some embodiments, processor 6 communicates with image acquisition device 5 and fastening fixture 4.

[0038] In some embodiments, processor 6 may include one or more combinations of microcontroller (MCU), embedded processor, graphics processing unit (GPU), etc.

[0039] In some embodiments, processor can acquire point cloud data through image acquisition device 5.

[0040] Building Information Modeling (BIM) is an integrated digital model that contains relevant information about the entire lifecycle of a building project, from design and construction to operation and maintenance. A BIM model includes at least the geometric model and location of the embedded part 2 constructed based on the design drawings. The location can be represented by the three-dimensional coordinates of multiple points.

[0041] In some embodiments, the processor can obtain the BIM model file from a local storage device (e.g., hard drive, memory) or a user terminal. For example, the BIM model file can be pre-imported into a local storage device or uploaded to the user terminal by the user. The user terminal can be a personal computer, mobile phone, tablet computer, etc. The BIM model can be constructed based on the design drawings using 3D modeling software.

[0042] The actual location of the embedded part 2 refers to its actual location in three-dimensional space. The actual location of the embedded part 2 can be represented by its edge lines, central axis, surface normal vector, etc., or by the three-dimensional coordinates of multiple sampling points of the embedded part 2.

[0043] In some embodiments, the processor 6 can determine the actual location of the embedded part 2 using a point cloud data processing algorithm. For example, processor 6 can register point cloud data and BIM model to a unified coordinate system based on a point cloud registration algorithm; perform feature extraction and segmentation on the registered point cloud data to obtain segmented point cloud data; perform geometric reconstruction on the segmented point cloud data to determine the embedded part 2; match and fuse the geometric model of the embedded part 2 with the BIM model to determine the actual position of the embedded part 2.

[0044] The point cloud registration algorithm can be ICP (Iterative Closest Point) algorithm, NDT (Normal Distributions Transform) algorithm or feature-based registration algorithm.

[0045] In some embodiments, the processor performs feature extraction and segmentation on the registered point cloud data, including: identifying and extracting the contour surface where the embedded part 2 is located from the registered point cloud data using a surface extraction algorithm (such as URRANSAC (Random Sample Consensus algorithm); and identifying the edge line, center line, or surface normal vector of the embedded part in the point cloud as the actual position of the embedded part 2 using deep learning (such as PointNet, PointCNN) or traditional machine learning.

[0046] The riveting point refers to the riveting position of the annular groove rivet 1. For example, the riveting point can be represented by the three-dimensional coordinates of the center point of the cross section of the annular groove rivet 1 on the surface of the embedded part 2.

[0047] In some embodiments, the processor 6 can determine multiple riveting points based on the actual position of the embedded part 2 using a preset algorithm. For example, the processor 6 can obtain the riveting strength requirement; and determine the riveting point under the premise of meeting the strength requirement.The target number (e.g., minimizing the number of riveting points); based on the optimization algorithm, a set of riveting points is generated. Riveting strength requirements include rivet spacing, edge distance, etc. Riveting strength requirements can be obtained through the user terminal. Optimization algorithms include heuristic algorithms (such as genetic algorithms, simulated annealing), mathematical programming algorithms (linear programming, integer programming), etc.

[0048] In some embodiments, the processor can also determine multiple riveting points through other suitable methods.

[0049] In some embodiments, the processor 6 can also obtain the embedded part error through a total station, and correct the BIM model based on the embedded part error.

[0050] A total station is a high-precision measuring instrument used to measure embedded part errors. A total station can be used to measure three-dimensional coordinates. A total station also includes an angle measurement system and a distance measurement system (EDM).

[0051] For more information about the BIM model, please refer to the relevant content in Figures 1-2.

[0052] Embedded part error refers to the deviation between the actual position of the embedded part 2 on the construction site and the ideal position in the BIM model or design drawings.

[0053] In some embodiments, the processor 6 can control the total station to detect the actual three-dimensional coordinates of key points of the embedded part 2 in real time, compare the actual three-dimensional coordinates of the key points with the three-dimensional coordinates of the key points in the BIM model, and use the vector difference of the three-dimensional coordinates of each key point as the embedded part error; adjust the three-dimensional coordinates of the key points in the BIM model based on the embedded part error. Key points may include corner points, endpoints, turning points, etc.

[0054] In some embodiments, the processor 6 can control the total station to measure the positional deviation and angular deviation between the actual center axis of the embedded part 2 and the center axis of the embedded part 2 in the BIM model as the embedded part error; adjust the position of the embedded part 2 in the BIM model based on the embedded part error so that the center axis of the embedded part 2 coincides with the actual center axis.

[0055] In some embodiments, by measuring with the total station and correcting the BIM model, construction space deviation can be eliminated, and the design and site can be highly synchronized. This allows for precise installation of subsequent supports and pipework based on real coordinates, effectively avoiding interference and significantly improving construction efficiency and assembly accuracy.

[0056] The intelligent operating device is a functional component used to grasp the grooved rivet 1 and move it to the riveting point. In some embodiments, the intelligent operating device is communicatively connected to the processor 6. The intelligent operating device can be a robotic arm, etc.

[0057] In some embodiments, the intelligent operating device can grasp one or more grooved rivets and place them at the riveting point based on a target path.

[0058] In some embodiments, the processor 6 can plan multiple candidate paths based on the three-dimensional coordinates of the riveting point and the actual position of the embedded part, using a path planning algorithm (such as an improved RRT algorithm); the shortest candidate path is taken as the target path.

[0059] In some embodiments, through dynamic positioning and algorithm analysis, automatic obstacle avoidance and high-precision placement of riveting points can be achieved. Combined with automated and intelligent operation equipment, construction efficiency and standardization level are greatly improved, ensuring that the fastener 3 is firmly and reliably connected.

[0060] Figure 3 is a side view of a grooved rivet according to some embodiments of this specification. Figure 4 is a top view of a grooved rivet according to some embodiments of this specification. Figure 5 is a structural diagram of a sleeve according to some embodiments of this specification.

[0061] In some embodiments, as shown in Figures 2-5, the grooved rivet 1 includes a rivet 11 and a sleeve 12. The rivet 11 includes a rivet head 111, a rivet shank 112, a locking section 113 and a tail section 114 arranged sequentially along a first direction. The tail section 114 includes a pull groove 1141 and a tail tooth section 1142. The pull groove 1141 is a continuous and smooth arc surface. The sleeve 12 includes a flange 121 and a connecting section 122 arranged sequentially along a first direction. The connecting section 122 is fitted onto the locking section 113. The flange 121 and the rivet head 111 of the sleeve 12 are located on both sides of the fastener 3, respectively. When the sleeve 12 is compressed, the inner wall of the connecting section 122 deforms and is riveted and locked to the locking section 113.

[0062] The rivet 11 is used to cooperate with the sleeve 12 to achieve a fastening connection. In some embodiments, the rivet 11 is made of metal material.

[0063] When the annular groove rivet 1 is riveted, the first direction is a direction perpendicular to the surface of the embedded part 2 and away from the embedded part 2. When not riveted, the first direction is the direction of the central axis of the annular groove rivet 1.

[0064] Some embodiments of this specification use "front" and "back" to describe the direction, which are relative concepts. For example, as shown in FIG2, "front" means the direction opposite to the first direction, and "back" means the first direction.

[0065] The rivet head 111 is used to engage with the embedded part 2, forming a fixing surface after riveting to bear axial load and prevent the rivet 11 from being pulled out of the fastener 3. The rivet head 111 and the sleeve 12 together clamp the fastener, locking and fixing the fastener 3 and the embedded part 2.

[0066] In some embodiments, as shown in Figures 2-4, the rivet head 111 has a T-shaped dovetail structure, and the angle between the side wall of the rivet head 111 near the tail section 114 and the first direction ranges from 60° to 90°.

[0067] In some embodiments, the rivet head 111 has a T-shaped structure. As shown in Figures 3-4, along the projection plane perpendicular to the first direction, the rivet head 111 has a long side L1 and a short side L2. In some embodiments, the opening of the embedded part 2 is elongated, and the opening of the embedded part 2 includes the long side and the short side. The short side L2 of rivet head 111 is smaller than the short side of the opening of embedded part 2.The long side L1 of the rivet head 111 is greater than the short side of the opening of the embedded part 2 and less than the long side of the opening of the embedded part 2. During riveting, the intelligent operation equipment can control the grooved rivet 1 so that the long side of the rivet head 111 is parallel to the long side of the opening of the embedded part 2, and put the grooved rivet 1 into the receiving cavity 21 along the opening of the embedded part 2; control the grooved rivet 1 to rotate 90° around the first direction so that the long side L2 of the rivet head 111 is parallel to the short side of the opening of the embedded part 2, thereby preventing the grooved rivet 1 from coming loose from the receiving cavity 21.

[0068] In some embodiments, as shown in FIG3, the two sidewalls of the rivet head 111 near the tail section 114 are inclined cut surfaces (dovetails), and the angle between the sidewalls of the rivet head 111 near the tail section 114 and the first direction is α. The value of α is in the range of 60°-90°.

[0069] In some embodiments, the inner wall of the receiving cavity 21 near the opening has an inclined cross-section, and the inclined cross-section of the rivet head 111 wedges with the inclined cross-section of the inner wall of the receiving cavity 21, thereby forming a dovetail-shaped interlock to resist pull-out and rotation.

[0070] In some embodiments, the included angle α can be set to 60°~70°, and the inclination of the side wall of the rivet head 111 is relatively large, which can form a stronger wedge-like effect and barb effect with the inner wall of the receiving cavity 21 during riveting.

[0071] In some embodiments, the included angle α can be set to 80°~90°, and the side wall of the rivet head 111 is perpendicular or nearly perpendicular to the rivet axial direction (first direction), forming a structure closer to a traditional T-shaped head. This configuration has greater manufacturing convenience, while still providing good shearing and a certain pull-out resistance through its overall T-shaped dovetail structure.

[0072] In some embodiments of this specification, by designing the rivet head as a T-shaped dovetail structure, the mechanical interlocking capability between the rivet and the connected parts is significantly enhanced, effectively resisting axial pull-out force and torsional force. Combined with the angle between the rivet head sidewall and the axial direction controlled at 60°-90°, high pull-out resistance is ensured while also taking into account the ease of manufacturing and installation of the rivet.

[0073] The rivet shank 112 is used to connect the rivet head 111 and the locking section 113 and transmit stress. The cross-section of the rivet shank 112 can be circular or square. In some embodiments, the connection between the rivet head 111 and the rivet shank 112 can be designed as a rounded transition, thereby improving the fatigue strength of the rivet 11.

[0074] The locking section 113 is used to cooperate with the sleeve 12 to undergo plastic deformation to achieve locking and fixing.

[0075] In some embodiments, the surface of the locking section 113 is provided with threads or grooves, etc.

[0076] The tail section 114 is used to provide force support for intelligent operating equipment or fastening clamps 4, etc. Specification 6 / 12 pages 9 CN 121760456 A

[0077] In some embodiments, the rivet head 111, rivet shank 112, locking section 113, and tail section 114 can be integrally formed or obtained by machining (turning / milling, roll forming, etc.).

[0078] The tail section 114 includes a groove 1141 and a tail tooth section 1142 connected along a first direction.

[0079] The groove 1141 is used to provide a support position or gripping point for the fastening clamp 4 during riveting. The groove 1141 may be a portion of the tail section 114 with an annular groove or cutout.

[0080] In some embodiments, the surface of the groove 1141 is a continuous, smooth, concave arc surface.

[0081] In some embodiments, the groove 1141 may match the appearance of the jaws in the fastening clamp 4 to avoid the problem of slippage and instability of the fastening clamp 4.

[0082] The tail tooth section 1142 is used to increase the friction between the fastening clamp 4 and the rivet 11, or to provide additional locking function during riveting. In some embodiments, the surface of the tail tooth section 1142 is provided with protrusions or textures, for example, the tail tooth section 1142 may be designed as serrated, spiral, or dotted to optimize its gripping and locking effect.

[0083] The sleeve 12 is used to cover or support the rivet 11 during riveting and deforms under force to achieve locking. The sleeve 12 can be made of rubber, engineering plastics, etc.

[0084] The sleeve 12 is a hollow tubular structure.

[0085] The flange 121 is used to provide a support surface during riveting and to disperse stress to avoid stress concentration. In some embodiments, the diameter of the flange 121 is larger than the diameter of the sleeve section 122.

[0086] When the annular groove rivet is installed, the flange 121 is tightly attached to the outer surface of the fastener 3.

[0087] In some embodiments, as shown in FIG2, when the rivet 11 passes through the hole of the connected part and cooperates with the sleeve 12, the rivet head 111 of the rivet 11 is located on the side of the fastener 3 facing the embedded part 2, and the flange 121 of the sleeve 12 is located on the side surface of the fastener 3 away from the embedded part 2.

[0088] The socket section 122 is used to undergo plastic deformation when compressed and to achieve mechanical interlocking with the locking section 113 of the rivet 11.

[0089] The inner diameter of the socket section 122 is larger than the diameter of the locking section 113. The difference between the inner diameter of the socket section 122 and the diameter of the locking section 113 does not exceed the gap threshold. The gap threshold is preset by a technician based on experience. For example, the gap threshold can be 0.5 mm, etc.

[0090] In some embodiments, a textured groove 123 is provided on the front end face of the flange 121.

[0091] The textured groove 123 is used to increase the friction between the flange 121 and the fastener 3.

[0092] In some embodiments, the textured groove includes corrugated groove, wave groove, arc groove, etc.

[0093] By providing the textured groove 123 on the surface of the flange 121, the biting force and frictional resistance between the contact surfaces of the flange 121 and the fastener 3 are increased, the compressive strength of the flange 121 is improved, and the fastening effect is enhanced.

[0094] In some embodiments, by optimizing the segmented structural design of the rivet 11 and the sleeve 12, the rivet is ensured to be secure before riveting.Precise fit and positioning with the sleeve. The smooth arc surface of the groove 1141 ensures that the fastening clamp 4 grips accurately and stably, and reduces stress concentration. When the sleeve is compressed, the inner wall of the sleeve section deforms and is riveted and locked with the locking section, which significantly improves the strength and stability of the riveted connection and effectively resists axial and radial pull-out forces.

[0095] In some embodiments, the working principle of riveting and locking is as follows: The fastening clamp 4 applies axial tension to the rivet 11 through the groove 1141, so that the rivet head 111 and the flange 121 of the sleeve 12 generate opposing clamping forces, locking the fastener 3 to the embedded part 2. At the same time, the anvil of the fastening clamp 4 compresses the sleeve section 122, causing the material of the sleeve section 122 to undergo plastic flow and forcibly embed into the locking section 113 of the rivet 11. Because the inner wall of the sleeve section 122 and the locking section 113 form a deep and irreversible mechanical interlock, the risk of loosening due to vibration in traditional threaded connections is eliminated, and high-strength, permanent rigid locking is achieved. Specification 7 / 12 pages 10 CN 121760456 A

[0096] In some embodiments, the processor 6 is further configured to: control the annular groove rivet 1 to pass through the mounting hole of the fastener 3 in a first direction, compress the sleeve 12 to deform the sleeve 12 and move it in a direction opposite to the first direction on the locking section 113 until it abuts against the fastener 3; control the jaws of the fastening clamp 4 to engage the tail section, and control the jaw contour part of the fastening clamp 4 and the pull groove 1141 to mesh and clamp; control the fastening clamp 4 to apply an axial force to the fastener 3, the sleeve 12 presses against the fastener and the sleeve 12 deforms to lock on the locking section 113; control the fastening clamp 4 to retract, and complete the riveting.

[0097] The mounting hole of the fastener 3 refers to the opening that penetrates the fastener. In some embodiments, the processor 6 is configured to control the intelligent operating device to make the grooved rivet 1 pass through the mounting hole of the fastener 3 in a first direction, and then control the grooved rivet 1 to rotate 90° along the central axis. If the grooved rivet 1 is pulled further, the rivet head 111 on the side facing the sleeve 12 will at least partially fit against the inner wall of the embedded part 2, thereby making the grooved rivet 1 stuck in the embedded part 2 and unable to be pulled out.

[0098] In some embodiments, the processor 6 is configured to control the anvil of the fastening clamp 4 to press the sleeve 12 forward, the sleeve 12 is deformed by the pressure and moves forward on the locking section 113 until the flange 121 of the sleeve 12 fits against the surface of the fastener 3.

[0099] In some embodiments, the processor 6 can send instructions to the drive mechanism of the fastening clamp 4, causing the drive mechanism to move the jaws and engage the tail section 114 of the rivet 11; and control the drive mechanism of the fastening clamp 4 to retract the jaws, so that the jaw contour portion matches the groove 1141 and clamps the arc surface of the groove 1141, thereby achieving meshing and clamping.

[0100] Axial force refers to the force along the central axis of the fastener 3.

[0101] In some embodiments, the processor 6 controls the anvil of the fastening clamp 4 to press the sleeve 12 forward, while simultaneously driving the jaws to pull the rivet 11 backward until the fastener 3 is clamped by axial forces from both sides; the jaws continue to pull the rivet 11 backward until the pressure of the fastening clamp 4 reaches a preset pressure threshold, the sleeve 12 deforms and locks onto the locking section 113, thereby riveting and locking the fastener. The preset pressure threshold can be set empirically. The preset pressure threshold is greater than the yield strength pressure of the sleeve 12. The yield strength pressure refers to the minimum pressure that causes the sleeve 12 to undergo permanent plastic deformation.

[0102] In some embodiments, after riveting is completed, the processor 6 sends a command to the fastening clamp to release the clamped rivet tail and drive the fastening clamp 4 to move out along the first direction; and controls the intelligent operation equipment to exit the site.

[0103] In some embodiments, when the fastening clamp 4 is withdrawn, the stress generated by the deformation of the sleeve 12 keeps the sleeve 12 in a constant high clamping force state, thereby achieving long-term clamping of the fastener 3.

[0104] The system of some embodiments of this specification significantly improves the level of riveting automation and quality by controlling key riveting steps such as insertion of the ring groove rivet, sleeve deformation, clamping of the chuck, and application of axial force through processor control, forming a riveted joint with high strength and good stability, thereby significantly improving product quality and production efficiency.

[0105] FIG6 is a schematic diagram of the groove structure shown in some embodiments of this specification.

[0106] In some embodiments, as shown in FIG6, the groove 1141 includes a first arc a, a second arc b, and a third arc c arranged sequentially along a first direction, wherein the radius of the second arc b is greater than the radius of the first arc a, and the radius of the second arc b is greater than the radius of the third arc c.

[0107] The first arc a, the second arc b, and the third arc c are continuous arcs with different radii. The first arc a, the second arc b, and the third arc c together form a continuous and smooth arc surface of the groove 1141.

[0108] The first arc a is located on the side of the groove 1141 near the locking section 113. The second arc b is located on the middle arc section of the groove 1141. The second arc b is the force-bearing area of ​​the clamping jaws of the fastening fixture 4 after clamping. The third arc c is the side of the groove 1141 near the tail tooth section 1142.

[0109] During riveting, the jaws enter the groove 1141 from the third arc c. The smaller radii of the first arc a and the third arc c can limit the jaws, preventing them from sliding out from both sides of the groove 1141. Because the chuck tends to move and slide out towards the third arc c when pulled (see page 8 / 12, CN 121760456 A c), setting the radius of the third arc c to a smaller value can better prevent the chuck from sliding out of the third arc c. The larger radius of the second arc b helps to disperse the high-strength tensile force, avoiding stress concentration that could cause the rivet 11 to...The tail section 114 breaks. The third arc c echoes the first arc a, forming a closed arc-shaped chamber to prevent the chuck from slipping axially backward during the stretching process.

[0110] In some embodiments, by setting arcs of different radii to form a continuous and smooth arc surface of the groove 1141, stress concentration can be eliminated, and automatic centering and precise engagement of the rivet 11 and the chuck of the fastening fixture 4 can be achieved.

[0111] In some embodiments, as shown in Figures 3-4, the locking section 113 includes a threaded section 1131 near the tail tooth section 1142 and a toothed section 1132 away from the tail tooth section 1142. When the sleeve 12 is squeezed and moves from the threaded section 1131 to the toothed section 1132, the inner wall of the sleeve 12 deforms to complete the riveting and locking.

[0112] The threaded section 1131 is used to provide axial guidance and pre-tightening positioning when the sleeve 12 undergoes initial deformation. The surface of the threaded section 1131 has a threaded structure.

[0113] The toothed section 1132 is used to cooperate with the sleeve 12 to achieve locking and fixation. The toothed section 1132 has a toothed groove structure, which can provide a more stable mechanical lock after the sleeve 12 is deformed. The toothed groove structure of the sleeve 12 can effectively prevent the sleeve from retracting. The toothed groove structure accommodates the plastic flow of the metal after the sleeve 12 is compressed, forming a multi-level shear-resistant rigid interlocking interface, thereby providing the annular groove rivet 1 with a long-lasting axial load-bearing capacity and efficient anti-vibration and anti-loosening performance.

[0114] In some embodiments, the processor 6 can control the jaws of the fastening clamp 4 to pull the groove 1141, and simultaneously control the anvil to press the sleeve 12 forward, so that the sleeve 12 moves along the threaded section 1131 of the locking section 113 to the toothed section 1132; continue pulling the groove 1141 until the pulling force of the fastening clamp 4 is greater than a preset threshold, the inner wall of the sleeve 12 undergoes plastic deformation and engages with the toothed section 1132, thereby completing the riveting lock.

[0115] In some embodiments, through the segmented design of the locking section 113, the threaded section 1131 is used to guide the movement of the sleeve 12, and the toothed section 1132 is used to achieve deep plastic interlocking. This segmented transition mechanism reduces the installation load fluctuation of the annular groove rivet 1 and significantly improves the connection strength and reliability of the annular groove rivet 1.

[0116] In some embodiments, the inner wall of the sleeve 12 is provided with an internal thread, which matches the threaded section 1131.

[0117] In some embodiments, the internal thread of the inner sidewall of the sleeve 12 can be processed by turning, milling, rolling, or grinding.

[0118] In some embodiments, the size and shape of the internal thread are precisely matched with the size and shape of the thread segment 1131. The inner sidewall of the sleeve 12 rotates relative to the thread segment 1131. In some embodiments, the processor 6 can control the jaws of the fastening clamp 4 to pull the groove 1141, while controlling the anvil to press the sleeve 12 forward, so that the sleeve 12 moves along the thread of the locking section 113.The threaded section 1131 moves to the toothed section 1132 by rotation.

[0119] In some embodiments of this specification, by providing an internal thread that matches the threaded section on the inner wall of the sleeve, a stable connection between the sleeve and the locking section can be achieved. Precise thread matching can guide the axial movement of the sleeve and withstand axial force and torque, significantly improving the overall stability and service life of the mechanical structure or equipment.

[0120] FIG7 is a schematic diagram of the installation position of the spring piece according to some embodiments of this specification. FIG8 is a schematic diagram of the cross-sectional structure of the sleeve according to some embodiments of this specification.

[0121] In some embodiments, as shown in FIG7 and FIG8, a spring piece 124 is provided on the inner wall of the sleeve 12 near the flange 121, and the spring piece 124 is inclined toward the side away from the flange 121.

[0122] The inner wall of the sleeve 12 refers to the inner wall surface of the sleeve 12 near the rivet 11.

[0123] The spring piece 124 is used to assist in the fixing and locking of the sleeve 12 and the rivet 11. The spring piece 124 is a thin sheet structure with elastic deformation capability. The spring piece 124 is provided protruding from the inner wall of the sleeve 12. Specification 9 / 12 pages 12 CN 121760456 A

[0124] In some embodiments, when the sleeve 12 is inserted along the first direction, the spring piece 124 is squeezed and deformed along the inclined direction, with less resistance; if the sleeve 12 is dislodged in the opposite direction, the spring piece 124 deforms and engages with the teeth of the toothed groove section 1132 to prevent the sleeve from loosening.

[0125] In some embodiments, one or more spring pieces 124 may be provided. If multiple spring pieces 124 are provided, the multiple spring pieces 124 are evenly and equally distributed along the circumferential direction of the sleeve 12, thereby making the force uniform.

[0126] In some embodiments, the inclination angle of the spring piece 124 can be preset according to experience or requirements.

[0127] In some embodiments, by setting the spring piece 124 to be unidirectionally inclined away from the flange 121, the self-locking position of the sleeve 12 and the rivet 11 can be achieved. When the sleeve 12 moves on the toothed section 1132, even if it is vibrated, the spring piece 124 will still be locked in the toothed section 1132, effectively preventing the sleeve 12 from loosening and falling, thereby ensuring the connection between the sleeve 12 and the rivet 11 is stable.

[0128] FIG9 is a schematic diagram of the structure of the spring piece according to some embodiments of this specification. FIG10 is a schematic cross-sectional view of the toothed section according to some embodiments of this specification.

[0129] In some embodiments, as shown in FIG9-FIG10, the spring piece 124 includes two lateral spring pieces 1241 and a middle spring piece 1242. The toothed section 1132 of the locking section 113 is provided with a spring piece groove 1133, and the spring piece 124 cooperates with the spring piece groove 1133. The spring piece groove 1133 is a concave trapezoid, and when the two lateral spring pieces 1241 are located in the concave trapezoid, the two lateral spring pieces 1241 are compressed.

[0130] Lateral springs 1241 are used to generate deformation and cooperate with spring grooves 1133. Intermediate springs 1242 are used to support the lateral springs 1241.

[0131] In some embodiments, two lateral springs 1241 are respectively connected to both sides of the intermediate spring 1242. The lateral springs 1241 and the intermediate spring 1242 can be integrally formed or connected by welding, hot melting, etc. For example, the lateral springs 1241 and the intermediate spring 1242 can be manufactured by forging alloy steel sheets.

[0132] Spring grooves 1133 are used to accommodate springs 124 and guide the movement direction of the sleeve 12.

[0133] The concave trapezoidal shape refers to the cross-section of the spring groove 1133 having a trapezoidal shape with a wide bottom and a narrow opening, as shown in Figure 10.

[0134] In some embodiments, when the sleeve 12 moves on the threaded section 1131 of the locking section and is about to enter the toothed section 1132, the processor 6 can control the intelligent operating device to control the sleeve 12 to rotate, so that the spring piece 124 is aligned with the spring piece groove 1133; continue to control the anvil to press the sleeve 12 forward, and the two lateral spring pieces are pressed together by the wall surface of the spring piece groove 1133, so that the spring piece 124 slides into the spring piece groove 1133 and moves along the spring piece groove 1133. During the movement, the wall surface of the spring piece groove 1133 will block the circumferential rotational movement of the spring piece 124, thereby playing a guiding and limiting role and preventing the sleeve 12 from rotating.

[0135] In some embodiments, the size of the spring piece groove 1133 decreases along the first direction.

[0136] In some embodiments, as shown in FIG10, the cross section of the spring piece groove 1133 is trapezoidal, and the size of the spring piece groove 1133 can be represented by the height and base of the trapezoid. Along the first direction, the height and base of the trapezoid decrease proportionally, making the overall size of the spring slot 1133 uniformly smaller, thereby ensuring that the force change of the spring piece 124 is linear when it moves in the spring slot 1133.

[0137] In some embodiments, the spring slot 1133 with decreasing size is provided so that when the thickness of the fastener 3 increases, the compression degree of the spring piece 124 after riveting is higher, thereby increasing the support force of the spring piece 124 and improving the anti-rotation effect.

[0138] Through the synergistic effect of the lateral spring piece 1241, the intermediate spring piece 1242 and the spring slot 1133, the anti-rotation loosening performance of the sleeve 12 can be improved.

[0139] In some embodiments, since the spring piece 124 is a thin sheet structure, there is a gap between the toothed section 1132 and the spring slot 1133 after riveting, thereby generating additional stress.

[0140] In some embodiments, a hot melt adhesive block is provided in the spring groove 1133. After the annular groove rivet 1 is riveted and locked, the sleeve 12 is heated, and the hot melt adhesive block melts and fills the gap between the toothed section 1132 and the spring groove 1133.

[0141] The hot melt adhesive block is a solid adhesive that melts and flows when heated and solidifies rapidly after cooling. Hot melt adhesive specification 10 / 12 pages 13 CN 121760456A hot melt adhesive block is used to fill the gap between the toothed groove section 1132 and the spring groove 1133.

[0142] In some embodiments, the composition of the hot melt adhesive block can be high polymer materials such as polyamide, polyolefin, and polyurethane. The hot melt adhesive block can be bonded to the inner wall of the spring groove 1133.

[0143] In some embodiments, the processor 6 can control the intelligent operating equipment to hold the heating device to heat the sleeve 12. The heating device may include a high frequency induction heating element, a resistance wire, a hot air gun, etc.

[0144] In some embodiments, by heating the hot melt adhesive block to melt and fill the structural gap, it can play a role in reinforcing and sealing, avoiding additional radial or axial compression, thereby preventing the sleeve 12 from loosening, enhancing the riveting reliability and fatigue resistance between the rivet 11 and the sleeve 12, and extending the service life of the ring groove rivet 1.

[0145] In some embodiments, an adhesive layer and a sealing film are provided in the spring groove 1133. Before the sleeve 12 is installed, the adhesive layer is in a sealed state. When the spring piece 124 is inserted into the spring piece groove 1133, the spring piece 124 breaks the sealing film, and the adhesive in the adhesive layer flows and diffuses to the toothed section 1132.

[0146] The adhesive layer is the area that contains the adhesive. The adhesive can be epoxy resin, polyurethane, etc.

[0147] The sealing film is a thin film that seals the adhesive layer. The sealing film can be made of plastic film, metal foil, or composite material.

[0148] In some embodiments, the adhesive layer and the sealing film can be arranged along the length direction of the spring piece groove 1133 (such as the first direction). In some embodiments, the adhesive layer and the sealing film can be arranged on the side of the spring piece groove 1133 near the rivet head 111 of the fastener 3, thereby avoiding premature destruction of the sealing film and premature curing of the adhesive.

[0149] In some embodiments, before the sleeve 12 is installed, the adhesive layer is sealed by a sealing film. When the spring piece 124 is inserted into the spring piece groove 1133 and moves to contact the sealing film, the spring piece 124 breaks the sealing film, and the adhesive in the adhesive layer flows and diffuses into the gap between the toothed section 1132 and the spring piece groove 1133.

[0150] In some embodiments, by automatically piercing the sealing film when the spring piece 124 is inserted into the spring piece groove 1133, the adhesive can be accurately released and automatically diffused into the interface gap, thereby enhancing the fixing strength of the ring groove rivet through chemical bonding. This method does not require heating and is more convenient to operate.

[0151] FIG11 is an exemplary flowchart of a construction method for an anti-loosening mechanical connection according to some embodiments of this specification. As shown in FIG11, process 1100 is an exemplary flow of a construction method for an anti-loosening mechanical connection, and process 1100 includes steps 1110-1140. In some embodiments, steps 1110-1140 are executed by the processor 6.

[0152] Step 1110: Based on the image information acquired by the image acquisition device and the BIM model, determine the actual location of the embedded part.

[0153] Step 1120: Based on the actual position of the embedded part, determine multiple riveting points.

[0154] Step 1130: For each riveting point: control the intelligent operation equipment to grab the ring groove rivet and place it into the riveting point in sequence.

[0155] Step 1140: control the fastening clamp to rivet and lock the ring groove rivet.

[0156] For more details on the above, please refer to Figures 1-2 and related descriptions.

[0157] In some embodiments, by fusing point cloud data with the BIM model, non-contact precise obstacle avoidance positioning of the embedded part 2 can be achieved. Automated riveting using intelligent operation equipment significantly improves the selection accuracy and construction consistency of riveting points under complex working conditions.

[0158] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is merely an example and does not constitute a limitation of the present invention. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to the present invention. Such modifications, improvements, and corrections are proposed in this invention, and therefore such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this invention. Specification 11 / 12 pages 14 CN 121760456 A

[0159] Meanwhile, this invention uses specific terms to describe embodiments of the invention. For example, "an embodiment", "one embodiment", and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of the invention. Therefore, it should be emphasized and noted that "an embodiment" or "one embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this invention do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the invention can be appropriately combined.

[0160] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or the use of other names described in this invention are not intended to limit the order of the processes and methods of the invention. Although some currently considered useful embodiments of the invention have been discussed through various examples in the foregoing disclosure, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. Rather, the claims are intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments of the invention. For example, while the system components described above can be implemented by hardware devices, they can also be implemented solely by software solutions, such as installing the described system on existing servers or mobile devices.

[0161] Similarly, it should be noted that, in order to simplify the description of the invention and thus aid in the understanding of one or more embodiments of the invention, multiple features are sometimes grouped into one embodiment, drawing, or description thereof in the foregoing description of the embodiments of the invention. However, this disclosure method does not imply that the features required by the subject matter of the invention are more than those mentioned in the claims.The features of the embodiments are numerous. In fact, the features of the embodiments are fewer than all the features of the single embodiments disclosed above.

[0162] Some embodiments use numbers describing the number of components and attributes. It should be understood that such numbers used to describe the embodiments are modified by the modifiers “approximately,” “about,” or “generally” in some examples. Unless otherwise stated, “approximately,” “about,” or “generally” indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the invention and claims are approximate values, which may be changed according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt a general method of digit reservation. Although the numerical fields and parameters used to confirm their breadth of range in some embodiments of the invention are approximate values, in specific embodiments, such values ​​are set as accurately as feasible.

[0163] Finally, it should be understood that the embodiments described in the present invention are only used to illustrate the principles of the embodiments of the invention. Other variations may also fall within the scope of the invention. Therefore, alternative configurations of the embodiments of the invention are considered to be consistent with the teachings of the invention, not as examples and not as limitations. Accordingly, the embodiments of the invention are not limited to the embodiments explicitly described and presented in the invention. Instruction Manual 12 / 12 Page 15 CN 121760456 A Figure 1 Instruction Manual Figure 1 / 9 Page 16 CN 121760456 A Figure 2 Instruction Manual Figure 2 / 9 Page 17 CN 121760456 A Figure 3 Figure 4 Instruction Manual Figure 3 / 9 Page 18 CN 121760456 A Figure 5 Instruction Manual Figure 4 / 9 Page 19 CN 121760456 A Figure 6 Instruction Manual Figure 5 / 9 Page 20 CN 121760456 A Figure 7 Instruction Manual Figure 6 / 9 Page 21 CN 121760456 A Figure 8 Figure 9 Instruction Manual Figure 7 / 9 Page 22 CN 121760456 A Figure 10 Instruction Manual Figure 8 / 9 Page 23 CN 121760456 A Figure 11 Instruction Manual Figure 9 / 9 Page 24 CN 121760456 A Abstract The present disclosure relates to a system and a construction method for a loosening-resistant mechanical connection, consisting of: an embedded component having areceiving cavity, an annular groove rivet, a fastening clamp, an image acquisition device, and a processor; the annular groove rivet is used to connect a fastener and fix the fastener to the receiving cavity of the embedded component; the fastening clamp is configured to drive the annular groove rivet to rivet and lock the embedded component and the fastener; the image acquisition device is configured to acquire image information; the processor is configured to: determine an actual position of the embedded component based on the image information and a BIM model; determine a plurality of riveting points based on the actual position of the embedded component; for each riveting point: control an intelligent operating equipment to grasp the annular groove rivet and place the annular groove rivet into the riveting point; control the fastening clamp to rivet and lock the annular groove rivet. The disclosure can achieve dynamic and precise positioning of the riveting, and improve theconnection strength.

Claims

1. A pre-embedded component system for anti-loosening mechanical connections, characterized in that, include: Embedded parts with receiving cavities, ring groove rivets, fastening clamps, image acquisition devices, and processors; The annular groove rivet is used to connect the fastener and fix the fastener to the receiving cavity of the embedded part; The fastening clamp is configured to drive the annular groove rivet to rivet and lock the embedded part and the fastener; The image acquisition device is configured to acquire image information; The processor is configured to: Based on the image information and BIM model, the actual location of the embedded part is determined; Based on the actual location of the embedded parts, multiple riveting points are determined; For each riveting point: The intelligent operating equipment is controlled to pick up the annular groove rivet and place it into the riveting point; The fastening fixture is controlled to rivet and lock the annular groove rivet.

2. The system as described in claim 1, characterized in that, The annular groove rivet includes a rivet and a sleeve; The rivet includes a rivet head, a rivet shank, a locking section and a tail section arranged sequentially along a first direction. The tail section includes a groove and a tail tooth section. The groove is a continuous and smooth arc surface. The sleeve includes a flange and a connecting section arranged sequentially along the first direction, the connecting section being sleeved on the locking section; the flange and the rivet head of the sleeve are respectively located on both sides of the fastener; When the sleeve is compressed, the inner wall of the sleeve section deforms and is riveted and locked to the locking section.

3. The system as described in claim 2, characterized in that, The control of the fastening fixture to rivet and lock the annular rivet includes: Control the annular groove rivet to pass through the mounting hole of the fastener along the first direction, and squeeze the sleeve to move the sleeve on the locking section in a direction opposite to the first direction until the fastener abuts; Control the jaws of the fastening clamp to engage with the tail section, and control the jaw contour part of the fastening clamp to mesh and clamp with the groove; The fastening clamp is controlled to apply an axial force to the fastener, the sleeve presses against the fastener and deforms to lock it onto the locking section; Control the fastening fixture to retract, completing the riveting process.

4. The system as described in claim 2, characterized in that: The groove includes a first arc, a second arc, and a third arc arranged sequentially along the first direction, wherein the radius of the second arc is greater than the radius of the first arc, and the radius of the second arc is greater than the radius of the third arc.

5. The system as described in claim 2, characterized in that: The locking section includes a threaded section near the tail tooth section and a toothed groove section away from the tail tooth section. When the sleeve is squeezed and moves from the threaded section to the toothed groove section, the inner wall of the sleeve deforms to complete the riveting and locking.

6. The system as described in claim 5, characterized in that: The inner wall of the sleeve is provided with an internal thread, which matches the thread segment.

7. The system as described in claim 2, characterized in that: The rivet head has a T-shaped dovetail structure, and the angle between the side wall of the rivet head near the tail section and the first direction is 60°-90°.

8. The system as described in claim 6, characterized in that: A spring is provided on the inner wall of the sleeve near the flange, and the spring is inclined toward the side away from the flange.

9. The system as described in claim 7, characterized in that: The spring includes two lateral springs and a middle spring, and the toothed section of the locking section is provided with a spring groove, and the spring cooperates with the spring groove; The spring slot is a concave trapezoid, and when the two lateral springs are located within the concave trapezoid, the two lateral springs are compressed.

10. The system as described in claim 9, characterized in that: Along the first direction, the size of the spring slot decreases.

11. The system as described in claim 9, characterized in that: A hot melt adhesive block is provided in the spring groove. After the ring groove rivet is riveted and locked, the sleeve is heated, and the hot melt adhesive block melts and fills the gap between the toothed section and the spring groove.

12. The system as described in claim 9, characterized in that: The spring groove is provided with an adhesive layer and a sealing film; Before the sleeve is installed, the adhesive layer is in a sealed state. When the spring is inserted into the spring groove, the spring breaks the sealing film, and the adhesive in the adhesive layer flows and spreads to the toothed section.

13. A construction method for an anti-loosening mechanical connection, characterized in that, The method is processor-based and includes: Based on the image information acquired by the image acquisition device and the BIM model, the actual location of the embedded parts is determined. Based on the actual location of the embedded parts, multiple riveting points are determined; For each riveting point: The intelligent operating equipment is controlled to grab the ring groove rivets and place them sequentially into the riveting points; The control clamp secures and locks the annular groove rivets.

14. The method as described in claim 13, characterized in that, The method further includes: The error of the embedded parts is obtained by using a total station, and the BIM model is corrected based on the error of the embedded parts.

Images