CN-121244841-B - Multi-step automatic riveting process control method and system of riveting equipment

CN121244841BCN 121244841 BCN121244841 BCN 121244841BCN-121244841-B

Abstract

The application relates to the technical field of automatic control, and discloses a multi-step automatic riveting process control method and system of a rivet pulling device, wherein the method comprises the steps of conveying rivets through a rivet conveying mechanism and carrying out preliminary processing on the rivets; the method comprises the steps of controlling a rivet pulling gun to move to a hole site to be riveted on a workpiece, performing positioning and insertion feasibility diagnosis, sending the rivet into a nose mouth of the rivet pulling gun, confirming that the rivet is positioned in the nose mouth, confirming that a gun head of the rivet pulling gun is attached to the surface of the workpiece, performing closed loop control of a multi-stage rivet pulling process, wherein the multi-stage rivet pulling process comprises a pre-tightening stage, a filling forming stage and a fracture monitoring stage, comparing final displacement and peak tension recorded in the fracture monitoring stage with a pre-stored standard displacement range and a standard tension range, comprehensively judging whether a riveting result is qualified, controlling the rivet pulling gun to perform resetting operation, confirming that broken rivet rods are removed, remarkably improving consistency and reliability of riveting quality, and effectively avoiding generation of batch unqualified products.

Inventors

YANG RENJUN
GU JIAN
CHENG TINGMAO
JIANG XINHE

Assignees

上海固极智能科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251031

Claims (7)

1. A multi-step automatic riveting process control method for a blind riveting apparatus, comprising: step 100, conveying rivets through a rivet conveying mechanism, and carrying out preliminary processing on the rivets; Step 200, controlling the hand riveter to move to a hole site to be riveted on a workpiece, and executing positioning and insertion feasibility diagnosis; Step 300, sending the rivet into a nose of a hand riveter, and confirming that the rivet is positioned in the nose; step 400, confirming that a gun head of the hand riveter is attached to the surface of a workpiece; Step S500, performing closed-loop control of a multi-stage rivet pulling process, wherein the multi-stage rivet pulling process comprises a pre-tightening stage, a filling forming stage and a fracture monitoring stage; step S600, based on the final displacement recorded in the fracture monitoring stage And peak tension And a pre-stored standard displacement range And standard tension range Comparing, and comprehensively judging whether the riveting result is qualified; step S700, controlling the hand riveter to execute reset operation and confirming that broken nail rods are cleared; the step S300 of confirming that the rivet is in place includes: the rivet is sent into the nose of the rivet pulling gun through the pneumatic rivet sending mechanism; Acquiring a rivet detection sensor signal positioned in a nose and mouth rivet feeding area in real time; if the specified period of time is after the start of the nail feeding action If the signal is not received in a time-out manner, the rivet is judged to be failed to be fed and an alarm is triggered; The step S400 of confirming that the gun head is attached to the surface of the workpiece includes: Controlling the hand riveter to constant light pressure Continuously pressing the surface of the workpiece; monitoring the actual contact pressure by a pressure sensor arranged in the gun head, and when the actual pressure is stabilized at the light pressure If the allowable deviation is within the allowable deviation range, it is determined that the bonding is completed.
2. The multi-step automatic riveting process control method of the blind riveting apparatus according to claim 1, wherein the positioning and insertion feasibility diagnosis in step S200 comprises: The mechanical arm is controlled to drive the gun head to move towards the hole site of the workpiece, and the moving process is carried out in a low-speed and moment limiting mode; Axial displacement of gun head is monitored in real time through displacement sensor ; The axial displacement is measured And theoretical displacement calculated based on positioning information Comparing if the difference value Out of a preset tolerance range And judging that the hole position is abnormal.
3. The multi-step automatic riveting process control method of a blind riveting apparatus according to claim 1, wherein the pre-tightening stage in step S500 comprises: Controlling the operation of the hand riveter motor until the reading of the real-time tension sensor reaches the pretightening force threshold value ; Monitoring from start to reach of rivet Is of the displacement increment of (2) ; If it is Beyond the preset range And judging that the abnormal gap exists in the workpiece interlayer.
4. The multi-step automatic riveting process control method of a blind riveting apparatus according to claim 1, wherein the filling and forming stage in step S500 comprises: controlling the operation of the hand riveter motor to enable a tension-displacement curve acquired in real time to be matched with a pre-stored standard curve; And calculating similarity parameters R of the real-time curve and the standard curve in real time, wherein the calculation formula is as follows: Wherein, the Is a sampling point of a standard curve, For a real-time curve sampling point, And Respectively mean values of the corresponding sequences; If R is lower than the similarity threshold And judging that the riveting process is abnormal.
5. The multi-step automatic riveting process control method of a blind riveting apparatus according to claim 1, wherein the fracture monitoring phase in step S500 comprises: continuously monitoring the readings of the tension sensor until the tension value is monitored to be from the peak value Dip exceeds the fracture threshold ; Recording the displacement at the time of the sudden drop of the tension as the final displacement ; The integrated determination in step S600 includes: If the final displacement At the position of In, and peak tension At the position of If the riveting is in the inner range, the riveting is judged to be qualified; Otherwise, judging that the data is unqualified, and recording an unqualified reason code.
6. The multi-step automatic riveting process control method of the blind rivet apparatus according to claim 1, wherein the confirming broken shank clearance in step S700 comprises: controlling the pneumatic valve to be opened, and spraying air flow into the nose of the hand riveter; the pressure change of the air flow is monitored by the air pressure sensor, and if the pressure is reduced to a base line value within a time window, the nail rod is confirmed to be blown off.
7. A multi-step automatic riveting process control system of a blind riveting apparatus, characterized by a program running a multi-step automatic riveting process control method of a blind riveting apparatus as claimed in any one of claims 1-6.

Description

Multi-step automatic riveting process control method and system of riveting equipment Technical Field The application relates to the technical field of automatic control, in particular to a multi-step automatic riveting process control method and system of a rivet pulling device. Background The rivet connection is widely applied to the manufacturing industries of aviation, automobiles, electronics and the like due to simple process and reliable connection. The traditional automatic rivet pulling equipment mostly adopts simple stroke control or time control, namely, the rivet pulling gun motor rotates for fixed turns or runs for fixed time, and then the riveting is considered to be completed. However, this open loop control method cannot cope with various variables in actual production, such as rivet manufacturing tolerances, workpiece plate thickness differences, interlayer gap fluctuations, minor variations in rivet lubrication conditions, and the like. These variables can lead to unstable riveting quality, the defects of loose riveting, overtightening, incomplete rivet breakage and the like, and the product failure can be caused when the defects are serious. In the prior art, some methods have emerged that attempt to monitor quality, such as monitoring only the final breaking force or the total displacement. However, such methods are "post-detection", and once an anomaly is found, the reject is already produced and cannot be tampered with and adjusted during the riveting process. In addition, a single final parameter does not fully reflect the inherent process of rivet forming, and lacks judgment about certain potential defects (e.g., internal damage caused by slight slippage of the collet). Disclosure of Invention In order to realize the control method of carrying out fine sectional monitoring on the whole riveting process and carrying out dynamic decision and adjustment according to real-time feedback, thereby fundamentally guaranteeing the quality consistency of each riveting point, the application provides a multi-step automatic riveting process control method and a multi-step automatic riveting process control system of the riveting equipment. In a first aspect, the present application provides a multi-step automatic riveting process control method for a blind rivet device, which adopts the following technical scheme: The multi-step automatic riveting process control method of the rivet pulling equipment comprises the following steps: step 100, conveying rivets through a rivet conveying mechanism, and carrying out preliminary processing on the rivets; Step 200, controlling the hand riveter to move to a hole site to be riveted on a workpiece, and executing positioning and insertion feasibility diagnosis; Step 300, sending the rivet into a nose of a hand riveter, and confirming that the rivet is positioned in the nose; step 400, confirming that a gun head of the hand riveter is attached to the surface of a workpiece; Step S500, performing closed-loop control of a multi-stage rivet pulling process, wherein the multi-stage rivet pulling process comprises a pre-tightening stage, a filling forming stage and a fracture monitoring stage; step S600, based on the final displacement recorded in the fracture monitoring stage And peak tensionAnd a pre-stored standard displacement rangeAnd standard tension rangeComparing, and comprehensively judging whether the riveting result is qualified; And S700, controlling the hand riveter to execute a reset operation, and confirming that the broken pin rod is cleared. By adopting the technical scheme, the riveting quality forming process is fully managed by dividing the riveting process into logically clear and continuous control stages and setting a clear control target for each stage. The method overcomes the defect of a single and isolated result detection mode in the prior art, and can capture and respond to various abnormal working conditions in real time in the riveting process, so that the process of performing post-inspection is converted into process assurance, the consistency and reliability of the riveting quality are obviously improved, and the generation of batch unqualified products is effectively avoided. Optionally, the positioning and inserting feasibility diagnosis in step S200 includes: controlling the mechanical arm to drive the gun head to move towards the hole site of the workpiece, wherein the moving process is carried out in a low-speed and force distance limiting mode; Axial displacement of gun head is monitored in real time through displacement sensor ; The axial displacement is measuredAnd theoretical displacement calculated based on positioning informationComparing if the difference valueOut of a preset tolerance rangeAnd judging that the hole position is abnormal. By adopting the technical scheme, the early detection of hole site abnormality is realized through the compliant control strategy of 'low speed plus force distance limitation', on one