阅读说明：本技术 一种轻量化车身自冲孔铆接设备的调试方法和装置 (debugging method and device for lightweight vehicle body self-piercing riveting equipment ) 是由 刘蕾 李骥国 汤东华 梁端 刘宏婕 汤伟 于 2019-08-21 设计创作，主要内容包括：本发明公开了一种轻量化车身自冲孔铆接设备的调试方法和装置,该调试方法包括以下步骤：对下层板件进行测距,根据测距结果判断铆模与下层板件的贴合状况,据此对SPR枪的位姿进行调节,直至铆模与下层板件满足贴合要求；然后调节SPR枪相对于下层板件的间距至第一设定距离,此时在下层板件上投射、形成以SPR枪铆接位置中心轴线为圆心的第一光圈,据此判断下层板件铆接到边状况；以及调节SPR枪相对于下层板件至第二设定距离,此时在上层板件上投射、形成以SPR枪铆接位置中心轴线为圆心的第二光圈,据此判断上层板件铆接到边状况。本发明能够快速参数可视化的确认铆模与板件之间的贴合状况,并且确认铆模铆鼻到边距离足够。(The invention discloses a debugging method and a debugging device of lightweight self-piercing riveting equipment for a vehicle body, wherein the debugging method comprises the following steps: measuring the distance of the lower-layer plate, judging the attaching condition of the riveting die and the lower-layer plate according to the distance measuring result, and adjusting the pose of the SPR gun according to the judging condition until the riveting die and the lower-layer plate meet the attaching requirement; then adjusting the distance between the SPR gun and the lower-layer plate to a first set distance, projecting and forming a first aperture on the lower-layer plate by taking the central axis of the riveting position of the SPR gun as the center of a circle, and judging the riveting condition of the lower-layer plate to the edge; and adjusting the SPR gun to a second set distance relative to the lower-layer plate, projecting and forming a second aperture taking the center axis of the riveting position of the SPR gun as the center of a circle on the upper-layer plate, and judging the riveting condition of the upper-layer plate. The method can quickly and visually confirm the fitting condition between the riveting die and the plate through parameters, and can confirm that the distance between the riveting nose and the edge of the riveting die is enough.)

1. A debugging method of lightweight self-piercing riveting equipment for a vehicle body is characterized by comprising the following steps:

Measuring the distance of the lower-layer plate, judging the attaching condition of the riveting die and the lower-layer plate according to the distance measuring result, and adjusting the pose of the SPR gun according to the judging condition until the riveting die and the lower-layer plate meet the attaching requirement;

on the premise that the riveting die and the lower plate meet the requirement of attachment, adjusting the distance between the SPR gun and the lower plate to a first set distance, projecting and forming a first aperture which takes the central axis of the riveting position of the SPR gun as the center of a circle and has a set radius on the lower plate, and judging the riveting side condition of the lower plate; and

On the premise that the riveting die and the lower plate meet the fitting requirement, the SPR gun is adjusted to set a distance relative to the lower plate and a second set distance, at the moment, the SPR gun is projected and formed on the upper plate, the center axis of the riveting position of the SPR gun is used as the center of a circle, the second aperture with a set radius is formed, and the riveting condition of the upper plate to the edge is judged according to the second aperture.

2. the debugging method of the self-piercing riveting apparatus for a lightweight vehicle body according to claim 1, wherein the multipoint ranging is performed on the lower plate body by using a plurality of laser ranging modules.

3. The method for debugging a self-piercing riveting apparatus for a lightweight vehicle body according to claim 1, wherein the first aperture is formed on the lower plate by a first aperture projection module provided on the side of the SPR gun rivet die, and the second aperture is formed on the upper plate by a second aperture projection module provided on the side of the SPR gun rivet nose.

4. the debugging method of a self-piercing riveting apparatus for a lightweight vehicle body according to claim 1, wherein the first and second apertures are both laser cross-circle marks.

5. the debugging method for self-piercing riveting equipment for a lightweight vehicle body according to claim 1, further comprising adjusting the center position of the riveting point of the SPR gun when the edge of the lower plate is located within the first aperture and/or the edge of the upper plate is located within the second aperture.

6. The utility model provides a debugging device of lightweight automobile body self-piercing riveting equipment, includes SPR rifle, robot and controller, its characterized in that still includes:

Arranging a plurality of laser ranging modules around a riveting die on one side of the riveting die of the SPR gun, wherein the laser ranging modules are used for ranging lower-layer plates;

A first aperture projection module is arranged on one side of a riveting die of the SPR gun and is used for projecting and forming a first aperture which takes the center of a riveting point as the center of a circle and has a set radius on a lower plate when the SPR gun is adjusted to a first set distance relative to the lower plate; and

A second aperture projection module is arranged on one side of the riveting nose of the SPR gun and is used for projecting and forming a second aperture which takes the central axis of the riveting position of the SPR gun as the center of a circle and has a set radius on the upper-layer plate when the SPR gun is adjusted to a second set distance relative to the lower-layer plate,

The controller is used for judging the attaching condition of the riveting die and the lower plate according to the distance measuring result, adjusting the pose of the SPR gun by using the robot according to the attaching condition until the riveting die and the lower plate meet the attaching requirement, and controllably adjusting the distance between the SPR gun and the lower plate on the premise that the riveting die and the lower plate meet the attaching requirement.

7. the debugging method of the self-piercing riveting apparatus for a lightweight vehicle body according to claim 6, wherein the plurality of laser ranging modules are three laser ranging modules and are arranged in a centrosymmetric manner with respect to a center axis of a riveting position of the SPR gun.

8. the debugging method for a self-piercing riveting apparatus for a lightweight vehicle body according to claim 6, wherein the aperture is a laser cross-shaped circular mark.

9. the debugging method of the self-piercing riveting apparatus for light-weight vehicle bodies according to claim 6, wherein the controller is further configured to adjust the center position of the riveting point of the SPR gun when the edge of the lower plate is located within the first aperture and/or the edge of the upper plate is located within the second aperture.

10. The debugging method of the self-piercing riveting equipment for the lightweight vehicle body according to claim 6, wherein the debugging method is used for a self-piercing riveting process of a steel-aluminum hybrid vehicle body.

Technical Field

The invention relates to a debugging method and a debugging device for lightweight self-piercing riveting equipment for a vehicle body.

Background

the application proportion of the aluminum alloy in the automobile industry is improved, so that the traditional steel automobile body is gradually changed into a light automobile body. Correspondingly, the material matching mode is also changed from single steel-steel to multi-combination modes of steel-steel, steel-aluminum, aluminum-aluminum and the like, and the connection of the same kind of materials and different kinds of materials is involved.

The welding performance of the aluminum alloy is poor due to the physical and chemical properties of the aluminum alloy, and the traditional resistance welding and arc welding process cannot meet the requirements of connection and application of the aluminum alloy. The self-piercing riveting technology is gradually popularized in application of light vehicle bodies.

The self-piercing riveting process is called SPR for short, and is one of the common processes for connecting aluminum alloy vehicle bodies. The SPR is a brand new plate connecting technique in which a rivet is directly pressed into a plate to be riveted by a power supplied from a hydraulic cylinder or a servo motor, the plate to be riveted is plastically deformed with the rivet under the pressure of the rivet, and the formed plate is filled in a riveting die, so that stable connection is formed, as shown in fig. 1.

referring to fig. 2, the connection of SPR takes into account several important parameters as follows:

(1) t _min (mm) -minimum thickness of remaining material-the thinnest part of the sheet remaining after plastic deformation of the riveting die edge;

(2) ll (mm) -the horizontal distance between the left tip of the rivet tail and the left entry point of the rivet into the bottom sheet, which is the amount of left interlock;

(3) LR (mm) -the horizontal distance between the tip of the right side of the rivet tail and the right-side entry point of the rivet into the bottom sheet, which is the amount of interlock on the right side;

(4) Y (mm) -flatness. For countersunk head rivets, the surface of the rivet head should be flush with the base surface of the top sheet material; for a pan head rivet, the lower portion of the rivet head should closely engage the top sheet of material.

These parameters are also related to the fitting condition of the riveting die and the plate to be riveted in the positioning stage. In the positioning stage, if the riveting die is not in the required fit, the rivet can be skewed relative to the plate, so that the parameters deviate from the expected values and are even lower than the quality standards of various automobile main engine plants, so that the connection fails, and batch scrap is caused, as shown in fig. 3.

in addition, the distance from the rivet and the riveting die to the edge of the plate to be riveted is difficult to determine visually, the edge distance is not determined to cause poor riveting quality as shown in fig. 4 and 5, the edge distance from the riveting die to the lower plate to be riveted needs to be measured by a steel plate ruler, the SPR main shaft needs to be descended and attached to the upper plate to be riveted, and the edge distance from the riveting nose to the upper plate to be riveted needs to be measured by the steel plate ruler.

The existing debugging method comprises the steps of firstly visually adjusting the position of a riveting die relative to a plate to be riveted, then trying to insert a filler gauge of 0.1mm between the riveting die and the plate to be riveted from the periphery of the riveting die, and when the filler gauge cannot be inserted between the plate to be riveted and the riveting die all around, determining that the riveting die and the plate with the riveting die are attached in place, but the method consumes much time and cannot quantify the specific condition of accurate attachment.

1. The existing operation method is used for debugging the fitting degree of the riveting die and the plate to be riveted, the process is complicated, time and labor are consumed for visual inspection of the fitting degree, the accuracy rate is low, the verticality can be ensured only by depending on experience, and the specific condition of accurate fitting cannot be quantified and the quantitative accurate adjustment cannot be carried out on the condition of no fitting.

2. The method has the advantages that the existing operation method is used for debugging the edge distances from the riveting die and the riveting nose to the lower plate of the plate to be riveted and the upper plate of the plate to be riveted respectively, the process is complicated, the design of an automobile body is complex, the position of a steel plate ruler part cannot be reached, so that the measurement cannot be carried out, the accuracy is low, the visual inspection of the edge distance consumes time and labor, and the method can only be ensured by depending on experience.

in order to ensure that the rivet cannot be inclined when the rivet is driven into the plate under the action of pressure and the distance from the rivet to the edge of the plate to be riveted is enough, a faster and more accurate mode is needed to confirm the attaching condition and the edge reaching condition of the riveting die and the plate to be riveted.

Disclosure of Invention

the invention aims to provide a debugging method of light-weight self-piercing riveting equipment for a vehicle body, which can quickly and accurately adjust the attaching condition and the edge reaching condition of a riveting die and a plate to be riveted.

The invention also aims to provide light-weight self-piercing riveting equipment for the vehicle body, so that the attaching condition and the edge reaching condition of the riveting die and the plate to be riveted can be adjusted quickly and accurately.

Therefore, the invention provides a debugging method of lightweight self-piercing riveting equipment for a vehicle body, which comprises the following steps: measuring the distance of the lower-layer plate, judging the attaching condition of the riveting die and the lower-layer plate according to the distance measuring result, and adjusting the pose of the SPR gun according to the judging condition until the riveting die and the lower-layer plate meet the attaching requirement; on the premise that the riveting die and the lower plate meet the requirement of attachment, adjusting the distance between the SPR gun and the lower plate to a first set distance, projecting and forming a first aperture which takes the central axis of the riveting position of the SPR gun as the center of a circle and has a set radius on the lower plate, and judging the riveting side condition of the lower plate; and on the premise that the riveting die and the lower plate meet the fitting requirement, adjusting the SPR gun to set a distance to a second set distance relative to the lower plate, and at the moment, projecting and forming a second aperture which takes the center axis of the riveting position of the SPR gun as the center of a circle and has a set radius on the upper plate, so as to judge the riveting condition of the upper plate to the side.

Furthermore, in the debugging method, a plurality of laser ranging modules are utilized to perform multipoint ranging on the lower-layer plate body.

Further, in the above debugging method, the first aperture is formed on the lower plate body by using a first aperture projection module provided on the side of the riveting die of the SPR gun, and the second aperture is formed on the upper plate body by using a second aperture projection module provided on the side of the riveting nose of the SPR gun.

Further, in the above-described debugging method, both the first aperture and the second aperture are laser cross-circular marks.

further, the debugging method further comprises the step of adjusting the center position of the riveting point of the SPR gun when the edge of the lower plate body is positioned in the first aperture and/or the edge of the upper plate body is positioned in the second aperture.

according to another aspect of the invention, a debugging device of a light-weight self-piercing riveting device for a vehicle body is provided, which comprises an SPR gun, a robot and a controller, and further comprises: arranging a plurality of laser ranging modules around a riveting die on one side of the riveting die of the SPR gun, wherein the laser ranging modules are used for ranging lower-layer plates; a first aperture projection module is arranged on one side of a riveting die of the SPR gun and is used for projecting and forming a first aperture which takes the center of a riveting point as the center of a circle and has a set radius on a lower plate when the SPR gun is adjusted to a first set distance relative to the lower plate; and a second aperture projection module is arranged on one side of the riveting nose of the SPR gun and used for projecting and forming a second aperture which takes the center axis of the riveting position of the SPR gun as the center of a circle and has a set radius when the SPR gun is adjusted to a second set distance relative to the lower plate, wherein the controller is used for judging the attaching condition of the riveting die and the lower plate according to the distance measuring result, adjusting the pose of the SPR gun by using a robot according to the second aperture projection module until the riveting die and the lower plate meet the attaching requirement, and performing controlled adjustment on the distance between the SPR gun and the lower plate on the premise that the riveting die and the lower plate meet the attaching requirement.

Further, the laser ranging modules are three and are arranged in a central symmetry mode about the center axis of the riveting position of the SPR gun.

Further, the diaphragm is a laser cross circular mark.

further, the controller is also used for adjusting the center position of the riveting point of the SPR gun when the edge of the lower plate body is positioned in the first aperture and/or the edge of the upper plate body is positioned in the second aperture.

The invention has the following technical effects:

1. Through set up laser emitter on SPR rifle, utilize the projection principle of light to form the light source, can realize contactless riveting point center alignment fast, and confirm that the mould of riveting is riveted the nose and is riveted the limit distance enough.

2. Through set up a plurality of range finding points on SPR rifle, utilize the collineation three point can confirm a plane principle, can visual confirmation of rapid parameter rivet mould and the laminating situation between the plate, satisfy its angle within 1.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow diagram of a prior art SPR process;

FIG. 2 is a cross-sectional view of a self-piercing rivet portion of a prior art SPR process;

FIG. 3 is a schematic illustration of the rivet roll in the SPR process;

FIG. 4 is a schematic illustration of rivet edge riveting in a SPR process;

FIG. 5 is a schematic illustration of a sheet edge crack in a SPR process;

FIG. 6 is a first layout schematic diagram of three groups of laser ranging modules in the lightweight self-piercing riveting equipment for the vehicle body according to the invention;

FIG. 7 is a layout schematic diagram II of three groups of laser ranging modules in the lightweight self-piercing riveting equipment for the vehicle body according to the invention;

FIG. 8 is a schematic layout of laser emitters in the light-weight self-piercing riveting apparatus for vehicle bodies according to the invention;

FIG. 9 is a schematic diagram of a laser transmitter projecting aperture (laser cross-circular mark) according to the present invention; and

fig. 10 is a flowchart of a debugging method of the lightweight vehicle body self-piercing riveting apparatus according to the present invention.

Description of the reference numerals

1. An SPR gun; 2. Riveting a nose;

3. Riveting a die; 4. A plate is arranged on the plate to be riveted;

5. A lower plate of the plate to be riveted; 6. A first laser ranging module;

7. a second laser ranging module; 8. A third laser ranging module;

9. A first aperture projection module; 10. A second aperture projection module;

11. A laser emitter emission source; 12. A laser emitter lens;

13. Laser cross circular marks.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 6-10 illustrate some embodiments according to the invention.

The invention provides a method for quickly and accurately debugging an SPR gun applied to a self-piercing riveting process, which comprises the following steps as shown in FIG. 10:

s101, ranging the lower-layer plate by using a plurality of laser ranging modules, judging the attaching condition of the riveting die and the lower-layer plate according to the ranging result, and adjusting the pose of an SPR gun by using a robot according to the determining condition until the riveting die and the lower-layer plate meet the attaching requirement;

s103, on the premise that the riveting die and the lower plate meet the requirement of attachment, the robot is used for adjusting the distance between the SPR gun and the lower plate to a first set distance, at the moment, the first aperture projection module is used for projecting on the lower plate to form a first aperture which takes the center axis of the riveting position of the SPR gun as the center of a circle and has a set radius, and accordingly, the riveting side condition of the lower plate is judged; and

s105, on the premise that the riveting die and the lower plate meet the fitting requirement, the robot is used for adjusting the distance from the SPR gun to a second set distance relative to the lower plate, at the moment, the second aperture projection module is used for projecting on the upper plate, a second aperture which takes the center axis of the riveting position of the SPR gun as the circle center and has a set radius is formed, and the riveting side condition of the upper plate is judged according to the second aperture.

According to the invention, the confirmation of the fitting of the SPR gun riveting die is quickly realized by carrying out multi-point distance measurement on the lower layer plate body, the error is ensured to be within +/-1 degree, and the distance from the non-contact type riveting die and the riveting nose to the edge of the plate to be riveted is quickly realized by projecting light rings (red light rings) on the upper layer plate body and the lower layer plate body, so that the progress is ensured.

the invention provides a debugging device of self-piercing riveting equipment for a steel-aluminum hybrid vehicle body, which comprises an SPR gun 1, a six-axis robot for bearing the SPR gun and a controller (not shown in the figure).

Referring to fig. 6 to 9 in combination, the present debugging apparatus includes: arranging a plurality of laser ranging modules 6, 7 and 8 around a riveting die on one side of the riveting die of the SPR gun; a first aperture projection module 10 is arranged on one side of a riveting die of the SPR gun; and a second aperture projection module 9 is arranged on one side of the riveting nose of the SPR gun.

Wherein, a plurality of laser rangefinder modules 6, 7, 8 are used for carrying out the multiple spot range finding to lower floor's plate.

Specifically, as shown in fig. 6 and 7, 3 laser ranging modules are uniformly distributed on the SPR gun around the center axis of the SPR riveting die, the emitting angles of the laser beams of the modules form a certain angle and an equivalent angle relative to the center axis of the riveting die, the emitting ends of the modules are positioned on the same horizontal plane, the formed plane is parallel to the surface of the riveting die, the laser ranging module has the functions of emitting pulse laser beams, receiving laser beams reflected by a target by a receiving end of the modules, measuring the time from emitting to receiving of the laser beams by a timer, and converting and displaying the distances from the 3 laser ranging modules to the lower-layer plate.

When the distances are inconsistent, the numerical values of the SPR guns are consistent by adjusting the angle pose of the SPR guns, the precision of the laser ranging module can reach 0.1mm, a plane principle can be determined through non-collinear 3 points, the plate and the riveting die are confirmed to be in parallel, and when the SPR guns are continuously controlled to move to the attached plate, the plate and the riveting die are also in parallel.

specifically, the controller is used for judging the attaching condition of the riveting die and the lower plate according to the distance measuring result, adjusting the pose of the SPR gun by using the robot according to the attaching condition until the riveting die and the lower plate meet the attaching requirement, and controllably adjusting the distance between the SPR gun and the lower plate on the premise that the riveting die and the lower plate meet the attaching requirement.

The first aperture projection module 10 is used for projecting and forming a first aperture which takes the center of a riveting point as a center and has a set radius on the lower plate when the SPR gun is adjusted to a first set distance relative to the lower plate. The second aperture projection module 9 is used for projecting and forming a second aperture which takes the center axis of the riveting position of the SPR gun as the center and has a set radius on the upper-layer plate when the SPR gun is adjusted to a second set distance relative to the lower-layer plate.

Specifically, as shown in fig. 8 and 9, a laser emitter is respectively arranged on the riveting die side and the riveting nose side, a thin film sheet is arranged on a lens inside the emitter, a cross oval mark is formed by punching a hole on the thin film sheet, and under laser irradiation, a cross round mark can be formed on the plate due to the linear propagation principle of light, and the laser emitter can form a certain angle with the center shaft of the SPR gun (the center connecting line of the riveting die and the riveting nose), so that the mark is a fitting closed round shape, and when the laser emitter is away from the plate at a certain distance, the laser emitter can form a round cross mark with the center of the SPR riveting position as the center and the diameter of 26 mm.

In the invention, the distances measured by a plurality of laser ranging modules when a first laser projects a first aperture (a circular cross mark with the center shaft of the SPR gun as the center of a circle and the diameter of 26 mm) on the lower-layer plate body and a second laser projects a second aperture on the upper-layer plate body are measured through tests, and then the distances of the SPR gun relative to the lower-layer plate body and the lower-layer plate body can be controlled by utilizing the distances. When the edge of the plate is not within the range of the circular cursor, the bad phenomena of fig. 4 and fig. 5 can not occur.

According to the invention, the low-power laser (red light ring) is arranged on the SPR gun, so that the distance between the non-contact riveting die and the riveting nose to the edge of the plate to be riveted is quickly realized, and the progress is ensured. And a plane principle can be confirmed to non-collinear three points, and the laser module of low-power laser transmitter and receiving device is designed, so that the confirmation of the fitting of the riveting die of the SPR gun is quickly realized, and the error is guaranteed to be within +/-1 degrees.

the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.