CN117183454B

CN117183454B - Control method, controller and computer readable storage medium for hot riveting equipment

Info

Publication number: CN117183454B
Application number: CN202311454772.8A
Authority: CN
Inventors: 鲁少洲; 董春涛; 何瑶; 张攀; 詹良泽
Original assignee: Zhuhai Fuji Intelligent Co ltd
Current assignee: Zhuhai Fuji Intelligent Co ltd
Priority date: 2023-11-03
Filing date: 2023-11-03
Publication date: 2024-02-09
Anticipated expiration: 2043-11-03
Also published as: CN117183454A

Abstract

The application discloses a control method, a controller and a computer readable storage medium of hot riveting equipment, and relates to the technical field of hot riveting processing. The method comprises the following steps: carrying out identification treatment on the structure fixing plate and the integrated busbar element to determine integrated busbar processing information; acquiring a riveting column coordinate set of a structure fixing plate from integrated busbar processing information; controlling the hot riveter to move to a horizontal target position according to the target riveting column coordinates determined from the riveting column coordinate set; controlling the hot riveter to descend from the initial first height position to the target machining position; controlling the hot riveting gun to stop pressing and processing the riveting column under the condition that the obtained first pressure value is equal to a preset pressure threshold value, and driving the hot riveting head to rise back to a first height position after the preset processing time length; sequentially traversing the riveting column coordinates in the riveting column coordinate set, and carrying out hot pressing processing on the riveting columns one by one to obtain the integrated busbar module after processing. Welding efficiency during processing integrated busbar module can be improved, and good and stable welding quality is ensured.

Description

Control method, controller and computer readable storage medium for hot riveting equipment

Technical Field

The application relates to the technical field of hot riveting processing, in particular to a control method, a controller and a computer readable storage medium of hot riveting equipment.

Background

The integrated busbar module is a component part of the battery pack, so that welding processing of the integrated busbar module is a necessary work before manufacturing the battery pack. The hot riveting machine has been widely used in welding process operation, so that in the actual manufacturing process of the integrated busbar module, some manufacturers can use a small and simple hot riveting machine to carry out hot riveting processing on part of components of the integrated busbar. However, each time the rivet is used, the hot rivet is manually aligned to the riveting position, and welding is operated one by one. This requires a better level of operator operation, and even if the operator is skilled in operation, there are still problems of low welding efficiency and unstable welding quality in the manual operation one by one.

Disclosure of Invention

The embodiment of the application provides a control method, a controller and a computer readable storage medium of hot riveting equipment, which can improve the welding efficiency during processing of an integrated busbar module and ensure good and stable welding quality.

In a first aspect, an embodiment of the present application provides a control method of a hot riveting device, which is applied to a controller of the hot riveting device, where the hot riveting device includes an integrated busbar module processing platform provided with a riveting station, a hot pressing processing device, and a hot riveting electric cabinet disposed on the integrated busbar module processing platform; the riveting station is used for placing a structure fixing plate and an integrated busbar element to be processed; the integrated busbar component is fixedly arranged in the component groove in a penetrating mode by the riveting columns, the riveting station is provided with a positioning groove, the positioning groove is used for embedding a positioning workpiece, and the positioning workpiece is used for positioning the riveting columns; the hot pressing device comprises a foot switch, a bracket erected right above the riveting station, a position adjusting mechanism movably connected with the bracket, and a hot riveting gun connected with the position adjusting mechanism; the tail end of the hot riveting gun is provided with a pressure sensing unit and a hot riveting head opposite to the riveting station; the hot riveting electric cabinet comprises a controller, and the controller is respectively and electrically connected with the hot riveting head, the foot switch, the position adjusting mechanism and the pressure sensing unit;

The method comprises the following steps:

responding to a starting signal sent by triggering the foot switch, carrying out identification processing on the structure fixing plate and the integrated busbar element which are placed on the riveting station, and determining integrated busbar processing information;

acquiring a riveting column coordinate set of the structure fixing plate from the integrated busbar processing information, wherein the riveting column coordinate set comprises riveting column coordinates of each riveting column to be processed;

determining a target riveting column coordinate from the riveting column coordinate set;

controlling the position adjusting mechanism to drive the hot riveting gun to move to a horizontal target position according to the target riveting column coordinates, wherein the hot riveting head and the riveting column on the target riveting column coordinates are positioned in the same vertical line at the horizontal target position;

controlling the position adjusting mechanism to drive the rivet gun to descend from an initial first height position to a target machining position, and acquiring a first pressure value acquired by the pressure sensing unit at the target machining position;

under the condition that the first pressure value is equal to a preset pressure threshold value, controlling the hot riveting gun to stop pressing, controlling the hot riveting head to process the riveting column, and driving the position adjusting mechanism to drive the hot riveting head to rise to the first height position after the preset processing time length;

And traversing the coordinates of the riveting columns in the coordinate set of the riveting columns in sequence, carrying out hot pressing processing on the riveting columns one by one, and connecting the integrated busbar element with the structure fixing plate through riveting points to obtain the processed integrated busbar module.

According to some embodiments of the application, the bracket comprises upright posts arranged at two sides of the riveting station and a cross beam connected between the upright posts and erected above the riveting station, wherein a first guide rail is arranged on the cross beam along a first direction; the position adjusting mechanism comprises a lifting assembly and a movable seat which is in sliding connection with the cross beam through the first guide rail; the bottom surface of the movable seat is provided with a second guide rail along a second direction, and one end of the lifting assembly is in sliding connection with the movable seat through the second guide rail; the other end of the lifting assembly is fixedly connected with the hot riveting gun;

the controlling the position adjusting mechanism according to the target riveting column coordinate to drive the hot riveting gun to move to a horizontal target position comprises the following steps:

acquiring a first position coordinate of the hot rivet;

calculating according to the first position coordinates and the target riveting column coordinates, and determining a first displacement and a second displacement;

And controlling the movable seat to move on the first guide rail according to the first displacement, and controlling the lifting assembly to move to the horizontal target position on the second guide rail according to the second displacement.

According to some embodiments of the present application, a laser range finder electrically connected with the controller and facing the hot rivet is arranged in the hot rivet gun;

the controlling the position adjusting mechanism to drive the hot riveting gun to descend from an initial first height position to a target processing position comprises the following steps:

driving the lifting assembly to drive the rivet gun to descend from the first height position at a first preset speed, and controlling the rivet gun to hover at a second height position; wherein the second height position is determined by the height of the rivet;

acquiring a second pressure value acquired by the pressure sensing unit at the second height position, and judging the contact condition of the hot rivet and the rivet column according to the second pressure value;

acquiring distance information acquired by the laser range finder; the distance information is used for judging the alignment condition of the hot rivet;

determining the relative position relation between the hot rivet and the rivet column according to the contact condition and the distance information;

And controlling the position adjusting mechanism to drive the hot riveting gun to descend from the second height position to the target machining position at a second preset speed which is smaller than the first preset speed according to the relative position relation.

According to some embodiments of the present application, the hot riveting apparatus further includes an image acquisition device and a scanning device disposed on the support and facing the riveting station, and the riveting station further includes a gravity sensor thereon;

the identifying process is carried out on the structure fixing plate and the integrated busbar element which are placed on the riveting station, and integrated busbar processing information is determined, and the identifying process comprises the following steps:

responding to the triggering of the gravity sensor, and acquiring a first image acquired by the image acquisition device and rivet scanning data acquired by the scanning device; wherein the first image is used for displaying the structural fixing plate placed on the riveting station;

performing material characteristic identification processing on the first image, and determining material information of the structure fixing plate;

performing groove identification processing on the first image to obtain groove type and groove distribution information of the element grooves;

carrying out data processing on the riveting column scanning data to obtain the riveting column coordinates and the riveting column coordinate set of each riveting column to be processed;

Under the condition that the measured value of the gravity sensor is stable and unchanged and the measured value meets a preset tolerance range, acquiring a second image acquired by the image acquisition device, wherein the second image is used for displaying the integrated busbar element on the structure fixing plate;

performing material characteristic identification processing on the second image, and determining element types and element distribution conditions of the integrated busbar elements to be processed;

and generating the integrated busbar processing information according to the material information, the groove type, the groove distribution information, the rivet column coordinate set, the element type and the element distribution condition.

According to some embodiments of the application, the riveting station is provided with a humidity sensor and a temperature sensor which are respectively and electrically connected with the controller;

the controlling the hot rivet head to process the rivet column comprises the following steps:

inquiring in a preset riveting thermometer according to the acquired material information, riveting environment humidity information acquired by the humidity sensor and riveting environment temperature information acquired by the temperature sensor to determine a target riveting temperature;

and heating the hot rivet head to the target riveting temperature to process the rivet column.

According to some embodiments of the present application, in a case where the first pressure value is equal to a preset pressure threshold value, before controlling the rivet gun to stop pressing down includes:

determining the type of the element to be processed on the target riveting column coordinates according to the target riveting column coordinates, the acquired groove distribution information and the element distribution condition;

and determining the preset pressure threshold according to the element type.

According to some embodiments of the application, the component types include circuit boards and aluminum bars; the determining the preset pressure threshold according to the element type comprises the following steps:

determining the preset pressure threshold value as a first threshold value under the condition that the element type is the circuit board;

or, in the case that the element type is the aluminum busbar, determining the preset pressure threshold value as a second threshold value.

According to some embodiments of the present application, the hot riveting electric cabinet further comprises a display device electrically connected with the controller;

the method further comprises the steps of:

generating a processing drawing according to the integrated busbar processing information;

and each pair of riveting columns completes hot pressing processing, marks are carried out on the corresponding riveting columns in the processing drawing according to the coordinates of the target riveting columns, and a hot riveting real-time progress chart is obtained and displayed in the display device.

In a second aspect, embodiments of the present application provide a controller comprising at least one processor and a memory for communicatively coupling with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of controlling a rivet hot device according to any one of the embodiments of the first aspect.

In a third aspect, embodiments of the present application provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform a method of controlling a rivet hot device according to any one of the embodiments of the first aspect.

The embodiment of the application comprises the following steps: when the integrated busbar module is processed by using hot riveting equipment, responding to a starting signal sent by triggering a foot switch, firstly, identifying and processing a structure fixing plate and an integrated busbar element which are placed on a riveting station, and determining integrated busbar processing information; then, acquiring a riveting column coordinate set of the structure fixing plate from the integrated busbar processing information, wherein the riveting column coordinate set comprises riveting column coordinates of each riveting column to be processed; then, determining a target riveting column coordinate from the riveting column coordinate set; and then, controlling a position adjusting mechanism to drive the hot riveting gun to move to a horizontal target position according to the target riveting column coordinates, wherein the hot riveting head on the horizontal target position and the riveting column on the target riveting column coordinates are positioned on the same vertical line; then, controlling a position adjusting mechanism to drive a hot riveter to descend from an initial first height position to a target processing position, and acquiring a first pressure value acquired by a pressure sensing unit at the target processing position; finally, under the condition that the first pressure value is equal to a preset pressure threshold value, controlling the hot riveting gun to stop pressing, controlling the hot riveting head to process a riveting column, and driving the position adjusting mechanism to drive the hot riveting head to rise to a first height position after the preset processing time length; so, walk in proper order and rivet the column coordinate in the column coordinate set, carry out hot pressing to riveting the post one by one, with the female row of component of integration and structure fixed plate pass through the riveting point and connect, obtain the female row module of integration that the processing was accomplished, realize automatic welding processing to the female row module of integration to welding efficiency when can improving the integrated row module of processing, ensure good and stable welding quality.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

FIG. 1 is a schematic structural view of a rivet hot device according to one embodiment of the present application;

FIG. 2 is a schematic structural view of a rivet hot device according to another embodiment of the present application;

FIG. 3 is a schematic structural view of a structural securing plate according to one embodiment of the present application;

FIG. 4 is a schematic diagram of an integrated busbar module to be processed according to one embodiment of the present application;

FIG. 5 is a schematic view of a structure for positioning a workpiece according to one embodiment of the present application;

FIG. 6 is a flow chart of a method of controlling a rivet hot device according to one embodiment of the present disclosure;

FIG. 7 is a schematic view of a movement of a heat stake provided in one embodiment of the present application;

fig. 8 is a schematic hardware structure of a controller according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples.

It should be noted that although a logical order is illustrated in the flowchart in the description of the present application, in some cases, the steps illustrated or described may be performed in an order different from that in the flowchart. In the description of the present application, a number means one or more, and a plurality means two or more. The description of "first" and "second" is used for the purpose of distinguishing between technical features only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.

The application discloses a control method, a controller and a computer readable storage medium of a hot riveting device. The method comprises the following steps: responding to the starting signal to carry out identification processing on the structure fixing plate and the integrated busbar element to determine integrated busbar processing information; acquiring a riveting column coordinate set of a structure fixing plate from integrated busbar processing information; controlling the hot riveter to move to a horizontal target position according to the target riveting column coordinates determined from the riveting column coordinate set; controlling the hot riveter to descend from the initial first height position to the target machining position; controlling the hot riveting gun to stop pressing and processing the riveting column under the condition that the obtained first pressure value is equal to a preset pressure threshold value, and driving the hot riveting head to rise back to a first height position after the preset processing time length; and traversing the riveting column coordinates in the riveting column coordinate set in sequence, and carrying out hot pressing on the riveting columns one by one to obtain the integrated busbar module after processing, so that automatic welding processing is realized on the integrated busbar module, and therefore, the welding efficiency during processing of the integrated busbar module can be improved, and good and stable welding quality is ensured.

Embodiments of the present application are further described below with reference to the accompanying drawings.

As shown in fig. 1, the hot riveting apparatus 1000 includes an integrated busbar module processing platform 100 provided with a riveting station 110, a hot pressing device 200, and a hot riveting electric cabinet 120 provided on the integrated busbar module processing platform 100; the riveting station 110 is used for placing a structural fixing plate 510 and an integrated busbar element 520 to be processed; as shown in fig. 4, a plurality of element grooves 511 are formed on the structure fixing plate 510, rivet columns 512 are formed in the element grooves 511, the integrated busbar elements 520 are fixedly arranged in the element grooves 511 in a penetrating manner by the rivet columns 512, the riveting station 110 is provided with positioning grooves 111, the positioning grooves 111 are used for embedding positioning workpieces 600, and the positioning workpieces 600 are used for positioning the rivet columns 512; the hot press working apparatus 200 comprises a foot switch 400, a bracket 210 erected right above the riveting station 110, a position adjusting mechanism 220 movably connected with the bracket 210, and a hot riveting gun 300 connected with the position adjusting mechanism 220; wherein, the tail end of the hot riveting gun 300 is provided with a pressure sensing unit 320 and a hot riveting head 310 which is opposite to the riveting station 110; the hot riveting electric cabinet 120 comprises a controller 121, and the controller 121 is electrically connected with the hot rivet 310, the foot switch 400, the position adjusting mechanism 220 and the pressure sensing unit 320 respectively.

It is understood that the component types of the integrated busbar component 520 include, but are not limited to, a circuit board 521 and an aluminum busbar 522.

The circuit board 521 may be a flexible circuit board, a ceramic circuit board, or the like. The structure of the circuit board 521 is not particularly limited in the embodiment of the present application.

The foot switch 400 is triggered after being stepped on once, and sends a start signal to the controller 121. The position adjusting mechanism 220 is used for driving the heat riveting gun 300 to move under the driving of the controller 121, so as to change the three-dimensional space position of the heat riveting gun 300. The vertical symmetry axis of the heat riveter 300 is perpendicular to the plane of the riveting station 110, the heat riveter 300 is used for processing the rivet column 512 under the control of the controller 121 to melt the rivet column 512, and after the melted rivet column 512 is cooled and shaped, the rivet point 530 is formed to be connected with the structure fixing plate 510 and the integrated busbar element 520. The pressure sensing unit 320 is used for collecting a pressure value between a device in contact with the rivet head and the rivet head.

Referring to fig. 2, the bracket 210 includes columns 211 disposed at both sides of the riveting station 110 and a cross beam 212 connected between the columns 211 and erected above the riveting station 110, the cross beam 212 being provided with a first guide rail along a first direction; the position adjusting mechanism 220 includes a lifting assembly 221 and a moving base 222 slidably coupled to the cross beam 212 through a first guide rail; the bottom surface of the movable seat 222 is provided with a second guide rail along a second direction, and one end of the lifting assembly 221 is slidably connected with the movable seat 222 through the second guide rail; the other end of the lifting assembly 221 is fixedly connected with the rivet gun 300. The lifting assembly 221 is fixedly connected with the bottom surface of the movable seat 222.

Specifically, the first direction refers to the left-right direction, and the second direction refers to the front-rear direction.

It can be appreciated that, under the driving of the controller 121, the moving seat 222 can reciprocate along the first guide rail in the first direction, the lifting assembly 221 can reciprocate along the second guide rail in the second direction, and the lifting assembly 221 can drive the heat riveting gun 300 to lift; the spatial coordinate position of the rivet gun 300 in three-dimensional space can be changed by controlling the position adjusting mechanism 220.

Referring to fig. 2, the rivet hot apparatus 1000 further includes an image acquisition device 700 and a scanning device 800 disposed on the stand 210 and facing the riveting station 110; the riveting station 110 also includes a gravity sensor 112 thereon; the riveting station 110 is provided with a humidity sensor 113 and a temperature sensor 114 which are respectively and electrically connected with the controller 121; a laser range finder 330 electrically connected with the controller 121 and facing the hot rivet 310 is arranged in the hot rivet gun 300; the hotrivet electric cabinet 120 further comprises a display device 122 electrically connected to the controller 121. The image acquisition device 700, the scanning device 800, the gravity sensor 112 and the laser range finder 330 are all electrically connected with the controller 121.

Wherein the gravity sensor 112 is used for detecting whether an element is placed on the riveting station 110; it will be appreciated that when the gravity sensor 112 is triggered, this indicates that an element is placed on the riveting station 110. When the measured value of the gravity sensor 112 is stable and does not change any more, it can be determined that the component to be processed is placed.

Specifically, the image capturing device 700 is configured to capture an image towards the riveting station 110 under the control of the controller 121, and capture an image, where the image may display the placement of the components on the riveting station 110.

Specifically, the scanning device 800 is configured to scan the structural fixing plate 510 placed on the riveting station 110 to obtain rivet scanning data.

Specifically, the laser rangefinder 330 is configured to emit laser light toward the opening of the rivet 310 for ranging. When the opening of the hot rivet 310 is aligned with the rivet stem 512 and the hot rivet 310 is flush with the top of the rivet stem 512, a first distance is detected, the first distance being the distance from the laser rangefinder 330 to the opening of the hot rivet 310. When the rivet 512 is misaligned at the opening of the hot rivet 310, a second distance greater than the first distance will be detected. Thus, the controller 121 can determine the alignment between the hot rivet 310 and the rivet stem 512 through the distance information measured by the laser rangefinder 330.

Referring to fig. 3 and 4, a plurality of component grooves 511 are formed in the structure fixing plate 510, rivet posts 512 are disposed in the component grooves 511, and the integrated busbar component 520 is fixedly disposed in the component grooves 511 by the rivet posts 512. The groove type of the component groove 511 includes a first groove 5111 for placing the aluminum row 522 and a second groove 5112 for placing the circuit board 521. The first groove 5111 is different from the second groove 5112 in shape. The riveting points 530 are formed by heating the riveting columns 512 and cooling, and the riveting points 530 are used for fixedly connecting the structure fixing plate 510 with the aluminum row 522 and fixedly connecting the structure fixing plate 510 with the circuit board 521.

Referring to fig. 5, the positioning workpiece 600 includes a chassis 610, a connection post 620 and a positioning post 630 arranged coaxially in this order from bottom to top; the radius of the chassis 610, the connecting post 620 and the positioning post 630 decreases in sequence. The chassis 610 is detachably embedded in the positioning groove 111, the connection post 620 is used for abutting against the structure fixing plate 510, and the positioning post 630 is used for being inserted into the rivet post 512.

It should be noted that the positioning workpiece 600 functions to fix the rivet 512. And the diameter of the positioning column 630 is matched with the diameter of the riveting column 512, so that when the structural fixing plate 510 is placed on the riveting station 110, the positioning column 630 can be ensured to be inserted into the riveting column 512, and the positioning column 630 is abutted with a riveting point 530 formed after the riveting column 512 is hot-pressed, so that a concave riveting point 530 with unqualified quality can not be formed; is beneficial to improving the welding quality.

It will be appreciated that when different sizes of rivet 512 are required for hot pressing, different types of positioning workpieces 600 may be correspondingly replaced to match the rivet 512. The difference between the different types of positioning workpieces 600 in the embodiments of the present application is the different positioning post sizes. Therefore, the present application does not specifically limit the size of the positioning column and the model of the positioning work 600.

It can be appreciated that the riveting columns 512 on the structure fixing plate 510 are regularly distributed, so that a plurality of positioning slots 111 can be formed on the integrated busbar module processing platform 100 corresponding to the riveting column distribution positions of the structure fixing plate 510 according to actual production requirements. It will be appreciated that, in the case where the first number of positioning slots 111 is provided on the integrated busbar module processing platform 100, the structural fixing plates 510 having the number of rivet posts less than or equal to the first number may be hot-pressed on the integrated busbar module processing platform 100. The first number of the positioning grooves 111 is not particularly limited in this application.

Since the positioning groove 111 is provided at the time of the production of the apparatus, the structure fixing plate 510 which can be processed by the riveting station 110 is relatively single. When the structural fixing plates 510 with different riveting column distribution conditions need to be processed, additional riveting stations 110 can be correspondingly arranged on the integrated busbar module processing platform 100, and a second number of positioning grooves 111 are correspondingly arranged in the additional riveting stations 110 according to the different riveting column distribution conditions of the structural fixing plates 510 needing to be processed, wherein the second number is unequal to the first number. Thus, the hot riveting apparatus 1000 provided in the embodiment of the present application may design multiple riveting stations 110 according to actual requirements, so as to process the structural fixing plates 510 with different distribution conditions of riveting columns.

According to the rivet hot device 1000 provided by the embodiment of the invention, the controller 121 is configured to: in response to the start signal transmitted in response to the foot switch 400 being triggered, first, the structure fixing plate 510 and the integrated busbar element 520 placed on the riveting station 110 are subjected to identification processing to determine integrated busbar processing information; next, a set of rivet coordinates of the structure fixing plate 510 is obtained from the integrated busbar processing information, wherein the set of rivet coordinates includes rivet coordinates of each rivet 512 to be processed; then, determining a target riveting column coordinate from the riveting column coordinate set; then, the position adjusting mechanism 220 is controlled according to the coordinates of the target rivet stem to drive the hot rivet gun 300 to move to a horizontal target position, wherein the hot rivet head 310 and the rivet stem 512 on the coordinates of the target rivet stem are positioned on the same vertical line; next, controlling the position adjusting mechanism 220 to drive the rivet gun 300 to descend from the initial first height position to a target processing position, and acquiring a first pressure value acquired by the pressure sensing unit 320 at the target processing position; finally, under the condition that the first pressure value is equal to the preset pressure threshold, controlling the hot riveting gun 300 to stop pressing down, controlling the hot riveting head 310 to process the riveting column 512, and driving the position adjusting mechanism 220 to drive the hot riveting head 310 to return to the first height position after the preset processing time length; in this way, the riveting column coordinates in the riveting column coordinate set are sequentially traversed, the riveting columns 512 are subjected to hot pressing one by one, the integrated busbar element 520 and the structure fixing plate 510 are connected through the riveting point 530, the integrated busbar module 500 after processing is obtained, automatic welding processing is realized on the integrated busbar module 500, and therefore welding efficiency during processing of the integrated busbar module 500 can be improved, and good and stable welding quality is guaranteed.

It can be understood by those skilled in the art that the hot riveting device and the application scenario described in the embodiments of the present application are for more clearly describing the technical solution of the embodiments of the present application, and are not limited to the technical solution provided in the embodiments of the present application, and those skilled in the art can know that, with the evolution of the system architecture and the appearance of the new application scenario, the technical solution provided in the embodiments of the present application is equally applicable to similar technical problems.

Based on the embodiments of the rivet hot apparatus described above, various embodiments of the control method of the rivet hot apparatus of the present application are set forth below.

Referring to fig. 6, the control method of the rivet hot device according to the embodiment of the present application is applied to the controller shown in fig. 1, and includes, but is not limited to, steps S110 to S170.

Step S110: and responding to a starting signal sent by triggering the foot switch, carrying out identification processing on the structure fixing plate and the integrated busbar element which are arranged on the riveting station, and determining integrated busbar processing information.

Step S120: and acquiring a riveting column coordinate set of the structure fixing plate from the integrated busbar processing information, wherein the riveting column coordinate set comprises riveting column coordinates of each riveting column to be processed.

Step S130: and determining the target rivet coordinates from the rivet coordinate set.

Step S140: and controlling a position adjusting mechanism to drive the hot riveting gun to move to a horizontal target position according to the target riveting column coordinates, wherein the hot riveting head on the horizontal target position and the riveting column on the target riveting column coordinates are positioned on the same vertical line.

Step S150: and controlling the position adjusting mechanism to drive the hot riveter to descend from the initial first height position to the target processing position, and acquiring a first pressure value acquired by the pressure sensing unit at the target processing position.

Step S160: under the condition that the first pressure value is equal to a preset pressure threshold value, controlling the hot riveting gun to stop pressing down, controlling the hot riveting head to process the riveting column, and driving the position adjusting mechanism to drive the hot riveting head to rise to a first height position after the preset processing time.

Step S170: and traversing the riveting column coordinates in the riveting column coordinate set in sequence, carrying out hot pressing processing on the riveting columns one by one, and connecting the integrated busbar element with the structure fixing plate through riveting points to obtain the processed integrated busbar module.

It can be understood that under the condition that the hot riveting equipment is in a standby state, an operator can place the structure fixing plate to be processed and the integrated busbar element, and after the placement is finished, the operator steps on the foot switch to trigger a starting signal, so that the hot riveting equipment enters a working state. When finishing processing an integrated busbar module, the hot riveting equipment automatically enters a standby state from a working state, an operator takes down the processed integrated busbar module, continuously places a structure fixing plate to be processed and integrated busbar elements, and restarts the hot riveting equipment through a foot switch. Therefore, operators can intervene in the processing treatment, and the fault of the hot riveting equipment can be found in time. In addition, a mechanical arm can be arranged to automatically take materials, place elements to be processed and trigger a foot switch.

It can be appreciated that the coordinates of the rivet posts of each rivet post to be processed are in the same two-dimensional rectangular coordinate system which is established based on the plane in which the riveting station is located.

It will be appreciated that the riveting columns on the structural fixing plate are distributed in a matrix according to a certain rule, so that the set of riveting column coordinates in step S120 is ordered, which orderly records the riveting column coordinates of each riveting column to be processed, and the set of riveting column coordinates determines the order in which each riveting column to be processed is determined as the target riveting column coordinate. Therefore, in step S130, the target coordinates may be sequentially and orderly determined from the coordinates of the rivet to be processed in the set of coordinates of the rivet until all coordinates of the rivet in the set of coordinates of the rivet are traversed, and the processing is ended. Therefore, the condition of missing processing or repeated processing can be reduced in the automatic welding processing flow, and the welding quality and the welding efficiency are improved.

It should be noted that, at the target processing position, the rivet column is inserted into the opening of the hot rivet, and the hot rivet is abutted with the structure fixing plate, and the first pressure value collected by the pressure sensing unit is a pressure value generated by the abutting of the hot rivet against the integrated busbar element.

It should be noted that, the integrated busbar module processed by the embodiment of the present application is not a complete integrated busbar, and making the integrated busbar module is an important basis for making the integrated busbar.

According to the method shown in step S110 to step S170 provided in the embodiment of the present invention, when the integrated busbar module is processed by using the hot riveting device, in response to a start signal sent by triggering the foot switch, firstly, identifying the structure fixing plate and the integrated busbar element placed on the riveting station, and determining integrated busbar processing information; then, acquiring a riveting column coordinate set of the structure fixing plate from the integrated busbar processing information, wherein the riveting column coordinate set comprises riveting column coordinates of each riveting column to be processed; then, determining a target riveting column coordinate from the riveting column coordinate set; and then, controlling a position adjusting mechanism to drive the hot riveting gun to move to a horizontal target position according to the target riveting column coordinates, wherein the hot riveting head on the horizontal target position and the riveting column on the target riveting column coordinates are positioned on the same vertical line; then, controlling a position adjusting mechanism to drive a hot riveter to descend from an initial first height position to a target processing position, and acquiring a first pressure value acquired by a pressure sensing unit at the target processing position; finally, under the condition that the first pressure value is equal to a preset pressure threshold value, controlling the hot riveting gun to stop pressing, controlling the hot riveting head to process a riveting column, and driving the position adjusting mechanism to drive the hot riveting head to rise to a first height position after the preset processing time length; so, walk in proper order and rivet the column coordinate in the column coordinate set, carry out hot pressing to riveting the post one by one, with the female row of component of integration and structure fixed plate pass through the riveting point and connect, obtain the female row module of integration that the processing was accomplished, realize automatic welding processing to the female row module of integration to welding efficiency when can improving the integrated row module of processing, ensure good and stable welding quality.

Step S140 is further described according to some embodiments of the present application, wherein the position adjustment mechanism is controlled to drive the hot riveter to move to a horizontal target position according to the target rivet coordinates, including but not limited to steps S141 to S143.

Step S141: and acquiring a first position coordinate of the hot rivet.

Step S142: and calculating according to the first position coordinates and the target rivet column coordinates, and determining the first displacement and the second displacement.

Step S143: the movable seat is controlled to move on the first guide rail according to the first displacement, and the lifting assembly is controlled to move to a horizontal target position on the second guide rail according to the second displacement.

It can be appreciated in connection with fig. 7 that the first position coordinates of the rivet head are three-dimensional rectangular coordinates obtained in a spatial three-dimensional rectangular coordinate system established based on a two-dimensional rectangular coordinate system of the plane in which the riveting station is located.

An example of a process for controlling the position adjustment mechanism to move the hot rivet gun to the horizontal target position is described with reference to fig. 7.

Firstly, a first position coordinate A (x 1, y1, z 1) of a hot rivet is obtained, wherein x1 is an abscissa, y1 is an ordinate, z1 is an ordinate, and the ordinate z1 represents the distance from the hot rivet to a riveting station; the post coordinate of the target rivet obtained later is P (x 2, y 2); then a first displacement x1=x2-X1 is calculated and a second displacement y1=y2-Y1. It will be appreciated that the calculated first and second displacements X1 and Y1 may be positive or negative. Then, if the first displacement X1 is positive, the movable seat is controlled to move rightward (i.e., move in the positive X-axis direction) on the first guide rail; in the case where the first displacement X1 is negative, the movable seat is controlled to move leftward (i.e., to move in the X-axis negative direction) on the first rail. Then, in the case that the second displacement Y1 is positive, controlling the lifting assembly to move backward (i.e., move in the positive Y-axis direction) on the second rail; in the case where the second displacement Y1 is negative, the lift assembly is controlled to move forward (i.e., move in the negative Y-axis direction) on the second rail. Thereby driving the hot rivet head of the hot rivet gun to move to a horizontal target position B (x 2, y2, z 1), wherein the hot rivet head and the rivet post on the target rivet post coordinate are positioned in the same vertical line on the horizontal target position B (x 2, y2, z 1), and the hot rivet head is separated from the top end of the rivet post on the target rivet post coordinate by a third distance.

According to the method and the device, the hot rivet can be sequentially, quickly and accurately moved to the position right above the target rivet column to be machined through the steps S141 to S143, and machining efficiency is improved.

Step S150 is further described in accordance with some embodiments of the present application, wherein the control position adjustment mechanism moves the heat stake gun down from an initial first height position to a target tooling position, including but not limited to steps S151 through S155.

Step S151: driving the lifting assembly to drive the hot riveter to descend from the first height position at a first preset speed, and controlling the hot riveter to hover at the second height position; wherein the second height position is determined by the height of the rivet.

Step S152: and acquiring a second pressure value acquired by the pressure sensing unit at a second height position, and judging the contact condition of the hot rivet head and the rivet column according to the second pressure value.

Step S153: acquiring distance information acquired by a laser range finder; the distance information is used for judging the alignment condition of the hot rivet.

Step S154: and determining the relative position relation between the hot rivet head and the rivet column according to the contact condition and the distance information.

Step S155: and controlling the position adjusting mechanism to drive the hot riveter to descend from the second height position to the target machining position at a second preset speed which is smaller than the first preset speed according to the relative position relation.

As shown in fig. 7, the distance from the hot rivet to the riveting station at the first height position in step S151 is z1, that is, the vertical coordinate z1 in the first position coordinates of the hot rivet obtained in step S141. At the horizontal target position B (x 2, y2, z 1), the drive elevator assembly drives the heat stake to descend from the first height position at a first preset speed and hover at a second height position C (x 2, y2, z 2), the vertical coordinate z2 of which is determined by the height h of the stake, i.e., z2=h. In the second height position C (x 2, y2, z 2), the hot rivet is flush with the top of the rivet stem.

It will be appreciated that due to inertia, the heat stake may deviate slightly from a predetermined horizontal target position during movement of the lift assembly and the movable mount, so that the heat stake is not aligned with the stake; at this time, the heat rivet is directly lowered to be abutted with the structure fixing plate, so that extrusion loss of the rivet is possibly generated with the part of the rivet, or the heat rivet is far away from the rivet and cannot be machined in the follow-up process. Therefore, in the case of lowering to the top of the rivet (i.e., the preset second height position), further detection is required to determine whether the rivet is aligned with the hot rivet.

Based on this, step S152 is performed, a second pressure value between the hot rivet and the rivet stem is obtained, and the contact condition between the hot rivet and the rivet stem is determined according to the second pressure value. Judging that the hot rivet head is contacted with the rivet column under the condition that the second pressure value is not zero; and judging that the hot rivet is not contacted with the rivet column under the condition that the second pressure value is zero. In some embodiments, the pressure sensing unit may include a plurality of pressure sensors disposed along the circumferential direction of the rivet, and the contact position between the rivet and the rivet stem may be determined according to the values of the pressure sensors. For example, when the pressure value detected by the left pressure sensor is zero and the pressure value detected by the right pressure sensor is zero, it can be determined that the heat stake is biased to the right of the stake. And the deviation direction of the hot rivet can be judged by analogy. In the case that the second pressure value is zero, there may be a case that the hot rivet is aligned with the rivet stem, or there may be a case that the hot rivet is greatly deviated from the rivet stem and is completely staggered, so that it is necessary to further judge the staggered condition of the hot rivet and the rivet stem.

Then, step S153 is performed, where it can be understood that, at the second height position, when the hot rivet head is staggered or overlapped with the rivet post, the distance information can be detected as a fourth distance, where the fourth distance is obtained by subtracting the height of the rivet post from the distance from the laser generator to the integrated busbar element; and when the hot rivet head and the rivet column are not staggered at all, the distance information is a fifth distance which is larger than the fourth distance. Therefore, the staggered condition of the hot rivet head and the rivet column can be judged through the distance information.

Then, judging the relative position relation between the hot rivet and the rivet column according to the contact condition obtained in the step S152 and the distance information obtained in the step S153; specifically, under the condition that the hot rivet head is not contacted with the rivet column and is overlapped with the rivet column, judging that the rivet column is opposite to the hot rivet head opening, and at the moment, directly controlling the hot rivet gun to descend from a second height position to a target machining position at a second preset speed; under the condition that the hot rivet is not contacted with the rivet column and the fifth distance is detected, the hot rivet is completely deviated from the rivet column, and then the position adjusting mechanism is required to be controlled to move the hot rivet gun, so that the hot rivet is aligned with the rivet column and then descends; and in the same way, under the condition that the hot rivet is in contact with the rivet column and the fourth distance is detected, the hot rivet is not completely deviated from the rivet column, fine adjustment can be performed according to the deviation direction, and the position adjusting mechanism is controlled to move the hot rivet so that the hot rivet is aligned to the rivet column. After alignment, the hot rivet is controlled to descend to the target machining position. It should be noted that, at the target machining position, the hot rivet is abutted against the surface of the integrated busbar element.

According to the embodiment of the application, the relative position relation between the hot rivet and the rivet column can be confirmed in the process of moving the hot rivet gun through the steps S151 to S155, the hot rivet is controlled to descend under the condition that the hot rivet and the rivet column are aligned, the probability of the rivet column being crushed is reduced, and meanwhile, the welding quality and the welding efficiency are improved.

Step S110 is further described according to some embodiments of the present application, wherein the identification process is performed on the structural fixing plate and the integrated busbar element placed on the riveting station, and the integrated busbar processing information is determined, including but not limited to steps S111 to S117.

Step S111: responding to the triggering of the gravity sensor, and acquiring a first image acquired by the image acquisition device and rivet column scanning data acquired by the scanning device; wherein, first image is used for showing the structure fixed plate of placing on the riveting station.

Step S112: and carrying out material characteristic identification processing on the first image, and determining material information of the structure fixing plate.

Step S113: and carrying out groove identification processing on the first image to obtain groove type and groove distribution information of the element grooves.

Step S114: and carrying out data processing on the riveting column scanning data to obtain the riveting column coordinates and the riveting column coordinate sets of each riveting column to be processed.

Step S115: under the condition that the measured value of the gravity sensor is stable and unchanged and the measured value meets the preset tolerance range, a second image acquired by the image acquisition device is acquired, and the second image is used for displaying the integrated busbar element on the structure fixing plate.

Step S116: and carrying out material characteristic identification processing on the second image, and determining the element type and element distribution condition of the integrated busbar element to be processed.

Step S117: and generating integrated busbar processing information according to the material information, the groove type, the groove distribution information, the riveting column coordinate set, the element type and the element distribution condition.

It will be appreciated that the order of placement of the structural fixation plates and the integrated busbar elements is certain. When the gravity sensor is triggered and started, the structure fixing plate is placed on the riveting station, at the moment, the first image displayed with the structure fixing plate and the riveting column scanning data can be automatically acquired, and the overall recognition processing efficiency is improved.

It is understood that the material characteristic recognition process refers to a recognition process of an image based on the material image characteristics, thereby determining the type of material from which the structural fixing plate is made.

It can be understood that in step S113, after the two-dimensional image (i.e., the first image) of the object surface of the structure fixing plate to be identified is obtained, firstly, an image balancing operation is performed on the first image, and the gray scales of relatively fewer pixels in the first image are allocated to other gray scales, so that the pixels are relatively concentrated, the gray scale range of the image after the image balancing operation is enlarged, the contrast is enlarged, and the sharpness is enlarged, so that the details of the image which cannot be seen originally are identified. In addition, the image equalization operation is required to be performed under the condition of ensuring certain illumination so as to be capable of clearly identifying the grooves and determining the distribution condition of the grooves. Then, an image segmentation operation is carried out on the equalized image, specifically, a pattern with similar properties to the shallow grooves in the equalized image is segmented and extracted, so that a two-dimensional image with a plurality of grooves clearly visible is obtained, and accordingly, the size and the shape of the grooves can be determined, and the groove type is determined, wherein the groove type comprises a first groove for placing an aluminum row and a second groove for placing a circuit board. The groove type and the distribution type of the grooves can be obtained through the above processing.

It can be understood that the rivet is cylindrical, in step S114, the scanning device may be a line structured light measuring sensor, and the scanning device is used to perform axial scanning on the long cylindrical object for m times with a fixed step length to obtain structured light measuring data of m sections; respectively carrying out data segmentation on the structured light measurement data of each section so that the data belonging to the same object are segmented in a section of circular arc; performing arc fitting on each segment of segmented data to obtain circle center coordinates; matching the circle centers of the circular arcs of the m sections according to constraint conditions which are required to be met by the circular arcs on the same object; calculating the three-dimensional coordinates of the long cylindrical object by using a linear interpolation algorithm; thus, the coordinates (i.e. the center coordinates) of each rivet on the plane can be determined by scanning the rivet one by one, and the number of the gripped object can be determined. Thus being beneficial to providing reference information for the follow-up hot riveting processing.

It can be understood that when the integrated busbar module is assembled and processed, the structure fixing plate is firstly placed, and the gravity sensor is triggered for the first time; then, a plurality of integrated busbar elements to be processed are placed one by one, and the measurement value of the gravity sensor changes every time one integrated busbar element is placed until the integrated busbar elements to be processed are placed, so that the measurement value of the gravity sensor is stable and unchanged. In addition, it should be noted that, when one type of integrated busbar module is processed, the number of used structure fixing plates and integrated busbar elements is the same, so that the quality of the integrated busbar module to be processed and assembled fluctuates within a preset tolerance range. Therefore, when the measured value is stable and unchanged, if the measured value meets the preset tolerance range, the structure fixing plate and the required integrated busbar element are indicated to be placed completely; if the measured value does not meet the preset tolerance range, the structural fixing plate and the required integrated busbar element are not placed completely, or the placed number exceeds the required number. Therefore, the placement condition of the structure fixing plate and the integrated busbar element can be judged through the gravity sensor.

According to the embodiment of the application, the integrated busbar processing information can be quickly identified and obtained through the steps S111 to S117, so that a foundation is laid for automatic welding processing of the integrated busbar module. And is favorable to improving holistic welding efficiency and degree of automation.

According to some embodiments of the present application, step S160 is preceded by including, but not limited to: determining the type of the element to be processed on the target riveting column coordinates according to the target riveting column coordinates, the acquired groove distribution information and the element distribution condition; a preset pressure threshold is determined based on the type of component.

It can be understood that firstly, determining which groove the rivet corresponding to the target rivet coordinate is located in according to the target rivet coordinate, and then determining the corresponding element type on the groove according to the element distribution condition, namely determining the element type to be processed on the target rivet coordinate.

The types of elements are different, and the materials adopted are different, so that the pressure can be born differently. In order to ensure better riveting quality, a certain pressure exists between the hot rivet and the integrated busbar element to be processed during riveting. But the materials of the different integrated busbar elements are different and the pressures that can be borne are also different. Therefore, a specific value of the preset pressure threshold value needs to be determined according to the type of the element. Therefore, better riveting quality can be ensured under the condition that the integrated busbar element is not damaged by extrusion.

According to some embodiments of the present application, the component types include circuit boards and aluminum bars; determining a preset pressure threshold based on the type of component, including but not limited to: determining a preset pressure threshold value as a first threshold value under the condition that the component type is a circuit board; alternatively, in the case where the element type is an aluminum bank, the preset pressure threshold value is determined as the second threshold value.

It will be appreciated that the circuit board may be a flexible circuit board or a ceramic circuit board, so that the specific value of the first threshold may be determined according to the actual type of the circuit board, and the specific value of the second threshold may be determined according to the physical properties of the aluminum busbar. Therefore, the values of the first threshold and the second threshold are not particularly limited in this application.

Step S160 is further described in accordance with some embodiments of the present application, wherein the control of the hot rivet machining of the rivet stem includes, but is not limited to, the following steps: inquiring in a preset riveting thermometer according to the acquired material information, the riveting environment humidity information acquired by the humidity sensor and the riveting environment temperature information acquired by the temperature sensor, and determining a target riveting temperature; and heating the hot rivet to the target riveting temperature to process the rivet column.

It can be understood that the rivet is integrally formed with the structural fixing plate, and the rivet and the structural fixing plate are made of the same material. And the humidity and the temperature in the riveting environment can influence the quality of the hot-pressing riveting column. The processing temperatures required for the rivet stem made of different materials are different in different riveting environments (i.e., different ambient humidity and ambient temperature). And the preset riveting thermometer is queried according to the material information, the riveting environment humidity information and the riveting environment temperature information, and the riveting column is processed at the target riveting temperature after the target riveting temperature is determined. The method is favorable for forming the riveting point with good quality and improving the welding quality.

It should be noted that, the preset riveting thermometer can be obtained by the engineering personnel through experiments and verification in advance and is stored in advance, so that the controller can conveniently call. Therefore, the specific content of the preset riveting thermometer is not particularly limited in the present application.

According to some embodiments of the present application, the control method of the rivet hot apparatus further includes, but is not limited to, the following: generating a processing drawing according to the integrated busbar processing information; and (3) performing hot pressing processing on each pair of riveting columns, marking the corresponding riveting columns in the processing drawing according to the coordinates of the target riveting columns, and obtaining and displaying a hot riveting real-time progress chart in a display device. The automatic hot riveting processing method is beneficial to operators or supervisors to intuitively and timely master the progress of the automatic hot riveting processing flow, and improves production safety.

In a second aspect, as shown in fig. 8, the present application further provides a controller 121, including:

the processor 801 may be implemented by a general purpose central processing unit, a microprocessor, an application specific integrated circuit, or one or more integrated circuits, etc. for executing related programs to implement the technical solutions provided by the embodiments of the present application;

the memory 802 may be implemented in the form of read-only memory, static storage, dynamic storage, random access memory, or the like. The memory 802 may store an operating system and other application programs, and when the technical solution provided in the embodiments of the present application is implemented by software or firmware, relevant program codes are stored in the memory 802, and the processor 801 invokes a control method for executing the rivet hot device according to the embodiments of the present application;

an input/output interface 803 for implementing information input and output;

the communication interface 804 is configured to implement communication interaction between the device and other devices, and may implement communication in a wired manner (e.g., USB, network cable, etc.), or may implement communication in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.);

a bus 805 that transfers information between the various components of the device (e.g., the processor 801, the memory 802, the input/output interface 803, and the communication interface 804);

Wherein the processor 801, the memory 802, the input/output interface 803, and the communication interface 804 implement communication connection between each other inside the device through a bus 805.

The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The apparatus embodiments described above are merely illustrative, in which the elements illustrated as separate components may or may not be physically separate, implemented to reside in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In a third aspect, embodiments of the present application further provide a computer-readable storage medium storing computer-executable instructions for causing a computer to execute a control method for implementing the above-described rivet hot apparatus.

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and may include any information delivery media.

While the preferred embodiments of the present application have been described in detail, the present application is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit and scope of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application.

Claims

1. The control method of the hot riveting equipment is characterized by being applied to a controller of the hot riveting equipment, wherein the hot riveting equipment comprises an integrated busbar module processing platform provided with a riveting station, a hot pressing processing device and a hot riveting electric cabinet arranged on the integrated busbar module processing platform; the riveting station is used for placing a structure fixing plate and an integrated busbar element to be processed; the integrated busbar component is fixedly arranged in the component groove in a penetrating mode by the riveting columns, the riveting station is provided with a positioning groove, the positioning groove is used for embedding a positioning workpiece, and the positioning workpiece is used for positioning the riveting columns; the hot pressing device comprises a foot switch, a bracket erected right above the riveting station, a position adjusting mechanism movably connected with the bracket, and a hot riveting gun connected with the position adjusting mechanism; the tail end of the hot riveting gun is provided with a pressure sensing unit and a hot riveting head opposite to the riveting station; the hot riveting electric cabinet comprises a controller, and the controller is respectively and electrically connected with the hot riveting head, the foot switch, the position adjusting mechanism and the pressure sensing unit;

The method comprises the following steps:

Sequentially traversing the riveting column coordinates in the riveting column coordinate set, carrying out hot pressing processing on the riveting columns one by one, and connecting the integrated busbar element with the structure fixing plate through riveting points to obtain a processed integrated busbar module;

the hot riveting equipment further comprises an image acquisition device and a scanning device which are arranged on the bracket and face the riveting station, and the riveting station further comprises a gravity sensor;

2. The control method of a rivet hot apparatus according to claim 1, wherein the bracket includes columns provided on both sides of the rivet station and a cross member connected between the columns and erected above the rivet station, the cross member being provided with a first guide rail in a first direction; the position adjusting mechanism comprises a lifting assembly and a movable seat which is in sliding connection with the cross beam through the first guide rail; the bottom surface of the movable seat is provided with a second guide rail along a second direction, and one end of the lifting assembly is in sliding connection with the movable seat through the second guide rail; the other end of the lifting assembly is fixedly connected with the hot riveting gun;

acquiring a first position coordinate of the hot rivet;

3. The control method of the hot riveting apparatus according to claim 2, wherein a laser range finder which is electrically connected with the controller and faces the hot riveting head is provided in the hot riveting gun;

4. The control method of the rivet hot equipment according to claim 1, wherein a humidity sensor and a temperature sensor which are electrically connected with the controller are respectively arranged on the riveting station;

5. The control method of the rivet hot apparatus according to claim 1, wherein, in a case where the first pressure value is equal to a preset pressure threshold value, controlling the rivet hot gun before stopping pressing down includes:

and determining the preset pressure threshold according to the element type.

6. The control method of a rivet hot apparatus according to claim 5, wherein the component types include a circuit board and an aluminum bank; the determining the preset pressure threshold according to the element type comprises the following steps:

7. The method of controlling a rivet hot apparatus according to claim 1, wherein the rivet hot electric cabinet further comprises a display device electrically connected to the controller;

the method further comprises the steps of:

8. A controller comprising at least one processor and a memory for communication with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling the rivet hot apparatus according to any one of claims 1 to 7.

9. A computer-readable storage medium storing computer-executable instructions for causing a computer to execute the control method of the rivet hot apparatus according to any one of claims 1 to 7.