CN115722627A - Automatic rivet-pulling positioning tool for lower tray of battery box and rivet-pulling process of automatic rivet-pulling positioning tool - Google Patents

Abstract

The invention relates to the technical field of automatic riveting of trays under battery boxes, and particularly discloses an automatic riveting and positioning tool for trays under battery boxes, which comprises a fixed supporting component, wherein positioning supporting components are symmetrically arranged at the left end and the right end of the inner side of the fixed supporting component, rotary supporting components are symmetrically arranged at the front end and the rear end of the fixed supporting component, a middle limiting component is arranged between the fixed supporting component and the rotary supporting component, and rotary driving components are symmetrically arranged at the front end and the rear end of the middle limiting component; according to the invention, the carrying robot is matched with the pull riveting positioning tool of the lower tray of the battery box to automatically clamp and position the chassis of the battery box, and then the pull riveting robot is used for automatically pull riveting, so that the labor cost is reduced, and the positioning precision is improved; the battery box lower tray riveting positioning tool is turned over and positioned, and then a plurality of riveting robots synchronously operate, so that the riveting positioning precision and the riveting efficiency are improved.

Description

Automatic rivet-pulling positioning tool for lower tray of battery box and rivet-pulling process of automatic rivet-pulling positioning tool

Technical Field

The invention relates to the technical field of automatic rivet of a lower tray of a battery box, in particular to an automatic rivet positioning tool of the lower tray of the battery box and a rivet process thereof.

Background

For the convenience of be in order to both ends assembled connection other spare parts about the tray under the battery case, adopt the rivet mode to rivet the nut rivet both ends about the tray under the battery case, when carrying out the rivet nut to both ends about the tray under the battery case among the prior art, generally adopt artifical rivet or semi-automatic rivet process, can satisfy general operation requirement, but it still has following shortcoming in actual use:

1. in the prior art, the battery box lower tray rivet pulling process has the defects of long manual rivet pulling time and high labor cost, and lacks of effective front and back surface one-time positioning tools, so that a pull-up rivet pulling point and a pull-down rivet pulling point are easy to deviate in the rivet pulling process, and the manually operated rivet pulling point is not accurately controlled;

2. tray rivet process under battery case among the prior art lacks effectual automatic two-sided location among the positioning process, consequently leads to semi-automatic operation's point position control accurate inadequately, and the tow sides is fixed a position in turn and is long consuming time, consequently leads to rivet inefficiency.

Disclosure of Invention

The invention aims to provide an automatic rivet positioning tool for a tray under a battery box, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic rivet location frock of tray under battery case, includes fixed stay subassembly, both ends symmetry is equipped with the location support subassembly about the fixed stay subassembly inboard, both ends symmetry is equipped with the rotation support subassembly around the fixed stay subassembly, fixed stay subassembly and rotation support subassembly's centre is equipped with middle spacing subassembly, both ends symmetry is equipped with the rotation driving subassembly around the middle spacing subassembly.

Preferably, fixed supporting component includes supporting baseplate, and is equipped with the collateral branch fagging in the left and right sides symmetry of supporting baseplate up end, the lower extreme of collateral branch fagging medial surface is fixed to be equipped with articulated seat I, and articulates in the side of articulated seat I has flexible arm I, the bottom of location supporting component is articulated mutually with flexible arm I's upper end.

Preferably, the front side and the rear side of the upper end of the inner side surface of the side supporting plate are symmetrically provided with rotary supporting blocks, a rotating shaft I is sleeved in the middle of each rotary supporting block, and one end of the outer side of the positioning supporting component is matched with the rotating shaft I in a penetrating manner.

Preferably, the location supporting component includes the location backup pad, the outside end of location backup pad wears to join in marriage with pivot I mutually, the inboard upper end of location backup pad is fixed and is equipped with the location supporting seat, the fixed direction locating plate that is equipped with in upper end of location supporting seat, and fix in the bottom of location backup pad and be equipped with articulated seat II, articulated seat II is articulated mutually with telescopic boom I's upper end.

Preferably, the middle limit component comprises a limit support frame of a frame structure arranged on the inner side of the side support plate, limit cylinders I are symmetrically arranged at the front end and the rear end of the outer side surface of the limit support frame, limit pressing plates I are arranged on the inner side of the frame body of the limit support frame and on the end portions of piston rods of the limit cylinders I, limit cylinders II are symmetrically arranged at the left end and the right end of the outer side surface of the limit support frame, and limit pressing plates II are arranged on the inner side of the frame body of the limit support frame and on the end portions of piston rods of the limit cylinders II.

Preferably, the rotary supporting assembly comprises rotary supporting seats symmetrically arranged at the front end and the rear end of the limiting supporting frame, a rotary supporting hole is formed in the middle of each rotary supporting seat, and a motor supporting plate is fixedly arranged at the outer side of each rotary supporting seat and at the upper end of the supporting bottom plate.

Preferably, the rotation driving assembly comprises a connection shaft II fixedly connected with the front end and the rear end of the limiting support frame in the middle, a connection plate I fixedly connected with the end face of the connection shaft II is connected with a rotation support shaft III in a sleeved mode through a bearing in the middle of a rotation support hole, an end cover is arranged on the outer side of the rotation support shaft III and buckled at the port of the rotation support hole, a connection plate II fixedly connected with the end face of the rotation support shaft III, and the connection plate II is fixedly connected with the connection plate I.

Preferably, a driving motor is fixedly installed on the side surface of the rotary supporting hole, and a main shaft of the driving motor is fixedly connected with the shaft end of the rotary supporting shaft III through a coupling.

Preferably, the invention also relates to an automatic riveting process for the tray under the battery box, which specifically comprises the following steps:

grabbing a lower battery box tray, driving a transfer robot to move a transfer gripper of the transfer robot to the upper end of a previous station, driving the transfer gripper of the transfer robot to grab the lower battery box tray, and then moving the lower battery box tray to the upper end of a rivet positioning tool;

fixing the lower battery box tray, driving a carrying robot to enable a carrying gripper of the carrying robot to place the lower battery box tray on the upper end of a positioning support seat on a rivet positioning tool of the lower battery box tray, and then driving a limiting cylinder I and a limiting cylinder II on the rivet positioning tool of the lower battery box tray to clamp the lower battery box tray;

thirdly, performing front-side riveting, namely driving a riveting robot to perform riveting action on the front side of the lower tray of the battery box corresponding to a riveting area;

fourthly, one-time overturning and positioning, after the front side of the lower battery box tray is subjected to rivet pulling, driving a driving motor on a rivet pulling and positioning tool of the lower battery box tray controls the limiting supporting frame to overturn, and after the overturning is finished, the reverse side of the lower battery box tray is fixed upwards;

fifthly, carrying out reverse side riveting, namely driving a riveting robot to carry out riveting action on a corresponding riveting area on the reverse side of the lower tray of the battery box;

sixthly, secondary overturning and positioning, namely driving a driving motor on the battery box lower tray rivet positioning tool to control the limiting supporting frame to overturn to the original position after the reverse side rivet of the battery box lower tray is finished;

step seven, opening the tool, and driving the battery box lower tray rivet positioning tool to open after the battery box lower tray rivet positioning tool is turned back to the original position;

and step eight, transferring the workpiece, driving the transfer robot to move the transfer robot to the upper end of the battery box lower tray rivet positioning tool, driving the transfer robot to grip the battery box lower tray at the upper end of the battery box lower tray rivet positioning tool, driving the transfer robot to move the battery box lower tray to the transition table, and then driving the transfer robot to open and return to the original position.

Compared with the prior art, the invention has the beneficial effects that: the invention has reasonable structure and strong functionality, and has the following advantages:

1. according to the invention, the carrying robot is matched with the pull riveting positioning tool of the lower tray of the battery box to automatically clamp and position the chassis of the battery box, and then the pull riveting robot is used for automatically pull riveting, so that the labor cost is reduced, and the positioning precision is improved;

2. according to the invention, the battery box lower tray riveting positioning tool is used for overturning and positioning, and then a plurality of riveting robots are used for synchronous operation, so that the positioning precision and the riveting efficiency of riveting are improved.

Drawings

FIG. 1 is a schematic view of the overall riveting process steps of the present invention;

FIG. 2 is an isometric view of a battery pack lower tray being integrally positioned on the inventive tooling;

FIG. 3 is an isometric view of the overall structure of the present invention;

FIG. 4 is an axial half-sectional view of the overall construction of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at B;

FIG. 6 is a front view of the overall structure of the present invention;

FIG. 7 is an isometric view of the cross-sectional structure taken at A-A in FIG. 6;

FIG. 8 is a left side view of the overall structure of the present invention;

fig. 9 is a top view of the overall structure of the present invention.

In the figure: 1. fixing the support component; 2. positioning the support assembly; 3. a rotation support assembly; 4. a middle limiting component; 5. a rotary drive assembly; 101. a support base plate; 102. side supporting plates; 103. a hinged seat I; 104. a telescopic arm I; 105. rotating the support block; 106. a rotating shaft I; 201. positioning the supporting plate; 202. positioning the supporting seat; 203. guiding a positioning plate; 204. a hinge base II; 301. rotating the supporting seat; 302. rotating the support hole; 303. a motor support plate; 401. a limiting support frame; 402. a limiting cylinder I; 403. a limiting pressure plate I; 404. a limiting cylinder II; 405. a limiting pressure plate II; 501. turning over the connecting shaft II; 502. connecting a plate I; 503. a rotating support shaft III; 504. a connecting plate II; 505. an end cap; 506. the motor is driven.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 9, the present invention provides a technical solution: the utility model provides an automatic rivet location frock of tray under battery case, including fixed stay subassembly 1, fixed stay subassembly 1 inboard both ends symmetry is equipped with location support subassembly 2 about, both ends symmetry is equipped with rotation support subassembly 3 around the fixed stay subassembly 1, fixed stay subassembly 1 is equipped with middle spacing subassembly 4 with rotation support subassembly 3's centre, middle spacing subassembly 4 front and back both ends symmetry is equipped with rotation driving subassembly 5, wherein, fixed stay subassembly 1 relative positioning support subassembly 2, rotation support subassembly 3 plays a supporting role, location support subassembly 2 plays a spacing supporting role under the relative battery case, rotation support subassembly 3 relative rotation driving subassembly 5 plays a supporting role, the tray plays a spacing clamping role under the relative battery case of middle spacing subassembly 4, rotation driving subassembly 5 plays a rotation driving role in the relative middle spacing subassembly 4 front and back both ends.

Further, fixed supporting component 1 includes supporting baseplate 101, and the left and right sides symmetry at supporting baseplate 101 up end is equipped with collateral branch fagging 102, the fixed articulated seat I103 that is equipped with of lower extreme of collateral branch fagging 102 medial surface, and it has flexible arm I104 to articulate in the side of articulated seat I103, the bottom of location supporting component 2 is articulated mutually with the upper end of flexible arm I104, flexible arm I104 plays a support and flexible rotation effect at 2 lower extremes of location supporting component, collateral branch fagging 102 relative positioning supporting component 2 side plays a supporting role.

Furthermore, the front side and the rear side of the upper end of the inner side surface of the side supporting plate 102 are symmetrically provided with rotating supporting blocks 105, the middle of each rotating supporting block 105 is provided with a rotating shaft I106 in a sleeved mode, one end of the outer side of the positioning supporting component 2 is matched with the rotating shaft I106 in a penetrating mode, the rotating supporting blocks 105 play a role in rotating supporting relative to the rotating shaft I106, and the rotating shaft I106 plays a role in rotating supporting relative to the positioning supporting component 2.

Further, the positioning support assembly 2 includes a positioning support plate 201, an outer side end of the positioning support plate 201 is penetrated and matched with the rotating shaft I106, a positioning support seat 202 is fixedly arranged at an inner upper end of the positioning support plate 201, a guiding positioning plate 203 is fixedly arranged at an upper end of the positioning support seat 202, and a hinged seat II 204 is fixedly arranged at a bottom of the positioning support plate 201, the hinged seat II 204 is hinged to an upper end of the telescopic arm I104, wherein the positioning support seat 202 plays a limiting support role relative to a bottom of a tray under a battery box, the guiding positioning plate 203 plays a guiding limiting role relative to the tray under the battery box, when the tray under the battery box moves to the upper end of the positioning support seat 202, the upper end of the positioning support seat 202 can be guided and placed along the guiding positioning plate 203, when the limiting support frame 401 is in a horizontal position, the telescopic arm I104 is driven to extend to enable the positioning support plate 201 to turn over to a lower end of the limiting support frame 401 around the rotating shaft I106 and keep the horizontal position, and when the limiting support frame 401 needs to turn over, the limiting support frame 401 can be turned over and retracted to enable the positioning support plate 201 to turn over to form interference.

Further, the middle limiting component 4 includes a limiting support frame 401 of a frame structure arranged on the inner side of the side support plate 102, limiting cylinders I402 are symmetrically arranged at the front and rear ends of the outer side surface of the limiting support frame 401, limiting pressure plates I403 are fixedly connected to the inner side of the frame of the limiting support frame 401 and the end portions of piston rods of the limiting cylinders I402, limiting cylinders II 404 are symmetrically arranged at the left and right ends of the outer side surface of the limiting support frame 401, a limiting pressure plate II 405 is fixedly connected to the inner side of the frame of the limiting support frame 401 and the end portions of piston rods of the limiting cylinders II 404, wherein the limiting support frame 401 plays a role of fixed support relative to the limiting cylinders I402 and II 404, the limiting cylinder I402 plays a role of telescopic driving relative to the limiting pressure plate I403, the limiting cylinder II 404 plays a role of telescopic driving relative to the limiting pressure plate II 405, the limiting pressure plate I403 plays a role of limiting clamping relative to the front and rear ends of a tray under the battery box, the limiting pressure plate II 405 plays a role of limiting clamping relative to the left and right ends of the tray under the battery box, and the limiting pressure plate II finishes a limiting clamping role of fixed support the battery box 401 relative to the left and right ends of the limiting cylinder II under the tray under the limiting cylinder II, when the tray under the positioning support plate 202 is positioned along the guiding support plate 203.

Further, the rotary supporting component 3 comprises rotary supporting seats 301 symmetrically arranged at the front end and the rear end of the limiting supporting frame 401, a rotary supporting hole 302 is formed in the middle of the rotary supporting seat 301, a motor supporting plate 303 is fixedly arranged on the outer side of the rotary supporting seat 301 and at the upper end of the supporting base plate 101, wherein the rotary supporting hole 302 plays a role of rotary supporting relative to the rotary supporting shaft III503, when the rotary supporting shaft III503 and the overturning connecting shaft II 501 drive the limiting supporting frame 401 to rotate, the rotary supporting frame 401 rotates more stably, and the motor supporting plate 303 plays a role of fixed supporting relative to the driving motor 506.

Further, the rotation driving assembly 5 comprises a turnover connecting shaft II 501 fixedly connected with the front end and the rear end of the limiting supporting frame 401 in the middle, an end face fixedly connected with connecting plate I502 of the turnover connecting shaft II 501, a rotation supporting shaft III503 is sleeved in the middle of the rotation supporting hole 302 through a bearing, an end cover 505 is arranged on the outer side of the rotation supporting shaft III503 and is buckled at the port of the rotation supporting hole 302, an end face fixedly connected with connecting plate II 504 of the rotation supporting shaft III503, the connecting plate II 504 is fixedly connected with the connecting plate I502, wherein the turnover connecting shaft II 501 plays a role of rotation fixed connection relative to the front end and the rear end of the limiting supporting frame 401, and the rotation supporting shaft III503 plays a role of rotation supporting relative to the connecting plate I502.

Further, a driving motor 506 is fixedly installed on the side face of the rotary supporting hole 302, a main shaft of the driving motor 506 is fixedly connected with a shaft end of the rotary supporting shaft III503 through a coupler, here, the driving motor 506 plays a role of rotary driving relative to the rotary supporting shaft III503, when the limiting supporting frame 401 needs to be turned over in work, the driving motors 506 at the front end and the rear end of the limiting supporting frame 401 synchronously act, and the driving motor 506 is started to enable the main shaft to drive the rotary supporting shaft III503, the connecting plate I502 and the limiting supporting frame 401 to rotate.

Further, the invention also relates to an automatic riveting process for the tray under the battery box, which specifically comprises the following steps:

grabbing a lower battery box tray, driving a transfer robot to move a transfer gripper of the transfer robot to the upper end of a previous station, driving the transfer gripper of the transfer robot to grab the lower battery box tray, and then moving the lower battery box tray to the upper end of a rivet positioning tool, wherein the idle stroke moving speed of the transfer robot is 1m/s, and the moving speed of a belt of the transfer robot is 0.8m/s;

fixing a lower battery box tray, driving a transfer robot, enabling a transfer gripper of the transfer robot to place the lower battery box tray on the upper end of a positioning support seat on a rivet positioning tool of the lower battery box tray, and then driving a limiting cylinder I and a limiting cylinder II on the rivet positioning tool of the lower battery box tray to clamp the lower battery box tray, wherein the idle stroke moving speed of the transfer robot is 1m/s, and the moving speed of a belt piece of the transfer robot is 0.8m/s;

thirdly, performing front-side riveting, and driving a riveting robot to perform riveting actions on the corresponding riveting areas on the front side of the battery box lower tray, wherein the number of the riveting robots is three, the three riveting robots are distributed at the upper end, the left end and the right end of the battery box lower tray riveting positioning tool, the number of the riveting robots at the upper end of the battery box lower tray riveting positioning tool is 29, the number of the riveting robots at the left end and the right end of the battery box lower tray riveting positioning tool is 30, and the riveting speed of the riveting robots is 8 s/piece;

fourthly, turning and positioning once, after the front side of the battery box lower tray is subjected to rivet pulling, driving a driving motor on the rivet pulling and positioning tool for driving the battery box lower tray to control the limiting supporting frame to turn over, and after the turning is finished, the reverse side of the battery box lower tray is fixed upwards, wherein the turning angle of a main shaft of the rivet pulling and positioning tool for the battery box lower tray is 180 degrees;

fifthly, carrying out reverse side riveting, namely driving a riveting robot to carry out riveting action on a corresponding riveting area on the reverse side of the lower tray of the battery box, wherein the number of the riveting robots is three, the three riveting robots are distributed at the upper end, the left end and the right end of a riveting positioning tool of the lower tray of the battery box, the number of the riveting robots at the upper end of the riveting positioning tool of the lower tray of the battery box is 14, the number of the riveting robots at the left end and the right end of the riveting positioning tool of the lower tray of the battery box is 15, and the riveting speed of the riveting robots is 8 s/piece;

step six, secondary overturning and positioning, after the reverse side of the battery box lower tray is subjected to rivet pulling, controlling the limiting support frame to overturn to the original position by a driving motor on the rivet pulling and positioning tool for driving the battery box lower tray, wherein the overturning angle of a main shaft of the rivet pulling and positioning tool for the battery box lower tray is 180 degrees;

step seven, opening the tool, and driving the battery box lower tray rivet positioning tool to open after the battery box lower tray rivet positioning tool is turned back to the original position;

and step eight, transferring the workpieces, driving a transfer robot to move a transfer gripper of the transfer robot to the upper end of the battery box lower tray riveting and positioning tool, driving the transfer robot to grip a battery box lower tray at the upper end of the battery box lower tray riveting and positioning tool, driving the transfer robot to transfer the battery box lower tray to a transition table, and then driving the transfer robot to transfer the gripper to open and return to an original position, wherein the idle stroke moving speed of the transfer robot is 1m/s, and the moving speed of a belt of the transfer robot is 0.8m/s.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The utility model provides an automatic rivet location frock of tray under battery case which characterized in that: including fixed stay subassembly (1), both ends symmetry is equipped with location support subassembly (2) about fixed stay subassembly (1) inboard, both ends symmetry is equipped with rotation support subassembly (3) around fixed stay subassembly (1), fixed stay subassembly (1) is equipped with middle spacing subassembly (4) with the centre of rotation support subassembly (3), both ends symmetry is equipped with rotation driving subassembly (5) around middle spacing subassembly (4).

2. The automatic rivet-pulling positioning tool for the lower tray of the battery box according to claim 1, is characterized in that: fixed supporting component (1) is including supporting baseplate (101), and is equipped with collateral branch fagging (102) at the left and right sides symmetry of supporting baseplate (101) up end, the lower extreme of collateral branch fagging (102) medial surface is fixed to be equipped with articulated seat I (103), and articulates in the side of articulated seat I (103) has flexible arm I (104), the bottom of location supporting component (2) is articulated mutually with the upper end of flexible arm I (104).

3. The automatic riveting and positioning tool for the lower tray of the battery box according to claim 2, characterized in that: the front side and the rear side of the upper end of the inner side of the side supporting plate (102) are symmetrically provided with rotating supporting blocks (105), a rotating shaft I (106) is sleeved in the middle of the rotating supporting blocks (105), and one end of the outer side of the positioning supporting component (2) is matched with the rotating shaft I (106) in a penetrating manner.

4. The automatic rivet-pulling positioning tool for the lower tray of the battery box according to claim 3, characterized in that: the utility model discloses a flexible arm I (104) of telescopic arm I (104) is articulated mutually, location supporting component (2) is including location backup pad (201), the outside end and the pivot I (106) of location backup pad (201) wear to join in marriage mutually, the fixed location supporting seat (202) that is equipped with in inboard upper end of location backup pad (201), the fixed direction locating plate (203) that is equipped with in upper end of location supporting seat (202), and fix in the bottom of location backup pad (201) and be equipped with articulated seat II (204), articulated seat II (204) are articulated mutually with the upper end of flexible arm I (104).

5. The automatic rivet-pulling positioning tool for the lower tray of the battery box according to claim 2, is characterized in that: spacing subassembly (4) in middle include that collateral branch fagging (102) are inboard to be established spacing carriage (401) of frame structure, spacing jar I (402) are installed to both ends symmetry around spacing carriage (401) lateral surface, at the frame inboard of spacing carriage (401) and at the spacing clamp plate I (403) of the tip fixedly connected with of spacing jar I (402) piston rod, spacing jar II (404) are installed to both ends symmetry about spacing carriage (401) lateral surface, the frame inboard of spacing carriage (401) and at the spacing clamp plate II (405) of the tip fixedly connected with of spacing jar II (404) piston rod.

6. The automatic rivet-pulling positioning tool for the lower tray of the battery box according to claim 5, is characterized in that: the rotary supporting assembly (3) comprises rotary supporting seats (301) symmetrically arranged at the front end and the rear end of a limiting supporting frame (401), a rotary supporting hole (302) is formed in the middle of each rotary supporting seat (301), and a motor supporting plate (303) is fixedly arranged on the outer side of each rotary supporting seat (301) and the upper end of a supporting bottom plate (101).

7. The automatic rivet-pulling positioning tool for the lower tray of the battery box according to claim 4, is characterized in that: rotatory drive assembly (5) include with fixed continuous upset connecting axle II (501) in the middle of spacing carriage (401) front and back both ends, the terminal surface fixedly connected with connecting plate I (502) of upset connecting axle II (501), the centre in rotatory support hole (302) has cup jointed rotation support shaft III (503) through the bearing, the outside of rotation support shaft III (503) is and the port department knot in rotation support hole (302) is equipped with end cover (505), the terminal surface fixedly connected with connecting plate II (504) of rotation support shaft III (503), connecting plate II (504) and connecting plate I (502) looks fixed connection.

8. The automatic rivet-pulling positioning tool for the lower tray of the battery box according to claim 7, is characterized in that: and a driving motor (506) is fixedly installed on the side surface of the rotary supporting hole (302), and a main shaft of the driving motor (506) is fixedly connected with the shaft end of the rotary supporting shaft III (503) through a shaft coupling.

9. The automatic rivet-pulling positioning tool for the lower tray of the battery box according to the claims 1 to 8, the invention also relates to an automatic rivet-pulling process for the lower tray of the battery box, which is characterized in that: the process specifically comprises the following steps:

grabbing a lower battery box tray, driving a transfer robot to move a transfer gripper of the transfer robot to the upper end of a previous station, driving the transfer gripper of the transfer robot to grab the lower battery box tray, and then moving the lower battery box tray to the upper end of a rivet positioning tool;

fixing the lower battery box tray, driving a carrying robot to enable a carrying gripper of the carrying robot to place the lower battery box tray on the upper end of a positioning support seat on a rivet positioning tool of the lower battery box tray, and then driving a limiting cylinder I and a limiting cylinder II on the rivet positioning tool of the lower battery box tray to clamp the lower battery box tray;

thirdly, performing front-side rivet, and driving a rivet robot to perform rivet operation on the corresponding rivet area on the front side of the battery box lower tray;

turning and positioning, namely driving a driving motor on a pull riveting positioning tool of the lower battery box tray to control the limiting supporting frame to turn over after the pull riveting of the front side of the lower battery box tray is finished, and fixing the reverse side of the lower battery box tray upwards after the turning is finished;

fifthly, carrying out reverse side rivet pulling, and driving a rivet pulling robot to carry out rivet pulling on a corresponding rivet pulling area on the reverse side of the lower tray of the battery box;

step six, overturning and positioning, namely driving a driving motor on a riveting and positioning tool of the lower tray of the battery box to control the limiting support frame to overturn to the original position after the reverse side of the lower tray of the battery box is subjected to rivet;

step seven, opening the tool, and driving the battery box lower tray rivet positioning tool to open after the battery box lower tray rivet positioning tool is turned back to the original position;

and step eight, transferring the workpiece, driving the transfer robot to move the transfer robot to the upper end of the battery box lower tray rivet positioning tool, driving the transfer robot to grip the battery box lower tray at the upper end of the battery box lower tray rivet positioning tool, driving the transfer robot to move the battery box lower tray to the transition table, and then driving the transfer robot to open and return to the original position.

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