Patent Publication Number: US-2022212245-A1

Title: Method for automatically determining quality of a self-piercing riveting process

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a continuation application of International Application No. PCT/CN2021/074616, filed on Feb. 1, 2021, which claims priority to Chinese Patent Application No. 202010745833.6, filed on Jul. 29, 2020. The disclosures of the aforementioned applications are incorporated in the present application for reference. 
    
    
     TECHNICAL FIELD 
     The present application relates to the technical field of white vehicle processes, particular to a method for automatically determining quality of self-piercing riveting process. 
     BACKGROUND 
     The self-piercing riveting process (SPR) is one of the common processes for connections of the aluminum alloy vehicle body. The SPR is a brand-new plate connection technology for white vehicle bodies of the automobiles, which is to directly press the rivet into the to-be-riveted plates, namely the top plate  1  and the bottom plate  2  through the hydraulic cylinder or the servo motor, the to-be-riveted plates, namely the top plate  1  and the bottom plate  2 , are plastically deformed under the force of the rivet, such as the semi-tubular rivet  3  or the like, and then fills the riveting die  4 , as shown in (a) to (e) of  FIG. 1 , so as to form a stably connection. Whether the SPR riveting is qualified or not has an important effect on the strength of the automobile. 
     In the related art, the following important parameters are considered when the riveting quality is judged: 1) T min  (in mm): the minimum thickness of the remaining material, that is, the thickness of the remaining thinnest portion of the to-be-riveted plates after plastic deformation occurs adjacent to the edge of the riveting die  4 ; 2) LL (in mm): the horizontal distance between the left tip of the tail portion of the rivet and the left cut-in point of the rivet cutting into the bottom plate  2 , this value is the interlocking amount on the left; 3) LR (in mm): the horizontal distance between the right tip of the tail portion of the rivet and the right cut-in point of the rivet cutting into the bottom plate  2 , this value is the interlocking amount on the right; and 4) Y (in mm): flatness, for the countersunk rivet, the surface of the rivet head should be flush with the base surface of the top plate  1 , and for the pan head rivet, the lower portion of the rivet head should be tightly attached to the top plate  1 , as shown in  FIGS. 2 and 3 . 
     According to the above parameters, whether defects exist in each riveting point or not can be specifically judged, and then whether each riveting point is qualified or not is judged. After the riveting is completed, if the defects exist, it will mainly be that the thickness of the plates is unqualified, the interlocking value is unqualified, and the height of the rivet head is unqualified. The defects are internal defects of the rivets and cannot be observed from the appearances, it needs to cut the riveting points, and measure with rulers to obtain the defects. If such defects occur in the production lines of automatic production and are not found, it will lead to the disqualification of batches of white vehicle bodies, or even the serious results that the white vehicle bodies are abandoned. 
     In the related art, the SPR quality inspection method mainly includes the following steps: carrying out sampling inspection at a certain station in the automatic production line, visually inspecting the appearances of the riveting points and measuring the heights of the rivet heads using an instrument, determining whether there is a change as compared with those before the riveting, and judging the riveting quality. 
     However, the manual inspection method in the related art has the following problems. 
     With the existing operation method, the riveting points need to be manually checked, manual inspection can only judge the change of the appearance and the change of the height of the rivet head, and the internal quality of the rivets cannot be determined, and the accuracy is low. 
     Only part of the riveting points can be checked using the existing operation method, and not all the riveting points can be checked, a special inspection station is set, special personnel and space are needed, the production takt is affected, and the manual inspection efficiency is low. 
     In order to ensure the accurate determination of the riveting quality, and prevent a large number of white vehicle bodies with SPR riveting quality problems from be produced, a more accurate method for determining riveting quality of SPR is needed. 
     SUMMARY 
     In order to overcome the defects in the related art, the present application aims to provide a method for automatically determining quality of a self-piercing riveting process, so as to ensure accurately identifying quality of riveting. 
     The present application provides a method for automatically determining quality of a self-piercing riveting process including the following operations: 
     S 1 , inputting standard values, where standard values of riveting forces F B , F C , F D , standard values of slopes K max , K max /2 and K CDmin , and standard values of displacements of displacement point X kmax , X kmax /2, K CDmin  are input to a server; 
     S 2 , acquiring data in real-time, where riveting forces F in the riveting process and displacements X corresponding to the riveting forces F are acquired in real time through a data acquisition system, and measured values of riveting forces F B1 , F C1 , and F D1 , measured values of slopes K max1 , K max1 /2, and K CDmin1 , and measured values of the displacements of displacement point X kmax  and X kmax /2 are acquired; 
     S 3 , comparing data and determining quality of riveting, where the measured values of the riveting forces F B1 , F C1  and F D1 , the measured values of the slopes K max1 , K max1 /2 and K CDmin1 , and the measured values of the displacements of displacement point X kmax1  and X kmax1 /2 are compared with the standard values of the riveting forces F B , F C , and F D , the standard values of the slopes K max , K max /2, and K CDmin , and the standard values of the displacements of displacement point X kmax  and X kmax /2 in the server correspondingly; specifically, the measured values of the riveting forces F B1 , F C1 , and F D1  are compared with the standard values of the riveting forces F B , F C  and F D  in the server correspondingly, and the measured values of the slopes K max1 , K max1 /2, K CDmin1  are compared with the standard values of the slopes K max , K max /2, and K CDmin  in the server correspondingly, and the measured values of the displacements of displacement point X kmax1  and X kmax1 /2 are compared with the standard values of the displacements of displacement point X kmax  and X kmax /2 in the server correspondingly. Thus, whether a defect exists is determined. 
     Further, the standard values input to the server are obtained through riveting process tests, and the riveting forces F and the displacements X corresponding to the riveting forces in the riveting process are collected by the data acquisition system connected with a riveting device during the riveting process tests. 
     Furthermore, the quality of the self-piercing riveting process includes whether rivet yield is unqualified, whether T min  is unqualified, whether interlocking is unqualified, and whether a quality defect of edge cracking exists, whether the rivet yield is unqualified is determined according to F B1  and F C1 , whether the T min  is unqualified is determined according to F max1  and X kmax1 /2, whether the interlocking is unqualified is determined according to F max1  and K max1 , and whether the quality defect of edge cracking exists is determined according to K CDmin1  and whether a riveting die is cracked is determined according to F max1 . Specifically, according to the solution, the quality defects such as the rivet yield, the unqualified T min , the unqualified interlocking, edge cracking are determined by selecting values of different groups, and the specific logic is that: actually measured values of related groups are selected and compared with the corresponding standard values, so as to determine the quality defects. 
     Further, F B1  is a riveting force corresponding to any point between an initial displacement point and displacement point B, and F C1  is a riveting force corresponding to any point between displacement point B and displacement point C; and F D1  is a riveting force corresponding to any point between the displacement point C and displacement point D, a displacement from the initial displacement point to the displacement point B is R plus P, R represents a thickness of a top plate, and P represents a depth of a riveting die; a displacement from the initial displacement point to the displacement point C is W minus 2 mm, W represents a length of a rivet; a displacement from the initial displacement point to the displacement point D is W minus H, H represents a height of a rivet head of the rivet; and the initial displacement point is a contact point where the rivet initially contacts the top plate. The specific corresponding determination mode is to determine according to F-X, the force and displacement curve formed by experimental data, where B, C and D refer to displacement points in the curve, and a riveting force can be determined by combining a determined displacement point with the curve. 
     Further, the data acquisition system is further configured for outputting a quality report. 
     According to the method for automatically determining quality of a self-piercing riveting process, riveting parameters and process curves are obtained in real time by the data acquisition system, the measured values for determining quality of riveting is calculated according to the real-time change of the riveting force curve and information of the riveted plates, the quality of the riveting process can be automatically determined by comparing the measured values and the standard values, the efficiency of monitoring quality is improved, inspection of all the riveting points can be realized, the abandon of white vehicle bodies due to poor riveting quality is greatly reduced, and the problem that a large number of white vehicle bodies with defective quality cannot be found is avoided, and the riveting quality of the white vehicle bodies is guaranteed. 
     Further, the method includes the following operations: 
     receiving a first riveting force standard value F B  corresponding to a displacement point B, a second riveting force standard value F C  corresponding to a displacement point C, a third riveting force standard value F D  corresponding to a displacement point D, a maximum riveting force standard value F max , a maximum slope standard value K max , a slope standard value K CDmin  between the displacement point C and the displacement point D and a standard value X Kmax  of a displacement point corresponding to K max  in a standard riveting force and displacement curve; 
     acquiring in real time the riveting forces F and the displacements corresponding to the riveting forces F, and obtaining according to the riveting forces F and the displacement corresponding to the riveting force F in the riveting process, a first riveting force measured value F B1  corresponding to any displacement point between an initial displacement point and the displacement point B, a second riveting force measured value F C1  corresponding to any displacement point between the displacement point B and the displacement point C, a third riveting force measured value F D1  corresponding to any displacement point between the displacement point C and the displacement point D, and a maximum riveting force measured value F max1 , a maximum slope measured value K max1 , a slope measured value K CDmax1  between the displacement point C and the displacement point D, and a measured value X kmax1  of the displacement point corresponding to K max1  in an actual riveting force and displacement curve; 
     comparing F B  with F B1 , and F C  with F C1 , and determining whether rivet yield is qualified to obtain a first result; 
     comparing F D  and F D1 , and determining whether X kmax1  is greater than (X kmax /2+0.5) mm, to determine whether T min  is qualified and obtain a second result; 
     determining whether F max1  is 1.2 times as much as F max  and whether K max1  is 1.4 times as much as K max , to determine whether interlocking is qualified and obtain a third result; 
     determining whether K CDmin1  is less than K CDmin , to determine whether a quality defect of edge cracking exists and obtain a fourth result; 
     obtaining quality of riveting according to the first result, the second result, the third result and the fourth result. 
     The beneficial effects of the above-mentioned further solution are as follows: 
     By comparing the standard values with the measured values in the actual riveting process, the quality state of the riveting process can be automatically determined, the efficiency of monitoring quality is improved, and sufficient detection of all the riveting points is realized, so that the riveting quality of white vehicle bodies is guaranteed, the situation that the white vehicle bodies are abandoned due to poor riveting quality is greatly reduced, and the situation that a large number of white vehicle bodies with defective quality cannot be found out is avoided. The standard values includes a first riveting force standard value F B , a second riveting force standard value F C , a third riveting force standard value F D , a maximum riveting force standard value F max , a maximum slope standard value K max , the slope measured value K CDmin1  and the measured value X kmax1  of the displacement point corresponding to K max1 . The measured values include: the first riveting force measured value F B1 , second riveting force measured value F C1 , the third riveting force measured value F D1 , the maximum riveting force measured value F max1 , the maximum slope measured value K max1 , the slope measured value K CDmin1 , and the measured value X kmax1  of the displacement point corresponding to K max1 . 
     Further, when F D1  is greater than F D  and F C1  is greater than F C , the first result is that the rivet yield is unqualified, otherwise, the first result is that the rivet yield is qualified; 
     when F D1  is greater than F D  and X kmax1  is greater than (X kmax /2+0.5) mm, the second result is that T min  is unqualified, otherwise, the second result is that T min  is qualified; 
     when F max1  is 1.2 times as much as F max  and K max1  is 1.4 times as much as K max , the third result is that the interlocking is unqualified, otherwise, the third result is that the interlocking is qualified; and 
     when K CDmin1  is less than K CDmin , the fourth result is the quality defect of edge cracking exists, otherwise, the quality defect of edge cracking does not exist. 
     Further, a displacement from the initial displacement point to the displacement point B is R plus P, R represents a thickness of a top plate, and P represents a depth of a riveting die; 
     a displacement from the initial displacement point to the displacement point C is W minus 2, mm, W represents a length of a rivet; 
     a displacement from the initial displacement point to the displacement point D is W minus H, H represents a height of a rivet head of the rivet; and the initial displacement point is a contact point where the rivet initially contacts the top plate. 
     In addition to the objects, features, and advantages described above, there are other objects, features and advantages of the present application. The present application will be described in further detail below with reference to the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which form a part of the present application, are used to provide a further understanding of the present application, and the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings: 
         FIG. 1  is a structural schematic diagram showing deformation processes of plates and a rivet in a self-piercing riveting process; 
         FIG. 2  is a structural schematic diagram showing the deformed rivet and plates after self-piercing riveting; 
         FIG. 3  is another structural schematic diagram showing the deformed rivet and plates after the self-piercing riveting; 
         FIG. 4  is a schematic flowchart of a method for automatically determining quality of a self-piercing riveting process according to an embodiment of the present application; 
         FIG. 5  is a diagram showing a detailed working principle of a quality acquisition system of the self-piercing riveting process according to an embodiment of the present application; 
         FIG. 6  is a quality determination table of the quality acquisition system of the self-piercing riveting process according to the present application; 
         FIG. 7  is a force and displacement graph of the quality acquisition system of the self-piercing riveting process according to an embodiment of the present application; 
         FIG. 8  is a slope and displacement graph of the quality acquisition system of the self-piercing riveting process according to an embodiment of the present application; and 
         FIG. 9  is another schematic flowchart of the method for automatically determining quality of the self-piercing riveting process according to an embodiment of the present application. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     It should be noted that, in the case of no conflict, the embodiments in the present application can be combined with each other and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. 
       FIGS. 4-9  illustrate some embodiments according to the present application. 
     As shown in  FIG. 4 , a method for automatically determining quality of a self-piercing riveting process includes the following operations. 
     S 1 , inputting standard values. Standard values of riveting forces F B , F C , F D , standard values of slopes K max , K max /2 and K CDmin , and standard values of displacements of displacement point X kmax , and X kmax /2 are input to a server. the slopes refer to slopes of riveting forces F in a force and displacement curve F-X, K max  represents the maximum slope, K max /2 refers to half of the maximum slope, and K CDmin  represents a slope of a corresponding standard riveting force between a displacement point C and a displacement point D. 
     S 2 , acquiring data in real-time. The riveting forces F in the riveting process and displacements X corresponding to the riveting forces F are acquired in real time through a data acquisition system, and measured values of riveting forces F B1 , F C1 , and F D1 , measured values of slopes K max1 , K max1 /2, and K CDmin1 , and measured values of the displacements of displacement point X kmax  and X kmax /2 are obtained. 
     S 3 , comparing data and determining quality of riveting. The measured values of the riveting forces F B1 , F C1 , and F D1 , the measured values of the slopes K max1 , K max1 /2, and K CDmin1 , and the measured values of the displacements of displacement point X kmax1 , X kmax1 /2 are compared with the standard values of the riveting forces F B , F C , and F D , the standard values of the slopes K max , K max /2, and K CDmin , and the standard values of the displacements of displacement point X kmax  and X kmax /2 in the server correspondingly. Specifically, the measured values of the riveting forces F B1 , F C1 , and F D1  are compared with the standard values of the riveting forces F B , F C  and F D  in the server correspondingly, and the measured values of the slopes K max1 , K max1 /2, K CDmin1  are compared with the standard values of the slopes K max , K max /2, and K CDmin  in the server correspondingly, and the measured values of the displacements of displacement point X Kmax1  and X Kmax1 /2 are compared with the standard values of the displacements of displacement point X Kmax  and X Kmax /2 in the server correspondingly. Thus, whether a defect exists is determined. 
     A displacement of a displacement point B is equal to the sum of a thickness of a top plate and a depth of the riveting die, a displacement of a displacement point C is equal to a length of a rivet minus 2 mm, a displacement of a displacement point D is equal to the length of the rivet minus a height of a rivet head of the rivet, F B1  is the riveting force corresponding to any point between 0 mm and the displacement point B, F C1  is the riveting force corresponding to any point between the displacement point B and the displacement point C, and F D1  is the riveting force corresponding to any point between the displacement point C and the displacement point D. The specific determination method is carried out according to the force and displacement curve F-X formed by experimental data. 
     In particular, defects of the riveting are determined according to each measured value in the following. 
     If the measured values F b1  and F c1  are both greater than the corresponding standard values F b  and F c  configured in the server, it is determined and output that rivet yield is unqualified. 
     If the measured value F D1  is greater than the configured corresponding standard value and the measured value X Kmax1 /2 is greater than the configured standard value X Kmax /2 for more than 0.5 mm, it is output that T min  is unqualified, T min  refers to the minimum thicknesses of the top plate and the bottom plate adjacent to an edge of the riveting die. 
     If the measured value F max1  is 1.2 times that of the configured standard value F max , and the measured value K max1  is 1.4 times that of the configured standard value K max , it is output that interlocking is unqualified. 
     If the measured value K CDmin1  is less than the configured standard value K CDmin , it is output a quality defect of edge cracking. 
     If the measured value F max1  is m times that of the configured standard value F max , and m∈(0, 0.5), it is determined that the riveting is qualified. Otherwise, the riveting is unqualified, and an early warning is sent, as shown in  FIG. 5 . 
     Specifically, a riveting database is obtained through a large number of riveting process tests. During the riveting process tests, the riveting forces F and the corresponding displacements X in the riveting process are collected by the data acquisition system connected with a riveting device, so that the riveting database is formed. The riveting force F and displacement X curve and the slope K of riveting force and displacement X curve are generated based on the data in the riveting database through fitting algorithms, as shown in  FIG. 5 . As shown in  FIG. 6 , “NO” indicates that the riveting quality of each riveting point is qualified, and if “YES” appears, it indicates that a quality defect occurs. 
     Specifically, the method for determining the standard values includes: selecting riveting data of riveting points for which the rivet yield are qualified, T min  is qualified, the interlocking is qualified, and quality defects such as edge cracking do not exist from the riveting database, and obtaining the measured or calculated values of the riveting forces F B , F C , and F D , the measured or calculated values of the slopes K max , K max /2 and the measured or calculated values of the displacements of displacement point X Kmax  and X Kmax /2 corresponding to those riveting data, and calculating the standard values of those values through a specific algorithm. 
     By means of the preset quality judgment standard in the acquisition system, whether a riveting point is qualified or not can be judged, whether quality defects such as unqualified rivet yield, unqualified T min , unqualified interlocking, and edge cracking exists in each riveting point can be further judged, and a quality report is generated. 
     The technical personnel or operators can judge whether a riveting point is qualified or not according to data and corresponding quality state in the quality report output by the data acquisition system, and meanwhile, the subsequent quality tracking can be facilitated through exporting the quality report. 
     Preferably, in the above technical solution, the method includes the following operations: 
     receiving a first riveting force standard value F B  corresponding to the displacement point B, a second riveting force standard value F C  corresponding to the displacement point C, a third riveting force standard value F D  corresponding to the displacement point D, a maximum riveting force standard value F max , a maximum slope standard value K max , a slope standard value K CDmin  between the displacement point C and the displacement point D and the standard value X Kmax  of a displacement point corresponding to K max  in a standard riveting force and displacement curve; 
     acquiring in real time the riveting forces F and the displacements corresponding to the riveting forces F, and obtaining according to the riveting forces F in the actual riveting process and the displacements corresponding to the riveting forces F, a first riveting force measured value F B1  corresponding to any displacement point between an initial displacement point and the displacement point B, a second riveting force measured value Fc 1  corresponding to any displacement point between the displacement point B and the displacement point C, a third riveting force measured value F D1  corresponding to any displacement point between the displacement point C and the displacement point D, and a maximum riveting force measured value F max1 , a maximum slope measured value K max1 , a slope measured value K CDmax1  between the displacement point C and the displacement point D, and a measured value X kmax1  of the displacement point corresponding to K max1  in an actual riveting force and displacement curve; 
     comparing F B  with F B1 , and F C  with F C1 , and determining whether the rivet yield is qualified to obtain a first result; 
     comparing F D  and F D1 , and determining whether X Kmax1  is greater than (X Kmax /2+0.5) mm, to determine whether T min  is qualified and obtain a second result; 
     determining whether F max1  is 1.2 times as much as F max  and whether K max1  is 1.4 times as much as K max , to determine whether the interlocking is qualified and obtain a third result; 
     determining whether K min1  is less than K min , to determine whether a quality defect of edge cracking exists and obtain a fourth result; and 
     obtaining quality of riveting according to the first result, the second result, the third result and the fourth result. 
     By comparing the standard values with the actually measured values in the actual riveting process, the quality state of the riveting process can be automatically determined, the efficiency of monitoring quality is improved, and sufficient detection of all the riveting points is realized, so that the riveting quality of white vehicle bodies is guaranteed, the situation that the white vehicle bodies are abandoned due to poor riveting quality is greatly reduced, and the situation that a large number of white vehicle bodies with defective quality cannot be found out is avoided. The standard values include a first riveting force standard value F B , a second riveting force standard value F C , a third riveting force standard value F D , a maximum riveting force standard value F max , a maximum slope standard value K max , the slope measured value K CDmin1  and the measured value X kmax1  of the displacement point corresponding to K max1 . The measured values include: the first riveting force measured value F B1 , second riveting force measured value Fc 1 , the third riveting force measured value F D1 , the maximum riveting force measured value F max1 , the maximum slope measured value K max1 , the slope measured value K CDmin1 , and the measured value X kmax1  of the displacement point corresponding to K max1 . 
     The quality state of the actual riveting includes the first result which is about whether the rivet yield is qualified, the second result which is about whether T min  is qualified, and the third result which is about whether the interlocking is qualified. 
     Preferably, in the above technical solution: 
     firstly, when F D1  is greater than F D  and F C1  is greater than F C , the first result is that the rivet yield is unqualified, otherwise, the first result is that the rivet yield is qualified; 
     secondly, when F D1  is greater than F D  and X Kmax1  is greater than (X Kmax /2+0.5) mm, the second result is that T min  is unqualified, otherwise, the second result is that T min  is qualified; 
     thirdly, when F max1  is 1.2 times as much as F max  and K max1  is 1.4 times as much as K max , the third result is that the interlocking is unqualified, otherwise, the third result is that the interlocking is qualified; 
     fourthly, when K CDmin1  is less than K CDmin , the fourth result is the quality defect of edge cracking exists, otherwise, the quality defect of edge cracking does not exist. 
     The displacement from the initial displacement point to the displacement point B is R plus P, where R represents the thickness of the top plate, and P represents the depth of the riveting die. 
     The displacement from the initial displacement point to the displacement point C is (W−2) mm, where W represents the length of the rivet. 
     The displacement from the initial displacement point to the displacement point D is (W−H), where H represents the height of the rivet head. 
     The initial displacement point is a contact point where the rivet initially contacts the top plate. 
     Specifically, a large number of riveting process tests can be carried out in advance, and during the riveting process tests, the riveting forces F in the riveting process and the displacements X corresponding to the riveting forces F are collected by the data acquisition system connected with the riveting device, so that the riveting database is formed. The riveting forces F and the displacements X corresponding to the riveting forces F can be understood as follows. For example, one riveting force F is acquired every 1 mm displacement, or five riveting forces are acquired every 1 mm displacement, which can be adjusted according to actual conditions, and details are not described herein. The riveting forces can be obtained through a force sensor, and the displacements can be obtained through a distance sensor, the selection and mounting of the force sensor and the distance sensor are known to a person skilled in the art, for which details are not described here. The data, namely the riveting forces F and the displacements X corresponding to the riveting forces F, of each riveting process in the database are processed, and a plurality of riveting force F and displacement X curves as shown in  FIG. 7 , and a slope K of riveting force and displacement X curve as shown in  FIG. 8 , are generated through the fitting algorithms, which are also known to a person skilled in the art, and details are not described here. 
     The process for determining the standard values includes: selecting data of riveting points for which the rivet yield are qualified, T min  is qualified, the interlocking is qualified, and quality defects such as edge cracking do not exist from the riveting database, and obtaining the measured or calculated values of the riveting forces F B , F C , and F D , the measured or calculated values of the slopes K max , K max /2 and the measured or calculated values of the displacement points X Kmax  and X Kmax /2 corresponding to those riveting data, and calculating the standard values of those parameters through a specific algorithm, thereby obtaining relationships among the first result, the second result, the third result and the fourth result with those parameters, that is to say, the first result, the second result, the third result and the fourth result are obtained through a large number of riveting process tests. 
     The method for automatically determining quality of the self-piercing riveting process of the present application is set forth in another embodiment in the following. 
     S 20 , receiving input standard values. 
     Specially, standard values input by a user are received. The user can obtain the standard values by searching in the riveting database, where the standard values include a first riveting force standard value F B , a second riveting force standard value F C , a third riveting force standard value F D , a maximum riveting force standard value F max , a maximum slope standard value K max , a slope measured value K CDmax1 , and a measured value X kmax1  of a displacement point corresponding to K max1 . 
     S 21 , acquiring measured values. 
     The measured values are acquired based on the riveting forces F and the displacements corresponding to the riveting forces F collected in real time by the data acquisition system, where the measured values include: a first riveting force measured value F B1 , a second riveting force measured value Fc 1 , a third riveting force measured value F D1 , a maximum riveting force measured value F max1 , a maximum slope measured value K max1 , a slope measured value K CDmax1 , and a measured value X kmax1  of a displacement point corresponding to K max1 . 
     S 22 , obtaining a first result, a second result, a third result, and a fourth result. 
     Firstly, comparing F B  with F B1 , and F C  with F C1 , and determining whether the rivet yield is qualified to obtain a first result: 
     Specifically, when F B1  is greater than F B  and F C1  is greater than F C , the first result is that rivet yield is not qualified, otherwise, the first result is that the rivet yield is qualified. 
     Secondly, comparing F D  with F D1 , and determining whether X kmax1  is greater than (X kmax /2+0.5) mm, to determine whether T min  is qualified and obtain a second result. 
     Specifically, when F D1  is greater than F D  and X Kmax1  is greater than (X Kmax /2+0.5) mm, the second result is that T min  is unqualified, otherwise, the second result is that T min  is qualified. 
     Thirdly, determining whether F max1  is 1.2 times as much as F max  and whether K max1  is 1.4 times as much as K max , to determine whether interlocking is qualified and obtain a third result. 
     Specifically, when F max1  is 1.2 times as much as F max  and whether K max1  is 1.4 times as much as K max , the third result is that the interlocking is unqualified, otherwise, the third result is that the interlocking is qualified. 
     Fourthly, determining whether K CDmin1  is less than K CDmin , to determine whether there is a quality defect of edge cracking or not and obtain a fourth result. 
     When K CDmin1  is less than K CDmin , the fourth result is that the quality defect of edge cracking exists, otherwise, the quality defect of edge cracking does not exist. 
     S 23 , obtaining quality of the actual riveting, and outputting a quality report. Specifically, the quality of the actual riveting is obtained according to the first result, the second result, the third result and the fourth result, and a quality report is obtained, the quality report can be in a form of an Excel table or a Word file, so that a user can conveniently check. 
     The above description is only preferred embodiments of the present application and is not intended to limit the present application. For a person skilled in the art, there can be various modifications and variations of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall fall within the claimed scope of the present application.