CN116587000A - Drilling and riveting device - Google Patents

Abstract

The invention relates to a drilling and riveting device, which comprises a mechanical arm and a drilling and riveting assembly, wherein the drilling and riveting assembly comprises a rotary bracket, the rotary bracket is rotatably connected to the tail end of the mechanical arm, a drilling device and a riveting device are connected to the rotary bracket, and the drilling device and the riveting device are circumferentially arranged around the rotation axis of the rotary bracket; the riveting device comprises a first hydraulic cylinder and a riveting machine, wherein the first hydraulic cylinder comprises a first cylinder body and a first push rod which can stretch out and draw back along the first cylinder body, and the first push rod is connected with the riveting machine through a pushing plate. The invention integrates multiple functions such as drilling, riveting and the like, saves occupied space, can realize flexible switching and adjustment of multiple functions, and greatly improves the riveting efficiency.

Description

Drilling and riveting device

Technical Field

The invention relates to the technical field of riveting, in particular to a drilling and riveting device.

Background

The riveting device is equipment for riveting and fixing workpieces together by utilizing rivets. However, the existing riveting device is generally a riveting machine, but the riveting machine only has a riveting function, and a riveting hole before riveting is completed by being provided with independent drilling equipment, so that not only is a large space occupied, but also flexible switching and adjustment of working procedures are inconvenient, the riveting efficiency is low, and the production requirement cannot be met.

Disclosure of Invention

Therefore, the invention aims to solve the technical problem that the riveting device in the prior art has single function, so that the riveting efficiency is low.

In order to solve the technical problems, the invention provides a drilling and riveting device, which comprises,

a mechanical arm;

the drilling and riveting assembly comprises a rotary support, the rotary support is rotatably connected to the tail end of the mechanical arm, a drilling device and a riveting device are connected to the rotary support, and the drilling device and the riveting device are circumferentially arranged around the rotary axis of the rotary support;

the riveting device comprises a first hydraulic cylinder and a riveting machine, wherein the first hydraulic cylinder comprises a first cylinder body and a first push rod which can stretch out and draw back along the first cylinder body, and the first push rod is connected with the riveting machine through a pushing plate.

In one embodiment of the invention, a first through hole is formed in one end of the pushing plate, a second through hole is formed in the other end of the pushing plate, a guide rod is connected in the first through hole, the guide rod is connected with the riveting machine through a first pressure sensor, and the first push rod is connected in the second through hole.

In one embodiment of the invention, a chamfering device and a polishing device are also connected to the rotating bracket, and the riveting device, the drilling device, the chamfering device and the polishing device are arranged circumferentially around the rotation axis of the rotating bracket.

In one embodiment of the invention, the drilling device comprises a drilling actuator comprising a drill bit, the chamfering device comprises a chamfering actuator comprising a chamfering device, the grinding device comprises a grinding actuator comprising a grinding head.

In one embodiment of the invention, the rotary support comprises a hollow sleeve, one end of the hollow sleeve is connected with a first disc body, the other end of the hollow sleeve is connected with a second disc body, the first disc body is driven to rotate by a first driving source, a shell of the first driving source is connected to the tail end of the mechanical arm through a connecting seat, a supporting shaft is arranged in the hollow sleeve, the supporting shaft is connected with the hollow sleeve through a rolling bearing, one end of the supporting shaft extending out of the first disc body is connected with the connecting seat, and one end of the supporting shaft extending out of the second disc body is connected with a presser foot.

In one embodiment of the invention, the camera is connected to the connecting seat, a beam hole for passing a beam of the camera is formed in the first disc, the second pressure sensor is connected to the presser foot, a through hole is formed in the second pressure sensor, and a positioning hole is formed in the presser foot and is communicated with the through hole.

In one embodiment of the present invention, the second tray body is provided with a first accommodating hole, a second accommodating hole, a third accommodating hole and a fourth accommodating hole, the drilling executing piece is slidably connected in the first accommodating hole, the chamfering executing piece is slidably connected in the second accommodating hole, the polishing executing piece is slidably connected in the third accommodating hole, and the riveting machine is slidably connected in the fourth accommodating hole.

In one embodiment of the invention, the drilling executing piece, the chamfering executing piece, the polishing executing piece and the riveting machine are respectively connected to the outer wall of the hollow sleeve through separate sliding components, the sliding components comprise sliding blocks and sliding rails, the drilling executing piece, the chamfering executing piece, the polishing executing piece and the riveting machine are respectively connected with the sliding blocks of the corresponding sliding components, and the sliding rails are respectively connected to the outer wall of the hollow sleeve.

In one embodiment of the invention, the drilling device further comprises a second hydraulic cylinder and a second driving source, the drilling execution piece further comprises a transmission shaft, the transmission shaft is connected with the drill bit, the second hydraulic cylinder is used for driving the transmission shaft to do linear motion, and the second driving source is used for driving the transmission shaft to do rotary motion.

In one embodiment of the invention, the drilling and riveting device further comprises a hanging frame device, the hanging frame device comprises a support, a drill bit hanging frame, a grinding head hanging frame and a chamfering device hanging frame are connected to the support, each of the drill bit hanging frame, the grinding head hanging frame and the chamfering device hanging frame comprises a supporting frame, a supporting disc body is arranged on the upper portion of the supporting frame, and a plurality of clamp assemblies are circumferentially arranged on the supporting disc body.

Compared with the prior art, the technical scheme of the invention has the following advantages:

the drilling and riveting device integrates multiple functions such as drilling, riveting and the like, saves occupied space, can realize flexible switching and adjustment of multiple functions, and greatly improves the riveting efficiency.

Drawings

In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.

FIG. 1 is a schematic installation view of the drilling and riveting apparatus of the present invention;

FIG. 2 is a schematic illustration of the assembly of the robotic arm and drill and rivet assembly of FIG. 1;

FIG. 3 is a schematic view of the drill and rivet assembly of FIG. 2;

FIG. 4 is a schematic view of the drill and rivet assembly of FIG. 3 with the cover removed;

FIG. 5 is a schematic view of the structure of FIG. 4 at another angle;

FIG. 6 is a schematic view (top view) of the placement of the riveting device, drilling device, chamfering device and grinding device on the rotating bracket;

FIG. 7 is a schematic view of the structure of FIG. 4 after the riveting device, drilling device, chamfering device, and polishing device are removed;

FIG. 8 is an exploded view of the structure of FIG. 7;

FIG. 9 is a schematic view of the structure of the rotating bracket of FIG. 8;

FIG. 10 is a schematic view of a drilling apparatus according to the present invention;

FIG. 11 is a schematic view of the drilling apparatus of FIG. 10 with the second hydraulic source removed;

FIG. 12 is an exploded view of the structure of FIG. 11;

FIG. 13 is a schematic view of the construction of the slip assembly of the present invention;

FIG. 14 is a schematic structural view of the riveting device;

FIG. 15 is a schematic view of the riveting device of FIG. 14 after the first hydraulic source and the first hydraulic cylinder are removed;

FIG. 16 is an exploded view of the structure shown in FIG. 15;

FIG. 17 is a schematic view of a hanger apparatus of the present invention;

FIG. 18 is a schematic view of the structure of the support stand of FIG. 17;

FIG. 19 is a schematic view of the clamp assembly of FIG. 18;

FIG. 20 is a schematic view of the spot status of the structural member assembly;

FIG. 21 is a schematic view of a ready state of the drilling and riveting assembly;

FIG. 22 is a schematic view of the drill and rivet assembly in a relatively vertical position with respect to the structural member assembly;

FIG. 23 is an isometric view of a determination of the status of the staking location;

FIG. 24 is an enlarged partial schematic view at M in FIG. 23;

FIG. 25 is a schematic plan view of a state of determining a rivet location;

FIG. 26 is an isometric view of a drill bit alignment of the drilling apparatus with respect to a camera-determined location to be drilled;

FIG. 27 is an isometric view of a drill bit in a drilling position;

FIG. 28 is a schematic plan view of the drill bit in a drilling position;

FIG. 29 is an enlarged partial schematic view at N in FIG. 28;

FIG. 30 is a schematic view of a staking device in a staking state;

description of the specification reference numerals:

10. a workshop terrace;

20. a mechanical arm;

30. drilling and riveting components;

301. a rotating bracket; 3011. a hollow sleeve; 3012. a first tray; 30121. a beam aperture; 3013. a second tray body; 30131. a first accommodation hole; 30132. a second accommodation hole; 30133. a third accommodation hole; 30134. a fourth accommodation hole; 3014. a cover body;

302. a drilling device; 3021. a drilling actuator; 30211. a drill bit; 30212. a transmission shaft; 30213. a propulsion seat; 30214. a collet, 30215, quick change head; 3022. a second hydraulic cylinder; 3023. a second driving source; 3024. a second hydraulic pressure source; 3025. a third pressure sensor;

303. chamfering device; 3031. chamfering device;

304. a polishing device; 3041. polishing head;

305. a riveting device; 3051. a first hydraulic cylinder; 30511. a first cylinder; 30512. a first push rod; 3052. a riveter; 3053. a propulsion plate; 30531. a first through hole; 30532. a second through hole; 3054. a first hydraulic pressure source; 3055. a guide rod; 3056. a first pressure sensor; 3057. a linear bearing; 3058. a rivet;

306. a first driving source; 307. a connecting seat; 308. a connecting plate; 309. a support shaft;

3010. a rolling bearing; 3020. a presser foot; 30201. positioning holes; 3030. a second pressure sensor; 30301. a through hole; 3040. a camera; 30401. a camera beam; 3050. a slip assembly; 30501. a slide block; 30502. a slide rail;

40. a hanger device; 401. a support; 402. a drill hanger; 403. grinding head hanging frame; 404. chamfering device hanging rack; 405. a support frame; 4051. a support tray body; 4052. a clamp assembly; 40521. a clamping part; 40522. a rod piece; 40523. a spring; 40524. a holding block; 40525. a lock nut;

50. rivet supply means;

60. a structural member assembly; 601. a sealing plate; 602. a skeleton; 603. riveting holes;

70. and a transfer trolley.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.

Referring to fig. 1-3, the present embodiment discloses a drilling and riveting device, which includes a mechanical arm 20 and a drilling and riveting assembly 30, wherein the mechanical arm 20 is used for driving the drilling and riveting assembly 30 to perform multiple free movements;

the drilling and riveting assembly 30 comprises a rotary support 301, the rotary support 301 is rotatably connected to the tail end of the mechanical arm 20, a drilling device 302 and a riveting device 305 are connected to the rotary support 301, and the drilling device 302 and the riveting device 305 are circumferentially arranged around the rotation axis of the rotary support 301; rotation of the drilling device 302 and the riveting device 305 can be flexibly realized through rotation of the rotary support 301; the rotary support 301 is externally connected with a cover 3014, and the cover 3014 and the rotary support 301 are fixed together and can rotate together.

As shown in fig. 14 to 16, the caulking apparatus 305 includes a first hydraulic cylinder 3051 and a caulking machine 3052, the first hydraulic cylinder 3051 includes a first cylinder 3051 and a first push rod 30512 that is extendable and retractable along the first cylinder 3051, and the first push rod 30512 is connected to the caulking machine 3052 through a push plate 3053. The pushing plate 3053 can be driven to do linear motion through the expansion and contraction of the first pushing rod 30512 relative to the first cylinder 3053, so that the riveting machine 3052 is driven to do linear motion by the pushing plate 3053, and the position of the riveting machine 3052 is flexibly adjusted.

The first hydraulic cylinder 3051 is powered by a first hydraulic source 3054, and the first hydraulic source 3054 may be an EHA (Electro-hydraulic actuator) hydraulic motor. The EHA hydraulic motor is a prior art product and will not be described in detail here.

Above-mentioned structure has integrated drilling and riveting function, has not only practiced thrift occupation space to can realize drilling and the nimble switching and the adjustment of riveting, promoted riveting efficiency greatly.

In one embodiment, as shown in fig. 16, a first through hole 30531 is provided at one end of the pushing plate 3053, a second through hole 30532 is provided at the other end, a guide rod 3055 is connected in the first through hole 30531, the guide rod 3055 is connected to the riveting machine 3052 through a first pressure sensor 3056, and a first push rod 30512 is connected in the second through hole 30532.

The first push rod 30512 drives the pushing plate 3053 to do linear motion, so that the pushing plate 3053 drives the guide rod 3055 to do linear motion, and further drives the riveting machine 3052 to do linear motion.

Further, one end of the guide rod 3055 is slidably connected to the linear bearing 3057, and the other end is connected to the caulking machine 3052 through the first pressure sensor 3056.

The first pressure sensor 3056 is used for monitoring and controlling the pressure given to the workpiece to be riveted by the riveting machine 3052.

The riveter 3052 may be a blind rivet machine or a squeeze riveter, and may be a conventional finished product device, the structural components of which are not described herein. The type of rivet driver (or squeeze) may be determined during the riveting operation based on the type of structure and the type of rivet selected.

In one embodiment, as shown in fig. 4-6, the rotary support 301 is further connected with a chamfering device 303 and a polishing device 304, and the riveting device 305, the drilling device 302, the chamfering device 303 and the polishing device 304 are circumferentially arranged around the rotation axis of the rotary support 301, so that not only is the compactness of the structure increased, but also the quick switching of the positions among the devices is facilitated.

Wherein, drilling device 302 is used for drilling rivet hole 603 on the work piece, and chamfer device 303 is used for carrying out the chamfer operation to rivet hole 603, and grinding device 304 is used for polishing rivet hole 603 tip or rivet tip burr, and riveting device 305 is then used for riveting.

In one embodiment, as shown in fig. 10-12, the drilling apparatus 302 includes a drilling implement 3021, the drilling implement 3021 includes a drill bit 30211 to perform the drilling action, the chamfering apparatus 303 includes a chamfering implement, the chamfering implement includes a chamfering device 3031 to perform the chamfering action, the grinding apparatus 304 includes a grinding implement, and the grinding implement includes a grinding head 3041 to perform the grinding action.

In one embodiment, as shown in fig. 7-9, the rotary support 301 includes a hollow sleeve 3011, one end of the hollow sleeve 3011 is connected with a first disc 3012, the other end is connected with a second disc 3013, the first disc 3012 is driven to rotate by a first driving source 306, a housing of the first driving source 306 is connected to the tail end of the mechanical arm 20 through a connecting seat 307, a support shaft 309 is disposed in the hollow sleeve 3011, the support shaft 309 is connected with the hollow sleeve 3011 through a rolling bearing 3010, one end of the support shaft 309 extending out of the first disc 3012 is connected with the connecting seat 307, the connecting seat 307 is connected to the mechanical arm 20 through a connecting plate 308, and one end of the support shaft 309 extending out of the second disc 3013 is connected with a presser foot 3020 for positioning and riveting positions.

The first driving source 306 is a motor, for example, a planetary reducer.

In the above structure, the mechanical arm 20 drives the first driving source 306 and the rotary support 301 to move as a whole, and the first driving source 306 drives the first disk 3012 to rotate, so as to drive the rotary support 301 to rotate as a whole, thereby adjusting the positions of the riveting device 305, the drilling device 302, the chamfering device 303 and the polishing device 304.

When the rotary support 301 rotates, the rotary support 301 rotates around the support shaft 309.

In one embodiment, the camera 3040 is connected to the connection base 307, the first disk 3012 is provided with a beam hole 30121 through which the beam of the camera 3040 passes, so that the riveting position on the workpiece can be detected by using the camera 3040, the presser foot 3020 is connected to the second pressure sensor 3030, the second pressure sensor 3030 is provided with a through hole 30301, the presser foot 3020 is provided with a positioning hole 30201, the positioning hole 30201 is communicated with the through hole 30301, and the axes of the positioning hole 30201 and the through hole 30301 are mutually coincident.

For example, after the position of the rivet hole 603 is determined, the presser foot 3020 is pressed against the workpiece, at this time, the second pressure sensor 3030 is pressed against the surface of the workpiece, and the axis of the positioning hole 30201 on the presser foot 3020 and the axis of the rivet hole 603 are overlapped, so as to position the hole to be riveted, so that the riveting machine 3052 can accurately feed the rivet 3058 into the rivet hole 603 through the positioning hole 30201. Similarly, when drilling, polishing, and the like are performed, the positioning hole 30201 on the presser foot 3020 also plays a role in positioning, so that accurate drilling, polishing, and the like are conveniently performed.

The second pressure sensor 3030 can detect the pressing force of the pressing foot 3020 on the workpiece so as to regulate and control in time

The second pressure sensor 3030 may employ a membrane sensor.

The camera 3040 is used for scanning the riveting position, transmitting the position information to the industrial personal computer, and controlling the rotary support 301 to rotate by a certain angle (90 °, 180 °, 270 ° and the like) by the industrial personal computer, so that the corresponding drilling device 302, chamfering device 303, polishing device 304 or riveting device 305 reaches the position to perform corresponding operation.

The combined action of the camera 3040, the presser foot 3020 and the mechanical arm 20 is utilized to accurately position the drilling, grinding and riveting positions in advance; and drilling, chamfering and burr polishing of a rivet installation operation can be continuously performed only by one-time positioning.

In one embodiment, the second plate 40513013 is provided with a first receiving hole 30131, a second receiving hole 30132, a third receiving hole 30133, and a fourth receiving hole 30134, the drill operator 3021 is slidably coupled in the first receiving hole 30131, the chamfer operator is slidably coupled in the second receiving hole 30132, the grinding operator is slidably coupled in the third receiving hole 30133, and the riveter 3052 is slidably coupled in the fourth receiving hole 30134 to facilitate adjustment of the respective positions of the drill bit 30211, the chamfer 3031, the grinding head 3041, and the riveter 3052 during the associated operation.

Further, the drilling actuator 3021, the chamfering actuator, the grinding actuator and the riveting machine 3052 are respectively connected to the outer wall of the hollow sleeve 3011 through separate sliding assemblies 3050, as shown in fig. 13, the sliding assemblies 3050 include sliding blocks 30501 and sliding rails 30502, and the drilling actuator 3021, the chamfering actuator, the grinding actuator and the riveting machine 3052 are respectively connected to the sliding blocks 30501 of the corresponding sliding assemblies 3050, and the sliding rails 30502 are respectively connected to the outer wall of the hollow sleeve 3011.

For example, four sliding components 3050 are arranged on the outer wall of the hollow sleeve 3011, and the four sliding components are respectively corresponding to the drilling execution piece 3021, the chamfering execution piece, the polishing execution piece and the riveting machine 3052, and the sliding components 3055 are matched with the sliding blocks 30501 and the sliding rails 30502, so that the stability, the reliability and the accuracy of linear sliding can be effectively ensured, and a good guiding effect is achieved.

In one embodiment, the drilling device 302 further includes a second hydraulic cylinder 3022 and a second driving source 3023, the drilling implement 3021 further includes a driving shaft 30212, the driving shaft 30212 is connected to the drill 30211, the second hydraulic cylinder 3022 is used for driving the driving shaft 30212 to perform linear motion, and the second driving source 3023 is used for driving the driving shaft 30212 to perform rotational motion.

Wherein the second hydraulic cylinder 3022 is powered by a second hydraulic source 3024. The second hydraulic pressure source 3024 employs an EHA hydraulic motor.

Further, the drilling actuator 3021 further comprises a pushing seat 30213, the transmission shaft 30212 is rotatably connected to the inside of the pushing seat, the pushing seat is driven by the second hydraulic cylinder 3022 to perform a linear action, and a third pressure sensor 3025 is further arranged on one side of the pushing seat, close to the drill 30211, and the third pressure sensor 3025 is used for detecting drilling pressure.

The drilling actuator 3021 further comprises a collet 30214, the drill bit 30211 being connected to the drive shaft 30212 via the collet 30214, the drill bit 30211 being clamped in the collet 30214.

Further, the drive shaft 30212 and the collet 30214 may be connected by a quick-change coupling.

The chamfering device 303 and the polishing device 304 are substantially identical to the drilling device 302 in structure, and only the drill 30211 in the drilling device 302 needs to be replaced by the chamfering device 3031 or the polishing head 3041, which will not be described again.

In one embodiment, as shown in fig. 17-19, the drilling and riveting device further includes a hanger device 40, the hanger device 40 includes a support 401, a drill bit 30211 hanger, a grinding head hanger 403 and a chamfering device 3031 hanger are connected to the support 401, the drill bit 30211 hanger, the grinding head hanger 403 and the chamfering device 3031 hanger all include a support frame 405, a support tray 4051 is provided at an upper portion of the support frame 405, and a plurality of clamp assemblies 4052 are circumferentially provided on the support tray 4051 for clamping different drill bits 30211, grinding heads 3041 or chamfering devices 3031.

The drill 30211 hanger is used for storing a plurality of drills 30211, the grinding head hanger 403 is used for storing a plurality of grinding heads 3041, the chamfering device 3031 hanger is used for storing a plurality of chamfering devices 3031, the effect of storing can be achieved through the hanger, and different drills 30211, grinding heads 3041 and chamfering devices 3031 can be replaced quickly by corresponding drilling devices 302, chamfering devices 303 and grinding devices 304.

Further, the clamp assembly 4052 includes two clamping portions 40521, two clamping portions 40521 are hinged to the disk 4051 through a rod 40522, a clamping space is formed between the two clamping portions 40521 to clamp the drill 30211, the polishing head 3041 or the chamfering device 3031, and a spring 40523 is connected between the two clamping portions 40521. A retaining block 40524 is also provided between the two clamping portions 40521 so that the two clamping portions 40521 can be spread apart a distance.

When an article (drill 30211 or sanding head 3041) is placed between the two clamping portions 40521, the two clamping portions 40521 are spread apart by the article and clamp the article, the spring 40523 is in an extended state, and when the article is removed, the two clamping portions 40521 are reset under the action of the spring 40523.

The rod 40522 is screwed with a lock nut 40525 at its end.

In one embodiment, the drilling and riveting device further includes a rivet supply device to provide rivets to the riveting machine 3052.

The following illustrates a method for using the drilling and riveting device: the workpiece to be riveted in the method is a structural component 60 comprising a closure plate 601 and a skeleton 602. Before actual use, the drilling and riveting device is required to be placed on the workshop terrace 10.

1) As shown in fig. 20, the structural component 60 to be riveted (the sealing plate 601 is assembled on the structural component in other workshops) is transported to the riveting station and fixed by a transfer trolley 70 arranged in the workshop, so that the structural component 60 can be prevented from being automatically shifted under the action of external force to influence the riveting operation in the subsequent riveting operation;

2) Controlling the drilling and riveting assembly 30 to move to the rivet supplying device by using the mechanical arm 20 to suck the rivet 3058, and returning to the state shown in fig. 21;

3) As shown in fig. 22, the mechanical arm 20 is used to adjust the posture of the drill and rivet assembly 30 so as to be in a relatively vertical state with the structural component 60;

4) As shown in fig. 23 to 25, the first driving source 306 is started to slowly rotate the rotary support 301 around the support shaft 309, and the camera 3040 is started to start positioning the position to be drilled (the position of the rivet hole 603) on the structural member assembly 60 under the driving of the program, so as to determine the position to be drilled; the mechanical arm 20 drives the drilling and riveting assembly 30 to move, so that the presser foot 3020 at the end part is propped against the surface of the structural component 60, the positioning hole 30201 of the presser foot 3020 is aligned to the position to be drilled, and the propping force of the presser foot 3020 against the surface of the structural component 60 is sensed and monitored by the second pressure sensor 3030 and controlled by the controller and the computer;

5) As shown in fig. 26, the presser foot 3020 is kept stationary, and the rotary support 301 is driven by the first driving source 306 to rotate by 45 ° radially around the support shaft 309, so that the drill 30211 of the drilling device 302 is aligned with the positioning hole 30201 of the presser foot 3020, that is, the axes of the drill 30211 and the positioning hole 30201 coincide, and the drill 30211 is aligned with the center of the hole to be drilled because the positioning hole 30201 coincides with the axis to be drilled;

6) As shown in fig. 27-29, the second hydraulic cylinder 3022 of the drilling device 302 is started to push the drill bit 30211 in the drilling actuator 3021 toward the structural component 60, and the second driving source 3023 may be synchronously started to drive the drill bit 30211 to rotate, when the drill bit 30211 passes through the positioning hole 30201 of the presser foot 3020 and contacts the structural component 60, the drilling operation is started, and after the drill bit 30211 drills through the sealing plate 601 and the skeleton 602 of the structural component 60, the riveting hole 603 is formed in the structural component 60, and at this time, the drilling operation may be stopped by the drilling device, and the drill bit 30211 may be synchronously pulled out from the drill hole, retracted and reset.

7) After the drilling operation is completed, the presser foot 3020 is kept stationary, the rotary support 301 is driven to radially rotate around the support shaft 309 by a certain angle by using the first driving source 306, so that the polishing head 3041 of the polishing device 304 is aligned with the positioning hole 30201 on the presser foot 3020, and then burrs at the end of the rivet hole 603 are polished by using the polishing head 3041 of the polishing device 304, and the operation procedure is basically the same as the drilling procedure, that is, the polishing head 3041 passes through the positioning hole 30201 and contacts the surface of the rivet hole 603 of the structural member 60, and the polishing head 3041 is driven to rotate to polish the burrs.

8) After finishing the polishing operation, keeping the presser foot 3020 still, driving the rotary support 301 to radially rotate around the support shaft 309 by a certain angle by using the first driving source 306, enabling the chamfering device 3031 of the chamfering device 303 to be aligned with the positioning hole 30201 on the presser foot 3020, and then chamfering the outer end part of the riveting hole 603 by using the chamfering device 303 to meet the riveting requirement of the countersunk rivet; the operation process is basically the same as the drilling process, that is, the chamfering device 3031 passes through the positioning hole 30201 and contacts the riveting hole 603 of the structural member assembly 60, and the chamfering device 3031 is driven to rotate to chamfer the riveting hole 603;

9) After chamfering, the presser foot 3020 is kept still, the rotary support 301 is driven by the first driving source 306 to radially rotate around the supporting shaft 309 by a certain angle, as shown in fig. 30, the nail outlet end of the riveting machine 3052 of the riveting device 305 is aligned to the positioning hole 30201 on the presser foot 3020, then the pushing plate 3053 is driven by the first hydraulic cylinder 3051 to move, so that the riveting machine 3052 is driven by the pushing plate 3053 to move towards the structural component until approaching to the sealing plate 601 of the structural component 60, and the rivet 3058 is emitted to enable the rivet 3058 to penetrate into the riveting hole 603 on the structural component 60, so that riveting of the sealing plate 601 and the structural component skeleton 602 in the structural component 60 is finally achieved. After the completion of the caulking, the caulking apparatus 305 is operated in the reverse direction to reset the backward direction. During the riveting operation, the force of the top contact structural member is sensed by the first pressure sensor 3056.

Through the above process, one riveting installation is completed, and then the above actions can be repeated for subsequent riveting installation.

In the above process, the chamfering device 303 and the polishing device 304 are both useful, but in the actual use process, the chamfering device and the polishing device may be selected according to the actual needs, for example, chamfering or polishing is not needed, or the above devices may not be started.

The drilling and riveting device can perform drilling, chamfering, polishing and riveting function integrated operation, can conveniently perform switching of incapable functions (drilling, chamfering, polishing and riveting), and greatly improves riveting efficiency.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims (10)

1. A device is riveted to brill, its characterized in that: comprising the steps of (a) a step of,

a mechanical arm;

the drilling and riveting assembly comprises a rotary support, the rotary support is rotatably connected to the tail end of the mechanical arm, a drilling device and a riveting device are connected to the rotary support, and the drilling device and the riveting device are circumferentially arranged around the rotary axis of the rotary support;

the riveting device comprises a first hydraulic cylinder and a riveting machine, wherein the first hydraulic cylinder comprises a first cylinder body and a first push rod which can stretch out and draw back along the first cylinder body, and the first push rod is connected with the riveting machine through a pushing plate.

2. The drilling and riveting apparatus of claim 1, wherein: one end of the pushing plate is provided with a first through hole, the other end of the pushing plate is provided with a second through hole, a guide rod is connected in the first through hole, the guide rod is connected with the riveting machine through a first pressure sensor, and the second through hole is connected with the first push rod.

3. The drilling and riveting apparatus of claim 1, wherein: the rotary support is further connected with a chamfering device and a polishing device, and the riveting device, the drilling device, the chamfering device and the polishing device are circumferentially arranged around the rotary axis of the rotary support.

4. A drilling and riveting apparatus according to claim 3, wherein: the drilling device comprises a drilling execution piece, the drilling execution piece comprises a drill bit, the chamfering device comprises a chamfering execution piece, the chamfering execution piece comprises a chamfering device, the polishing device comprises a polishing execution piece, and the polishing execution piece comprises a polishing head.

5. The drilling and riveting apparatus of claim 4, wherein: the rotary support comprises a hollow sleeve, one end of the hollow sleeve is connected with a first disc body, the other end of the hollow sleeve is connected with a second disc body, the first disc body is driven to rotate by a first driving source, a shell of the first driving source is connected with the tail end of the mechanical arm through a connecting seat, a supporting shaft is arranged in the hollow sleeve, the supporting shaft is connected with the hollow sleeve through a rolling bearing, the supporting shaft stretches out of one end of the first disc body and the connecting seat is connected, and one end of the supporting shaft stretching out of the second disc body is connected with a presser foot.

6. The drilling and riveting apparatus of claim 5, wherein: the camera is connected to the connecting seat, be provided with the light beam hole that supplies the camera light beam to pass on the first disk body, be connected with second pressure sensor on the presser foot, have the through-hole on the second pressure sensor, be provided with the locating hole on the presser foot, the locating hole with the through-hole is linked together.

7. The drilling and riveting apparatus of claim 5, wherein: the second tray body is provided with a first accommodating hole, a second accommodating hole, a third accommodating hole and a fourth accommodating hole, the drilling executing piece is slidably connected in the first accommodating hole, the chamfering executing piece is slidably connected in the second accommodating hole, the polishing executing piece is slidably connected in the third accommodating hole, and the riveting machine is slidably connected in the fourth accommodating hole.

8. The drilling and riveting apparatus of claim 7, wherein: the drilling execution piece, the chamfering execution piece, the polishing execution piece and the riveting machine are connected to the outer wall of the hollow sleeve through separate sliding components respectively, the sliding components comprise sliding blocks and sliding rails, the drilling execution piece, the chamfering execution piece, the polishing execution piece and the riveting machine are connected with the sliding blocks of the corresponding sliding components respectively, and the sliding rails are connected to the outer wall of the hollow sleeve.

9. The drilling and riveting apparatus of claim 4, wherein: the drilling device further comprises a second hydraulic cylinder and a second driving source, the drilling execution piece further comprises a transmission shaft, the transmission shaft is connected with the drill bit, the second hydraulic cylinder is used for driving the transmission shaft to do linear motion, and the second driving source is used for driving the transmission shaft to do rotary motion.

10. The drilling and riveting apparatus of claim 4, wherein: still include the stores pylon device, the stores pylon device includes the support, be connected with drill bit stores pylon, bistrique stores pylon and chamfer ware stores pylon on the support, drill bit stores pylon, bistrique stores pylon and chamfer ware stores pylon all include the support frame, support frame upper portion is provided with the support disk body, support disk body circumference is provided with a plurality of anchor clamps subassemblies.