Multi-functional robot

Abstract

The application relates to the field of paper file hot riveting, in particular to a multifunctional manipulator, which comprises a punching assembly, a pipe inserting assembly and a hot riveting assembly. The punching assembly comprises a punching motor and a punching drill bit. The pipe inserting assembly comprises a driving air cylinder, a pipe inserting air cylinder and pipe inserting clamping blocks. The pipe inserting air cylinder is used to drive the pipe inserting clamping blocks to clamp and fix the hot riveting pipe. The driving air cylinder is used to drive the pipe inserting clamping blocks to insert the clamped hot riveting pipe into the hole drilled by the punching assembly. The hot riveting assembly comprises a hot riveting head connected with the driving air cylinder. The hot riveting head is used to heat the hot riveting pipe, so that the end of the hot riveting pipe is deformed and reshaped. In the multifunctional manipulator, the punching assembly is used to punch holes on the file, the pipe inserting assembly is used to insert the hot riveting pipe into the punched hole, and the hot riveting assembly is used to complete the final hot riveting. The technical problem of low integration of the traditional hot riveting equipment, which needs multiple workstations to complete the whole hot riveting operation and leads to low work efficiency, is solved.

Description

TECHNICAL FIELD

[0001] The application relates to the field of paper archives hot riveting, in particular to a multifunctional mechanical hand. BACKGROUND

[0002] In the working process of government departments, a large number of paper archives are often generated, in order to accurately classify the paper archives, relevant staff usually paste labels on the surfaces of the archives and then scan and sort the archives by using a scanning and sorting device, and the archive files after sorting need to be bound together by hot riveting operation.

[0003] The hot riveting operation needs multiple steps, and the traditional hot riveting equipment has low integration, and the entire hot riveting operation can be completed only in multiple stations, thereby leading to low working efficiency. SUMMARY

[0004] The application provides a multifunctional mechanical hand to solve the technical problem that the traditional hot riveting equipment has low integration, the entire hot riveting operation can be completed only in multiple stations, and the working efficiency is low.

[0005] To solve the above technical problem, one technical scheme of the application is to provide a multifunctional mechanical hand, which comprises:

[0006] A punching assembly comprising a punching motor and a punching drill bit, the punching motor is used to drive the punching drill bit to rotate and drill, the punching drill bit is provided with a waste discharge channel, the waste discharge channel penetrates through the punching drill bit, and the waste generated in the punching process enters the waste discharge channel and is discharged from the waste discharge channel;

[0007] A pipe inserting assembly comprising a driving air cylinder, a pipe inserting air cylinder and a pipe inserting clamp block, the pipe inserting air cylinder is used to drive the pipe inserting clamp block to clamp and fix a hot riveting pipe, and the driving air cylinder is used to drive the pipe inserting clamp block to insert the clamped hot riveting pipe into a hole drilled by the punching assembly.

[0008] A hot riveting assembly comprising a hot riveting head, the hot riveting head is connected with the driving air cylinder, and the hot riveting head is used to heat the hot riveting pipe, so that the end of the hot riveting pipe is deformed and reshaped to fix the hot riveting pipe in the hole drilled by the punching assembly.

[0009] Optionally, the punching drill bit comprises a punching probe and a drill bit main body, the waste discharge channel comprises a first waste discharge channel and a second waste discharge channel, the first waste discharge channel is arranged on the punching probe, the second waste discharge channel is arranged on the drill bit main body, and the first waste discharge channel and the second waste discharge channel are concentrically arranged.

[0010] Optionally, the punching assembly further comprises a first waste removal block and a second waste removal block, the first waste removal block and the second waste removal block are enclosed in the drill head body, the first waste removal block is provided with a vent hole, the vent hole is in communication with the waste removal channel, and an external air pump blows air into the vent hole to facilitate blowing out the waste in the waste removal channel.

[0011] Optionally, the second waste removal block is provided with a discharge channel, the discharge channel is in communication with the waste removal channel, the waste in the waste removal channel is discharged through the discharge channel, and the side of the discharge channel away from the waste removal channel is inclined downward.

[0012] Optionally, the cannula assembly further comprises a return spring, the return spring is connected with the cannula clamp block, in the process that the cannula clamp block inserts the hot rivet pipe into the corresponding hole position, the cannula assembly moves upward relative to the cannula cylinder to facilitate complete insertion of the hot rivet pipe into the hole position, and the return spring is used for resetting the cannula clamp block.

[0013] Optionally, the cannula assembly further comprises a pressure sensor to facilitate detection of whether the cannula clamp block inserts the hot rivet pipe into position.

[0014] Optionally, the multifunctional manipulator further comprises a base frame assembly and a base plate, the punching assembly, the cannula assembly and the hot riveting assembly are installed based on the base plate, and the base frame assembly is used for driving the base plate to move in three dimensions.

[0015] Optionally, the base plate is further provided with a transportation assembly, and the transportation assembly is used for transporting the file after the hot riveting operation to a designated position.

[0016] Optionally, the punching assembly further comprises a distance measuring probe, the distance measuring probe is used for measuring the thickness of the file that needs to be punched to facilitate the cannula assembly to clamp the hot rivet pipe with a matched length.

[0017] The multifunctional manipulator provided in the application has the advantages that the punching assembly punches holes in the file, the cannula assembly inserts the hot rivet pipe into the punched hole position, and the hot riveting assembly completes the final hot riveting, thereby solving the technical problem of low integration of the traditional hot riveting equipment, the need for multiple workstations to complete the entire hot riveting operation, and low work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort. Among them:

[0019] Figure 1 is a schematic diagram of the three-dimensional structure of a multifunctional manipulator provided by the embodiments of the present application;

[0020] Figure 2 is a schematic diagram of the structure of a base frame assembly part in the multifunctional manipulator;

[0021] Figure 3 is a schematic diagram of the structure of a punching assembly, a tube insertion assembly, a hot riveting assembly, and a transportation assembly part in the multifunctional manipulator;

[0022] Figure 4 is an exploded schematic diagram of the punching assembly in the multifunctional manipulator;

[0023] Figure 5 is a sectional view of the punching drill bit in the multifunctional manipulator;

[0024] Figure 6 is a schematic diagram of the structure of the punching assembly and the hot riveting assembly in the multifunctional manipulator;

[0025] Figure 7 is a schematic diagram of the structure of the punching assembly part in the multifunctional manipulator;

[0026] Figure 8 is a schematic diagram of the structure of the transportation assembly part in the multifunctional manipulator.

[0027] BRIEF DESCRIPTION OF THE DRAWINGS: 40, base frame assembly; 41, fixed support; 42, screw rod motor; 43, support connecting plate; 44, translation motor; 45, translation guide rod; 46, first translation guide rail; 47, second translation guide rail; 48, lifting motor; 50, base plate; 400, punching assembly; 410, punching motor; 420, punching drill bit; 421, punching probe; 422, drill bit main body part; 423, first waste removal channel; 424, second waste removal channel; 425, first air inlet hole; 426, second discharge hole; 430, motor fixing plate; 440, drill bit fixing plate; 450, first waste removal block; 451, air hole; 460, second waste removal block; 461, discharge channel; 470, distance measuring probe; 500, tube insertion assembly; 510, active air cylinder; 520, return spring; 530, air cylinder connecting block; 540, pressure sensor; 550, tube insertion air cylinder; 551, T-shaped block; 552, push column; 560, tube insertion clamping block; 570, clamping block fixing plate; 580, first protruding column; 600, hot riveting assembly; 610, hot riveting head; 620, heat insulation sleeve; 700, transportation assembly; 710, first gripper air cylinder; 720, second gripper air cylinder; 730, carrying claw. DETAILED DESCRIPTION

[0028] With reference to the drawings and the embodiments disclosed herein, it will be understood that the embodiments are merely examples of implementing the present application and are not to be taken in a limiting sense. Based on these disclosed embodiments, all other embodiments falling within the scope of the present application will be readily ascertainable by those of ordinary skill in the art without departing from the present application.

[0029] It should be noted that if the present application has a direction indication (such as up, down, left, right, front, back, etc.), the direction indication is only used to explain the relative position relationship, movement, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the direction indication will also change accordingly.

[0030] In addition, if the present application has a description of "first", "second" and the like, the description of "first", "second" and the like is only for description purpose, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0031] As shown in Figures 1 to 8 The present application provides a multifunctional manipulator, which comprises a punching assembly 400, a tube inserting assembly 500, and a hot riveting assembly 600.

[0032] The punching assembly 400 comprises a punching motor 410 and a punching drill bit 420. The punching motor 410 is used to drive the punching drill bit 420 to rotate and drill a hole. The punching drill bit 420 is provided with a waste discharge channel that penetrates through the punching drill bit 420. The waste generated during the punching process enters the waste discharge channel and is discharged from the waste discharge channel.

[0033] The tube inserting assembly 500 comprises a driving air cylinder 510, a tube inserting air cylinder 550, and a tube inserting clamp block 560. The tube inserting air cylinder 550 is used to drive the tube inserting clamp block 560 to clamp and fix the hot riveting tube. The driving air cylinder 510 is used to drive the tube inserting clamp block 560 to insert the clamped hot riveting tube into the hole drilled by the punching assembly 400.

[0034] The hot riveting assembly 600 comprises a hot riveting head 610. The hot riveting head 610 is connected with the driving air cylinder 510. The hot riveting head 610 is used to heat the hot riveting tube, so that the end of the hot riveting tube is deformed and reshaped, so as to fix the hot riveting tube in the hole drilled by the punching assembly 400.

[0035] The multifunctional manipulator further comprises a base frame assembly 40 and a base plate 50, the base frame assembly 40 comprises a fixed support 41, a screw rod motor 42, a support connecting plate 43, a translation motor 44, a translation guide rod 45, a first translation guide rail 46, a second translation guide rail 47 and a lifting motor 48.

[0036] The fixed support 41 is in an n-shaped structure, and two fixed supports 41 are arranged in parallel and at intervals, a screw rod motor 42 is arranged at the upper end of each fixed support 41, the screw rod motor 42 is arranged horizontally, and the two screw rod motors 42 are parallel to each other, a motor driving block is arranged on the screw rod motor 42, the motor driving block is slidingly assembled with the screw rod motor 42, and the screw rod motor 42 can drive the motor driving block to move transversely along the screw rod.

[0037] The support connecting plate 43 is arranged horizontally, the support connecting plate 43 is arranged between the two fixed supports 41 and perpendicular to the two fixed supports 41, the support connecting plate 43 is fixedly assembled with the two motor driving plates, so that the screw rod motor 42 can drive the support connecting plate 43 to move transversely along the screw rod.

[0038] The translation motor 44 is arranged on the support connecting plate 43, the translation motor 44 is fixedly assembled with the support connecting plate 43, the translation guide rod 45 is also fixedly assembled with the support connecting plate 43, the translation guide rod 45 is arranged horizontally, the translation guide rod 45 is in the same direction as the support connecting plate 43, and a translation block is further arranged on the translation guide rod 45, the translation motor 44 drives the translation guide rod 45 to rotate, and then drives the translation block to move transversely along the translation guide rod 45.

[0039] The first translation guide rail 46 and the second translation guide rail 47 are both fixedly assembled with the support connecting plate 43, the first translation guide rail 46 and the second translation guide rail 47 are both arranged horizontally, and the first translation guide rail 46 and the second translation guide rail 47 are arranged in the same direction as the translation guide rod 45, the first translation guide rail 46 and the second translation guide rail 47 are arranged at intervals in the up-down direction, and the first translation guide rail 46 is located above the second translation guide rail 47.

[0040] The lifting motor 48 is arranged vertically, the lifting motor 48 is connected with the translation block, the first translation guide rail 46 and the second translation guide rail 47, the translation motor 44 can drive the lifting motor 48 to move transversely along the translation guide rod 45, the base plate 50 is arranged vertically, the base plate 50 is fixedly assembled with the lifting motor 48, and the lifting motor 48 can drive the base plate 50 to move vertically.

[0041] In summary, the screw rod motor 42, the translation motor 44 and the lifting motor 48 can drive the base plate 50 to move in three dimensions.

[0042] The punching assembly 400 is installed based on the base plate 50, and the punching assembly 400 comprises a punching motor 410, a punching drill bit 420, a motor fixing plate 430, a drill bit fixing plate 440, a first waste removing block 450 and a second waste removing block 460.

[0043] The motor fixing plate 430 is rectangular, and the motor fixing plate 430 is fixedly assembled with the base plate 50. The motor fixing plate 430 is perpendicular to the base plate 50. The punching motor 410 is fixedly assembled on the upper surface of the motor fixing plate 430. A motor through hole is arranged at the center position of the motor fixing plate 430. The output end of the punching motor 410 penetrates through the motor through hole.

[0044] The punching drill bit 420 is arranged below the motor fixing plate 430. The punching drill bit 420 is fixedly assembled with the output end of the punching motor 410. The punching motor 410 is used to drive the punching drill bit 420 to rotate, so as to drill a hole on the file. The punching drill bit 420 comprises a punching probe 421 and a drill bit main body 422. The punching probe 421 is in a hollow cylindrical shape. A first waste removing channel 423 vertically penetrating through the punching probe 421 is arranged at the center of the punching probe 421. The drill bit main body 422 is arranged above the punching probe 421. The drill bit main body 422 is also in a hollow cylindrical shape. The drill bit main body 422 is concentrically arranged with the punching probe 421. The punching probe 421 is inserted into the lower end of the drill bit main body 422, and the punching probe 421 is fixedly assembled with the drill bit main body 422. A second waste removing channel 424 is arranged in the drill bit main body 422. The first waste removing channel 423 and the second waste removing channel 424 are in communication. The first waste removing channel 423 and the second waste removing channel 424 are both in a cylindrical shape. The first waste removing channel 423 and the second waste removing channel 424 are concentrically arranged, and the diameter of the second waste removing channel 424 is greater than the diameter of the first waste removing channel 423. Waste is generated during the drilling process of the punching drill bit 420. The waste enters the second waste removing channel 424 through the first waste removing channel 423.

[0045] The drill bit fixing plate 440 is rectangular. The drill bit fixing plate 440 is arranged below the motor fixing plate 430. The drill bit fixing plate 440 is perpendicular to the base plate 50. The drill bit main body 422 penetrates through the center position of the drill bit fixing plate 440. The drill bit fixing plate 440 is used to maintain the stability of the punching drill bit 420. The first waste removing block 450 and the second waste removing block 460 are arranged between the drill bit fixing plate 440 and the motor fixing plate 430. The first waste removing block 450 and the second waste removing block 460 are fixedly assembled with the motor fixing plate 430 and the drill bit fixing plate 440. The first waste removing block 450 and the second waste removing block 460 are spliced with each other to form a protection groove. The shape of the protection groove matches the shape of the drill bit main body 422. The drill bit main body 422 is located in the protection groove.

[0046] The first waste removing block 450 is provided with a ventilation hole 451, the ventilation hole 451 is communicated with the protection groove, an external air pump is connected with the ventilation hole 451, the air pump blows air into the ventilation hole 451, the second waste removing block 460 is provided with a discharging channel 461, the discharging channel 461 penetrates through the second waste removing block 460, the discharging channel 461 is communicated with the protection groove, the discharging channel 461 is inclined and the horizontal height of the end of the discharging channel 461 close to the perforating drill bit 420 is higher than the horizontal height of the end of the discharging channel 461 far away from the perforating drill bit 420, so as to facilitate the waste to be discharged from the discharging channel 461.

[0047] The first air inlet hole 425 and the second discharging hole 426 are arranged at the end of the drill bit main body part 422 far away from the perforating probe 421, the first air inlet hole 425 and the second discharging hole 426 are arranged at the two sides of the drill bit main body part 422 and are both communicated with the second waste discharging channel 424, the first air inlet hole 425 and the second discharging hole 426 have a certain height difference, the horizontal height of the first air inlet hole 425 is lower than the horizontal height of the second discharging hole 426, the first air inlet hole 425 is communicated with the ventilation hole 451, the second discharging hole 426 is communicated with the discharging channel 461. When the air pump blows air into the ventilation hole 451, the air blows the waste in the second waste discharging channel 424 out of the second discharging hole 426 and discharges the waste from the discharging channel 461.

[0048] The drill bit fixing plate 440 is further provided with a distance measuring probe 470, the distance measuring probe 470 is fixedly assembled with the side edge of the drill bit fixing plate 440, the distance measuring probe 470 is used for detecting the thickness of the file to be perforated, the insertion tube assembly 500 grabs the hot rivet tube with a length matched with the data of the distance measuring probe 470.

[0049] The insertion tube assembly 500 comprises a driving air cylinder 510, a reset spring 520, a T-shaped block 551, a first protruding column 580, an air cylinder connecting block 530, a clamping block fixing plate 570, a pressure sensor 540, an insertion tube air cylinder 550 and an insertion tube clamping block 560.

[0050] The driving air cylinder 510 is vertically arranged, the driving air cylinder 510 is fixedly assembled with the base plate 50, the output end of the driving air cylinder 510 is vertically downward, the air cylinder connecting block 530 is arranged at the output end of the driving air cylinder 510, the air cylinder connecting block 530 is fixedly assembled with the output end of the driving air cylinder 510, the driving air cylinder 510 can drive the air cylinder connecting block 530 to make vertical lifting movement, the air cylinder connecting block 530 is substantially U-shaped, the pressure sensor 540 is arranged at the lower end of the air cylinder connecting block 530, the pressure sensor 540 is fixedly assembled with the air cylinder connecting block 530.

[0051] A pipe inserting cylinder 550 is arranged at the lower end of the pressure sensor 540, the pipe inserting cylinder 550 is arranged vertically, the pipe inserting cylinder 550 is fixedly assembled with the pressure sensor 540, the output end of the pipe inserting cylinder 550 is connected with two clamping block fixing plates 570, the two clamping block fixing plates 570 are substantially rectangular, the two clamping block fixing plates 570 are arranged in parallel and at intervals, the pipe inserting cylinder 550 can drive the two clamping block fixing plates 570 to move away from each other and move close to each other, a clamping block sliding groove is arranged at one side of the two clamping block fixing plates 570, the clamping block sliding groove is arranged vertically at the middle of the clamping block fixing plate 570, a lifting sliding block is arranged in the clamping block sliding groove, the lifting sliding block is arranged vertically and the lifting sliding block is slidingly assembled with the clamping block sliding groove, the lifting sliding block can move up and down along the clamping block sliding groove in the vertical direction.

[0052] Two pipe inserting clamping blocks 560 are arranged between the two lifting sliding blocks, the two pipe inserting clamping blocks 560 are symmetrical, the two pipe inserting clamping blocks 560 are fixedly assembled with the two lifting sliding blocks, so that the pipe inserting clamping blocks 560 can move up and down along the clamping block sliding groove, the pipe inserting cylinder 550 can drive the pipe inserting clamping blocks 560 to move close to each other and move away from each other, so that the pipe inserting clamping blocks 560 can clamp and fix the hot rivet pipe.

[0053] A first protruding column 580 is arranged at each side of the two pipe inserting clamping blocks 560 away from each other, the two first protruding columns 580 are symmetrical about the pipe inserting cylinder 550, two second protruding columns are arranged at each side of the two clamping block fixing plates 570 away from each other, the two second protruding columns are also symmetrical about the pipe inserting cylinder 550, the first protruding column 580 and the second protruding column located on the same side of the pipe inserting cylinder 550 are located on the same vertical line. The reset spring 520 is arranged vertically, the reset spring 520 is provided with two, the two reset springs 520 are arranged at the two sides of the pipe inserting cylinder 550, the upper end of the reset spring 520 is connected with the first protruding column 580, and the lower end of the reset spring 520 is connected with the second protruding column.

[0054] The length of the hot rivet held by the insertion block 560 matches the depth of the hole position requiring hot riveting, and due to the clamping of the insertion block 560, the exposed length of the hot rivet is less than the depth of the hole position. During the process of the active cylinder 510 driving the block fixing plate 570 to move downward, thereby driving the insertion block 560 to continuously send the hot rivet into the hole position, when the block fixing plate 570 is lowered to a certain extent, the insertion block 560 will be in contact with the stop file. When the block fixing plate 570 continues to move downward, the insertion block 560 will move upward along the block sliding groove relative to the block fixing plate 570 due to the contact of the stop file, so that the hot rivet held by the insertion block 560 is continuously exposed, until the hot rivet is completely inserted into the hole position. At this time, the block fixing plate 570 is in contact with the stop file, and the pressure sensor 540 receives the pressure data, so that the output end of the active cylinder 510 is retracted upward. When the insertion block 560 is no longer in contact with the stop file, the reset spring 520 pulls the insertion block 560 downward, so that the insertion block 560 returns to the original position.

[0055] The T-shaped block 551 is further arranged on the insertion cylinder 550, and the T-shaped block 551 is fixedly assembled with the insertion cylinder 550. The lower end of the T-shaped block 551 is provided with a push column 552. The push column 552 is in a cylindrical shape, and is vertically arranged. The upper end of the push column 552 is fixedly assembled with the T-shaped block 551. The insertion block 560 can clamp the push column 552. The push column 552 is used to push the hot rivet held by the insertion block 560 into the corresponding hole position.

[0056] The hot riveting assembly 600 comprises a hot riveting head 610 and a heat insulation sleeve 620. The hot riveting head 610 is in a cylindrical shape as a whole, and is vertically arranged. The hot riveting head 610 is fixedly connected with the cylinder connecting block 530. The hot riveting head 610 can deform and reshape the hot rivet by generating high temperature. The heat insulation sleeve 620 is arranged at the lower end of the hot riveting head 610. The hot riveting head 610 penetrates through the heat insulation sleeve 620. In the actual working process, the active cylinder 510 drives the hot riveting head 610 to descend, so that the lower end of the hot riveting head 610 is in contact with the hot rivet inserted into the hole position. The hot riveting head 610 melts and deforms the hot rivet in contact with it by generating high temperature, and forms a lug at the end of the hot rivet by the pressure of the hot riveting head 610 on the hot rivet, so as to fix the hot rivet in the corresponding hole position.

[0057] The multifunctional mechanical arm further comprises a conveying assembly 700 installed based on the base plate 50, the conveying assembly 700 comprising a first gripper cylinder 710, a second gripper cylinder 720 and a carrying claw 730, the first gripper cylinder 710 being vertically arranged and fixedly assembled with the base plate 50, the output end of the first gripper cylinder 710 being vertically downward, the second gripper cylinder 720 being transversely arranged and fixedly assembled with the output end of the first gripper cylinder 710, so that the first gripper cylinder 710 can drive the second gripper cylinder 720 to vertically move up and down.

[0058] The carrying claw 730 is arranged on the side of the second gripper cylinder 720 away from the first gripper cylinder 710, the carrying claw 730 being symmetrically arranged in two, the two carrying claws 730 being slidably assembled with the second gripper cylinder 720, so that the second gripper cylinder 720 can drive the two carrying claws 730 to move close to each other and move away from each other, so that the carrying claw 730 can grasp and fix the files or other documents, under the driving of the base frame assembly 40 and the first gripper cylinder 710, the carrying claw 730 can grasp the objects at the designated position through three-dimensional movement and transport the grasped objects to the designated position.

[0059] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A multifunctional robotic arm, characterized in that, include: The drilling assembly (400) includes a drilling motor (410) and a drilling bit (420). The drilling motor (410) is used to drive the drilling bit (420) to rotate and drill. The drilling bit (420) is provided with a waste discharge channel, which runs through the drilling bit (420). Waste generated during the drilling process enters the waste discharge channel and is discharged through the waste discharge channel. The cannulation assembly (500) includes an active cylinder (510), a cannulation cylinder (550), and a cannulation clamp (560). The cannulation cylinder (550) is used to drive the cannulation clamp (560) to clamp and fix the hot riveting tube. The active cylinder (510) is used to drive the cannulation clamp (560) to insert the clamped hot riveting tube into the hole drilled by the drilling assembly (400). The hot riveting assembly (600) includes a hot riveting head (610) connected to the active cylinder (510). The hot riveting head (610) is used to heat the hot riveting tube, causing the end of the hot riveting tube to deform and reshape, so as to fix the hot riveting tube in the hole drilled by the drilling assembly (400).

2. The multifunctional robotic arm according to claim 1, characterized in that, The drilling bit (420) includes a drilling probe (421) and a drill body (422). The waste discharge channel includes a first waste discharge channel (423) and a second waste discharge channel (424). The drilling probe (421) is provided with the first waste discharge channel (423), and the drill body (422) is provided with the second waste discharge channel (424). The first waste discharge channel (423) and the second waste discharge channel (424) are concentrically arranged.

3. The multifunctional robotic arm according to claim 2, characterized in that, The drilling assembly (400) further includes a first waste removal block (450) and a second waste removal block (460). The first waste removal block (450) and the second waste removal block (460) surround the drill bit body (422). The first waste removal block (450) is provided with a vent hole (451). The vent hole (451) is connected to the waste discharge channel. An external air pump blows air into the vent hole (451) to blow out the waste material in the waste discharge channel.

4. The multifunctional robotic arm according to claim 3, characterized in that, The second waste removal block (460) is provided with a discharge channel (461), which is connected to the waste discharge channel. The waste in the waste discharge channel is discharged through the discharge channel (461), and the side of the discharge channel (461) away from the waste discharge channel is inclined downward.

5. The multifunctional robotic arm according to claim 1, characterized in that, The insertion assembly (500) also includes a return spring (520), which is connected to the insertion clamp (560). During the process of the insertion clamp (560) inserting the hot riveting tube into the corresponding hole, the insertion assembly (500) will move upward relative to the insertion cylinder (550) to fully insert the hot riveting tube into the hole. The return spring (520) is used to reset the insertion clamp (560).

6. The multifunctional robotic arm according to claim 5, characterized in that, The insertion assembly (500) also includes a pressure sensor (540) to detect whether the insertion clamp (560) has inserted the hot-riveting tube into place.

7. The multifunctional robotic arm according to claim 1, characterized in that, The multifunctional robotic arm also includes a base frame assembly (40) and a base plate (50). The punching assembly (400), the cannulation assembly (500) and the hot riveting assembly (600) are mounted on the base plate (50). The base frame assembly (40) is used to drive the base plate (50) to perform three-dimensional motion.

8. The multifunctional robotic arm according to claim 7, characterized in that, The substrate (50) is also provided with a transport component (700) for transporting the files that have undergone hot riveting to a designated location.

9. The multifunctional robotic arm according to claim 1, characterized in that, The punching assembly (400) also includes a ranging probe (470) for measuring the thickness of the file to be punched so that the insertion assembly (500) can clamp the heat-fitting tube of a matching length.

Images