Drilling and riveting gluing device

Abstract

The invention discloses a drilling and riveting gluing device, relates to the technical field of drilling and riveting sealant spraying devices, and aims to solve the problems that the spraying specification dynamic modification precision is low, the glue spraying angle bounce is unstable, and the gluing tail treatment process program is too compact. The device is mainly provided with a gluing base frame, a nozzle head, a nozzle positioning block, a deflection angle, a pressing and folding mounting plate and a deflection angle; the precision sudden change amplitude before and after the spraying specification of the glue spraying device is changed can be reduced, and the possibility of lateral deviation of the annular jet flow of sealant liquid injection on the smeared surface is reduced. By arranging a drilling and riveting middle hole, a gluing moving channel, an extending air cylinder, a driving shaft, a floating joint and a pressure sensor, the position sensing calculation precision of micro-motion synchronization is improved, and the performance allocation reasonability of an upper riveting head end effector is improved; the time consumption for stabilizing micro-motion self-correcting adjustment is reduced, and the allowable duration of glue solution treatment after riveting is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of drilling and riveting sealant spraying devices, and in particular to a drilling and riveting glue coating device. Background Art

[0002] Riveting operations are mainly divided into hammer riveting, press riveting, electromagnetic riveting, pull riveting, and pump riveting. In the helicopter assembly process, hammer riveting is the most commonly used riveting method. Hammer riveting refers to the process of using a rivet gun to hammer one side of the rivet and using a push handle to tighten the other side. The impact force of the gap hammering and the reaction force of the push iron cause the rivet rod to upset and form an upset. In the helicopter riveting assembly process, operations such as hole making, glue coating, and riveting vulcanization are required to meet the requirements of helicopter glue-coated riveted products for sealing performance. Ordinary riveting assembly methods are difficult to meet its sealing requirements.

[0003] In common glue coating devices, such as screw valve glue feeders, the sealant in the glue storage chamber is usually quantitatively transported to the glue coating position to form a stable glue coating requirement; but the existing drilling and riveting glue coating structure is usually a spray device such as a nozzle with a simple control method. When it is suitable for automated drilling and riveting glue coating control process, ordinary glue coating nozzles are difficult to effectively and accurately control, and the glue coating quality and rivet sealing effect are unstable.

[0004] In the prior art, for example, Chinese invention patent CN109590166B discloses a mechanism and method for automatic gluing of rivets. This invention patent utilizes a glue delivery mechanism and an automatic actuator to automatically glue the rivets, and the glue quantitatively controls the glue injection amount and the glue injection position. However, in this invention patent, the glue injection structure requires the rivet to be inserted into the glue injection head before the glue can be applied. The coating position between the glue and the rivet depends on the flow of the glue. The glue may be difficult to be evenly coated on the rivet, which may cause excessive or insufficient glue in the riveting gap of the rivet or the adjacent position of the rivet, resulting in the riveting position The sealing performance does not meet the requirements.

[0005] For example, Chinese utility model patent CN203620885U discloses a glue applicator for countersunk holes. In the glue coating scheme of the utility model, when applying glue, the tail end of the glue injection nozzle is mounted on the outlet of the syringe, the front guide rod is inserted into the nail hole, the surface of the drill hole fits with the surface of the nozzle, and the glue is sprayed out into an annular glue liquid belt by the injection device providing injection force; in the utility model patent, the glue coating in the hole depends on the outer diameter of the nozzle to form a better annular glue liquid belt, and other specifications and types of rivet holes may be limited by the nozzle diameter and injection force, and there may be uneven spraying or even no glue spraying. It may be difficult to automatically spray at the drilling and riveting position to form a uniform glue layer, and there may be a large gap at the joint position of the rivet after riveting, resulting in low sealing performance. Summary of the invention

[0006] The purpose of the present invention is to provide a drilling and riveting glue coating device to overcome the shortcomings of the prior art, such as low dynamic adjustment accuracy of spraying specifications, unstable glue liquid injection angle jump, and overly compact glue tail processing process procedures.

[0007] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: A drilling, riveting and gluing device comprises a presser foot fixing support, a presser foot assembly is arranged at the end of the presser foot fixing support, a gluing assembly is arranged on the presser foot assembly, the presser foot assembly comprises a presser foot base fixedly connected to the lower end of the presser foot fixing support, a presser nose is arranged in the presser foot base, a presser nose cavity is arranged in the presser nose, and a presser nose bottom hole is arranged in the lower end wall of the presser nose cavity; The gluing assembly includes a gluing base frame arranged on the upper end of the presser foot base, the upper end of the gluing base frame is fixedly connected to a gluing driving cylinder, the front end of the gluing driving cylinder is dynamically connected to a gluing telescopic rod, the front end of the gluing telescopic rod is fixedly connected to a nozzle head, the nozzle head is fixedly connected to a glue servo tube, the gluing telescopic rod drives the nozzle head to be positioned at a gluing position that matches the riveting condition of the press nose bottom hole, and the gluing position is the depth of the press nose bottom hole relative to the press foot base.

[0008] Preferably, the front end of the glue-spreading telescopic rod is threadedly connected with a nozzle positioning block and a pre-tightening nut, the pre-tightening nut pre-tightens the nozzle positioning block to fix the posture of the nozzle positioning block installed at the front end of the glue-spreading telescopic rod, the front end of the nozzle positioning block is fixedly connected to the nozzle head, and the rear end of the nozzle positioning block has a deflection angle s relative to its front end.

[0009] Preferably, the front end of the rubber-coated telescopic rod is threadedly connected with at least two pre-tightening nuts.

[0010] Preferably, a folding mounting plate is fixedly connected to the upper end of the glue coating base frame, and a glue coating driving cylinder is fixedly connected to the folding mounting plate. The complementary angle between the surface normal of the folding mounting plate and the horizontal direction is the deflection angle a. The angle limits the maximum staying depth of the glue coating telescopic rod driving the nozzle head to position, and the maximum staying depth is less than the glue coating position. By arranging a glue coating base frame, a glue coating drive cylinder, a glue coating telescopic rod, a nozzle head, a nozzle positioning block, a deflection angle, a folding mounting plate and a swing angle, the glue coating depth can be switched to form a new glue coating structure, which reduces the modification cost of the glue injection structure after switching the glue coating positioning depth, and can reduce the accuracy mutation amplitude of the glue coating injection device before and after the spraying specification is modified; it avoids the glue injection direction deviating too much from the normal direction of the glue coating surface of the riveted workpiece, reduces the possibility of the sealant liquid injection annular jet to deviate sideways on the coating surface, reduces the probability of uneven glue spraying, and can effectively reduce the possibility of gaps and glue surplus in the glue coating riveting.

[0011] Preferably, a nozzle cavity is provided in the nozzle head, and a group of injection annular flow channels evenly distributed in an annular shape around the axis of the nozzle cavity are provided in the side wall of the nozzle cavity.

[0012] Preferably, a flush limit groove is provided at the front end of the nozzle positioning block, and a flush boss is provided on the nozzle head, the flush boss cooperates with the flush limit groove, and the flush limit groove keeps the axis of the nozzle cavity parallel to the axis of the nose bottom pressure hole; By setting the gluing telescopic rod, pre-tightening nut, flush limit groove and flush boss, the nozzle positioning block can be pre-tightened to ensure the stability of the installation posture of the gluing telescopic rod, and reduce the amplitude of the glue injection direction deviating from the normal direction of the coating surface due to mechanical vibration; reduce the possibility of inclination of the glue spraying direction and fluctuation of the injection angle, and can withstand more intense gluing telescopic actions and higher-speed drilling and riveting assembly conditions.

[0013] Preferably, a micro-motion installation groove is provided in the presser foot base, a micro-motion adjustment groove is provided at the lower end of the micro-motion installation groove, the micro-motion adjustment groove is located at the lower end of the presser foot base, a presser foot extension plate is slidably connected in the micro-motion installation groove and the micro-motion adjustment groove, a presser nose is fixedly connected in the presser foot extension plate, a drill rivet middle hole is provided in the presser foot extension plate, the positions of the drill rivet middle hole and the bottom hole of the presser nose correspond to each other, a glue application moving channel is provided in the side wall of the drill rivet middle hole, and the glue application moving channel accommodates the movement of the nozzle head positioned at the glue application position; A driving shaft is slidably connected in the upper end wall of the micro-adjustment groove, and an extension cylinder is fixedly connected to the upper end of the presser foot base. The extension cylinder is dynamically connected to the driving shaft. A floating joint is fixedly connected to the lower end of the driving shaft. The floating joint is fixedly connected to the presser foot extension plate. The driving shaft adjusts the sliding depth of the presser foot extension plate according to the riveting force feedback transmitted by the presser foot extension plate.

[0014] Preferably, a laser displacement sensor is provided on the presser foot base, and the laser displacement sensor monitors the flatness of the presser foot extension plate sliding on the lower end of the micro-motion mounting groove.

[0015] Preferably, a pressure sensor is fixedly connected between the presser foot base and the presser foot fixing support, and the pressure sensor monitors the force applied to the presser foot base during the riveting process; By setting the drilling and riveting center hole, the gluing moving channel, the extension cylinder, the driving shaft, the floating joint and the pressure sensor, the monitoring correlation of the force transmission between the presser foot base and the presser foot extension plate can be interrupted, and the efficiency and stability of the gluing riveting position control and force monitoring can be higher; the accuracy of the position sensing solution of the micro-motion synchronization is improved, the rationality of the performance allocation of the upper rivet head end effector is improved, and the automatic monitoring cost of the gluing riveting is reduced; the time consumption of the micro-motion self-correction adjustment stabilization is reduced, the accuracy and response speed of the presser foot position judgment are improved, and the allowable time for glue liquid treatment after riveting is increased.

[0016] Preferably, a downward protrusion is provided in the presser foot base, and a measuring channel is provided on the side of the lower end of the protrusion facing the presser foot fixing support. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the overall assembly state of a drilling, riveting and gluing device of the present invention; Figure 2 It is a schematic diagram of the assembly relationship between the presser foot base and the glue coating component; Figure 3 yes Figure 2 A top view schematic diagram of Figure 4 yes Figure 3 A cross-sectional diagram of the deflection angle A-deflection angle A; Figure 5 yes Figure 4 A partial enlarged schematic diagram of point B in the middle; Figure 6 It is a schematic diagram of the overall structure of the glue coating component; Figure 7 yes Figure 6 Schematic diagram of the three-dimensional structure; Figure 8 yes Figure 6 Schematic cross-sectional view at CC in the middle; Fig. 9 yes Figure 8 A partial enlarged schematic diagram of point D in the middle; Fig.10 is a half-section schematic diagram of the nozzle head; Fig.11 This is a partial enlarged schematic diagram of point E in the figure Fig.12 is a schematic diagram of the connection relationship between the nozzle movable plug and the nozzle head in the second embodiment; Fig.13 It is a schematic diagram of the connection relationship between the gluing drive cylinder, the presser foot base and the presser foot extension plate; Fig.14 It is a schematic diagram of the assembly relationship between the presser foot base and the presser foot extension plate; Fig.15 It is a schematic diagram of the three-dimensional structure of the glue-coated base frame.

[0019] Figure Number: Presser foot fixing support 10; pressure sensor 11; upper riveting die assembly 12; rivet 13; cooling installation slot 14; tool cooling and lubrication assembly 15; laser displacement sensor 17; presser foot assembly 20; presser foot base 21; presser foot extension plate 22; extension cylinder 23; dust suction pipe 24; micro-motion installation slot 25; micro-motion adjustment slot 26; visual measurement channel 27; nose pressure 28; nose pressure cavity 29; nose pressure bottom hole 30; drilling and riveting center hole 31; glue application moving channel 32; drive shaft 33; floating joint 34; glue fixing step surface 35; glue application assembly 40; glue application base frame 41; folding mounting plate 42; glue application drive cylinder 44; drive chamber 45; first drive seat 46; second drive seat 47; glue application telescopic rod 48; nozzle positioning block 49; nozzle head 50; nozzle chamber 51; flush limit groove 52; glue servo tube 53; pre-tightening nut 54; accessory connecting seat 56; flush boss 57; injection circulation channel 58; nozzle movable plug 59. DETAILED DESCRIPTION

[0020] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0021] The specific embodiments of the present invention described herein are only used to explain the purpose of the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be considered to belong to the scope of the present invention. It should be noted that when an element is referred to as "arranged on" another element, it can be directly on another element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a central element at the same time. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the internal communication of two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation method.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0023] Embodiment 1 See attached Figure 1 To Attachment Figure 5 , and attached Figures 13 to 15 As shown, the present invention provides a drilling, riveting and gluing device, comprising a presser foot fixing support 10, a presser foot assembly 20 is provided at the lower end of the presser foot fixing support 10, and a gluing assembly 40 is provided at the upper end of the presser foot assembly 20; The presser foot fixing support 10 is installed in the upper rivet head main system of drilling and riveting equipment such as a gantry drilling and riveting center, and is particularly installed on the station switching unit of the upper rivet head end effector component of the drilling and riveting main system; the end effector of the common upper rivet head main system is usually provided with a station switching unit, a tool magazine unit, a hole making unit, a rivet inspection unit, a rivet detection unit, a nail removal and insertion unit, etc.; the presser foot fixing support 10 moves with the adjustment of the drilling and riveting station, thereby driving the pressure foot unit equipped with a glue coating structure to work at the drilling and riveting station; The presser foot assembly 20 includes a presser foot base 21 fixedly connected to the lower end surface of the presser foot fixing support 10, a presser nose 28 is arranged in the presser foot base 21, the presser nose 28 adopts a quick disassembly and assembly method and is positioned by a pin and tightened by a magnetic steel, a presser nose cavity 29 is arranged in the presser nose 28, and a presser nose bottom hole 30 is arranged in the lower end wall of the presser nose cavity 29, and a nail taking, inserting and tightening unit of the upper rivet head host system automatically distributes rivets 13 for glue riveting through the presser nose bottom hole 30 for riveting; Attachment holes are provided at multiple positions on the presser foot base 21, and a rivet skin chip blowing device or a mounting bracket for auxiliary components such as discarding nails and cleaning chips can be installed on the presser foot base 21 through the attachment holes, so as to assist the gluing and riveting work; at the same time, auxiliary monitoring equipment such as industrial cameras can be installed on the presser foot fixing support 10 to monitor the picture at the wall panel when making holes and inserting nails, so as to assist in completing the gluing and riveting work; The glue coating assembly 40 includes a glue coating frame 41 disposed on the upper end of the presser foot base 21. The glue coating frame 41 is fixedly mounted on a glue coating fixed step surface 35 provided on the upper end surface of the presser foot base 21. A glue coating driving cylinder 44 is fixedly connected to the upper end of the glue coating frame 41. A first driving seat 46 and a second driving seat 47 are respectively provided at both ends of the glue coating driving cylinder 44. The second driving seat 47 and the first driving seat 46 are connected to an externally disposed pneumatic driving device through a pipeline to perform a glue coating positioning servo action. At the same time, an accessory connecting seat 56 for installing a fixed clamping posture is fixedly connected to the glue coating driving cylinder 44. A glue coating telescopic rod 48 is slidably connected to the front end of the glue coating driving cylinder 44 toward the side of the nose bottom hole 30. A driving chamber 45 is provided in the glue-applying driving cylinder 44, and a first driving seat 46 and a second driving seat 47 drive a glue-applying telescopic rod 48 slidably connected in the driving chamber 45 to extend and retract; a nozzle head 50 is fixedly connected to the front end of the glue-applying telescopic rod 48 facing the side of the nose bottom pressing hole 30, and a glue liquid servo tube 53 is fixedly connected to the nozzle head 50, and the glue liquid servo tube 53 is connected to the output pipeline of the glue storage quantitative conveying device, and the nozzle head 50 sprays the riveting sealing glue liquid output by the glue liquid servo tube 53, and the glue-applying telescopic rod 48 drives the nozzle head 50 to be positioned and stay at a glue-applying position that matches the riveting working condition of the nose bottom pressing hole 30, and the glue-applying telescopic rod 48 is the working staying depth of the nose bottom pressing hole 30 relative to the presser foot base 21 in the riveting working condition; See attached Figure 6 To the attached Figure 8 As shown, a folding mounting plate 42 is fixedly connected to the upper end of the glue coating base frame 41, and a glue coating driving cylinder 44 is fixedly connected to the folding mounting plate 42. The angle between the surface normal direction of the folding mounting plate 42 and the longitudinal axis of the nose bottom hole 30 can be an acute angle. The complementary angle of the angle between the surface normal of the folding mounting plate 42 and the horizontal direction is the swing angle a. The folding mounting plate 42 drives the glue coating driving cylinder 44 fixed thereon and the nozzle head 50 installed at the front end of the glue coating telescopic rod 48 to point to the matching position of the working stay depth of the nose bottom hole 30 riveting working condition. The angle limits the maximum stay depth of the nozzle head 50 driven by the glue coating telescopic rod 48 to position, and the maximum stay depth is less than the glue coating position. See attached Figure 6 To Attachment Fig. 9 As shown, the front end of the glue-spreading telescopic rod 48 is threadedly connected with a nozzle positioning block 49 and a pre-tightening nut 54, and the pre-tightening nut 54 pre-tightens and fixes the nozzle positioning block 49 to the front end of the glue-spreading telescopic rod 48; the front end of the nozzle positioning block 49 is fixedly connected to the nozzle head 50, and the rear end of the nozzle positioning block 49 has a deflection angle S relative to the front end of the horizontal angle thereof; The sum of the deflection angle s and the deflection angle a is the angle between the nozzle positioning block 49 installed on the press foot base 21 through the press folding mounting plate 42 and the glue coating base frame 41 and the longitudinal axis of the press nose bottom hole 30, and is also the angle between the axis of the nozzle head 50 installed on the nozzle positioning block 49 and the glue coating surface of the workpiece below it; when the sum of the deflection angle s and the deflection angle a is ninety degrees, the axis of the nozzle head 50 is always parallel to the central axis of the press nose bottom hole 30; When the glue-applying driving cylinder 44 drives the glue-applying telescopic rod 48 to extend and retract to drive the nozzle positioning block 49 and the nozzle head 50 to move, the nozzle head 50 is driven by the extension of the glue-applying telescopic rod 48 to be positioned on the axis of the nose bottom pressure hole 30, and the axis of the nozzle head 50 coincides with the axis of the nose bottom pressure hole 30; When it is necessary to adjust the positioning depth of the nozzle head 50 relative to the presser foot assembly 20 on the axis of the nose bottom hole 30, the telescopic guide pointing point of the glue application drive cylinder 44 and the glue application telescopic rod 48 needs to be moved downward relative to the presser foot base 21; When the position of the glue coating base frame 41 installed on the glue coating fixed step surface 35 remains unchanged, the angle of the deflection angle a at the folding mounting plate 42 needs to be smaller, that is, the larger the acute angle between the telescopic guide of the glue coating driving cylinder 44 and the glue coating telescopic rod 48 and the horizontal direction; at the same time, to keep the axis of the nozzle head 50 installed at the front end of the nozzle positioning block 49 parallel to the axis of the nose bottom hole 30, the deflection angle s of the rear end of the nozzle positioning block 49 relative to its horizontal front end can only be increased accordingly, so that the sum of the angles of the deflection angle s and the deflection angle a is close to a right angle; in this way, when the positioning and docking depth of the nozzle head 50 is different, the deflection angle s and the deflection angle a are selected to match the right angle, and the installation of the glue coating driving cylinder 44 and the glue coating telescopic rod 48 is replaced when switching the positioning depth of the glue coating position; The deflection angle s of the nozzle positioning block 49 and the complementary angle of the deflection of the guiding direction of the glue driving cylinder 44 by the folding mounting plate 42 cooperate with each other, and the matching guide track does not interfere with the glue injection structure of the components such as the nail feeding and hole making at the bottom hole 30 of the pressure nose; when the glue coating depth is switched to form a new glue coating structure, the glue coating device can maintain the glue injection direction roughly perpendicular to the coating surface, which greatly reduces the structural damage to the presser foot assembly 20, and also reduces the movement interference with other components such as the drilling and riveting holes on the presser foot assembly 20, reduces the modification cost of the glue injection structure after switching the glue coating positioning depth, and can reduce the accuracy mutation amplitude before and after the spraying specification of the glue spraying device is modified; Avoid the glue injection direction deviating too much from the normal direction of the glue coating surface of the riveted workpiece, reduce the possibility of the annular jet of sealant injection being deflected on the coating surface, reduce the probability of uneven glue spraying, and effectively reduce the possibility of gaps and excess glue in the glue coating riveting.

[0024] See attached Figure 8 To Attachment Figure 1As shown in the upper riveting die assembly 12 , the front end of the glue-coated telescopic rod 48 is threadedly connected with at least two pre-tightening nuts 54 ; A flush limit groove 52 is provided at the front end of the nozzle positioning block 49, and a flush boss 57 is provided on the nozzle head 50. The flush boss 57 cooperates with the flush limit groove 52, and the flush limit groove 52 keeps the axis of the nozzle cavity 51 parallel to the axis of the nose bottom hole 30; a group of injection annular flow channels 58 are uniformly distributed in an annular shape around the axis of the nozzle cavity 51 are provided in the side wall of the nozzle cavity 51; In addition, two pre-tightening nuts 54 are used to tighten the nozzle positioning block 49 installed at the front end of the glue-spreading telescopic rod 48. At the same time, the flush boss 57 provided on the nozzle head 50 is installed and connected through the surface contact limit of the flush limiting groove 52 at the front end of the nozzle positioning block 49. The pre-tightening can ensure the stability of the installation posture of the nozzle positioning block 49 on the glue-spreading telescopic rod 48, reduce the possibility of mechanical vibration causing the nozzle positioning block 49 to rotate relative to the circumferential direction of the glue-spreading telescopic rod 48, reduce the possibility of the axis of the nozzle head 50 installed at the front end of the nozzle positioning block 49 deviating from the axis direction of the nose bottom hole 30, and reduce the amplitude of the glue injection direction deviating from the normal direction of the coating surface due to mechanical vibration; At the same time, through the surface contact cooperation between the flush limit groove 52 and the flush boss 57, the relative angle of the axis of the nozzle head 50 on the nozzle positioning block 49 is increased, and the stability of the axis direction of the nozzle head 50 is further improved, thereby driving the stability of the spraying shape and the accuracy of the spraying angle of the sealant liquid sprayed by the nozzle cavity 51 and the injection circulation channel 58, reducing the possibility of inclination of the glue spraying direction and fluctuation of the injection angle. When switching the nozzle structure specifications and / or the spraying surface has large undulations, the nozzle positioning block 49 and the folded mounting plate 42 are matched to stabilize the glue spraying direction roughly perpendicular to the coating surface, which can withstand more intense glue expansion and contraction movements and higher-speed drilling and riveting assembly conditions, thereby improving the stability and accuracy of the sealant liquid coating posture in the drilling and riveting assembly process.

[0025] See attached Figure 1 To Attachment Figure 5 , Attachment Fig.13 And attached Fig.14As shown, a micro-motion installation groove 25 is provided in the presser foot base 21, and a micro-motion adjustment groove 26 is provided at the lower end of the micro-motion installation groove 25. The micro-motion adjustment groove 26 is located at the lower end of the presser foot base 21. A presser foot extension plate 22 is slidably connected in the micro-motion installation groove 25 and the micro-motion adjustment groove 26. A presser nose 28 is fixedly connected in the presser foot extension plate 22. A drilling and rivet middle hole 31 is provided in the presser foot extension plate 22. The presser nose cavity 29 cooperates with the drilling and rivet middle hole 31. The positions of the drilling and rivet middle hole 31 and the presser nose bottom hole 30 correspond to each other. A gluing moving channel 32 is provided in the side wall of the drilling and rivet middle hole 31. The gluing moving channel 32 accommodates the movement of the nozzle head 50 positioned at the gluing position; a cooling installation groove 14 is provided in the side wall of the drilling and rivet middle hole 31. A tool cooling and lubrication assembly 15 is provided at the upper end of the presser foot extension plate 22. The tool cooling and lubrication assembly 15 is fixedly connected in the cooling installation groove 14. The tool cooling and lubrication assembly 15 assists the gluing and drilling and riveting assembly work; A driving shaft 33 is slidably connected in the upper end wall of the micro-adjusting groove 26, an extension cylinder 23 is fixedly connected to the upper end of the presser foot base 21, the extension cylinder 23 is dynamically connected to the driving shaft 33, a floating joint 34 is fixedly connected to the lower end of the driving shaft 33, the floating joint 34 is fixedly connected to the presser foot extension plate 22, and the driving shaft 33 adjusts the sliding depth of the presser foot extension plate 22 according to the riveting force transmitted by the presser foot extension plate 22; A laser displacement sensor 17 is provided on the presser foot base 21, and the laser displacement sensor 17 monitors the flushness and sliding depth of the presser foot extension plate 22 sliding at the lower end of the micro-motion mounting groove 25; a pressure sensor 11 is fixedly connected between the presser foot base 21 and the presser foot fixed support 10, and the pressure sensor 11 monitors the force applied to the presser foot base 21 during the riveting process; The extending cylinder 23 servo drives the driving shaft 33 and the floating joint 34, so as to adjust the presser foot extending plate 22 to float longitudinally in the micro-motion mounting groove 25 and the micro-motion adjusting groove 26, thereby eliminating over-constraint and maintaining the synchronization of the drive. At the same time, the driving shaft 33 can provide the response force when driving the micro-motion; the pressure sensor 11 can cooperate with the floating joint 34 to level the micro-floating action of the presser foot extending plate 22. At this time, the force on the presser foot base 21 will be transmitted to the presser foot extending plate 22 and the press nose 28 through the driving shaft 33 and the floating joint 34. The response force of the driving shaft 33 and the floating joint 34 to adjust the micro-floating position of the presser foot extending plate 22 comes from the mechanical transmission of the presser foot base 21; the riveting reaction force detected by the pressure sensor 11 on the presser foot base 21 is the main part of the riveting force on the presser foot assembly 20 as a whole. The pressure sensor 11 and the driving shaft 33 cooperate to grade the riveting force on the presser foot assembly 20, and the force on the presser foot assembly 20 is graded into the pressure on the presser foot extending plate 2 2 and the micro-motion response force on the presser foot base 21, the pressure sensor 11 and the drive shaft 33 interrupt the monitoring association of the force transmission between the presser foot base 21 and the presser foot extension plate 22; the presser foot leveling is faster and more stable, the pressing state and position judgment of the presser foot assembly 20 are more accurate, and the efficiency and stability of the glue riveting position control and force monitoring are higher; the response accuracy of the synchronous micro-motion of the presser foot extension plate 22 is improved, the position sensing solution accuracy of the micro-motion synchronization is improved, the performance allocation rationality of the upper rivet head end actuator is improved, and the automatic monitoring cost of glue riveting is reduced; the time consumption of micro-motion self-correction adjustment is reduced, the accuracy and response speed of the presser foot position judgment are improved, the pressure riveting efficiency is improved, the allowable time for glue liquid treatment after riveting is increased, the difficulty of the glue tail treatment process such as glue liquid scraping and curing is reduced, the urgency of post-processing requirements such as glue liquid curing and quality maintenance is reduced, the quality requirements and investment costs of riveting sealant are reduced, and the processability and riveting quality of glue riveting sealing operations are improved.

[0026] See attached Fig.13 and 14 As shown, a downward protrusion is provided in the presser foot base 21, and a visual channel 27 is provided on the side of the lower end of the protrusion facing the presser foot fixing support 10, and the visual channel 27 is used to observe the working condition of the riveting die on the protrusion, and a groove is provided in the lower end surface of the protrusion, and a dust suction pipe 24 is provided in the groove, and the axial bending angle of the dust suction pipe 24 is an obtuse angle, and the dust suction pipe 24 is connected to the pressure nose cavity 29; The presser foot base 21 is provided with a downward protrusion, which deflects the force transmitted from the riveting process of the lower end of the presser foot base 21 to the presser foot fixing support 10, thereby reducing the force stress transmitted from the presser foot base 21 to the presser foot fixing support 10, and the direction in which the riveting force on the presser foot assembly 20 is transmitted to the pressure sensor 11 is guided by the protrusion and reduced, thereby reducing the torque transmitted to the pressure sensor 11 and reducing the force amplitude of the pressure sensor 11; The riveting condition observation space on the lower side of the raised part of the presser foot base 21 is increased, the monitoring angle of the glue riveting and the richness of the monitoring data are improved, the convenience of the glue riveting regulation is improved, and the convenience of monitoring the glue amount at multiple stations is improved; by arranging a groove and a dust suction pipe 24 on the lower end surface of the presser foot base 21, the drilling and riveting operation at the presser nose cavity 29 can be cleaned and suctioned in real time to reduce the probability of chip blockage.

[0027] Embodiment 2 See attached Fig.10 To Attachment Fig.12 As shown, the injection annular flow channel 58 is distributed in a spiral manner in the radial direction of the nozzle cavity 51; when the viscosity of the sealing glue liquid provided in the nozzle cavity 51 and / or the spraying jet state are required, the nozzle cavity 51 can be provided with a terminal movable opening and closing structure; the lower end wall of the nozzle cavity 51 is provided with an opening, and a nozzle movable plug 59 is rotatably connected in the opening, and the nozzle movable plug 59 can adjust the opening size of the injection annular flow channel 58, so that the position of the nozzle movable plug 59 can be rotatably adjusted at the terminal opening of the nozzle cavity 51, and then the jet opening of the uniformly distributed injection annular flow channel 58 is adjusted, so as to control the spraying pressure and flow rate of the sealing glue liquid; The injection annular flow channel 58 is spirally distributed around the axis of the nozzle cavity 51. When drilling and applying glue, the injection and outflow direction of the sealant can be deviated according to the spiral outlet angle of the injection annular flow channel 58 relative to the axis of the nozzle cavity 51; the residence time of the glue on the coating surface is increased; it can effectively prevent the possibility of gaps not being filled with sealant, and at the same time, it can improve the uniformity of glue injection adhesion, ensure that the glue application direction is roughly the same as or opposite to the glue brushing direction, and effectively reduce the flow of the sealant after spraying with the movement of the components, reduce the possibility of irregular sliding and accumulation on the local glue coating surface, and effectively avoid the uneven application of the sealant layer, excessive glue injection, etc., and reduce the difficulty of surface cleaning during the curing of glue coating, drilling and riveting; In addition, the nozzle movable plug 59 controls the injection pressure of the injection circulation channel 58, adjusts the injection pressure and flow rate, and adapts to various types of sealing liquids and various injection conditions.

[0028] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes made by a person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A drilling, riveting and gluing device, comprising a presser foot fixing support (10), a presser foot assembly (20) being provided at the end of the presser foot fixing support (10), a gluing assembly (40) being provided on the presser foot assembly (20), characterized in that: The presser foot assembly (20) comprises a presser foot base (21) fixedly connected to the lower end of the presser foot fixed support (10), a presser nose (28) is provided in the presser foot base (21), a presser nose cavity (29) is provided in the presser nose (28), and a presser nose bottom hole (30) is provided in the lower end wall of the presser nose cavity (29); The gluing assembly (40) comprises a gluing frame (41) arranged at the upper end of the presser foot base (21); the upper end of the gluing frame (41) is fixedly connected to a gluing driving cylinder (44); the front end of the gluing driving cylinder (44) is dynamically connected to a gluing telescopic rod (48); the front end of the gluing telescopic rod (48) is fixedly connected to a nozzle head (50); the nozzle head (50) is fixedly connected to a glue servo tube (53); the gluing telescopic rod (48) drives the nozzle head (50) to be positioned at a gluing position that matches the riveting condition of the nose bottom hole (30); the gluing position is the depth of the nose bottom hole (30) relative to the presser foot base (21).

2. A drilling and riveting gluing device as claimed in claim 1, characterized in that: The front end of the glue-spreading telescopic rod (48) is threadedly connected to a nozzle positioning block (49) and a pre-tightening nut (54), and the pre-tightening nut (54) pre-tightens and fixes the posture of the nozzle positioning block (49) installed on the front end of the glue-spreading telescopic rod (48). The front end of the nozzle positioning block (49) is fixedly connected to the nozzle head (50), and the rear end of the nozzle positioning block (49) has a deflection angle s relative to its front end.

3. A drilling and riveting gluing device as claimed in claim 2, characterized in that: The front end of the glue-coated telescopic rod (48) is threadedly connected to at least two of the pre-tightening nuts (54).

4. A drilling and riveting gluing device as claimed in claim 2, characterized in that: The upper end of the glue coating base frame (41) is fixedly connected to a folding mounting plate (42), and the glue coating drive cylinder (44) is fixedly connected to the folding mounting plate (42). The complementary angle of the surface normal of the folding mounting plate (42) compared to the horizontal direction is a deflection angle a. The angle limits the maximum stay depth of the glue coating telescopic rod (48) driving the nozzle head (50) to position, and the maximum stay depth is less than the glue coating position.

5. A drilling and riveting gluing device as claimed in claim 1, characterized in that: A nozzle cavity (51) is provided in the nozzle head (50), and a group of injection annular flow channels (58) uniformly distributed in an annular shape around the axis of the nozzle cavity (51) are provided in the side wall of the nozzle cavity (51).

6. A drilling and riveting gluing device as claimed in claim 2, characterized in that: A flush limit groove (52) is provided at the front end of the nozzle positioning block (49), and a flush boss (57) is provided on the nozzle head (50). The flush boss (57) cooperates with the flush limit groove (52), and the flush limit groove (52) keeps the axis of the nozzle cavity (51) parallel to the axis of the nose bottom pressure hole (30).

7. A drilling and riveting glue coating device as claimed in claim 1, characterized in that: The presser foot base (21) is provided with a micro-motion installation groove (25), and the lower end of the micro-motion installation groove (25) is provided with a micro-motion adjustment groove (26), and the micro-motion adjustment groove (26) is located at the lower end of the presser foot base (21). A presser foot extension plate (22) is slidably connected in the micro-motion installation groove (25) and the micro-motion adjustment groove (26), and the presser nose (28) is fixedly connected in the presser foot extension plate (22). A drilling and rivet center hole (31) is provided in the presser foot extension plate (22), and the positions of the drilling and rivet center hole (31) and the bottom hole (30) of the presser nose correspond to each other. A glue application moving channel (32) is provided in the side wall of the drilling and rivet center hole (31), and the glue application moving channel (32) accommodates the movement of the nozzle head (50) positioned at the glue application position; A driving shaft (33) is slidably connected in the upper end wall of the micro-adjustment groove (26); an extension cylinder (23) is fixedly connected to the upper end of the presser foot base (21); the extension cylinder (23) is dynamically connected to the driving shaft (33); a floating joint (34) is fixedly connected to the lower end of the driving shaft (33); the floating joint (34) is fixedly connected to the presser foot extension plate (22); and the driving shaft (33) adjusts the sliding depth of the presser foot extension plate (22) according to the feedback of the riveting force transmitted by the presser foot extension plate (22).

8. A drilling and riveting gluing device as claimed in claim 7, characterized in that: The presser foot base (21) is provided with a laser displacement sensor (17), and the laser displacement sensor (17) monitors the flatness of the presser foot extension plate (22) sliding on the lower end of the micro-motion mounting groove (25).

9. A drilling and riveting glue coating device as claimed in claim 8, characterized in that: A pressure sensor (11) is fixedly connected between the presser foot base (21) and the presser foot fixing support (10), and the pressure sensor (11) monitors the force applied to the presser foot base (21) during the riveting process.

10. A drilling and riveting gluing device as claimed in claim 1, characterized in that: A downward protrusion is provided in the presser foot base (21), and a visual measurement channel (27) is provided on the side surface of the lower end of the protrusion facing the presser foot fixing support (10).

Images