A drilling, riveting and gluing device

Abstract

The present invention discloses a drilling-riveting and gluing device, which relates to the technical field of drilling-riveting sealant spraying devices and is used to overcome the problems of low dynamic reconfiguration accuracy of spraying specifications, unstable jumping of the glue jet angle, and overly compact glue application tail treatment process. The present invention mainly sets a glue application base frame, a nozzle head, a nozzle positioning block, a deflection angle, a pressing and folding mounting plate, and a yaw angle; it can reduce the mutation amplitude of the accuracy before and after the reconfiguration of the spraying specifications of the glue application spraying device, and reduce the possibility of lateral deviation of the sealing glue injection annular jet on the coating surface side. By setting a drilling-riveting middle hole, a glue application moving channel, a telescopic cylinder, a driving shaft, a floating joint, and a pressure sensor, the position sensing calculation accuracy of the micro-motion synchronization is improved, and the rationality of the performance allocation of the end effector at the end of the upper riveting head is improved; the stable time-consuming of the micro-motion self-correction adjustment is reduced, and the allowable time for the glue treatment after riveting is increased.

Description

Technical Field

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

[0002] Riveting operations are mainly divided into methods such as hammer riveting, press riveting, electromagnetic riveting, blind riveting, and pull riveting. In the process of helicopter assembly, the commonly used riveting method is hammer riveting. Hammer riveting means that during the riveting process, one side of the rivet is hammered with a riveting gun, and the other side is tightened with a dolly. Through the impact force of intermittent hammering and the reaction force of the dolly, the rivet rod is upset to form a head. In the helicopter riveting assembly process, operations such as hole making, glue coating, and riveting vulcanization are required to meet the requirements of the sealing performance of helicopter glue-coated riveting products. Ordinary riveting assembly methods are difficult to meet their sealing requirements.

[0003] In common glue coating devices, such as a screw valve glue feeder, the sealant in the glue storage cavity is usually quantitatively transported to the glue coating position to form a stable glue consumption requirement; however, in the existing drilling and riveting glue coating structure, the spraying device such as a nozzle with a simple control method is usually used. When applied to the automatic drilling and riveting glue coating control process, ordinary glue coating nozzles are difficult to effectively and accurately control, and the glue coating quality and the rivet sealing effect are unstable.

[0004] In the prior art, for example, Chinese Patent CN109590166B discloses a mechanism and an automatic glue coating method for automatic glue coating of rivets. This invention patent uses a glue liquid conveying mechanism and an automatic execution mechanism to automatically coat the rivets, and quantitatively controls the glue injection amount and the glue injection position; however, in this invention patent, the glue injection structure needs to insert the rivet into the glue injection head to coat the glue. The coating position between the glue liquid and the rivet depends on the flow of the glue liquid, and the glue liquid may be difficult to evenly coat on the rivet, which may cause too much or too little glue liquid in the riveting gap or adjacent positions of the riveting, resulting in the sealing performance of the riveting position not meeting the requirements.

[0005] For example, Chinese Utility Model Patent CN203620885U discloses a countersunk hole glue applicator. In the glue coating scheme of this utility model, when coating the glue liquid, the tail end of the glue injection nozzle is sleeved on the outlet of the syringe, and the front guide rod is inserted into the nail hole. The drilling surface is attached to the nozzle surface, and the glue liquid is ejected as an annular glue liquid band by the injection force provided by the spraying device; in this utility model patent, the glue coating in the hole depends on the outer diameter fit of the nozzle to form a better annular glue liquid band. Other specifications and types of rivet holes may be limited by the nozzle diameter and injection force, and there may be a situation where the spraying is uneven or even the glue liquid cannot be sprayed. It may be difficult to automatically spray and form a uniform glue liquid layer at the drilling and riveting position, and there may be a large gap at the joint position after the riveting of the rivet, resulting in low sealing performance. Summary of the Invention

[0006] The object of the present invention is to provide a drilling, riveting and gluing device to overcome the deficiencies in the prior art, such as low precision in dynamically reconfiguring spraying specifications, unstable jumping of the glue spraying angle, and overly compact process procedures for glue tail treatment.

[0007] To solve the above technical problems, the present invention specifically provides the following technical solutions:

[0008] A drilling, riveting and gluing device includes a presser foot fixing support. At the end of the presser foot fixing support, there is a presser foot assembly, and a glue spraying assembly is arranged on the presser foot assembly. The presser foot assembly includes a presser foot base fixedly connected to the lower end of the presser foot fixing support. Inside the presser foot base, there is a press nose, and inside the press nose, there is a press nose cavity. At the lower end wall of the press nose cavity, there is a press nose bottom hole.

[0009] The glue spraying assembly includes a glue spraying base frame arranged on the upper end of the presser foot base. At the upper end of the glue spraying base frame, there is a fixedly connected glue spraying driving cylinder. At the front end of the glue spraying driving cylinder, there is a power connection with a glue spraying telescopic rod. At the front end of the glue spraying telescopic rod, there is a fixedly connected nozzle head. A glue liquid servo pipe is fixedly connected to the nozzle head. The glue spraying telescopic rod drives the nozzle head to be positioned at a glue spraying position that matches the riveting working condition of the press nose bottom hole. The glue spraying position is the depth of the press nose bottom hole relative to the presser foot base.

[0010] Preferably, at the front end of the glue spraying telescopic rod, there are threadedly connected a nozzle positioning block and a pre-tightening nut. The pre-tightening nut pre-tightly fixes the posture of the nozzle positioning block installed at the front end of the glue spraying telescopic rod. The front end of the nozzle positioning block is fixedly connected to the nozzle head. The rear end of the nozzle positioning block has a deflection angle s relative to its front end.

[0011] Preferably, at the front end of the glue spraying telescopic rod, there are threadedly connected at least two pre-tightening nuts.

[0012] Preferably, at the upper end of the glue spraying base frame, there is a fixedly connected press folding mounting plate, and the glue spraying driving cylinder is fixedly connected to the press folding mounting plate. The complementary angle of the angle between the surface normal of the press folding mounting plate and the horizontal direction is the yaw angle a. The angle limits the maximum staying depth at which the glue spraying telescopic rod drives the nozzle head to be positioned. The maximum staying depth is less than the glue spraying position.

[0013] By setting the glue spraying base frame, the glue spraying driving cylinder, the glue spraying telescopic rod, the nozzle head, the nozzle positioning block, the deflection angle, the press folding mounting plate, and the yaw angle, it is possible to switch the glue spraying depth to form a new glue spraying structure, reduce the transformation cost of the glue injection structure after switching the glue spraying positioning depth, reduce the sudden change amplitude of the precision before and after reconfiguring the spraying specifications of the glue spraying device, avoid the injection direction deviating too much from the normal direction of the glue spraying surface of the riveted workpiece, reduce the possibility of the annular jet of the sealant glue deviating sideways on the smearing surface, reduce the probability of uneven glue spraying, and effectively reduce the possibility of gaps and glue surplus generated during glue spraying and riveting.

[0014] Preferably, inside the nozzle head, there is a nozzle cavity, and on the side wall of the nozzle cavity, there is a group of jet circulation channels arranged in a ring shape and evenly distributed around the axis of the nozzle cavity.

[0015] 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 nasal pressing bottom hole;

[0016] By setting the glue application telescopic rod, the pre-tightening nut, the flush limit groove and the flush boss, the installation attitude of the nozzle positioning block on the glue application telescopic rod can be pre-tightened and tightened to ensure stability, and the amplitude of the deviation of the injection direction from the normal direction of the coating surface caused by mechanical vibration can be reduced; the possibility of the inclination of the glue spraying direction and the jumping of the spraying angle can be reduced, and it can withstand more severe glue application telescopic actions and higher-speed drilling and riveting assembly working conditions.

[0017] Preferably, a micro-motion installation groove is provided inside the pressure 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 pressure foot base, a pressure foot extension plate is slidably connected inside the micro-motion installation groove and the micro-motion adjustment groove, a nasal press is fixedly connected inside the pressure foot extension plate, a drilling and riveting middle hole is provided inside the pressure foot extension plate, the position of the drilling and riveting middle hole corresponds to that of the nasal pressing bottom hole, and a glue application moving channel is provided inside the side wall of the drilling and riveting middle hole. The glue application moving channel accommodates the movement of positioning the nozzle head at the glue application position;

[0018] A driving shaft is slidably connected inside the upper end wall of the micro-motion adjustment groove. An extension cylinder is fixedly connected to the upper end of the pressure foot base. The extension cylinder is power-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 pressure foot extension plate. The driving shaft feedback-adjusts the sliding depth of the pressure foot extension plate according to the riveting acting force transmitted by the pressure foot extension plate.

[0019] Preferably, a laser displacement sensor is provided on the pressure foot base, and the laser displacement sensor monitors the flatness of the sliding of the pressure foot extension plate at the lower end of the micro-motion installation groove.

[0020] Preferably, a pressure sensor is fixedly connected between the pressure foot base and the pressure foot fixed support, and the pressure sensor monitors the acting force received during the riveting process of the pressure foot base;

[0021] By setting the drilling and riveting middle hole, the glue application moving channel, the extension cylinder, the driving shaft, the floating joint and the pressure sensor, the monitoring correlation of the force transmission between the pressure foot base and the pressure foot extension plate can be interrupted, and the regulation efficiency and stability of the glue application and riveting position are higher; the position sensing calculation accuracy of the micro-motion synchronization can be improved, the performance allocation rationality of the upper riveting head end effector can be improved, and the automatic monitoring cost of the glue application and riveting can be reduced; the stable time consumption of the micro-motion self-correction adjustment can be reduced, the accuracy of the pressure foot position judgment and the judgment response speed can be improved, and the allowable time for the glue treatment after riveting can be increased.

[0022] Preferably, a downward convex part is provided inside the pressure foot base, and a viewing channel is provided on the side surface of the lower end of the convex part facing the pressure foot fixed support direction. Description of the Drawings

[0023] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained based on the provided drawings.

[0024] Figure 1 It is a schematic diagram of the overall assembled state of a drilling, riveting and gluing device of the present invention;

[0025] Figure 2 It is a schematic diagram of the assembly relationship between the pressure foot base and the gluing assembly;

[0026] Figure 3 It is Figure 2 The top view schematic diagram of;

[0027] Figure 4 It is Figure 3 The sectional view schematic diagram of the yaw angle A - yaw angle A in;

[0028] Figure 5 It is Figure 4 The partial enlarged schematic diagram at position B in;

[0029] Figure 6 It is a schematic diagram of the overall structure of the gluing assembly;

[0030] Figure 7 It is Figure 6 The three - dimensional structure schematic diagram of;

[0031] Figure 8 It is Figure 6 The sectional view schematic diagram at C - C in;

[0032] Figure 9 It is Figure 8 The partial enlarged schematic diagram at position D in;

[0033] Figure 10 It is the half - sectional view schematic diagram of the nozzle head;

[0034] Figure 11 It is the partial enlarged schematic diagram at position E in the figure

[0035] Figure 12 It is a schematic diagram of the connection relationship between the nozzle movable plug and the nozzle head in the second embodiment;

[0036] Figure 13 It is a schematic diagram of the connection relationship between the gluing driving cylinder, the pressure foot base and the pressure foot extension plate;

[0037] Figure 14It is a schematic diagram of the assembly relationship between the presser foot base and the presser foot extension plate;

[0038] Figure 15 It is a three-dimensional structure schematic diagram of the glue application base frame.

[0039] Reference numerals in the attached drawings:

[0040] Presser foot fixed support 10; Pressure sensor 11; Upper riveting die assembly 12; Rivet 13; Cooling installation groove 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 groove 25; Micro-motion adjustment groove 26; Visual inspection channel 27; Presser nose 28; Presser nose cavity 29; Presser nose bottom hole 30; Drilling and riveting middle hole 31; Glue application moving channel 32; Driving shaft 33; Floating joint 34; Glue application fixed step surface 35; Glue application assembly 40; Glue application base frame 41; Pressing and folding mounting plate 42; Glue application driving cylinder 44; Driving cavity 45; First driving seat 46; Second driving seat 47; Glue application telescopic rod 48; Nozzle positioning block 49; Nozzle head 50; Nozzle cavity 51; Flush limit groove 52; Glue liquid servo pipe 53; Pre-tightening nut 54; Fitting connection seat 56; Flush boss 57; Injection circulation channel 58; Nozzle movable plug 59. Detailed implementation manners

[0041] For a clearer understanding of the technical features, objectives, and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.

[0042] The specific implementation manners of the present invention described herein are only for the purpose of explaining the objectives of the present invention and should not be construed in any way as a limitation of the present invention. Under the guidance of the present invention, those skilled in the art can conceive any possible variations based on the present invention, and all of these should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, they can be mechanical connections or electrical connections, and can also be the internal communication of two elements. They can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manners.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used 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" as used herein includes any and all combinations of one or more of the related listed items.

[0044] Example 1

[0045] Referring to Figure 1 and Figure 5 as well as Figures 13 to 15 shown in the appended drawings, the present invention provides a drilling, riveting and gluing device, which includes 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;

[0046] The presser foot fixing support 10 is installed in the upper riveting head main machine system of drilling and riveting equipment such as a gantry drilling and riveting center, especially on the station switching unit of the end effector component of the upper riveting head of the drilling and riveting main machine system; generally, the end effector of the upper riveting head main machine system is usually provided with a station switching unit, a tool magazine unit, a hole-making unit, a rivet feeding and inspection unit, a rivet detection unit, a nail-taking, inserting and tightening unit, etc.; the presser foot fixing support 10 moves following the adjustment of the drilling and riveting station, thereby driving the pressure foot unit equipped with a gluing structure to work at the drilling and riveting station;

[0047] The presser foot assembly 20 includes a presser foot base 21 fixedly connected to the lower end face of the presser foot fixing support 10. A presser nose 28 is provided inside the presser foot base 21. The presser nose 28 is installed and disassembled quickly and positioned by a pin and tightened by a magnetic steel. A presser nose cavity 29 is provided inside the presser nose 28. A presser nose bottom hole 30 is provided in the lower end wall of the presser nose cavity 29. The nail-taking, inserting and tightening unit of the upper riveting head main machine system automatically delivers the rivet 13 for gluing and riveting to perform riveting through the presser nose bottom hole 30;

[0048] Attachment holes are provided at multiple positions on the presser foot base 21. Through the attachment holes, an upper riveting skin chip blowing device can be configured on the presser foot base 21, or an installation bracket for auxiliary components such as discarded nails and chip cleaning can be installed, so as to assist the gluing and riveting work; at the same time, an industrial camera and other auxiliary monitoring devices can also be installed on the presser foot fixing support 10 to monitor the picture at the panel during hole-making and nail inserting, so as to assist in completing the gluing and riveting work;

[0049] The glue - applying assembly 40 includes a glue - applying base frame 41 disposed at the upper end of the presser foot base 21. The glue - applying base frame 41 is fixedly installed on the glue - applying fixed step surface 35 opened on the upper end surface of the presser foot base 21. A glue - applying driving cylinder 44 is fixedly connected to the upper end of the glue - applying base frame 41. A first driving seat 46 and a second driving seat 47 are respectively arranged at both ends of the glue - applying driving cylinder 44. The second driving seat 47 and the first driving seat 46 are connected to an externally - arranged pneumatic driving device through pipelines for glue - applying positioning servo actions. At the same time, a fitting connection seat 56 for installing and fixing the clamping posture is fixedly connected to the glue - applying driving cylinder 44. A glue - applying telescopic rod 48 is slidably connected to the front end of the glue - applying driving cylinder 44 facing the bottom hole 30 of the presser nose. A driving cavity 45 is provided inside the glue - applying driving cylinder 44. The first driving seat 46 and the second driving seat 47 drive the glue - applying telescopic rod 48 slidably connected in the driving cavity 45 to expand and contract. The front end of the glue - applying telescopic rod 48 facing the bottom hole 30 of the presser nose is fixedly connected with a nozzle head 50. A glue - liquid servo pipe 53 is fixedly connected to the nozzle head 50. The glue - liquid servo pipe 53 is connected to the output pipeline of the glue storage and quantitative conveying device. The nozzle head 50 sprays the riveting sealant output by the glue - liquid servo pipe 53. The glue - applying telescopic rod 48 drives the nozzle head 50 to be positioned and stay at the glue - applying position that matches the riveting working condition of the bottom hole 30 of the presser nose. The glue - applying position is the riveting working stay depth of the bottom hole 30 of the presser nose relative to the presser foot base 21.

[0050] Refer to the attached Figure 6 to the attached Figure 8 As shown, a press - folding mounting plate 42 is fixedly connected to the upper end of the glue - applying base frame 41. The glue - applying driving cylinder 44 is fixedly connected to the press - folding mounting plate 42. The included angle between the normal direction of the surface of the press - folding mounting plate 42 and the axis of the longitudinal bottom hole 30 of the presser nose can be an acute angle. The complementary angle of the included angle between the normal of the surface of the press - folding mounting plate 42 and the horizontal direction is the yaw angle a. The press - folding mounting plate 42 drives the nozzle head 50 installed at the front end of the glue - applying driving cylinder 44 and the glue - applying telescopic rod 48 fixed on it to point to the mating position at the riveting working stay depth of the bottom hole 30 of the presser nose. The included angle restricts the maximum stay depth at which the glue - applying telescopic rod 48 drives the nozzle head 50 to be positioned, and the maximum stay depth is less than the glue - applying position.

[0051] Refer to the attached Figure 6 to the attached Figure 9 As shown, a nozzle positioning block 49 and a pre - tightening nut 54 are thread - connected to the front end of the glue - applying telescopic rod 48. The pre - tightening nut 54 pre - tightens and fixes the posture of the nozzle positioning block 49 installed at the front end of the glue - applying telescopic rod 48. The nozzle head 50 is fixedly connected to the front end of the nozzle positioning block 49. The rear end of the nozzle positioning block 49 has a deflection angle S relative to its front end in the horizontal angle.

[0052] The sum of the deflection angle s and the yaw angle a is the included angle between the nozzle positioning block 49 installed on the presser foot base 21 through the press-fold mounting plate 42 and the glue application base frame 41 and the longitudinal axis of the press nose bottom hole 30. It is also the included angle between the axis of the nozzle head 50 installed on the nozzle positioning block 49 and the glue application surface of the workpiece below it. When the sum of the degrees of the deflection angle s and the yaw angle a is 90 degrees, the axis of the nozzle head 50 is always parallel to the central axis direction of the press nose bottom hole 30.

[0053] When the glue application driving cylinder 44 drives the glue application telescopic rod 48 to expand and contract to drive the nozzle positioning block 49 and the nozzle head 50 to move, when the nozzle head 50 is driven by the extension action of the glue application telescopic rod 48 to be positioned on the axis of the press nose bottom hole 30, the axis of the nozzle head 50 coincides with the axis of the press nose bottom hole 30.

[0054] When it is necessary to adjust the positioning depth of the nozzle head 50 on the axis of the press nose bottom hole 30 relative to the presser foot assembly 20, the telescopic guiding pointing point of the glue application driving cylinder 44 and the glue application telescopic rod 48 needs to move downward relative to the presser foot base 21.

[0055] When the position where the glue application base frame 41 is installed on the glue application fixing step surface 35 remains unchanged, the degree of the yaw angle a at the press-fold mounting plate 42 needs to be smaller, that is, the acute angle between the telescopic guiding of the glue application driving cylinder 44 and the glue application telescopic rod 48 and the horizontal direction is larger. 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 press nose bottom hole 30, only the deflection angle s of the included angle between the rear end and the horizontal front end of the nozzle positioning block 49 can be correspondingly increased, so that the sum of the degrees of the deflection angle s and the yaw angle a is close to a right angle. In this way, when the positioning and docking depth of the nozzle head 50 is different, select the appropriate angle ratio of the deflection angle s and the yaw angle a to be a right angle for cooperation, and replace and switch the installation of the glue application driving cylinder 44 and the glue application telescopic rod 48 when positioning the depth of the glue application position.

[0056] The deflection angle s of the nozzle positioning block 49 and the complementary angle of the deflection of the guiding direction of the press-fold mounting plate 42 to the glue application driving cylinder 44 cooperate with each other, and the guiding trajectory does not interfere with the glue injection structure of components such as the nail feeding and hole making at the press nose bottom hole 30. When forming a new glue application structure by switching the glue application depth, on the basis of keeping the glue injection direction of the glue application device approximately perpendicular to the coating surface, it can greatly reduce the structural damage to the presser foot assembly 20, and also reduce the movement interference to other components such as the drilling and riveting hole making on the presser foot assembly 20, reduce the transformation cost of the glue injection structure after switching the glue application positioning depth, and can reduce the mutation amplitude of the spraying specification accuracy before and after the conversion of the glue application spraying device.

[0057] Avoid the injection direction deviating too much from the normal direction of the glue application surface of the riveting workpiece, reduce the possibility of the annular jet of the sealing glue deviating to the side of the coating surface, and reduce the probability of uneven spraying of the glue, which can effectively reduce the possibility of gaps and glue surplus generated by glue application riveting.

[0058] Refer to the attached Figure 8 to the attached Figure 1 As shown in the upper riveting die assembly 12, at least two pre-tightening nuts 54 are threadedly connected to the front end of the glue-applying telescopic rod 48;

[0059] 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 press nose bottom hole 30; A group of injection circulation channels 58 are provided inside the side wall of the nozzle cavity 51 and are annularly and evenly distributed around the axis of the nozzle cavity 51;

[0060] In addition, the two pre-tightening nuts 54 tighten the nozzle positioning block 49 installed at the front end of the glue-applying telescopic rod 48. At the same time, the flush boss 57 provided on the nozzle head 50 is restricted by the surface contact of the flush limit groove 52 at the front end of the nozzle positioning block 49, which can pre-tighten and tighten to ensure the stability of the installation posture of the nozzle positioning block 49 on the glue-applying telescopic rod 48, reduce the possibility of the nozzle positioning block 49 rotating relative to the circumferential direction of the glue-applying telescopic rod 48 due to mechanical vibration, 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 press nose bottom hole 30, and reduce the amplitude of the injection direction deviating from the normal direction of the coating surface caused by mechanical vibration;

[0061] At the same time, through the surface contact cooperation of 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, further improving the stability of the axis direction of the nozzle head 50, thereby driving the stability of the spraying shape and the accuracy of the spraying angle of the sealing glue liquid sprayed by the nozzle cavity 51 and the injection circulation channels 58, reducing the possibility of the glue liquid spraying direction tilting and the injection angle jumping. When switching the nozzle structure specifications and / or the spraying surface has large undulations, the nozzle positioning block 49 and the press-fold mounting plate 42 are matched to stably make the glue-applying spraying direction approximately perpendicular to the coating surface, and can withstand more violent glue-applying telescopic actions and higher-speed drill-riveting assembly working conditions, improving the stability and accuracy of the sealing glue liquid coating posture in the drill-riveting assembly process.

[0062] Refer to the attached Figure 1 to the attached Figure 5 and the attached Figure 13 as well as the attached Figure 14As shown, a microswitch installation groove 25 is provided inside the presser foot base 21. A microswitch adjustment groove 26 is provided at the lower end of the microswitch installation groove 25. The microswitch adjustment groove 26 is located at the lower end of the presser foot base 21. A presser foot extension plate 22 is slidably connected inside the microswitch installation groove 25 and the microswitch adjustment groove 26. A presser nose 28 is fixedly connected inside the presser foot extension plate 22. A drilling and riveting middle hole 31 is provided inside the presser foot extension plate 22. The presser nose cavity 29 cooperates with the drilling and riveting middle hole 31. The positions of the drilling and riveting middle hole 31 and the presser nose bottom hole 30 correspond to each other. A glue application movement channel 32 is provided inside the side wall of the drilling and riveting middle hole 31. The glue application movement channel 32 accommodates the movement of the nozzle head 50 positioned at the glue application position; A cooling installation groove 14 is provided inside the side wall of the drilling and riveting 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 inside the cooling installation groove 14. The tool cooling and lubrication assembly 15 assists the glue application, drilling and riveting assembly work;

[0063] A drive shaft 33 is slidably connected inside the upper end wall of the microswitch 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 power-connected to the drive shaft 33. A floating joint 34 is fixedly connected to the lower end of the drive shaft 33. The floating joint 34 is fixedly connected to the presser foot extension plate 22. The drive shaft 33 feedback-adjusts the sliding depth of the presser foot extension plate 22 according to the riveting acting force transmitted by the presser foot extension plate 22;

[0064] A laser displacement sensor 17 is provided on the presser foot base 21. The laser displacement sensor 17 monitors the flatness and sliding depth of the presser foot extension plate 22 sliding at the lower end of the microswitch installation groove 25; A pressure sensor 11 is fixedly connected between the presser foot base 21 and the presser foot fixed support 10. The pressure sensor 11 monitors the acting force received by the presser foot base 21 during the riveting process;

[0065] The extension cylinder 23 servo-drives the drive shaft 33 and the floating joint 34, thereby adjusting the micro-floating of the presser foot extension plate 22 longitudinally in the fine movement installation groove 25 and the fine movement adjustment groove 26, so as to eliminate over-constraint and maintain the synchronism of the drive. At the same time, the drive shaft 33 can provide the response force when driving the fine movement; the pressure sensor 11 can cooperate with the micro-floating action of the floating joint 34 to level the presser foot extension plate 22. At this time, the force on the presser foot base 21 will be transmitted to the presser foot extension plate 22 and the press nose 28 through the drive shaft 33 and the floating joint 34. The response force for the floating joint 34 to adjust the micro-floating position of the presser foot extension plate 22 comes from the mechanical transmission of the presser foot base 21; the pressure sensor 11 detects that the riveting reaction force received by the presser foot base 21 is the main part of the riveting force received by the entire presser foot assembly 20. The pressure sensor 11 and the drive shaft 33 cooperate to classify the force received by the presser foot assembly 20 during riveting, classify the force received by the presser foot assembly 20 into the main force on the presser foot extension plate 22 and the micro-movement response force on the presser foot base 21, and the pressure sensor 11 and the drive shaft 33 interrupt the monitoring correlation of the force transmission between the presser foot base 21 and the presser foot extension plate 22; the leveling of the presser foot is faster and more stable, the judgment of the pressing state and position of the presser foot assembly 20 is more accurate, and the efficiency and stability of the regulation and force monitoring of the glue-applied riveting position are higher; the response accuracy of the synchronous micro-movement of the presser foot extension plate 22 is improved, the position sensing calculation accuracy of the micro-movement synchronization is improved, the rationality of the performance allocation of the upper riveting head end effector is improved, and the cost of automatic monitoring of glue-applied riveting is reduced; the stable time-consuming of the micro-movement self-correction adjustment is reduced, the accuracy and response speed of the presser foot position judgment are improved, the riveting efficiency is improved, the allowable time for post-riveting glue treatment is increased, the difficulty of the glue scraping and curing and other post-glue treatment process procedures is reduced, the urgency of the post-treatment requirements such as glue curing and quality maintenance is reduced, the quality requirements and input costs of the riveting sealant are reduced, and the processability and riveting quality of the glue-applied riveting seal operation are improved.

[0066] Refer to the attached Figure 13 and 14 As shown, a downward convex portion is provided in the presser foot base 21. A viewing channel 27 is provided on the side of the lower end of the convex portion facing the presser foot fixing support 10. The viewing channel 27 is used to observe the riveting die working condition on the convex portion. A groove is provided in the lower end surface of the convex portion, and a dust suction pipe 24 is provided in the groove. The axial bending angle of the dust suction pipe 24 is an obtuse angle, and the dust suction pipe 24 communicates with the presser foot cavity 29;

[0067] The presser foot base 21 is provided with a downward protrusion, which deflects the force transmitted during the riveting process at the lower end of the presser foot base 21 to the presser foot fixing support 10, reduces the stress of the force transmitted from the presser foot base 21 to the presser foot fixing support 10, and guides a part of the direction of the riveting force received by the presser foot assembly 20 to the pressure sensor 11 to be reduced, reduces the torque transmitted to the pressure sensor 11, and reduces the force amplitude received by the pressure sensor 11;

[0068] The riveting working condition observation space below the convex part of the presser foot base 21 is increased, the monitoring angle and the richness of monitoring data for adhesive riveting are improved, the convenience of regulating adhesive riveting is improved, and the convenience of monitoring the adhesive application 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 nasal cavity 29 can be cleaned and the chips can be sucked immediately, reducing the probability of chip blockage.

[0069] Embodiment 2

[0070] Refer to the attached Figure 10 to the attached Figure 12 As shown, the injection circulation channels 58 are distributed in a spiral manner in the radial direction of the nozzle cavity 51; when there are requirements for the viscosity of the sealant liquid and / or the spraying jet state arranged in the nozzle cavity 51, the nozzle cavity 51 can be arranged as a structure with an end movable opening and closing; an opening is provided on the lower end wall of the nozzle cavity 51, and a nozzle movable plug 59 is rotatably connected in the opening. The nozzle movable plug 59 can adjust the opening degree of the injection circulation channels 58, so that the position of the nozzle movable plug 59 can be rotated and adjusted at the end opening of the nozzle cavity 51, and then the jet openings of the uniformly distributed injection circulation channels 58 can be adjusted, thereby controlling the spraying pressure and flow rate of the sealant liquid;

[0071] The injection circulation channels 58 are distributed spirally around the axis of the nozzle cavity 51. When applying glue to the drilling and riveting holes, according to the spiral outlet angle of the injection circulation channels 58 relative to the axis of the nozzle cavity 51, it can deviate from the injection flow direction of the sealant liquid; the residence time of the glue liquid on the coating surface is increased; it can effectively prevent the possibility that the gap is not filled with the sealant liquid. At the same time, it can improve the uniformity of the glue injection adhesion, ensure that the glue application direction is roughly the same as or opposite to the brushing direction, effectively reduce the flow of the sealant liquid after spraying along with the movement of the component and then reduce the possibility of irregular sliding and aggregation at the local part of the glue-coated surface, and effectively avoid the unevenness of the applied sealant liquid layer and the situation of excessive glue injection, etc., reducing the surface cleaning difficulty during the curing of glue injection drilling and riveting;

[0072] In addition, the nozzle movable plug 59 controls the spraying pressure of the injection circulation channels 58, adjusts the injection pressure and flow rate, and adapts to various types of sealant liquids and various glue injection conditions.

[0073] The above is only a schematic specific embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes made by any 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) is provided at the end of the presser foot fixing support (10), and a gluing assembly (40) is provided on the presser foot assembly (20), characterized in that, The presser foot assembly (20) includes a presser foot base (21) fixedly connected to the lower end of the presser foot fixing 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) includes a gluing base frame (41) arranged at the upper end of the presser foot base (21). A gluing driving cylinder (44) is fixedly connected to the upper end of the gluing base frame (41). The front end of the gluing driving cylinder (44) is power-connected to a gluing telescopic rod (48). The front end of the gluing telescopic rod (48) is fixedly connected to a nozzle head (50). A glue liquid servo pipe (53) is fixedly connected to the nozzle head (50). The gluing telescopic rod (48) drives the nozzle head (50) to be positioned at a gluing position that cooperates with the riveting working condition of the presser nose bottom hole (30); The front end of the gluing telescopic rod (48) is threadedly connected with a nozzle positioning block (49) and a pre-tightening nut (54). The pre-tightening nut (54) pre-tightly fixes the posture of the nozzle positioning block (49) installed at the front end of the gluing telescopic rod (48). The front end of the nozzle positioning block (49) is fixedly connected to the nozzle head (50). The rear end of the nozzle positioning block (49) has a deflection angle s relative to its front end; A press-fold mounting plate (42) is fixedly connected to the upper end of the gluing base frame (41). The gluing driving cylinder (44) is fixedly connected to the press-fold mounting plate (42). The complementary angle of the angle between the surface normal of the press-fold mounting plate (42) and the horizontal direction is the yaw angle a. The angle limits the maximum staying depth of the gluing telescopic rod (48) driving the nozzle head (50) to be positioned. The maximum staying depth is less than the gluing position.

2. The riveting and gluing device as described in claim 1, characterized in that, At least two of the pre-tightening nuts (54) are threadedly connected to the front end of the gluing telescopic rod (48).

3. A drilling-riveting and gluing device as described in claim 1, characterized in that, A nozzle cavity (51) is provided in the nozzle head (50). A group of injection circulation channels (58) are provided in the side wall of the nozzle cavity (51) and are annularly and evenly distributed around the axis of the nozzle cavity (51).

4. A drilling, riveting and gluing device as described in claim 3, characterized in that, A flush limit groove (52) is provided at the front end of the nozzle positioning block (49). A flush boss (57) is provided on the nozzle head (50). The flush boss (57) cooperates with the flush limit groove (52). The flush limit groove (52) keeps the axis of the nozzle cavity (51) parallel to the axis of the presser nose bottom hole (30).

5. A drilling-riveting and gluing device as described in claim 1, wherein, The presser foot base (21) is provided with a microswitch installation groove (25). The lower end of the microswitch installation groove (25) is provided with a microswitch adjustment groove (26). The microswitch 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 microswitch installation groove (25) and the microswitch adjustment groove (26). The presser nose (28) is fixedly connected in the presser foot extension plate (22). A drilling and riveting middle hole (31) is provided in the presser foot extension plate (22). The position of the drilling and riveting middle hole (31) corresponds to that of the presser nose bottom hole (30). A glue application movement channel (32) is provided in the side wall of the drilling and riveting middle hole (31). The glue application movement channel (32) accommodates the movement of the nozzle head (50) positioned at the glue application position. A drive shaft (33) is slidably connected in the upper end wall of the microswitch 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 power-connected to the drive shaft (33). A floating joint (34) is fixedly connected to the lower end of the drive shaft (33). The floating joint (34) is fixedly connected to the presser foot extension plate (22). The drive shaft (33) feedback-adjusts the sliding depth of the presser foot extension plate (22) according to the riveting acting force transmitted by the presser foot extension plate (22).

6. A drilling, riveting and gluing device as described in claim 5, characterized in that, A laser displacement sensor (17) is provided on the presser foot base (21). The laser displacement sensor (17) monitors the flatness of the presser foot extension plate (22) sliding at the lower end of the microswitch installation groove (25).

7. A drilling-riveting and gluing device as described in claim 6, characterized in that, A pressure sensor (11) is fixedly connected between the presser foot base (21) and the presser foot fixed support (10). The pressure sensor (11) monitors the acting force received by the presser foot base (21) during the riveting process.

8. A drilling-riveting and gluing device as described in claim 1, characterized in that, The presser foot base (21) is provided with a downward protruding portion. A viewing channel (27) is provided on the side surface of the lower end of the protruding portion facing the direction of the presser foot fixed support (10).

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