Riveting apparatus for large base threaded blind rivet

Abstract

The application provides a riveting device applied to a large base thread core-pulling rivet, and relates to the technical field of riveting. The riveting device comprises a base; an upper rivet device arranged on the base and suitable for positioning the insertion end of the rivet to be operated; a feeding device movably arranged on the base in a first direction towards the upper rivet device; a riveting device movably arranged on the feeding device and comprising a rotating mechanism rotating around an axis extending in the first direction, the joint end surface of the rotating mechanism forming an extension channel extending in the first direction; and a buffer device arranged on the feeding device and configured to shrink relative to the riveting device in response to the joint end surface of the riveting device contacting the driving section of the core rod of the rivet, and to expand and drive the riveting device to move towards the upper rivet device in response to the rotating mechanism rotating to match the shape of the extension channel with the shape of the driving section, so that the driving section is inserted into the extension channel.

Description

TECHNICAL FIELD

[0001] At least one embodiment of the present application relates to the technical field of riveting, and in particular to a riveting device applied to a large-foot screw rivet. BACKGROUND

[0002] A large-foot screw rivet is a single-sided riveting fastener applied in the field of aviation and aircraft assembly. The working principle of the large-foot screw rivet is based on the relative movement of the core rod and the rivet sleeve. By rotating the core rod, the deformable insert is driven to move axially along the non-deformable rivet sleeve until the core rod breaks at the preset fracture groove. After breaking, the remaining part of the core rod is retained in the rivet sleeve, forming a high-locking permanent connection.

[0003] The large-foot screw rivet contains a polygonal (for example, hexagonal) nut and a core rod with a non-circular cross-section. The non-circular cross-section of the core rod matches the geometry of the driving tool, ensuring efficient torque transmission, which accurately converts rotational motion into axial displacement of the core rod.

[0004] However, in the related art, the installation of the large-foot screw rivet mainly relies on manual riveting guns. This operation method not only has high labor intensity and low production efficiency, but also the uncertainty of human operation directly affects the consistency and reliability of the installation quality, becoming a process bottleneck in aviation manufacturing. SUMMARY

[0005] Therefore, the present application provides a riveting device applied to a large-foot screw rivet, which can deliver the large-foot screw rivet to the riveting device.

[0006] As an aspect of an embodiment of the present application, a riveting device applied to a large-foot screw rivet is provided, which includes a base; an upper rivet device disposed on the base and adapted to position the insertion end of the rivet to be operated, wherein the rivet is a large-foot screw rivet; a feeding device movably disposed on the base in a first direction towards the upper rivet device; a riveting device movably disposed on the feeding device and including a rotating mechanism rotating around an axis extending in the first direction, a combination end face of the rotating mechanism forming an extension channel extending in the first direction; a buffer device disposed on the feeding device and configured to contract relative to the riveting device in response to the combination end face of the riveting device contacting the driving section of the core rod of the rivet, and expand and drive the riveting device to move towards the upper rivet device in response to the rotating mechanism rotating to match the form of the extension channel with the form of the driving section, so that the driving section is inserted into the extension channel.

[0007] The riveting device applied to the large base thread core-pulling rivet according to the embodiment of the present application, the buffer device is retracted relative to the riveting device in response to the contact between the joint end face of the riveting device and the driving section of the core rod of the rivet, and is unfolded and drives the riveting device to move towards the upper riveting device in response to the rotation mechanism being rotated to the state of matching the shape of the driving section with the shape of the extension channel, so that the driving section is inserted into the extension channel. Through the intelligent and adaptive clamping of the sequence of contact, rotation alignment and insertion, the automation level, reliability and production efficiency of the whole riveting device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0008] The above and other objects, features and advantages of the present application will become more apparent from the following description of embodiments of the present application taken in conjunction with the accompanying drawings, in which:

[0009] Figure 1 A perspective view of a rivet according to an embodiment of the present application is shown;

[0010] Figure 2 A side view of a rivet according to an embodiment of the present application is shown;

[0011] Figure 3 A perspective view of a rivet sleeve according to an embodiment of the present application is shown;

[0012] Figure 4 A riveting flowchart of a rivet according to an embodiment of the present application is shown;

[0013] Figure 5 A perspective view of a riveting device according to an embodiment of the present application is shown;

[0014] Figure 6 A partial perspective view of a riveting device according to an embodiment of the present application is shown;

[0015] Figure 7 A partial side view of a riveting device according to an embodiment of the present application is shown; Figure 6 A partial side view of a riveting device according to an embodiment of the present application is shown;

[0016] Figure 8 A perspective view of a base, a feeding device and a buffer device of a riveting device according to an embodiment of the present application is shown;

[0017] Figure 9 A perspective view of a feeding device and a buffer device of a riveting device according to an embodiment of the present application is shown from a first viewing angle;

[0018] Figure 10 A perspective view of a feeding device and a buffer device of a riveting device according to an embodiment of the present application is shown from a second viewing angle;

[0019] Figure 11 A perspective view of an upper riveting device, a recovery device and a glue applying device according to an embodiment of the present application is shown;

[0020] Figure 12 a partial perspective sectional view of a clinching device according to an embodiment of the present application is shown;

[0021] Figure 13 a sectional view of a clinching device according to an embodiment of the present application is shown;

[0022] Figure 14 a sectional view of a clinching device according to an embodiment of the present application is shown;

[0023] Figure 15 a perspective view of a clinching device according to an embodiment of the present application is shown;

[0024] Figure 16 a sectional view of a clinching device according to an embodiment of the present application is shown;

[0025] Figure 17 a perspective view of a clinching device according to an embodiment of the present application is shown; Figure 16 a partial enlarged view of section B is shown;

[0026] Figure 18 a sectional view of a clinching device according to an embodiment of the present application is shown;

[0027] Figure 19 a perspective view of a clinching device according to an embodiment of the present application is shown;

[0028] Figure 20 a perspective view of a clinching device according to an embodiment of the present application is shown;

[0029] Figure 21 a perspective view of a clinching device according to an embodiment of the present application is shown;

[0030] Figure 22 a perspective view of a clinching system according to an embodiment of the present application is shown.

[0031] The reference signs are explained as follows:

[0032] 1, riveting device; 11, support mechanism; 111, support cylinder; 1111, receiving groove; 112, support frame; 12, rotating mechanism; 121, first driving assembly; 122, transmission shaft; 1221, driving end; 1222, gas passage; 123, rotating assembly; 1231, insertion passage; 1232, rotating sleeve; 1233, first cylinder body; 1234, second cylinder body; 1235, third cylinder body; 124, rotating shaft; 1241, connecting part; 1242, non-circular part; 1243, through hole; 13, operating mechanism; 131, outer sleeve; 1311, boss; 132, inner sleeve; 1321, accommodating groove; 1322, cylindrical part; 1323, flange; 1324, extended cylinder part; 1325, shoulder; 133, telescopic assembly; 1331, telescopic part; 1332, elastic part; 134, second driving assembly; 1341, driving piece; 1342, slip ring; 135, clamping jaw; 1351, elastic rod; 1352, clamping piece; 136, limiting ring; 14, flow space; 2, rivet; 21, core rod; 211, driving section; 212, combining section; 213, neck-breaking groove; 22, nut; 23, rivet sleeve; 231, raised edge; 232, positioning groove; 24, forming sleeve; 241, insertion piece; 25, head; 26, connected piece; 3, feeding device; 31, driving motor; 32, threaded rod; 33, moving block; 34, slide rail; 35, support platform; 4, buffer device; 41, support assembly; 411, guide rail; 412, support block; 42, buffer assembly; 43, limiting piece; 44, displacement sensor; 5, riveting device; 51, guide mechanism; 511, support; 512, guide assembly; 5121, guide block; 5122, first passage; 52, clamping mechanism; 521, clamping block; 522, second passage; 523, base; 53, driving mechanism; 54, main body; 541, third passage; 542, optical fiber sensor; 55, metal sensor; 6, moving platform; 7, recycling device; 8, gluing device; 81, pneumatic claw; 82, lifting mechanism; 9, base; 100, hole-making counterbore device; 200, positioning device; 300, imaging device. DETAILED DESCRIPTION

[0033] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with specific examples and with reference to the drawings.

[0034] Figure 1 a perspective view of a rivet according to an embodiment of the present application is shown, Figure 2 a side view of a rivet according to an embodiment of the present application is shown, Figure 3 a perspective view of a rivet sleeve according to an embodiment of the present application is shown, Figure 4 a riveting flowchart of a rivet according to an embodiment of the present application is shown.

[0035] It should be noted that, unless otherwise specified, the rivet 2 referred to in the present application is a large-foot thread blind rivet. Large foot refers to the rivet 2 after installation, the back of the material formed much larger than the hole itself flat support surface. For example, Figure 4 The structure shown in part (c) of FIG. 1 is a large foot, the diameter of the foot after forming is significantly larger than the diameter of the rivet 2 before installation of the sleeve 23. For example, the diameter of the large foot can reach 2 times, 3 times or even higher than the diameter of the sleeve 23.

[0036] As shown in FIG. 1, Figures 1 to 3 The rivet 2 includes a core rod 21, a forming sleeve 24, an insert 241, a sleeve 23, a nut 22 and a head 25. The core rod 21 includes a driving section 211 threadedly combined with the nut 22 and the sleeve 23, and a combined section 212 capable of threadedly combined with the sleeve 23. The driving section 211 has a non-complete section thread, and the combined section 212 has a complete section thread. The thread major diameter of the driving section 211 and the combined section 212 is different, and the thread profile of the combined section 212 is complete and can only engage with the internal thread of the sleeve 23, but cannot engage with the nut 22; while the thread profile of the driving section 211 is incomplete, and the major diameter is smaller than that of the complete section thread, and can engage with the internal thread of the sleeve 23 and the nut 22. In this way, the nut 22 cannot be attacked into the combined section 212 during riveting, and is clamped in the transition end face between the broken neck groove 213 and the combined section 212, so as to achieve the purpose of breaking the core rod 21 along the broken neck groove 213 with the increase of torque.

[0037] The cross section of the end of the driving section 211 protruding from the nut 22 is non-circular. For example, as shown in FIG. 2, Figure 1 and Figure 2 The end of the driving section 211 protruding from the nut 22 has two planes facing each other in the radial direction, so that the rivet gun can be abutted against the two planes during riveting to drive the core rod 21 to rotate.

[0038] The end of the combined section 212 away from the driving section 211 is provided with the head 25, and the head 25 abuts against the forming sleeve 24 to cooperate with the core rod 21 to form a pressure applied on the forming sleeve 24 during riveting, so that the forming sleeve 24 is radially expanded to be sleeved outside the sleeve 23.

[0039] The sleeve 23 has an internal thread capable of engaging with the external thread of the driving section 211 or the combined section 212. The end of the sleeve 23 facing the nut 22 has a flange 231 extending outward in the radial direction, and the end face of the flange 231 facing the nut 22 is recessed inward in the radial direction to form a positioning groove 232. The position of the nut 22 facing the positioning groove 232 forms a positioning block, and the positioning block and the positioning groove 232 are in concave-convex cooperation to limit the relative position of the nut 22 and the sleeve 23 in the circumferential direction.

[0040] According to an embodiment of the present invention, the nut 22 may include a polygonal nut, such as a hexagonal nut, a Torx nut, etc.

[0041] like Figures 1 to 3 , Figure 4 As shown in (a), during riveting, the forming sleeve 24 is inserted into the riveting hole, and the sleeve of the riveting gun fixes the nut 22. The nut 22 is matched with the positioning groove 232 on the rivet sleeve 23 by the outward protruding positioning block, which restricts the rotation of the rivet sleeve 23, so that the nut 22 and the rivet sleeve 23 are fixed and do not rotate. The riveting gun clamps the two planes of the tail of the core rod 21 (i.e., the driving section 211) and drives the core rod 21 to rotate.

[0042] like Figures 1 to 3 , Figure 4 As shown in (b), the rotation of the core rod 21 is converted into downward pressure on the forming sleeve 24 and the insert 241 through the threaded pair. With the cooperation of the head 25, the forming sleeve 24 and the insert 241 are pressed into the nail sleeve 23 under pressure and expand radially.

[0043] like Figures 1 to 3 , Figure 4 As shown in (c), the molding sleeve 24 and the insert 241 form a large base after contacting the connected member 26 (i.e., Figure 4 The structure shown in part A of (c) generates a clamping force.

[0044] like Figures 1 to 3 , Figure 4 As shown in (d), the internal thread of nut 22 cannot engage with the thread of engagement section 212. The upper end face of nut 22 abuts against the end face of engagement section 212. When the riveting force generated by the torsional torque of the rivet gun reaches the value of the necking force, the necking groove 213 breaks, the drive section 211 and nut 22 separate, and the riveting is completed.

[0045] Due to the special structure of the large-foot threaded blind rivet 2, the tools provided by the rivet 2 supplier are mostly manual tools. This manual operation method has problems such as high labor intensity, low production efficiency, and installation quality being easily affected by human factors, making it difficult to meet the requirements of modern large-scale and high-precision production.

[0046] Figure 5 A perspective view of a riveting device according to an embodiment of the present invention is shown. Figure 6 A partial perspective view of a riveting device according to an embodiment of the present invention is shown. Figure 7 It shows Figure 6 A partial side view of the riveting equipment shown. (The image shows...) Figure 6 and Figure 7 The base is not shown.

[0047] As one aspect of this invention, a riveting device is provided for use with threaded blind rivets for large bases. For example... Figures 5 to 7 As shown, the riveting equipment includes a base 9, a mounting device 5, a feeding device 3, a riveting device 1, and a buffer device 4. The mounting device 5 is disposed on the base 9 and is used to position the insertion end of the rivet 2 to be operated, wherein the rivet 2 is a large-base threaded blind rivet. The feeding device 3 is movably disposed on the base 9 in a first direction toward the mounting device 5. The riveting device 1 is movably disposed on the feeding device 3 and includes a buffer device 4 that rotates around the first direction (e.g., ...). Figure 5 A rotating mechanism 12, whose axis extends in the X direction (as shown), rotates, and the engaging end face of the rotating mechanism 12 forms an insertion channel extending in a first direction. A buffer device 4 is provided on the feeding device 3 and is configured to retract relative to the riveting device 1 in response to the engaging end face of the riveting device 1 contacting the driving segment 211 of the core rod 21 of the rivet 2; and to unfold and drive the riveting device 1 toward the upper nail device 5 in response to the rotating mechanism 12 rotating to match the shape of the driving segment 211 with the shape of the insertion channel, so that the driving segment 211 is inserted into the insertion channel.

[0048] According to an embodiment of the present invention, in a riveting device for a large-foot threaded blind rivet, the buffer device 4 retracts relative to the riveting device 1 in response to the contact between the mating end face of the riveting device 1 and the driving section 211 of the core rod 21 of the rivet 2; and in response to the rotation mechanism 12 rotating to match the shape of the insertion channel with the shape of the driving section 211, it expands and drives the riveting device 1 to move toward the upper rivet device 5, so that the driving section 211 is inserted into the insertion channel. Through intelligent and adaptive clamping of first contact, then rotation alignment, and finally insertion, the retraction of the buffer device 4 forms a flexible buffer, avoiding the occurrence of problems due to positional deviation. The rigid collision and device damage are prevented; the continuous rotation of the rotating mechanism 12 dynamically matches the specific shape (such as non-circular cross section) of the insertion channel with the drive section 211, transforming the passive positioning of the rivet 2 into active searching and calibration. Once the shape matching is completed, the buffer device 4 immediately unfolds, converting the stored potential energy into driving force, and accurately pushes the drive section 211 into the insertion channel to complete automatic clamping. This not only improves the fault tolerance and accuracy of alignment, but also avoids the problem of rivet jamming or failure caused by small angular deviations in automated riveting, thereby improving the automation level, reliability and production efficiency of the entire riveting equipment.

[0049] According to an embodiment of the present invention, the insertion end of the rivet 2 may be the portion that extends into the connected part 26 during riveting, which can be understood as... Figure 1 and Figure 2 The portion located to the right of the protruding edge 231 of the nail sleeve 23.

[0050] The feed device 3 is mounted on the moving platform 6, which is mounted on the base 9 and configured to move along a second direction (e.g.,Figure 5 The riveting device 1 is moved along the Y direction (as shown) to drive the riveting device 1 on the moving platform to translate.

[0051] Figure 8 A perspective view of the base, the feeding device and the buffer device of the riveting equipment according to an embodiment of the present application is shown.

[0052] According to an embodiment of the present application, as shown, Figures 5 to 8 The buffer device 4 includes a support assembly 41 and a buffer assembly 42. The support assembly 41 is movably arranged on the feeding device 3 and is adapted to support the riveting device 1. The buffer assembly 42 is arranged on the feeding device 3 and is configured to, in response to the driving section 211 abutting against the joint surface, further drive the feeding device 3 to translate towards the upper riveting device 5, compress the buffer assembly 42, and when the shape of the extension channel matches the shape of the driving section 211, the buffer assembly 42 expands to drive the support assembly 41 to translate towards the upper riveting device 5, so that the driving section 211 is inserted into the extension channel.

[0053] For example, the buffer assembly 42 can include a component with elasticity (e.g. a spring).

[0054] Alternatively, the buffer assembly 42 can include a pneumatic cylinder, the extension end of the pneumatic cylinder being connected to the support assembly 41 and being used to drive the support assembly 41 to translate along the first direction.

[0055] When the riveting device 1 is riveting, the pneumatic cylinder remains open under the action of a given force, and the size of the given force is indirectly controlled by the solenoid valve controlling the force of the pneumatic cylinder.

[0056] When the shape of the extension channel is adjusted to the correct posture and position (i.e. the shape of the extension channel matches the shape of the driving section 211), the energy stored in the buffer assembly 42 is released to push the support assembly 41 (and thus the riveting device 1) to be quickly and accurately inserted into the rivet 2, ensuring that the rivet 2 can be reliably sent to the designated position, avoiding problems such as rivet jamming and missing due to misalignment, thereby ensuring the continuity and efficiency of production.

[0057] The riveting pre-tightening force is provided by the compression force of the pneumatic cylinder, and the size of the riveting pre-tightening force can be manually set according to the material of different workpieces to set the optimal riveting pre-tightening force. The riveting device 1 is installed on the buffer device 4, and the driving section 211 of the rivet 2 is in contact with the surface of the connected piece 26 under the action of a given pneumatic cylinder force. During the riveting process, the position can be self-adaptively adjusted to reduce the impact after the rivet is pulled out, and the contact force between the rivet 2 and the surface of the connected piece 26 is kept constant, so that the riveting process is more stable.

[0058] Figure 9 A perspective view of the feeding device and the buffer device of the riveting equipment according to an embodiment of the present application is shown, Figure 10Fig. 2 shows a perspective view of the feeding device and the buffer device of the riveting apparatus according to an embodiment of the present application, in a second view angle.

[0059] According to an embodiment of the present application, as shown in Figures 8 to 10 The buffer device 4 further comprises a displacement sensor 44, which is arranged on the feeding device 3 and is adapted to detect the moving distance of the support assembly 41 relative to the feeding device 3, so as to stop the rotation of the rotating mechanism 12 when the support assembly 41 moves towards the upper riveting device 5, and make the driving segment 211 extend into the extension channel.

[0060] The displacement sensor 44 can comprise a grating ruler.

[0061] According to an embodiment of the present application, the entrance of the extension channel is chamfered, so as to avoid the core rod 21 from rotating with the rotating mechanism 12 when the driving segment 211 extends into the extension channel by a target distance, and the target distance is greater than or equal to the minimum perception unit of the displacement sensor 44.

[0062] The minimum perception unit of the displacement sensor 44 can be understood as the resolution of the displacement sensor 44, which is the minimum displacement that the displacement sensor 44 can recognize and report.

[0063] For example, the minimum perception unit of the displacement sensor 44 can be any value in 5um, 10um, 100um, etc.

[0064] According to an embodiment of the present application, the riveting apparatus further comprises a position sensor, which is arranged on the feeding device 3 and is adapted to detect the displacement of the support assembly 41, so as to stop the feeding of the feeding device 3 when the support assembly 41 moves away from the upper riveting device 5 by a preset distance.

[0065] The preset distance can be the maximum stroke of the compression of the buffer device 4, or slightly less than the maximum stroke of the compression of the buffer device 4.

[0066] For example, the position sensor can comprise a magnetic switch, which detects the piston of the air cylinder when it is compressed to the full stroke, and stops the feeding of the feeding device 3. It should be understood that the embodiments of the present application are not limited thereto, for example, the position sensor can also be other sensors, such as a proximity switch, etc.

[0067] When the shape of the extension channel of the upper riveting device 5 is not completely aligned with the shape of the driving segment 211, the feeding device 3 continues to feed, the riveting device 1 continues to translate towards the upper riveting device 5, the driving segment 211 abuts against the joint end face, and prevents the riveting device 1 from translating towards the upper riveting device 5, so that the buffer assembly 42 is compressed, and the riveting device 1 and the rivet 2 are kept in a relatively static state, and the absolute position of the riveting device 1 does not change. The compression process of the buffer assembly 42 plays a role of buffering and yielding, and avoids damage to the rivet 2 or the riveting apparatus, or positioning failure caused by rigid collision.

[0068] When the position sensor monitors that the support assembly 41 moves away from the upper nail device 5 by a preset distance, the feeding device 3 stops feeding, the rotating mechanism 12 of the riveting device 1 rotates, and the extension channel changes its shape relative to the riveting device 1. When the shape of the extension channel matches the shape of the driving segment 211, the buffer device 4 translates towards the driving riveting device 1 and the upper nail device 5, so that the extension channel accommodates the driving segment 211.

[0069] After the displacement sensor 44 monitors that the riveting device 1 translates along the insertion direction, the rotating mechanism 12 stops rotating, but before the displacement sensor 44 monitors that the core rod 21 is inserted, the core rod 21 can be twisted together, causing the rivet 2 to be damaged or positioned unsuccessfully. The presence of the chamfer allows the core rod 21 to remain stationary and only the driving segment 211 to smoothly slide in within the target distance before the driving segment 211 completely enters the channel, and the chamfered slope absorbs the slight rotation tendency.

[0070] The entrance of the insertion channel 1231 can be chamfered. The chamfered angle can range from 15° to 35°, for example, can be any value among 15°, 20°, 25°, 30° and 35°. In addition, the chamfer can play a guiding role, allowing the driving segment 211 of the core rod 21 to be more easily and smoothly aligned and inserted into the insertion channel 1231, especially in the scenarios of automated assembly or frequent plugging and unplugging, which can reduce the alignment difficulty, reduce the risk of jamming, and improve the assembly efficiency.

[0071] According to an embodiment of the present application, as Figures 5 to 10 shown, the support assembly 41 includes a guide rail 411 and a support block 412. The guide rail 411 extends along the first direction and is installed on the feeding device 3. The riveting device 1 is installed on the support block 412, and the surface of the support block 412 facing the guide rail 411 is recessed inward to form a sliding groove matched with the guide rail 411, so as to allow the support block 412 to translate along the guide rail 411 under the drive of the buffer assembly 42.

[0072] In such an embodiment, the concave-convex matching structure of the guide rail 411 and the sliding groove limits the movement freedom of the riveting device 1 in the first direction, ensuring that when the buffer device 4 expands and pushes the riveting device 1, all the forces are concentrated in the forward direction (the upward direction of the view angle shown) and no yawing, tilting or shaking occurs, ensuring that the rivet 2 can be inserted into the extension channel straight and accurately. Figure 5 shown, the support assembly 41 includes a guide rail 411 and a support block 412. The guide rail 411 extends along the first direction and is installed on the feeding device 3. The riveting device 1 is installed on the support block 412, and the surface of the support block 412 facing the guide rail 411 is recessed inward to form a sliding groove matched with the guide rail 411, so as to allow the support block 412 to translate along the guide rail 411 under the drive of the buffer assembly 42.

[0073] According to an embodiment of the present application, as Figures 8 to 10As shown, the buffer device 4 also includes a limiting member 43, which is disposed on the feeding device 3 and located on the side of the support assembly 41 opposite to the upper nail device 5. It is suitable for limiting the maximum compression distance of the buffer assembly 42 and preventing the buffer assembly 42 from being over-compressed.

[0074] According to an embodiment of the present invention, the feeding device 3 includes a drive motor 31, a threaded rod 32, a moving block 33, and a slide rail 34. The drive motor 31 is mounted on the base 9. The threaded rod 32 extends in a first direction and is adapted to rotate under the drive of the drive motor 31. The moving block 33 is threadedly engaged with the threaded rod and connected to the support platform 35 of the bearing buffer device 4, so as to drive the support platform 35 to translate under the drive of the threaded rod 32. The slide rail 34 is arranged parallel to the threaded rod 32 on the base 9, and the position of the support platform 35 facing the slide rail 34 extends downward to form a guide groove that mates with the slide rail 34, so that the support platform 35 translates along the first direction under the guidance of the slide rail 34 and the threaded rod 32.

[0075] The guide rail 411 is located on the side of the support platform 35 opposite to the slide rail 34.

[0076] In this embodiment, the threaded rod 32 and the movable block 33 are threaded together, converting the rotational motion of the drive motor 31 into the linear motion of the movable block 33. The cooperation between the guide rail 411 and the guide groove plays a guiding and bearing role, ensuring that the support platform 35 (and the buffer device 4 on it) can only move along the first direction (the direction of the slide rail 34), preventing swaying, tilting or overturning in other directions.

[0077] Figure 11 A perspective view of the nail-attaching device, the recycling device, and the adhesive-applying device according to an embodiment of the present invention is shown. Figure 12 A partial perspective sectional view of the upper nail device according to an embodiment of the present invention is shown. Figure 13 A cross-sectional view of the nailing device according to an embodiment of the present invention is shown.

[0078] According to embodiments of the present invention, such as Figure 5 , Figures 11 to 13 As shown, the rivet feeding device 5 includes a guiding mechanism 51 and a clamping mechanism 52. The guiding mechanism 51 is disposed on the base 9 and has a first channel 5122 parallel to the first direction, allowing the rivet 2 from the feeding tray to be conveyed along the first channel 5122. The clamping mechanism 52 is movably disposed at the discharge end of the guiding mechanism 51, and the clamping mechanism 52 forms a second channel 522 extending along the first direction and communicating with the first channel 5122, so as to allow the rivet 2 to pass through the first channel 5122 and partially slide into the second channel 522, so that the clamping mechanism 52 clamps the rivet 2.

[0079] The cross-sectional dimension of the first channel 5122 is greater than the outer diameter of the protrusion 231 of the rivet sleeve 23, and the cross-sectional dimension of the second channel 522 is less than the outer diameter of the protrusion 231, so as to limit the protrusion 231, the nut 22 and the partial driving section 211 outside the second channel 522.

[0080] The maximum cross-sectional dimension of the first channel 5122 is less than the length of the rivet 2, for example, can be 1.8 times the maximum diameter of the rivet 2 (i.e. the diameter of the protrusion 231), so as to avoid the rivet 2 being turned over in the first channel 5122, and the rivet 2 is transmitted along the predetermined posture in the first channel 5122, so as to insert the insertion section of the rivet 2 into the second channel 522.

[0081] The first channel 5122 has a tapered section and a translation section arranged in sequence along the conveying direction of the rivet 2, so that the rivet 2 is gradually adjusted to be parallel to the first direction during conveying, and the insertion section of the rivet 2 is extended into the second channel 522. The cross-sectional dimension of the translation section can be 1.2 times the maximum diameter of the rivet 2 (i.e. the diameter of the protrusion 231), so that the rivet 2 can be smoothly blown into the second channel 522.

[0082] The rivet receiving opening of the second channel 522 can be provided with a chamfer, so that the rivet sleeve 23 can completely fit the surface of the rivet receiving opening.

[0083] The clamping mechanism 52 clamps the rivet sleeve 23 of the rivet 2, avoids the rotation of the rivet sleeve 23, thereby limiting the rotation of the driving section 211 screwed with the rivet sleeve 23, so that the form of the driving section 211 remains unchanged, thereby rotating the rotating mechanism 12 of the riveting device 1, so that the extension channel rotates, and the form of the extension channel matches the form of the driving section 211.

[0084] Figure 14 A cross-sectional view showing another perspective view of the upper riveting device according to an embodiment of the present application is shown.

[0085] According to an embodiment of the present application, as shown in Figure 13 and Figure 14 The clamping mechanism 52 includes an annular portion and a plurality of clamping blocks 521. The annular portion is arranged on the base, and the plurality of clamping blocks 521 are movably arranged on the annular portion along the radial direction of the annular portion and are uniformly arranged along the circumferential direction of the annular portion. The clamping ends of the plurality of clamping blocks 521 extend from the middle channel of the annular portion and form the second channel 522. The plurality of clamping blocks 521 are configured to be close to each other to clamp the rivet sleeve 23, or to be away from each other to release the rivet sleeve 23.

[0086] For example, the clamping mechanism 52 can be driven by a pneumatic or motor.

[0087] For example, the number of clamping blocks 521 can include any number of 3, 4 or 5, etc.

[0088] As an example, the annular portion forms multiple grooves extending in the radial direction, and multiple clamping blocks 521 are movably disposed in the grooves respectively.

[0089] like Figure 5 , Figures 11 to 13 As shown, the riveting device 5 also includes a main body 54 and a fiber optic sensor 542. The main body 54 is disposed on the base 9, and the end of the main body 54 near the riveting device 1 is recessed along a first direction to form a third channel 541, which communicates with the first channel 5122. The head 25 of the rivet 2 passes through the first channel 5122 and extends into the third channel 541 from one end. The fiber optic sensor 542 extends from the other end of the third channel 541 and is adapted to contact the head 25 to detect whether a rivet 2 is located in the third channel 541.

[0090] The main body 54 and the clamping mechanism 52 form a seal, which makes the cylinder vacuum suction effect optimal.

[0091] According to embodiments of the present invention, such as Figure 5 and Figure 11 As shown, the upper nailing device 5 also includes a drive mechanism 53. The drive mechanism 53 is mounted on the base 9 and is adapted to drive the clamping mechanism 52 to translate between a first position and a second position. In the first position (e.g....) Figure 11 In the position shown, the second channel 522 is aligned with the first channel 5122, allowing the clamping mechanism 52 to receive the rivet 2 from the first channel 5122. In the second position, the second channel 522 is aligned with the insertion channel, allowing the drive segment 211 to extend into the insertion channel.

[0092] The drive mechanism 53 may include a cylinder, a hydraulic cylinder, or a drive motor.

[0093] The drive mechanism 53 can drive the clamping mechanism 52 and the main body 54, which are mounted on the mounting base, to translate.

[0094] As an example, such as Figure 5 From the perspective shown, the second position can be that the telescopic rod of the drive mechanism 53 (e.g., a cylinder) retracts, driving the clamping mechanism 52 to translate to the right, so that the second channel 522 is aligned with the position of the insertion channel of the riveting device 1.

[0095] According to embodiments of the present invention, such as Figure 12 and Figure 13 As shown, the guide assembly 512 includes a plurality of guide blocks 5121, which are configured to be close to each other to form a first channel 5122 and far apart from each other to allow the clamping mechanism 52 to clamp the rivet 2 and translate it along a second direction orthogonal to the first direction to disengage it from the plurality of guide blocks 5121 so that the rivet 2 is aligned with the riveting device 1.

[0096] The guide assembly 512 further comprises a driving unit, which drives the plurality of guide blocks 5121 to move towards or away from each other.

[0097] For example, the number of guide blocks 5121 is 2. The driving unit can comprise a motor and a driving shaft, the driving shaft is provided with a first thread part and a second thread part with opposite rotation directions, one end of one guide block 5121 is threadedly combined with the first thread part, and one end of the other guide block 5121 is threadedly combined with the second thread part, so that, under the driving of the motor to rotate the driving shaft, the two guide blocks 5121 can be relatively moved to form the first channel 5122, or the two guide blocks 5121 can be moved away from each other to allow the rivet 2 to be separated from between the two guide blocks 5121.

[0098] Alternatively, the driving unit can comprise a pneumatic cylinder, which has two driving ends 1221 connected with the two guide blocks 5121 respectively to drive the two guide blocks 5121 to move towards or away from each other.

[0099] It should be understood that the embodiments of the present application are not limited thereto, and the number of guide blocks 5121 can include 3 or 4.

[0100] According to the embodiments of the present application, as shown in Figure 5 and Figure 11 The riveting device further comprises a recovery device 7, which is disposed in the mounting seat in the second direction and spaced apart from the upper riveting device 5, and is adapted to recover the driving section 211 and the nut 22 of the rivet 2 remaining after riveting is completed.

[0101] According to the embodiments of the present application, the recovery device 7 comprises a recovery pipeline and a negative pressure device (not shown in the figure). One end of the recovery pipeline faces the riveting device 1, and the other end is connected with a recovery bin. The negative pressure device is adapted to provide negative pressure to the recovery pipeline, so as to adsorb the remaining driving section 211 and the nut 22 after the riveting device 1 is riveted, and move the remaining driving section 211 and the nut 22 along the recovery pipeline to the recovery bin.

[0102] As shown in Figure 11As shown, the riveting device further comprises a glue applying device 8. The glue applying device 8 comprises a gas claw 81 and a lifting mechanism 82 for driving the glue applying device 8 to move up and down. The glue applying device 8 is driven by the driving mechanism 53 to move to the riveting device 1 in the second direction to align with the riveting device 1 while the hole is being reamed. The gas claw 81 is in an open state. The feeding device 3 drives the riveting device 1 and the rivet 2 to feed to the glue applying position. The lifting mechanism 82 drives the gas claw 81 to move upwards. The gas claw 81 clamps the insertion end of the rivet 2 after reaching the position and applies glue. The gas claw 81 is opened after the glue applying is completed. The glue applying device 8 is moved downwards to retreat. The riveting device 1 and the rivet 2 are retreated. The glue is squeezed by the rivet 2 and the hole wall during the riveting process after the glue applying of the rivet 2 is completed. The gap between the hole diameter of the drilled hole and the rivet 2 is filled. The air tightness of the aircraft assembly can be enhanced.

[0103] As an example, the lifting mechanism 82 can comprise any type of gas cylinder, hydraulic cylinder, linear motor, etc.

[0104] Figure 15 A perspective view of the riveting device according to an embodiment of the present application is shown, Figure 16 A sectional view of the riveting device according to an embodiment of the present application is shown, Figure 17 A sectional view of the riveting device according to an embodiment of the present application is shown, Figure 16 A partial enlarged view of part B is shown, Figure 18 A sectional view of the riveting device according to an embodiment of the present application is shown.

[0105] According to an embodiment of the present application, as Figure 5 , Figures 15 to 18 As shown, the riveting device 1 comprises a support mechanism 11, a rotating mechanism 12 and an operating mechanism 13. The support mechanism 11 is provided on the buffer device 4. The rotating mechanism 12 partially extends from one end of the support mechanism 11 and has an insertion channel. The operating mechanism 13 is connected to the end of the support mechanism 11 close to the upper rivet device 5 and is sleeved on the outer periphery of part of the rotating mechanism 12. The operating mechanism 13 is configured to prevent the rivet 2 from being detached from the insertion channel after the rivet 2 extends into the accommodation groove 1321.

[0106] The support mechanism 11 is translated towards the direction of the connected piece 26 under the driving of the feeding device 3 (the X1 direction as shown). The rotating mechanism 12 is configured to be combined with the driving section 211 of the core rod 21 of the rivet 2 inserted through the operating mechanism 13 to drive the core rod 21 to rotate. The operating mechanism 13 is configured to prevent the nut 22 of the rivet 2 from rotating with the core rod 21 and to limit the axial position of the nut 22 relative to the support mechanism 11, so that the core rod 21 is allowed to translate relative to the nut 22 in the direction away from the connected piece 26 (the X2 direction as shown) while the core rod 21 is rotated relative to the nut 22 under the driving of the rotating mechanism 12, so as to rivet the connected piece 26 by the rivet 2. Figure 15 Figure 15 ​​

[0107] Figure 19 An exploded view of the riveting device according to an embodiment of the present application is shown, Figure 20 A partial perspective view of the riveting device according to an embodiment of the present application is shown, Figure 21 A partial perspective view of the riveting device according to an embodiment of the present application is shown.

[0108] According to an embodiment of the present application, as Figures 15 to 21 shown, the rotating mechanism 12 includes a first driving assembly 121, a transmission shaft 122 and a rotating assembly 123. The first driving assembly 121 is arranged at an end of the support mechanism 11 away from the upper rivet device 5. One end of the transmission shaft 122 is connected with the first driving assembly 121 and inserted into the support mechanism 11. The rotating assembly 123 is combined with a driving end 1221 of the transmission shaft 122 away from the first driving assembly 121, and the rotating assembly 123 forms an accommodating groove 1321 extending in the axial direction. The rotating assembly 123 rotates under the driving of the transmission shaft 122, so that the extension into the channel is aligned with the driving section 211.

[0109] As an example, the first driving assembly 121 can be installed on the support frame 112. The first driving assembly 121 can include a driving motor 31 and a shaft coupling. One end of the transmission shaft 122 is connected with the shaft coupling, and the driving motor 31 drives the transmission shaft 122 to rotate through the shaft coupling.

[0110] According to an embodiment of the present application, the cross-sectional shape of the insertion channel 1231 matches the shape of the driving section 211 of the core rod 21, so that the core rod 21 can be inserted into the insertion channel 1231 and rotate with the rotating assembly 123.

[0111] In such an embodiment, the cross-sectional shape of the insertion channel 1231 is substantially the same as the cross-sectional shape of the driving section 211 of the core rod 21, so that a rigid connection without clearance can be formed by the direct fitting of the insertion channel 1231 and the driving section 211 of the core rod 21, ensuring efficient and stable transmission of rotary power and avoiding slipping or power loss.

[0112] According to the embodiment of the present application, after the rivet 2 extends into the channel, the end of the nut 22 of the rivet 2, which is away from the rivet head 25, abuts against the rotating assembly 123. The operating mechanism 13 comprises a second driving assembly 134 and a plurality of clamping jaws 135. The second driving assembly 134 is arranged on the support mechanism 11. The plurality of clamping jaws 135 are arranged on the periphery of the support mechanism 11 in a circumferential direction, and each clamping jaw 135 comprises a resilient rod 1351 and a clamping piece 1352. The first end of the resilient rod 1351 is connected to the support mechanism 11, and the second end of the resilient rod 1351 extends outwardly in the first direction. The clamping piece 1352 extends radially inwardly from the second end of the resilient rod 1351, and is adapted to extend into the space between the nut 22 and the sleeve 23 of the rivet 2 to prevent the nut 22 from being separated from the riveting device 1 during the process that the second end is driven by the second driving assembly 134 to retract towards the support mechanism 11.

[0113] According to the embodiment of the present application, as shown in Figures 15 to 21 The support mechanism 11 comprises a support cylinder 111 and a support frame 112. The support frame 112 is connected to the support cylinder 111 in the axial direction of the support cylinder 111, the support cylinder 111 is arranged on the periphery of the transmission shaft 122 (which will be described in detail later), and the second driving assembly 134 is mounted on the support frame 112.

[0114] The support cylinder 111 is provided with a plurality of receiving grooves 1111 which extend in the axial direction and face the positions of the resilient rods 1351. When the resilient rods 1351 are driven by the second driving assembly 134 to retract towards the support mechanism 11, the resilient rods 1351 can be accommodated in the receiving grooves 1111.

[0115] According to the embodiment of the present application, the first end of the resilient rod 1351 is mounted on the support cylinder 111, and the second end extends outwardly in the axial direction from the first end.

[0116] In some illustrative embodiments, the resilient rod 1351 can be made of elastic material, and the first end of the resilient rod 1351 is mounted on the support cylinder 111.

[0117] Alternatively, the resilient rod 1351 can comprise a connecting rod and a spring. The connecting rod can be made of non-elastic material, the first end of the connecting rod is rotatably connected to the support cylinder 111, the extension direction of the spring is parallel to the radial direction of the support cylinder 111, the spring is arranged in the receiving groove 1111 and connected to the connecting rod to drive the second end of the connecting rod to move away from the support cylinder 111, so that the clamping pieces 1352 move towards or away from each other.

[0118] In some illustrative embodiments, the number of clamping jaws 135 can be any number of 3, 4, 5 or 6.

[0119] According to the embodiment of the present application, as shown in Figures 15 to 21As shown, the second driving assembly 134 includes a driving member 1341 and a sliding ring 1342. The sliding ring 1342 is sleeved on the periphery of the plurality of clamping jaws 135, and is adapted to translate in the first direction under the driving of the driving member 1341, so as to make the plurality of elastic rods 1351 retract into the support mechanism 11.

[0120] As an example, the driving member 1341 can include any one of a pneumatic cylinder, a hydraulic cylinder, a linear motor, etc.

[0121] The sliding ring 1342 is sleeved on the support barrel 111 and located on the periphery of the plurality of clamping jaws 135.

[0122] As an example, the operating mechanism 13 further includes a limiting ring 136, which is sleeved on the support barrel 111 and is used to limit the maximum opening angle of the plurality of clamping jaws 135, so as to avoid interference between the clamping jaws 135 and other mechanisms.

[0123] The limiting ring 136 is installed on the support barrel 111 (for example, by screwing, welding or clamping, etc.), and the position of the limiting ring 136 facing the clamping jaws 135 forms a groove accommodating the clamping jaws 135, so as to allow the clamping jaws 135 to open. During the movement of the sliding ring 1342 towards the limiting ring 136, the plurality of clamping jaws 135 gradually gather.

[0124] According to the embodiment of the present application, as Figures 15 to 21 As shown, the rotating assembly 123 includes a rotating sleeve 1232 and a pushing assembly. The inside of the rotating sleeve 1232 forms a first barrel 1233, a second barrel 1234 and a third barrel 1235 which are sequentially communicated, the first barrel 1233 is installed on the driving end 1221 of the transmission shaft 122, the third barrel 1235 forms a channel with a non-circular cross section and is used as an insertion channel 1231. The pushing assembly is arranged in the second barrel 1234 and extends to the third barrel 1235, and is adapted to provide a pushing force in the first direction to the core rod 21, so as to push the driving section 211 to translate after the riveting is completed.

[0125] The connecting end face is the end face of the rotating sleeve 1232 facing away from the support mechanism 11, and is also the end face of the rivet 2 after extending into the rotating sleeve 1232 and contacting the nut 22.

[0126] The first barrel 1233 is connected to the transmission shaft 122, the third barrel 1235 forms a channel which is used as an insertion channel 1231, and the rotating sleeve 1232 can rotate under the driving of the rotating shaft 124, and the rotating sleeve 1232 drives the core rod 21 located in the third barrel 1235 to rotate.

[0127] According to an embodiment of the present application, the cross-sectional shape of the non-circular portion 1242 matches the cross-sectional shape of the driving section 211. The pushing assembly is adapted to provide a pushing force to the core rod 21 in the first direction, so that the driving section 211, which is separated from the joining section 212 of the nail rod after the riveting is completed, is pushed to translate in the first direction, and the driving section 211 located in the insertion channel 1231 is disengaged from the insertion channel 1231.

[0128] According to an embodiment of the present application, as shown in Figures 15 to 21 The pushing assembly includes a rotating shaft 124 and an elastic member (not shown in the figure). The rotating shaft 124 includes a connecting portion 1241 and a non-circular portion 1242. The connecting portion 1241 is arranged in the second cylinder 1234, and the non-circular portion 1242 is combined into the third cylinder 1235, so that the transmission shaft 122 drives the rotating shaft 124 to rotate through the rotating sleeve 1232, and further drives the core rod 21 to rotate. The elastic member is arranged in the second cylinder 1234 and abuts between the driving end 1221 of the transmission shaft 122 and the connecting portion 1241 of the rotating shaft 124. The driving section 211 pushes the rotating shaft 124 to translate in the second direction and inserts into the insertion channel 1231 against the elastic force of the elastic member, so that the elastic member provides an elastic force to the rotating shaft 124 in the first direction after the riveting is completed, and pushes the driving section 211 out.

[0129] The elastic member can include a spring. The elastic member is arranged in the second cylinder 1234, or the elastic member is arranged in the second cylinder 1234 and the first cylinder 1233.

[0130] The rotating sleeve 1232 rotates under the driving of the transmission shaft 122. The maximum size of the cross section of the channel formed by the second cylinder 1234 is greater than the maximum size of the cross section of the channel formed by the third cylinder 1235.

[0131] The non-circular portion 1242 slidably extends into the insertion channel 1231. The outer contour of the non-circular portion 1242 can be the same as or similar to the contour of the insertion channel 1231, so that the rotating shaft 124 can rotate with the rotating sleeve 1232, which can avoid the elastic member arranged between the rotating shaft 124 and the transmission shaft 122 from being twisted, so that the elastic member can be compressed and rebounded without bearing any torsional stress, thereby prolonging the service life and reliability of the elastic member.

[0132] The connecting portion 1241 is arranged in the second cylinder 1234, and the maximum size of the cross section of the connecting portion 1241 is greater than the maximum size of the cross section of the non-circular portion 1242, so that the connecting portion 1241 is always arranged in the second cylinder 1234, and the rotating shaft 124 is prevented from entering the third cylinder 1235. The length of the non-circular portion 1242 is greater than the maximum compression distance of the elastic member, so that the non-circular portion 1242 is prevented from being disengaged from the third cylinder 1235.

[0133] As an example, the cross-sectional shape of the connecting portion 1241 can include any one of a circle, an ellipse, a rectangle, and the like. It should be understood that embodiments of the present application are not limited thereto, and the cross-sectional shape of the connecting portion 1241 can match or can be accommodated within the cross-sectional shape of the passage formed by the second cylindrical body 1234.

[0134] In such embodiments, by providing the rotating shaft 124 and the elastic member, after the riveting is completed, the elastic force of the elastic member can push the rotating shaft 124 to translate in the first direction, and the core rod 21 can be pushed out of the passage by the non-circular portion 1242, so as to prepare for receiving a new rivet 2 next time.

[0135] According to embodiments of the present application, as shown in Figures 15 to 21 The rotating sleeve 1232 is sealingly combined with the operating mechanism 13, the transmission shaft 122 is formed with a flow space 14 between the transmission shaft 122 and the supporting mechanism 11, and a gas passage 1222 is formed in the transmission shaft 122 to communicate the flow space 14 and the second cylindrical body 1234, so that the gas transmitted via the gas inlet on the supporting mechanism 11 is blown to the core rod 21 via the flow space 14 and the gas passage 1222, to accelerate the core rod 21 to separate from the insertion passage 1231.

[0136] As an example, the supporting cylinder 111 is provided with a gas inlet, the gas inlet is in communication with the flow space 14, and the gas (for example, compressed air) flows into the flow space 14 via the gas inlet. The outer side of the supporting cylinder can also be provided with a gas inlet pipe, one end of the gas inlet pipe is connected to an external gas supply device, and the other end of the gas inlet pipe is in communication with the flow space 14 via the gas inlet, and the gas (for example, compressed air) from the gas supply device is sequentially blown to the flow space 14 via the gas inlet pipe and the gas inlet. It should be understood that the gas inlet can be provided as long as it can be in communication with the flow space 14. The gas passage 1222 extending in the axial direction and in the radial direction is formed on the transmission shaft 122, and the gas inlet end on the transmission shaft 122 can be multiple, as an example, can be any number of 1, 2, 3, 5, or 6, etc.

[0137] As an example, the gas passage 1222 can be a cross-shaped passage.

[0138] In such embodiments, the rotating shaft 124 is formed with a through hole 1243 extending in the axial direction, the through hole 1243 is in communication with the gas passage 1222, and the gas transmitted via the gas inlet is blown to the core rod 21 via the flow space 14, the gas passage 1222, and the through hole 1243.

[0139] According to an embodiment of the present application, the operating mechanism 13 comprises an outer sleeve 131, an inner sleeve 132 and a plurality of telescopic assemblies 133. The outer sleeve 131 is sleeved on the supporting mechanism 11, and a plurality of bosses 1311 extending radially inward are arranged on the inner side of the outer sleeve 131, and the bosses 1311 are rotatably and sealingly combined with the outer periphery of the rotating assembly 123. The inner sleeve 132 is sleeved in the outer sleeve 131 and abuts against the bosses 1311, and a plurality of accommodating grooves 1321 extending in the axial direction and arranged in the circumferential direction are formed in the side wall of the inner sleeve 132. The plurality of telescopic assemblies 133 are respectively arranged in the plurality of accommodating grooves 1321 and extend from one end of the inner sleeve 132 away from the bosses 1311. In the process of the nut 22 translating into the inner sleeve 132 in the second direction, the nut 22 drives a part of the telescopic assemblies 133 to compress, and another part of the telescopic assemblies 133 in the natural state abut against the outer periphery of the nut 22 in the circumferential direction, so as to limit the circumferential position of the nut 22 relative to the plurality of telescopic assemblies 133.

[0140] According to an embodiment of the present application, the outer contour of the nut 22 is a non-circular structure, and the size difference (such as the top angle and the side) of the nut 22 itself in the radial direction is used to realize the alternating compression and displacement of the plurality of telescopic assemblies 133, thereby forming the circumferential locking.

[0141] For example, when the hexagonal nut moves into the inner sleeve 132 in the second direction, the protruding top angle of the hexagonal nut is opposite to a part of the telescopic assemblies 133 in the circumferential direction of the inner sleeve 132, and the top angle of the hexagonal nut overcomes the spring force of the telescopic assemblies 133 to make the telescopic assemblies 133 be compressed. The flat side of the hexagonal nut is closer to the core rod 21 than the top angle, so that the side is misaligned with another part of the telescopic assemblies 133 in the second direction, so that the telescopic assemblies 133 remain in the natural state. The part of the telescopic assemblies 133 in the natural state abut against the plurality of sides of the hexagonal nut, limit the circumferential rotation of the hexagonal nut relative to the operating mechanism 13, and ensure that the hexagonal nut can remain stationary when the core rod 21 rotates. It should be understood that the above understanding can also be referred to when the nut 22 is a quadrangular nut or other non-circular nut, and will not be described here. For example, the outer diameter of the first cylinder 1233 is greater than the outer diameter of the second cylinder 1234, and the slope surface is formed between the outer surfaces of the first cylinder 1233 and the second cylinder 1234. The bosses 1311 in the outer sleeve abut against the slope surface and are rotatably and sealingly combined with the slope surface.

[0142] According to an embodiment of the present application, the outer sleeve 131 is sealingly combined with the supporting sleeve 111, for example, can be threadedly combined with the supporting sleeve 111, or is clamped with the supporting sleeve 111.

[0143] According to an embodiment of the present application, each telescopic assembly 133 comprises a telescopic part 1331 and a resilient part 1332.

[0144] The telescopic part 1331 can be a rod-like structure, for example, a pin. One end of the telescopic part 1331 extends out of the accommodating groove 1321, and the other end abuts against the resilient part 1332.

[0145] The resilient part 1332 can be a spring. The resilient part 1332 abuts between the telescopic part 1331 and the boss 1311 of the outer sleeve 131, and is configured to provide an elastic force in the first direction to the telescopic part 1331.

[0146] According to an embodiment of the present application, the inner sleeve 132 and the outer sleeve 131 are circumferentially fixed (for example, by a limiting key, or by the outer profile of the inner sleeve 132 and the inner profile of the outer sleeve 131). An end of the inner sleeve 132 close to the support cylinder 111 extends radially outward to form a protrusion, and an inner side of the outer sleeve 131 extends radially inward to form a groove structure that matches the protrusion, and the groove structure is arranged on a side of the boss 1311 away from the support cylinder 111. In this way, the axial position between the inner sleeve 132 and the outer sleeve 131 can be positioned, and at the same time, the outer sleeve 131 and the rotating sleeve 1232 form a seal.

[0147] In some alternative embodiments, during the process of the nut 22 translating into the inner sleeve 132 in the second direction, the driving nut 22 drives the telescopic assembly 133 to compress, and the friction between the telescopic assembly 133 and the nut 22 limits the circumferential position of the nut 22 relative to the plurality of telescopic assemblies 133. In this way, the riveting device 1 can be adapted to nuts 22 of different sizes, and the adaptability of the riveting device 1 is improved.

[0148] In such embodiments, the nut 22 can be inserted into the inner sleeve 132 at any rotation angle, without the need to rotate to a specific angle.

[0149] According to the riveting device 1 of the embodiment of the present application, the cylindrical shell riveting head with the self-adaptive function is provided, which has the rotating mechanism 12 and the operating mechanism 13 that can clamp the nut 22 regardless of the number of edges of the nut 22, and thus can rivet nuts 22 other than the most common hexagonal nut 22, without the need to adjust or replace the head of the rivet 2.

[0150] According to an embodiment of the present application, as Figures 15 to 21As shown, the inner sleeve 132 includes a cylindrical portion 1322, a flange 1323, and an extension cylindrical portion 1324. The cylindrical portion 1322 is fitted inside the outer sleeve 131 and abuts against the boss 1311. The flange 1323 protrudes radially inward from the inner side of the cylindrical portion 1322, and a plurality of receiving grooves 1321 are located within the flange 1323. The extension cylindrical portion 1324 extends from the outer edge of the cylindrical portion 1322 away from the flange 1323, and one end of the telescopic component 133 extends axially from the flange 1323 and abuts against the opening of the extension cylindrical portion 1324, partially extending out of the extension cylindrical portion 1324. In this embodiment, by providing the extension cylindrical portion 1324, the telescopic component 133 is always wrapped and guided by the extension cylindrical portion 1324 during extension and retraction, ensuring that the movement trajectory of the telescopic component 133 is straight and without deviation.

[0151] The extended cylindrical section 1324 can be a conical cylinder or a cylindrical section.

[0152] According to an embodiment of the present invention, the end of the flange 1323 opposite to the boss 1311 forms a radially inwardly extending shoulder 1325, which is adapted to prevent the nut 22 from moving further toward the interior of the inner sleeve 132.

[0153] like Figures 1 to 20 As shown, the driving mechanism 53 of the rivet device 5 drives the clamping mechanism 52 to the first position, so that the second channel 522 is aligned with the first channel 5122. The clamping mechanism 52 receives the rivet 2 from the first channel 5122. A part of the rivet 2 is inserted into the second channel 522 and clamped by the clamping mechanism 52.

[0154] The moving platform 6 drives the riveting device 1 to the rivet position, and the driving mechanism 53 drives the clamping mechanism 52 to the second position, with the second channel 522 aligned with the insertion channel. Using the aforementioned buffer device 4, feeding device 3, and rivet-mounting device 5, the non-circular insertion channel 1231 at the end of the rotating assembly 123 is inserted by the driving section 211 of the core rod 21 of the rivet 2. The nut 22 of the rivet 2 drives at least a portion of the telescopic assembly 133 to compress, with the apex of the nut 22 contacting and compressing a portion of the telescopic assembly 133 first. At the same time, the flat side of the nut 22 is axially misaligned with another portion of the telescopic assembly 133, keeping these telescopic assemblies 133 in a naturally extended state. These extended telescopic assemblies 133 abut against the side of the nut 22 circumferentially, forming a circumferential lock, ensuring that the nut 22 remains stationary relative to the inner sleeve 132 in subsequent operations. The shoulder 1325 of the inner sleeve 132 prevents the nut 22 from moving excessively backward, limiting the axial position of the nut 22 relative to the inner sleeve 132.

[0155] After the rivet 2 is inserted into place (the nut 22 abuts against the shoulder 1325), the second driving assembly 134 drives the sliding ring 1342 to move in a direction close to the rivet 2, the inner wall of the sliding ring 1342 compresses the plurality of elastic rods 1351, so that the plurality of elastic rods 1351 are gathered to the center, and as the elastic rods 1351 are gathered, the clamping pieces 1352 arranged at the ends of the elastic rods 1351 move radially inward, extend into the gap between the nut 22 and the sleeve 23, and clamp the nut 22. At this time, the rivet 2 is stably clamped by the operating mechanism 13.

[0156] The clamping mechanism 52 is opened, and the riveting device 1 clamping the rivet 2 is driven by the feeding device 3 to translate in a direction away from the clamping mechanism 52, so that the rivet 2 is separated from the clamping mechanism 52. The clamping mechanism 52 can be driven by the driving mechanism 53 to return to the first position for the next rivet clamping.

[0157] The moving platform 6 drives the riveting device 1 to translate in the second direction to the riveting position. In the riveting position, the rivet 2 is aligned with the counterbore hole (not shown in the figure) on the connected piece 26.

[0158] The feeding device 3 drives the riveting device 1 to approach the counterbore hole until the end surface of the sleeve 23 facing the punch 25 is attached to the counterbore hole on the connected piece 26.

[0159] The buffer device 4 keeps the riveting device 1 in the current position, so that the end surface of the sleeve 23 facing the punch 25 continuously abuts against the counterbore hole on the connected piece 26.

[0160] The first driving assembly 121 continuously drives the core rod 21 to rotate. Since the nut 22 is circumferentially locked and axially fixed, the rotating core rod 21 starts to translate in a direction away from the connected piece 26 under the action of the thread. The pulling force of the core rod 21 causes the forming sleeve 24 and the insert 241 to plastically deform to form a firm large bottom angle, and at the same time, the connected piece 26 is clamped. During this process, the core rod 21 pushes the rotating shaft 124 to move backward together against the elastic force of the elastic piece behind the rotating shaft 124.

[0161] When the riveting is completed, the preset neck-breaking groove 213 on the core rod 21 breaks. At this time, the remaining driving section 211 is still clamped in the insertion channel 1231.

[0162] The feeding device 3 drives the riveting device 1 to translate away from the connected piece 26, and the moving platform 6 drives the riveting device 1 to move to the rivet feeding position, so that the riveting device is aligned with the recovery pipeline of the recovery device 7.

[0163] The second driving assembly 134 reverses the action, drives the sliding ring 1342 to retreat, the elastic rod 1351 restores to the original state by its own elasticity, the clamping jaw 135 opens, and at the same time, the elastic member resets, pushes the rotating shaft 124 to translate in the first direction, and the non-circular part 1242 of the rotating shaft 124 pushes the remaining driving section 211 out. At the same time, in order to ensure that the waste can be completely and quickly separated, compressed air enters from the air inlet of the supporting cylinder 111, passes through the flow space 14, the gas channel 1222 in the transmission shaft 122 and the through hole 1243 of the rotating shaft 124, and is directly blown to the remaining driving section 211, so as to assist the waste (the remaining driving section 211 and the nut 22) to fall off from the riveting device 1, and the waste is sucked into the recycling pipeline by the negative pressure device of the recycling device 7, so that the waste is recycled.

[0164] Figure 22 A perspective view of a riveting system according to an embodiment of the present application is shown.

[0165] As another aspect of the embodiments of the present application, a riveting system is also provided, as shown in the figure, which comprises a base (not shown in the figure) and any of the riveting devices described above arranged on the base. Figure 22

[0166] The base can be used to connect with an external mechanical arm.

[0167] The riveting system further comprises an imaging device 300, a positioning device 200 and a hole-making counter-sinking device 100.

[0168] After each tool replacement, the hole-making counter-sinking device 100 uses the tool setting block integrated on the pressure foot to set the tool, the light grating ruler on the side of the hole-making counter-sinking device 100 measures the overhang distance of the tool, and feeds back the distance to the general control equipment of the riveting system, so that the distance between the tool and the pressure foot zero position can be dynamically calculated during the spindle feed, precise compensation is realized, and the subsequent machining precision is ensured.

[0169] The imaging device 300 can comprise a monocular camera, a baffle cylinder and a baffle. According to the position and posture of the known reference hole, the mechanical arm connected with the riveting system is moved to the accurate spatial position of finding the reference, a reference finding program based on the monocular camera is started, the baffle cylinder drives the baffle to retract, the camera is opened, image acquisition, image processing, feature extraction are completed, the X and Y actual coordinate values of the reference hole center on the plane are calculated, the calculated coordinate values are compared with the expected coordinate values, the deviation between the actual and theoretical numerical models is obtained, and the general control equipment is fed back, the general control equipment corrects the coordinate values of all holes to be machined through the algorithm, and the position accuracy of hole making is ensured. After all this is done, the baffle cylinder drives the baffle to open, and the camera is closed.

[0170] The internal and external parameters of the monocular camera can be calibrated to ensure that the image coordinates can accurately correspond to the actual spatial coordinates, so that the position of the riveting device 1 can be accurately positioned.​

[0171] The positioning device 200 includes a pressure foot mechanism and a normal alignment mechanism. The pressure foot mechanism includes a pressure foot base mounted on the base, a pressure foot head mounted on the pressure foot base through a ball joint mechanism, a double cylinder driving the pressure foot to move forward and backward, an electromagnetic valve controlling the pressure, a tool setting block mounted on the pressure foot, and a pressure sensor. The normal alignment mechanism includes a ball joint mechanism mounted inside the pressure foot, four laser displacement sensors symmetrically distributed on both sides of the pressure foot base, and a grating ruler mounted on one side of the pressure foot. According to the accurate spatial position provided by the reference hole detection module, after the riveting system moves to the specified position to be processed, the pressure foot reacts to the double cylinder to push the pressure foot forward on the sliding table. The pre-pressure size is indirectly controlled by controlling the cylinder force through the electromagnetic valve, and the connected part is compressed to the pre-pressure size. The pressure foot head is connected to the pressure foot base through the ball joint mechanism, which can realize small-angle deflection. The ball joint mechanism can be selected from a copper alloy as a base material, and a solid lubricant such as graphite, molybdenum disulfide, PTFE or a mixture thereof is embedded on the friction surface. The copper alloy base provides good load capacity and impact resistance, and the solid lubricant forms an effective solid lubricating film between the friction pairs, thereby significantly reducing the friction coefficient and achieving self-lubrication. Under the action of the pre-pressure, the pressure foot head is deflected to completely fit the processing surface. After the force feedback sensor feedback is stable, the values of the four laser ranging sensors mounted on the pressure foot base are read, and the current position normal deflection angle is calculated through the normal detection algorithm.

[0172] Judge whether the calculated normal deflection angle exceeds the adjustable range a: if it exceeds, the device alarms; if it does not exceed, judge whether it exceeds the processing deviation allowable range b: if it does not exceed, directly compress to the drilling and riveting compression pressure; if it exceeds, start the normal pose adjustment process.

[0173] The main control controller feeds back the normal deflection angle and the current pressure foot compression position measured by the pressure foot grating ruler to the upper computer, and the numerical control device completes the normal angle adjustment. The pressure foot head is connected to the pressure foot base through the ball joint mechanism, and the pressure foot head is fixed at the fitting position during adjustment. The normal angle adjustment is realized by adjusting the pose of the mechanical arm to drive the pressure foot base.

[0174] After the main control controller receives the normal adjustment completion instruction of the numerical control device, the values of the four laser ranging sensors are read again, and the current normal deflection angle is calculated again. If the normal deflection angle does not meet the processing allowable requirement, the normal pose adjustment process is started again, and the above process is repeated until the deflection angle allowable range requirement is met. Adjust the cylinder pressure to the drilling and riveting formal compression pressure until the pressure foot force feedback sensor realizes feedback to the compression force reaches the set drilling and riveting compression and stabilizes, and the pressure foot compression is completed. For weak rigid materials, after the normal alignment is completed in the pre-compression stage, the material deforms after formal compression, and a normal compensation alignment is needed. The specific process is as described above.

[0175] The hole-making countersinking device 100 includes a drilling device mounted on a base, a motor that drives the movement, a grating ruler mounted on the side of the electric spindle for detecting the tool position and feeding back to the control circuit, and a grating ruler mounted on the side of the pressure foot for real-time dynamic compensation of the feed rate.

[0176] The hole-making and countersinking device 100 adopts a ball screw slide table to drive the electric spindle for feeding and machining. The integrated slide table drives the electric spindle to complete the hole-making and countersinking of the connected parts in one go.

[0177] To achieve the required countersink depth accuracy, precise control of the pressure foot extension distance and spindle feed distance is necessary to accurately determine the feed amount of the tool tip relative to the current hole position. During spindle feed, a linear encoder mounted on the side of the electric spindle accurately detects the feed position and feeds it back to the main controller, ensuring precise spindle feed and retraction position accuracy. During tool setting, the distance between the tool tip and the zero point of the pressure foot is calculated. Since the workpiece may deform after tool setting when the pressure foot extends and clamps the workpiece, the linear encoder of the electric spindle cannot determine the required tool feed for drilling. Therefore, during drilling, the feed amount needs to be dynamically compensated in real-time by the compression of the pressure foot linear encoder, enabling full monitoring of the drilling process. Based on the laminated material parameters (aluminum / carbon fiber thickness ratio) issued by the main controller, the spindle speed / feed is automatically switched to control the drill bit axial force, reducing delamination, tearing, and burrs in the drilled composite material. After drilling through the material, the integrated drill and countersink tool continues to feed, performing countersinking. Once the hole is complete, the main controller issues a command for spindle retraction.

[0178] According to an embodiment of the present invention, the riveting device 1, the imaging device 300, and the countersinking device 100 can be mounted on the base 9 via a movable platform 6 capable of translating along a second direction. The movable platform 6 and the mounting device 5 are spaced apart along a first direction.

[0179] Since the hole-making and countersinking device 100 and the riveting device 1 are integrated on the moving platform 6, the riveting device 1 cannot move in the second direction when the hole-making and countersinking is working. Through the cooperation of the moving platform 6 and the drive mechanism 53, operations such as nailing and gluing can be performed at the same time as hole-making and countersinking, which improves the efficiency of the riveting system.

[0180] After the hole is made, the moving platform 6 moves the monocular camera and other components along the second direction to detect the hole diameter tolerance using a contour matching algorithm.

[0181] After the hole diameter is detected, the mobile platform 6 drives the riveting device 1 to move to the work station in the second direction, so that the riveting device 1 is aligned with the hole position that has been detected. The size of the buffer device 4 is changed to the size of the riveting force, and the size of the force is indirectly controlled by the electromagnetic valve controlling the force of the feeding cylinder, and the cylinder is kept open under the action of the force. The feeding device 3 drives the riveting device 1 to translate upward to the riveting device 5, the end surface of the driving section 211 of the rivet 2 is attached to the end surface of the inner sleeve 132, the feeding device 3 continues to feed, the buffer device 4 is compressed to drive the riveting device 1 to keep the absolute position unchanged, when the buffer device 4 is compressed to the given position, the feeding stops, the riveting device 1 performs riveting, and after the riveting is completed, the riveting device 1 is retracted.

[0182] After the riveting is completed, the mobile platform 6 drives the monocular camera to translate to the work station in the second direction, takes an image of the processed surface, extracts the hole position and the rivet head information, and calculates the perpendicularity and other key parameters in combination with the geometric model. After the shooting is completed, the camera is retracted, the pressure foot is lifted, the mechanical arm is moved to the next processing point, and fast and high-precision online quality detection is realized.

[0183] After the detection is completed, the mobile platform 6 drives the riveting device 1 to translate to the riveting station in the second direction, the feeding device 3 drives the riveting device 1 and the waste (i.e. the remaining driving section 211 and the nut 22) to feed to the recycling position of the recycling device 7, the cylinder vacuum suction of the recycling device 7 is started, the clamping jaw 135 on the riveting device 1 is opened, the waste is sucked into the recycling container through the air pipe, and the recycling is confirmed through the metal proximity switch installed on the front air pipe of the container.

[0184] After the riveting of all the hole positions is completed, the mechanical arm is moved to the tool changing station, after the manual tool changing is completed, the milling position is positioned according to the input parameters. The servo motor drives the ball screw sliding table to drive the milling cutter to perform axial feeding milling operation, after the processing is completed, the end effector is reset, and the next processing point is prepared to be arrived.

[0185] In view of the special material properties of the composite material, the material is prone to delamination under the action of the axial thrust of the drill bit. The feeding amount is dynamically compensated in real time during drilling by the compression amount of the pressure foot grating ruler, and the speed / feeding is automatically switched according to the layer material parameters (aluminum / carbon fiber thickness ratio) issued by the general control controller, the axial force of the drill bit is controlled, and the delamination, tearing and burr of the drilled composite material can be reduced.

[0186] The most critical step for drilling on the curved surface is the normal alignment mechanism and the pressure angle mechanism. In order to improve the drilling precision, the pressure foot mechanism, the normal alignment mechanism and the multiple alignment program are designed. The values of the four laser ranging sensors installed on the pressure foot base are read, whether the calculated normal deviation angle exceeds the adjustable range is judged: if it exceeds, the equipment alarms; if it does not exceed, whether it exceeds the allowable range of processing deviation is judged: if it does not exceed, it is directly compressed to the drilling and riveting compression pressure; if it exceeds, the normal position adjustment process is started.

[0187] The total control controller feeds the normal deflection angle and the current presser foot compression position measured by the presser foot grating ruler to the upper computer, and the numerical control device completes the normal angle adjustment. The presser foot head is connected to the presser foot base through a spherical pair mechanism. The spherical pair mechanism can be made of copper alloy as the base material, and solid lubricant is inlaid on the friction surface. The solid lubricant can be graphite, molybdenum disulfide, polytetrafluoroethylene (PTFE) or a mixture thereof. The copper alloy base provides good load capacity and impact resistance, and the solid lubricant forms an effective solid lubricating film between the friction pairs, thereby significantly reducing the friction coefficient and achieving self-lubrication. When adjusting, the presser foot head is fixed at the fitting position, and the mechanical arm pose drives the presser foot base to realize the normal angle adjustment.

[0188] After the riveting system receives the normal adjustment completion instruction of the numerical control device, the values of the four laser ranging sensors are read again, and the current normal deflection angle is calculated again. If the normal deflection angle does not meet the allowable deviation range of processing, the normal pose adjustment process is started again, and the above process is repeated. For weak rigid materials, after the normal alignment is completed in the pre-pressing stage, the material deforms after formal pressing, and a normal compensation alignment is needed. The specific process is as described above.

[0189] To realize the automatic drilling and riveting equipment of drilling, riveting and milling, on the basis of the above functions, the drill bit is designed to be replaceable with a milling cutter, which can mill the uneven section of the rivet pull rod after all hole processing and riveting is completed, so as to make the processing surface flat and beautiful. A monocular camera installed in the work station conversion module can detect the hole diameter and the riveting quality after riveting.

[0190] The above describes embodiments of the present application. However, these embodiments are only for illustrative purposes, and are not intended to limit the scope of the present application. Although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present application, those skilled in the art can make various alternatives and modifications, which should fall within the scope of the present application.

Claims

1. A riveting device for use with threaded blind rivets for large bases, characterized in that, include: Base; An upper rivet device, disposed on the base, is suitable for positioning the insertion end of the rivet to be operated, wherein the rivet is a large-base threaded blind rivet; A feeding device is movably disposed on the base in a first direction toward the upper nailing device; A riveting device is movably disposed on the feeding device and includes a rotating mechanism that rotates about an axis extending in the first direction, the engagement end face of the rotating mechanism forming an insertion channel extending in the first direction. The buffer device includes: A support assembly, movably disposed on the feeding device, is suitable for supporting the riveting device; A buffer assembly, disposed in the feeding device, is configured to abut against the engagement end face in response to the drive segment of the rivet's core rod. The feeding device further drives the feeding device to translate toward the upper rivet device, compressing the buffer assembly. When the shape of the insertion channel matches the shape of the drive segment, the buffer assembly unfolds to drive the support assembly to translate toward the upper rivet device, causing the drive segment to insert into the insertion channel.

2. The riveting equipment for large-foot threaded blind rivets according to claim 1, characterized in that, The support components include: A guide rail extends along the first direction and is mounted on the feeding device; A support block, on which the riveting device is mounted, has an inwardly recessed surface facing the guide rail forming a groove that mates with the guide rail, allowing the support block to translate along the guide rail under the drive of the buffer assembly.

3. The riveting equipment for large-foot threaded blind rivets according to claim 1, characterized in that, The buffer device further includes: A limiting member is provided on the feeding device and located on the side of the support assembly opposite to the upper nail device, which is suitable for limiting the maximum compression distance of the buffer assembly.

4. The riveting equipment according to claim 1, characterized in that, The buffer device further includes: A displacement sensor, disposed on the feeding device, is adapted to detect the movement distance of the support assembly relative to the feeding device, so that when the support assembly moves toward the upper nail device, the rotating mechanism stops rotating, and the extension channel accommodates the drive section.

5. The riveting equipment for large-foot threaded blind rivets according to claim 4, characterized in that, The entrance of the insertion channel is chamfered to prevent the core rod from rotating with the rotating mechanism within the target distance of the drive section extending into the insertion channel. The target distance is greater than or equal to the smallest sensing unit of the displacement sensor.

6. The riveting equipment for large-foot threaded blind rivets according to claim 1, characterized in that, Also includes: A position sensor, installed on the feeding device, is used to detect the displacement of the support assembly so that the feeding device stops feeding after the support assembly moves a preset distance away from the upper nailing device.

7. The riveting equipment for large-foot threaded blind rivets according to claim 1, characterized in that, The feeding device includes: The drive motor is mounted on the base; A threaded rod, extending in the first direction, is adapted to rotate under the drive of the drive motor; The movable block is threadedly engaged with the threaded rod and connected to the support platform that carries the buffer device, so as to drive the support platform to translate under the drive of the threaded rod; A slide rail is disposed on the base parallel to the threaded rod. The support platform extends downward at the position facing the slide rail to form a guide groove that mates with the slide rail, so that the support platform can translate along the first direction under the guidance of the slide rail and the threaded rod.

8. The riveting equipment for large-foot threaded blind rivets according to claim 1, characterized in that, The nailing device includes: A guiding mechanism is provided on the base and has a first channel parallel to the first direction, so that rivets from the loading tray are transmitted along the first channel; A clamping mechanism is movably disposed at the discharge end of the guide mechanism. The clamping mechanism forms a second channel extending along a first direction and communicating with the first channel, so as to allow the rivet to pass through the first channel and partially slide into the second channel, so that the clamping mechanism clamps the rivet.

9. The riveting equipment for large-foot threaded blind rivets according to claim 8, characterized in that, The nailing device further includes: A drive mechanism, mounted on the base, is adapted to drive the clamping mechanism to translate between a first position and a second position; In the first position, the second channel is aligned with the first channel, allowing the clamping mechanism to receive rivets from the first channel; In the second position, the second channel is aligned with the insertion channel, allowing the drive segment to extend into the insertion channel.

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