A servo pull-rivet mechanism

Abstract

The application relates to the technical field of industrial manufacturing, and discloses a servo riveting mechanism, which is used in the related field of aerospace aluminum forging manufacturing, and takes an aluminum alloy deep-cavity inner rib component with a U-shaped notch as an example. If a threaded rivet needs to be pressed on an aluminum component, the length of the pressing die needs to be greater than the height of the deep cavity, which leads to an excessively large riveting stroke, and is not conducive to riveting fixation. The bolt rivet is fixed on the aluminum component, the rivet is directly pulled through the back of the aluminum component, the rivet is tightly arranged on the aluminum component, and the rivet is not easily tightly connected due to the excessively deep riveting depth in the traditional process.

Description

Technical Field

[0001] This invention relates to the field of industrial manufacturing technology, and in particular to a servo riveting mechanism. Background Technology

[0002] Servo riveting mechanisms, as a type of automated equipment, play a crucial role in industrial manufacturing. Using a servo motor as a power source, and relying on a transmission device and control system, they achieve a stable and reliable connection between the rivet and the workpiece.

[0003] In the aerospace field, aluminum alloys, with their unique physical and chemical properties such as low density, high specific strength, and excellent wear resistance, are widely used in the manufacturing of core structures such as aircraft fuselages and cabins. However, in traditional manufacturing processes, when the space of aluminum alloy forgings is relatively small and the profile cavity is deep, the press riveting process often fails to achieve the desired riveting effect due to the long upper die length, and may even lead to process failure due to operational inconvenience. Therefore, in order to ensure that press-fit screws can be properly assembled onto aluminum alloy forgings, a rivet installation device that can be used under conditions that do not meet the requirements of press riveting is needed.

[0004] Furthermore, when different sizes of tie rods are needed to accommodate rivets of varying sizes for different riveting requirements, traditional installation and removal methods primarily rely on screwing to install and remove the tie rods. However, in practical applications, this traditional screwing method reveals significant drawbacks. When the tie rod is subjected to axial tension, the threads experience mutual compression and friction due to the tension. This interaction increases the connection strength between the threads, making the thread engagement more tight. In this situation, if subsequent disassembly of the tie rod is required, it becomes extremely difficult to unscrew. The strong friction and engagement force between the threads hinder the rotation of the tie rod, making the disassembly process exceptionally difficult and time-consuming, reducing work efficiency and potentially damaging equipment due to excessive screwing force. Summary of the Invention

[0005] This invention proposes a servo riveting mechanism that has the advantage of assembling rivets by pulling instead of pressing, thereby solving the problem mentioned in the background art where insufficient riveting space leads to the inability to perform riveting work normally.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A servo riveting mechanism, comprising: a machine base, with a traction servo motor and a traction gear reducer installed inside to realize the push-pull movement of a traction screw; a transmission shaft is movably installed at the end of the traction screw, and a rotary servo motor and a rotary gear reducer are arranged at the end of the machine base to realize the rotary movement of the transmission shaft; further comprising: a pull rod, with a rotation-stop lug fixedly connected to the top; a socket head seat, fixedly installed at the end of the transmission shaft, with an installation groove and a connection groove communicating with the top of the installation groove opened at the inner bottom; and a limiting groove is opened in the middle of the inner side of the socket head seat; a gun head bracket, fixed at the bottom of the rotary gear reducer, for abutting against a workpiece; the pull rod is inserted along the installation groove through the rotation-stop lug, and after the rotation-stop lug reaches the connection groove, it is screwed into the installation groove to realize the installation of the pull rod; conversely, the disassembly of the pull rod is realized.

[0007] Further, the end face shape of the rotation-stop lug is "convex" shaped.

[0008] Further, a stepped surface is provided in the limiting groove at the area of the connection groove.

[0009] Further, an anti-drop push seat is movably installed at the inner part of the socket head seat, a rectangular groove matching the rotation-stop lug is provided at the bottom of the anti-drop push seat, and a spring is installed between the bottom end of the transmission shaft and the top of the anti-drop push seat; the rectangular groove at the bottom of the anti-drop push seat is inserted into the rotation-stop lug to realize the rotation stop of the pull rod.

[0010] Further, a cylindrical piston is fixedly installed at the top end of the anti-drop push seat, a release hole is opened at the bottom of the transmission shaft, and the cylindrical piston and the release hole are hermetically and movably sleeved, and a disassembly hole communicating with the top of the release hole is opened at the outer part of the transmission shaft.

[0011] Further, a forced unlocking hook is fixedly installed at the top of the cylindrical piston.

[0012] Further, locking shaft rods are symmetrically and movably installed in the rectangular groove at the bottom of the anti-drop push seat, a locking push seat pushed by a spring is movably installed at one side of the top of the rotation-stop lug, and a slope is provided at the end of the locking push seat, and a "u" shaped locking hole is opened on the slope, and the locking hole is inserted into the outer part of the locking shaft rod to prevent accidental disconnection between the pull rod and the anti-drop push seat.

[0013] Further, the shape of the locking shaft rod is "T" shaped.

[0014] Further, an unlocking push rod is fixedly installed at the end of the locking push seat on one side of the locking hole, and a forced return seat is fixedly installed at the top of the inner side of the socket head seat, and the unlocking push rod passing through the forced return seat pushes the locking push seat to compress the spring, realizing the unlocking between the locking hole and the locking shaft rod.

[0015] The present invention has the following beneficial effects:

[0016] This invention provides a servo riveting mechanism. Taking, for example, a common aerospace aluminum forging component with a U-shaped notch and deep cavity internal reinforcement in aluminum alloys, traditional riveting methods require the die to extend beyond the cavity height to ensure effective rivet pressing during actual manufacturing. However, this design results in excessive riveting stroke, making stability difficult and hindering rivet fixation. To address this problem, the servo riveting mechanism of this application places the rivet on the aluminum component and applies tension directly to it from the back of the component, gradually tightening it under tension. This tension-based approach solves the problem of excessive riveting depth in traditional riveting methods, which makes rivet fastening difficult.

[0017] This application utilizes a limiting groove and an installation groove within the socket head cap. Under normal conditions, when installing the pull rod, the anti-rotation lug on the pull rod is simply guided from the installation groove through the connecting groove and screwed into the limiting groove. The limiting groove positions and guides the anti-rotation lug, ensuring that the pull rod rotates synchronously during the rotation of the socket head cap. During disassembly, the limiting groove is simply unscrewed from the installation groove through the connecting groove, thus facilitating the installation and disassembly of the pull rod. Attached Figure Description

[0018] The accompanying drawings, which form part of this specification, illustrate embodiments of the invention and, together with the specification, serve to explain the principles of the invention.

[0019] The invention will be more clearly understood with reference to the accompanying drawings and the following detailed description, wherein:

[0020] Figure 1 This is a schematic diagram of the overall external planar structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the overall internal planar cross-sectional structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the external three-dimensional structure of the gun head guard of the present invention;

[0023] Figure 4 This is a schematic diagram showing the position and three-dimensional structure of the internal components of the gun head stop of the present invention;

[0024] Figure 5 For the present invention Figure 4 Enlarged structural diagram of the area at point E in the middle;

[0025] Figure 6 This is a schematic diagram of the internal planar cross-sectional structure of the gun head stop of the present invention;

[0026] Figure 7 For the present invention Figure 6 Enlarged structural diagram of the area at point F in the middle;

[0027] Figure 8 This is a schematic diagram of the external three-dimensional structure of the anti-detachment push base of the present invention;

[0028] Figure 9 This is a schematic diagram showing the position and three-dimensional structure of each component at the top of the pull rod of the present invention;

[0029] Figure 10 This is a schematic diagram of the internal three-dimensional structure of the headgear of the present invention;

[0030] Figure 11 For the present invention Figure 10 Schematic diagram of the planar structure in direction A.

[0031] In the diagram: 1. Base; 1001. Disassembly hole; 1002. Release hole; 2. Traction servo motor; 3. Traction gear reducer; 4. Rotary servo motor; 5. Rotary gear reducer; 6. Gun head stop; 7. Pull rod; 701. Anti-rotation lug; 8. Traction screw; 9. Sleeve seat; 901. Limit groove; 902. Mounting groove; 903. Connecting groove; 10. Drive shaft; 11. Anti-detachment push seat; 111. Forced unlocking hook; 112. Locking shaft; 113. Cylindrical piston; 12. Locking push seat; 120. Locking hole; 121. Unlocking push rod; 13. Forced return seat. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1, please refer to Figure 1 and Figure 2As can be seen, a traction servo motor 2 is installed on the top of the base 1, mainly used to provide power for riveting. A traction gear reducer 3 is fixedly installed at the output end of the traction servo motor 2, and a traction lead screw 8 located inside the base 1 is movably installed at the output end of the traction gear reducer 3. When the traction servo motor 2 drives the traction gear reducer 3 to rotate, the threaded transmission between the output end of the traction gear reducer 3 and the traction lead screw 8 converts the rotational motion of the traction servo motor 2 into the axial push-pull motion of the traction lead screw 8. Furthermore, a transmission shaft 10 is movably installed at the end of the traction lead screw 8, and the transmission shaft 10 and the traction lead screw 8 can rotate relative to each other. A rotary gear reducer 5 is fixedly installed at the end of the base 1 away from the traction servo motor 2, and a rotary servo motor 4 is fixedly installed at the output end of the rotary gear reducer 5. The output end is connected to the transmission shaft 10, ensuring that the rotary gear reducer 5 can drive the transmission shaft 10 to rotate, and that the transmission shaft 10 can follow the traction lead screw 8 in axial push-pull motion. This part is also a commonly used control method in this field, and will not be elaborated further here.

[0034] Based on this technology, a sleeve seat 9 is fixedly installed at the end of the drive shaft 10. A pull rod 7 is detachably installed at the bottom of the sleeve seat 9, and a gun head stop 6 is installed on the outer side of the pull rod 7 and the sleeve seat 9. The top of the gun head stop 6 is fixedly installed at the bottom of the rotary gear reducer 5 by bolts. In this way, when the rotary servo motor 4 drives the drive shaft 10 to rotate through the rotary gear reducer 5, the drive shaft 10 is driven by the sleeve seat 9, forcing the threaded end of the pull rod 7 to be screwed into the nut rivet. Then, when the traction servo motor 2 drives the traction gear reducer 3 to rotate, the traction gear reducer 3 and the traction screw 8 can convert the rotational motion generated by the traction servo motor 2 into the axial pulling motion of the traction screw 8. Thus, the traction screw 8 pulls the drive shaft 10, causing the pull rod 7 to pull the threaded rivet, which is the riveting equipment currently in use.

[0035] Furthermore, by replacing the tie rod 7, this application enables it to be threadedly connected to the press-fit screw. During application, by riveting the back of the aluminum part, the application can solve the problem of some aluminum forgings that are difficult to connect by press-fit due to their deep profiles.

[0036] Example 2 is a supplement to Example 1; please refer to [link / reference]. Figures 3-5 , Figures 9-11It can be seen that a rotation-preventing lug 701 is fixedly connected to the top end of the pull rod 7, and the rotation-preventing lug 701 symmetrically extends from the outer top of the pull rod 7, and the end face shape of the rotation-preventing lug 701 is "convex". Correspondingly, an installation groove 902 is provided at the inner bottom of the socket head seat 9, and the installation groove 902 corresponds to the rotation-preventing lug 701. When the pull rod 7 drives the rotation-preventing lug 701 to insert into the installation groove 902, by the guiding and limiting between the rotation-preventing lug 701 and the installation groove 902, the pull rod 7 is forced to insert along the central axis of the socket head seat 9 until the rotation-preventing lug 701 moves to the top of the installation groove 902. At the same time, a connecting groove 903 communicating with the top of the installation groove 902 is provided in the middle of the inner side of the socket head seat 9. When the pull rod 7 pushes the rotation-preventing lug 701 to move to the top of the installation groove 902, it can enter the connecting groove 903. Through the guiding of the connecting groove 903, the pull rod 7 can drive the rotation-preventing lug 701 to rotate. A limiting groove 901 is provided on the inner side wall of the socket head seat 9 and is arranged at a 90° angle with the installation groove 902, and a step surface is provided in the limiting groove 901 at the area of the connecting groove 903. It can be seen from Figure 10 It can be seen that the bottom end of the limiting groove 901 does not extend from the bottom end of the socket head seat 9. When the rotation-preventing lug 701 on the pull rod 7 enters the limiting groove 901, by the guiding of the limiting groove 901 to the rotation-preventing lug 701, the pull rod 7 is forced to move only along the axis of the socket head seat 9. During application, when the thread at the bottom of the pull rod 7 abuts against the threaded hole of the rivet, the rotary servo motor 4 rotates the transmission shaft 10 through the rotary gear reducer 5, and the transmission shaft 10 makes the pull rod 7 screw into the threaded hole of the rivet through the socket head seat 9. Then, the traction servo motor 2 and the traction gear reducer 3 are used to pull and draw the transmission shaft 10 by the traction screw rod 8. After that, the rotation-preventing lug 701 finally abuts against the bottom of the limiting groove 901. When the socket head seat 9 continues to move upward, the pull rod 7 is pulled by the rotation-preventing lug 701, realizing the pulling of the rivet by the pull rod 7, thereby completing the riveting action.

[0037] Subsequently, when the pull rod 7 needs to be replaced, after the pull rod 7 is guided along the limiting groove 901 and enters the connecting groove 903, by rotating the pull rod 7, the rotation-preventing lug 701 is rotated to the top of the installation groove 902, and then the pull rod 7 can be directly pulled out. In this way, the pull rod 7 is restricted by the groove type, which not only ensures the normal use of the pull rod 7 but also facilitates disassembly during use.

[0038] Embodiment 3 is a supplement to Embodiment 2. On the basis of Embodiment 2, please refer to Figures 5-8It can be seen that an anti-detachment pusher 11 is movably installed on the inner side of the sleeve base 9, and the anti-detachment pusher 11 can only reciprocate along the limiting groove 901. Specifically, the cylinder in the middle of the anti-detachment pusher 11 can restrict the sleeve base 9 and the anti-detachment pusher 11 from being arranged coaxially. The protrusions on both sides of the anti-detachment pusher 11 are placed in the limiting groove 901, which can restrict the anti-detachment pusher 11 from rotating inside the sleeve base 9. Furthermore, the height of the protrusions is relatively greater than the height of the connecting groove 903, thereby ensuring that the anti-detachment pusher 11 will not accidentally rotate at the connecting groove 903 when passing through it. Moreover, from Figures 5-8 It can be seen that the bottom of the anti-detachment push seat 11 is provided with a rectangular groove that matches the anti-rotation lug 701. When the pull rod 7 drives the anti-rotation lug 701 to screw into the limiting groove 901, the rectangular groove at the bottom of the anti-detachment push seat 11 corresponds to the anti-rotation lug 701. At the same time, a spring is installed between the bottom end of the drive shaft 10 and the top of the anti-detachment push seat 11. Pushed by the spring force, the anti-detachment push seat 11 is always inclined to push downward. Therefore, when the pull rod 7 drives the anti-rotation lug 701 to screw into the limiting groove 901, the rectangular groove at the bottom of the anti-detachment push seat 11 can be inserted into the top of the pull rod 7, thereby realizing the relative connection between the pull rod 7 and the anti-detachment push seat 11. This ensures that when the pull rod 7 passes through the connecting groove 903, it is restricted by the anti-detachment push seat 11, ensuring that the pull rod 7 will not accidentally screw out from the position of the connecting groove 903 during normal operation.

[0039] Furthermore, a cylindrical piston 113 is fixedly installed at the top of the anti-detachment push seat 11. Correspondingly, a release hole 1002 is provided at the bottom of the drive shaft 10. A rubber sealing ring is provided on the outer side of the cylindrical piston 113 to ensure that after the cylindrical piston 113 is inserted into the release hole 1002, the two form a relatively sealed set. A disassembly hole 1001 is provided on the outer side of the drive shaft 10, which communicates with the top of the release hole 1002. The disassembly hole 1001 is used to enable external air to communicate with the release hole 1002.

[0040] In the actual application of this embodiment, under normal conditions, the anti-detachment push seat 11 is pushed by the spring to the bottom of the limiting groove 901. When the pull rod 7 needs to be installed, the top of the pull rod 7 inserted into the sleeve seat 9 abuts the bottom of the anti-detachment push seat 11. At this time, the rectangular groove at the bottom of the anti-detachment push seat 11 and the anti-rotation lug 701 are arranged at 90°.

[0041] As the pull rod 7 is pushed upward along the axial direction of the sleeve seat 9 until the anti-rotation lug 701 moves to the connecting groove 903, the pull rod 7 can no longer be pushed upward. After the pull rod 7 drives the anti-rotation lug 701 to rotate 90°, the anti-rotation lug 701 and the bottom rectangular groove of the anti-detachment push seat 11 correspond, and the anti-detachment push seat 11, pushed by the spring, causes the rectangular groove to insert into the top of the pull rod 7. After that, the bottom of the anti-rotation lug 701 is restricted by the anti-detachment push seat 11, and the operator will no longer be able to drive the pull rod 7 to rotate. After the pull rod 7 is released, the anti-detachment push seat 11, pushed by the spring force, will push the pull rod 7 downward along the limiting groove 901 until the anti-rotation lug 701 reaches the bottom of the limiting groove 901.

[0042] In practical application of this embodiment, because the pull rod 7 extends from the end of the sleeve seat 9 due to the spring force, when normal riveting is required, the bottom of the gun head stop 6 can be directly pressed against the workpiece, at which point the pull rod 7 presses against the nut of the rivet. Since the pull rod 7 is not screwed into the nut, when the bottom of the gun head stop 6 is against the workpiece, the pull rod 7 will push the anti-detachment push seat 11 and compress the spring. Afterwards, when the gun head stop 6 is fully against the workpiece, the drive shaft 10 drives the pull rod 7 to rotate through the sleeve seat 9, so that the pull rod 7 is directly screwed into the nut. Compared with the traditional riveting method, which requires first screwing the pull rod 7 into the nut and then rotating it to make the gun head stop 6 press against the workpiece, this method can cause the pull rod 7 to start pulling the nut if the gun head stop 6 is not pressed against the workpiece in time, resulting in inaccurate rivet positioning. Therefore, by using the method described in this embodiment three, it can be ensured that the gun head stop 6 is first attached to the workpiece, and then the pull rod 7 is screwed into the nut. During this process, since the pull rod 7 is always pushed by the spring, the screw is forced to abut against the workpiece, ensuring that the rivet is always attached to the workpiece during the riveting process.

[0043] When the pull rod 7 needs to be replaced, push the anti-detachment pusher 11 upwards with the pull rod 7, causing the cylindrical piston 113 to insert into the release hole 1002. Then, the operator seals the disassembly hole 1001 with their fingers, forcing the release hole 1002 into a relatively sealed space. At this time, when the pull rod 7 is pulled downwards, although the spring tends to push the anti-detachment pusher 11 downwards, the downward movement of the cylindrical piston 113 causes a decrease in pressure in the release hole 1002. Ultimately, the cylindrical piston 113 in the release hole 1002 obstructs the downward movement of the anti-detachment pusher 11. After the anti-rotation lug 701 moves to the connecting groove 903 position, manually rotate it to enter the mounting groove 902. Finally, pull the pull rod 7 out along the mounting groove 902. After the pull rod 7 is completely removed, release the seal on the disassembly hole 1001, and the anti-detachment pusher 11 returns to its initial position under the action of the spring. Then, install the new pull rod 7 according to the above steps.

[0044] When the cylindrical piston 113 fails to seal properly, the sealing effect of the finger on the disassembly hole 1001 is insufficient, limiting the position of the anti-detachment push seat 11. To ensure that the anti-detachment push seat 11 can still overcome the spring force, from... Figure 4 , Figure 5 and Figure 8 It can be seen that a forced unlocking hook 111 is fixedly installed on the top of the cylindrical piston 113. The forced unlocking hook 111 is a stepped shaft. When the forced unlocking hook 111 moves to the top of the release hole 1002, a rod is inserted through the disassembly hole 1001 and pressed against the forced unlocking hook 111, which can also limit the downward movement of the anti-disengagement push seat 11. This ensures that even if the seal fails, the position of the cylindrical piston 113 can still be locked by other means.

[0045] Example 4 is a further improvement on Example 3. Please refer to Example 3. Figures 4-9 It can be seen that a locking shaft 112 is symmetrically and movably installed at the bottom of the anti-detachment push seat 11 and in the rectangular groove, and the locking shaft 112 is T-shaped. At the same time, a locking push seat 12, which is pushed by a spring, is movably installed on one side of the top of the anti-rotation lug 701, and the end of the locking push seat 12 is provided with a slope. The angle between the slope and the top of the locking push seat 12 is between 30 and 75 degrees, and a U-shaped locking hole 120 is opened on the slope. Under normal conditions, the locking push seat 12 is pushed outward by the spring. When the locking shaft 112 abuts against the slope of the locking push seat 12, the wedge-shaped slope forces the locking push seat 12 to compress the spring. When the locking shaft 112 passes the slope of the locking push seat 12, the locking push seat 12, pushed by the spring, causes the locking hole 120 to be inserted into the outer part of the locking shaft 112, ensuring that there will be no accidental disconnection between the pull rod 7 and the anti-detachment push seat 11.

[0046] The locking push base 12 has an unlocking push rod 121 fixedly installed at one end of the locking hole 120. When the anti-rotation lug 701 is screwed into the middle of the limiting groove 901 along the connecting groove 903, if the locking hole 120 is not inserted into the side of the locking shaft 112, the locking push base 12, pushed by the spring, will make the unlocking push rod 121 located above the step surface in the middle of the limiting groove 901. In this way, when the pull rod 7 moves down along the limiting groove 901, it will be blocked by the unlocking push rod 121, which will help to determine when the pull rod 7 will be screwed out. A forced return seat 13 is fixedly installed on the top inner side of the socket 9, and the forced return seat 13 is in the shape of a right trapezoid. When the pull rod 7 pushes the cylindrical piston 113 on the anti-disengagement push seat 11 into the release hole 1002, the locking shaft 112 moves along the inclined surface until it moves to the top of its trapezoid. The inclined surface on the forced return seat 13 pushes the locking push seat 12 to further compress the spring through the unlocking push rod 121, thereby unlocking the locking hole 120 and the locking shaft 112.

[0047] In practical application, when the anti-rotation lug 701 is screwed into the limiting groove 901, the anti-disengagement push seat 11, pushed by the spring, causes the locking shaft 112 to abut against the inclined surface of the locking push seat 12. This continues until the locking shaft 112 passes the locking push seat 12, at which point the locking push seat 12 pushes the locking hole 120 into the side of the locking shaft 112. At this time, the unlocking push rod 121 is relatively far from the stepped surface in the middle of the limiting groove 901. When the pull rod 7 is released, if the pull rod 7 can extend completely from the bottom of the sleeve seat 9 normally, it indicates normal installation; otherwise, it indicates that the unlocking push rod 121 abuts against the stepped surface in the middle of the limiting groove 901, thus restricting the pull rod 7 from moving downwards. This means that the anti-rotation lug 701 and the rectangular groove at the bottom of the anti-disengagement push seat 11 are not properly connected and need to be readjusted.

[0048] After the locking hole 120 is properly inserted into the side of the locking shaft 112, it locks the anti-rotation lug 701 and the anti-disengagement push seat 11, ensuring that the two will not accidentally disengage during operation.

[0049] When the pull rod 7 needs to be disassembled, as described in Embodiment 3, the pull rod 7 pushes the anti-detachment push seat 11 to the top. During the process of the unlocking push rod 121 approaching the forced return seat 13, it is pushed by the inclined surface of the forced return seat 13, forcing the locking push seat 12 to further compress the spring, thus unlocking the locking hole 120 and the locking shaft 112. Subsequently, when the pull rod 7 descends and disengages from the anti-detachment push seat 11, the locking push seat 12 is pushed by the spring, causing the unlocking push rod 121 to fully extend. When the pull rod 7 descends to the middle step surface of the limiting groove 901, the unlocking push rod 121 abuts against the top of the step surface. At this point, it indicates that the pull rod 7 has moved to the alignment position with the connecting groove 903. Afterwards, by rotating the pull rod 7 90° to reach the top of the mounting groove 902, it can be directly pulled outwards, thus completing the disassembly of the pull rod 7.

Claims

1. A servo riveting mechanism, comprising: A machine base (1) with a traction servo motor (2) and a traction gear reducer (3) installed inside to achieve the pushing and pulling movement of a traction screw rod (8); a transmission shaft (10) is movably installed at the end of the traction screw rod (8), and a rotary servo motor (4) and a rotary gear reducer (5) are provided at the end of the machine base (1) to achieve the rotary movement of the transmission shaft (10); it is characterized in that it further includes: A pull rod (7) with a rotation-preventing lug (701) fixedly connected to the top; A socket head seat (9) fixedly installed at the end of the transmission shaft (10), with an installation groove (902) opened at the inner bottom and a connection groove (903) communicating with the top of the installation groove (902); and a limiting groove (901) is opened in the middle of the inner side of the socket head seat (9); A gun head holder (6) fixed to the bottom of the rotary gear reducer (5) and used to press against the workpiece; An anti-drop push seat (11) is movably installed at the inner part of the socket head seat (9), a rectangular groove matching with the rotation-preventing lug (701) is provided at the bottom of the anti-drop push seat (11), and a spring is installed between the bottom end of the transmission shaft (10) and the top of the anti-drop push seat (11); the rectangular groove at the bottom of the anti-drop push seat (11) inserts into the rotation-preventing lug (701) to achieve the rotation prevention of the pull rod (7); A cylindrical piston (113) is fixedly installed at the top end of the anti-drop push seat (11), a release hole (1002) is opened at the bottom of the transmission shaft (10), and the cylindrical piston (113) and the release hole (1002) are hermetically and movably sleeved, and a disassembly hole (1001) communicating with the top of the release hole (1002) is opened at the outer part of the transmission shaft (10); Locking shaft rods (112) are symmetrically and movably installed at the bottom of the anti-drop push seat (11) and located in the rectangular groove, a locking push seat (12) pushed by a spring is movably installed at one side of the top of the rotation-preventing lug (701), and an inclined surface is provided at the end of the locking push seat (12), and a "U" - shaped locking hole (120) is opened on the inclined surface, and the locking hole (120) inserts into the outer part of the locking shaft rod (112) to prevent accidental disconnection between the pull rod (7) and the anti-drop push seat (11); An unlocking push rod (121) is fixedly installed at the end of the locking push seat (12) and located on one side of the locking hole (120), a forced return seat (13) is fixedly installed at the inner top of the socket head seat (9), and the unlocking push rod (121) passing through the forced return seat (13) pushes the locking push seat (12) to compress the spring, realizing the unlocking between the locking hole (120) and the locking shaft rod (112).

2. The servo riveting mechanism according to claim 1, characterized in that, The end face shape of the rotation-preventing lug (701) is "convex" - shaped.

3. The servo riveting mechanism according to claim 1, characterized in that, A forced unlocking hook (111) is fixedly installed at the top of the cylindrical piston (113).

4. The servo riveting mechanism according to claim 1, characterized in that, The shape of the locking shaft rod (112) is "T" - shaped.

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