CN220427490U - Riveting integrated tool end - Google Patents

Abstract

The utility model discloses a riveting integrated tool end which has the functions of visual scanning, drilling, gluing, riveting, quick replacement and the like. The fixed end comprises a fixed end frame body, and a positioning camera and a quick-change male head are mounted on the fixed end frame body; the movable end of the drilling tool comprises a drilling main frame; the drilling main frame is provided with a drilling device and a quick-change female head matched with the quick-change male head; the movable end of the gluing and riveting tool comprises a gluing and riveting main frame; the gluing head mechanism, the rivet gun mechanism and the quick-change female head matched with the quick-change male head are arranged on the gluing rivet main frame. According to the utility model, various riveting tools are integrated, the problem of switching between tools can be rapidly realized by pneumatic quick-change male and female heads, and the automatic riveting of workpieces is completed by matching with a six-axis robot, so that the processing efficiency and quality are improved, and the labor intensity of workers is reduced; the line laser vision camera scanning is adopted to replace the human eye function to complete the position tracking and positioning of the box body, support drilling, gluing and riveting points, and improve the operation quality.

Description

Riveting integrated tool end

Technical Field

The utility model relates to the technical field of machining, in particular to a riveting integrated tool end with functions of visual scanning, drilling, gluing, riveting, quick change and the like.

Background

At present, many cases are riveted by blind rivets, especially large-sized cases. 1500-2000 blind rivets are needed to connect the upper surface of the box body with the length of about 5 meters, and more rivets are needed for the box bodies with the lengths of 6 meters and 7 meters.

Under normal conditions, a worker holds an electric drill by hand to drill holes in the spliced box bodies, if one box body is provided with 2000 rivets, 2 workers are configured, each worker needs to drill 1000 holes, after the holes are drilled, the workers insert the rivets into the sealant injection holes, and the rivets are broken by utilizing a pneumatic self-plugging rivet gun, so that the box bodies are firmly connected. This process is repeated 1000 times per person. The spacing and direction of each rivet must be consistent, which is a great challenge for worker operation. Because the box is large in size, six sides are all connected by rivets, workers at high places need to finish hole positioning, drilling, cleaning, gluing, riveting and other operations by wearing safety ropes through ascending equipment, and workers at the bottom of the box need to drill into the bottom to perform operations. Therefore, a lot of manpower is spent in some working areas which are not easily accessible, and the reject ratio of the product is increased.

Specifically, when a worker drills, the hole is easy to be askew, the shape of the hole is out of round, and the worker is injured by an electric drill. When the glue is applied, workers can not grasp the glue application amount well, more or less glue is applied, a large amount of residual glue is arranged on the box surface, poor sealing is caused when the glue is applied less, and water seepage risks are caused after the box body is rained. When a worker performs self-plugging on the rivet, the broken tail nail rod can fly out and splashes over the working site. The traditional manual drilling, gluing and riveting production efficiency is low, the precision is low, and the factory production environment is disordered.

Disclosure of Invention

In order to solve the defects in the prior art, the utility model provides a riveting integrated tool end.

The utility model adopts the following technical scheme: a method of riveting an integrated tool end,

the device comprises a fixed end, a drilling tool movable end and a gluing and pulling rivet tool movable end;

the fixed end comprises a fixed end frame body, and a positioning camera and a quick-change male head are mounted on the fixed end frame body;

the movable end of the drilling tool comprises a drilling main frame; the drilling main frame is provided with a drilling device and a quick-change female head matched with the quick-change male head;

the movable end of the gluing rivet pulling tool comprises a gluing rivet pulling main frame; the gluing head mechanism, the rivet gun mechanism and the quick-change female head matched with the quick-change male head are arranged on the gluing rivet main frame.

It is further: the fixed end frame body is connected with the fixed end movable frame in a sliding manner, and the quick-change male head is fixed on the fixed end movable frame; the fixed end frame body is also provided with a screw rod and a driving motor for driving the screw rod; the screw rod is provided with a movable nut in a matched mode, and the movable nut is fixedly connected with the fixed end movable frame.

The fixed end frame body is fixedly provided with a pair of guide rails, and the fixed end movable frame is slidably arranged on the pair of guide rails;

the positioning camera housing is provided with a camera protection cover.

The drilling device comprises an electric spindle fixed on the drilling main frame, and the output end of the electric spindle is connected with a gang drill; the gang drill includes a plurality of drill bits arranged in a row at equal intervals.

The rivet gun mechanism comprises a rivet gun, and the rivet gun is connected with the gluing rivet pulling main frame through a control mechanism;

the control mechanism comprises a bottom plate fixed on the gluing rivet main frame; the upper end of the bottom plate is fixed with an air cylinder, and the output end of the air cylinder is connected with the rivet gun through a spring mechanism; the rivet gun is connected with the bottom plate in a sliding way.

The upper end of the bottom plate is fixed with an air cylinder fixing plate, the air cylinder is fixed on the air cylinder fixing plate, and the air cylinder is connected with an air source through an air pipe joint;

a sliding rail is fixed on one side of the bottom plate; a rivet gun fixing block is fixed on one side of the rivet gun and connected with a sliding block, and the sliding block is slidably arranged on the sliding rail; the spring mechanism is connected between the output end of the cylinder and the rivet gun fixing block;

and a limiting baffle plate for limiting the rivet gun fixing block is fixed at the lower end of the bottom plate.

The lower end of the bottom plate is fixed with a laser ranging sensor fixing plate, a laser ranging sensor is arranged on the laser ranging sensor fixing plate, and the laser ranging sensor is used for detecting the position of a self-plugging rivet in a top nozzle of a rivet gun on the rivet gun;

the rivet outlet pipe sleeve at the rear end of the rivet gun is connected with a tail ejector rod collecting box, and an annular proximity sensor is arranged on the rivet outlet pipe sleeve; the annular proximity sensor is fixed on the rivet gun and is used for detecting whether a tail ejector rod passes through the rivet pipe sleeve or not;

the gluing rivet pulling main frame is fixedly provided with a pressurizing cylinder which is connected with the rivet gun through a hydraulic oil pipe.

The gluing head mechanism comprises a gluing gun and a gluing head screwed on the gluing gun, and the gluing gun is connected with the gluing rivet main frame through a control mechanism;

the gluing head mechanisms and the rivet gun mechanisms are arranged in a plurality, and the gluing head mechanisms and the rivet gun mechanisms are arranged in a row and are alternately arranged on the gluing riveting main frame at equal intervals.

A pipeline package support fixing plate is fixed on the gluing rivet main frame, and a pipeline package support is fixed on the pipeline package support fixing plate; a pipeline package fixing connector is fixed on the pipeline package support;

and a communication valve island and a remote module are fixed on one side of the gluing rivet pulling main frame, and a protective cover is arranged on the communication valve island and the remote module.

And an air blowing device is arranged on the gluing rivet pulling main frame.

The utility model has the beneficial effects that:

(1) Integrating various riveting tools, applying a communication valve island and a remote module, carding and simplifying various signal wires and power wires on a tool end, and communicating with a PLC; the six-axis robot is matched to complete automatic riveting of the workpiece, so that the processing efficiency and quality are improved, and the labor intensity of workers is reduced;

(2) The line laser vision camera scanning is adopted to replace the human eye function to finish the position tracking and positioning of the box body, support the drilling, gluing and riveting points, and improve the operation quality; the line laser camera is fixed on the male head, the movable ends of the two tools are respectively fixed on the female head, and the pneumatic quick-change male and female heads can quickly realize the switching problem between tools;

(3) The gluing head and the rivet gun are connected by adopting a guide rail sliding block mechanism, so that the mutual spacing and repeated positioning precision of the gluing head and the rivet gun are ensured; the spring mechanism can avoid mechanical impact damage caused by hard collision of the gluing head, the rivet gun and the box body; the laser ranging sensor is used for identifying whether a rivet exists at the head of the rivet gun, the annular proximity sensor is used for identifying whether the rivet is broken or not, and the tail ejector rod is in the collecting box or not, so that the rivet gun can work normally; the pressurizing cylinder is directly connected with the rivet gun, an oil supplementing device on the pressurizing cylinder is omitted, and the leakage risk of hydraulic oil is reduced;

(4) The blowing device blows high-pressure air flow to clean scrap iron before gluing and riveting, so that the periphery of the hole is ensured to be clean; in one embodiment, the gang drill of drilling tool active end can beat four holes that the size is the same, and the interval is the same simultaneously, arranges 2 corresponding blind rivet guns and 2 rubber coating heads simultaneous operation on the rubber coating rivet pulling tool active end, promotes work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a box workpiece requiring processing using blind rivets.

Fig. 2 is a schematic perspective view of a fixed end (view angle one) in the present utility model.

Fig. 3 is a schematic perspective view of the fixed end (view two) in the present utility model.

Fig. 4 is a schematic perspective view of the movable end of the drilling tool according to the present utility model.

Fig. 5 is a schematic perspective view of a drilling tool according to the present utility model after the movable end and the fixed end are connected.

Fig. 6 is a schematic perspective view of a movable end of a glue spreading and pulling rivet tool according to the present utility model (view one).

Fig. 7 is a schematic perspective view of a movable end of a glue spreading and pulling rivet tool according to the present utility model (view two).

Fig. 8 is a schematic view (view angle one) of the installation structure of the rivet gun and the glue gun in the utility model.

Fig. 9 is a schematic view (view two) of the installation structure of the rivet gun and the glue gun in the utility model.

Fig. 10 is a schematic perspective view of the glue spreading and riveting tool according to the present utility model after the movable end and the fixed end are connected (view angle one).

Fig. 11 is a schematic perspective view (view two) of the glue spreading and riveting tool after the movable end and the fixed end are connected.

Fig. 12 is a schematic perspective view of an air blowing device according to the present utility model.

Reference numerals illustrate: 1. a case; 2. a blind rivet; 3. a fixed end frame; 4. a fixed end movable frame; 5. quick-changing the male head; 6. quick-changing the female head; 7. a driving motor; 8. a screw rod; 9. a guide rail; 10. positioning a camera; 11. a camera protection cover; 12. a main drilling frame; 13. an electric spindle; 14. gang drill; 15. a drill bit; 16. gluing and riveting a main frame; 17. a pipeline package support; 18. a pipeline package fixing joint; 19. a pipeline package support fixing plate; 20. a pressurizing cylinder; 21. a communication valve island; 22. a remote module; 23. a protective cover; 24. a tail ejector rod collection box; 25. a cylinder; 26. an air pipe joint; 27. a cylinder fixing plate; 28. an annular proximity sensor; 29. a spring mechanism; 30. a rivet gun fixing block; 31. a rivet gun; 32. a laser ranging sensor; 33. a laser ranging sensor fixing plate; 34. a glue spreading head; 35. a glue gun; 36. a limit baffle; 37. a bottom plate; 38. a slide rail; 39. a slide block; 40. a top nozzle of the rivet gun; 41. and a blowing device.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1, the corners of six sides of the box body 1 are distributed with blind rivets 2 at the same interval, the box body 1 is formed by splicing six composite plates, and nearly 2000 blind rivets 2 are riveted and connected. Specifically, the box body 1 is spliced roughly, then a hole with the diameter of 6.1mm is drilled, glue is injected into the hole, and finally the blind rivet 2 is inserted and broken. The riveting integrated tool end provided by the embodiment is suitable for processing the riveting integrated tool end.

Referring to fig. 2, fig. 4, and fig. 6, a riveting integrated tool end includes a fixed end, a drilling tool movable end, and a glue spreading rivet tool movable end, where the fixed end can be selectively connected with the drilling tool movable end or the glue spreading rivet tool movable end.

As shown in fig. 2 and 3, the fixed end includes a fixed end frame body 3, and a positioning camera 10 is mounted on the fixed end frame body 3. The positioning camera 10 adopts a line laser camera, and a camera protection cover 11 is arranged on the outer cover of the positioning camera 10. The fixed end frame body 3 is provided with a controllable quick-change male head 5, and specifically: a pair of guide rails 9 are fixed on the fixed end frame body 3, the fixed end movable frame 4 is slidably arranged on the pair of guide rails 9, and the quick-change male head 5 is fixed on the fixed end movable frame 4; a screw rod 8 and a driving motor 7 for driving the screw rod 8 are arranged on the fixed end frame body 3; the screw rod 8 is provided with a movable nut in a matched manner, and the movable nut is fixedly connected with the fixed end movable frame 4.

The fixed end frame 3 is fixed on the six-axis robot, after the box 1 approximately reaches the station, the line laser camera on the fixed end starts scanning the box 1 and generates a point cloud model for subsequent drilling, gluing and riveting, and the view angle of the line laser camera is shown in fig. 2. The driving motor 7 drives the screw rod 8 to rotate, so that the fixed end movable frame 4 can be controlled to carry the quick-change male head 5 to accurately displace on the guide rail 9, and the purpose is to enable the quick-change male head 5 to be connected with the quick-change female head 6 to achieve the effect of quick-change of a tool end.

Referring to fig. 4 and 5, the movable end of the drilling tool includes a main drilling frame 12, a drilling device mounted on the main drilling frame 12, and a quick-change female head 6, where the quick-change female head 6 is matched with the quick-change male head 5. The drilling device comprises an electric spindle 13 fixed on a main drilling frame 12, and the output end of the electric spindle 13 is connected with a gang drill 14; gang drill 14 includes a plurality of drill bits 15 arranged in a row and equally spaced. In this embodiment, 4 drill bits 15 are provided.

The movable end of the drilling tool is provided with 4 drill bits 15 with equal intervals, four holes can be drilled when one drilling operation is performed, the production efficiency is improved, and the drilling intervals are strictly ensured by the intervals of the drill bits 15. When the movable end and the fixed end of the drilling tool are connected, the quick-change male head 5 is inserted into the quick-change female head 6 to be locked, and then drilling operation can be performed. When the drilling is finished, the quick-change male head 5 is separated from the quick-change female head 6, the movable end of the drilling tool is placed at the storage point, and the robot can grasp the movable end of the gluing pulling rivet tool with the fixed end.

Referring to fig. 6 and 7, and fig. 10 and 11, the movable end of the glue spreading and riveting tool includes a glue spreading and riveting main frame 16; the gluing head mechanism, the rivet gun mechanism and the quick-change female head 6 are arranged on the gluing rivet pulling main frame 16, and the quick-change female head 6 is matched with the quick-change male head 5. The gluing rivet main frame 16 is fixedly provided with a pipeline package support fixing plate 19, the pipeline package support fixing plate 19 is fixedly provided with a pipeline package support 17, and the pipeline package support 17 is fixedly provided with a pipeline package fixing joint 18. The communication valve island 21 and the remote module 22 are fixed on the back side of the gluing rivet main frame 16, and a protective cover 23 is arranged on the outer covers of the communication valve island 21 and the remote module 22.

The front side of the glue spreading and riveting main frame 16 is provided with a plurality of glue spreading head mechanisms and rivet gun mechanisms which are arranged in a row and are alternately arranged on the glue spreading and riveting main frame 16 at equal intervals. In this embodiment, the glue spreading head mechanism and the rivet gun mechanism are respectively provided with two. The arrangement space of the gluing head mechanism and the rivet gun mechanism is equal to that of the gang drill 14.

Referring again to fig. 8 and 9, the rivet gun mechanism includes a rivet gun 31, and the applicator head mechanism includes an applicator gun 35 and an applicator head 34 screwed onto the applicator gun 35. In this embodiment, the rivet gun 31 and the glue gun 35 are connected to the glue gun main frame 16 by the same control mechanism.

Take the connection of the rivet gun 31 as an example:

the control mechanism comprises a base plate 37 fixed to the rubberized blind rivet main frame 16. The upper end of the bottom plate 37 is fixed with a cylinder fixing plate 27, the cylinder 25 is fixed on the cylinder fixing plate 27, and the cylinder 25 is connected with an air source through an air pipe joint 26. A slide rail 38 is fixed on the front side of the bottom plate 37, a rivet gun fixing block 30 is fixed on one side of the rivet gun 31, the rivet gun fixing block 30 is connected with a slide block 39, and the slide block 39 is slidably arranged on the slide rail 38. The spring mechanism 29 is connected between the output end of the cylinder 25 and the rivet gun fixing block 30, and the spring mechanism 29 provides a buffer between the output end of the cylinder 25 and the rivet gun fixing block 30 by adopting a conventional technology. A limit baffle 36 for limiting the riveter fixing block 30 is fixed at the lower end of the bottom plate 37.

With the air connection 26 on the cylinder 25 being in and out. The rivet gun 31 is accurately displaced in the same direction along the slide 38 by means of the slide 39. The spacing of the four sliding rails on the movable end of the gluing and riveting tool is guaranteed to be consistent, and the tolerance range is +/-0.03 mm, so that the accurate relative position relationship between gluing and riveting heads can be ensured. The limit baffle 36 fixed at the lower end of the sliding rail 38 ensures that the stop point of the sliding block movement is the same every time, namely, the distance between the movable end head of the gluing pulling rivet tool and the box body 1 is well ensured.

Since both the head of the rivet gun 31 and the head of the glue head 34 need to be in rigid contact with the case 1 when working, the rigid contact may cause impact damage. The present embodiment herein solves this problem by means of a spring mechanism 29. The head of the glue head 34 or rivet gun 31 is in contact with the casing 1, and the spring mechanism 29 is compressed, which absorbs the forces generated during contact, while ensuring good contact.

A laser distance measuring sensor fixing plate 33 is fixed to the lower end of the bottom plate 37, and a laser distance measuring sensor 32 is mounted on the laser distance measuring sensor fixing plate 33. The laser distance measuring sensor 32 is used to detect the position of the blind rivet 2 in the rivet gun tip 40 on the rivet gun 31. The nail outlet pipe sleeve at the rear end of the rivet gun 31 is connected with a tail ejector rod collecting box 24, and the tail ejector rod collecting box 24 is fixed on the lower side surface of the pipeline package support fixing plate 19. An annular proximity sensor 28 is mounted on the staple cartridge. The annular proximity sensor 28 is fixed on the rivet gun 31, and the annular proximity sensor 28 is used for detecting whether a tail ejector rod passes through the rivet pipe sleeve. Because of the existing blind rivet gun apparatus for automatically feeding nails to gun heads, blind rivets 2 cannot be fed to the rivet gun tip 40 absolutely, but there is a failure rate of 3/1000. In this embodiment, the laser distance measuring sensor 32 emits a fine red light beam to the blind rivet 2, and the reflection of the light spot is received by the laser distance measuring sensor 32. The laser distance measuring sensor 32 judges whether the blind rivet 2 exists at the head of the riveter 31 according to the difference of the distance values. If the blind rivet 2 is located at the correct position, the distance between the blind rivet 2 and the signal output is not generated by the blind rivet 2, and if the distance between the blind rivet 2 and the error position is greater than 150mm, the blind rivet 2 can be identified.

In operation, the annular proximity sensor 28 is sleeved on the rivet outlet pipe at the tail of the rivet gun 31 and is used for detecting whether the metal tail rivet rod passes through after the blind rivet 2 is broken, the blind rivet 2 is broken when a signal is detected, the system records that the rivet pulling process is qualified at the moment, if no signal is detected, the blind rivet 2 is likely to be failed to be pulled and the rivet pulling action is repeated once at the moment, until the signal is detected, if the signal is still not detected, the system records that Kong Lamao is bad, and the machine is stopped at the moment or a worker intervenes. The tail pin rod discharged from the rear end of the rivet gun 31 during rivet pulling can be shot into the tail ejector rod collecting box 24, and the tail ejector rod collecting box 24 is manually and periodically dumped and replaced, so that the capacity of the tail ejector rod collecting box 24 is about 2000, and the tail pin rod can be effectively collected and can not be sputtered around a working place.

Two sides of the gluing and riveting main frame 16 are respectively fixed with a pressurizing cylinder 20, and the pressurizing cylinders 20 are connected with the rivet guns 31 on the corresponding sides through hydraulic oil pipes. The present embodiment places the booster cylinder beside the riveter. The oil supplementing device on the pressurizing cylinder is canceled, hydraulic oil is compressed between the hydraulic cylinder and the rivet gun, the risk of leakage is avoided, and the hydraulic oil can rotate in any space range.

As shown in fig. 11 and 12, before the glue spreading and riveting operation is performed, a large amount of scrap iron is generated around the hole after drilling, which affects the glue spreading and riveting quality, so that the scrap iron needs to be cleaned before glue spreading and riveting. Thus, in the present example, an air blowing device 41 is installed under the rubberized rivet main frame 16. The air inlet at the right end of the air blowing device is connected with compressed air of 0.6MPa, and air flow is blown out from seven air outlet holes, so that scrap iron around the upper hole of the box body 1 is purged completely.

In this embodiment, there are more electrical components on the movable end of the glue spreading and pulling tool, such as 4 cylinders 25,8 three-wire PNP magnetic switches, 8 air pipes, 2 three-wire PNP annular proximity sensors 28,2 laser ranging sensors 32,2 glue spreading gun 35 air supply interfaces, 1 air blowing device air supply interface, etc. In the present embodiment, the communication valve island 21 is selected to connect with each air pipe, the remote module 22 is selected to integrate each sensor signal wire, and the remote module is connected with the communication valve island 21 to communicate with the PLC finally, so as to realize information transmission of the whole device.

Working principle:

after the movable end of the drilling tool shown in fig. 5 drills holes (4 holes are drilled each time) in the box body 1, the movable end of the glue spreading and pulling rivet tool shown in fig. 10 is switched. First the 2 sets of glue head mechanisms are pushed out by the air cylinder 25 and the sealant is injected into the holes and then retracted. The cylinder 25 then pushes out the riveter mechanism and the rivet gun 31 is preceded by a blind rivet 2, inserting the blind rivet 2 into the hole and completing the blind rivet operation.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims (10)

1. A method of riveting an integrated tool end,

the method is characterized in that:

the device comprises a fixed end, a drilling tool movable end and a gluing and pulling rivet tool movable end;

the fixed end comprises a fixed end frame body (3), and a positioning camera (10) and a quick-change male head (5) are mounted on the fixed end frame body (3);

the movable end of the drilling tool comprises a drilling main frame (12); a drilling device and a quick-change female head (6) matched with the quick-change male head (5) are arranged on the drilling main frame (12);

the movable end of the gluing rivet pulling tool comprises a gluing rivet pulling main frame (16); the gluing head mechanism, the rivet gun mechanism and the quick-change female head (6) matched with the quick-change male head (5) are arranged on the gluing rivet pulling main frame (16).

2. A staking integrated tool end as claimed in claim 1, wherein: the fixed end frame body (3) is connected with the fixed end movable frame (4) in a sliding manner, and the quick-change male head (5) is fixed on the fixed end movable frame (4); a screw rod (8) and a driving motor (7) for driving the screw rod (8) are also arranged on the fixed end frame body (3); the screw rod (8) is provided with a movable nut in a matched mode, and the movable nut is fixedly connected with the fixed end movable frame (4).

3. A staking integrated tool end as claimed in claim 2, wherein: a pair of guide rails (9) are fixed on the fixed end frame body (3), and the fixed end movable frame (4) is slidably arranged on the pair of guide rails (9);

the positioning camera (10) is provided with a camera protection cover (11) in an outer cover.

4. A staking integrated tool end as claimed in claim 1, wherein: the drilling device comprises an electric spindle (13) fixed on a drilling main frame (12), and the output end of the electric spindle (13) is connected with a gang drill (14); the gang drill (14) includes a plurality of drill bits (15) arranged in a row at equal intervals.

5. A staking integrated tool end as claimed in claim 1, wherein: the rivet gun mechanism comprises a rivet gun (31), and the rivet gun (31) is connected with the gluing rivet pulling main frame (16) through a control mechanism;

the control mechanism comprises a bottom plate (37) fixed on the gluing rivet main frame (16); an air cylinder (25) is fixed at the upper end of the bottom plate (37), and the output end of the air cylinder (25) is connected with the rivet gun (31) through a spring mechanism (29); the rivet gun (31) is in sliding connection with the bottom plate (37).

6. A staking integrated tool end as claimed in claim 5, wherein: the upper end of the bottom plate (37) is fixedly provided with an air cylinder fixing plate (27), the air cylinder (25) is fixed on the air cylinder fixing plate (27), and the air cylinder (25) is connected with an air source through an air pipe joint (26);

a slide rail (38) is fixed on one side of the bottom plate (37); a rivet gun fixing block (30) is fixed on one side of the rivet gun (31), the rivet gun fixing block (30) is connected with a sliding block (39), and the sliding block (39) is slidably arranged on the sliding rail (38); the spring mechanism (29) is connected between the output end of the air cylinder (25) and the rivet gun fixing block (30);

and a limiting baffle (36) for limiting the riveter fixing block (30) is fixed at the lower end of the bottom plate (37).

7. A staking integrated tool end as claimed in claim 5, wherein: a laser ranging sensor fixing plate (33) is fixed at the lower end of the bottom plate (37), a laser ranging sensor (32) is installed on the laser ranging sensor fixing plate (33), and the laser ranging sensor (32) is used for detecting the position of a self-plugging rivet (2) in a rivet gun top nozzle (40) on a rivet gun (31);

the nail outlet pipe sleeve at the rear end of the rivet gun (31) is connected with a tail ejector rod collecting box (24), and an annular proximity sensor (28) is arranged on the nail outlet pipe sleeve; the annular proximity sensor (28) is fixed on the rivet gun (31), and the annular proximity sensor (28) is used for detecting whether a tail ejector rod passes through the rivet pipe sleeve or not;

a pressurizing cylinder (20) is fixed on the gluing rivet pulling main frame (16), and the pressurizing cylinder (20) is connected with a rivet gun (31) through a hydraulic oil pipe.

8. A staking integrated tool end as claimed in claim 5, wherein: the gluing head mechanism comprises a gluing gun (35) and a gluing head (34) screwed on the gluing gun (35), and the gluing gun (35) is connected with the gluing rivet main frame (16) through a control mechanism;

the gluing head mechanism and the rivet gun mechanism are arranged in a plurality, are arranged in a row, and are alternately arranged on the gluing riveting main frame (16) at equal intervals.

9. A staking integrated tool end as claimed in claim 1, wherein: a pipeline package support fixing plate (19) is fixed on the gluing rivet main frame (16), and a pipeline package support (17) is fixed on the pipeline package support fixing plate (19); a pipeline package fixing joint (18) is fixed on the pipeline package support (17);

one side of the gluing rivet main frame (16) is fixed with a communication valve island (21) and a remote module (22), and the communication valve island (21) and the remote module (22) are covered with a protective cover (23).

10. A staking integrated tool end as claimed in claim 1, wherein: an air blowing device (41) is arranged on the gluing rivet main frame (16).