A rivet riveting system for a cartoning machine

Abstract

The present application relates to riveting field, especially to a rivet riveting system for boxing machine, including riveting mechanism, first suction mechanism and second suction mechanism for transferring first rivet and second rivet to riveting mechanism respectively, the riveting mechanism includes positioning member for positioning product to be riveted, guide assembly located at both ends of riveting hole of product to be riveted, the guide assembly is equipped with guide hole corresponding to riveting hole, the guide assembly is equipped with guide driving device for opening the guide hole, through setting the guide hole that can open and close in the process of riveting, the rivet being riveted is guided and positioned, so that it is more stable and accurate when riveting, and can effectively improve work efficiency and quality.

Description

Technical Field

[0001] This invention relates to riveting devices, and more specifically to a riveting device for a cartoning machine. Background Technology

[0002] Currently, cartoning machines use traditional cardboard boxes for riveting. Because the rivets are small and light, it is difficult for general machinery to automate the process, and manual riveting is the only option. Manual riveting is time-consuming, labor-intensive, and has low output. Even with some automated riveting equipment, the lack of a positioning device can easily lead to misalignment of the rivets when they are installed on the product, affecting the product's appearance and quality. Summary of the Invention

[0003] The technical problem to be solved by this invention is that the lack of a positioning device during the riveting process leads to rivet misalignment.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] First, a riveting system for a cartoning machine is provided, comprising a riveting mechanism, a first suction mechanism and a second suction mechanism for transferring a first rivet and a second rivet to the riveting mechanism respectively, characterized in that: the riveting mechanism includes a positioning component for positioning the product to be riveted, and guide components located at both ends of the riveting hole of the product to be riveted, the guide components having guide holes corresponding to the riveting holes, and the guide components having a guide drive device for opening the guide holes.

[0006] Furthermore, a first feeding mechanism and a second feeding mechanism are provided on one side of the riveting mechanism. The first feeding mechanism and the second feeding mechanism are externally connected to a corresponding first conveying mechanism and a corresponding second conveying mechanism. The first conveying mechanism and the second conveying mechanism are provided with corresponding first suction mechanism and second suction mechanism.

[0007] Furthermore, the relative movement of the first suction mechanism and the second suction mechanism is used to rivet the first rivet and the second rivet onto the product.

[0008] Furthermore, the guide assembly includes two relatively movable positioning blocks. The two positioning blocks are driven to move closer to each other or further apart by a guide drive device. A guide hole is provided at the joint of the two positioning blocks, and the two positioning blocks approach each other to form a complete guide hole.

[0009] Furthermore, both the first and second unloading mechanisms include a vibrating feeder. The outlet of the vibrating feeder is provided with a guide rod for transporting the first or second rivet. The guide rod is connected to an indexing disc, which is driven by a first motor. The rotation of the indexing disc is used to drive the first or second rivet at the guide rod to the first or second conveying mechanism.

[0010] Furthermore, an upper track plate and a lower track plate are fitted onto the indexing disc, with the indexing disc located between the upper and lower track plates. A slot is provided on the indexing disc to accommodate a first rivet or a second rivet. The upper and lower track plates are used to limit the rivet located in the slot. An air nozzle is provided at the discharge port of the indexing disc.

[0011] Furthermore, both the first conveying mechanism and the second conveying mechanism include a conveyor belt, on which clamps for accommodating the first rivet or the second rivet are arranged at equal intervals.

[0012] Furthermore, the first suction mechanism includes a first mounting plate, on which a first vacuum suction cup for adsorbing the first rivet is mounted. The first suction mechanism includes a first guide rail and a first servo motor. The first servo motor is externally connected to a first synchronous belt. A second servo motor is slidably connected to the first guide rail. The first synchronous belt is used to drive the second servo motor to reciprocate along the first guide rail. The output end of the second servo motor rotates to mount a cam. The first mounting plate is mounted on the cam. The rotation of the cam is used to drive the first mounting plate to reciprocate.

[0013] Furthermore, the second suction mechanism includes a second mounting plate, on which a second vacuum suction cup for suctioning the second rivet is mounted. The second suction mechanism includes a third servo motor, on which a second synchronous belt is mounted, and on which a fourth servo motor is mounted. The second synchronous belt is used to drive the fourth servo motor to reciprocate. The second mounting plate is mounted on the output end of the fourth servo motor, and the fourth servo motor is used to drive the second mounting plate to rotate.

[0014] Furthermore, the riveting mechanism is equipped with a first robotic arm and a second robotic arm. The first robotic arm is used to grab the product to be processed and transport it to the positioning part, and the second robotic arm is used to grab the processed product.

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

[0016] I. This invention provides guide components at both ends of the riveting holes on the riveting product to guide the rivets during riveting, ensuring that the rivets are not easily misaligned and that the riveting is more precise. The guide components can also effectively limit the riveting of the product to ensure the correctness of the riveting position.

[0017] Second, the guide assembly clamps the rivet through two positioning blocks, which can guide and limit at the same time. When limiting the rivet, it will not cause the rivet to tilt or misalign when subjected to riveting force, thus ensuring the quality of riveting and effectively facilitating the riveting process.

[0018] Third, the suction device effectively fixes small and light rivets, ensuring the stability of transporting rivets and facilitating their delivery to designated locations. At the same time, the suction device can also move relative to the rivets for riveting. One action completes the transportation, installation and riveting process, effectively improving work efficiency.

[0019] Fourth, during the riveting process, the first suction device and the second suction device simultaneously install the first rivet and the second rivet onto the product, ensuring that the impact force during the upper and lower installation process is offset, ensuring the stability of the product position, and making the riveting more stable and accurate. Simultaneous installation of the first rivet and the second rivet can also effectively improve work efficiency, enabling the riveting of multiple products at the same time. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 This is the overall assembly drawing for this embodiment;

[0022] Figure 2 This is a perspective view of the riveting mechanism in this embodiment;

[0023] Figure 3 This is a diagram showing the usage state of the riveting mechanism in this embodiment;

[0024] Figure 4 This is a perspective view of the second feeding structure in this embodiment;

[0025] Figure 5 This is a perspective view of the first feeding structure in this embodiment;

[0026] Figure 6 This is a schematic diagram of the indexing disk in this embodiment;

[0027] Figure 7 This is a perspective view of the first suction mechanism in this embodiment;

[0028] Figure 8 This is a perspective view of the second suction mechanism in this embodiment;

[0029] Figure 9 This is a schematic diagram of the flipping structure of the second suction mechanism in this embodiment;

[0030] Figure 10 This is a structural diagram of the first and second rivets in this embodiment;

[0031] Figure 11 This is a schematic diagram of the product riveting in this embodiment. Detailed Implementation

[0032] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0034] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] This invention provides a riveting system for a cartoning machine, such as... Figure 1 , Figure 2 and Figure 3As shown, the device includes a riveting mechanism 300, a first suction mechanism 103 and a second suction mechanism 203 for transferring the first rivet 100 and the second rivet 200 to the riveting mechanism 300 respectively. The riveting mechanism 300 includes a positioning member 309 for positioning the product 310 to be riveted, and guide components 301 and 302 located at both ends of the riveting hole of the product 310 to be riveted. The guide components 301 and 302 are provided with guide holes 321 and 322 corresponding to the riveting hole, and the guide components 301 and 302 are provided with a guide drive device for opening the guide holes 321 and 322.

[0037] Specifically, in this embodiment, when the first suction mechanism 103 and the second suction mechanism 203 transport the first rivet 100 or the second rivet 200 to the riveting mechanism 300, the rivet is first positioned by the guide components 301 and 302. Specifically, during positioning, the guide drive device opens the guide holes 321 and 322, and the suction mechanism transports the rivet to the guide holes 321 and 322. Then, the guide holes 321 and 322 close to position and fix the rivet. The suction mechanism continues to move, thereby driving the rivet through the riveting hole on the riveting product 310. Due to the function of the guide holes 321 and 322, the rivet passes through the riveting hole more accurately and will not cause offset or misalignment. In addition, the guide holes 321 and 322 can also play a guiding role, making the rivet more stable and reliable during riveting.

[0038] like Figure 1 As shown, a first feeding mechanism 101 and a second feeding mechanism 201 are provided on one side of the riveting mechanism 300. The first feeding mechanism 101 and the second feeding mechanism 201 are externally connected to a corresponding first conveying mechanism 102 and a corresponding second conveying mechanism 202. The first conveying mechanism 102 and the second conveying mechanism 202 are provided with corresponding first suction mechanism 103 and second suction mechanism 203.

[0039] Specifically, in this embodiment, the first feeding mechanism 101 and the second feeding mechanism 201 contain corresponding first rivets 100 and second rivets 200. The first feeding mechanism 101 transports the first rivets 100 to the first conveying mechanism 102, and the first conveying mechanism 102 transports the first rivets 100 to the first suction mechanism 103. Then, the first suction mechanism 103 moves to suction the first rivets 100 on the first conveying mechanism 102 and transports them to the riveting mechanism 300. Similarly, the second rivets 200 are transported to the second suction mechanism 203 through the second conveying mechanism 202. The second suction mechanism 203 transports the second rivets 200 to the riveting mechanism 300, and the riveting mechanism 300 rivets the first rivets 100 and the second rivets 200 to complete the product processing.

[0040] like Figure 1 , Figure 10 and Figure 11 As shown, the relative movement of the first suction mechanism 103 and the second suction mechanism 203 is used to rivet the first rivet 100 and the second rivet 200 onto the product 310.

[0041] Specifically, in this embodiment, the first rivet 100 and the second rivet 200 are riveted to the product 310 by inserting their ends together. After the first suction mechanism 103 and the second suction mechanism 203 transport the corresponding first rivet 100 and second rivet 200 to the guide holes 321 and 322 for positioning and guidance, both the first rivet 100 and the second rivet 200 pass through the riveting holes on the riveted product 310. Then, the second rivet 200 is inserted into the first rivet 100. After that, the first suction mechanism 103 and the second suction mechanism 203 continue to move. Under the action of the first suction mechanism 103 and the second suction mechanism 203, the end of the second rivet 200 is squeezed and deformed to complete the riveting, thereby riveting the first rivet 100 and the second rivet 200 to the product 310 and completing the processing.

[0042] like Figure 3 As shown, the guide components 301 and 302 include two relatively movable positioning blocks 311 and 312. The two positioning blocks 311 and 312 are driven to move closer or further apart by a guide drive device. Guide holes 321 and 322 are provided at the joint of the two positioning blocks 311 and 312. The two positioning blocks 311 and 312 approach each other to form complete guide holes 321 and 322.

[0043] Specifically, in this embodiment, semi-circular guide holes are provided on both positioning blocks 311 and 312. When the two positioning blocks 311 and 312 approach each other, they can be assembled into complete guide holes 321 and 322, which can be used for positioning and guiding the movement of the rivet. The guide drive device drives the corresponding two positioning blocks 311 and 312 to move relative to each other, that is, to move closer or further apart. When the two positioning blocks 311 and 312 move further apart, the suction mechanism moves the rivet between the two positioning blocks 311 and 312. Then, the guide drive device drives the two positioning blocks 311 and 312 to move closer to each other. At this time, the guide holes 321 and 322 clamp the rivet. Continuing to move the rivet can guide it into the riveting hole on the product 310, ensuring the stability of the riveting.

[0044] like Figure 4 and Figure 5As shown, both the first unloading mechanism 101 and the second unloading mechanism 201 include vibrating feeders 111 and 211. The outlets of the vibrating feeders 111 and 211 are provided with guide rods 118 and 218 for transporting the first rivet 100 or the second rivet 200. The guide rods 118 and 218 are externally connected to indexing discs 113 and 213. The indexing discs 113 and 213 are driven by the first motors 115 and 215. The rotation of the indexing discs 113 and 213 is used to drive the first rivet 100 or the second rivet 200 at the guide rods 118 and 218 to the first conveying mechanism 102 or the second conveying mechanism 202.

[0045] Specifically, in this embodiment, in order to ensure a continuous and stable supply of the first rivet 100 and the second rivet 200, the vibrating feeders 111 and 211 first move the corresponding first rivet 100 and second rivet 200 to the guide rods 118 and 218. The rivets move sequentially on the guide rods 118 and 218. When the rivets move to the indexing discs 113 and 213, the indexing discs 113 and 213 are driven by the first motors 115 and 215 to transport the rivets. When the indexing discs 113 and 213 transport the rivets to the corresponding first conveying mechanism 102 or second conveying mechanism 202, the rivets fall onto the first conveying mechanism 102 or second conveying mechanism 202, thus completing the transfer of the rivets.

[0046] like Figure 4 , Figure 5 and Figure 6 As shown, upper track plates 116 and 216 and lower track plates 117 and 217 are mounted on indexing discs 113 and 213. The indexing discs 113 and 213 are located between the upper track plates 116 and 216 and the lower track plates 117 and 217. The indexing discs 113 and 213 have slots 10 for accommodating the first rivet 100 or the second rivet 200. The upper track plates 116 and 216 and the lower track plates 117 and 217 are used to limit the rivets in the slots 10. An air nozzle 12 is provided at the discharge port of the indexing discs 113 and 213.

[0047] Specifically, in this embodiment, when the rivet is transferred from the guide rods 118 and 218 to the indexing discs 113 and 213, the rivet falls into the corresponding slot 10. The indexing discs 113 and 213 continue to rotate, thereby pushing the rivet between the upper track plates 116 and 216 and the lower track plates 117 and 217. At this time, the upper track plates 116 and 216 and the lower track plates 117 and 217 limit the rivet on the indexing discs 113 and 213 to prevent the rivet from falling down. When the indexing discs 113 and 213 move the rivet to the corresponding air nozzle 12, the rivet just disengages from between the upper track plates 116 and 216 and the lower track plates 117 and 217. At this time, the air nozzle 12 works and blows the rivet into the corresponding first conveying mechanism 102 or second conveying mechanism 202.

[0048] like Figure 4 and Figure 5 As shown, both the first conveying mechanism 102 and the second conveying mechanism 202 include conveyor belts 114 and 214. Clamps 119 and 219 for accommodating the first rivet 100 or the second rivet are arranged at equal intervals on the conveyor belts 114 and 214. Specifically, in this embodiment, the air nozzle 12 blows the rivet onto the clamps 119 and 219 on the conveyor belts 114 and 214, at which time the clamps 119 and 219 fix the rivet in place, ensuring stable transportation.

[0049] like Figure 7 As shown, the first suction mechanism 103 includes a first mounting plate 124, on which a first vacuum suction cup 125 for adsorbing the first rivet 100 is mounted. The first suction mechanism 103 includes a first guide rail 121 and a first servo motor 126. The first servo motor 126 is externally connected to a first synchronous belt 120. A second servo motor 122 is slidably connected to the first guide rail 121. The first synchronous belt 120 is used to drive the second servo motor 122 to reciprocate along the first guide rail 121. A cam 123 is mounted on the output end of the second servo motor 122. The first mounting plate 124 is mounted on the cam 123. The rotation of the cam 123 is used to drive the first mounting plate 124 to reciprocate.

[0050] Specifically, in this embodiment, the first servo motor 126 operates, using the first synchronous belt 120 to drive the second servo motor 122 to move to the left on the first guide rail 121. At this time, the first mounting plate 124 and the first vacuum suction cup 125 move to the first conveying mechanism 102. The second servo motor 121 rotates, driving the cam 123 to rotate. The rotation of the cam 123 drives the first mounting plate 124 to move downward first. When the first vacuum suction cup 125 moves to the position of the corresponding first rivet 100, the first vacuum suction cup 125 attracts the first rivet 100. Then the cam 123 continues to rotate, thereby driving the first mounting plate 124 to move upward, so that the first vacuum suction cup 125 drives the first rivet 100 to move upward. Then the first servo motor 126 rotates in the opposite direction, thereby driving the second servo motor 122 to move back to the riveting mechanism 300. The second servo motor 122 continues to rotate, using the cam 123 to drive the first mounting plate 124 to move downward, so that the first rivet 100 moves to the guide hole 321 for riveting.

[0051] like Figure 8 and Figure 9 As shown, the second suction mechanism 203 includes a second mounting plate 222, on which a second vacuum suction cup 223 for suctioning the second rivet 200 is mounted. The second suction mechanism 203 includes a third servo motor 219, on which a second synchronous belt 220 is mounted at the output end of the third servo motor 219. A fourth servo motor 221 is mounted on the second synchronous belt 220. The second synchronous belt 220 is used to drive the fourth servo motor 221 to reciprocate. The output end of the fourth servo motor 221 is mounted on the second mounting plate 222. The fourth servo motor 221 is used to drive the second mounting plate 222 to rotate.

[0052] Specifically, in this embodiment, the third servo motor 219 operates, using the second synchronous belt 220 to drive the second mounting plate 222 downward, so that the second mounting plate 222 moves to the second conveying mechanism 202. At the same time, the fourth servo motor 221 drives the second mounting plate 222 to rotate, so that the second vacuum suction cup 223 faces downward and moves to the second rivet 200. The second vacuum suction cup 223 works, adsorbing the second rivet 200. Then, the third servo motor 219 rotates in the opposite direction, driving the second mounting plate 222 upward. At the same time, the fourth servo motor 221 rotates in the opposite direction, driving the second mounting plate 222 to flip again, so that the second vacuum suction cup 223 faces upward again. At this time, the second rivet 200 is also flipped 180°, so that the head of the second rivet 200 corresponds to the first rivet 100, which facilitates riveting.

[0053] like Figure 1As shown, in this embodiment, the first conveying mechanism 102 and the second conveying mechanism 202 are arranged horizontally, with the first conveying mechanism 102 located above and the conveying end of the first conveying mechanism 102 located on one side of the riveting mechanism 300. The conveying end of the second conveying mechanism 202 is located below the riveting mechanism 300. The first suction mechanism 103 is located above the riveting mechanism 300, and the second suction mechanism 203 is located below the riveting mechanism 300. Therefore, when the first suction mechanism 103 moves left and right, it can drive the first mounting plate 124 to move back and forth between the riveting mechanism 300 and the first conveying mechanism 102. When the second suction mechanism 203 moves up and down, it can drive the mounting plate 222 to move back and forth between the second conveying mechanism 203 and the riveting mechanism 300, thereby completing the transportation of the first rivet 100 and the second rivet 200.

[0054] like Figure 2 As shown, a first robotic arm and a second robotic arm are provided at the riveting mechanism 300. The first robotic arm is used to grab the product 310 to be processed and transport it to the positioning part 309. The second robotic arm is used to grab the processed product 310.

[0055] Specifically, in this embodiment, the products are picked up by a first robotic arm and a second robotic arm (not shown), which ensures the continuous and stable operation of the device, thereby achieving mass production and improving production efficiency.

[0056] It should be understood that the above description of specific embodiments of the present invention is only for illustrating the technical approach and features of the present invention, and is intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the present invention is not limited to the specific embodiments described above. All changes or modifications made within the scope of the claims of the present invention should be covered within the protection scope of the present invention.

Claims

1. A riveting system for a cartoning machine, comprising a riveting mechanism (300), a first suction mechanism (103) for transferring a first rivet (100) and a second rivet (200) to the riveting mechanism (300) respectively, and a second suction mechanism (203), characterized in that: The riveting mechanism (300) includes a positioning element (309) for positioning the product to be riveted (310), and guide components (301, 302) located at both ends of the riveting hole of the product to be riveted (310). The guide components (301, 302) are provided with guide holes (321, 322) corresponding to the riveting hole, and the guide components (301, 302) are provided with guide driving devices for opening the guide holes (321, 322); the first suction mechanism (103) and the second suction mechanism (203) are... The motion is used to rivet the first rivet (100) and the second rivet (200) onto the product (310); the first suction mechanism (103) includes a first mounting plate (124), on which a first vacuum suction cup (125) for adsorbing the first rivet (100) is mounted; the first suction mechanism (103) includes a first guide rail (121) and a first servo motor (126), the first servo motor (126) is externally connected to a first synchronous belt (120), and a first servo motor (125) is slidably connected to the first guide rail (121). Two servo motors (122) are connected by a first synchronous belt (120) to drive the second servo motor (122) to reciprocate along the first guide rail (121). The output end of the second servo motor (122) is mounted on a rotating cam (123). A first mounting plate (124) is mounted on the cam (123). The rotation of the cam (123) is used to drive the first mounting plate (124) to reciprocate. The second suction mechanism (203) includes a second mounting plate (222). A device for suctioning a second rivet (200) is mounted on the second mounting plate (222). The second vacuum suction cup (223) of the second suction mechanism (203) includes a third servo motor (219), a second synchronous belt (220) is installed at the output end of the third servo motor (219), a fourth servo motor (221) is installed on the second synchronous belt (220), the second synchronous belt (220) is used to drive the fourth servo motor (221) to reciprocate, a second mounting plate (222) is installed at the output end of the fourth servo motor (221), and the fourth servo motor (221) is used to drive the second mounting plate (222) to flip.

2. The riveting system for a cartoning machine according to claim 1, characterized in that, The riveting mechanism (300) is provided with a first feeding mechanism (101) and a second feeding mechanism (201) on one side. The first feeding mechanism (101) and the second feeding mechanism (201) are connected to a corresponding first conveying mechanism (102) and a corresponding second conveying mechanism (202). The first conveying mechanism (102) and the second conveying mechanism (202) are provided with a corresponding first suction mechanism (103) and a corresponding second suction mechanism (203).

3. The riveting system for a cartoning machine according to claim 1, characterized in that, The guide assembly (301, 302) includes two relatively movable positioning blocks (311, 312). The two positioning blocks (311, 312) are driven to move closer or further apart by a guide drive device. Guide holes (321, 322) are provided at the joint of the two positioning blocks (311, 312). The two positioning blocks (311, 312) move closer together to form a complete guide hole (321, 322).

4. The riveting system for a cartoning machine according to claim 2, characterized in that, Both the first unloading mechanism (101) and the second unloading mechanism (201) include a vibrating feeder (111, 211). The outlet of the vibrating feeder (111, 211) is provided with a guide rod (118, 218) for transporting the first rivet (100) or the second rivet (200). The guide rod (118, 218) is connected to an indexing disc (113, 213). The indexing disc (113, 213) is driven by a first motor (115, 215). The indexing disc (113, 213) rotates to drive the first rivet (100) or the second rivet (200) at the guide rod (118, 218) to the first conveying mechanism (102) or the second conveying mechanism (202).

5. A riveting system for a cartoning machine according to claim 4, characterized in that, The indexing discs (113, 213) are fitted with upper track plates (116, 216) and lower track plates (117, 217). The indexing discs (113, 213) are located between the upper track plates (116, 216) and the lower track plates (117, 217). The indexing discs (113, 213) have slots (10) for accommodating the first rivet (100) or the second rivet (200). The upper track plates (116, 216) and the lower track plates (117, 217) are used to limit the rivets in the slots (10). An air nozzle (12) is provided at the outlet of the indexing discs (113, 213).

6. The riveting system for a cartoning machine according to claim 2, characterized in that, The first conveying mechanism (102) and the second conveying mechanism (202) both include a conveyor belt (114, 214), and clamps (119, 219) are provided at equal intervals on the conveyor belt (114, 214) for accommodating the first rivet (100) or the second rivet.

7. A riveting system for a cartoning machine according to any one of claims 1-6, characterized in that, The riveting mechanism (300) is equipped with a first robotic arm and a second robotic arm. The first robotic arm is used to grab the product to be processed (310) and transport it to the positioning part (309). The second robotic arm is used to grab the processed product (310).

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