A rivet replacement and rivet removal system for robot riveting

Abstract

The present invention relates to the technical field of robot riveting devices, and provides a rivet replacement and nailing system for robot riveting, including a material box device and multiple nailing devices, a plurality of through-discharging channels are longitudinally arranged on the material box base, a plurality of through-feeding channels are longitudinally arranged on the material box upper beam, and multiple nailing tubes are arranged between the material box base and the material box upper beam and communicate the discharging channels and the feeding channels one by one; the nailing device includes a support, a slider, a discharging ejector rod, a guide pin, a reset guide assembly, a first material stop assembly, and a second material stop assembly, the support is fixedly assembled on one side of the material box base, the discharging ejector rod, the slider, and the reset guide assembly are sequentially connected from bottom to top and longitudinally assembled on one side of the support body, and the first material stop assembly and the second material stop assembly are horizontally assembled on the other side of the support body in parallel from top to bottom and penetrate into the discharging channel. The present invention can improve the efficiency, automation, reliability of rivet nailing and reduce production costs.

Description

Technical Field

[0001] The invention relates to the technical field of robot riveting devices, and in particular to a rivet replacement and rivet removal system for robot riveting. Background Art

[0002] In the assembly and manufacturing process of aircraft, the connection between the skin and the frame is mostly made by rivets. The rivets used for aircraft assembly mainly include hammer rivets, center axial rivets and nut locking rivets. For hammer rivets and center axial rivets, there are now some relatively mature automated rivet selection, rivet feeding and riveting systems; however, for nut locking rivets, due to its complex structure, including a center rod, an external hexagonal locking nut, and a rivet sleeve, the riveting process is currently mainly completed by manual or automated methods to select the rivets and load them into a pneumatic rivet gun.

[0003] The manual method has the following shortcomings: the quality mainly depends on the skill level and work experience of the operators, the riveting quality varies greatly, the riveting efficiency is low, and it is not suitable for the current aircraft manufacturing requirements of short cycle, high efficiency, high reliability and high safety. The automatic feeding and riveting have the following shortcomings in practical applications: there is an inevitable problem of nail jamming, lack of storage boxes after rivet sorting, and the entire system will shut down when there is a sorting failure. Specifically, when using a pneumatic riveting gun to perform riveting operations of nut locking type rivets, it is necessary to manually select the corresponding rivets. For two rivets of the same category but with a relatively small length difference, it is easy to take the wrong rivet, which will lead to insufficient tension after riveting and quality problems; due to the presence of the locking nut, the center of gravity of rivets of different lengths of threaded locking type rivets is not consistent with the direction of the nut, which makes the traditional vibrating tray nail feeding method not applicable. Existing rivet magazines are all clip-type magazines, in which the rivets are arranged side by side. Since the difference between the two ends of the thread locking rivet is relatively large, and the nut is easy to loosen or even fall off, this magazine is not suitable.

[0004] Therefore, how to provide a high-efficiency, highly automated rivet replacement and rivet removal system for robot riveting has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, in order to overcome the deficiencies of the prior art, the present invention aims to provide a rivet replacement and rivet removal system for robot riveting.

[0006] The present invention provides a rivet replacement and nail-extracting system for robot riveting, comprising a material box device and a plurality of nail-extracting devices, the material box device comprising a material box base, a material box upper beam, a plurality of nail-extracting tubes, a first side wall and a second side wall, two wedge-shaped supports are arranged on the first side wall from top to bottom, a plurality of through-discharging channels are longitudinally arranged on the material box base, a plurality of through-feeding channels are longitudinally arranged on the material box upper beam, a plurality of nail-extracting tubes are arranged between the material box base and the material box upper beam and connect the discharging channels and the feeding channels one by one; the nail-extracting device comprises a support, a slider, a discharging ejector rod, a guide pin, a reset guide assembly, a first material stop assembly, a first material stop assembly, a second ... Two material blocking assemblies, wherein the support is fixedly assembled on one side of the material box base, the discharge ejector rod, the slider, and the reset guide assembly are sequentially connected from bottom to top and longitudinally assembled on one side of the support body, the first material blocking assembly and the second material blocking assembly are horizontally assembled on the other side of the support body in parallel with each other from top to bottom and pass through the discharge channel; when the discharge ejector rod is subjected to an upward thrust, the slider can move the first material blocking assembly into the discharge channel while moving the second material blocking assembly away from the discharge channel, and when the thrust is removed, the reset guide assembly moves the slider downward, wherein the guide pin passes through the moving groove of the slider and is assembled in the pin hole of the support.

[0007] According to an exemplary embodiment of the present invention, in the rivet replacement and nail removal system for robot riveting of the present invention, a first assembly cavity is arranged on one side of the support, a through pin hole is arranged on the support wall outside the first assembly cavity, a second assembly cavity and a third assembly cavity which are longitudinally connected to the first assembly cavity are arranged on the top and bottom of the support respectively, and a fourth assembly cavity and a fifth assembly cavity which are transversely connected to the first assembly cavity are arranged in parallel from top to bottom on the other side of the support body.

[0008] According to an exemplary embodiment of the present invention, in the rivet replacement and nail removal system for robot riveting of the present invention, a first threaded hole is arranged on the top of the slider, a second threaded hole is arranged on the bottom of the slider, a through movable groove is arranged longitudinally on the body of the slider, and two integrally connected inclined surfaces are symmetrically arranged up and down on one side of the slider, and a slide groove is arranged on the inclined surface.

[0009] According to an exemplary embodiment of the present invention, in the rivet replacement and nail removal system for robot riveting of the present invention, the reset guide assembly includes a guide rod, a guide reset spring and a positioning cover, wherein the positioning cover is coaxially assembled on the upper part of the second assembly cavity, the upper end of the guide rod is coaxially fixed in the positioning cover, the lower end of the guide rod is provided with an external thread, the guide reset spring is coaxially sleeved on the outside of the guide rod, and the upper end of the guide reset spring is fixedly connected to the bottom of the positioning cover.

[0010] According to an exemplary embodiment of the present invention, in the rivet replacement and rivet ejection system for robot riveting of the present invention, the top of the slider is fixedly connected to the lower end of the guide rod through a first threaded hole, and the bottom of the slider is fixedly connected to the upper end of the ejection push rod longitudinally assembled along the third assembly cavity through a second threaded hole.

[0011] According to an exemplary embodiment of the present invention, in the rivet replacement and nail removal system for robot riveting of the present invention, the first material stop assembly is coaxially assembled in the fourth assembly cavity, and the first material stop assembly includes a first material stop rod and a first material stop return spring coaxially sleeved on the outside of the first material stop rod.

[0012] According to an exemplary embodiment of the present invention, in the rivet replacement and nail removal system for robot riveting of the present invention, the second material stop assembly is coaxially assembled in the fifth assembly cavity, and the second material stop assembly includes a second material stop rod and a second material stop return spring coaxially sleeved on the outside of the second material stop rod.

[0013] According to an exemplary embodiment of the present invention, in the rivet replacement and nail removal system for robot riveting of the present invention, a first material stopping hole and a second material stopping hole are set on one side of the material box base, and the first material stopping hole matches the fourth assembly cavity of the support, and the second material stopping hole matches the fifth assembly cavity of the support.

[0014] According to an exemplary embodiment of the present invention, in the rivet changing and nailing system for robot riveting of the present invention, a blocker and a blocker return spring are arranged in the blocker assembly cavity of the upper beam of the material box, one end of the blocker return spring is fixedly connected to the blocker, and the other end of the blocker return spring is fixedly connected to the inner wall of one end of the upper beam of the material box, and the blocker is arranged between the feed channel and the nailing tube.

[0015] According to an exemplary embodiment of the present invention, the rivet replacement and nail removal system for robot riveting of the present invention also includes a supporting device, which includes a supporting bracket and a first supporting seat assembly and a second supporting seat assembly arranged on the supporting bracket from top to bottom, and the first supporting seat assembly includes a lateral wedge-shaped seat, a guide baffle and a positive wedge-shaped seat, wherein the outer end surface of the wedge-shaped seat is provided with a wedge-shaped groove matching the wedge-shaped support, the guide baffle is fixedly arranged on the outer end surfaces on both sides of the wedge groove, and the positive wedge seat is fixedly arranged at the bottom of the guide baffle gap.

[0016] The rivet replacement and rivet removal system for robot riveting of the present invention has the following beneficial effects:

[0017] 1. The material box device and the nail ejection device adopt the overall design of pure mechanical structure, which can realize the one-by-one delivery of rivets, avoid the problems of confusion in nail delivery, and improve the efficiency and automation of rivet ejection.

[0018] 2. The material box device includes multiple vertical nailing tubes, each of which can be loaded with different rivets to meet the needs of various types of rivets in the riveting process; multiple nailing tubes placed in parallel form a large rivet warehouse, which can reliably store materials during the automatic riveting process, and is more convenient for the continuous and stable operation of the entire system. When problems occur in the previous links, the entire system does not need to be shut down and wait for processing.

[0019] 3. By providing a material blocking piece and a material blocking piece return spring in the material box device, the rivets of the material box device can be prevented from falling out during transportation.

[0020] 4. The material box device can be integrated and assembled to effectively utilize the space in the height direction, reduce the space occupied in the plane direction, reduce the equipment's occupation of factory area, and save production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a schematic structural diagram of a material box device and a nail output device in a rivet replacement and nail output system for robot riveting in an exemplary embodiment of the present invention.

[0023] Figure 2 It is a schematic structural diagram of a magazine base in a rivet replacement and rivet removal system for robot riveting according to an exemplary embodiment of the present invention.

[0024] Figure 3 It is a schematic assembly diagram of a material box device and a nail output device in a rivet replacement and nail output system for robot riveting in an exemplary embodiment of the present invention.

[0025] Figure 4 It is a schematic structural diagram of a support in a rivet replacement and rivet removal system for robot riveting according to an exemplary embodiment of the present invention.

[0026] Figure 5 It is a cross-sectional schematic diagram of a support in a rivet replacement and rivet removal system for robot riveting according to an exemplary embodiment of the present invention.

[0027] Figure 6 It is a schematic structural diagram of a slider in a rivet replacement and rivet removal system for robot riveting according to an exemplary embodiment of the present invention.

[0028] Figure 7 It is a cross-sectional schematic diagram of a slider in a rivet replacement and rivet removal system for robot riveting according to an exemplary embodiment of the present invention.

[0029] Figure 8 It is a schematic diagram of the partial structure of a material box device in a rivet replacement and nail removal system for robot riveting according to an exemplary embodiment of the present invention.

[0030] Fig. 9 It is a schematic structural diagram of a support device in a rivet replacement and rivet removal system for robot riveting according to an exemplary embodiment of the present invention.

[0031] In the figure, 1-support device, 11-support bracket, 12-first support seat assembly, 13-second support seat assembly, 121-lateral wedge-shaped seat, 122-wedge-shaped groove, 123-guide baffle, 124-positive wedge-shaped seat, 2-material box device, 21-material box base, 211-first material blocking hole, 212-second material blocking hole, 22-material box upper beam, 23-nail tube, 24-first side wall, 25-second side wall, 251-handle, 26-blocking piece, 27-blocking piece return spring, 241-wedge-shaped support, 210-discharging channel, 213-second pin hole, 221-feeding channel, 222-blocking piece assembly cavity, 3-nail-discharging device, 31-support, 32-slider, 33-discharging ejector rod, 34-guide pin, 35-reset guide assembly, 36-first blocking assembly, 37-second blocking assembly, 38-positioning pin, 39-rear cover, 310-first assembly cavity, 311-second assembly cavity, 312-third assembly cavity, 313-pin hole, 314-fourth assembly cavity, 315-fifth assembly cavity, 316-first pin hole, 317-back cover assembly hole, 318-locking assembly hole, 321-first threaded hole, 322-second threaded hole, 323-movable groove, 324-inclined surface, 325-slide groove, 351-guide rod, 352-guide return spring, 353-positioning pressure cover, 361-first material stop rod, 362-first material stop return spring, 371-second material stop rod, 372-second material stop return spring, 4-rivet. DETAILED DESCRIPTION

[0032] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

[0034] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0035] A schematic diagram of a rivet replacement and rivet removal system for robot riveting according to an exemplary embodiment of the present invention is shown in FIG. Figure 1 As shown, the rivet material replacement and nail removal system for robot riveting in this embodiment includes a material box device 2 and a plurality of nail removal devices 3.

[0036] Specifically, Figure 1 and Figure 2 As shown, the material box device 2 includes a material box base 21, a material box upper beam 22, a plurality of nailing tubes 23, a first side wall 24 and a second side wall 25. Two wedge-shaped supports 241 are arranged on the first side wall 24 from top to bottom, and two handles 251 are arranged on the second side wall 25 from top to bottom. A plurality of through discharge channels 210 are longitudinally arranged on the material box base 21, and a plurality of through feed channels 221 are longitudinally arranged on the material box upper beam 22. A plurality of nailing tubes 23 are arranged between the material box base 21 and the material box upper beam 22 and connect the discharge channels 210 and the feed channels 221 one by one.

[0037] like Figure 3 As shown, the nail discharging device 3 includes a support 31, a slider 32, a discharging ejector rod 33, a guide pin 34, a reset guide assembly 35, a first stop assembly 36, and a second stop assembly 37, wherein Figure 5 As shown, a plurality of first pin holes 316 are provided on one side of the support 31. Figure 2As shown, a plurality of second pin holes 213 are provided on one side of the magazine base 21, and the positioning pin 38 is coaxially assembled in the first pin hole 316 and the second pin hole 213 to position the support 31 on one side of the magazine base 21, which is used for positioning when the nail ejection device 3 is installed, ensuring the installation accuracy and alignment of each component in the nail ejection device, and avoiding the installation error causing the nail to be stuck. A plurality of locking assembly holes 318 are provided on the other side of the support 31, and the fasteners are assembled in the locking assembly holes 318 to fix the support 31 on one side of the magazine base 21. The ejection ejector rod 33, the slider 32, and the reset guide assembly 35 are sequentially connected from top to bottom and longitudinally assembled on one side of the support 31 body, and the first material stop assembly 36 and the second material stop assembly 37 are horizontally assembled on the other side of the support 31 body in parallel from top to bottom and pass through the ejection channel 210.

[0038] Specifically, Figure 4 and Figure 5 As shown, a first assembly cavity 310 is provided on one side of the support 31, a through pin hole 313 is provided on the support wall outside the first assembly cavity 310, a second assembly cavity 311 and a third assembly cavity 312 which are longitudinally connected to the first assembly cavity 310 are respectively provided on the top and bottom of the support 31, and a fourth assembly cavity 314 and a fifth assembly cavity 315 which are transversely connected to the first assembly cavity 310 are provided in parallel from top to bottom on the other side of the support 31 body.

[0039] like Figure 6 and Figure 7 As shown, a first threaded hole 321 is provided at the top of the slider 32, a second threaded hole 322 is provided at the bottom of the slider 32, a longitudinally through movable groove 323 is provided on the body of the slider 32, and two integrally connected inclined surfaces 324 are symmetrically provided on one side of the slider 32, and a sliding groove 325 is provided on the inclined surface 324.

[0040] like Figure 3As shown, the reset guide assembly 35 includes a guide rod 351, a guide reset spring 352 and a positioning cover 353, wherein the positioning cover 353 is coaxially assembled on the upper part of the second assembly cavity 311, the upper end of the guide rod 351 is coaxially fixed in the positioning cover 353, the lower end of the guide rod 351 is provided with an external thread, the guide reset spring 352 is coaxially sleeved on the outer side of the guide rod 351, and the upper end of the guide reset spring 352 is fixedly connected to the bottom of the positioning cover 353. The guide pin 34 passes through the moving groove 323 of the slider 32 and is assembled in the pin hole 313 of the support 31, the top of the slider 32 is fixedly connected to the lower end of the guide rod 351 through the first threaded hole 321, and the bottom of the slider 32 is fixedly connected to the upper end of the discharge ejector rod 33 assembled along the longitudinal direction of the third assembly cavity 312 through the second threaded hole 322. The first material stopper assembly 36 is coaxially assembled in the fourth assembly cavity 314, and includes a first material stopper rod 361 and a first material stopper return spring 362 coaxially sleeved on the outside of the first material stopper rod 361. The second material stopper assembly 37 is coaxially assembled in the fifth assembly cavity 315, and includes a second material stopper rod 371 and a second material stopper return spring 372 coaxially sleeved on the outside of the second material stopper rod 371.

[0041] like Figure 3 and Figure 4 As shown, a plurality of rear cover assembly holes 317 are provided on one side of the support 31 , and the rear cover 39 is fixedly assembled on the outer side of the first assembly cavity 310 of the support 31 through the rear cover assembly holes 317 to protect the internal components of the support 31 .

[0042] like Figure 2 and Figure 3 As shown, a first material blocking hole 211 and a second material blocking hole 212 are provided on one side of the material box base 21 , wherein the first material blocking hole 211 matches with the fourth assembly cavity 314 of the support 31 , and the second material blocking hole 212 matches with the fifth assembly cavity 315 of the support 31 .

[0043] like Figure 8 As shown, a blocking piece 26 and a blocking piece return spring 27 are arranged in the blocking piece assembly cavity 222 of the material box upper beam 22, one end of the blocking piece return spring 27 is fixedly connected to the blocking piece 26, and the other end of the blocking piece return spring 27 is fixedly connected to the inner wall of one end of the material box upper beam 22, and the blocking piece 26 is arranged between the feed channel 221 and the binding tube 23.

[0044] When the baffle plate return spring 27 is in a free state, the baffle plate blocks the feed channel 221 to prevent the rivet 4 from falling out of the feed channel 221 during the transportation of the material box device 2; when a lateral force is applied to the baffle plate 26, the baffle plate return spring 27 is compressed, and the feed channel 221 above the stapling tube 23 is opened, and the stapling operation of the material box device 2 can be carried out at this time.

[0045] like Fig. 9 As shown, the rivet replacement and nail removal system for robot riveting of this embodiment also includes a support device 1, which includes a support bracket 11 and a first support seat assembly 12 and a second support seat assembly 13 arranged on the support bracket 11 from top to bottom. The first support seat assembly 12 includes a lateral wedge-shaped clamping seat 121, a guide baffle 123 and a positive wedge-shaped clamping seat 124, wherein the outer end surface of the lateral wedge-shaped clamping seat 121 is provided with a wedge-shaped groove 122 matching the wedge-shaped support 241, the guide baffle 123 is fixedly arranged on the outer end surfaces on both sides of the wedge-shaped groove 122, and the positive wedge-shaped clamping seat 124 is fixedly arranged at the bottom of the gap of the guide baffle 123. The first support seat assembly 12 and the second support seat assembly 13 of this embodiment have the same structure.

[0046] When installing the magazine device 2, the wedge-shaped support 241 on the first side wall 24 of the magazine device 2 is preliminarily positioned by the guide block 123 and assembled in the wedge-shaped groove 122 of the wedge-shaped support 241 to achieve quick installation. When the magazine device 2 needs to be removed, the magazine device can be replaced by grabbing the handle 251 on the second side wall 25 and lifting it up.

[0047] The application principle of the rivet replacement and rivet removal system for robot riveting according to the exemplary embodiment of the present invention is as follows:

[0048] Under the action of the reset guide assembly 35, the natural state of the nail ejection device 3 is as follows Figure 3 As shown, at this time, the second stopper assembly 37 extends into the discharge channel 210 in an extended state to block the rivet in the discharge channel 210, and the first stopper assembly 36 is retracted and is outside the discharge channel 210; when the discharge ejector rod 33 is pushed upward, the guide return spring 352 is compressed, and the slider 32 moves upward, and the slider 32 moves the first stopper assembly 36 into the discharge channel 210 to block the discharge channel 210, blocking the rivet 4 above the first stopper assembly 36, and at the same time, the second stopper assembly 37 is far away The rivet 4 blocked by the second stopper assembly 37 in the natural state is released. When the thrust is removed, the guide reset spring 352 in the reset guide assembly 35 is extended and reset, so that the slider 32 moves downward and falls back to the original position, so that the first stopper assembly 36 is retracted, and the corresponding discharge channel 210 is opened. The second stopper assembly 37 extends to block the discharge channel 210 at the corresponding position. The rivet 4 at the first stopper assembly 36 falls down and is blocked by the second stopper assembly 37, completing a cycle. When the rivet 4 needs to be output again, the discharge ejector rod 33 is pushed upward again, and the above steps are repeated. This cycle can ensure that only one rivet 4 is delivered each time, and the situation of nail delivery confusion can be avoided.

[0049] In practical applications, a rivet detection sensor may be provided in the corresponding stapling tube 23 to detect the passing signal of the rivet and feed it back to the feeding box device to form a closed-loop control to ensure the reliability of the nail feeding.

[0050] The rivet replacement and nail removal system for robot riveting of this embodiment adopts a purely mechanical overall design of the material box device and the nail removal device to realize the one-by-one delivery of rivets and avoid problems such as confusion in nail delivery. The material box device includes a plurality of vertical nailing tubes, each of which can be loaded with different rivets to meet the needs of various types of rivets during the riveting process; the multiple nailing tubes placed in parallel form a large rivet warehouse, which can reliably store materials during the automatic nail feeding process of riveting, and is more convenient for the continuous and stable operation of the whole system. When problems occur in the previous link, the whole system does not need to be completely shut down to wait for processing. By arranging a material blocking piece and a material blocking piece reset spring in the material box device, the rivets of the material box device can be prevented from falling out during transportation. The material box device can be assembled in an integrated manner, effectively utilizing the space in the height direction, reducing the space occupied in the plane direction, reducing the equipment's occupation of the plant area, and saving production costs.

[0051] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A rivet replacement and rivet removal system for robot riveting, characterized in that: The rivet material replacement and nail-extracting system comprises a material box device and multiple nail-extracting devices, the material box device comprises a material box base, a material box upper beam, multiple nail-loading tubes, a first side wall and a second side wall, two wedge-shaped supports are arranged on the first side wall from top to bottom, multiple through-discharging channels are longitudinally arranged on the material box base, multiple through-feeding channels are longitudinally arranged on the material box upper beam, multiple nail-loading tubes are arranged between the material box base and the material box upper beam and connect the discharging channels and the feeding channels one by one; the nail-extracting device comprises a support, a slider, a discharging ejector rod, a guide pin, a reset guide assembly, a first material stopper assembly, and a second material stopper assembly, wherein the support is fixedly assembled on one side of the material box base, and the discharging ejector rod, the slider, and the reset guide assembly are sequentially connected from bottom to top and longitudinally arranged. The first and second material stopper assemblies are assembled on one side of the support body, and the first and second material stopper assemblies are assembled horizontally on the other side of the support body in parallel from top to bottom and pass through the discharge channel; when the discharge push rod is subjected to an upward thrust, the slider can move the first material stopper assembly into the discharge channel while moving the second material stopper assembly away from the discharge channel. When the thrust is removed, the reset guide assembly moves the slider downward. A first assembly cavity is arranged on one side of the support, and a through pin hole is arranged on the support wall outside the first assembly cavity. A through moving groove is longitudinally arranged on the body of the slider, wherein the guide pin passes through the moving groove of the slider and is assembled in the pin hole of the support. Two integrally connected inclined surfaces are symmetrically arranged up and down on one side of the slider, and a slide groove is arranged on the inclined surface.

2. The rivet replacement and rivet removal system for robot riveting according to claim 1, characterized in that: The second and third assembling cavities longitudinally penetrating the first assembling cavity are respectively arranged at the top and bottom of the support, and the fourth and fifth assembling cavities transversely penetrating the first assembling cavity are arranged in parallel from top to bottom on the other side of the support body.

3. The rivet replacement and rivet removal system for robot riveting according to claim 2, characterized in that: The reset guide assembly includes a guide rod, a guide reset spring and a positioning cover, wherein the positioning cover is coaxially assembled on the upper part of the second assembly cavity, the upper end of the guide rod is coaxially fixed in the positioning cover, the lower end of the guide rod is provided with an external thread, the guide reset spring is coaxially sleeved on the outer side of the guide rod, and the upper end of the guide reset spring is fixedly connected to the bottom of the positioning cover.

4. According to the rivet replacement and nail removal system for robot riveting according to claim 3, a first threaded hole is set at the top of the slider, and a second threaded hole is set at the bottom of the slider. The top of the slider is fixedly connected to the lower end of the guide rod through the first threaded hole, and the bottom of the slider is fixedly connected to the upper end of the ejection push rod assembled along the longitudinal direction of the third assembly cavity through the second threaded hole.

5. The rivet replacement and rivet removal system for robot riveting according to claim 4, characterized in that: The first material stopping assembly is coaxially assembled in the fourth assembly cavity, and the first material stopping assembly includes a first material stopping rod and a first material stopping return spring coaxially sleeved on the outside of the first material stopping rod.

6. The rivet replacement and rivet removal system for robot riveting according to claim 5, characterized in that: The second material stopping assembly is coaxially assembled in the fifth assembly cavity, and the second material stopping assembly includes a second material stopping rod and a second material stopping return spring coaxially sleeved on the outside of the second material stopping rod.

7. The rivet replacement and rivet removal system for robot riveting according to claim 6, characterized in that: A first material blocking hole and a second material blocking hole are arranged on one side of the material box base, wherein the first material blocking hole matches with the fourth assembly cavity of the support, and the second material blocking hole matches with the fifth assembly cavity of the support.

8. The rivet replacement and rivet removal system for robot riveting according to claim 1, characterized in that: A blocking piece and a blocking piece return spring are arranged in the blocking piece assembly cavity of the upper beam of the material box, one end of the blocking piece return spring is fixedly connected to the blocking piece, and the other end of the blocking piece return spring is fixedly connected to the inner wall of one end of the upper beam of the material box, and the blocking piece is arranged between the feed channel and the nailing tube.

9. The rivet replacement and rivet removal system for robot riveting according to claim 1, characterized in that: The system also includes a supporting device, which includes a supporting bracket and a first supporting seat assembly and a second supporting seat assembly arranged on the supporting bracket from top to bottom, wherein the first supporting seat assembly includes a lateral wedge-shaped seat, a guide baffle and a positive wedge-shaped seat, wherein the outer end surface of the lateral wedge-shaped seat is provided with a wedge-shaped groove matching the wedge-shaped seat, the guide baffle is fixedly arranged on the outer end surfaces on both sides of the wedge groove, the positive wedge seat is fixedly arranged at the bottom of the guide baffle gap, and the second supporting seat assembly has the same structure as the first supporting seat assembly.

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