A rivet connection device for robot riveting

Abstract

The present invention relates to the technical field of robot automatic riveting, and provides a rivet connection device for robot riveting, comprising a base plate, a material box opening assembly, an alignment assembly, a nail grabbing assembly and a nail connection tube assembly, wherein the material box opening assembly comprises a first cylinder, a piston rod, a mounting seat, a bracket and a second cylinder, and the alignment assembly comprises a nail connection fork, two guide claws, a fixed hinge pin and a spring, and the piston rod can move the mounting seat, the bracket, the second cylinder and the alignment assembly along the X-axis direction under the action of the first cylinder, and a lifting piston rod is arranged on the upper part of the second cylinder, and the lifting piston rod can move along the Z-axis direction under the action of the second cylinder, and the nail grabbing assembly comprises a third cylinder and two nail connection claws, and the two nail connection claws are assembled at the ends of the third cylinder and can clamp and release a pair of nail connection claws along the Y-axis direction under the action of the third cylinder. The present invention makes the rivet connection process stable, reliable, convenient and efficient through comprehensive design.

Description

Technical Field

[0001] The invention relates to the technical field of robot automatic riveting, and in particular to a rivet connecting device used 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 semi-automatic 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 does not meet the current aircraft manufacturing requirements of short cycle, high efficiency, high reliability and high safety. There are the following shortcomings in the actual application of automated nail feeding and nail connection: there is an inevitable problem of nail jamming, and the rivets often tilt or fall off during the nail connection process. Due to the presence of the locking nut, the center of gravity of the threaded locking rivet is inconsistent with the direction of the nut for rivets of different lengths, resulting in uncontrollable deflection of the rivet when the conventional nail connection device falls, which leads to reduced stability and reliability of the nail connection.

[0004] Therefore, how to provide a rivet connection device with high efficiency, high stability and high reliability 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 connecting device for robot riveting.

[0006] The present invention provides a rivet connection device for robot riveting, comprising a base plate, a material box opening assembly, an alignment assembly, a nail grabbing assembly and a nail connection tube assembly. The material box opening assembly comprises a first cylinder, a piston rod, a mounting seat, a bracket and a second cylinder. The first cylinder is fixedly arranged on the base plate, one end of the piston rod is connected to the first cylinder sliding sleeve, the other end of the piston rod is fixedly connected to the mounting seat, the bracket is fixedly installed on the end of the mounting seat, the second cylinder is fixedly installed on the bracket, the alignment assembly comprises a nail connection fork, two guide claws, a fixed hinge pin and a compression spring, the nail connection fork is fixedly installed on the side of the mounting seat, and the two guide claws are fixed by the fixed hinge pin The first cylinder is provided with a lifting piston rod, and the lifting piston rod can move along the Z-axis direction under the action of the second cylinder. The nail grabbing assembly includes a third cylinder and two nail connecting claws. The third cylinder and the first cylinder are fixedly arranged on the bottom plate in parallel with each other. The two nail connecting claws are assembled on the ends of the third cylinder and can clamp and release a pair of nail connecting claws along the Y-axis direction under the action of the third cylinder. The nail connecting tube assembly is fixedly arranged directly below the nail connecting claws of the nail grabbing assembly.

[0007] According to an exemplary embodiment of the present invention, in a rivet connection device for robot riveting of the present invention, the mounting seat is L-shaped as a whole, a stepped hole is arranged at the end of the mounting seat, a plurality of first fastening holes are evenly distributed on the end surface outside the stepped hole, and a plurality of second fastening holes are evenly distributed on the side surface of the mounting seat.

[0008] According to an exemplary embodiment of the present invention, in a rivet connection device for robot riveting, one end of a piston rod is provided with an external thread, and the end of the piston rod provided with the external thread is coaxially sleeved in a stepped hole and fixed to the end of a mounting seat by a nut.

[0009] According to an exemplary embodiment of the present invention, the present invention is used for a rivet connection device for robot riveting, wherein the bracket is fixedly assembled on the outer side surface of the end of the mounting seat by a first fastener, a fixing seat is arranged on the upper part of the bracket body, and the second cylinder is coaxially fixedly assembled in the fixing seat.

[0010] According to an exemplary embodiment of the present invention, in a rivet connection device for robot riveting of the present invention, a connection fork comprises a fork mounting portion, a fold line portion and a fork mouth portion which are integrally connected, a mounting wall is arranged at the bottom of the fork mounting portion, a plurality of third fastening holes are arranged on the mounting wall, the third fastening holes match the second fastening holes, a rivet positioning groove is arranged at the fork mouth portion, and two fourth fastening holes are arranged at the upper portion of the fork mouth portion.

[0011] According to an exemplary embodiment of the present invention, in a rivet connection device for robot riveting, the guide claw is composed of a guide claw assembly part and a guide part that are integrally connected, the inner side surface of the guide part is an arc surface, a spring assembly hole is arranged on the inner side surface of the guide claw assembly part, and a through fifth fastening hole is arranged on the guide claw assembly part, and the fifth fastening hole matches the fourth fastening hole.

[0012] According to an exemplary embodiment of the present invention, in a rivet connecting device for robot riveting, the guide claw is assembled on the upper part of the fork mouth of the connecting fork through a fixed hinge pin coaxially assembled in the fifth fastening hole and the fourth fastening hole, and a compression spring is assembled between the guide claw assembly parts of the two guide claws, and the ends of the compression spring are respectively assembled in the spring assembly holes of the guide claws.

[0013] According to an exemplary embodiment of the present invention, in the rivet connection device for robot riveting of the present invention, a clamping claw connection portion is provided at the end of the third cylinder.

[0014] According to an exemplary embodiment of the present invention, the present invention is a rivet connection device for robot riveting, the main body of the nail connection jaw is in the shape of an elongated strip, a jaw assembly portion is provided at the lower portion of one end of the nail connection jaw body, a plurality of sixth fastening holes are provided on the jaw assembly portion, the nail connection jaw is fixedly assembled on the jaw connecting portion by a second fastener assembled in the sixth fastening hole, and a V-shaped clamping groove is provided on a side surface of the other end of the nail connection jaw body.

[0015] According to an exemplary embodiment of the present invention, the rivet connecting device of the present invention is used for robot riveting, and the connecting tube assembly includes a pipe joint, a nail feeding tube arranged below the pipe joint and integrally connected with the pipe joint, and a sensor fixedly arranged on the side of the nail feeding tube.

[0016] The rivet connecting device for robot riveting of the present invention has the following beneficial effects through comprehensive structural design:

[0017] 1. Through the comprehensive structural design of the material box opening component, the mounting seat, the bracket, the second cylinder and the alignment component move along the X-axis direction, and the lifting piston rod as the original opening component of the material box outlet moves along the Z-axis direction, so that the lifting piston rod is aligned with the center of the nail output switch at the nail output position of the material box, and at the same time, the rivet positioning groove of the nail receiving fork and the center of the guide claw guide part are aligned with the center of the nail output tube, thereby realizing the positioning of the rivet in the Z-axis direction, so that the posture of the rivet clamped each time is vertical, avoiding the tilted clamping of the rivet.

[0018] 2. A compression spring is arranged between the guide claws, which are combined as a whole into an elastic guide claw structure, and the rivet is guided and the guide claw is withdrawn and automatically reset after the guide clamping.

[0019] 3. Through the comprehensive structural design of the rivet grabbing assembly, the accuracy and reliability of the rivet grabbing position are increased, and the tilted grabbing of the rivet is further avoided, making the rivet grabbing and feeding process stable and reliable.

[0020] 4. The overall structure is simple. Through the comprehensive design of guiding, connecting, positioning, feeding and detecting components, the rivet connecting process is stable, reliable, convenient and efficient, and is suitable for riveting applications with compact structures. 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 rivet connection device for robot riveting according to an exemplary embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of the partial structure of a rivet connection device used for robot riveting according to an exemplary embodiment of the present invention.

[0024] Figure 3 It is a schematic diagram of the partial structure of a rivet connection device used for robot riveting according to an exemplary embodiment of the present invention.

[0025] Figure 4 FIG. 1 is a top view of a rivet connection device for robot riveting according to an exemplary embodiment of the present invention.

[0026] Figure 5 It is a schematic structural diagram of a rivet fork in a rivet joining device for robot riveting according to an exemplary embodiment of the present invention.

[0027] Figure 6 It is a schematic structural diagram of a guide claw in a rivet connection device for robot riveting according to an exemplary embodiment of the present invention.

[0028] Figure 7 It is a schematic diagram of the partial structure of a rivet connection device used for robot riveting according to an exemplary embodiment of the present invention.

[0029] Figure 8 It is a schematic diagram of the application principle of a rivet connection device for robot riveting according to an exemplary embodiment of the present invention.

[0030] Fig. 9 It is a schematic structural diagram of a rivet connection clamp in a rivet connection device for robot riveting according to an exemplary embodiment of the present invention.

[0031] In the figure, 1-bottom plate, 2-material box opening assembly, 3-alignment assembly, 4-nail grabbing assembly, 5-nail connecting tube assembly, 21-first cylinder, 22-piston rod, 23-mounting seat, 24-bracket, 25-second cylinder, 231-step hole, 232-first fastening hole, 233-second fastening hole, 234-nut, 241-fixing seat, 242-first fastener, 251-lifting piston rod, 31-nail connecting fork, 32-guide claw, 33-fixed hinge pin, 34-compression spring, 311-fork mounting portion, 312-folding line portion, 313-fork mouth Part, 314-installing wall, 315-third fastening hole, 316-rivet positioning groove, 317-fourth fastening hole, 321-guide claw assembly part, 322-guide part, 323-arc surface, 324-spring assembly hole, 325-fifth fastening hole, 41-third cylinder, 42-nail clamping claw, 411-clamping claw connecting part, 412-second fastener, 421-clamping claw assembly part, 422-sixth fastening hole, 423-V-shaped clamping groove, 51-pipe joint, 52-nail feeding tube, 53-sensor, 6-rivet, 61-hexagonal nut, 62-rivet rod. 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] Figure 1 FIG. 1 is a schematic structural diagram of a rivet connection device for robot riveting according to an exemplary embodiment of the present invention. Figure 1 As shown, the rivet connecting device for robot riveting of this embodiment includes a base plate 1, a material box opening component 2, an alignment component 3, a nail grabbing component 4 and a nail connecting tube component 5.

[0036] Specifically, Figure 1 As shown, the material box opening assembly 2 includes a first cylinder 21, a piston rod 22, a mounting seat 23, a bracket 24 and a second cylinder 25. The first cylinder 21 is fixedly arranged on the bottom plate 1, one end of the piston rod 22 is connected to the first cylinder 21 sliding sleeve, the other end of the piston rod 22 is fixedly connected to the mounting seat 23, the bracket 24 is fixedly installed at the end of the mounting seat 23, and the second cylinder 25 is fixedly installed on the bracket 24. In practical applications, Figure 2 As shown, the mounting seat 23 is L-shaped as a whole, and a stepped hole 231 is provided at the end of the mounting seat 23, a plurality of first fastening holes 232 are evenly distributed on the end surface outside the stepped hole 231, and a plurality of second fastening holes 233 are evenly distributed on the side surface of the mounting seat 23. An external thread is provided at one end of the piston rod 22, and the end of the piston rod 22 provided with the external thread is coaxially sleeved in the stepped hole 231 and fixed to the end of the mounting seat 23 by a nut 234. Figure 3 As shown, the bracket 24 is fixedly assembled on the outer side of the end of the mounting seat 23 by a first fastener 242, a fixing seat 241 is arranged on the upper part of the bracket 24 body, and the second cylinder 25 is coaxially fixedly assembled in the fixing seat 241. A lifting piston rod 251 is arranged on the upper part of the second cylinder 25 as an opening element of the material box outlet, and the lifting piston rod 251 can move along the Z-axis direction under the action of the second cylinder 25.

[0037] like Figure 1 , Figure 2 and Figure 4 As shown, the alignment assembly 3 includes a nail fork 31, two guide claws 32, a fixed hinge pin 33 and a compression spring 34. The nail fork 31 is fixedly mounted on the side of the mounting seat 23, and the two guide claws 32 are fixedly mounted on the fork end of the nail fork 31 through the fixed hinge pin 33.

[0038] The piston rod 22 can move the mounting seat 23, the bracket 24, the second cylinder 25 and the alignment assembly 3 along the X-axis direction under the action of the first cylinder 21.

[0039] like Figure 5 As shown, the connecting nail fork 31 includes a fork mounting portion 311, a folding line portion 312 and a fork mouth portion 313 which are connected in one piece. A mounting wall 314 is provided at the bottom of the fork mounting portion 311. A plurality of third fastening holes 315 are provided on the mounting wall 314. The third fastening holes 315 match the second fastening holes 233. A rivet positioning groove 316 is provided at the fork mouth portion 313. Two fourth fastening holes 317 are provided at the upper portion of the fork mouth portion 313. The connecting nail fork 31 is used for connecting nails when the rivets 6 in the material box fall. In practical applications, the fork mouth portion 313 of the connecting nail fork 31 is provided with a transition chamfer to prevent the rivets 6 from getting stuck when they fall.

[0040] like Figure 6As shown, the guide claw 32 is composed of a guide claw assembly part 321 and a guide part 322 which are integrally connected. The inner side surface of the guide part 322 is an arc surface 323. The inner side surface of the guide claw assembly part 321 is provided with a spring assembly hole 324. The guide claw assembly part 321 is provided with a through fifth fastening hole 325, and the fifth fastening hole 325 matches the fourth fastening hole 317.

[0041] like Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the guide claw 32 is assembled on the upper part of the fork mouth portion 313 of the rivet fork 31 through the fixed hinge pin 33 coaxially assembled in the fifth fastening hole 325 and the fourth fastening hole 317, and the compression spring 34 is assembled between the guide claw assembly portions 321 of the two guide claws 32, and the ends of the compression spring 34 are respectively assembled in the spring assembly holes 324 of the guide claw 32. The guide claw 32 can rotate along the axis of the fixed hinge pin 33. The compression spring 34 between the two guide claws 32 can enable the two guide claws 32 to symmetrically separate and close when rotating along the fixed hinge pin 33, so that they are combined into an elastic guide claw combination, which is convenient for guiding the rivet 6 when it falls and withdrawing after clamping.

[0042] like Figure 1 , Figure 3 and Figure 8 As shown, the nail grabbing assembly 4 includes a third cylinder 41 and two nail connecting claws 42. The third cylinder 41 and the first cylinder 21 are fixedly arranged on the bottom plate 1 in parallel with each other. The two nail connecting claws 42 are assembled at the ends of the third cylinder 41 and can clamp and release a pair of nail connecting claws 42 along the Y-axis direction under the action of the third cylinder 41. A claw connecting portion 411 is arranged at the end of the third cylinder 41. Fig. 9 As shown, the main body of the nail clamp 42 is in the shape of an elongated strip, and a clamp assembly portion 421 is provided at the lower part of one end of the main body of the nail clamp 42, and a plurality of sixth fastening holes 422 are provided on the clamp assembly portion 421. The nail clamp 42 is fixedly assembled on the clamp connection portion 411 by a second fastener 412 assembled in the sixth fastening hole 422, and a V-shaped clamping groove 423 is provided on one side of the other end of the main body of the nail clamp 42, and the nail clamp 42 is used to grab the fallen rivet 6. Through the comprehensive structural design of the nail grabbing assembly 4, the accuracy and reliability of the grabbing position of the rivet 6 are increased, and the tilted grabbing of the rivet 6 is further avoided, so that the grabbing and sending process of the rivet 6 is stable and reliable.

[0043] like Figure 1 and Figure 8As shown, the nail connection pipe assembly 5 is fixedly arranged just below the nail connection claw 42 of the nail grabbing assembly 4. The nail connection pipe assembly 5 includes a pipe joint 51, a nail feeding pipe 52 arranged below the pipe joint 51 and connected to the pipe joint 51 as a whole, and a sensor 53 fixedly arranged on the side of the nail feeding pipe 52. When the rivet 6 falls, the center of the pipe joint 51 is aligned with the V-shaped clamping groove 423 of the nail connection claw 42, and the rivet 6 enters from the pipe joint 51 and is transported to the end through the nail feeding pipe 52 for riveting. The sensor 53 is used for detection and counting when the rivet 6 passes through, and the detection information is fed back to the riveting system to realize closed-loop control, ensure that only one rivet 6 is fed out at a time, and enhance the stability and reliability of the system.

[0044] The application principle of the rivet connection device for robot riveting according to the exemplary embodiment of the present invention is as follows:

[0045] The base plate 1 is connected to an XY bidirectional servo movable platform (not shown), and can be moved and positioned in a plane determined by the X-axis and the Y-axis under the feeding motion of the XY bidirectional servo movable platform.

[0046] When the rivet 6 is delivered from the magazine, the rivet connection device for robot riveting of the present invention moves to the bottom of the corresponding nail tube (not shown) through the XY bidirectional servo platform, such as Figure 1 As shown, the operation of the first cylinder 21 causes the piston rod 21 to extend along the X-axis direction, so that the lifting piston rod 251 provided on the upper part of the second cylinder 25 is aligned with the center of the nail output switch (not shown) at the nail output position of the magazine, and at the same time, the center of the rivet positioning groove 316 of the fork mouth 313 of the nail connection fork 31 and the center of the arc surface 323 of the guide portion 322 of the guide claw 32 are aligned with the center of the nail output tube (not shown). The lifting piston rod 251 moves along the Z-axis direction under the action of the second cylinder 25, turning on the nail output switch at the nail output position, so that the magazine A rivet 6 in the middle falls down, and the rivet 6 is automatically aligned along the center hole formed by closing the guide claw 32, and falls to the nail fork 31. The hexagonal nut 61 on the rivet 6 falls to the upper surface of the nail fork 31, completing the positioning of the rivet 6 in the Z-axis direction; the third cylinder 41 operates, so that the nail grabbing claw 42 closes and grabs the nail, and the V-shaped clamping groove 423 set at the end of the nail grabbing claw 42 is aligned with the rivet rod 62. After grabbing the rivet 6, the rivet 6 is automatically aligned along the direction of the V-shaped clamping groove 423 and is in the vertical direction. Figure 8As shown, the piston rod 22 shrinks along the X-axis direction under the action of the first cylinder 21, and at the same time, the mounting seat 23, the bracket 24, the second cylinder 25 and the alignment assembly 3 are reversed along the X-axis direction. During the retraction process, the guide claw 32 automatically opens and withdraws under the action of the compression spring 34, and automatically resets after withdrawal, without affecting the rivet 6 grabbed by the nail clamp 42. Then, through the movement of the XY bidirectional servo platform, the rivet 6 is aligned with the center of the pipe joint 51, and the third cylinder 41 is operated to open the clamp assembly part 421 so that the nail clamp 42 is opened, so that the rivet 6 falls freely into the pipe joint 51 and is sent to the end position along the nail feeding tube 52 integrally connected to the pipe joint 51 for riveting operation. The sensor 53 is used for detection and counting when the rivet 6 passes, and the detection information is fed back to the riveting system to realize closed-loop control, ensure that only one rivet 6 is sent out at a time, and enhance the stability and reliability of the system.

[0047] The rivet connecting device of the present embodiment is used for robot riveting, and the overall structure is simple. Through the comprehensive design of guiding, connecting, positioning, feeding and detecting components, the rivet connecting process is stable, reliable, convenient and efficient, and is suitable for riveting application sites with compact structures.

[0048] 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 connection device for robot riveting, characterized in that: The rivet connection device comprises a base plate, a material box opening assembly, an alignment assembly, a nail grabbing assembly and a nail connection tube assembly. The material box opening assembly comprises a first cylinder, a piston rod, a mounting seat, a bracket and a second cylinder. The first cylinder is fixedly arranged on the base plate, one end of the piston rod is connected to the first cylinder sliding sleeve, the other end of the piston rod is fixedly connected to the mounting seat, the bracket is fixedly installed on the end of the mounting seat, the second cylinder is fixedly installed on the bracket, the alignment assembly comprises a nail connection fork, two guide claws, a fixed hinge pin and a compression spring, the nail connection fork is fixedly installed on the side of the mounting seat, the two guide claws are fixedly installed on the nail connection fork through the fixed hinge pin At the end of the fork body of the fork, the piston rod can make the mounting seat, the bracket, the second cylinder and the alignment assembly move along the X-axis direction under the action of the first cylinder. A lifting piston rod is arranged on the upper part of the second cylinder, and the lifting piston rod can move along the Z-axis direction under the action of the second cylinder. The nail grabbing assembly includes a third cylinder and two nail connecting claws. The third cylinder and the first cylinder are fixedly arranged on the bottom plate in parallel with each other. The two nail connecting claws are assembled at the end of the third cylinder and can make a pair of nail connecting claws clamp and release along the Y-axis direction under the action of the third cylinder. The nail connecting tube assembly is fixedly arranged directly below the nail connecting claws of the nail grabbing assembly.

2. The rivet connection device for robot riveting according to claim 1, characterized in that: The mounting seat is L-shaped as a whole, a stepped hole is arranged at the end of the mounting seat, a plurality of first fastening holes are evenly distributed on the end surface outside the stepped hole, and a plurality of second fastening holes are evenly distributed on the side surface of the mounting seat.

3. The rivet connection device for robot riveting according to claim 2, characterized in that: One end of the piston rod is provided with an external thread, and the end of the piston rod provided with the external thread is coaxially sleeved in the stepped hole and fixed to the end of the mounting seat through a nut.

4. The rivet connection device for robot riveting according to claim 3, characterized in that: The bracket is fixedly assembled on the outer side surface of the end of the mounting seat through a first fastener, a fixing seat is arranged on the upper part of the bracket body, and the second cylinder is fixedly assembled in the fixing seat coaxially.

5. The rivet connection device for robot riveting according to claim 4, characterized in that: The connecting nail fork comprises an integrally connected fork mounting portion, a fold line portion and a fork mouth portion, a mounting wall is arranged at the bottom of the fork mounting portion, a plurality of third fastening holes are arranged on the mounting wall, the third fastening holes match the second fastening holes, a rivet positioning groove is arranged at the fork mouth portion, two fourth fastening holes are arranged at the upper portion of the fork mouth portion, the guide claw is composed of an integrally connected guide claw assembly portion and a guide portion, the inner side surface of the guide portion is an arc surface, a spring assembly hole is arranged on the inner side surface of the guide claw assembly portion, a through fifth fastening hole is arranged on the guide claw assembly portion, the fifth fastening hole matches the fourth fastening hole.

6. The rivet connection device for robot riveting according to claim 5, characterized in that: The guide claw is assembled on the upper part of the fork mouth of the connecting nail fork through a fixed hinge pin coaxially assembled in the fifth fastening hole and the fourth fastening hole, the compression spring is assembled between the guide claw assembly parts of the two guide claws, and the ends of the compression spring are respectively assembled in the spring assembly holes of the guide claws.

7. The rivet connection device for robot riveting according to claim 1, characterized in that: A clamping claw connecting portion is arranged at the end of the third cylinder.

8. The rivet connection device for robot riveting according to claim 7, characterized in that: The main body of the nail connecting jaw is in the shape of an elongated strip, a jaw assembly portion is provided at the lower part of one end of the nail connecting jaw main body, a plurality of sixth fastening holes are provided on the jaw assembly portion, the nail connecting jaw is fixedly assembled on the jaw connecting portion by a second fastener assembled in the sixth fastening hole, and a V-shaped clamping groove is provided on a side surface of the other end of the nail connecting jaw main body.

9. The rivet connection device for robot riveting according to claim 1, characterized in that: The nail connecting pipe assembly comprises a pipe joint, a nail feeding pipe arranged below the pipe joint and integrally connected with the pipe joint, and a sensor fixedly arranged on the side of the nail feeding pipe.

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