Mechanical guiding device and method for automatic rivet supply

Abstract

The invention discloses a mechanical guiding device and method for automatic rivet supply. The device comprises an inclined sliding groove, a low-friction-coefficient guiding filler strip, a buffering delay sliding way, a swing cavity, a pointing binding belt and a vertical limiting groove. The inclined sliding groove supports rivets placed by rivet supply equipment through planes inclined inwards on the two sides. The low-friction-coefficient guide filler strip reduces friction force between the rivet and the inclined sliding groove, and the rivet is prevented from being retained in the inclined sliding groove due to the fact that the friction force is too large. The buffering delay slideway buffers the kinetic energy of the nail cap, so that the residence time of the nail cap in the slideway is prolonged; the swinging cavity provides a swinging space for the rivet rod; the pointing binding belt is used for binding and limiting the pointing direction of the swinging rivet; the vertical limiting groove limits the track of the rivet cap and keeps the direction of the rivet after being bundled. According to the rivet feeding device, the directivity of outward rivet feeding can be stably and efficiently guaranteed in a passive pure mechanical mode, the equipment complexity and the fault probability caused by rivet pointing errors can be reduced, and the working efficiency of feeding equipment is also improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic rivet supply, and in particular relates to a mechanical guiding device and method for automatic rivet supply. Background Art

[0002] In the field of automated assembly, when robots are used as the main technical equipment for rivet riveting operations, their end effectors have strict requirements on the direction of the target rivets supplied. Since it is difficult to turn the direction of rivets in a pipeline, rivets transported through pipelines are usually required to be in the final rivet pointing state with the shank facing forward and the cap facing backward before entering the pipeline.

[0003] In the automated rivet supply equipment currently used by robot systems, operations related to rivet orientation can be mainly divided into three categories. The first category is manual methods, such as manually placing rivet trays or loading magazine-type rivet storage mechanisms. This type of method is usually inefficient and has limited compatible rivet specifications. The second category is the implementation of robot automation, such as confirming the rivet orientation through visual recognition, and then using the robot system to re-operate the rivet according to the recognition results. This method also has the problem of low guidance work efficiency. The third category uses special equipment, such as a vibration plate, to ensure the orientation of the rivet, but it is usually more expensive and has relatively few compatible rivet specifications. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and to provide a mechanical guiding device and method for automatic rivet supply. The device ensures the directionality of the rivet cap during the automatic external supply of rivets through an inclined slide groove, a low-friction guide strip, a buffer delay slide, a swing cavity, a directional restraining belt and a vertical limit groove. In the absence of external energy input, the fed rivet is converted into a vertical downward state with high efficiency and accuracy.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A mechanical guide device for automatic rivet feeding, including an inclined slide, a low-friction guide pad, a buffer delay slide, a swing cavity, a directional restraining belt and a vertical limit groove;

[0007] The inclined slide is located at the top of the device, and is used to support the rivets placed by the nail feeding device through the inwardly inclined planes on both sides, guide the rivets to convert into a motion state, and slide them toward the inside of the slide, and in the sliding process, make them tend to the state where the nail cap is in the slide and the nail rod is in the swing cavity;

[0008] The low friction coefficient guide pad is installed on the inner surface of the inclined chute to reduce the friction between the rivet and the inclined chute, and prevent the rivet from being retained in the inclined chute due to excessive friction;

[0009] The buffer delay slide connects the inclined slide and the vertical limit groove, and is used to buffer the kinetic energy of the nail cap and increase its residence time in the slide;

[0010] The swing cavity is an integrally connected structure, which is used to provide a swinging space for the rivet rod;

[0011] The directional restraining belt is located at the bottom of the swing cavity and is used to restrain and limit the direction of the swinging rivet;

[0012] The vertical limit groove is closely connected to the buffer delay slideway, and is used to limit the trajectory of the rivet cap and maintain the direction of the rivet after it is converged.

[0013] To optimize the above technical solutions, the specific measures taken also include:

[0014] The length of the inclined chute is greater than twice the length of the rivet, the chute inclination angle θ ranges from 15° to 25°, and the inclination angles of the planes inclined inwardly on both sides are greater than 45°.

[0015] The friction coefficient of the low-friction guide pad strip is less than tanθ, where θ is the inclination angle of the inclined chute.

[0016] The above-mentioned buffer delay slide is located at the end of the inclined slide. Its path curve is designed based on the inverse steepest descent curve theory. Its direction is opposite to the sliding direction of the rivet in the inclined slide, so as to buffer and slow down the rivet cap that is accelerating in the inclined slide, thereby increasing its residence time in the buffer delay slide.

[0017] The coordinate system is established with the highest point of the vertical limit slot as the origin, the y-axis direction is vertically upward, and the x-axis direction is horizontally pointing to the higher side of the inclined slide. The path curve is the inverse steepest descent curve. The dwell time parameter r depends on the rivet length. The larger r is, the longer the rivet stays in the buffer delay slide and the better the rivet swing effect.

[0018] In order to deal with the abnormal situation that the axial error is too large when placing the rivet, resulting in the nail rod failing to fall smoothly into the swing cavity in the inclined slide groove, the rivet cap falls into the buffer delay slide and changes its movement direction due to gravity. The nail rod is pushed into the gap of the slide groove and falls into the swing cavity and swings to the desired state.

[0019] The above-mentioned swing cavity is a hollow integral connected structure, whose height is greater than the length of the rivet to ensure smooth swinging of the rivet, and the front and back distance is greater than the diameter of the rivet rod and smaller than the diameter of the rivet cap, so that the rivet tends to be in a state where the cap is in the slide groove and the rivet rod slides into the swing cavity.

[0020] The above-mentioned directional restraining belt includes a left inclined surface and a right inclined surface, which are used to gradually restrain the swing angle of the rivet rod so that the rivet rod is directed to be restrained to be vertically downward before the rivet slides out of the guide device;

[0021] The left side inclined surface is close to the lower side of the inclined chute, and the right side inclined surface is close to the higher side of the inclined chute;

[0022] The angle between the left inclined surface and the vertical direction is θ1, and 15°≤θ1≤25°;

[0023] The right side slope is connected to the bottom of the swing cavity, and the angle between the right side slope and the vertical direction is θ2. When the rivet length l is known, the angle θ1 between the left side slope and the vertical direction, the height H of the vertical limit groove and the lowest height h of the swing cavity (4) are confirmed, the formula is used. Calculate the minimum value of θ2. If the minimum value of θ2 is greater than 45°, increase the height H of the vertical limit groove and reduce the height h of the lowest point of the swing cavity, and adjust the minimum value of θ2 to be less than or equal to 45°.

[0024] The angle of the left bevel is smaller than that of the right bevel, so as to ensure that the rivet will not swing out of the right bevel and cause jamming in the rivet rod during the downward sliding process.

[0025] The vertical limit groove is a vertical downward slide groove, the width of which matches the rivet cap, and the length of which is greater than twice the length of the rivet, so that the rivet is converted into a vertical downward posture in the limit groove and slides smoothly into the conveying pipe below.

[0026] A mechanical guidance method for automatic rivet feeding, including:

[0027] The external device clamps the rivet, and when the projection of the rivet axis does not exceed the set angle range of the low-friction coefficient guide pad, the rivet is placed in the inclined slide to convert it into a moving state. The buffer delay slide connected to the end of the inclined slide buffers the speed of the rivet cap while increasing its residence time to ensure that the center of mass position of the nail rod confined in the swing cavity is lower than the nail cap. The rivet rod is further converged to a vertical downward state through the directional convergence belt connected to the bottom of the swing cavity, and then the rivet enters the external nail supply mechanism through the vertical limit groove connected to the buffer delay slide.

[0028] The present invention has the following beneficial effects:

[0029] The device of the present invention is suitable for automated rivet supply operations, does not require external energy input, can guide the direction of the rivet in a passive, purely mechanical manner without external energy input, can stably and efficiently ensure the directionality of the rivets supplied to the outside, helps to reduce equipment complexity, reduces the probability of failure due to rivet pointing errors, and at the same time improves the operating efficiency of the supply equipment.

[0030] The buffer delay slide of the present invention prolongs the swinging time of the rivet rod, effectively improving the accuracy of guiding the rivet pointing work, and can also deal with the situation that the rivet rod fails to fall smoothly in the inclined slide groove, so that the rivet rod falls into the swinging cavity according to the design requirements, effectively improving the accuracy of the rivet pointing guidance.

[0031] The directional restraining belt of the present invention is composed of left and right inclined surfaces, and the angles of the inclined surfaces on both sides cooperate to effectively improve the efficiency of rivet guiding work and reduce the probability of failure caused by rivet blocking the lower surface of the rivet swing cavity.

[0032] The present invention utilizes the upside-down fastest descent curve as the path of the buffer delay slideway, ensuring that the path equation is relatively simple and that the curve is controlled by only one parameter r, while ensuring a better effect of delaying the falling speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a mechanical guide device for automatic rivet supply according to the present invention;

[0034] Figure 2 A front view of a mechanical guide device for automatically supplying rivets according to the present invention;

[0035] Figure 3 A flow chart of a method for designing a mechanical guide device for automatic rivet supply according to the present invention;

[0036] Figure 1-2 The markings are: 1- inclined slide, 2- low friction coefficient guide pad, 3- buffer delay slide, 4- swing cavity, 5- directional tightening belt, 6- vertical limit groove, 7- left side slope, 8- right side slope, 9- starting point of right side slope. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] Although the steps in the present invention are arranged with numbers, they are not used to limit the order of the steps. Unless the order of the steps is clearly stated or the execution of a certain step requires other steps as a basis, the relative order of the steps can be adjusted. It is understood that the term "and / or" used in this article involves and covers any and all possible combinations of one or more of the associated listed items.

[0039] like Figure 1-2As shown, a mechanical guide device for automatic rivet supply is characterized in that it includes an inclined slide 1, a low-friction coefficient guide pad 2, a buffer delay slide 3, a swing chamber 4, a directional convergence belt 5 and a vertical limit groove 6; the inclined slide 1 is located at the top of the device to receive the rivet placement of the nail supply equipment; the low-friction coefficient guide pad 2 is installed on the inner side of the inclined slide to reduce the friction between the rivet and the inclined slide 1 and improve its potential energy and kinetic energy conversion rate; the buffer delay slide 3 connects the inclined slide and the vertical limit groove to buffer the kinetic energy of the nail cap and increase its residence time in the slide; the swing chamber 4 is an integrally connected structure, which provides a swingable space for the rivet rod; the directional convergence belt 5 is located at the bottom of the swing chamber, which is used to converge and limit the direction of the swinging rivet; the vertical limit groove 6 is adjacent to the buffer delay slide, which is used to limit the trajectory of the rivet cap and maintain the direction of the rivet after convergence.

[0040] In the embodiment, the swing cavity 4 is an integral structure, and a low-friction coefficient guide pad 2 is installed inside the inclined slide groove 1 set at the uppermost end. The rivet can be clamped by an external device. When the projection of its axis does not exceed a certain angle range of the low-friction coefficient guide pad 2, it is placed in the inclined slide groove 1 to convert it into a moving state. The end of the inclined slide groove 1 is connected to a buffer delay slide 3 designed based on the inverse steepest descent curve theory, which can buffer the speed of the rivet cap and increase its residence time at the same time to ensure that the center of mass position of the nail rod confined in the swing cavity 4 is lower than the nail cap, and the rivet rod is further converged to a vertical downward state through the directional convergence belt 5 connected to the bottom of the swing cavity 4, and then it enters the external nail supply mechanism through the vertical limit groove 6 connected to the buffer delay slide 3.

[0041] The planes on both sides of the inclined slide groove 1 for supporting the rivet are inclined inwardly, and are used to guide the rivet to convert into a moving state while making it slide toward the inside of the slide groove, and during the sliding process, it tends to the state where the nail cap is in the slide groove and the nail rod is in the swing cavity.

[0042] The low friction coefficient guide pad 2 is installed on the inner surface of the inclined slide groove 1 to reduce the friction during the movement of the rivet and prevent the rivet from being retained in the inclined slide groove due to excessive friction.

[0043] The buffer delay slide 3 is designed based on the theory of the inverse fastest descent curve and is located at the end of the inclined slide 1. Its direction is opposite to the sliding direction of the rivet in the inclined slide. It is used to buffer and slow down the rivet head that is accelerating in the inclined slide 1 to increase its residence time in the buffer delay slide.

[0044] The swing cavity 4 is a hollow structure, and the distance between the front and rear faces is between the diameter of the rivet rod and the diameter of the rivet cap. It can provide a swing space for the rivet rod during the falling process by means of gravity.

[0045] The directional converging belt 5 is located at the bottom of the swing cavity and is composed of left and right inclined surfaces. The inclined surface close to the lower side of the inclined chute is called the left inclined surface 7, and the inclined surface close to the higher side of the inclined chute is called the right inclined surface 8. The junction of the right inclined surface 8 and the bottom of the swing cavity 4 is the right inclined surface starting point 9, which is used to gradually converge the swing angle of the rivet rod so that the rivet rod is directed and converged to vertically downward before sliding out of the guide device.

[0046] The vertical limiting groove 6 restricts the final falling position of the rivet by limiting the position of the rivet cap, and ensures that the rivet accurately enters the conveying pipeline.

[0047] like Figure 3 As shown, the design method of the mechanical guide device for automatic rivet supply of the present invention includes:

[0048] (1) According to the rivet data and external conditions, the length and inclination angle of the inclined chute 1 are designed, and a guide pad with an appropriate friction coefficient is selected. After the rivet is lowered along the inclined chute, it slides down the inclined chute 1 on the guide pad 2 with a low friction coefficient under the influence of gravity. While the rivet is accelerated as a whole, the rivet rod tends to slide into the swing cavity 4. The posture adjustment of the rivet needs to rely on the kinetic energy converted from the potential energy during the sliding process.

[0049] The parameters of the inclined chute 1 are designed according to the corresponding rivet size. It should be ensured that the inclined angle of the inclined surface supporting the rivet on both sides of the inclined chute 1 is greater than 45° so that the rivet rod can quickly fall into the swing cavity; the length of the inclined chute 1 should be greater than 2 times the length of the rivet so that the rivet rod has sufficient time to slide into the swing cavity; the inclination angle θ of the inclined chute 1 ranges from 15° to 25°. The friction coefficient of the low-friction guide pad 2 depends on the inclination angle θ of the inclined chute 1, which should be less than tanθ to ensure that the rivet slides down smoothly. The height of the swing cavity 4 should be greater than the rivet length to ensure that the rivet swings smoothly, and the distance between its front and rear surfaces should be greater than the rivet rod and less than the rivet cap so that the rivet tends to be in the state where the cap is in the chute and the rivet rod slides into the swing cavity.

[0050] (2) Design a buffer delay slide 3 based on the inverse steepest descent curve theory. The buffer delay slide 3 is used to ensure that the states of the rivet cap and the rivet rod are changed to the desired state as required during their dynamic movement, that is, the rivet cap moves according to the designed trajectory, and the rivet rod is adjusted to a downward pointing state by swinging in the swing cavity. The designed buffer delay slide 3 takes into account the abnormal situation that the rivet rod fails to fall into the swing cavity 4 when the rivet is placed.

[0051] The coordinate system is established with the highest point of the vertical limit slot as the origin, the y-axis direction is vertically upward, and the x-axis direction is horizontally pointing to the higher side of the inclined slot. The path curve of the buffer delay slide 3 is the inverse fastest descent curve The path parameter r depends on the rivet length l, which is usually above 0.3l. The larger r is, the longer the rivet stays in the buffer delay slide 3, and the better the rivet swinging effect, but the rivet supply efficiency will be reduced. θ is set to 90° to ensure that the buffer delay slide 3 is tangent to the vertical limit groove 6. The rivet is allowed to slide smoothly at the slowest possible speed through the anti-fastest descent curve path slide, so that the rivet rod can swing vertically downward during this period of time. In view of the abnormal situation that the axial error is too large when placing the rivet, resulting in the nail rod failing to fall smoothly into the swing cavity 4 in the inclined slide 1, the rivet cap changes its movement direction due to gravity after falling into the buffer delay slide 3, and the nail rod is pushed into the slide gap and falls into the swing cavity 4 and swings to the desired state.

[0052] (3) Calculation of the starting height and angle of the directional constriction belt 5. The directional constriction belt 5 uses the surface structures on both sides to limit and constrict the swinging process of the rivet rod. In order to prevent the rivet from getting stuck during movement, it is necessary to optimize the starting height, the distance from the starting point to the movement trajectory of the rivet cap, and the shape angle of the surface structure.

[0053] The directional convergence belt 5 is composed of left and right inclined surfaces. The inclined surface close to the lower side of the inclined chute 1 is called the left inclined surface, and the inclined surface close to the higher side of the inclined chute 1 is called the right inclined surface. The angle between the left inclined surface and the vertical direction is θ1, which should be 15°≤θ1≤25°. If the angle is too large, the rivet direction cannot be effectively converged, and if the angle is too small, the rivet will rebound too much after colliding with the left inclined surface 7, causing the bottom of the rivet to be easily stuck on the lower surface of the swing cavity; the angle between the right inclined surface 8 and the vertical direction is θ 2， ; After the rivet length l is known, the left bevel angle θ1, the vertical limit groove height H and the lowest height h of the swing cavity are confirmed, in order to ensure that the bottom of the rivet will not be stuck on the lower surface of the swing cavity, the angle between the right bevel and the vertical direction is calculated using the formula Calculate the minimum value of θ2. If the minimum value of θ2 is greater than 45°, the height H of the vertical limit groove 6 should be increased and the height h of the lowest point of the swing cavity 4 should be appropriately lowered, and the angle of θ2 should be adjusted to be less than or equal to 45°. The larger the angles of the bevels on both sides, the lower the possibility of jamming in the pointing convergence belt, but the slower the pointing convergence speed of the rivet. The right side bevel is connected to the bottom of the swing cavity 4, so the larger the angle of the right side bevel, the longer the bevel length and the larger the pointing convergence range. The specific angle of the right side bevel needs to be determined through experiments or simulations based on the rivet length and the specific center of gravity position. The angle of the left side bevel should be smaller than that of the right side bevel to ensure that the rivet will not swing outside the right side bevel in the rivet rod during the downward sliding process, causing jamming.

[0054] (4) After the rivet leaves the buffer delay slide 3 and enters the vertical limit groove 6, a reasonable vertical height needs to be designed to ensure that the rivet falls smoothly into the external rivet supply pipeline in a vertical downward state before leaving the guide device.

[0055] The vertical limit groove 6 is a vertical downward slide groove, and the width of the slide groove matches the rivet cap. The length of the limit groove should be greater than 2 times the length of the rivet, so that the rivet has enough time to convert to a vertical downward posture in the limit groove and smoothly slide into the nail delivery pipe below.

[0056] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0057] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A mechanical guide device for automatic rivet feeding, characterized in that: It comprises an inclined slide groove (1), a low friction coefficient guide pad (2), a buffer delay slideway (3), a swing cavity (4), a directional convergence belt (5) and a vertical limit groove (6); The inclined slide groove (1) is located at the top of the device and is used to support the rivets placed by the nail feeding device through the planes inclined inwards on both sides, guide the rivets to be converted into a moving state, and make them slide toward the inside of the slide groove, and make them tend to the state where the nail cap is in the slide groove and the nail rod is in the swing cavity (4) during the sliding process; A low friction coefficient guide strip (2) is installed on the inner surface of the inclined slide groove (1) to reduce the friction between the rivet and the inclined slide groove (1) and prevent the rivet from being retained in the inclined slide groove (1) due to excessive friction; The buffer delay slideway (3) connects the inclined slideway (1) and the vertical limit groove (6) and is used to buffer the kinetic energy of the nail cap and increase its residence time in the slideway; The swing cavity (4) is an integrally connected structure, and is used to provide a swingable space for the rivet rod; The directional restraining belt (5) is located at the bottom of the swing cavity (4) and is used to restrain and limit the direction of the swinging rivet; The vertical limiting groove (6) is closely connected to the buffer delay slideway (3) and is used to limit the trajectory of the rivet cap and maintain the direction of the rivet after it is contracted.

2. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: The length of the inclined slide groove (1) is greater than twice the length of the rivet, the slide groove inclination angle θ ranges from 15° to 25°, and the inclination angles of the planes inclined inwardly on both sides are greater than 45°.

3. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: The friction coefficient of the low-friction-coefficient guide pad strip (2) is less than tanθ, where θ is the inclination angle of the inclined slide groove (1).

4. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: The buffer delay slideway (3) is located at the end of the inclined slideway (1), and its path curve is designed based on the inverse steepest descent curve theory, and its direction is opposite to the sliding direction of the rivet in the inclined slideway (1), so as to buffer and slow down the rivet head that is accelerating and sliding down in the inclined slideway (1), thereby increasing its residence time in the buffer delay slideway; A coordinate system is established with the highest point of the vertical limit groove (6) as the origin, the y-axis direction is vertically upward, and the x-axis direction is horizontally pointing to the higher side of the inclined slide groove (1). The path curve is the inverse steepest descent curve. 0<θ<π, the path parameter r depends on the rivet length. The larger r is, the longer the rivet stays in the buffer delay slide (3), and the better the rivet swing effect is.

5. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: In order to solve the abnormal situation that the rivet rod fails to smoothly fall into the swing cavity (4) in the inclined slide groove (1) due to excessive axial error when placing the rivet, the rivet head changes its movement direction due to gravity after falling into the buffer delay slideway (3), and the rivet rod is pushed into the gap of the slide groove and falls into the swing cavity (4) to swing to the desired state.

6. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: The swing cavity (4) is a hollow integrally connected structure, the height of which is greater than the length of the rivet to ensure smooth swinging of the rivet, and the distance between the front and rear faces is greater than the diameter of the rivet rod and less than the diameter of the rivet cap, so that the rivet tends to be in a state where the cap is in the slide groove and the rivet rod slides into the swing cavity (4).

7. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: The directional restraining belt (5) comprises a left inclined surface (7) and a right inclined surface (8), which are used to gradually restrain the swing angle of the rivet rod so that the rivet rod is directed to be restrained to be vertically downward before the rivet slides out of the guide device; The left inclined surface (7) is close to the lower side of the inclined chute (1), and the right inclined surface (8) is close to the higher side of the inclined chute (1); The angle between the left inclined surface (7) and the vertical direction is θ1, and 15°≤θ1≤25°; The right side inclined surface (8) is connected to the bottom of the swing cavity (4), and the angle between the right side inclined surface (8) and the vertical direction is θ2. When the rivet length l is known, the angle θ1 between the left side inclined surface (7) and the vertical direction, the height H of the vertical limit groove (6) and the lowest height h of the swing cavity (4) are confirmed, the formula is used to calculate the angle between the right side inclined surface (8) and the vertical direction. The minimum value of θ2 is calculated. If the minimum value of θ2 is greater than 45°, the height H of the vertical limit groove (6) is increased and the height h of the lowest point of the swing cavity (4) is reduced, and the minimum value of θ2 is adjusted to be less than or equal to 45°.

8. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: The vertical limiting groove (6) is a vertical downward sliding groove, the width of which matches the rivet cap, and the length of which is greater than twice the length of the rivet, so that the rivet is converted into a vertical downward posture in the limiting groove and smoothly slides into the conveying pipe below.

9. The mechanical guiding method for automatic rivet supply according to the mechanical guiding device for automatic rivet supply according to any one of claims 1 to 8, characterized in that: include: The external device clamps the rivet, and when the projection of the rivet axis does not exceed the set angle range of the low friction coefficient guide pad (2), the rivet is placed in the inclined slide groove (1) to convert it into a moving state. The buffer delay slideway (3) connected to the end of the inclined slide groove (1) buffers the speed of the rivet cap and increases its residence time to ensure that the center of mass position of the nail rod limited in the swing cavity (4) is lower than the nail cap. The rivet rod is further converged into a vertical downward state through the directional convergence belt (5) connected to the bottom of the swing cavity (4). Then, the rivet enters the external nail supply mechanism through the vertical limit groove (6) connected to the buffer delay slideway (3).

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