Mechanical guide device and method for automatic rivet supply

Abstract

The present invention discloses a mechanical guide device and method for automatic rivet supply, the device includes an inclined chute, a low-friction coefficient guide pad, a buffer delay chute, a swing cavity, a directional convergence belt, and a vertical limit groove; the inclined chute supports the rivets placed by the rivet supply device through the inwardly inclined planes on both sides; the low-friction coefficient guide pad reduces the friction between the rivet and the inclined chute, preventing the rivet from being retained in the inclined chute due to excessive friction; the buffer delay chute buffers the kinetic energy of the rivet cap and increases its residence time in the chute; the swing cavity provides a swingable space for the rivet rod; the directional convergence belt converges and limits the direction of the swinging rivet; the vertical limit groove limits the trajectory of the rivet cap and maintains the direction of the rivet after convergence. The present invention can stably and efficiently ensure the directionality of the externally supplied rivets in a passive, purely mechanical manner, reduce the complexity of the equipment and the probability of failure due to rivet pointing errors, and also improve the operating efficiency of the supply equipment.

Description

Technical Field

[0001] The present 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, robots are the primary technology used in rivet setting operations. Their end effectors have strict requirements for the orientation of the supplied rivets. Because reversing rivets within pipelines is difficult, rivets conveyed through pipelines are typically required to maintain their final orientation, with the shank facing forward and the cap facing backward, before entering the pipeline.

[0003] In the automated rivet supply equipment currently used by robotic 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 robotic automation, such as confirming the rivet orientation through visual recognition, and then using the robotic system to re-operate the rivet based on the recognition results. This type of method also has the problem of low guiding work efficiency. The third category uses special equipment, such as a vibration plate, to ensure the orientation of the rivets, 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 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 inclined slides, low-friction guide strips, buffer delay slides, swing chambers, directional restraining belts and vertical limit grooves. In the absence of external energy input, the fed rivets are converted into a vertically 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 chute 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, guiding the rivets to convert into a moving state while sliding toward the inside of the chute, and during the sliding process, it tends to the state where the nail cap is in the chute and the nail rod is in the swing cavity;

[0008] The low-friction guide strip is installed on the inner surface of the inclined chute to reduce the friction between the rivet and the inclined chute, preventing the rivet from being trapped in the inclined chute due to excessive friction;

[0009] The buffer delay slide 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;

[0010] The swing cavity is an integrally connected structure, 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 adjacent 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, 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′ is in the range of 15°-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-coefficient guide 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 chute. Its path curve is designed based on the theory of the inverse steepest descent curve. Its direction is opposite to the sliding direction of the rivet in the inclined chute, so as to buffer and slow down the rivet heads that are accelerating in the inclined chute, thereby increasing their 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 slot. The path curve is the inverse steepest descent curve. 0<θ<π, 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, the rivet head 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 and falls into the swing cavity and swings to the desired state.

[0019] The above-mentioned swing cavity is a hollow integral connected structure, the height of which 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 constricting belt includes a left inclined surface and a right inclined surface, which are used to gradually constrict the swing angle of the rivet rod so that the rivet rod is directed to be vertically downward before sliding out of the guide device;

[0021] The left inclined surface is close to the lower side of the inclined chute, and the right 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 the angle of the right bevel, so as to ensure that the rivet will not swing beyond the right bevel and cause jamming in the rivet rod during the downward sliding process.

[0025] The above-mentioned vertical limit groove is a vertical downward slide groove, the slide groove width matches the rivet cap, and the slide groove length is greater than 2 times the rivet length, so that the rivet is converted into a vertical downward posture in the limit groove and slides smoothly into the conveying pipe below.

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

[0027] The external device clamps the rivet and places the rivet into the inclined slide when the projection of the rivet axis does not exceed the set angle range of the low-friction coefficient guide pad, converting 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. Then the rivet enters the external nail supply mechanism through the vertical limit slot 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 and does not require external energy input. It can guide the direction of the rivets in a passive, purely mechanical manner without external energy input, and can stably and efficiently ensure the directionality of the rivets supplied to the outside. It helps to reduce the complexity of the equipment and the probability of failure due to rivet pointing errors, while improving 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 the rivet pointing guidance work, and can also deal with the situation where the rivet rod fails to fall smoothly in the inclined slide, 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 constricting belt of the present invention is composed of left and right inclined surfaces. The angles of the inclined surfaces on both sides cooperate with each other to effectively improve the efficiency of the rivet guiding work and reduce the probability of failure caused by rivets being blocked on 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 a relatively simple path equation and controlling the curve with only one parameter r, while ensuring a good 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 feeding rivets according to the present invention;

[0035] Figure 3 A flow chart of a method for designing a mechanical guide device for automatic rivet feeding 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 slope, 8- right slope, 9- starting point of the right slope. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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 intended to limit the present invention.

[0038] Although the steps in the present invention are arranged with numbers, they are not intended to limit the order of the steps. Unless the order of the steps is clearly stated or the execution of a 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 herein refers to 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 for receiving the rivet placement of the nail feeding 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 to converge and limit the direction of the swinging rivet; the vertical limit groove 6 is adjacent to the buffer delay slide to limit the rivet cap trajectory 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 1 set at the top 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 1 to convert it into a moving state. The end of the inclined slide 1 is connected to a buffer delay slide 3 designed based on the inverse steepest descent curve theory. It can buffer the speed of the rivet cap and increase its residence 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. 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 chute 1 for supporting the rivet are inclined inward, which is used to guide the rivet to convert into a moving state while making it slide toward the inside of the chute, and during the sliding process, it tends to the state where the nail cap is in the chute 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 chute 1 to reduce the friction during the movement of the rivet and prevent the rivet from being retained in the inclined chute due to excessive friction.

[0043] The buffer delay slide 3 is designed based on the theory of the inverse steepest 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 1. It is used to buffer and slow down the rivet head that is accelerating and sliding in the inclined slide 1, so as 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 back surfaces is between the diameter of the rivet rod and the diameter of the rivet head. 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 connection between 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 to converge vertically downward before sliding out of the guide device.

[0046] The vertical limiting groove 6 restricts the position of the rivet cap, thereby constraining the final falling position of the rivet and ensuring that it accurately enters the conveying pipe.

[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) Based on 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. As the rivet accelerates as a whole, the rivet rod tends to slide into the swing cavity 4. The rivet's posture adjustment requires the kinetic energy converted from 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 surfaces supporting the rivets 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 twice 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 strip 2 depends on the inclination angle θ′ of the inclined chute 1 and 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 the rivet swings smoothly. The distance between its front and back surfaces should be greater than the rivet rod and less than the rivet cap so that the rivet tends to be in a state where the cap is in the chute and the rivet rod slides into the swing cavity.

[0050] (2) Based on the theory of the inverse steepest descent curve, a buffer delay slide 3 is designed. The buffer delay slide 3 is used to ensure that the states of the rivet head and the rivet rod change to the desired state as required during their dynamic movement. That is, the rivet head 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 during placement.

[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 made to slide smoothly at the slowest possible speed through the anti-steepest descent curve path slide, so that the rivet rod can swing vertically downward during this period of time. 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 4 in the inclined slide 1, the rivet cap changes its movement direction due to gravity after falling into the buffer delay slide 3. The nail rod is pushed into the gap of the slide 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 constricting belt 5. The directional constricting belt 5 uses the surface structures on both sides to limit and constrict the swinging process of the rivet rod. 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 and 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, and it should be ensured that 15°≤θ1≤25°. If the angle is too large, the rivet direction cannot be effectively converged, and if the angle is too small, the rebound angle after the rivet collides with the left inclined surface 7 will be too large, 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 θ2; after the rivet length l is known, the left inclined surface 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 inclined surface 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 rivet pointing convergence speed. 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 the angle 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 chute, and the chute width matches the rivet cap. The limit groove length should be greater than 2 times the rivet length so that the rivet has enough time to convert to a vertical downward posture in the limit groove and smoothly slide into the nail feeding pipe below.

[0056] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0057] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method 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 can also be appropriately combined to form other implementation methods 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 (1), a low-friction coefficient guide pad (2), a buffer delay slide (3), a swing cavity (4), a directional convergence belt (5) and a vertical limit groove (6); The inclined chute (1) 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 be converted into a moving state, and make them slide toward the inside of the chute, and during the sliding process, make them tend to the state where the nail cap is in the chute and the nail rod is in the swing cavity (4); A low-friction coefficient guide strip (2) is installed on the inner surface of the inclined chute (1) to reduce the friction between the rivet and the inclined chute (1) and prevent the rivet from being retained in the inclined chute (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 adjacent 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 tightened.

2. The mechanical guide device for automatic rivet supply according to claim 1, characterized in that: The length of the inclined chute (1) is greater than twice the length of the rivet, and the chute inclination angle is Range , and the inclination angle of the planes inclined inward on both sides is 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 strip (2) is less than ,in is the chute inclination angle of the inclined chute (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 cap that slides 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 chute (1). The path curve is the inverse steepest descent curve. , 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.

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 axial error is too large when placing the rivet, causing the nail rod to fail to smoothly fall into the swing cavity (4) in the inclined slide groove (1), the rivet cap falls into the buffer delay slideway (3) and changes the movement direction due to gravity. The nail rod is pushed into the gap of the slide groove and then falls into the swing cavity (4) and swings 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 back 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 constricting belt (5) comprises a left side bevel (7) and a right side bevel (8), which are used to gradually constrict the swing angle of the rivet rod so that the rivet rod is directed 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 ,and ; 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 , when the rivet length l is known, determine the angle between the left bevel (7) and the vertical direction , after the height H of the vertical limit groove (6) and the lowest height h of the swing cavity (4), use the formula calculate Minimum value, if If the minimum value is greater than 45°, increase the height H of the vertical limit groove (6) and reduce the height h of the lowest point of the swing cavity (4). The minimum value makes it 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 slides smoothly into the conveying pipe below.

9. The mechanical guiding method for automatic rivet supply according to any one of claims 1 to 8, characterized in that: include: The external device clamps the rivet and puts the rivet into the inclined chute (1) when the projection of the rivet axis does not exceed the set angle range of the low friction coefficient guide pad (2), converting it into a moving state. The buffer delay slide (3) connected to the end of the inclined chute (1) buffers the speed of the rivet cap while increasing its residence time to ensure that the center of mass position of the rivet rod confined in the swing cavity (4) is lower than the rivet 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 slide (3).

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