Automatic intelligent riveting robot

Abstract

The invention belongs to the technical field of riveting robots, and discloses an automatic intelligent riveting robot which comprises a base, the upper end of the base is rotationally connected with a first rotating frame, the upper end of the first rotating frame is rotationally connected with a first linkage arm, and the top end of the first linkage arm is rotationally connected with a second rotating frame. A second linkage arm is fixedly connected to the end, away from the first linkage arm, of the second rotating frame, a third rotating frame is rotationally connected to the other end of the second linkage arm, and a riveting assembly is fixedly connected to the inner side surface of the third rotating frame and comprises a protective shell fixedly connected with the inner side surface of the third rotating frame; a stand column is fixedly connected to the top wall of the interior of the protection shell, an adjusting threaded column is fixedly connected to the bottom end of the stand column, and a blocking disc is fixedly connected to the bottom end of the adjusting threaded column.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of riveting robots, and particularly relates to an automatic intelligent riveting robot. BACKGROUND

[0002] The riveting robot is an automatic equipment based on the development of industrial robot technology, and is mainly used for riveting processing of metal plates and has the characteristics of high precision and high efficiency. In the process of use of the existing riveting robot, the rivet clamping positioning is inaccurate, which causes the rivet head to have an angle deviation from the riveting position during riveting, and affects the overall riveting effect. Meanwhile, the rivet extracted during riveting is clamped into a recycling barrel or recycled by using a plurality of driving components, which affects the overall production efficiency and practicability. SUMMARY

[0003] The application aims at the problems of inaccurate rivet clamping positioning and low production efficiency caused by recycling of rivet cores in the prior art, and provides the following technical scheme. An automatic intelligent riveting robot comprises: A base is provided with a first rotary frame at the upper end, a first linkage arm at the upper end of the first rotary frame, a second rotary frame at the top end of the first linkage arm, a second linkage arm fixedly connected to one end of the second rotary frame away from the first linkage arm, a third rotary frame rotatably connected to the other end of the second linkage arm, and a riveting assembly fixedly connected to the inner surface of the third rotary frame. The riveting assembly comprises a protective shell fixedly connected to the inner surface of the third rotary frame, an inner top wall of the protective shell fixedly connected with a stand column, a bottom end of the stand column fixedly connected with an adjusting threaded column, and a bottom end of the adjusting threaded column fixedly connected with a baffle disc.

[0004] As a preferred technical scheme of the above technical scheme, the riveting assembly further comprises: A special-shaped guide rod is fixedly connected to the bottom end of the baffle disc, and the bottom end of the special-shaped guide rod is fixedly connected to the inner bottom end of the protective shell. An auxiliary frame is slidably connected to the outer surface of the special-shaped guide rod. An electric motor is fixedly connected to the top end of the protective shell, and the output end of the electric motor is fixedly connected with a main threaded rod penetrating through the protective shell, and the outer surface of the main threaded rod is threadedly connected with the inner surface of the auxiliary frame.

[0005] As a preferred technical scheme of the above technical scheme, the riveting assembly further comprises: An auxiliary sleeve is rotatably connected to the bottom outer surface of the stand column. The reset spring rod is fixedly connected to the bottom end of the auxiliary sleeve, and the other end of the reset spring rod is fixedly connected with an adjusting disc, and the inner side surface of the adjusting disc is threadedly connected with the outer side surface of the adjusting threaded column.

[0006] As the preferred technical solution of the above, the riveting assembly further comprises: The double-layer frame is rotationally connected to the outer side surface of the auxiliary frame. The linkage frame is rotationally connected to the outer side surfaces of the auxiliary frame and the adjusting disc, and a plurality of telescopic rods are fixedly connected between opposite surfaces of the linkage frame.

[0007] As the preferred technical solution of the above, the riveting assembly further comprises: The intermediate frame is fixedly connected to the bottom end of the double-layer frame, the outer side surface of the intermediate frame is fixedly connected with a guide rod, and the other end of the guide rod is fixedly connected with an arc-shaped limiting plate. The inclined guide is slidingly connected to the outer side surface of the guide rod, the bottom end of the inclined guide is fixedly connected with a limiting clamping plate, and clamping strips are fixedly connected to both sides of the limiting clamping plate, the clamping strips on the same limiting clamping plate are arranged at intervals on both sides, and the outer side surfaces of the clamping strips on adjacent limiting clamping plates are slidingly connected with each other.

[0008] As the preferred technical solution of the above, the riveting assembly further comprises: The L-shaped frame is fixedly connected to the upper end of the double-layer frame, the bottom end of the L-shaped frame is fixedly connected with a first electric push rod, the other end of the first electric push rod is fixedly connected with a driving member, and the inner side surface of the driving member is slidingly connected with the inner side surface of the double-layer frame. The arc-shaped frame is fixedly connected to the bottom end of the driving member, the bottom end of the arc-shaped frame is fixedly connected with an inclined guide rod, and the bottom end inclined surface of the inclined guide rod is slidingly connected with the upper end inclined surface of the inclined guide.

[0009] As the preferred technical solution of the above, the riveting assembly further comprises: The secondary shell is fixedly connected to the bottom end of the protective shell. The special-shaped frame is slidingly connected to the inner bottom end of the secondary shell, the upper end of the special-shaped frame is rotationally connected with an auxiliary wheel, and the outer side surface of the auxiliary wheel is abutted with the inner side surface of the secondary shell.

[0010] As the preferred technical solution of the above, the riveting assembly further comprises: The first shock absorber is fixedly connected to the opposite surfaces between adjacent special-shaped frames, and the end of the special-shaped frame away from the auxiliary wheel is fixedly connected with a second shock absorber. The limiting frame is fixedly connected to the other end of the second shock absorber, the end of the limiting frame away from the auxiliary wheel is rotationally connected with a limiting roller, and the third shock absorber is fixedly connected between opposite surfaces of adjacent special-shaped frames. Second electric push rod, fixedly connected to the inner side surface of the secondary shell, the output end of the secondary shell is fixedly connected with a slide rail, the inner side surface of the slide rail is slidably connected with the outer side surface of the right profiled frame; Auxiliary spring rod, fixedly connected to the bottom end of the secondary shell, the other end of the auxiliary spring rod is fixedly connected with a spherical part.

[0011] As the preferred technical solution of the above, the riveting assembly further comprises: The rivet rod portion abuts against the outer side surface of the limiting roller, the outer side surface of the rivet rod portion is clamped with a rivet head portion, the upper end of the rivet head portion abuts against the outer side surface of the spherical part; The waste transfer box is clamped to the inner side surface of the protective shell, the upper end of the waste transfer box is provided with a feeding port, the bottom end of the waste transfer box is provided with a discharging port, and the discharging port is connected with an external suction device.

[0012] The beneficial effects of the present application are: Through the linkage of the linkage frame and the multi-stage telescopic rod, the relative angle between the adjusting disc and the double-layer frame can be fixed, and through the threaded transmission between the adjusting disc and the adjusting threaded column, when the double-layer frame abuts against and pushes the adjusting disc upwards, the adjusting disc and the double-layer frame can be driven to rotate, and when the pushing reaches the limit position, the double-layer frame rotates one hundred and eighty degrees, driving the rivet rod portion above the feeding port, improving the functionality and practicability of the whole, through the slope cooperation of the inclined guide and the inclined guide rod and the guidance of the guide rod to the inclined guide, the first electric push rod is started, which can drive each limiting clamping plate to move synchronously, thereby ensuring the stable clamping of the rivet rod portion, and the clamping strips arranged on both sides of the limiting clamping plate can cooperate and support each other, thereby improving the stability and firmness of the rivet rod portion during clamping, without the need to place the rivet rod portion in the waste area of the traditional mechanical hand again, reducing the overall movement time, completing the operation when the riveting assembly completes riveting and moves above the external rivet disc, improving the functionality and production efficiency, and avoiding the situation that multiple independent power drives are out of sync during long-term cooperation, improving the reliability and practicability of the whole; Through the linkage of the special-shaped frame and the first shock absorber, the auxiliary wheels can be guaranteed to be attached to the inner wall of the secondary shell during installation and adjustment, improving the stability of the special-shaped frame and the first shock absorber forming an external frame. During the positioning of the rivet rod, through the linkage of the limiting frame and the third shock absorber, each limiting frame can be driven to move synchronously, improving the positioning accuracy of the rivet rod and the coaxiality of the rivet rod and the secondary shell. The linkage of the special-shaped frame and the first shock absorber and the linkage of the limiting frame and the third shock absorber can further improve the overall accuracy and reliability. At the same time, through the linkage of the special-shaped frame and the first shock absorber and the linkage of the limiting frame and the third shock absorber, the stress transmitted by the rivet rod can be dispersed to each first shock absorber, second shock absorber, and third shock absorber, improving the overall positioning effect and the service life of each component. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A perspective view of an automated intelligent riveting robot is shown. Figure 2 A partial parts diagram of an automated intelligent riveting robot is shown. Figure 3 An exploded view of part of an automated intelligent riveting robot is shown. Figure 4 Another perspective view of an exploded view of part of an automated intelligent riveting robot is shown. Figure 5 A partial enlarged view of Figure 4 A partial enlarged view of Figure 6 An internal structure diagram of an automated intelligent riveting robot is shown. Figure 7 A partial enlarged view of Figure 6 A partial enlarged view of Figure 8 A partial enlarged view of Figure 6 A partial enlarged view of Figure 9 A partial parts diagram of an automated intelligent riveting robot is shown. Figure 10 A partial enlarged view of Figure 9 A partial enlarged view of

[0014] In the figure: 1, base; 2, first rotary frame; 3, first linkage arm; 4, second rotary frame; 5, second linkage arm; 6, third rotary frame; 7, riveting assembly; 701, protective shell; 702, stand; 703, adjusting threaded column; 704, baffle disc; 705, special-shaped guide rod; 706, auxiliary frame; 707, motor; 708, main threaded rod; 709, auxiliary sleeve; 710, reset spring rod; 711, adjusting disc; 712, double-layer frame; 713, linkage frame; 714, multi-stage telescopic rod; 715, intermediate frame; 716, guide rod; 717, arc-shaped limiting plate; 718, inclined guide; 719, limiting clamping plate; 720, clamping strip; 721, L-shaped frame; 722, first electric push rod; 723, driving piece; 724, arc-shaped frame; 725, inclined guide rod; 726, two-stage shell; 727, special-shaped frame; 728, auxiliary wheel; 729, first shock absorber; 730, second shock absorber; 731, limiting frame; 732, limiting roller; 733, third shock absorber; 734, second electric push rod; 735, sliding rail; 736, auxiliary spring rod; 737, spherical piece; 738, rivet rod part; 739, rivet head part; 740, waste transfer box; 741, feeding port; 742, discharging port. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the present application will be described clearly and completely below in conjunction with the embodiments.

[0016] Embodiment 1 The present application provides an automatic intelligent riveting robot, such as Figures 1 to 10As shown, including the base 1, the upper end of the base 1 is rotatably connected with the first rotary frame 2, the upper end of the first rotary frame 2 is rotatably connected with the first linkage arm 3, the top end of the first linkage arm 3 is rotatably connected with the second rotary frame 4, the end away from the first linkage arm 3 of the second rotary frame 4 is fixedly connected with the second linkage arm 5, the other end of the second linkage arm 5 is rotatably connected with the third rotary frame 6, the inside of the base 1, the first rotary frame 2, the first linkage arm 3, the second rotary frame 4, the second linkage arm 5 and the third rotary frame 6 are provided with driving structures, which can drive the riveting assembly 7 to rivet at different positions and angles, the inside surface of the third rotary frame 6 is fixedly connected with the riveting assembly 7, the riveting assembly 7 comprises a protective shell 701 fixedly connected with the inside surface of the third rotary frame 6, a secondary shell 726 fixedly connected with the bottom end of the protective shell 701, a special-shaped frame 727 slidably connected with the inside bottom end of the secondary shell 726, an auxiliary wheel 728 rotatably connected with the upper end of the special-shaped frame 727, the outside surface of the auxiliary wheel 728 abuts against the inside surface of the secondary shell 726, first dampers 729 are fixedly connected between the opposite surfaces of adjacent special-shaped frames 727, a second damper 730 is fixedly connected with the end away from the auxiliary wheel 728 of the special-shaped frame 727, a limiting frame 731 is fixedly connected with the other end of the second damper 730, a limiting roller 732 is rotatably connected with the end away from the auxiliary wheel 728 of the limiting frame 731, third dampers 733 are fixedly connected between the opposite surfaces of adjacent special-shaped frames 727, a second electric push rod 734 is fixedly connected with the inside surface of the secondary shell 726, a slide rail 735 is fixedly connected with the output end of the secondary shell 726, the inside surface of the slide rail 735 is slidably connected with the outside surface of the right special-shaped frame 727, an auxiliary spring rod 736 is fixedly connected with the bottom end of the secondary shell 726, a spherical part 737 is fixedly connected with the other end of the auxiliary spring rod 736, the spherical surface of the spherical part 737 is arranged to adapt to the upper end curved surface of different rivet heads 739, ensuring complete adhesion to the rivet head 739, the outside surface of the limiting roller 732 abuts against a rivet rod part 738, the outside surface of the rivet rod part 738 is clamped with a rivet head part 739, the upper end of the rivet head part 739 abuts against the outside surface of the spherical part 737, a waste transfer box 740 is clamped with the inside surface of the protective shell 701, a feeding port 741 is formed in the upper end of the waste transfer box 740, a discharging port 742 is formed in the bottom end of the waste transfer box 740, the discharging port 742 is connected with an external suction device, which can conveniently recycle the rivet rod part 738 and improve the overall practicality.And can cooperate with the external frame to further improve the overall accuracy and reliability, while through the linkage of the special-shaped frame 727 and the first shock absorber 729 and through the linkage of the limiting frame 731 and the third shock absorber 733 Synchronous effect, the force transmitted by the rivet rod part 738 can be dispersed to each first shock absorber 729, second shock absorber 730 and third shock absorber 733, improve the overall positioning effect and the service life of each component.

[0017] As Figures 1 to 10As shown, the inner top wall of the protective shell 701 is fixedly connected with a stand 702, the bottom end of the stand 702 is fixedly connected with an adjusting threaded column 703, the bottom end of the adjusting threaded column 703 is fixedly connected with a baffle disc 704, the bottom end of the baffle disc 704 is fixedly connected with a special-shaped guide rod 705, the bottom end of the special-shaped guide rod 705 is fixedly connected with the inner bottom end of the protective shell 701, the outer side surface of the special-shaped guide rod 705 is slidably connected with an auxiliary frame 706, the top end of the protective shell 701 is fixedly connected with a motor 707, the output end of the motor 707 is fixedly connected with a main threaded rod 708 penetrating through the protective shell 701, the outer side surface of the main threaded rod 708 is threadedly connected with the inner side surface of the auxiliary frame 706, the bottom outer side surface of the stand 702 is rotatably connected with an auxiliary sleeve 709, the bottom end of the auxiliary sleeve 709 is fixedly connected with a reset spring rod 710, the other end of the reset spring rod 710 is fixedly connected with an adjusting disc 711, the inner side surface of the adjusting disc 711 is threadedly connected with the outer side surface of the adjusting threaded column 703, the outer side surface of the auxiliary frame 706 is rotatably connected with a double-layer frame 712, the outer side surfaces of the auxiliary frame 706 and the adjusting disc 711 are rotatably connected with a linkage frame 713, a plurality of level extension rods 714 are fixedly connected between opposite faces of the linkage frame 713, the bottom end of the double-layer frame 712 is fixedly connected with an intermediate frame 715, the outer side surface of the intermediate frame 715 is fixedly connected with a guide rod 716, the other end of the guide rod 716 is fixedly connected with an arc-shaped limiting plate 717, the outer side surface of the guide rod 716 is slidably connected with an inclined guide 718, the bottom end of the inclined guide 718 is fixedly connected with a limiting clamping plate 719, clamping strips 720 are fixedly connected to the two sides of the limiting clamping plate 719, the clamping strips 720 on the same limiting clamping plate 719 are arranged at intervals on the two sides, the outer side surfaces of the clamping strips 720 on adjacent limiting clamping plates 719 are slidably connected with each other, the upper end of the double-layer frame 712 is fixedly connected with an L-shaped frame 721, the bottom end of the L-shaped frame 721 is fixedly connected with a first electric push rod 722, the other end of the first electric push rod 722 is fixedly connected with a driving piece 723, the inner side surface of the driving piece 723 is slidably connected with the inner side surface of the double-layer frame 712, the bottom end of the driving piece 723 is fixedly connected with an arc-shaped frame 724, the bottom end of the arc-shaped frame 724 is fixedly connected with an inclined guide rod 725, the bottom end inclined surface of the inclined guide rod 725 is slidably connected with the upper end inclined surface of the inclined guide 718, through the threaded transmission of the main threaded rod 708 and the auxiliary frame 706 and the limiting and guiding of the special-shaped guide rod 705 to the auxiliary frame 706, the auxiliary frame 706 can be driven to slide up and down by starting the motor 707, which facilitates pulling out the rivet rod part 738, through the linkage action of the linkage frame 713 and the plurality of level extension rods 714, the relative angle between the adjusting disc 711 and the double-layer frame 712 can be fixedly ensured, through the threaded transmission of the adjusting disc 711 and the adjusting threaded column 703, when the double-layer frame 712 abuts against and pushes the adjusting disc 711 upwards, the adjusting disc 711 and the double-layer frame 712 can be driven to rotate, when being pushed to the limit position, the double-layer frame 712 rotates one hundred and eighty degrees, driving the rivet rod part 738 to above the feeding port 741,The inclined guide 718 and the inclined surface of the inclined guide rod 725 are matched and guided by the guide rod 716, the first electric push rod 722 is started, each limiting clamping plate 719 is synchronously moved, the clamping stability of the rivet rod part 738 is ensured, the clamping stability and the firmness are improved when the rivet rod part 738 is clamped, the rivet rod part 738 does not need to be placed in the waste area of the traditional mechanical hand again, the movement time is reduced, the operation is completed when the riveting assembly 7 is riveted and moved above the external rivet disc, the functionality and the production efficiency are improved, the situation that multiple independent power drives are out of synchronization in long-term cooperation is avoided, and the reliability and the practicality are improved.

[0018] Principle: Start the drive structure in the base 1, the first rotating frame 2, the first linkage arm 3, the second rotating frame 4, the second linkage arm 5 and the third rotating frame 6, drive the riveting assembly 7 to the upper side of the external rivet disc, abut the upper end surface of the rivet head part 739 through the spherical part 737, adapt to rivet head parts 739 of different curved surfaces through the spherical surface of the spherical part 737, improve the stability, start the second electric push rod 734, drive the limiting roller 732 to preliminarily position the rivet rod part 738, start the first electric push rod 722, drive each limiting clamping plate 719 and the clamping strip 720 to synchronously move and limit and fix the rivet rod part 738, start the drive structure to drive the riveting assembly 7 to the riveting position, start the motor 707 to pull out the rivet rod part 738, complete riveting, after the double-layer frame 712 abuts the adjusting disc 711, drive the rivet rod part 738 to the upper side of the feeding port 741 through the thread transmission of the adjusting disc 711 and the adjusting threaded column 703, start the first electric push rod 722 to release the limitation of the rivet rod part 738, complete the collection of the rivet rod part 738 through the waste transfer box 740, start the external suction device to clean the inside of the waste transfer box 740 after a certain time, the riveting assembly 7 is in a vertical state and moves to the external rivet disc during the collection of the rivet rod part 738, and the working efficiency is improved.

[0019] The above examples are only used to illustrate the technical solutions of the present application, but not limit them.

Claims

1. An automated intelligent riveting robot, characterized in that, include: A base (1) is rotatably connected to a first rotating frame (2) at its upper end. A first linkage arm (3) is rotatably connected to the upper end of the first rotating frame (2). A second rotating frame (4) is rotatably connected to the top end of the first linkage arm (3). A second linkage arm (5) is fixedly connected to one end of the second rotating frame (4) away from the first linkage arm (3). A third rotating frame (6) is rotatably connected to the other end of the second linkage arm (5). A riveting assembly (7) is fixedly connected to the inner surface of the third rotating frame (6). The riveting assembly (7) includes a protective shell (701) fixedly connected to the inner surface of the third rotating frame (6). A column (702) is fixedly connected to the inner top wall of the protective shell (701). An adjusting threaded column (703) is fixedly connected to the bottom end of the column (702). A baffle (704) is fixedly connected to the bottom end of the adjusting threaded column (703).

2. The automated intelligent riveting robot according to claim 1, characterized in that, The riveting assembly (7) further includes: The irregularly shaped guide rod (705) is fixedly connected to the bottom end of the baffle (704), and the bottom end of the irregularly shaped guide rod (705) is fixedly connected to the inner bottom end of the protective shell (701); The auxiliary frame (706) is slidably connected to the outer surface of the irregular guide rod (705); The motor (707) is fixedly connected to the top of the protective housing (701). The output end of the motor (707) is fixedly connected to the main thread rod (708) through the protective housing (701). The outer surface of the main thread rod (708) is threadedly connected to the inner surface of the auxiliary frame (706).

3. The automated intelligent riveting robot according to claim 2, characterized in that, The riveting assembly (7) further includes: The auxiliary sleeve (709) is rotatably connected to the bottom outer surface of the column (702); A reset spring rod (710) is fixedly connected to the bottom end of the auxiliary sleeve (709). The other end of the reset spring rod (710) is fixedly connected to an adjusting disc (711). The inner surface of the adjusting disc (711) is threadedly connected to the outer surface of the adjusting threaded column (703).

4. The automated intelligent riveting robot according to claim 3, characterized in that, The riveting assembly (7) further includes: The double-layer frame (712) is rotatably connected to the outer surface of the auxiliary frame (706); The linkage frame (713) is rotatably connected to the outer surface of the auxiliary frame (706) and the adjustment plate (711), and a multi-stage telescopic rod (714) is fixedly connected between the opposite surfaces of the linkage frame (713).

5. An automated intelligent riveting robot according to claim 4, characterized in that, The riveting assembly (7) further includes: The intermediate frame (715) is fixedly connected to the bottom of the double-layer frame (712). A guide rod (716) is fixedly connected to the outer surface of the intermediate frame (715), and an arc-shaped limiting plate (717) is fixedly connected to the other end of the guide rod (716). An inclined guide (718) is slidably connected to the outer surface of the guide rod (716). The bottom end of the inclined guide (718) is fixedly connected to a limiting plate (719). Both sides of the limiting plate (719) are fixedly connected to a locking strip (720). The locking strips (720) on the same limiting plate (719) are spaced apart on both sides. The outer surfaces of the locking strips (720) on adjacent limiting plates (719) are slidably connected to each other.

6. An automated intelligent riveting robot according to claim 5, characterized in that, The riveting assembly (7) further includes: An L-shaped frame (721) is fixedly connected to the upper end of a double-layer frame (712). A first electric push rod (722) is fixedly connected to the bottom end of the L-shaped frame (721). A driving member (723) is fixedly connected to the other end of the first electric push rod (722). The inner surface of the driving member (723) is slidably connected to the inner surface of the double-layer frame (712). An arc-shaped frame (724) is fixedly connected to the bottom end of the drive component (723). An inclined guide rod (725) is fixedly connected to the bottom end of the arc-shaped frame (724). The inclined surface at the bottom end of the inclined guide rod (725) is slidably connected to the inclined surface at the top end of the inclined guide component (718).

7. The automated intelligent riveting robot according to claim 1, characterized in that, The riveting assembly (7) further includes: The secondary outer casing (726) is fixedly connected to the bottom end of the protective outer casing (701); The irregular frame (727) is slidably connected to the bottom of the secondary shell (726). An auxiliary wheel (728) is rotatably connected to the upper end of the irregular frame (727). The outer surface of the auxiliary wheel (728) abuts against the inner surface of the secondary shell (726).

8. An automated intelligent riveting robot according to claim 7, characterized in that, The riveting assembly (7) further includes: The first shock absorber (729) is fixedly connected to the opposite surface between adjacent irregular frames (727), and the second shock absorber (730) is fixedly connected to one end of the irregular frame (727) away from the auxiliary wheel (728). A limiting frame (731) is fixedly connected to the other end of the second shock absorber (730). A limiting roller (732) is rotatably connected to one end of the limiting frame (731) away from the auxiliary wheel (728). A third shock absorber (733) is fixedly connected between the opposite surfaces of the adjacent irregular frame (727). The second electric push rod (734) is fixedly connected to the inner surface of the secondary housing (726). The output end of the secondary housing (726) is fixedly connected to a slide rail (735). The inner surface of the slide rail (735) is slidably connected to the outer surface of the right-side irregular frame (727). An auxiliary spring rod (736) is fixedly connected to the bottom end of the secondary housing (726), and a spherical component (737) is fixedly connected to the other end of the auxiliary spring rod (736).

9. An automated intelligent riveting robot according to claim 8, characterized in that, The riveting assembly (7) further includes: The rivet rod (738) abuts against the outer surface of the limiting roller (732), and the outer surface of the rivet rod (738) is engaged with the rivet head (739), and the upper end of the rivet head (739) abuts against the outer surface of the spherical part (737). The waste transfer box (740) is snapped onto the inner surface of the protective shell (701). The upper end of the waste transfer box (740) is provided with a feed inlet (741), and the bottom end of the waste transfer box (740) is provided with a discharge outlet (742). The discharge outlet (742) is connected to an external suction device.

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