Frame automatic rivet pulling apparatus

Abstract

The application discloses a kind of frame automatic pull rivet equipment, including positioner, pull rivet device, the A station and B station of positioner are equipped with fixture plate, each fixture plate is equipped with frame workpiece, each fixture plate is equipped with positioning device, and the positioning device includes: bottom positioning component;Down pressure component;Hole limiting component, hole limiting component includes: support frame, support frame is fixedly connected with fixture plate;Hole limiting cylinder, below fixture plate, the telescopic shaft of hole limiting cylinder is upward;Two lower pressure connecting rods, lower end is rotatably connected with the telescopic shaft end of hole limiting cylinder;Two connecting rods, located the two sides of the telescopic shaft of hole limiting cylinder, the lower end of two connecting rods is rotatably connected with the top of the cylinder body of hole limiting cylinder, and the upper end of two connecting rods is rotatably connected with the middle part of corresponding lower pressure connecting rod by pivot respectively.The application can clamp the upper and lower end surfaces of frame workpiece, workpiece hole limiting, guarantee the quality of pull rivet.

Description

Technical Field

[0001] This invention relates to the field of metal processing, and more particularly to an automatic frame riveting device. Background Technology

[0002] For the processing of some metal workpieces, such as the processing of car seat frames, riveting equipment is often used. For example, invention patent CN118832414A, published on October 25, 2024, discloses a bottom shell riveting production line that uses riveting components to rivet metal workpieces. However, for some frame workpieces to be riveted, there are workpiece holes, and riveting is required around the workpiece holes. During the riveting process around the workpiece holes, deformation occurs, which affects the riveting quality. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the purpose of this invention is to provide an automatic riveting device for frames that improves the riveting quality of frames with workpiece holes.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: an automatic frame riveting device, comprising a positioner and a riveting device, wherein the positioner has an A station and a B station, and both the A station and the B station of the positioner are equipped with fixture plates, each fixture plate is equipped with a frame workpiece, and each fixture plate is equipped with a positioning device, the positioning device comprising:

[0005] Bottom positioning component, used to insert into the pin hole at the bottom of the frame workpiece;

[0006] The pressure-down assembly is used to limit the upper end face of the frame workpiece;

[0007] Hole limiting assembly, the hole limiting assembly comprising:

[0008] The support frame is fixedly connected to the fixture plate;

[0009] A hole limiting cylinder is installed on the support frame and is lower than the fixture plate, with the telescopic shaft of the hole limiting cylinder facing upward;

[0010] Two downward pressing connecting rods, the lower ends of which are rotatably connected to the telescopic shaft end of the hole limiting cylinder, and the upper ends of which are free ends;

[0011] Two connecting rods are located on both sides of the telescopic shaft of the hole limiting cylinder. The lower ends of the two connecting rods are rotatably connected to the top of the cylinder body of the hole limiting cylinder, and the upper ends of the two connecting rods are rotatably connected to the middle of their corresponding downward connecting rods through rotating shafts.

[0012] When the telescopic shaft of the hole limiting cylinder extends, the free ends of the two downward pressing connecting rods rotate downward around the central axis of the rotating shaft, pressing the opposite ends of the upper end face of the workpiece hole of the frame workpiece.

[0013] Preferably, the hole limiting assembly further includes:

[0014] The first sliding track is installed on the upper end face of the support frame.

[0015] A support plate is mounted on the first sliding track via a first slider, and the hole limiting cylinder is mounted on the upper end face of the support plate;

[0016] A displacement cylinder is fixedly installed on one side of the support frame. The displacement cylinder is connected and fixed to the support plate through a connecting rod and can drive the support plate to move back and forth along the first sliding track.

[0017] This application utilizes a displacement cylinder to adjust the position of the hole limiting cylinder, and subsequently adjusts the pressing position of the pressing link, which can position frame workpieces with workpiece holes of other sizes, thus increasing applicability.

[0018] Preferably, multiple bottom positioning components are provided, each bottom positioning component including a pin and a bottom cylinder. The bottom cylinder is fixedly installed on the lower end face of the fixture plate, and the telescopic shaft of the bottom cylinder is connected to the pin and drives the pin to rise and fall.

[0019] This application uses a pin structure for bottom positioning, which is simple and quick. When positioning a frame workpiece of one size and specification, some pins are lifted and inserted into the pin holes of the frame workpiece of that size, while the other pins are not lifted. When positioning a frame workpiece of another size, the pins that were not lifted are lifted, and the pins that were lifted are not lifted.

[0020] Preferably, multiple pressing components are provided, each pressing component includes a pressing plate and a pressing cylinder. The pressing cylinder is fixedly installed on the upper end face of the fixture plate, and the telescopic shaft of the pressing cylinder is connected to the pressing plate and drives the pressing plate to rise and fall.

[0021] Similarly, when positioning a frame workpiece of a certain size, the lower pressure plate corresponding to it descends to press down on the top surface of the frame workpiece of that size, while the lower pressure plate corresponding to other frame workpieces of different sizes does not descend.

[0022] Preferably, the positioner includes:

[0023] Positioning motor;

[0024] The H-shaped bracket has two ends, A and B, respectively. The output shaft of the positioner motor is connected and fixed to the middle of the H-shaped bracket to drive the H-shaped bracket to rotate on the horizontal plane.

[0025] Two rotating brackets, each of which is rotatably connected at both ends to the end of its corresponding H-shaped bracket, and the fixture plate is mounted on the rotating brackets;

[0026] An end motor is fixedly installed on at least one side of each end of the H-shaped bracket, and each end motor is used to drive the corresponding rotating bracket to rotate about its own central axis.

[0027] The jig plate of this application can rotate around the central axis of the rotating bracket, and can perform riveting operations on multiple surfaces of the frame workpiece.

[0028] Preferably, there are two riveting devices, each of which includes a six-axis robot, a riveting gun, and a vision camera. The riveting gun is mounted on the free end of the six-axis robot, and the vision camera is mounted on the housing of the riveting gun.

[0029] Preferably, the device further includes a rivet feeder for supplying rivet nuts to the rivet gun, and two rivet feeders are provided, each corresponding to the rivet device.

[0030] Preferably, the rivet feeder includes:

[0031] A hopper for storing rivet nuts, the hopper having a discharge port;

[0032] A vibratory feeder is located below the discharge port of the hopper, and the outlet of the vibratory feeder is connected to a linear vibrating section.

[0033] A rivet transfer assembly is used to transfer the rivet nut at the end of the linear vibrating section to the material handling station.

[0034] Preferably, the rivet transfer assembly includes:

[0035] A receiving bracket is fixedly installed at the outlet of the linear vibration section, which is a material picking station.

[0036] The receiving platform is slidably mounted on the upper surface of the receiving bracket through the cooperation of the second sliding rail and the second slider. A material trough is provided on the side facing the vertical vibration unit. The material trough is through the top and bottom and has an opening on one side. The opening side of the material trough can be connected to the outlet of the vertical vibration unit.

[0037] A translation cylinder is fixedly installed on the receiving bracket, and its telescopic shaft is connected and fixed to the receiving platform, driving the receiving platform to move back and forth between the material picking station and the material loading station along the direction of the second sliding track.

[0038] A clamping rod is installed at the loading station, corresponding to the opening side of the material trough. The end of the clamping rod is V-shaped. The clamping rod is driven by a clamping cylinder and can move to the material trough at the loading station to clamp the rivet nut. The clamping cylinder is fixedly installed on the receiving bracket.

[0039] Preferably, a first sensor is provided on the receiving platform, which is used to sense whether there is material in the material trough;

[0040] The receiving bracket is equipped with a second sensor, which is used to sense whether there is material on the rivet rod of the rivet gun;

[0041] A third sensor is installed at the loading station of the receiving bracket to sense whether the receiving platform has been moved to the loading station.

[0042] The beneficial effects of the automatic riveting equipment for frames of the present invention are as follows: the bottom positioning component and the pressing component are used to limit and clamp the upper and lower end faces of the frame workpiece, and the hole limiting component limits and clamps the workpiece hole of the frame workpiece, ensuring that the frame workpiece with the workpiece hole is stably clamped on the fixture plate, so that no displacement will occur when riveting at the workpiece hole, thus ensuring the quality of riveting. Attached Figure Description

[0043] Figure 1 This is a perspective view of this embodiment;

[0044] Figure 2 This is a perspective view of the positioner in this embodiment;

[0045] Figure 3 The fixture plate and positioning device in this embodiment;

[0046] Figure 4 This is a perspective view of the hole limiting component in this embodiment;

[0047] Figure 5 This is a perspective view of the support frame in this embodiment;

[0048] Figure 6 This is a perspective view of the rivet feeder in this embodiment;

[0049] Figure 7 This is a perspective view of the rivet transfer assembly in this embodiment;

[0050] Figure 8 This is a perspective view of the receiving platform in this embodiment;

[0051] Figure 9 This is a perspective view of the clamping rod and clamping cylinder in this embodiment;

[0052] Figure 10 This is a perspective view of the frame workpiece in this embodiment.

[0053] In the attached image:

[0054] 100. Positioner; 110. Positioning motor; 120. H-type bracket; 130. Rotating bracket; 140. End motor;

[0055] 200. Riveting device; 210. Six-axis robot arm; 220. Riveting gun; 230. Vision camera;

[0056] 300. Jig board;

[0057] 410. Bottom positioning assembly; 411. Pin; 412. Bottom cylinder;

[0058] 420. Pressing assembly; 421. Pressing plate; 422. Pressing cylinder; 423. Limiting groove;

[0059] 430. Hole limiting assembly; 431. Support frame; 432. Hole limiting cylinder; 433. Downward connecting rod; 434. Linkage rod; 435. Rotating shaft; 436. First sliding rail; 437. Support plate; 438. Displacement cylinder; 439. Threaded mounting hole;

[0060] 500. Rivet feeder; 510. Hopper; 511. Discharge port; 520. Vibratory feeder; 521. Straight vibration unit; 530. Rivet transfer assembly; 531. Receiving bracket; 532. Receiving platform; 533. Material trough; 534. Translation cylinder; 535. Clamping rod; 536. Clamping cylinder; 537. First sensor; 538. Second sensor; 539. V-groove; 5310. Third sensor;

[0061] 600. Rivet nuts;

[0062] 700, Frame workpiece; 710, Workpiece hole. Detailed Implementation

[0063] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0064] See Figures 1 to 10 As shown, this embodiment discloses an automatic frame riveting device, including a positioner 100 and a riveting device 200. The positioner 100 has a station A and a station B. A fixture plate 300 is installed at both the station A and station B of the positioner 100. A frame workpiece 700 is installed on each fixture plate 300. A positioning device is installed on each fixture plate 300, and the positioning device includes:

[0065] Bottom positioning component 410 is used to insert into the pin hole at the bottom of the frame workpiece 700;

[0066] The pressing component 420 is used to limit the upper end face of the frame workpiece 700;

[0067] Hole limiting assembly 430, the hole limiting assembly 430 includes:

[0068] Support frame 431 is fixedly connected to fixture plate 300;

[0069] Hole limiting cylinder 432 is installed on support frame 431 and is lower than jig plate 300. The telescopic shaft of hole limiting cylinder 432 faces upward.

[0070] Two downward pressing connecting rods 433, the lower ends of which are rotatably connected to the telescopic shaft end of the hole limiting cylinder 432, and the upper ends of the two downward pressing connecting rods 433 are free ends;

[0071] Two connecting rods 434 are located on both sides of the telescopic shaft of the hole limiting cylinder 432. The lower ends of the two connecting rods 434 are rotatably connected to the top of the cylinder body of the hole limiting cylinder 432. The upper ends of the two connecting rods 434 are rotatably connected to the middle of the corresponding pressing connecting rod 433 through the rotating shaft 435.

[0072] When the telescopic shaft of the hole limiting cylinder 432 extends, the free ends of the two downward pressing connecting rods 433 rotate downward around the central axis of the rotating shaft 435, pressing the opposite ends of the upper end face of the workpiece hole 710 of the frame workpiece 700.

[0073] like Figure 4 , Figure 5 As shown, the hole limiting assembly 430 also includes:

[0074] The first sliding rail 436 is installed on the upper end face of the support frame 431; the end of the first sliding rail 436 is provided with a limiting member, which can be a stop block, installed in the threaded mounting hole 439 at the end of the first sliding rail 436.

[0075] The support plate 437 is mounted on the first sliding rail 436 via the first slider, and the hole limiting cylinder 432 is mounted on the upper end face of the support plate 437.

[0076] The displacement cylinder 438 is fixedly installed on one side of the support frame 431. The displacement cylinder 438 is connected and fixed to the support plate 437 through a connecting rod, and can drive the support plate 437 to move back and forth along the first sliding track 436.

[0077] like Figure 3 As shown, multiple bottom positioning components 410 are provided. Each bottom positioning component 410 includes a pin 411 and a bottom cylinder 412. The bottom cylinder 412 is fixedly installed on the lower end face of the fixture plate 300. The telescopic shaft of the bottom cylinder 412 is connected to the pin 411 and drives the pin 411 to rise and fall.

[0078] like Figure 3 As shown, multiple pressing components 420 are provided. Each pressing component 420 includes a pressing plate 421 and a pressing cylinder 422. The pressing cylinder 422 is fixedly installed on the upper end face of the fixture plate 300. The telescopic shaft of the pressing cylinder 422 is connected to the pressing plate 421 and drives the pressing plate 421 to rise and fall. Some pressing plates 421 are provided with limit grooves 423. The limit grooves 423 are used to clamp the inner side wall and top surface of the frame workpiece 700.

[0079] like Figure 2 As shown, the positioner 100 includes:

[0080] Variable position motor 110;

[0081] H-type bracket 120, with A station and B station at its two ends respectively, and the output shaft of the positioner motor 110 is connected and fixed to the middle of the H-type bracket 120 to drive the H-type bracket 120 to rotate on the horizontal plane.

[0082] Two rotating brackets 130 are rotatably connected at both ends of each rotating bracket 130 to the end of its corresponding H-shaped bracket 120, and a fixture plate 300 is mounted on the rotating bracket 130.

[0083] An end motor 140 is fixedly mounted on at least one side of each end of the H-shaped bracket 120, and each end motor is used to drive the rotating bracket 130 to rotate about its own central axis.

[0084] like Figure 1 As shown, two riveting devices 200 are provided. Each riveting device 200 includes a six-axis robot 210, a riveting gun 220, and a vision camera 230. The riveting gun 220 is mounted on the free end of the six-axis robot 210, and the vision camera 230 is mounted on the housing of the riveting gun 220. By cooperating with the six-axis robot 210 and the rotatable fixture plate 300, riveting operations can be performed simultaneously on multiple surfaces of the frame workpiece 700, improving work efficiency.

[0085] like Figure 1 As shown, it also includes a rivet feeder 500 for feeding rivet nuts 600 to the rivet gun 220. There are two rivet feeders 500, each corresponding to the rivet device 200.

[0086] like Figures 6 to 9 As shown, the rivet feeder 500 includes:

[0087] The hopper 510 is used to store rivet nuts 600, and the hopper 510 has a discharge port 511;

[0088] Vibratory feeder 520 is located below the discharge port 511 of hopper 510, and the outlet of vibratory feeder 520 is connected to a linear vibrating section 521.

[0089] The rivet transfer assembly 530 is used to transfer the rivet nut 600 at the end of the linear vibrating section 521 to the material handling station.

[0090] like Figures 7 to 9 As shown, the rivet transfer assembly 530 includes:

[0091] The receiving bracket 531 is fixedly installed at the outlet of the vertical vibration section 521, and the outlet of the vertical vibration section 521 is the material picking station;

[0092] The receiving platform 532 is slidably mounted on the upper surface of the receiving bracket 531 through the cooperation of the second sliding rail and the second slider. A material trough 533 is provided on the side facing the vertical vibration unit 521. The material trough 533 is through from top to bottom and has an opening on one side. The opening side of the material trough 533 can be connected to the outlet of the vertical vibration unit 521.

[0093] The translation cylinder 534 is fixedly installed on the receiving bracket 531. Its telescopic shaft is connected and fixed to the receiving platform 532, and drives the receiving platform 532 to move back and forth between the material picking station and the material loading station along the direction of the second sliding track.

[0094] The clamping rod 535 is installed at the loading station, corresponding to the opening side of the material trough 533. The end of the clamping rod 535 is a V-shaped groove 539. The clamping rod 535 is driven by the clamping cylinder 536 and can move to the material trough 533 that has been moved to the loading station, and then clamp the rivet nut 600. The clamping cylinder 536 is fixedly installed on the receiving bracket 531.

[0095] like Figure 7 As shown, a first sensor 537 is provided on the receiving platform 532. The first sensor 537 is used to sense whether there is material in the material trough 533.

[0096] A second sensor 538 is provided on the receiving bracket 531. The second sensor 538 is used to sense whether there is material on the rivet rod of the rivet gun 220.

[0097] A third sensor 5310 is installed on the loading station of the receiving bracket 531 to sense whether the receiving platform 532 has been moved to the loading station.

[0098] To ensure the safety of the operation, a protective net can be installed around the automatic riveting equipment of the frame, and a safety light curtain can be installed at the entrance of the protective net to protect the safety of the operators.

[0099] The working principle of this embodiment is as follows:

[0100] The operator enters the safety net and installs the frame workpiece 700 on station A of the H-type bracket 120, specifically on the fixture plate 300 at station A. Then, the operator exits the safety net and activates the switch. Part of the bottom positioning component 410 of the fixture plate 300 at station A activates, and the bottom cylinder 412 drives the pin 411 to rise and insert into the pin hole of the frame workpiece 700. Part of the pressing component 420 activates, and the pressing cylinder 422 drives the pressing plate 421 to move downwards, pressing down on the top of the frame workpiece 700. If the pressing plate 421 with the limit groove 423 presses down, it will press firmly against the inner wall and top surface of the frame workpiece 700. The displacement cylinder 438 drives the hole limiting cylinder 432 to move to the first position along the first sliding track 436. The telescopic axis of the hole limiting cylinder 432 is pushed upward, and the lower end of each pressing link 433 is forced to move upward. Since the middle part of the pressing link 433 is rotatably connected by the connecting rod 434, during the upward movement, the free ends of the two pressing links 433 will rotate downward with the rotating shaft 435 respectively, until the free ends of the two pressing links 433 press against the opposite ends of the upper peripheral surface of the workpiece hole 710, and finally press and fix the frame workpiece 700.

[0101] If riveting is performed on a frame workpiece 700 with workpiece hole 710 of other sizes and specifications, the bottom positioning component 410 of another part and the pressing component 420 of another part will be activated, and the displacement cylinder 438 will move the hole limiting cylinder 432 along the first sliding track 436 to the second position, thereby pressing and positioning the bottom, top and workpiece hole 710 of the frame workpiece 700 respectively.

[0102] After the frame workpiece 700 is positioned at station A, the positioner motor 110 of the positioner 100 starts, driving the H-shaped bracket 120 to rotate 180° until the frame workpiece 700 at station A is under the two riveting devices 200. Station B rotates to the safety light curtain, and the vision camera 230 of each riveting device 200 takes pictures to position the riveting location. The six-axis robot arm 210 drives the riveting gun 220 to perform the riveting operation on the frame workpiece 700. The two riveting devices 200 work synchronously, which is highly efficient. After the first side is riveted, the end motor 140 drives the rotating bracket 130 to rotate around its rotation axis, and the second side to be riveted rotates to be under the two riveting devices 200. This continues until all the working surfaces to be riveted are completed. Then, the riveted workpiece at station A is rotated back to its original position and unloaded by the operator or robot. While station A of the H-shaped bracket 120 is riveting, station B continues to have the frame workpiece 700 loaded by the operator or robot.

[0103] The rivet nuts 600 are fed one by one from the rivet gun 220 to the rivet feeder 500. The hopper 510 feeds the rivet nuts 600 to the vibratory feeder 520. The vertical vibration unit 521 moves the rivet nuts 600 one by one to the outlet, which is the material feeding station. The receiving platform 532 is pre-driven by the translation cylinder 534 to the position where it connects with the outlet of the vertical vibration unit 521. After the material trough 533 receives a rivet nut 600, the first sensor 5... 37 Once material is detected in the material trough 533, the translation cylinder 534 drives it to move to the loading station. Once it reaches the loading station, the third sensor 5310 senses it, and the clamping cylinder 536 drives the clamping rod 535 to move towards the material trough 533. The V-groove 539 presses the rivet nut 600 against the material trough 533 of the loading station until the rivet rod of the rivet gun 220 picks up the material, and the clamping rod 535 releases the rivet nut 600.

[0104] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A frame automatic rivet pulling device, comprising a positioner (100) and a rivet pulling device (200), the positioner (100) has an A station and a B station, the A station and the B station of the positioner (100) are both provided with a jig plate (300), and a frame workpiece (700) is installed on each jig plate (300), characterized in that: Each of the jig plates (300) is provided with a positioning device, which comprises: ​ a bottom positioning assembly (410) for inserting into a pin hole in the bottom of the frame workpiece (700); a pressing assembly (420) for limiting the upper end surface of the frame workpiece (700); a hole limiting assembly (430), which comprises: a support frame (431) fixedly connected with the jig plate (300); a hole limiting cylinder (432) mounted on the support frame (431), with the telescopic shaft of the hole limiting cylinder (432) upward; two pressing connecting rods (433), with the lower ends of the two pressing connecting rods (433) rotatably connected with the ends of the telescopic shaft of the hole limiting cylinder (432), and the upper ends of the two pressing connecting rods (433) being free ends; two connecting rods (434) located on the two sides of the telescopic shaft of the hole limiting cylinder (432), with the lower ends of the two connecting rods (434) rotatably connected with the top of the cylinder body of the hole limiting cylinder (432), and the upper ends of the two connecting rods (434) rotatably connected with the middle portions of the corresponding pressing connecting rods (433) through rotating shafts (435); when the telescopic shaft of the hole limiting cylinder (432) is extended, the free ends of the two pressing connecting rods (433) rotate downward around the central shaft of the rotating shaft (435) to press the opposite ends of the upper end surface of the workpiece hole (710) of the frame workpiece (700); the hole limiting assembly (430) further comprises: a first sliding rail (436) mounted on the upper end surface of the support frame (431); a support plate (437) mounted on the first sliding rail (436) through a first sliding block, with the hole limiting cylinder (432) mounted on the upper end surface of the support plate (437); a displacement cylinder (438) fixedly mounted on one side of the support frame (431), with the displacement cylinder (438) connected with the support plate (437) through a connecting rod and fixed, and capable of driving the support plate (437) to move back and forth along the first sliding rail (436); the displacement machine (100) comprises: a displacement motor (110); an H-shaped support (120), with the two ends of the H-shaped support (120) being an A station and a B station, respectively, and with the output shaft of the displacement motor (110) fixedly connected with the middle portion of the H-shaped support (120) to drive the H-shaped support (120) to rotate on the horizontal plane; two rotating supports (130), with the two ends of each of the rotating supports (130) rotatably connected with the ends of the corresponding H-shaped support (120), and with the jig plate (300) mounted on the rotating support (130); an end motor (140) fixedly mounted on at least one side of each end of the H-shaped support (120), with each of the end motors (140) used to drive the corresponding rotating support (130) to rotate around its own central shaft.

2. The frame automated rivet pulling apparatus of claim 1, wherein: The bottom positioning assembly (410) is provided with a plurality of bottom positioning assemblies (410), each of which comprises a latch (411) and a bottom cylinder (412) fixedly installed on the lower end face of the jig plate (300), and the extension shaft of the bottom cylinder (412) is connected with the latch (411) and drives the latch (411) to ascend and descend.

3. The frame automated rivet pulling apparatus of claim 1, wherein: The lower pressing assembly (420) is provided with a plurality of lower pressing assemblies (420), each of which comprises a lower pressing plate (421) and a lower pressing cylinder (422) fixedly installed on the upper end face of the jig plate (300), and the extension shaft of the lower pressing cylinder (422) is connected with the lower pressing plate (421) and drives the lower pressing plate (421) to ascend and descend, and part of the lower pressing plate (421) is provided with a limiting groove (423).

4. The frame automated rivet installation apparatus of claim 1, wherein: The riveting device (200) is provided with two riveting devices (200), each of which comprises a six-axis manipulator (210), a riveting gun (220), and a visual camera (230), the riveting gun (220) is installed on the free end of the six-axis manipulator (210), and the visual camera (230) is installed on the shell of the riveting gun (220).

5. The frame automatic riveting apparatus according to claim 4, characterized by: It also includes a rivet feeder (500) for supplying the rivet nut (600) to the riveting gun (220), and the rivet feeder (500) is provided with two rivet feeders (500) corresponding to the riveting device (200).

6. The frame automatic riveting apparatus according to claim 5, characterized by: The rivet feeder (500) comprises: a hopper (510) for storing rivet nuts (600), the hopper (510) having a discharge port (511); a vibrating disc (520) located below the discharge port (511) of the hopper (510), and the outlet of the vibrating disc (520) is connected with a straight vibration part (521); a rivet transfer assembly (530) for transferring the rivet nut (600) at the end of the straight vibration part (521) to a material taking station.

7. The frame automatic riveting apparatus according to claim 6, characterized by: The rivet transfer assembly (530) comprises: a receiving support (531) fixedly installed at the outlet of the straight vibration part (521), and the outlet of the straight vibration part (521) is a material taking station; a receiving table (532) slidingly arranged on the upper end face of the receiving support (531) through the cooperation of the second sliding rail and the second sliding block, and a material groove (533) is arranged on the side facing the straight vibration part (521), the material groove (533) is vertically through, and one side has an opening, and the opening side of the material groove (533) can be docked with the outlet of the straight vibration part (521); a translation cylinder (534) fixedly installed on the receiving support (531), and the extension shaft of the translation cylinder (534) is connected with the receiving table (532) and drives the receiving table (532) to move back and forth along the second sliding rail direction between the material taking station and a material feeding station; A clamping rod (535) is installed at the feeding station and corresponds to the opening side of the material groove (533). The end of the clamping rod (535) is a V-shaped groove (539). The clamping rod (535) is driven by a clamping cylinder (536) and can move to the material groove (533) at the feeding station. The clamping cylinder (536) is fixedly installed on the material receiving support (531).

8. The frame automatic rivet pulling device according to claim 7, characterized in that: A first sensor (537) is arranged on the material receiving table (532) and is used to sense whether there is material in the material groove (533); A second sensor (538) is arranged on the material receiving support (531) and is used to sense whether there is material on the rivet rod of the rivet gun (220); A third sensor (5310) is arranged on the feeding station of the material receiving support (531) and is used to sense whether the material receiving table (532) is moved to the feeding station.

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