Automatic riveting equipment

Abstract

The invention discloses an automatic riveting device. Comprising an equipment frame; the rivet vibration feeding device and the rivet vibration feeding device are arranged on one side of the equipment frame; the feeding end of the riveting device is arranged at the discharging end of the rivet vibration feeding device; the riveting device is arranged on the surface of the equipment frame, the riveting device comprises a linear moving device, a sliding rail frame and a plurality of sets of riveting direction adjusting devices, and the linear moving device is arranged on the surface of the equipment frame. And the rivet pressing can be completed at the same time, so that the rivet pressing efficiency is greatly improved. The design is not only suitable for workpieces of a single specification, but also can flexibly adapt to various workpieces at different rivet pressing positions, equipment does not need to be frequently adjusted, and production time and cost are saved.

Description

Technical Field

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

[0002] Press riveting is a connection technology widely used in sheet metal processing and electronics and automotive parts manufacturing. It uses pressure to firmly connect rivets or nuts to workpieces.

[0003] In the field of press riveting, traditional press riveting methods typically only allow operation on a single riveting position at a time. For workpieces with multiple different riveting positions, it is necessary to adjust the workpiece position or change the mold multiple times. This process is not only time-consuming and labor-intensive, but also prone to affecting the riveting quality due to positioning deviations. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the purpose of this invention is to provide an automatic riveting device that enables simultaneous operation of multiple riveting positions. Regardless of the distribution of the riveting positions, riveting can be completed at the same time, greatly improving riveting efficiency. This design is not only suitable for workpieces of a single specification, but can also flexibly handle various workpieces with different riveting positions, eliminating the need for frequent equipment adjustments and saving production time and costs.

[0006] To achieve the above objectives, the present invention provides an automatic riveting device, comprising: Equipment frame; A rivet vibrating feeding device, wherein the rivet vibrating feeding device is disposed on one side of the equipment frame; The riveting device has its feed end located at the discharge end of the rivet vibrating feeder. A riveting device is provided on the surface of the equipment frame. The riveting device includes a linear moving device, a slide rail frame, and multiple sets of riveting adjustment devices. The linear moving device is provided on the surface of the equipment frame. The slide rail frame is connected to the moving end of the linear moving device. Multiple sets of servo electric slide rails are provided on the inner wall of the slide rail frame. The riveting adjustment devices are connected to the tracks of the servo electric slide rails through a transfer frame. The discharge end of the riveting device is provided at the feeding position of the riveting adjustment device. A riveting press is also provided on the riveting adjustment device. A line laser sensor, which is fixed to the bottom of the slide rail frame.

[0007] The automatic riveting equipment of this invention enables simultaneous operation of multiple riveting positions. Regardless of the distribution of the riveting positions, riveting can be completed at the same time, greatly improving riveting efficiency. This design is not only suitable for workpieces of a single specification, but can also flexibly handle various workpieces with different riveting positions, eliminating the need for frequent equipment adjustments and saving production time and costs.

[0008] In addition, the automatic riveting equipment proposed in the application may also have the following additional technical features: Specifically, the riveting device includes a mounting base, a vacuum generator assembly, and a feed head. The mounting base is arranged in the arrangement frame of the rivet vibration feeding device, and the feed head is arranged at the riveting position of the riveting adjustment device. The mounting base and the feed head are connected by a connecting pipe, and a vacuum generator assembly is arranged between the mounting base and the feed head.

[0009] Specifically, the riveting and adjusting device is connected to the track of the servo electric slide rail via an adapter frame. The riveting and adjusting device includes a lateral moving device. The moving end of the lateral moving device is connected to two sets of first lowering devices. The riveting press is connected to the moving end of one set of first lowering devices, and the feed head is connected to the moving end of the other set of first lowering devices.

[0010] Specifically, the outlet of the feed head is connected to a first pressure pad head.

[0011] Specifically, the mounting base is provided with multiple sets of inlets, and multiple sets of miniature cylinders are installed inside the mounting base. A photoelectric switch is provided on the inner wall of the inlet, and a ring tube is slidably connected to the inner wall of the inlet. A second pressure pad head is connected to the bottom of the ring tube, and the output end of the miniature cylinder is connected to the ring tube.

[0012] Specifically, it also includes a multi-port head, and the number of the rivet vibration feeding device, the mounting base and the vacuum generator group are all multiple sets, and the feeding head is connected to multiple sets of the mounting base through the multi-port head.

[0013] Specifically, it also includes a fixing device, which includes four sets of bearing seats. The four sets of bearing seats are respectively set at the four corners of the equipment frame. A pressing cylinder is rotatably connected to the center of the bearing seat through a shaft. A rotating rod motor is connected to the outer wall of the bearing seat. The output end of the rotating rod motor is connected to the shaft. The output end of the pressing cylinder is connected to a pressure plate.

[0014] Specifically, it also includes a workpiece loading device, which includes a horizontal linear module and a vertical linear module. The horizontal linear module is fixed to the bottom of the equipment frame, and the vertical linear module is located at the moving end of the horizontal linear module. The moving end of the vertical linear module is connected to a second lowering device, and the output end of the second lowering device is provided with a vacuum suction clamp.

[0015] Specifically, it also includes multiple sets of feeding conveyor belts, which are arranged on one side of the equipment frame.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the automatic riveting equipment of the present invention; Figure 2 This is a schematic diagram of the automatic riveting equipment of the present invention with the top cover removed; Figure 3 This is a schematic diagram of the riveting device and its connecting components in the automatic riveting equipment of the present invention; Figure 4 This is a schematic diagram of the servo electric slide rail in the automatic riveting equipment of the present invention; Figure 5 This is a schematic diagram of the lateral moving device and its connecting components in the automatic riveting equipment of the present invention; Figure 6 This is a schematic diagram of the rivet vibration feeding device in the automatic riveting equipment of the present invention; Figure 7 This is a schematic diagram of the structure of the mounting base in the automatic riveting equipment of the present invention; Figure 8 This is a schematic diagram of the structure of the mounting seat and the feed head in the automatic riveting equipment of the present invention; Figure 9 This is a schematic diagram of the workpiece feeding device in the automatic riveting equipment of the present invention; Figure 10 This is a schematic diagram of the fixing device in the automatic riveting equipment of the present invention; Figure 11 This is a schematic diagram of the structure of the automatic riveting equipment of the present invention, showing the laser scanning process.

[0018] As shown in the figure: 1. Equipment frame; 2. Rivet vibration feeding device; 3. Riveting device; 4. Riveting device; 5. Fixing device; 6. Workpiece feeding device; 7. Feeding conveyor belt; 301. Mounting seat; 302. Feed head; 302. Multi-pass head; 401. Linear movement device; 402. Slide rail frame; 403. Riveting direction adjustment device; 404. Servo electric slide rail; 405. Riveting machine; 406. Linear laser sensor; 501. Bearing seat; 502. Pressing cylinder; 503. Pressure plate; 601. Horizontal linear module; 602. Vertical linear module; 603. Second lowering device; 604. Vacuum suction clamp; 3011. Miniature cylinder; 3012. Ring tube; 3013. Second pressure pad head; 3021. First pressure pad head; 4031. Lateral movement device; 4032. First lowering device. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention. Rather, embodiments of the invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0020] The automatic riveting device according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0021] like Figures 1-11 As shown, the automatic riveting device of this embodiment of the invention may include: Equipment frame 1; Rivet vibration feeding device 2, rivet vibration feeding device 2, rivet vibration feeding device 2 is set on one side of the equipment frame 1, rivet vibration feeding device 2 is used to arrange rivets and adjust the upper position. The riveting device 3 has its feed end located at the discharge end of the rivet vibration feeding device 2. The riveting device 3 is used to transport the rivets from the rivet vibration feeding device 2 to the discharge end of the riveting device 3. Riveting device 4 is installed on the surface of equipment frame 1. Riveting device 4 includes linear moving device 401, slide rail frame 402 and multiple riveting adjustment devices 403. The linear moving device 401 is installed on the surface of equipment frame 1. The slide rail frame 402 is connected to the moving end of the linear moving device 401. Multiple servo electric slide rails 404 are installed on the inner wall of the slide rail frame 402. The riveting adjustment device 403 is connected to the track of the servo electric slide rail 404 through a transfer frame. The discharge end of the riveting device 3 is installed at the feeding position of the riveting adjustment device 403. The riveting adjustment device 403 is also equipped with a riveting press 405. The riveting press 405 can be a press head or an expansion head. Riveting device 4 is used to control the discharge end of multiple feeding devices 2 to move to the rivet position and then perform riveting.

[0022] The linear motion device 401 includes two sets of linear modules. The moving ends of the two sets of linear modules are connected to both sides of the slide rail 402. The output end of the linear module is connected to a multi-axis device. The input end of the multi-axis device is connected to a moving motor. The two output ends of the multi-axis device are respectively connected to the input ends of the two sets of linear modules. The multi-axis device is a device with one-axis input and multiple-axis output.

[0023] The linear motion device 401 is positioned by two sets of limit switches, namely the initial position switch and the end position switch. The two sets of limit switches determine that the linear motion device 401 has a lateral coordinate.

[0024] A line laser sensor 406 is fixed to the bottom of the slide rail 402. The vertical scanning of the line laser determines the vertical position of the hole diameter. Before riveting, the line laser, via a linear motion device 401, drives the line laser sensor 406 to scan the surface of the workpiece. Figure 11 As shown, when the line laser is at the position of the maximum diameter of the aperture, the size of the aperture can be obtained. This can be recorded as the position where the aperture needs to be riveted. The coordinates of the aperture are determined according to the relative position of the aperture and the slide rail 402. After scanning down once, the positions and heights of different apertures are recorded.

[0025] Specifically, based on the required riveting position and height, the riveting device 4 controls the adjustment position of the discharge end of the riveting device 3. The discharge end of the riveting device 3 is adjusted and controlled by the riveting direction adjustment device 403. According to the hole diameter position and height, the discharge end of the riveting device 3 is aligned with the hole. The riveting device 3 drives the rivet vibration feeding device 2 to move the rivet to the discharge end of the riveting device 3. According to the feedback position, the servo electric slide rail 404 adjusts the output end of each group of riveting devices 3 to the lateral position of the rivet hole as needed for the riveting position adjustment. Then, according to the linear movement device 401, it moves to the longitudinal position of the rivet. The device feeds the rivets in the same row in sequence, and then feeds the rivets in the following rivet holes. The riveting press 405 presses the rivets to complete the riveting of the automatic equipment.

[0026] like Figures 1-8 As shown, in one embodiment of the present invention, the riveting device 3 includes a mounting base 301, a vacuum generator assembly, and a feed head 302. The mounting base 301 is arranged in the arrangement frame of the rivet vibration feeding device 2, and the feed head 302 is arranged in the riveting position of the riveting adjustment device 403. The mounting base 301 and the feed head 302 are connected by a connecting pipe, and a vacuum generator assembly is arranged between the mounting base 301 and the feed head 302.

[0027] In this embodiment, the mounting seat 301 is set in the arrangement frame of the rivet vibration feeding device 2. Driven by the vacuum generator group, a vacuum is formed on the inner wall of the connecting pipe, so that the rivets in the mounting seat 301 are moved to the position of the feeding head 302 through the connecting pipe. With the adjustment of the co-riveting adjustment device 403, the riveting of different rivet hole positions of the workpiece can be completed.

[0028] like Figure 4 , Figure 5 As shown, in one embodiment of the present invention, the riveting adjustment device 403 is connected to the track of the servo electric slide rail 404 via an adapter frame. The riveting adjustment device 403 includes a lateral moving device 4031. The moving end of the lateral moving device 4031 is connected to two sets of first lowering devices 4032. The riveting press 405 is connected to the moving end of one set of first lowering devices 4032, and the feed head 302 is connected to the moving end of the other set of first lowering devices 4032.

[0029] In this embodiment, the lateral moving device 4031 and the first lowering device 4032 can be a linear module or a drive cylinder. The lateral moving device 4031 is used to control the lateral adjustment of the output end of the riveting device 3, and the first lowering device 4032 is used to adjust the vertical position of the output end of the riveting device 3 so that the output end of the riveting device 3 is aligned with the rivet hole of the workpiece. The setting of the lateral moving device 4031 and the setting of the first lowering device 4032 can be used to rivet the rivet hole positions with different lateral and vertical directions and different height positions.

[0030] Figure 5 As shown, in one embodiment of the present invention, the outlet of the feed head 302 is connected to a first pressure head 3021.

[0031] In this embodiment, the first pressure head 3021 is in contact with the workpiece, so that the connecting tube can easily adsorb the rivet.

[0032] Figure 7 As shown, in one embodiment of the present invention, the mounting base 301 is provided with multiple sets of inlets, and multiple sets of miniature cylinders 3011 are installed inside the mounting base 301. A photoelectric switch is provided on the inner wall of the inlet, and the photoelectric switch is irradiated downwards to sense the rivet. A ring tube 3012 is slidably connected to the inner wall of the inlet, and a second pressure head 3013 is connected to the bottom of the ring tube 3012. The output end of the miniature cylinder 3011 is connected to the ring tube 3012.

[0033] In this embodiment, each set of photoelectric switches on the inner wall of the ring tube 3012 corresponds to each set of miniature cylinders 3011. When the rivet is fed to the feeding area, when the photoelectric switch of that set senses the rivet, the miniature cylinder 3011 is driven to lower the ring tube 3012. The second pressure pad head 3013 is in contact with the discharge head of the rivet vibration feeding device 2 and covers the rivet of that set, completing the sealing condition. The rivet is then attracted to the feed head 302 by the vacuum generator. The feed head 302 completes the feeding of the rivet, and the second pressure pad head 3013 also acts as a barrier to prevent interference from other rivet heads.

[0034] Figure 8 As shown, in one embodiment of the present invention, it also includes a multi-port head 303, and the number of the rivet vibration feeding device 2, the mounting seat 301 and the vacuum generator group are multiple sets. The feed head 302 is connected to multiple sets of mounting seats 301 through the multi-port head 303.

[0035] In this implementation scheme, the rivet diameter of each set of rivet vibration feeding devices 2 is different. Different rivets are used when riveting different batches of products. The different rivet diameters are adapted to the processing of different batches of products by feeding rivets with different arrangement of rivet vibration feeding devices 2. Different sets of rivet vibration feeding devices 2 are labeled, and the vacuum generator set of each set of rivet vibration feeding devices 2 is also labeled. If there are three sets of rivet vibration feeding devices 2, and the rivet diameters of the three sets are 3cm, 4cm, and 5cm respectively, they are labeled A, B, and C from left to right. The vacuum generator group of the nail vibration feeding device 2 has three vacuum generators, namely, the three groups of vacuum generators A1, A2 and A3 from left to right, and so on, and the groups B and C are the same. If the rivets required for the workpiece have three hole diameters that need to be riveted, that is, rivets with diameters of 3cm, 4cm and 5cm are required for riveting, and the order is arranged from left to right, the three rivets with different diameters can be riveted by controlling the three vacuum generators, that is, controlling the A1, B2 and C3 vacuum generators for feeding, and the workpiece is riveted with different rivets at the same time.

[0036] Figure 10 As shown, in one embodiment of the present invention, a fixing device 5 is also included. The fixing device 5 includes four sets of bearing seats 501. The four sets of bearing seats 501 are respectively arranged at the four corners of the equipment frame 1. The center of the bearing seat 501 is rotatably connected to a pressing cylinder 502 through a shaft. A rotating rod motor is connected to the outer wall of the bearing seat 501. The output end of the rotating rod motor is connected to the shaft. The output end of the pressing cylinder 502 is connected to a pressure plate 503.

[0037] In this embodiment, the fixing device 5 can be used to fix the plate. By driving the rotating rod motor to rotate the position of the pressing cylinder 502, the pressing cylinder 502 is moved to the top of the plate. By lowering the pressing cylinder 502, the position of the two workpieces can be fixed. Furthermore, an elastic element can be connected between the pressing cylinder 502 and the pressure rod.

[0038] Figure 9 As shown, in one embodiment of the present invention, a workpiece loading device 6 is also included. The workpiece loading device 6 includes a horizontal linear module 601 and a vertical linear module 602. The horizontal linear module 601 is fixed to the bottom of the equipment frame 1, and the vertical linear module 602 is disposed at the moving end of the horizontal linear module 601. The moving end of the vertical linear module 602 is connected to a second lowering device 603, and the output end of the second lowering device 603 is provided with a vacuum suction clamp 604.

[0039] In this embodiment, the horizontal and vertical linear module 602 is used to adjust the position of the vacuum suction clamp 604, and the workpiece is moved to the processing position by the vacuum suction clamp 604.

[0040] Figures 1-2As shown, in one embodiment of the present invention, multiple sets of feeding conveyor belts 7 are also included, and the feeding conveyor belts 7 are disposed on one side of the equipment frame 1.

[0041] In this embodiment, the feeding conveyor belt 7 is used to feed the workpiece, and then the workpiece is attracted by the vacuum suction clamp 604 of the feeding device, and then the workpiece is moved to the processing position by the horizontal linear module 601 and the vertical linear module 602.

[0042] In one embodiment of the present invention, an industrial camera is also included, which may be disposed at the moving end of the feeding device.

[0043] In this embodiment, after the first workpiece is placed, the industrial camera can capture the aperture characteristics of the first workpiece, then capture the industrial characteristics of the second workpiece, then place the second workpiece in the designated position to align the rivet holes, and then perform welding. A photoelectric switch is installed at position 7 of the feeding conveyor belt to sense when the workpiece arrives.

[0044] The lowering device, linear module, and moving device can all be devices that drive ball screws to move via servo motors, and can move to the corresponding positions according to the coordinates of the equipment frame 1.

[0045] Specifically: Feeding: The feeding conveyor belt 7 moves the workpiece to the clamping area, and the workpiece feeding device 6 clamps the workpiece to the processing area, so that the rivet holes of the two sets of workpieces are aligned. Then, the fixing device 5 drives the pressing cylinder 502 to flip and lower, fixing the workpiece.

[0046] Riveting: The rivet vibration feeding device 2 drives the screen plate to make amplitude movement, so that the rivet moves to the discharge end of the rivet vibration feeding device 2. The rivets are arranged neatly. When the riveting position is determined, the linear movement device 401 drives the line laser sensor 406 to scan once to determine the hole diameter position. According to the hole diameter position, multiple sets of servo tracks drive the discharge port of the riveting device 3 to move. Multiple sets of riveting positions with different horizontal and vertical directions can be determined by the riveting adjustment device 403. After moving to the riveting position, the riveting device 3 drives different vacuum generators to drive the rivet at the position of the mounting seat 301 to the discharge end of the riveting device 3. The rivet enters the workpiece hole.

[0047] Riveting: The riveting and riveting device 3 are set at the moving end of the same set of transverse moving device 4031. The offset position of the linear moving device 401 is offset from the relative position of the riveting device 3 and the riveting machine 405. Then, the first lowering device 4032 of the riveting machine 405 is driven to be parallel to the riveting position. Then, the riveting is performed simultaneously to complete the riveting work of the equipment. After the riveting is completed, the feeding device removes the riveted workpiece.

[0048] In summary, the automatic riveting equipment of this invention enables simultaneous operation of multiple riveting positions. Regardless of the distribution of the riveting positions, riveting can be completed at the same time, greatly improving riveting efficiency. This design is not only suitable for workpieces of a single specification, but can also flexibly handle various workpieces with different riveting positions without frequent equipment adjustments, saving production time and costs.

[0049] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatic riveting device, characterized in that, include: Equipment frame (1); A rivet vibration feeding device (2) is provided on one side of the equipment frame (1). The riveting device (3) has its feed end located at the discharge end of the rivet vibration feeding device (2); Riveting device (4), the riveting device (4) is disposed on the surface of the equipment frame (1), the riveting device (4) includes a linear moving device (401), a slide rail frame (402) and multiple sets of riveting adjustment devices (403), wherein the linear moving device (401) is disposed on the surface of the equipment frame (1), the slide rail frame (402) is connected to the moving end of the linear moving device (401), the inner wall of the slide rail frame (402) is provided with multiple sets of servo electric slide rails (404), the riveting adjustment device (403) is connected to the track of the servo electric slide rail (404) through a transfer frame, the discharge end of the riveting device (3) is disposed at the feeding position of the riveting adjustment device (403), and a riveting press (405) is also disposed on the riveting adjustment device (403). A line laser sensor (406) is fixed to the bottom of the slide rail (402).

2. The automatic riveting equipment according to claim 1, characterized in that, The riveting device (3) includes a mounting base (301), a vacuum generator assembly, and a feed head (302). The mounting base (301) is arranged in the arrangement frame of the rivet vibration feeding device (2). The feed head (302) is arranged at the riveting position of the riveting adjustment device (403). The mounting base (301) and the feed head (302) are connected by a connecting pipe. A vacuum generator assembly is arranged between the mounting base (301) and the feed head (302).

3. The automatic riveting equipment according to claim 1, characterized in that, The riveting adjustment device (403) is connected to the track of the servo electric slide rail (404) via an adapter frame. The riveting adjustment device (403) includes a lateral moving device (4031). The moving end of the lateral moving device (4031) is connected to two sets of first lowering devices (4032). The riveting press (405) is connected to the moving end of one set of first lowering devices (4032). The feed head (302) is connected to the moving end of the other set of first lowering devices (4032).

4. The automatic riveting equipment according to claim 1, characterized in that, The outlet of the feed head (302) is connected to a first pressure head (3021).

5. The automatic riveting equipment according to claim 2, characterized in that, The mounting base (301) is provided with multiple sets of feed ports. Multiple sets of miniature cylinders (3011) are installed inside the mounting base (301). A photoelectric switch is provided on the inner wall of the feed port. A ring tube (3012) is slidably connected to the inner wall of the feed port. A second pressure head (3013) is connected to the bottom of the ring tube (3012). The output end of the miniature cylinder (3011) is connected to the ring tube (3012).

6. The automatic riveting equipment according to claim 2, characterized in that, It also includes a multi-port head (303), and the number of the rivet vibration feeding device (2), the mounting seat (301) and the vacuum generator group are all multiple sets. The feeding head (302) is connected to multiple sets of the mounting seats (301) through the multi-port head (303).

7. The automatic riveting equipment according to claim 1, characterized in that, It also includes a fixing device (5), which includes four sets of bearing seats (501). The four sets of bearing seats (501) are respectively set at the four corners of the equipment frame (1). The center of the bearing seat (501) is rotatably connected to a pressing cylinder (502) through a shaft. The outer wall of the bearing seat (501) is connected to a rotating rod motor. The output end of the rotating rod motor is connected to the shaft. The output end of the pressing cylinder (502) is connected to a pressure plate (503).

8. The automatic riveting equipment according to claim 1, characterized in that, It also includes a workpiece loading device (6), which includes a horizontal linear module (601) and a vertical linear module (602). The horizontal linear module (601) is fixed at the bottom of the equipment frame (1), and the vertical linear module (602) is located at the moving end of the horizontal linear module (601). The moving end of the vertical linear module (602) is connected to a second lowering device (603), and the output end of the second lowering device (603) is provided with a vacuum suction clamp (604).

9. The automatic riveting equipment according to claim 1, characterized in that, It also includes multiple sets of feeding conveyor belts (7), which are arranged on one side of the equipment frame (1).

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