A full-automatic online riveting device and a riveting method thereof

Abstract

The present application relates to the technical field of automatic riveting equipment, and particularly relates to a full-automatic online riveting device and a riveting method thereof. The device comprises a device rack, a robot carrying mechanism, a flow line mechanism, a servo riveting machine, a rivet ring suction mechanism, a rivet ring feeder and a product rotating mechanism which are integrally arranged on the device rack. The flow line mechanism realizes continuous automatic feeding of workpieces, the four-axis robot is matched with a force control servo clamp to complete automatic carrying and feeding of the workpieces, the product rotating mechanism is a double-station rotating platform which is matched with a servo drive and a positioning structure to realize accurate switching of the stations, the sliding rivet ring suction mechanism automatically completes picking up and accurate placing of the rivet ring, and the servo riveting machine realizes high-precision stable riveting processing. The device has high integration, high positioning accuracy and wide workpiece adaptability, and can realize unmanned full-automatic online continuous riveting operation.

Description

Technical Field

[0001] This invention relates to an automated riveting device, and more particularly to a fully automatic online riveting apparatus and its riveting method. Background Technology

[0002] Riveting is an important fastening process in fields such as mechanical assembly, hardware processing, and automotive parts manufacturing. It mainly relies on the extrusion deformation of the rivet ring and the workpiece to achieve a reliable connection between parts. Currently, most riveting equipment on the market is semi-automated, with an overall low level of automation and disjointed process connections.

[0003] In existing technologies, most riveting equipment still requires manual operation for tasks such as workpiece loading and unloading, rivet ring picking, and workpiece alignment. This not only results in high labor intensity and low production efficiency, but also poor consistency in manual operation, easily leading to problems such as riveting position misalignment and uneven riveting force, resulting in a low product riveting qualification rate. Furthermore, traditional equipment is mostly a single-station operation mode, with loading, riveting, and unloading processes performed sequentially. The long intervals between processes prevent continuous online production and fail to meet the demands of large-scale, high-speed assembly line processing. The overall level of intelligence and integration of the equipment is insufficient, severely restricting the production efficiency and processing accuracy of riveting.

[0004] To address the shortcomings of the existing technologies, developing a fully automatic online riveting device capable of automatic loading and unloading, automatic material feeding and retrieval, alternating positioning at dual workstations, and uninterrupted online riveting is a technical problem that urgently needs to be solved in this field at present. Summary of the Invention

[0005] This invention aims to address the shortcomings of existing riveting equipment, such as low automation, discontinuous processes, poor processing accuracy, high reliance on manual labor, and limited production efficiency. It provides a fully automatic online riveting device that enables fully automated continuous operation, including workpiece feeding on a production line, automatic robot handling, automatic rivet ring picking and placing, precise positioning and riveting, and automatic finished product unloading. This effectively improves riveting processing accuracy and production efficiency, reduces labor costs, and is suitable for the needs of mass production on industrial production lines.

[0006] In order to overcome the defects existing in the background art, the technical solution adopted by the present invention to solve its technical problem is: including a machine frame;

[0007] The equipment frame is integrated with a robot handling mechanism, a production line mechanism, a servo riveting machine, a rivet ring picking mechanism, a rivet ring feeder, and a product rotation mechanism.

[0008] The robotic handling mechanism is located on the side of the assembly line mechanism and is used to grab the products to be riveted that have been transported to the designated location, and to complete the workpiece cross-station handling and finished product unloading operations.

[0009] The product rotation mechanism is located below the servo riveting machine. It has a dual-station alternation function through rotation, which is used to carry the workpiece and complete the precise switching of the processing station.

[0010] The rivet ring picking mechanism is located on one side of the rivet ring feeder. It moves back and forth between the rivet ring feeder discharge station and the product riveting station to pick up the rivet ring and accurately place it at the preset riveting position of the workpiece.

[0011] The servo riveting machine is used to apply controllable and precise pressure to the workpiece after the rivet ring is placed, so as to complete the automated riveting forming process.

[0012] According to another embodiment of the present invention, the assembly line mechanism further includes a belt conveyor mechanism, two side limiting support frames, a positioning platform, and a carrier for placing products to be processed. The two side limiting support frames are fixedly installed on the equipment frame platform. The belt conveyor mechanism is horizontally mounted on the two side limiting support frames for continuous conveying of workpieces. The positioning platform is fixedly installed between the two side limiting support frames for secondary positioning support and temporary positioning storage during the carrier conveying process.

[0013] According to another embodiment of the present invention, the lower end of the positioning platform is provided with a lifting cylinder, and the positioning platform is provided with a positioning rod one for positioning the carrier and a positioning rod two for positioning the workpiece to be processed inside the carrier.

[0014] According to another embodiment of the present invention, the product rotation mechanism further includes a rotating platform, a rotating shaft, a bracket, a servo motor, and a positioning column; the bracket is fixedly installed on the equipment frame and located directly below the servo riveting machine; the servo motor is fixedly assembled at the bottom center of the bracket, and the power output end of the servo motor is fixedly connected to the bottom end of the rotating shaft; the rotating shaft vertically penetrates the top surface of the bracket, and the top end of the rotating shaft is rigidly fixed to the bottom center of the rotating platform; the rotating platform has a dual-station structure with symmetrical ends; a positioning column is vertically fixed on the outer side of the bracket; a high-precision positioning pin is assembled at the top end of the positioning column; the rotating platform rotates and is positioned above the positioning column by the positioning pin.

[0015] According to another embodiment of the present invention, the positioning pin is further characterized by a rounded and pointed top and a spring structure at the bottom. When the rotating platform rotates to the positioning post, its top is inserted into the positioning hole of the carrier for positioning.

[0016] According to another embodiment of the present invention, the rivet ring suction mechanism further includes a track, a connecting frame, a suction device, a suction nozzle, and a driving cylinder; the track is horizontally fixed above the equipment frame, one end of the connecting frame is slidably adapted to be installed on the track and can move horizontally back and forth along the track, the suction device is fixed to the bottom end of the other end of the connecting frame, the suction device includes a vertically built-in driving cylinder and is disposed therein, the bottom end of the telescopic shaft of the driving cylinder is provided with a suction nozzle, the suction nozzle is driven to rise and fall by the telescopic extension of the driving cylinder, and the suction nozzle is automatically picked up and accurately placed in conjunction with the negative pressure adsorption function of the suction nozzle.

[0017] According to another embodiment of the present invention, the robot handling mechanism is further comprising a multi-degree-of-freedom four-axis robot, wherein the end effector of the robot handling mechanism is equipped with a servo gripper with force adaptive control function, and the servo gripper has a built-in force control sensing module to adaptively match the clamping force of workpieces of different specifications.

[0018] According to another embodiment of the present invention, the servo riveting machine further includes a fixed platform, a servo electric cylinder, a guide shaft, and a riveting change fixture. The fixed platform is fixed above the machine frame. The servo electric cylinder is installed on the upper end face of the fixed platform. The riveting change fixture is connected to the lower end face of the servo electric cylinder's power output. Guide shafts are connected to the four corners of the riveting change fixture. The guide shafts are fixedly connected to the fixed platform by linear bearings. The riveting change fixture is provided with positioning posts for positioning before riveting operations.

[0019] According to another embodiment of the present invention, a cleaning mechanism is further provided on the equipment frame corresponding to the riveting operation area of ​​the servo riveting machine. The cleaning mechanism is fixedly mounted on a fixed platform and is a fixed dust removal and cleaning structure, which is fixed to the fixed platform by a track structure.

[0020] A riveting method using a fully automatic online riveting device, comprising the following steps:

[0021] S1. Automatic workpiece feeding: The belt conveyor of the production line operates continuously, continuously transporting the carrier carrying the workpiece to be riveted to the placement table. The workpiece is positioned by the positioning rod on the placement table. After positioning, the stationary cylinder at the bottom of the placement table lifts the carrier.

[0022] S2. Automatic workpiece loading: When the robot handling mechanism receives the information that the carrier is lifted, it immediately and accurately grabs the carrier and places it on one end of the product rotating mechanism.

[0023] S3, Precise workstation switching and positioning: The servo motor of the product rotation mechanism drives the rotating platform to rotate and change position, rotating one end of the carrier to be directly below the servo riveting machine, and precisely positioning it through the positioning pin;

[0024] S4. Automatic pick-and-place of rivet rings: The rivet ring picking mechanism slides along the track to the top of the rivet ring feeder. The cylinder drives the suction nozzle to descend and pick up the rivet ring. Then it resets and slides to the workpiece riveting position in the carrier, accurately placing the rivet ring at the preset processing point of the workpiece.

[0025] S5, Precision riveting: The servo electric cylinder of the servo riveting machine moves downward, and the positioning pin on the riveting change tool at its lower end positions the workpiece to be riveted. Then, a preset pressure is applied to complete the riveting and fastening process between the workpiece and the rivet ring. After the process is completed, the servo riveting machine resets.

[0026] S6. Parallel loading operation: While the servo riveting machine is performing riveting processing, the robot handling mechanism simultaneously grabs the next workpiece to be processed from the upper and lower parts of the production line mechanism and places it at the other end of the rotating platform's idle station, realizing the synchronous parallel operation of riveting processing and workpiece loading.

[0027] S7. Automatic Finished Product Unloading: After a single riveting operation is completed, the rotating platform rotates again to switch the new workpiece to the riveting station, and the finished product is transferred out of the processing area. The robot handling mechanism picks up the finished product and places it on the designated storage tray. At the same time, the cleaning mechanism blows the product to complete the unloading.

[0028] The beneficial effects of this invention are:

[0029] 1. This invention adopts a continuous feeding assembly line combined with a dual-station rotary alternating operation structure, which can simultaneously complete the loading and docking of the next workpiece while the servo riveting machine completes the riveting of the workpiece, realize the parallel operation of multiple processes such as loading, riveting and unloading, eliminate the blind spot of process interval in traditional single-station serial operation, effectively improve the production cycle, and adapt to large-volume continuous production line production.

[0030] 2. The servo motor drives the rotating platform for precise positioning, and the positioning column and positioning pin achieve high-precision station limit. Combined with the controllable and stable pressure output of the servo riveting machine, the precise positioning and material handling of the rivet ring picking mechanism, and the flexible and stable clamping of the force-controlled servo gripper, the entire process is mechanized and precise, completely avoiding human operation errors, ensuring that the riveting position and riveting force of batch products are uniform and consistent, and significantly improving the product qualification rate and processing quality.

[0031] 3. The equipment integrates functions such as workpiece conveying, automatic handling, rivet feeding, precise picking, rotary positioning, servo riveting, and workstation cleaning. It has a compact structure, reasonable layout, and small footprint. At the same time, the force-controlled servo gripper can adaptively clamp workpieces of various specifications. The equipment has a wide range of adaptability and can meet the riveting processing needs of different types of parts.

[0032] 4. No manual intervention is required for loading, unloading, positioning, picking, riveting and other processes. It achieves unmanned and fully automated online operation, which greatly reduces the intensity of manual labor and labor costs. Moreover, the equipment has high stability in mechanized and automated operation and can operate continuously and stably for a long time. Attached Figure Description

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of the invention from a side view;

[0036] Figure 3 This is a schematic diagram of the assembly line mechanism of the present invention;

[0037] Figure 4 This is a schematic diagram of the rotating mechanism of the product of the present invention;

[0038] Figure 5 yes Figure 4 Schematic diagram of the structure in the AA direction;

[0039] Figure 6 This is a structural schematic diagram of the side view of the rotating mechanism of the product of the present invention;

[0040] Figure 7 This is a schematic diagram of the rivet ring feeder and rivet ring suction mechanism of the present invention;

[0041] Figure 8 This is a schematic diagram of the rivet ring suction mechanism of the present invention;

[0042] Figure 9 This is a schematic diagram of the servo riveting machine of the present invention;

[0043] Figure 10 This is a schematic diagram of the other side of the servo riveting machine of the present invention;

[0044] The components include: 1. Equipment frame, 2. Robot handling mechanism, 3. Assembly line mechanism, 4. Servo riveting machine, 5. Rivet ring suction mechanism, 6. Rivet ring feeder, 7. Product rotation mechanism, 8. Cleaning mechanism, 9. Placement table, 10. Support frame, 11. Belt conveyor mechanism, 12. Rotating platform, 13. Bracket, 14. Positioning pin, 15. Positioning column, 16. Rotating shaft, 17. Servo motor, 18. Track, 19. Connecting frame, 20. Suction device, 21. Suction nozzle, 22. Cylinder, 23. Carrier, 24. Servo electric cylinder, 25. Fixed table, 26. Guide shaft, 27. Riveting and changing tooling, 28. Positioning column, 29. Positioning rod one, 30. Positioning rod two. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0046] See Figure 1 , Figure 2 The diagram includes a machine frame 1, which integrates a robot handling mechanism 2, a production line mechanism 3, a servo riveting machine 4, a rivet ring picking mechanism 5, a rivet ring feeder 6, and a product rotation mechanism 7. The robot handling mechanism 2 is located to the side of the production line mechanism 2 and is used to pick up the products to be riveted and transport them to the designated location, and to complete the workpiece cross-station handling and finished product unloading operations. The product rotation mechanism 7 is located below the servo riveting machine 4 and has a dual-station alternating switching function through rotation, used to carry the workpiece and complete the precise switching of processing stations. The rivet ring picking mechanism 5 is located to one side of the rivet ring feeder 6 and moves back and forth between the rivet ring feeder 6 discharge station and the product riveting station, used to pick up the rivet ring and accurately place it in the preset riveting position on the workpiece. The servo riveting machine is used to apply controllable and precise pressure to the workpiece after the rivet ring is placed, to complete the automated riveting forming process.

[0047] See Figure 3 The assembly line mechanism 3 serves as a workpiece conveying unit, including a belt conveyor mechanism 11, two side limit support frames 10, a positioning table 9, and a carrier 23 for placing the products to be processed. The two side limit support frames 10 are fixedly installed on the platform of the equipment frame 1. The belt conveyor mechanism 11 is horizontally mounted on the two side limit support frames 10. The belt conveyor mechanism 11 enables continuous and uniform conveying of workpieces. The positioning table 9 is fixedly installed between the two side limit support frames 10 and is used for temporary support and positioning during the conveying process of the carrier 23, effectively preventing workpiece conveying deviation, jamming, and falling, and ensuring the stability of feeding.

[0048] In the preferred configuration, the lower end of the positioning platform 9 is equipped with a lifting cylinder. The positioning platform 9 is equipped with a positioning rod 29 for positioning the carrier 23 and a positioning rod 30 for positioning the workpiece to be processed inside the carrier 23. When the carrier 23 carrying the workpiece to be processed is conveyed to the top of the positioning platform 9 by the belt conveyor mechanism 11, the positioning rod 29 on the positioning platform 9 positions the carrier 23, and the positioning rod 30 positions the workpiece to be processed inside the carrier 23. After the secondary positioning, the lifting cylinder at the lower end of the positioning platform 9 lifts the carrier upward, and the carrier 23 is separated from the belt conveyor mechanism 11. This configuration can effectively ensure that the servo gripper on the robot handling mechanism 2 can accurately grasp the workpiece.

[0049] See Figure 4 , Figure 5 , Figure 6 The product rotation mechanism 7 is the core component of the equipment for continuous dual-station operation, including a rotating platform 12, a rotating shaft 16, a bracket 13, a servo motor 17, and a positioning column 15. The bracket 13 is fixedly installed on the equipment frame 1 and located directly below the servo riveting machine 4. The servo motor 17 is fixedly assembled at the bottom center of the bracket 13. The power output end of the servo motor 17 is fixedly connected to the bottom end of the rotating shaft 16. The rotating shaft 16 vertically penetrates the top surface of the bracket 13, and the top end of the rotating shaft 16 is rigidly fixed to the bottom center of the rotating platform 12. The rotating platform 12 is a dual-station structure with symmetrical ends. A positioning column 15 is vertically fixed on the outside of the bracket 13. A high-precision positioning pin 14 is assembled at the top of the positioning column 15. The rotating platform 12 is rotated and positioned above the positioning column 15 by the positioning pin 14. During operation, the servo motor 17 drives the rotating shaft 16 to rotate, causing the top rotating platform 12 to rotate and change position precisely. The positioning pins 15 on the outside of the bracket 13, together with the top positioning pins 14, can achieve precise insertion and positioning after the rotating platform 12 has changed position, ensuring that the two ends of the rotating platform 12 can accurately align with the processing position of the servo riveting machine 4, thus structurally guaranteeing the accuracy of riveting processing. The rotating platform 12 adopts a symmetrical dual-station design, which can realize synchronous parallel operation of riveting processing at one end and workpiece loading at the other end.

[0050] The dual-station alternating parallel operation structure of the product rotation mechanism 7 solves the technical problems of low automation, sequential processes, low production efficiency, large human error, and poor product consistency in traditional riveting equipment.

[0051] In the preferred configuration, the locating pin 14 has a rounded and pointed top and a spring structure at the bottom. When the rotating platform 12 rotates to the locating post 15, the spring is compressed, and its top is inserted into the locating hole of the carrier 23 for positioning. The positioning of the locating pin 14 can structurally ensure the accuracy of the riveting process.

[0052] See Figure 7 , Figure 8The rivet ring picking mechanism 5 is the core component for automatic rivet ring picking and placing, including a track 15, a connecting frame 19, a picking device 20, a suction nozzle, and a drive cylinder. The track 15 is horizontally fixed above the equipment frame 1. One end of the connecting frame 19 is slidably fitted onto the track 15 and can move horizontally back and forth along the track. The picking device 20 is fixed to the bottom end of the other end of the connecting frame 19. The picking device 20 includes a vertically built-in drive cylinder 22, which is located inside the cylinder. The bottom end of the telescopic shaft of the drive cylinder 22 is equipped with a suction nozzle 21. The drive cylinder 22 extends and retracts to drive the suction nozzle 21 to rise and fall, and the suction nozzle's negative pressure adsorption function completes the automatic picking and precise placement of rivet rings. During operation, the cylinder 22 drives the suction nozzle 21 to rise and fall, and with the help of the negative pressure vacuum adsorption principle, the rivet ring is accurately picked up from the rivet ring feeder 6 and moved above the workpiece to complete the precise placement. The picking is stable and the placement is accurate, without any problems such as missed picking or deviation.

[0053] The suction nozzle 21 adopts a negative pressure vacuum adsorption structure, which adsorbs rivets through negative pressure vacuum adsorption. It has high adsorption stability and can be adapted to the precise picking and placement of small rivets of different specifications.

[0054] The robot handling mechanism 2 is a multi-degree-of-freedom four-axis robot. The end effector of the robot handling mechanism 2 is equipped with a servo gripper with force adaptive control function. It has the characteristics of flexible gripping, overload protection and precise positioning. It can accurately grasp the workpiece to be riveted delivered by the assembly line mechanism 3. According to the work station sequence, it can complete the workpiece handling, repositioning and finished product unloading. The servo gripper has a built-in force control sensing module to adaptively match the gripping force of workpieces of different specifications.

[0055] See Figure 9 , Figure 10 The servo riveting machine 4 can precisely adjust the riveting stroke and riveting pressure according to the product process requirements, outputting a constant and controllable riveting force to ensure that the rivet ring and the workpiece are tightly fitted together, and the riveting forming quality is stable and highly consistent. It includes a fixed platform 25, a servo electric cylinder 24, a guide shaft 26, and a riveting change tooling 27. The fixed platform 25 is fixed above the equipment frame 1. The servo electric cylinder 24 is installed on the upper end face of the fixed platform 25. The riveting change tooling 27 is connected to the lower end face of the power output of the servo electric cylinder 24. The guide shaft 26 is connected to the four corners of the riveting change tooling 27. The guide shaft 26 is fixedly connected to the fixed platform 25 through linear bearings. The riveting change tooling 27 is equipped with positioning posts 28 for positioning before riveting operations.

[0056] A cleaning mechanism 8 is installed on the equipment frame 1 corresponding to the riveting operation area of ​​the servo riveting machine 4. The cleaning mechanism 8 is fixedly mounted on the fixed platform 25. The cleaning mechanism 8 is a fixed dust removal and cleaning structure, which is fixed to the fixed platform 25 through a track structure.

[0057] A riveting method using a fully automatic online riveting device, comprising the following steps:

[0058] S1. Automatic workpiece feeding: The belt conveyor mechanism 11 of the production line mechanism 3 runs continuously, continuously conveying the carrier 23 carrying the workpiece to be riveted to the placement table 9. The workpiece is positioned by the positioning rod 29 and the positioning rod 30 on the placement table 9. After positioning, the stationary cylinder at the bottom of the placement table 9 lifts the carrier 23.

[0059] S2. Automatic workpiece loading: When the robot handling mechanism 2 receives the information that the carrier 23 has been lifted, it immediately and accurately grabs the carrier 23 and places it on one end of the product rotating mechanism 7.

[0060] S3, Precise workstation switching and positioning: The servo motor 17 of the product rotation mechanism 7 drives the rotating platform 12 to rotate and change position, rotating one end of the carrier 23 to directly below the servo riveting machine 4, and precisely positioning it through the positioning pin 14;

[0061] S4. Automatic pick-and-place of rivet rings: The rivet ring picking mechanism 5 slides along the track 18 to above the rivet ring feeder 6. The cylinder 22 drives the suction nozzle 21 to descend and pick up the rivet ring. Then it resets and slides to above the workpiece riveting position in the carrier 23, and accurately places the rivet ring at the preset processing point of the workpiece.

[0062] S5, Precision riveting: The servo electric cylinder 24 of the servo riveting machine 4 moves downward, and the positioning pin 28 on the riveting change tooling 27 at its lower end positions the workpiece to be riveted. Then, a preset pressure is applied to complete the riveting and fastening process between the workpiece and the rivet ring. After the process is completed, the servo riveting machine 4 is reset.

[0063] S6. Parallel loading operation: While the servo riveting machine 4 is performing riveting processing, the robot handling mechanism 2 simultaneously grabs the next workpiece to be processed from the assembly line mechanism 3 and places it at the other end of the rotating platform 12, so as to realize the simultaneous parallel operation of riveting processing and workpiece loading.

[0064] S7. Automatic Finished Product Unloading: After a single riveting operation is completed, the rotating platform 12 rotates and changes position again, switching the new workpiece to the riveting station. At the same time, the finished product is transferred out of the processing area, and the robot handling mechanism 2 grabs the finished product and places it on the designated storage tray, completing the finished product unloading.

[0065] The equipment operates continuously in a cycle, repeating the above steps. The equipment continuously completes the entire process of workpiece feeding, loading, rivet ring picking and placing, riveting, and unloading, realizing uninterrupted fully automatic online riveting production. The cleaning mechanism 8 removes dust and cleans in real time throughout the process, ensuring the long-term stable operation of the equipment.

[0066] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fully automatic online riveting device, comprising a machine frame (1), characterized in that: The equipment frame (1) is equipped with a robot handling mechanism (2), a production line mechanism (3), a servo riveting machine (4), a rivet ring suction mechanism (5), a rivet ring feeder (6), and a product rotation mechanism (7). The robot handling mechanism (2) is arranged on the side of the assembly line mechanism (2) to grab the riveted products that are transported to the position and to complete the workpiece cross-station handling and finished product unloading operations. The product rotation mechanism (7) is located below the servo riveting machine (4). It has a dual-station alternation function through rotation, which is used to carry the workpiece and complete the precise switching of the processing station. The rivet picking mechanism (5) is located on one side of the rivet feeder (6) and moves back and forth between the rivet feeder (6) discharge station and the product pressing station to pick up the rivet and place it precisely at the preset riveting position of the workpiece. The servo riveting machine is used to apply controllable and precise pressure to the workpiece after the rivet ring is placed, so as to complete the automated riveting forming process.

2. The fully automatic online riveting device as described in claim 1, characterized in that: The assembly line mechanism (3) includes a belt conveyor mechanism (11), two side limit support frames (10), a positioning table (9), and a carrier (23) for placing products to be processed. The two side limit support frames (10) are fixedly installed on the table of the equipment frame (1). The belt conveyor mechanism (11) is horizontally mounted on the two side limit support frames (10) for continuous conveying of workpieces. The positioning table (9) is fixedly installed between the two side limit support frames (10) for secondary positioning support and temporary positioning storage during the conveying process of the carrier (23).

3. The fully automatic online riveting device as described in claim 2, characterized in that: The lower end of the positioning platform (9) is provided with a lifting cylinder, and the positioning platform (9) is provided with a positioning rod one (29) for positioning carrier (23) and a positioning rod two (30) for positioning workpiece to be processed in positioning carrier (23).

4. The fully automatic online riveting device as described in claim 1, characterized in that: The product rotation mechanism (7) includes a rotating platform (12), a rotating shaft (16), a bracket (13), a servo motor (17), and a positioning column (15). The bracket (13) is fixedly installed on the equipment frame (1) and located directly below the servo riveting machine (4). The servo motor (17) is fixedly assembled at the bottom center of the bracket (13). The power output end of the servo motor (17) is fixedly connected to the bottom end of the rotating shaft (16). The rotating shaft (16) passes vertically through the top surface of the bracket (13). The top end of the rotating shaft (16) is rigidly fixed to the bottom center of the rotating platform (12). The rotating platform (12) is a dual-station structure with symmetrical ends. A positioning column (15) is vertically fixed on the outside of the bracket (13). A high-precision positioning pin (14) is assembled at the top of the positioning column (15). The rotating platform (12) is rotated and positioned above the positioning column (15) by the positioning pin (14).

5. The fully automatic online riveting device as described in claim 4, characterized in that: The top of the positioning pin (14) is rounded and pointed, and the bottom is a spring structure. When the rotating platform (12) rotates to the positioning post (15), its top is inserted into the positioning hole of the carrier (23) for positioning.

6. The fully automatic online riveting device as described in claim 1, characterized in that: The rivet ring suction mechanism (5) includes a track (15), a connecting frame (19), and a suction device (20). The track (15) is horizontally fixed above the equipment frame (1). One end of the connecting frame (19) is slidably fitted on the track (15) and can move horizontally back and forth along the track. The suction device (20) is fixed to the bottom end of the other end of the connecting frame (19). The suction device (20) includes a vertically built-in drive cylinder (22) and is set inside it. The bottom end of the telescopic shaft of the drive cylinder (22) is provided with a suction nozzle (21). The suction nozzle (21) is driven to rise and fall by the telescopic extension of the drive cylinder (22). The suction nozzle (21) is automatically picked up and accurately placed in conjunction with the negative pressure adsorption function of the suction nozzle.

7. The fully automatic online riveting device as described in claim 1, characterized in that: The robot handling mechanism (2) is a multi-degree-of-freedom four-axis robot. The end of the robot handling mechanism (2) is equipped with a servo gripper with force adaptive control function. The servo gripper has a built-in force control sensing module to adaptively match the clamping force of workpieces of different specifications.

8. The fully automatic online riveting device as described in claim 1, characterized in that: The servo riveting machine (4) includes a fixed platform (25), a servo electric cylinder (24), a guide shaft (26), and a riveting change tool (27). The fixed platform (25) is fixed above the equipment frame (1). The servo electric cylinder (24) is installed on the upper end face of the fixed platform (25). The riveting change tool (27) is connected to the lower end face of the power output of the servo electric cylinder (24). At the same time, the guide shaft (26) is connected to the four corners of the riveting change tool (27). The guide shaft (26) is fixedly connected to the fixed platform (25) through linear bearings. The riveting change tool (27) is provided with positioning columns (28) for positioning before riveting operation.

9. The fully automatic online riveting device as described in claim 1, characterized in that: The equipment frame (1) is equipped with a cleaning mechanism (8) corresponding to the riveting operation area of ​​the servo riveting machine (4). The cleaning mechanism (8) is fixedly mounted on the fixed platform (25). The cleaning mechanism (8) is a fixed dust removal and cleaning structure, which is fixed on the fixed platform (25) by a track structure.

10. The riveting method of the fully automatic online riveting device as described in claim 1, characterized in that, The riveting method includes the following steps: S1. Automatic workpiece feeding: The belt conveyor (11) of the assembly line mechanism (3) runs continuously, continuously conveying the carrier (23) carrying the workpiece to be riveted to the placement table (9). Positioning is performed by positioning rod one (29) and positioning rod two (30) on the placement table (9). After positioning is completed, the stationary cylinder at the bottom of the placement table (9) lifts the carrier (23). S2, Automatic workpiece loading: The robot handling mechanism (2) receives the information that the carrier (23) is lifted, and immediately grasps the carrier (23) precisely and places it on one end of the product rotating mechanism (7); S3, precise workstation switching and positioning: the servo motor (17) of the product rotation mechanism (7) drives the rotating platform (12) to rotate and change position, rotating one end of the carrier (23) to directly below the servo riveting machine (4), and precisely positioning it through the positioning pin (14); S4. Automatic pick-up and drop of rivet rings: The rivet ring suction mechanism (5) slides along the track (18) to the top of the rivet ring feeder (6), and the cylinder (22) drives the suction nozzle (21) to descend and absorb the rivet ring. Then it resets and slides to the workpiece riveting position in the carrier (23) to accurately place the rivet ring at the preset processing point of the workpiece. S5, Precision riveting: The servo electric cylinder (24) of the servo riveting machine (4) moves downward, and the positioning column (28) on the riveting change tool (27) at its lower end positions the workpiece to be riveted. Then, a preset pressure is applied to complete the riveting fastening process between the workpiece and the rivet ring. After the processing is completed, the servo riveting machine (4) resets. S6. Parallel loading operation: While the servo riveting machine (4) is performing riveting processing, the robot handling mechanism (2) simultaneously grabs the workpiece to be processed from the assembly line mechanism (3) and places it at the other end of the rotating platform (12) in an idle position, so as to realize the simultaneous parallel operation of riveting processing and workpiece loading. S7. Automatic unloading of finished products: After a single riveting operation is completed, the rotating platform (12) rotates and changes position again, switches the new workpiece to the riveting station, and at the same time, the finished products are transferred out of the processing area. The robot handling mechanism (2) grabs the finished products and places them on the designated storage tray to complete the unloading of finished products.

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