Visual positioning automatic riveting equipment

Abstract

The utility model relates to visual positioning automatic riveting equipment which comprises a riveting machine, the riveting machine comprises a base and a control module, and a conveying positioning mechanism, a feeding riveting mechanism and a visual mechanism are arranged on the base; the control module is in control connection with the conveying and positioning mechanism, the feeding and riveting mechanism and the visual mechanism. The conveying positioning mechanism comprises a first driving assembly, a front conveying chain assembly and a rear conveying chain assembly, the front conveying chain assembly and the rear conveying chain assembly are arranged on the base in a spaced mode, at least one conveying roller assembly is arranged between the front conveying chain assembly and the rear conveying chain assembly, and an upper pressing roller assembly is movably arranged above each conveying roller assembly. The feeding riveting mechanism is arranged between the front conveying chain assembly and the rear conveying chain assembly in a transverse moving mode. The visual positioning automatic riveting equipment can machine long wood boards and short wood boards, is suitable for different claw screws, and is stable in transmission and long in service life.

Description

Technical Field

[0001] The utility model relates to the field of automatic riveting equipment, in particular to a visual positioning automatic riveting equipment. Background Art

[0002] Claw nuts are commonly used fixing parts in furniture wood boards. In the production process of furniture wood boards, it is often necessary to use a riveting machine to rivet the claw nuts into the wood boards to facilitate the subsequent connection process. In the prior art, workers are required to manually place the wood boards under the riveting machine and then control the riveting machine to rivet the claw nuts into the wood boards one by one. This method has low production efficiency and high labor intensity for workers.

[0003] Chinese utility model patent CN219114284U discloses an automatic riveting machine, which locates the hole position on the wooden board through a visual device, and then moves to the position of the hole through a first transverse mechanism to complete the nailing of the wooden board. The visual device makes the position more accurate when nailing, and can also nail holes at different positions on the wooden board. However, the automatic riveting machine uses a roller line to transport the wooden board. Due to the large spacing between the rollers, it can only transport and nail wooden boards over 500mm, and cannot process short wooden boards under 500mm, especially short wooden boards of 100-300mm; and the automatic riveting machine uses two clamps in a butterfly mechanism to clamp the rivet. When the type of rivet is changed, the corresponding butterfly mechanism needs to be replaced to clamp the rivet, which has poor applicability; further, the automatic riveting machine uses a pulley and a synchronous belt as a transmission mechanism, and the synchronous belt is easily deformed, resulting in poor transmission stability and short service life. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a visual positioning automatic riveting device.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A visual positioning automatic riveting device includes a riveting machine, which includes a base and a control module. The base is provided with a conveying positioning mechanism, a feeding riveting mechanism and a visual mechanism; the control module is respectively controlled and connected with the conveying positioning mechanism, the feeding riveting mechanism and the visual mechanism; the conveying positioning mechanism includes a first driving assembly, and a front conveying chain assembly and a rear conveying chain assembly arranged at intervals on the base, at least one conveying roller assembly is arranged between the front conveying chain assembly and the rear conveying chain assembly, and an upper pressure roller assembly is movably arranged above each conveying roller assembly; the feeding riveting mechanism can be arranged laterally movably between the front conveying chain assembly and the rear conveying chain assembly.

[0007] Furthermore, the front conveying chain assembly and the rear conveying chain assembly each include a driving shaft and a driven shaft, and a plurality of sprockets are correspondingly arranged on the driving shaft and the driven shaft, and the two ends of a plurality of chains are respectively sleeved on the sprockets of the driving shaft and the driven shaft; the first driving assembly includes a first driver, a transmission shaft transmission-connected to the first driver, a first bevel gear arranged at one end of each of the driving shafts and at one end of each of the conveying roller assemblies, a second bevel gear is arranged at a position corresponding to each first bevel gear on the transmission shaft, and the second bevel gear is transmission-connected to the first bevel gear.

[0008] Furthermore, a plurality of upper pressure roller assemblies are movably arranged above the front conveying chain assembly and above the rear conveying chain assembly; each of the upper pressure roller assemblies includes an upper pressure roller and a second driver drivingly connected to the upper pressure roller.

[0009] Furthermore, a sensor is provided on the front side of each upper pressure roller, and each sensor is connected to the control module. The control module controls the corresponding second driver to act according to a signal fed back by each sensor.

[0010] Furthermore, the feeding and riveting mechanism includes a feeding assembly, a material picking assembly and a riveting assembly; the riveting assembly includes an upper riveting head and a third driver drivingly connected to the upper riveting head, a lower riveting head and a fourth driver drivingly connected to the lower riveting head; a magnetic part is arranged in the lower end of the upper riveting head.

[0011] Furthermore, the feeding assembly includes a vibrating plate and a discharging track connected to the outlet of the vibrating plate; the material taking assembly is arranged on one side of the outlet of the discharging track.

[0012] Furthermore, the material picking assembly includes a first guide rail, a first slider slidably connected to the first guide rail, a material picking piece arranged on the first slider, and a fifth driver drivingly connected to the first slider, and a magnetic piece is also arranged at one end of the material picking piece close to the discharge track; the material picking assembly also includes a movable positioning piece, and the movable positioning piece is arranged on the side of the first slider away from the fifth driver.

[0013] Furthermore, a clearance hole is provided at a position of the discharging track near the outlet, a sixth driver and a blocking rod connected to the sixth driver are provided above the clearance hole, and the blocking rod can be inserted into the clearance hole.

[0014] Furthermore, the feeding and riveting mechanism also includes a second guide rail, a second slider slidably connected to the second guide rail, a mounting frame arranged on the second slider, and a seventh driver drivingly connected to the mounting frame, and the feeding assembly, the material picking assembly and the riveting assembly are all fixedly arranged on the mounting frame.

[0015] Further, it is characterized in that: the automatic riveting equipment also includes an automatic loader and an automatic unloader respectively arranged on both sides of the riveting machine; the automatic loader includes a first material picking mechanism and a first conveying mechanism; the automatic unloader includes a second material picking mechanism and a second conveying mechanism; the first conveying mechanism is connected to the front conveying chain assembly; the second conveying mechanism is connected to the rear conveying chain assembly.

[0016] The beneficial effects of the utility model are as follows:

[0017] (1) By using the front conveyor chain assembly and the rear conveyor chain assembly to convey the wooden board, whether it is a long wooden board or a short wooden board, especially a short wooden board of 100-300 mm, it can be conveyed and riveted by the visual positioning automatic riveting device of the utility model;

[0018] (2) The first bevel gear and the second bevel gear are used for transmission coordination, which not only ensures stable transmission but also makes the bevel gears less prone to damage, thus extending their service life;

[0019] (3) The material picking part and upper riveting head with magnetic parts are used, so no matter what the shape of the claw nut is, it can be smoothly adsorbed and has a wide range of applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a visual positioning automatic riveting device of the utility model;

[0021] Figure 2 It is a partial structural schematic diagram of the riveting press of the utility model;

[0022] Figure 3 It is a schematic diagram of the overall structure of the conveying and positioning mechanism and the visual mechanism of the utility model;

[0023] Figure 4 It is a partial structural schematic diagram of the conveying and positioning mechanism and the visual mechanism of the utility model;

[0024] Figure 5 It is a partial structural schematic diagram of the conveying and positioning mechanism, the visual mechanism and the feeding and riveting mechanism of the utility model;

[0025] Figure 6 It is a partial structural schematic diagram of the feeding riveting mechanism of the utility model;

[0026] Figure 7 It is a partial structural schematic diagram of the feeding riveting mechanism of the utility model.

[0027] Description of reference numerals:

[0028] 1-riveting press; 11-base; 12-conveying and positioning mechanism; 120-first driving assembly; 1201-first driver; 1202-transmission shaft; 1203-first bevel gear; 1204-second bevel gear; 121-front conveying chain assembly; 122-rear conveying chain assembly; 123-conveying roller assembly; 124-driving shaft; 125-driven shaft; 126-chain; 127-upper pressure roller assembly; 1271-upper pressure roller; 1272-second driver; 13-feeding riveting mechanism; 131-feeding assembly; 1311-vibration plate; 1312-discharging track; 1313-avoidance hole; 1314-straight vibrator; 131 5-blocking rod; 132-material picking assembly; 1321-first guide rail; 1322-first slider; 1323-material picking member; 1324-fifth drive; 1325-movable positioning member; 133-riveting assembly; 1331-upper riveting head; 1332-third drive; 1333-lower riveting head; 1334-fourth drive; 134-second guide rail; 135-second slider; 136-mounting frame; 14-visual mechanism; 142-camera; 143-light source; 2-automatic feeder; 21-first conveying mechanism; 22-first material picking mechanism; 3-automatic feeder; 31-second conveying mechanism; 32-second material picking mechanism. DETAILED DESCRIPTION

[0029] In order to more clearly and completely illustrate the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0030] See attached Figure 1-7 The utility model provides a visual positioning automatic riveting device, including a riveting machine 1, the riveting machine 1 includes a base 11 and a control module, the base 11 is provided with a conveying positioning mechanism 12, a feeding riveting mechanism 13 and a visual mechanism 14; the control module is respectively controlled and connected with the conveying positioning mechanism 12, the feeding riveting mechanism 13 and the visual mechanism 14; the conveying positioning mechanism 12 includes a first driving assembly 120, and a front conveying chain assembly 121 and a rear conveying chain assembly 122 arranged at intervals on the base 11, at least one conveying roller assembly 123 is arranged between the front conveying chain assembly 121 and the rear conveying chain assembly 122, and an upper pressure roller assembly 127 is movably arranged above each conveying roller assembly 123; the feeding riveting mechanism 13 can be arranged between the front conveying chain assembly 121 and the rear conveying chain assembly 122 in a transversely movable manner.

[0031] In practical applications, the riveting press 1 further includes a housing 15, one side of the housing 15 is provided with an inlet, and the other side is provided with an outlet 151; the visual mechanism 14 specifically includes a bracket 141 provided on a base, and a camera 142 and a light source 143 installed on the bracket 141. The wooden board enters the riveting press 1 from the inlet and is placed on the front conveying chain assembly 121 for backward conveying. The camera 142 in the visual mechanism 14 takes a picture of the wooden board and transmits it to the control module, which analyzes the picture and obtains the specific position coordinates of the hole position on the wooden board; then the wooden board is transmitted between the conveying roller assembly 123 and the upper pressing roller assembly 127, and the conveying roller assembly 123 and the upper pressing roller assembly 127 clamp and convey the wooden board. The control module controls the working state of the conveying roller assembly 123 according to the specific position coordinates of the hole position, and controls the lateral displacement and riveting action of the feeding riveting mechanism 13, so as to realize fully automatic and accurate riveting of the claw nail nut on the wooden board; then the wooden board is transported to the rear conveying chain assembly 122, and the rear conveying chain assembly 122 transports the wooden board to the outlet 151.

[0032] The utility model uses a front conveying chain assembly 121 and a rear conveying chain assembly 122 to convey wooden boards. Whether it is a long wooden board or a short wooden board, especially a short wooden board of 100-300 mm, it can be conveyed and riveted by the visual positioning automatic riveting device in the utility model. At least one conveying roller assembly 123 and an upper pressure roller assembly 127 are arranged between the front conveying chain assembly 121 and the rear conveying chain assembly 122. On the one hand, the feeding riveting mechanism 13 can be avoided so that the riveting work can proceed smoothly; on the other hand, the conveying roller assembly 123 and the upper pressure roller assembly 127 clamp and convey the wooden board. The working state of the conveying roller assembly 123 is controlled by the control module, that is, the conveying roller assembly 123 is controlled to rotate or stop, so that the wooden board can be accurately positioned and the accuracy of the claw nail nut riveting installation can be ensured.

[0033] Furthermore, the front conveying chain assembly 121 and the rear conveying chain assembly 122 each include a driving shaft 124 and a driven shaft 125, and a plurality of sprockets are correspondingly arranged on the driving shaft 124 and the driven shaft 125, and the two ends of a plurality of chains 126 are respectively sleeved on the sprockets of the driving shaft 124 and the driven shaft 125; the first driving assembly 120 includes a first driver 1201, a transmission shaft 1202 transmission-connected to the first driver 1201, a first bevel gear 1203 arranged at one end of each of the driving shafts 124 and at one end of each of the conveying roller assemblies 123, and a second bevel gear 1204 is arranged on the transmission shaft 1202 at a position corresponding to each first bevel gear 1203, and the second bevel gear 1204 is transmission-connected to the first bevel gear 1203.

[0034] In this embodiment, the first driver 1201 is a motor or other power mechanism that can output rotational motion. The first driver 1201 drives the transmission shaft 1202 to rotate to drive the second bevel gear 1204 to rotate. The second bevel gear 1204 then drives the first bevel gear 1203 meshing therewith to rotate. The first bevel gear 1203 then drives the driving shaft 124 and the conveying roller assembly 123 to rotate. The first bevel gear 1203 and the second bevel gear 1204 are used for transmission coordination, which not only ensures stable transmission, but also makes the bevel gears less prone to damage, thereby extending the service life.

[0035] Furthermore, a plurality of upper pressure roller assemblies 127 are movably disposed above the front conveying chain assembly 121 and above the rear conveying chain assembly 122 ; each of the upper pressure roller assemblies 127 includes an upper pressure roller 1271 and a second driver 1272 drivingly connected to the upper pressure roller 1271 .

[0036] Furthermore, a sensor is disposed on the front side of each upper pressure roller 1271 , and each sensor is connected to the control module. The control module controls the corresponding second driver 1272 to operate according to a signal fed back by each sensor.

[0037] In this embodiment, a plurality of upper pressure roller assemblies 127 are also movably arranged above the front conveying chain assembly 121 and above the rear conveying chain assembly 122, and the upper pressure roller assembly 127 is used to press the wooden board on the front conveying chain assembly 121 and the rear conveying chain assembly 122 to ensure the conveying accuracy. The second driver 1272 can be a power mechanism such as a cylinder, an oil cylinder, an electric push rod, a motor screw nut, etc. In actual use, when a certain sensor detects that there is a wooden board, the detection signal is fed back to the control module, and the control module controls the second driver 1272 in the upper pressure roller assembly 127 corresponding to the rear side of the sensor to drive the upper pressure roller 1271 to move downward to press the wooden board; when a certain sensor detects that there is no wooden board, the detection signal is fed back to the control module, and the control module controls the second driver 1272 in the upper pressure roller assembly 127 corresponding to the rear side of the sensor to drive the upper pressure roller 1271 to move upward so that the next wooden board can enter the lower part of the upper pressure roller 1271.

[0038] Furthermore, the feeding and riveting mechanism 13 includes a feeding component 131, a material picking component 132 and a riveting component 133; the riveting component 133 includes an upper riveting head 1331 and a third driver 1332 driven and connected to the upper riveting head 1331, a lower riveting head 1333 and a fourth driver 1334 driven and connected to the lower riveting head 1333; a magnetic part is arranged in the lower end of the upper riveting head 1331.

[0039] Further, the feeding assembly 131 includes a vibration plate 1311 and a discharge track 1312 connected to the outlet of the vibration plate 1311; the material taking assembly 132 is arranged on one side of the outlet of the discharge track 1312. Specifically, the discharge track 1312 is a horizontal straight track, and a plurality of straight vibrators 1314 are installed on the discharge track 1312.

[0040] Furthermore, the material picking assembly 132 includes a first guide rail 1321, a first slider 1322 slidably connected to the first guide rail 1321, a material picking piece 1323 arranged on the first slider 1322, and a fifth driver 1324 drivingly connected to the first slider 1322, and a magnetic piece is also provided at one end of the material picking piece 1323 close to the discharge track 1312; the material picking assembly 132 also includes a movable positioning piece 1325, and the movable positioning piece 1325 is arranged on the side of the first slider 1322 away from the fifth driver 1324.

[0041] Furthermore, a clearance hole 1313 is provided at a position of the discharge track 1312 near the exit, a sixth driver and a blocking rod 1315 connected to the sixth driver are provided above the clearance hole 1313 , and the blocking rod 1315 can be inserted into the clearance hole 1313 .

[0042] Furthermore, the feeding and riveting mechanism 13 also includes a second guide rail 134, a second slider 135 slidably connected to the second guide rail 134, a mounting frame 136 arranged on the second slider 135, and a seventh driver drivingly connected to the mounting frame 136, and the feeding component 131, the material picking component 132 and the riveting component 133 are all fixedly arranged on the mounting frame 136.

[0043] In this embodiment, the third driver 1332, the fourth driver 1334, the fifth driver 1324, the sixth driver and the seventh driver can also be power mechanisms such as air cylinders, oil cylinders, electric push rods, motor screw nuts, etc.; the opposite ends of the upper riveting head 1331 and the lower riveting head 1333 are both conical parts. In actual applications, under the control of the control module, the conveying roller assembly 123 and the upper pressure roller assembly 127 clamp the wooden board and convey it to a suitable position and stop; the seventh driver drives the mounting frame 136 to move horizontally to a suitable position along the second guide rail 134, so that the upper riveting head 1331 and the lower riveting head 1333 are on the same vertical line with the target hole position where the claw nail nut needs to be riveted in the wooden board; the sixth driver drives the blocking rod 1315 to insert into the avoidance hole 1313 and insert into the second claw nail nut located at the exit of the discharge track 1312. The fifth driver 1324 drives the picking piece 1323 to move to the outlet side of the discharge track 1312, and absorbs the first claw nut at the outlet of the discharge track 1312 to the picking piece 1323 through the magnetic force of the magnetic part in the picking piece 1323, and the fifth driver 1324 drives the picking piece 1323 to move away from the discharge track 1312. When the picking piece 1323 or the first slider 1322 contacts the movable positioning piece At 1325, the fifth driver 1324 stops. At this time, the claw nail nut is just below the upper rivet head 1331; the third driver 1332 drives the upper rivet head 1331 to move downward and the conical part of the upper rivet head 1331 is inserted into the center hole of the claw nail nut. At this time, the movable positioning member 1325 moves to the side away from the discharge track 1312, and the fifth driver 1324 also drives the material picking member 1323 to move to the side away from the discharge track 1312, so that the material picking member 1323 and the claw nail nut are The mother is separated. Since there is also a magnetic part in the upper riveting head 1331, the claw nail nut is adsorbed on the upper riveting head 1331. The upper riveting head 1331 drives the claw nail nut to move downward and insert it into the target hole of the wooden board. The fourth driver 1334 drives the lower riveting head 1333 to move upward and insert it into the center hole of the claw nail nut and forces the bottom of the claw nail nut to deform and rivet to the wooden board. Then the upper riveting head 1331, the lower riveting head 1333, and the material picking assembly 132 are reset to complete the riveting operation of the claw nail nut at a target hole. In this embodiment, a material picking component 1323 with a magnetic part and an upper riveting head 1331 are used. No matter what the shape of the claw nail nut is, it can be smoothly adsorbed, and there is no need to replace it because of the change of the claw nail nut type, which has a wide applicability.

[0044] Furthermore, the automatic riveting equipment also includes an automatic loader 2 and an automatic unloader 3 respectively arranged on both sides of the riveting machine 1; the automatic loader 2 includes a first material picking mechanism 22 and a first conveying mechanism 21; the automatic unloader 3 includes a second material picking mechanism 32 and a second conveying mechanism 31; the first conveying mechanism 21 is connected to the front conveying chain assembly 121; the second conveying mechanism 31 is connected to the rear conveying chain assembly 122.

[0045] In this embodiment, the first conveying mechanism 21 and the second conveying mechanism 31 are specifically conveyor belt structures, and the first material taking mechanism 22 and the second material taking mechanism 32 are specifically suction cup mechanisms that can move up and down and laterally. By arranging the automatic loading machine 2 and the automatic unloading machine 3 on both sides of the riveting press 1, it is possible to automatically load the wooden board into the riveting press 1 and automatically unload the processed wooden board, thereby improving the automation level of the automatic riveting press equipment.

[0046] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A visual positioning automatic riveting device, characterized in that: The invention comprises a riveting press (1), wherein the riveting press (1) comprises a base (11) and a control module, wherein the base (11) is provided with a conveying positioning mechanism (12), a feeding riveting mechanism (13) and a visual mechanism (14); the control module is respectively connected to the conveying positioning mechanism (12), the feeding riveting mechanism (13) and the visual mechanism (14); the conveying positioning mechanism (12) comprises a first driving assembly (120), and a front conveying chain assembly (121) and a rear conveying chain assembly (122) arranged at intervals on the base (11); at least one conveying roller assembly (123) is arranged between the front conveying chain assembly (121) and the rear conveying chain assembly (122); an upper pressing roller assembly (127) is movably arranged above each conveying roller assembly (123); and the feeding riveting mechanism (13) is arranged between the front conveying chain assembly (121) and the rear conveying chain assembly (122) in a manner that allows for transverse movement.

2. The visual positioning automatic riveting equipment according to claim 1 is characterized in that: The front conveying chain assembly (121) and the rear conveying chain assembly (122) both comprise a driving shaft (124) and a driven shaft (125), a plurality of sprockets being arranged one by one on the driving shaft (124) and the driven shaft (125), and two ends of a plurality of chains (126) being respectively sleeved on the sprockets of the driving shaft (124) and the driven shaft (125); the first driving assembly (120) comprises a first driver (1201), a transmission shaft (1202) drivingly connected to the first driver (1201), a first bevel gear (1203) being arranged at one end of each of the driving shafts (124) and at one end of each of the conveying roller assemblies (123), a second bevel gear (1204) being arranged on the transmission shaft (1202) at a position corresponding to each of the first bevel gears (1203), and the second bevel gear (1204) being drivingly connected to the first bevel gear (1203).

3. The visual positioning automatic riveting equipment according to claim 1 is characterized by: A plurality of upper pressure roller assemblies (127) are also movably arranged above the front conveying chain assembly (121) and above the rear conveying chain assembly (122); each of the upper pressure roller assemblies (127) comprises an upper pressure roller (1271) and a second driver (1272) drivingly connected to the upper pressure roller (1271).

4. The visual positioning automatic riveting equipment according to claim 3 is characterized by: A sensor is provided on the front side of each upper pressure roller (1271), and each sensor is connected to the control module. The control module controls the action of the corresponding second driver (1272) according to a signal fed back by each sensor.

5. The visual positioning automatic riveting equipment according to claim 1 is characterized in that: The feeding and riveting mechanism (13) comprises a feeding assembly (131), a material taking assembly (132) and a riveting assembly (133); the riveting assembly (133) comprises an upper riveting head (1331) and a third driver (1332) drivingly connected to the upper riveting head (1331), a lower riveting head (1333) and a fourth driver (1334) drivingly connected to the lower riveting head (1333); a magnetic part is arranged at the lower end of the upper riveting head (1331).

6. The visual positioning automatic riveting equipment according to claim 5, characterized in that: The material feeding assembly (131) comprises a vibration plate (1311) and a material discharging track (1312) connected to an outlet of the vibration plate (1311); the material taking assembly (132) is arranged on one side of the outlet of the material discharging track (1312).

7. The visual positioning automatic riveting equipment according to claim 6 is characterized by: The material picking assembly (132) comprises a first guide rail (1321), a first slider (1322) slidably connected to the first guide rail (1321), a material picking member (1323) arranged on the first slider (1322), and a fifth driver (1324) drivingly connected to the first slider (1322), and a magnetic member is also arranged at one end of the material picking member (1323) close to the discharge track (1312); the material picking assembly (132) further comprises a movable positioning member (1325), and the movable positioning member (1325) is arranged on a side of the first slider (1322) away from the fifth driver (1324).

8. The visual positioning automatic riveting equipment according to claim 7 is characterized by: A clearance hole (1313) is provided at a position of the discharge track (1312) close to the outlet, a sixth driver and a blocking rod (1315) connected to the sixth driver are provided above the clearance hole (1313), and the blocking rod (1315) can be inserted into the clearance hole (1313).

9. The visual positioning automatic riveting equipment according to claim 5, characterized in that: The feeding and riveting mechanism (13) further comprises a second guide rail (134), a second slider (135) slidably connected to the second guide rail (134), a mounting frame (136) disposed on the second slider (135), and a seventh driver drivingly connected to the mounting frame (136); the feeding assembly (131), the picking assembly (132), and the riveting assembly (133) are all fixedly disposed on the mounting frame (136).

10. The visual positioning automatic riveting equipment according to claim 1, characterized in that: The automatic riveting equipment further comprises an automatic loader (2) and an automatic unloader (3) respectively arranged on both sides of the riveting machine (1); the automatic loader (2) comprises a first material picking mechanism (22) and a first conveying mechanism (21); the automatic unloader (3) comprises a second material picking mechanism (32) and a second conveying mechanism (31); the first conveying mechanism (21) is connected to the front conveying chain assembly (121); and the second conveying mechanism (31) is connected to the rear conveying chain assembly (122).

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