Automatic riveting equipment

Abstract

The utility model discloses automatic riveting equipment which comprises a supporting platform, at least two Y-axis moving assemblies, an X-axis moving assembly, at least one Z-axis moving assembly and a hand riveter. The Y-axis moving assemblies are arranged on the supporting platform in parallel, and clamps used for installing workpieces to be riveted are arranged on the Y-axis moving assemblies. The X-axis moving assembly is fixed to the supporting platform and located above the Y-axis moving assembly. The Z-axis moving assembly is fixed to the X-axis moving assembly and fixedly connected with the hand riveter. The riveting device is high in riveting efficiency and avoids the situation of pulling missing or unstable riveting pulling.

Description

Technical Field

[0001] This utility model relates to the field of riveting equipment technology, and in particular to an automatic riveting device. Background Technology

[0002] Due to the lightweight design of automobiles, a large amount of thin sheet metal or thin aluminum sheet is used to replace traditional body sheet metal, and even the function of structural components such as chassis. When processing and assembling these metal parts, because the metal parts are thin and the materials are aluminum or plastic, it is inconvenient to drill threaded holes or the connection strength is insufficient. Riveting process is usually used to complete the fastening connection.

[0003] However, for a workpiece with a large number of riveting holes, the riveting work is generally carried out manually or by a robot. Manual riveting is inefficient, labor-intensive, and prone to omissions or unstable riveting. While using a robot can ensure stable pulling force, the robot can only rivet one workpiece at a time. After one workpiece is riveted, the operator needs to stop the robot, disassemble the riveted workpiece, replace it with another workpiece to be riveted, and then restart the robot to continue riveting the next workpiece, resulting in low riveting efficiency. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an automatic riveting device; this device has high riveting efficiency and avoids situations where riveting is missed or unstable.

[0005] This utility model is achieved through the following technical solution:

[0006] An automatic riveting device includes a support platform, at least two sets of Y-axis moving components, an X-axis moving component, at least one Z-axis moving component, and a rivet gun. The at least two sets of Y-axis moving components are arranged parallel to each other on the support platform. The Y-axis moving components are provided with clamps for mounting the workpieces to be riveted. The X-axis moving component is fixed on the support platform and located above the Y-axis moving components. The Z-axis moving component is fixed on the X-axis moving components and is fixedly connected to the rivet gun.

[0007] Furthermore, the Y-axis moving component includes a second linear motion module and a pair of second guide rails. The pair of second guide rails are symmetrically arranged on both sides of the second linear motion module, and a second slider is provided on the second guide rail and slidably connected to the second guide rail. The clamp is fixedly connected to the second linear motion module and the second slider.

[0008] Furthermore, the fixture includes a base, which is simultaneously fixedly connected to a second sliding block and a second slider on the second linear motion module.

[0009] Further, the clamp further comprises a support plate, a turnover motor, a rotating shaft and a bearing seat arranged on the base, the rotating shaft is fixedly connected with the bearing seat through a bearing, the workpiece to be riveted is arranged on the support plate, and one end of the support plate is fixedly connected with an output shaft of the turnover motor and the other end is fixedly connected with the rotating shaft.

[0010] Further, the support plate is provided with a clamping assembly, the clamping assembly comprises a plurality of limiting blocks and a plurality of clamping cylinders, the limiting blocks are in abutment with the workpiece to be riveted, and the plurality of clamping cylinders are located on both sides of the workpiece to be riveted and are used for clamping the workpiece to be riveted.

[0011] Further, the at least one Z-axis moving assembly comprises a pair of Z-axis moving assemblies symmetrically arranged on both sides of the X-axis moving assembly, and the pair of Z-axis moving assemblies are both fixedly provided with the riveting gun.

[0012] Further, the support platform is provided with a fixing frame, and the fixing frame is fixedly connected with the X-axis moving assembly.

[0013] Further, the X-axis moving assembly comprises a first linear motion module, a first guide rail, a first connecting plate and a first sliding block, the first linear motion module and the first guide rail are both fixedly connected with the fixing frame, the first connecting plate is connected with the first linear motion module and the first sliding block at the same time, and the Z-axis moving assembly is fixed on the first connecting plate.

[0014] Further, the Z-axis moving assembly comprises a fixed base, a lead screw, a first motor and a movable plate, the fixed base is fixedly connected with the first connecting plate, the first motor is installed on the fixed base, an output shaft of the first motor is fixedly connected with the lead screw, the movable plate is threadedly connected with the lead screw, and the movable plate is fixedly connected with the riveting gun.

[0015] Further, the Z-axis moving assembly is fixedly connected with a visual device, the visual device comprises an industrial camera and a sliding table cylinder, the industrial camera is fixedly connected with the sliding table cylinder, and the sliding table cylinder is fixedly connected with the fixed base.

[0016] Compared with the prior art, the utility model has the advantages that:

[0017] 1. By symmetrically arranging two groups of Z-axis moving assemblies on both sides of the X-axis moving assembly, space is saved, different specifications of riveting guns can be hung, equipment utilization is improved, and cost is saved.

[0018] 2. By fixedly connecting two groups of Y-axis moving assemblies and the clamp, one group is used for putting into production and the other group is used for feeding the workpiece to be processed, time is saved, and work efficiency is improved.

[0019] 3. By replacing the clamp and the riveting program, riveting processing of different workpieces can be adapted, and the adaptability is high.

[0020] 4. By setting the safety grating, when the operator mistakenly intrudes, the equipment stops, and the safety is higher. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a perspective assembly view of the automatic riveting equipment of one embodiment of the utility model;

[0022] Figure 2 It is a partial perspective assembly view of the automatic riveting equipment;

[0023] Figure 3 It is an explosion view of the Y-axis moving assembly;

[0024] Figure 4 It is a partial perspective assembly view of the clamp;

[0025] Figure 5 It is a perspective assembly view of the X-axis moving assembly;

[0026] Figure 6 It is an explosion view of the X-axis moving assembly;

[0027] Figure 7 It is a left view of the X-axis moving assembly and the Y-axis moving assembly;

[0028] Figure 8 It is Figure 7 It is an enlarged view of A in the middle;

[0029] Figure 9 It is a perspective assembly view of the Z-axis moving assembly;

[0030] Figure 10 It is another perspective assembly view of the automatic riveting equipment of one embodiment of the utility model;

[0031] Figure 11 It is a perspective assembly view of the visual device;

[0032] Figure 12 It is a circuit connection view of the automatic riveting equipment of one embodiment of the utility model.

[0033] Label explanation: 1, moving mechanism; 10, X-axis moving assembly; 100, first linear motion module; 101, first guide rail; 102, first sliding block; 103, first sliding block; 104, first connecting plate; 105, first support frame; 106, first drag chain; 11, Y-axis moving assembly; 110, second linear motion module; 111, second guide rail; 112, second sliding block; 113, second sliding block; 114, second drag chain; 115, second support frame; 12, Z-axis moving assembly; 120, fixed base; 121, screw; 122, movable plate; 123, first motor; 126, third drag chain; 127, third support frame; 2, rivet gun; 3, clamp; 30, base; 31, support plate; 32, overturning motor; 33, shaft; 34, bearing seat; 35, workpiece; 36, clamping assembly; 360, limit block; 361, clamping cylinder; 37, fourth support frame; 4, visual device; 40, industrial camera; 41, lens; 42, light source; 43, visual switch; 44, slide cylinder; 45, fourth fixed plate; 5, rack; 50, support platform; 51, fixed frame; 510, fourth connecting plate; 511, fixed column; 6, controller; 7, upper computer; 70, fifth fixed plate; 8, feeding mechanism; 80, fixed ladder; 81, feeding pipe; 9, code scanning gun. DETAILED DESCRIPTION

[0034] The utility model technical scheme will be further described in detail below in combination with the preferred embodiments and the drawings. In the description of the utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" are based on the orientation or positional relationship shown in the drawings. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one feature. In the description of the utility model, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the utility model, and cannot be understood as limiting the utility model.

[0035] As Figure 1As shown, the automatic riveting equipment of the embodiment of the utility model, including support platform 50, at least two groups Y axis moving assembly 11, X axis moving assembly 10, at least one Z axis moving assembly 12 and pull riveter 2, at least two groups Y axis moving assembly 11 parallel with each other is arranged on support platform 50, Y axis moving assembly 11 is provided with the clamp 3 for installing the workpiece 35 to be riveted, X axis moving assembly 10 is fixed on support platform 50 and is located above Y axis moving assembly 11, Z axis moving assembly 12 is fixed on X axis moving assembly 10, and is fixedly connected with pull riveter 2. Wherein, support platform 50 is arranged on rack 5, Y axis moving assembly 11, X axis moving assembly 10 and Z axis moving assembly 12 form moving mechanism 1.

[0036] As Figure 2 Shown, in this embodiment, at least two groups Y axis moving assembly 11 preferably two groups, by adopting two groups Y axis moving assembly 11 for cooperation feeding, one group is used for production, another group is used for waiting for production, alternate use, save feeding time.

[0037] Y axis moving assembly 11 includes second linear motion module 110 and a pair of second guide rails 111, a pair of second guide rails 111 are symmetrically arranged on the two sides of second linear motion module 110, and second guide rail 111 is provided with second sliding block 112 slidably connected with second guide rail 111, clamp 3 is fixedly connected with second linear motion module 110 and second sliding block 112 simultaneously. Wherein, second linear motion module 110 is parallel with second guide rail 111 and is fixedly connected with support platform 50 through screw respectively. Y axis moving assembly 11 further includes second support frame 115 for placing second drag chain 114, and the bottom of second support frame 115 is fixedly connected with support platform 50 through screw.

[0038] As Figure 3 And Figure 4 Shown, clamp 3 includes base 30, and base 30 is fixedly connected with second sliding block 113 and second sliding block 112 on second linear motion module 110 simultaneously. Wherein, the lower surface of base 30 is fixedly connected with second sliding block 113 through screw, and the two ends of the lower surface of base 30 are fixedly connected with second sliding block 112 through screw.

[0039] Clamp 3 further includes support plate 31, turnover motor 32, rotating shaft 33 and bearing seat 34 arranged on base 30, rotating shaft 33 is fixedly connected with bearing seat 34 through bearing, workpiece 35 to be riveted is installed on support plate 31, and one end of support plate 31 is fixedly connected with the output shaft of turnover motor 32, and the other end is fixedly connected with rotating shaft 33. Specifically, fourth support frame 37 is fixedly connected on support plate 31 through screw, and the shell of turnover motor 32 is fixedly connected with fourth support frame 37 through screw. The bottom of bearing seat 34 is fixedly connected with support plate 31 through screw.

[0040] The support plate 31 is provided with a clamping assembly 36, which includes a plurality of limiting blocks 360 and a plurality of clamping cylinders 361. The limiting blocks 360 abut against the workpiece 35 to be riveted, and the clamping cylinders 361 are located on both sides of the workpiece 35 to be riveted for clamping the workpiece 35 to be riveted. The limiting blocks 360 and the clamping cylinders 361 are fixedly connected to the support plate 31 by screws.

[0041] As shown in Figures 5 to 8 In this embodiment, the at least one Z-axis moving assembly 12 includes a pair of Z-axis moving assemblies 12 symmetrically arranged on both sides of the X-axis moving assembly 10, and the pair of Z-axis moving assemblies 12 are fixedly connected with the riveting gun 2.

[0042] The support platform 50 is provided with a fixing frame 51 fixedly connected with the X-axis moving assembly 10. The fixing frame 51 includes a fourth connecting plate 510 and a pair of fixed columns 511. The fixed columns 511 are fixedly connected to the support platform 50 by screws, and the fourth connecting plate 510 is fixedly connected to the fixed columns 511 at both ends by screws. The fourth connecting plate 510 is fixedly connected with the X-axis moving assembly 10.

[0043] The X-axis moving assembly 10 includes a first linear motion module 100, a first guide rail 101, a first connecting plate 104 and a first sliding block 102. The first linear motion module 100 and the first guide rail 101 are fixedly connected with the fixing frame 51, the first connecting plate 104 is connected with the first linear motion module 100 and the first sliding block 102, and the Z-axis moving assembly 12 is fixed on the first connecting plate 104. The bottom of the first linear motion module 100 is fixedly connected with the upper surface of the fourth connecting plate 510 by screws, and the first guide rail 101 is fixedly connected with the side surface of the fourth connecting plate 510 by screws. The first guide rail 101 is parallel to the first linear motion module 100. The X-axis moving assembly 10 further includes a pair of first connecting plates 104 symmetrically arranged on both sides of the first linear motion module 100. The upper end of the first connecting plate 104 is fixedly connected with the first sliding block 103 of the first linear motion module 100 by screws, and the lower end is fixedly connected with the first sliding block 102 by screws, for fixing the Z-axis moving assembly 12 and driving it to move along the X-axis direction. The X-axis moving assembly 10 further includes a first support frame 105 for placing a first drag chain 106, and the first support frame 105 is fixedly connected with both ends of the fourth connecting plate 510 by screws.

[0044] As shown in Figure 9, the Z-axis moving assembly 12 includes a fixed base 120, a lead screw 121, a first motor 123, and a movable plate 122. The fixed base 120 is fixedly connected to the first connecting plate 104. The first motor 123 is mounted on the fixed base 120, and the output shaft of the first motor 123 is fixedly connected to the lead screw 121. The movable plate 122 is threadedly connected to the lead screw 121 and fixedly connected to the rivet gun 2. Specifically, the fixed base 120 has a through hole (not shown in the figure). The housing of the first motor 123 is fixedly connected to the fixed base 120 by screws, and the output shaft of the first motor 123 passes through the through hole and is fixedly connected to the lead screw 121 by a coupling. The movable plate 122 is fixedly connected to the rivet gun 2 by a snap-fit ​​and drives the rivet gun 2 to move along the Z-axis. The head of the rivet gun 2 is vertically downward and always perpendicular to the rivet surface of the workpiece 35 to be riveted. The Z-axis moving assembly 12 also includes a third support frame 127 for placing the third cable chain 126, which is fixedly connected to the fixed base 120 by screws. Two sets of Z-axis moving assemblies 12 are used for riveting; each pair of Z-axis moving assemblies 12 is connected to a rivet gun 2 suitable for two different sizes of rivet nuts, allowing two types of riveting to be completed on a single machine, saving costs. Furthermore, the pair of Z-axis moving assemblies 12 are symmetrically arranged on both sides of the X-axis moving assembly 10, saving space.

[0045] like Figure 10 and Figure 11 As shown, a vision device 4 is fixedly connected to the Z-axis moving assembly 12. The vision device 4 includes an industrial camera 40 and a slide cylinder 44. The industrial camera 40 is fixedly connected to the slide cylinder 44, and the slide cylinder 44 is fixedly connected to the fixed base 120. Specifically, the vision device 4 also includes a lens 41, a light source 42, a vision switch 43, and a fourth fixing plate 45. The vision switch 43 is mounted on the frame 5. The industrial camera 40 and the lens 41 are fixedly connected by threads. The fourth fixing plate 45 is fixedly connected to the fixed base 120 of the Z-axis moving assembly 12 by screws. The slide cylinder 44 is fixedly connected to the fourth fixing plate 45 by screws. The industrial camera 40 and the light source 42 are respectively fixedly connected to the slide cylinder 44 by screws. The slide cylinder 44 drives the industrial camera 40 and the light source 42 to move simultaneously with the rivet gun 2.

[0046] like Figure 11 As shown, the automatic riveting equipment also includes a feeder 8. The feeder 8 adopts existing technology, so its specific structure will not be described in detail here. The feeder 8 is fixedly connected to the fixed ladder 80 by screws, and the fixed ladder 80 abuts against the frame 5. The feeder is connected to the rivet gun 2 through a feed pipe 81 for feeding material to the rivet gun 2.

[0047] The automatic riveting equipment also includes a controller 6, a host computer 7 for receiving riveting signals, a safety light curtain (not shown in the figure), and a barcode scanner 9. The controller 6 is fixedly connected to the frame 5 with screws. The host computer 7 is placed on a fifth fixing plate 70, which is also fixedly connected to the frame 5 with screws. The safety light curtain is fixedly connected to the frame 5 with screws. When the safety light curtain is open, all processing actions stop if an operator accidentally enters through it, improving safety. The barcode scanner 9 is located at one end of the second guide rail 111 and is used to record the traceability code of the workpiece 35 and upload the traceability code to the traceability system.

[0048] After the workpiece 35 to be riveted is pre-programmed, the riveting program is input into the host computer 7. The host computer 7 transmits control signals to the controller, thereby controlling the moving mechanism 1. The moving mechanism 1 can drive the riveting gun 2 to move along the X and Z axes, and drive the fixture 3 to move along the Y axis. The riveting gun 2 performs the riveting operation on the workpiece 35 according to the riveting program input by the host computer 7. This design effectively avoids problems such as missed riveting or insufficient riveting force. It should be noted that data programming based on the actual required riveting product is existing technology.

[0049] like Figure 12 As shown, controller 6 is electrically connected to the first linear motion module 100, used to control the first linear motion module 100 to drive the Z-axis moving component 12 to move along the X-axis direction; controller 6 is electrically connected to the second linear motion module 110, used to control the first linear motion module 100 to drive the clamp 3 to move along the X-axis direction. Controller 6 is electrically connected to the first motor 123, used to control the operation of the first motor 123 to drive the lead screw 121 to rotate, and the lead screw 121 converts the rotary motion into linear motion to drive the rivet gun 2 to move along the Z-axis direction. Controller 6 is electrically connected to the tilting motor 32, used to control the operation of the tilting motor 32 to drive the workpiece 35 to be riveted to rotate. Controller 6 is electrically connected to the clamping cylinder 361, used to clamp the workpiece 35 to be riveted placed on the support plate 31. Controller 6 is electrically connected to the slide cylinder 44. Vision switch 43 is electrically connected to the industrial camera 40, used to convert the image recorded by the industrial camera 40 into a digital signal, and vision switch 43 is electrically connected to the light source 42, used to adjust the illumination. The host computer 7 is electrically connected to the controller 6 and is used to send control commands to the controller 6. The host computer 7 is also electrically connected to the vision switch 43 and is used to receive digital signals from the vision switch 43 and monitor the riveting quality.

[0050] In operation, the workpiece to be riveted 35 is placed on the support plate 31 of the clamp 3, and the clamping assembly 36 clamps the workpiece to be riveted 35. At this time, the code scanning gun 9 scans the traceable code on the workpiece to be riveted 35 and uploads the traceable code information to the traceable system. At the same time, the traceable system transmits a signal to the controller 6, and the controller 6 controls the safety grating to be opened and controls the second linear motion module 110 to drive the clamp 3 to move to the first riveting position. At the same time, the other group of Y-axis moving assemblies 11 connected to the clamp 3 places the workpiece to be riveted 35 for standby. The controller 6 controls the first linear motion module 100 to drive the riveting gun 2 to move along the X-axis direction. When reaching the first riveting position, the Z-axis moving assembly 12 drives the riveting gun 2 to move downward for riveting under the control of the controller 6. After the riveting is completed, the riveting gun 2 returns to the original position. At the same time, the industrial camera 40 transmits the recorded riveting picture to the vision switch 43, and the vision switch 43 converts it into a data signal and transmits it to the upper computer 7. The upper computer 7 uploads all the riveting data to the traceable system. After all the workpieces to be riveted in the X-axis direction are riveted, the second linear motion module 110 drives the clamp 3 to move to the next riveting position, and the reciprocating operation is repeated until all the workpieces to be riveted are riveted. The controller 6 controls the second linear motion module 110 to drive the clamp 3 to return to the original position, and the clamping assembly 36 is opened to remove the riveted workpiece 35.

[0051] In the automatic riveting equipment of the embodiment of the present application, the riveting position, the riveting quantity and the riveting quality of the riveting gun are controlled through the riveting program in the automatic operation process, so that the problems of missed riveting or insufficient riveting force can be effectively avoided. The safety grating is arranged, so that all the working equipment is immediately stopped when the operator mistakenly intrudes, and the safety is improved. The riveting of different workpieces to be riveted 35 can be adapted through only replacing the clamp and the riveting program, and the adaptability is high. The automatic riveting is completed through the multi-directional combined movement of the moving mechanism instead of the robot movement, and the cost is saved. The two groups of Y-axis moving assemblies 11 are used for cooperating with the feeding, one group is used for production, and the other group is used for standby, and the feeding time is saved. The two groups of Z-axis moving assemblies 12 are used for cooperating with the riveting, and the two groups of Z-axis moving assemblies 12 are respectively connected to the riveting guns 2 suitable for two different specifications of rivet nuts, so that the two kinds of riveting can be completed on one equipment, and the cost is saved. Moreover, the two groups of Z-axis moving assemblies are symmetrically arranged on the two sides of the X-axis moving assembly 10, and the space is saved.

[0052] The above embodiments only express several embodiments of the present application, and the description is relatively specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application. It should be noted that, for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An automatic riveting apparatus characterized by comprising: The device comprises a support platform (50), at least two groups of Y-axis moving assemblies (11), an X-axis moving assembly (10), at least one Z-axis moving assembly (12) and a rivet gun (2), the at least two groups of Y-axis moving assemblies (11) are arranged in parallel on the support platform (50), a clamp (3) for mounting a workpiece to be riveted (35) is arranged on the Y-axis moving assembly (11), the X-axis moving assembly (10) is fixed on the support platform (50) and located above the Y-axis moving assembly (11), the Z-axis moving assembly (12) is fixed on the X-axis moving assembly (10) and fixedly connected with the rivet gun (2); The clamp (3) comprises a base (30), a support plate (31), a turnover motor (32), a rotating shaft (33) and a bearing seat (34) arranged on the base (30), the rotating shaft (33) is fixedly connected with the bearing seat (34) through a bearing, the workpiece to be riveted (35) is mounted on the support plate (31), and one end of the support plate (31) is fixedly connected with an output shaft of the turnover motor (32) and the other end is fixedly connected with the rotating shaft (33).

2. The automatic riveting apparatus according to claim 1, characterized by The Y-axis moving assembly (11) comprises a second linear motion module (110) and a pair of second guide rails (111), the pair of second guide rails (111) are symmetrically arranged on both sides of the second linear motion module (110), and a second sliding block (112) in sliding connection with the second guide rail (111) is arranged on the second guide rail (111), and the clamp (3) is fixedly connected with the second linear motion module (110) and the second sliding block (112).

3. The automatic riveting apparatus according to claim 2, characterized by The base (30) is fixedly connected with a second sliding block (113) on the second linear motion module (110) and the second sliding block (112).

4. The automatic riveting apparatus according to claim 1, characterized by A clamping assembly (36) is arranged on the support plate (31), the clamping assembly (36) comprises a plurality of limiting blocks (360) and a plurality of clamping cylinders (361), the limiting blocks (360) abut against the workpiece to be riveted (35), and the plurality of clamping cylinders (361) are located on both sides of the workpiece to be riveted (35) and used for clamping the workpiece to be riveted (35).

5. The automatic riveting apparatus according to claim 1, characterized by The at least one Z-axis moving assembly (12) comprises a pair of Z-axis moving assemblies (12) symmetrically arranged on both sides of the X-axis moving assembly (10), and the pair of Z-axis moving assemblies (12) are fixedly connected with the rivet gun (2).

6. The automatic riveting apparatus according to claim 1, characterized by A fixing frame (51) is arranged on the support platform (50), and the fixing frame (51) is fixedly connected with the X-axis moving assembly (10).

7. The automatic riveting apparatus according to claim 6, characterized by The X-axis moving assembly (10) comprises a first linear motion module (100), a first guide rail (101), a first connecting plate (104) and a first sliding block (102), the first linear motion module (100) and the first guide rail (101) are fixedly connected with the fixed frame (51), the first connecting plate (104) is connected with the first linear motion module (100) and the first sliding block (102) at the same time, and the Z-axis moving assembly (12) is fixed on the first connecting plate (104).

8. The automatic riveting apparatus according to claim 7, characterized by The Z-axis moving assembly (12) comprises a fixed base (120), a lead screw (121), a first motor (123) and a movable plate (122), the fixed base (120) is fixedly connected with the first connecting plate (104), the first motor (123) is installed on the fixed base (120), an output shaft of the first motor (123) is fixedly connected with the lead screw (121), the movable plate (122) is threadedly connected with the lead screw (121), and the movable plate (122) is fixedly connected with the rivet gun (2).

9. The automatic riveting apparatus according to claim 8, characterized by The Z-axis moving assembly (12) is fixedly connected with a visual device (4), the visual device (4) comprises an industrial camera (40) and a sliding table air cylinder (44), the industrial camera (40) is fixedly connected with the sliding table air cylinder (44), and the sliding table air cylinder (44) is fixedly connected with the fixed base (120).

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