Automatic rivet pressing device

Abstract

The utility model discloses an automatic rivet pressing device, relates to mechanical automation equipment field, and this automatic rivet pressing device includes first mould, is equipped with bearing surface, and bearing surface forms rivet pressing area, second mould is equipped with a plurality of grooves, and groove forms and takes material area, a plurality of clamping mechanisms, and the number of clamping mechanism is equal with the number of groove, and all are equipped on material moving mechanism, and second mould is at the side of first mould, and material moving mechanism drives clamping mechanism to reciprocate between taking material area and rivet pressing area, a plurality of first response module, one to one correspondence is equipped at the side of groove, pressing mechanism, including hydraulic pump and the pressure column that connects with hydraulic pump, and pressure column sets up the just above of rivet pressing area, and the material mechanism is connected with first mould, and controller is connected with material moving mechanism, clamping mechanism, first response module, material mechanism and hydraulic pump respectively. Realize the accurate positioning and automatic pressing of rivet, improve production efficiency and pressing quality.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation equipment, and in particular to an automatic rivet pressing device. Background Technology

[0002] In the field of mechanical manufacturing, rivet pressing is a common connection process. Traditional rivet pressing relies on manual operation or semi-automatic equipment, which has the following problems: manual handling of rivets can easily lead to positioning deviations, affecting pressing quality; low efficiency and easy confusion when switching between rivets of different specifications; difficulty in handling products after pressing, affecting the overall production cycle; and lack of an effective inspection mechanism, which cannot ensure rivet positioning and pressing quality, resulting in a high defect rate. Utility Model Content

[0003] The technical problem to be solved by this utility model embodiment is that traditional rivet pressing lacks an effective detection mechanism, resulting in a high defect rate.

[0004] To address the aforementioned problems, this utility model discloses an automatic rivet pressing device. This device achieves precise rivet positioning and automatic pressing, improving production efficiency and pressing quality.

[0005] This utility model provides an automatic rivet pressing device, which includes a first mold with a bearing surface forming a riveting area for positioning the product to be riveted; a second mold with multiple grooves forming a material picking area for positioning the rivet; multiple clamping mechanisms, the number of which is equal to the number of grooves, and all mounted on a material transfer mechanism; the second mold is located on one side of the first mold, and the material transfer mechanism drives the clamping mechanisms to reciprocate between the material picking area and the riveting area; multiple first sensing modules, each corresponding to one side of a groove; a pressing mechanism including a hydraulic pump and a pressure column connected to the hydraulic pump; the pressure column is positioned directly above the riveting area; a material removal mechanism connected to the first mold for lifting the riveted product after riveting to remove it from the bearing surface; and a controller connected to the material transfer mechanism, the clamping mechanisms, the first sensing modules, the material removal mechanism, and the hydraulic pump.

[0006] A further technical solution is that the material transfer mechanism includes a linear motor, a guide rail, and a positioning sensing module; the positioning sensing module is located at one end of the guide rail; the movable part of the guide rail is connected to the movable part of the linear motor and the clamping mechanism respectively; the controller is connected to the linear motor and the positioning sensing module respectively.

[0007] A further technical solution is that the clamping mechanism includes a second sensing module and a gripper, the second sensing module is disposed above the gripper, and the second sensing module and the gripper are respectively disposed on the material transfer mechanism.

[0008] A further technical solution includes a first positioning post, and the second mold is also provided with a first positioning hole. The first positioning post is located on one side of the clamping mechanism and can pass through the first positioning hole.

[0009] A further technical solution includes a second positioning hole, which is located on the first mold or on one side of the first mold.

[0010] A further technical solution includes a first feeding mechanism, a second feeding mechanism, and a discharge mechanism; the discharge mechanism includes a second positioning post, multiple material distribution channels, and multiple air blowing nozzles; the air blowing nozzles are connected to the material distribution channels in a one-to-one correspondence; the material distribution channels are connected to the first feeding mechanism, or the material distribution channels are connected to the second feeding mechanism; the second positioning post can pass through the first positioning hole.

[0011] A further technical solution is that the first feeding mechanism comprises a first rivet vibrating plate, a first arranging mechanism, and a first distributing mechanism; the first distributing mechanism is connected to the distributing channel and the first arranging mechanism respectively, and the first rivet vibrating plate is connected to the first arranging mechanism.

[0012] A further technical solution is that the second feeding mechanism includes a second rivet vibratory plate, a second arranging mechanism, and a second distributing mechanism; the second distributing mechanism is connected to the distributing channel and the second arranging mechanism respectively, and the second rivet vibratory plate is connected to the second arranging mechanism.

[0013] A further technical solution includes a feeding conveyor mechanism, which comprises a feeding conveyor belt, a first conveyor belt drive, a lifting mechanism, and a first robotic arm; the feeding conveyor belt is connected to the first conveyor belt drive; the lifting mechanism is located at the end of the feeding conveyor belt; the first robotic arm is located above the lifting mechanism; and the controller is connected to both the first conveyor belt drive and the first robotic arm.

[0014] A further technical solution includes a discharge conveying mechanism, which comprises a discharge conveyor belt, a second conveyor belt drive, and a second robotic arm; the discharge conveyor belt is connected to the second conveyor belt drive; the second robotic arm is positioned above the discharge conveyor belt; and the controller is connected to both the second conveyor belt drive and the second robotic arm.

[0015] Compared with the prior art, the technical effects achieved by the embodiments of this utility model include:

[0016] High degree of automation: Through the coordinated action of the material transfer mechanism, clamping mechanism, feeding mechanism and conveying mechanism, the entire process from loading the product to be riveted, feeding the rivets, picking up the materials, transferring and pressing to unloading the finished product is fully automated, reducing manual intervention and improving production efficiency.

[0017] Precise positioning: The positioning accuracy of the clamping mechanism during material handling is ensured by the cooperation of the first positioning post with the first and second positioning holes, as well as the detection by the positioning sensing module; the positioning structure of the first and second molds further ensures the stable posture of the product and rivets, and improves the pressing quality.

[0018] Quality controllable: The first and second sensing modules detect the rivet's position and clamping status in real time. The controller controls the actions of each mechanism based on the detection signals, avoiding defects caused by missing rivets or inaccurate positioning, and reducing production costs.

[0019] High compatibility: By setting up the first and second feeding mechanisms, the automatic switching between two different specifications of rivets can be realized, which is suitable for the production needs of a variety of products and improves the versatility of the equipment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of an automatic rivet pressing device provided in an embodiment of this utility model;

[0022] Figure 2 A schematic diagram of another automatic rivet pressing device provided in this embodiment of the present utility model;

[0023] Figure 3 A schematic diagram of another automatic rivet pressing device provided in this embodiment of the utility model;

[0024] Figure 4 A schematic diagram of another automatic rivet pressing device provided in this embodiment of the utility model;

[0025] Figure 5 A schematic diagram of another automatic rivet pressing device provided in this embodiment of the utility model;

[0026] Figure 6A schematic diagram of a material transfer mechanism provided in an embodiment of this utility model;

[0027] Figure 7 A schematic diagram of the first mold and the second mold provided in the embodiment of this utility model;

[0028] Figure 8 This is a schematic diagram of another material transfer mechanism provided in an embodiment of the present utility model;

[0029] Figure 9 A schematic diagram of another material transfer mechanism provided in this embodiment of the utility model;

[0030] Figure 10 This is a schematic diagram of the clamping mechanism provided in an embodiment of the present utility model;

[0031] Figure 11 A schematic diagram of the feeding structure provided for an embodiment of this utility model;

[0032] Figure 12 A schematic diagram of the discharge structure provided for an embodiment of this utility model;

[0033] Figure 13 A schematic diagram of a first feeding mechanism, a second feeding mechanism, and a feeding mechanism provided in an embodiment of this utility model;

[0034] Figure 14 A schematic diagram of another first feeding mechanism, second feeding mechanism and unloading mechanism provided for an embodiment of this utility model;

[0035] Figure 15 This is a schematic diagram of another automatic rivet pressing device provided in an embodiment of the present utility model.

[0036] Figure Labels

[0037] 1. First mold; 11. Bearing surface; 2. Second mold; 21. Groove; 3. Clamping mechanism; 4. Transfer mechanism; 5. First sensing module; 6. Pressing mechanism; 61. Hydraulic pump; 62. Pressure column; 7. Unloading mechanism; 8. Controller; 41. Linear motor; 42. Guide rail; 43. Position sensing module; 31. Second sensing module; 32. Gripper;

[0038] 91. First positioning pin; 22. First positioning hole; 92. Second positioning hole;

[0039] 101. First feeding mechanism; 1011. First rivet vibratory feeder; 1012. First arrangement mechanism; 1013. First dispensing mechanism;

[0040] 102. Second feeding mechanism; 1021. Second rivet vibratory feeder; 1022. Second arranging mechanism; 1023. Second distributing mechanism;

[0041] 103. Feeding mechanism; 1031. Second positioning post; 1032. Material distribution channel; 1033. Air blowing nozzle;

[0042] 104. Feeding conveyor mechanism; 1041. Feeding conveyor belt; 1042. Lifting mechanism; 1043. First robotic arm;

[0043] 105. Discharge conveying mechanism; 1051. Discharge conveyor belt; 1052. Second robotic arm. Detailed Implementation

[0044] The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Similar component reference numerals in the drawings represent similar components. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0045] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0046] It should also be understood that the terminology used in this specification of embodiments of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of the present invention. As used in this specification of embodiments of the present invention and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0047] See Figures 1-15This utility model provides an automatic rivet pressing device. The automatic rivet pressing device includes a first mold 1 with a bearing surface 11 forming a riveting area for positioning the product to be riveted; a second mold 2 with multiple grooves 21 forming a material-taking area for positioning the rivet; multiple clamping mechanisms 3, the number of which is equal to the number of grooves 21, and all mounted on a material transfer mechanism 4; the second mold 2 is located on one side of the first mold 1, and the material transfer mechanism 4 drives the clamping mechanisms 3 to reciprocate between the material-taking area and the riveting area; multiple first sensing modules 5, each corresponding to one side of a groove 21; a pressing mechanism 6, including a hydraulic pump 61 and a pressure column 62 connected to the hydraulic pump 61; the pressure column 62 is located directly above the riveting area; a material removal mechanism 7, connected to the first mold 1, for lifting the riveted product after riveting to remove it from the bearing surface 11; and a controller 8, connected to the material transfer mechanism 4, the clamping mechanisms 3, the first sensing modules 5, the material removal mechanism 7, and the hydraulic pump 61. The specific details of each component are as follows:

[0048] The first mold 1 is a rigid block structure with a bearing surface 11 on top. The bearing surface 11 is machined with positioning structures (such as positioning bosses, positioning grooves, or limiting blocks) according to the outline of the product to be riveted. The bearing surface 11 has multiple holes through which rivets can pass, forming a riveting area. This is used to place and accurately position the product to be riveted, ensuring that the product does not shift or shake during the riveting pressing process, providing a stable reference platform for the pressing process. The bottom of the first mold 1 is connected to the stripping mechanism 7, and the pressure column 62 of the pressing mechanism 6 is correspondingly set directly above the bearing surface 11. Specifically, the positions of the pressure column 62 and the holes through which the rivets can pass are one-to-one.

[0049] The second mold 2 is located on one side of the first mold 1. Its main body is a block structure with multiple grooves 21 on the top. The number of grooves 21 matches the number of clamping mechanisms 3. The shape and size of the grooves 21 are adapted to the shape of the rivets to be pressed (e.g., head diameter, shank length), forming a material-retrieving area. This area is used to temporarily store the rivets to be retrieved. The limiting effect of the grooves 21 ensures that the rivets maintain a preset posture (e.g., head upwards, shank downwards), facilitating precise gripping by the clamping mechanism 3. A fixed distance is maintained between the second mold 1 and the first mold 1, the size of which is adapted to the stroke of the material transfer mechanism 4, ensuring smooth movement of the clamping mechanism 3 between them.

[0050] The number of clamping mechanisms 3 is equal to the number of grooves 21 in the second mold 2 (one-to-one correspondence). They typically employ pneumatic or electric clamping jaws 32. The ends of the clamping jaws 32 have arc-shaped clamping surfaces adapted to the shape of the rivets (to avoid damaging the rivet surface). All clamping mechanisms 3 are fixedly mounted on the moving parts (such as sliders) of the material transfer mechanism 4. In the material handling area, the clamping jaws 32 close to hold the rivets in the grooves 21 of the second mold 2; in the riveting area, the clamping jaws 32 open to place the rivets at the preset riveting points on the product to be riveted. Electrically connected to the controller 8, the controller 8 controls the opening and closing of the clamping jaws 32 to achieve the gripping and releasing of the rivets.

[0051] The material transfer mechanism 4 is a linear reciprocating motion mechanism, typically including a drive component, a guide component, and a limiting component. Its motion trajectory connects the material picking area of ​​the second mold 2 and the riveting area of ​​the first mold 1. It drives all the clamping mechanisms 3 mounted on it to perform reciprocating linear motion between the material picking area (above the second mold 2) and the riveting area (above the first mold 1), realizing the transfer of the rivet from the material picking position to the pressing position. It is electrically connected to the controller 8, which controls its start, stop, direction of movement, and speed of movement, ensuring that the clamping mechanisms 3 accurately reach the target position.

[0052] The number of first sensing modules 5 is equal to the number of grooves 21 in the second mold 2 (one-to-one correspondence). They typically employ photoelectric sensors, fiber optic sensors, or proximity switches, and are installed beside each groove 21 (e.g., above or below the side), with the detection end aligned with the inside of the groove 21. They detect in real time whether a rivet is placed in the corresponding groove 21, and whether the rivet has completely fallen into the groove 21 and is positioned correctly (e.g., whether the head is flush with the opening of the groove 21). The detection signal (presence or absence of a rivet, whether it is in place) is converted into an electrical signal and sent to the controller 8. This provides the controller 8 with a basis for judging the rivet feeding status, preventing the clamping mechanism 3 from clamping empty or clamping rivets that are not in place.

[0053] The pressing mechanism 6 consists of a hydraulic pump 61, a pressure column 62, and connecting pipelines. The hydraulic pump 61 is the power source, and the pressure column 62 is the actuator. Its lower end face has a pressing groove 21 adapted to the rivet head (to prevent damage to the rivet head). The pressure column 62 is vertically positioned directly above the riveting area of ​​the first mold 1 and connected to the hydraulic pump 61 via hydraulic pipelines. When the hydraulic pump 61 operates, it outputs high-pressure oil, driving the pressure column 62 to descend vertically. The pressing groove 21 at the lower end of the pressure column 62 presses and fixes the rivet placed on the product to be riveted. After pressing, the hydraulic pump 61 reverses its operation, driving the pressure column 62 back to its initial position. The hydraulic pump 61 is electrically connected to a controller 8, which controls its start, stop, and pressure output to ensure that the pressing force and pressing stroke meet the process requirements.

[0054] The stripping mechanism 7 typically consists of a lifting drive (such as a cylinder or electric push rod) and a lifting plate. The lifting drive is installed below or to the side of the first mold 1, and the lifting plate is connected to the output end of the drive. The size of the lifting plate is adapted to the bearing surface 11 of the first mold 1, and it can extend from below or to the side of the bearing surface 11. After the rivets are pressed together, the lifting drive drives the lifting plate to move upward, lifting the riveted product placed on the bearing surface 11 of the first mold 1, causing it to disengage from the positioning structure (such as the positioning groove) of the bearing surface 11, making it easier for subsequent processes (such as finished product transfer) to remove the product. It is electrically connected to the controller 8, which controls its lifting and resetting actions. The timing of the actions is coordinated with the pressing mechanism 6 and the finished product transfer mechanism.

[0055] The controller 8 coordinates the working sequence of each component (e.g., after confirming that the rivet is in place, it controls the clamping mechanism 3 to grab it; after the grabbing is completed, it controls the material transfer mechanism 4 to transfer it; after the material is transferred to the correct position, it controls the pressing mechanism 6 to work, etc.) to realize the automated operation of the entire rivet pressing process.

[0056] See also Figures 1-15 In this embodiment, the material transfer mechanism 4 includes a linear motor 41, a guide rail 42, and a positioning sensing module 43; the positioning sensing module 43 is located at one end of the guide rail 42; the movable part of the guide rail 42 is connected to the movable part of the linear motor 41 and the clamping mechanism 3 respectively; the controller 8 is connected to the linear motor 41 and the positioning sensing module 43 respectively.

[0057] Specifically, the linear motor 41 comprises a stator and a mover. It receives electrical signals (pulse or voltage commands) from the controller 8, converting electrical energy into linear driving force to drive the mover to reciprocate along the length of the stator, providing power for the transfer of the clamping mechanism 3. The mover (moving part) is rigidly connected to the moving part of the guide rail 42 (e.g., fixed with bolts), and drives the moving part of the guide rail 42 and the clamping mechanism 3 to move synchronously. It is connected to the controller 8 via a signal line to receive start / stop, speed, and direction control commands.

[0058] The guide rail 42 consists of a fixed part and a movable part. The fixed part is a long strip-shaped guide rail 42 body, which is set parallel to the stator of the linear motor 41 and has a high-precision guide groove on its surface. The movable part is a slider, which slides in cooperation with the guide rail 42 body (usually using ball or roller bearings to reduce the coefficient of friction). The top of the slider has a mounting surface for fixing the clamping mechanism 3. Through the cooperation between the slider and the guide rail 42 body, precise guidance is provided for the movement of the clamping mechanism 3, ensuring that it moves along a preset straight trajectory (connecting the material picking area and the riveting area), limiting lateral deviation, and ensuring the accuracy of the movement. The fixed part of the guide rail 42 is rigidly connected to the equipment frame (to ensure overall stability); one end of the slider (movable part) is fixedly connected to the mover (moving part) of the linear motor 41, and the other end is fixedly connected to the bottom of the clamping mechanism 3, realizing the linkage of "motor drive - guide rail 42 guidance - clamping mechanism 3 follow".

[0059] The positioning sensing module 43 is typically a photoelectric sensor (including a transmitter and receiver) or a magnetic proximity switch, fixedly installed at one end of the fixed part of the guide rail 42 (corresponding to the end position of the material picking area or riveting area). The sensing end faces the moving part (slider) of the guide rail 42 and works in conjunction with the sensing plate (metal plate or reflective plate) on the slider. It detects in real time whether the moving part (slider) of the guide rail 42 has reached the preset end position (such as the clamping position in the material picking area or the release position in the riveting area). When the slider moves into the sensing range, the module sends a detection signal (such as a level change) to feedback the "positioned" status. It is located at one end of the guide rail 42 (depending on the process requirements, it can be set separately at the material picking end or the material release end, or one at each end) to accurately control the stop position of the slider and avoid positioning deviations caused by overshoot or incomplete positioning. It is connected to the controller 8 through a signal line to transmit the positioning detection signal to the controller 8, which serves as the trigger for the controller 8 to stop the linear motor 41.

[0060] The controller 8 sends a movement command to the linear motor 41 through a preset program. The linear motor 41 drives the mover to move the slider (moving part) of the guide rail 42 and the clamping mechanism 3 along the guide rail 42. When the slider approaches the preset end position, the position sensing module 43 detects the slider and sends a "position signal" to the controller 8. After receiving the signal, the controller 8 immediately sends a stop command to the linear motor 41 to ensure that the clamping mechanism 3 stops accurately at the target position in the material picking area or riveting area.

[0061] Furthermore, the clamping mechanism 3 includes a second sensing module 31 and a gripper 32. The second sensing module 31 is disposed above the gripper 32, and the second sensing module 31 and the gripper 32 are respectively disposed on the material transfer mechanism 4.

[0062] Specifically, the gripper 32, as the actuating component of the clamping mechanism 3, is typically a pneumatic gripper 32 (driven by a cylinder) or an electric gripper 32 (driven by a micro motor), including a fixed base and two symmetrically arranged clamping arms. The ends of the clamping arms are machined with arc-shaped clamping grooves adapted to the shape of the rivet (anti-slip textures can be provided in the grooves to prevent the rivet from slipping). The opening and closing angle of the clamping arms can be controlled by a stroke adjuster (to adapt to different rivet specifications). During the material handling stage, the clamping arms close to grasp the rivet in the groove 21 of the second mold 2; during the material unloading stage, the clamping arms open to place the rivet at a preset position on the product to be riveted; by precisely controlling the opening and closing amplitude, the rivet's posture is ensured to be stable during the transfer process (no tilting, no falling off). The fixed seat of the gripper 32 is rigidly installed on the moving part of the transfer mechanism 4 (such as the mounting surface of the slider of the guide rail 42) and moves synchronously with the transfer mechanism 4; the driving component (cylinder or motor) of the gripper 32 is connected to the controller 8 through the air pipe / wire and receives the "close" or "open" command from the controller 8.

[0063] The second sensing module 31 typically employs a miniature pressure sensor (contact type) or a fiber optic sensor (non-contact type). It is compact and fixedly mounted above the clamping jaw 32 mounting base via a bracket, with the sensing end vertically downwards aligned with the clamping area of ​​the two clamping arms (i.e., the position where the rivet is clamped). If it is a pressure sensor, its detection end can be linked to the clamping arms (clamping time is close to contact with the rivet); if it is a fiber optic sensor, its transmitting and receiving ends are respectively located on the outside of the two clamping arms, forming a through-beam optical path covering the clamping area. Real-time detection of whether the clamping jaw 32 has successfully clamped the rivet:

[0064] If it is a pressure sensor: when the gripper 32 closes to clamp the rivet, the sensor detects the preset pressure value (indicating that the rivet is present and clamped) and outputs a "clamping successful" signal; if no pressure is detected (or the pressure is below the threshold), it outputs a "clean" or "clamping not secure" signal.

[0065] If it is a fiber optic sensor: when the gripper 32 holds the rivet, the rivet blocks the light path, and the sensor outputs a "material present" signal; if the light path is not blocked (no rivet), it outputs a "material absent" signal.

[0066] The second sensing module 31 is connected to the controller 8 via a signal line, and transmits the detection signal to the controller 8 in real time as a trigger condition for subsequent processes (such as the start of the material transfer mechanism 4).

[0067] Both the gripper 32 and the second sensing module 31 are integrated into the moving part of the transfer mechanism 4 and move synchronously with the transfer mechanism 4. During operation: the transfer mechanism 4 drives the clamping mechanism 3 to move to the material picking area of ​​the second mold 2, and the gripper 32 aligns with the rivet in the groove 21; the controller 8 sends a "close" command to the gripper 32, and the clamping arm closes; the second sensing module 31 detects synchronously: if a "clamping successful" signal is detected, it immediately feeds back to the controller 8; after the controller 8 confirms, it sends a "transfer" command to the transfer mechanism 4, driving the clamping mechanism 3 to move towards the riveting area; if the second sensing module 31 detects an "empty clamp" or "weak clamping" signal, the controller 8 immediately pauses the process and issues an alarm (such as an audible and visual prompt) to avoid invalid transfer or rivet falling off.

[0068] Furthermore, it also includes a first positioning post, and the second mold 2 is also provided with a first positioning hole 22. The first positioning post is located on one side of the clamping mechanism 3 and can pass through the first positioning hole 22.

[0069] Specifically, the first positioning post 91 is made of a high-strength rigid material (such as stainless steel or hard alloy), and is cylindrical or prismatic in shape. Its diameter / cross-sectional dimensions are adapted to the first positioning hole 22 (using a clearance fit, with a clearance typically of 0.02-0.05 mm). A guide cone surface (cone angle 30°-60°) is provided at the end to facilitate automatic correction of minor deviations when inserted into the positioning hole. When the clamping mechanism 3 moves to the material-taking area of ​​the second mold 2, the first positioning post 91 inserts into the first positioning hole 22, eliminating positional deviations between the clamping mechanism 3 and the second mold 2 (such as lateral or angular offsets caused by accumulated errors of the transfer mechanism 4) through mechanical cooperation, ensuring precise alignment of the gripper 32 with the groove 21 of the second mold 2.

[0070] The first positioning hole 22 is located on the edge of the second mold 2 or beside the groove 21, maintaining a fixed relative position with the groove 21 on the second mold 2 (e.g., each groove 21 corresponds to a set of positioning holes, or multiple grooves 21 share a set of positioning holes), and spatially corresponds one-to-one with the first positioning post 91 on the clamping mechanism 3 (i.e., when the clamping mechanism 3 moves to the material picking position, the axis of the positioning post coincides with the axis of the positioning hole). Through cooperation with the first positioning post 91, a precise spatial positioning reference is provided for the clamping mechanism 3, ensuring that the clamping center of the gripper 32 is completely aligned with the center of the groove 21 of the second mold 2.

[0071] When the material transfer mechanism 4 moves the clamping mechanism 3 to the material taking area of ​​the second mold 2:

[0072] Driven by the material transfer mechanism 4, the clamping mechanism 3 approaches the second mold 2. At this time, the guide cone surface of the first positioning post 91 first contacts the entrance of the first positioning hole 22. As the clamping mechanism 3 continues to approach, the guide cone surface cooperates with the inclined surface of the positioning hole entrance, automatically correcting the slight offset of the clamping mechanism 3 (such as lateral misalignment or angular tilt). The first positioning post 91 is fully inserted into the first positioning hole 22. Through the precise cooperation between the post surface and the hole surface, the relative position of the clamping mechanism 3 and the second mold 2 is fixed. At this time, the clamping center of the gripper 32 is completely aligned with the center of the groove 21 of the second mold 2. After the controller 8 confirms that the positioning is completed, it controls the gripper 32 to close and grab the rivet in the groove 21 to ensure that the gripping position is without deviation.

[0073] Furthermore, it also includes a second positioning hole 92, which is provided on the first mold 1, or the second positioning hole 92 is provided on one side of the first mold 1.

[0074] Specifically, the second positioning hole 92 is made of a high-strength material (such as tool steel or wear-resistant alloy) and is a through hole or blind hole structure. Its shape matches the first positioning post 91 (cylindrical or prismatic). The inner diameter / cross-sectional dimensions of the hole are precisely clearance-fitted with the first positioning post 91. The inner wall of the hole is polished to ensure smooth and unobstructed engagement with the first positioning post 91. A guide chamfer (angle 30°-45°) is provided at the entrance of the hole to facilitate automatic correction of minor positional deviations when the first positioning post 91 is inserted.

[0075] According to the device structure design, the second positioning hole 92 has two configuration methods. Method 1: Located on the first mold 1: Directly formed on the edge or side of the bearing surface 11 of the first mold 1, maintaining a fixed relative position with the riveting area (positioning structure of the bearing surface 11) of the first mold 1 (e.g., fixed X / Y coordinates from the riveting point), becoming a positioning reference part of the first mold 1 itself. Method 2: Located on one side of the first mold 1: Formed on the frame, auxiliary positioning plate, or independent reference block beside the first mold 1. This reference component is rigidly connected to the first mold 1 (ensuring the relative position remains unchanged), maintaining a preset fixed distance from the riveting area of ​​the first mold 1, serving as an external positioning reference independent of the first mold 1.

[0076] When the material transfer mechanism 4 moves the clamping mechanism 3 from the material picking area to the riveting area (above the first mold 1): the clamping mechanism 3 approaches the riveting area under the drive of the material transfer mechanism 4. At this time, the guide cone surface of the first positioning post 91 (located on one side of the clamping mechanism 3) first contacts the entrance chamfer of the second positioning hole 92. As the clamping mechanism 3 continues to approach, the guide cone surface and the chamfer cooperate to automatically correct the lateral offset or angular tilt of the clamping mechanism 3. The first positioning post 91 is fully inserted into the second positioning hole 92. Through the precise cooperation between the post surface and the hole surface, the relative position of the clamping mechanism 3 and the first mold 1 (or the reference on one side of it) is fixed. At this time, the axis of the rivet held by the jaw 32 is completely coincident with the axis of the preset riveting point of the product to be riveted. After the controller 8 confirms that the positioning is completed, it controls the jaw 32 to open and accurately place the rivet at the preset point to avoid poor pressing due to placement deviation.

[0077] Furthermore, it also includes a first feeding mechanism 101, a second feeding mechanism 102, and a discharge mechanism 103; the discharge mechanism 103 includes a second positioning post 1031, a plurality of distributing channels 1032, and a plurality of air blowing nozzles 1033; the air blowing nozzles 1033 are connected to the distributing channels 1032 in a one-to-one correspondence; the distributing channels 1032 are connected to the first feeding mechanism 101, or the distributing channels 1032 are connected to the second feeding mechanism 102; the second positioning post 1031 can pass through the first positioning hole 22.

[0078] Specifically, the first feeding mechanism 101 is used to supply rivets of a first specification (such as rivets of a specific diameter and length). The vibration of the vibratory feeder arranges the disordered rivets into an orderly arrangement (e.g., heads facing upwards and shanks downwards), and they are then transported via a linear track to the downstream unloading mechanism 103, providing a stable source of rivets for subsequent unloading. The output end is connected to the distribution channel 1032 of the unloading mechanism 103, continuously conveying the sorted rivets into the distribution channel 1032. It can be selectively connected to the controller 8 (if necessary to control the start and stop of the feeding), controlling the feeding rhythm through the start and stop of the vibratory feeder.

[0079] The second feeding mechanism 102 is used to supply rivets of a second specification. Its working principle is the same as the first feeding mechanism 101. After vibration sorting and orientation adjustment, it conveys rivets conforming to the specified specifications to the distribution channel 1032 of the unloading mechanism 103, achieving differentiated supply of rivets of multiple specifications. The output end can be connected to other distribution channels 1032 of the unloading mechanism 103 (distinct from the distribution channels 1032 of the first feeding mechanism 101), providing rivets of the second specification separately for the corresponding channel; it can also be connected to the controller 8 to achieve switching control with the first feeding mechanism 101.

[0080] The second positioning post 1031 is made of a high-strength rigid material (such as stainless steel), and is cylindrical or prismatic in shape. Its length is adapted to the depth of the first positioning hole 22, and its end is provided with a guide cone surface (for easy insertion into the positioning hole). Its outer diameter / cross-sectional dimensions are precisely clearance-fitted with the first positioning hole 22 of the second mold 2. It is fixed to the housing of the unloading mechanism 103 or the end of the distributing channel 1032, maintaining a fixed relative position with the outlet of the distributing channel 1032, and spatially corresponding one-to-one with the first positioning hole 22 on the second mold 2. As a positioning reference for the unloading mechanism 103 and the second mold 2, it is inserted into the first positioning hole 22 of the second mold 2 to eliminate the positional deviation between the unloading mechanism 103 and the second mold 2, ensuring that the outlet of the distributing channel 1032 is precisely aligned with the groove 21 of the second mold 2.

[0081] The material distribution channel 1032 is a tubular / groove channel, the number of which matches the number of grooves 21 in the second mold 2 and the number of air nozzles 1033 (one-to-one correspondence). The inner diameter / cross-sectional dimensions of the channel are adapted to the shank of the conveyed rivets (slightly larger than the rivet diameter by 0.1-0.3mm), and the inner wall is smooth to reduce friction; the inlet end is connected to the feeding mechanism, the outlet end is aligned with the inlet of the groove 21 in the second mold 2, and a guide ramp is provided at the outlet (to facilitate the rivets sliding into the groove 21).

[0082] The air-blowing nozzles 1033 are tubular nozzles made of metal or engineering plastic, and their number is equal to that of the material distribution channels 1032 (one-to-one correspondence). The nozzle inlets are connected to a compressed air source (such as an air compressor and a solenoid valve) via air pipes. Powered by the compressed airflow, when the rivets in the material distribution channels 1032 reach the outlet end, the nozzles spray directional airflow, pushing the rivets to slide out along the end of the channel and accurately fall into the corresponding groove 21 of the second mold 2, achieving non-contact rivet unloading (avoiding rivet posture deviation caused by mechanical pushing). Connected to the controller 8 and the solenoid valve, the controller 8 controls the solenoid valve of the corresponding nozzle to open according to the signal from the first sensing module 5 (such as no rivets in the groove 21), and closes it after blowing is completed.

[0083] By combining "differentiated supply from dual feeding mechanisms, separation and conveying via material distribution channel 1032, power pushing via air nozzle 1033, and precise docking via second positioning column 1031", the automated and precise feeding of multi-specification rivets into the second mold 2 is achieved, providing a stable source of rivets for subsequent material handling by clamping mechanism 3.

[0084] Furthermore, the first feeding mechanism 101 includes a first rivet vibrating plate 1011, a first arranging mechanism 1012, and a first distributing mechanism 1013; the first distributing mechanism 1013 is connected to the distributing channel 1032 and the first arranging mechanism 1012 respectively, and the first rivet vibrating plate 1011 is connected to the first arranging mechanism 1012.

[0085] Specifically, the first rivet vibratory feeder 1011 is a disc-shaped vibrating container with an electromagnetic vibrator (composed of an electromagnet and a spring plate) at the bottom and a spirally ascending conveying track on the inner wall. The high-frequency micro-vibration generated by the electromagnetic vibrator drives the disordered rivets within the disc to rise along the spiral track. Simultaneously, a screening structure automatically removes unqualified rivets (incorrect posture or out-of-tolerance dimensions), ultimately conveying the qualified rivets to the first arrangement mechanism 1012 in a uniform posture (head upwards, arranged in a single row). The feed outlet (end of the track) of the vibratory feeder connects to the feed inlet of the first arrangement mechanism 1012, and a flexible connection (such as a rubber transition sleeve) reduces vibration transmission. The electromagnetic vibrator is connected to the controller 8, and the feeding speed can be controlled by adjusting the vibration frequency.

[0086] The first arranging mechanism 1012 receives rivets fed by the first rivet vibratory feeder 1011, further organizes the single-row rivets through linear vibration (eliminating gaps and maintaining a uniform speed), and stably conveys them along a linear track to the downstream first distributing mechanism 1013, preventing rivets from accumulating or getting stuck between the vibratory feeder and the distributing mechanism. The feed end is connected to the discharge port of the first rivet vibratory feeder 1011, and the discharge end is connected to the feed port of the first distributing mechanism 1013; the electromagnetic oscillator is connected to the controller 8, and its vibration frequency can be independently adjusted (matching the vibratory feeder) to ensure that the rivet conveying speed is adapted to the processing capacity of the distributing mechanism.

[0087] The first material distribution mechanism 1013 separates the continuous rivet flow conveyed by the first arrangement mechanism 1012 according to preset rules (such as distributing it to different material distribution channels 1032 as needed), ensuring that each branch channel receives rivets as needed and avoiding multiple material distribution channels 1032 competing for rivets or having empty materials. For example, when it is detected that the material distribution channel 1032A of the unloading mechanism 103 needs rivets, the drive component controls the reversing plate to connect the main channel and the branch channel A, and the rivets enter the material distribution channel 1032A; when the material distribution channel 1032A is full, it switches to the branch channel B, and so on. The main channel inlet is connected to the discharge end of the first arrangement mechanism 1012, and the branch channel outlet is connected one-to-one with the material distribution channels 1032 of the unloading mechanism 103; the drive component and the sensor are all connected to the controller 8, and the controller 8 controls the material distribution action according to the demand signal of the unloading mechanism 103 (such as a material shortage in a certain material distribution channel 1032).

[0088] Through a three-level coordination mechanism of "vibratory feeder sorting and screening, linear arrangement by the arrangement mechanism, and on-demand allocation by the material distribution mechanism", the first material supply mechanism 101 achieves automated and precise supply of the first type of rivet, providing a stable material guarantee for subsequent material picking and pressing processes.

[0089] Furthermore, the second feeding mechanism 102 includes a second rivet vibratory plate 1021, a second arranging mechanism 1022, and a second distributing mechanism 1023; the second distributing mechanism 1023 is connected to the distributing channel 1032 and the second arranging mechanism 1022 respectively, and the second rivet vibratory plate 1021 is connected to the second arranging mechanism 1022.

[0090] Specifically, the second rivet vibratory feeder 1021 has the same structural principle as the first rivet vibratory feeder 1011. The core difference is that the width, depth and screening structure of the track are adapted to the second type of rivet (such as the diameter and length being different from the rivets of the first feeding mechanism 101).

[0091] The second arrangement mechanism 1022 receives rivets of the second specification output from the second rivet vibratory feeder 1021, further arranges and sorts them through linear vibration (eliminating gaps and maintaining uniform speed), and continuously and directionally conveys them to the second distribution mechanism 1023, solving the problem of "piling up" or "material interruption" that may occur at the output end of the vibratory feeder. The feed end is connected to the discharge port of the second rivet vibratory feeder 1021, and the discharge end is connected to the feed port of the second distribution mechanism 1023; the electromagnetic oscillator is connected to the controller 8, and its vibration parameters can be set independently (different from the first arrangement mechanism 1012) to ensure that it matches the processing capacity of the second distribution mechanism 1023.

[0092] The second material distribution mechanism 1023 separates and distributes the second type of rivet flow conveyed by the second arrangement mechanism 1022 according to a preset rule (such as the material shortage signal of the corresponding material distribution channel 1032 of the unloading mechanism 103), ensuring that each branch channel obtains the second type of rivet as needed, realizing the independent supply of the two types of rivets in the material distribution process without interference. The main channel inlet is connected to the outlet end of the second arrangement mechanism 1022, and the branch channel outlet is connected one-to-one with the material distribution channel 1032 in the unloading mechanism 103 responsible for conveying the second type of rivet. The drive components and sensors are all connected to the controller 8, which controls the material distribution action according to the demand signal of the unloading mechanism 103 (such as the corresponding groove 21 being short of the second type of rivet).

[0093] Through the coordinated efforts of "vibratory feeder adaptability screening, arrangement mechanism targeted conveying, and material distribution mechanism independent allocation", the second feeding mechanism 102 realizes the automated supply of the second type of rivet. Together with the first feeding mechanism 101, it meets the device's differentiated feeding needs for multiple rivet specifications, and improves the equipment's versatility and flexibility.

[0094] Furthermore, it also includes a feeding conveyor mechanism 104, which includes a feeding conveyor belt 1041, a first conveyor belt drive, a lifting mechanism 1042, and a first robot arm 1043; the feeding conveyor belt 1041 is connected to the first conveyor belt drive; the lifting mechanism 1042 is located at the end of the feeding conveyor belt 1041; the first robot arm 1043 is located above the lifting mechanism 1042; and the controller 8 is connected to the first conveyor belt drive and the first robot arm 1043 respectively.

[0095] Specifically, the feeding conveyor belt 1041 serves as the conveying carrier for the products to be riveted, continuously transporting the products from the upstream process to the end of the feeding conveying mechanism 104 (i.e., the lifting mechanism 1042), providing a material source for subsequent gripping and transfer.

[0096] The first conveyor belt drive provides driving force to the feeding conveyor belt 1041. By controlling the motor speed, the running speed of the conveyor belt is adjusted to ensure that the product is conveyed to the end according to the preset rhythm. The encoder provides real-time feedback on the conveying position, which facilitates the controller 8 to accurately control the start and stop timing.

[0097] The lifting mechanism 1042 consists of a lifting drive component (such as a cylinder or electric push rod) and a lifting plate. When the product to be riveted is conveyed to the end of the conveyor belt (reaching the preset position), the lifting drive component extends, driving the lifting plate to rise and lifting the product off the conveyor belt (the lifting height is usually 5-30mm, higher than the conveyor belt sidewall), freeing the product from the friction constraint of the conveyor belt, making it easier for the first robotic arm 1043 to accurately grasp it. Located at the end of the feeding conveyor belt 1041, its center is aligned with the conveyor belt's centerline to ensure the product can be accurately lifted; it is connected to the controller 8 to receive "lift" and "reset" commands, and its timing matches the conveyor belt's conveying rhythm.

[0098] The first robotic arm 1043 is a multi-degree-of-freedom gripping mechanism, typically employing a Cartesian coordinate robotic arm (including X-axis, Y-axis, and Z-axis linear modules) or a multi-joint robotic arm, with a gripping component at its end (such as a pneumatic gripper 32 or a vacuum suction cup, selected according to the product material). Located directly above the lifting mechanism 1042, it grips the product to be riveted, which is lifted by the lifting mechanism 1042, and moves it along a preset trajectory (from the lifting position to the riveting area of ​​the first mold 1), precisely placing the product on the bearing surface 11 of the first mold 1. Mounted on the crossbeam or column of the equipment frame, its motion module is electrically connected to the controller 8; the drive component (such as a cylinder) of the gripping component is also connected to the controller 8, receiving "grip" and "release" commands to realize the product picking and placing actions.

[0099] Through the coordinated operation of "continuous conveyor belt transport, positioning and separation by lifting mechanism 1042, and precise transfer by robotic arm", the feeding conveyor mechanism 104 realizes the automated feeding of products to be riveted from the upstream process to the first mold 1, reducing manual intervention, ensuring the stability and accuracy of product feeding, and providing reliable pre-processing guarantee for subsequent riveting pressing processes.

[0100] Furthermore, it also includes a discharge conveying mechanism 105, which includes a discharge conveyor belt, a second conveyor belt drive, and a second robot 1052; the discharge conveyor belt is connected to the second conveyor belt drive; the second robot 1052 is located above the discharge conveyor belt; the controller 8 is connected to the second conveyor belt drive and the second robot 1052 respectively.

[0101] Specifically, the discharge conveyor belt 1051 serves as the output carrier for the riveted products, receiving the finished products transferred by the second robotic arm 1052 and continuously transporting them to downstream processes (such as quality inspection and packaging) to complete the end-of-line transport of the entire pressing process.

[0102] The second conveyor belt drive provides driving force to the discharge conveyor belt 1051, and adjusts the conveying speed by controlling the motor speed to match the transfer rhythm of the second robot 1052 (to avoid finished product accumulation or conveying interruption); it receives start and stop commands from the controller 8 to realize precise start and stop of the conveyor belt.

[0103] The second robotic arm 1052 is a gripping mechanism adapted to riveted products. It typically employs a Cartesian coordinate robotic arm (including X, Y, and Z axis linear modules) or a lightweight multi-joint robotic arm, with an adaptive clamping component at the end: if the product surface is flat, a vacuum suction cup (with a buffer device to prevent damage to the rivet head) can be used; if the product has a rigid gripping position, a pneumatic gripper 32 (with a silicone pad on the inner side of the gripper 32 to increase friction and protect the surface) can be used. The gripping stroke can be preset by the controller 8 (adapting to finished products of different sizes). Located above the discharge conveyor belt 1051, it is used to grip the riveted products lifted by the unloading mechanism 7 and transport them along a preset trajectory (from the riveting area of ​​the first mold 1 to the conveying area of ​​the discharge conveyor belt 1051), smoothly placing the finished product onto the discharge conveyor belt 1051. Fixed to the uprights or beams of the equipment frame, its range of motion covers the unloading area of ​​the first mold 1 and the receiving area of ​​the discharge conveyor belt 1051; it is electrically connected to the controller 8 and receives "grab", "transfer" and "release" commands, and its motion accuracy ensures that the finished product is placed in the center area of ​​the conveyor belt (deviation ≤2mm).

[0104] In one embodiment, the operation of the automatic rivet pressing device is as follows:

[0105] Feeding stage: The product to be riveted is conveyed by the feeding conveyor 104 to the lifting mechanism 1042. Under the action of the lifting mechanism 1042 and the first robot 1043, the product to be riveted is placed in the riveting area of ​​the first mold 1. The first robot 1043 accurately places the product in the positioning groove of the bearing surface 11.

[0106] Rivet feeding stage: The first feeding mechanism 101 and the second feeding mechanism 102 respectively transport rivets of specification A and specification B to the unloading mechanism 103. The air blowing nozzle 1033 blows the rivets into the corresponding groove 21 of the second mold 2. After the first sensing module 5 detects that the rivets are in place, it sends a signal to the controller 8.

[0107] Material handling stage: The controller 8 controls the material transfer mechanism 4 to drive the clamping mechanism 3 to move to the material handling area of ​​the second mold 2. The first positioning post 91 is inserted into the first positioning hole 22 to achieve precise alignment. The clamping mechanism 3 clamps the rivet in the groove 21. After the second sensing module 31 detects that the clamping is successful, it sends a feedback signal to the controller 8.

[0108] Transfer and feeding stage: The material transfer mechanism 4 drives the clamping mechanism 3 to move to the riveting area of ​​the first mold 1, the first positioning pin 91 is inserted into the second positioning hole 92 to achieve alignment, and the clamping mechanism 3 places the rivet at the preset point of the product to be riveted.

[0109] Pressing stage: The material transfer mechanism 4 drives the clamping mechanism 3 to move to the riveting area of ​​the first mold 1. The controller 8 controls the hydraulic pump 61 to drive the pressure column 62 to descend, pressing the rivet onto the product. After completion, the pressure column 62 rises back.

[0110] Material removal and discharge stage: The lifting cylinder of the material removal mechanism 7 drives the lifting plate to rise, lifting the product away from the bearing surface 11. The second robot arm 1052 transfers the product to the discharge conveyor belt 1051 and transports it to the next process.

[0111] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0112] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0113] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0114] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0115] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0116] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0117] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

[0118] The above description describes specific embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the scope of protection of this utility model. Therefore, the scope of protection of this utility model should be determined by the scope of the claims.

Claims

1. An automatic rivet pressing device, characterized in that, include: The first mold has a bearing surface, which forms a riveting area for positioning the product to be riveted. The second mold has multiple grooves, which form a material-taking area for positioning rivets; Multiple clamping mechanisms are provided, the number of which is equal to the number of grooves, and all are provided on the material transfer mechanism; the second mold is located on one side of the first mold, and the material transfer mechanism drives the clamping mechanisms to reciprocate between the material picking area and the riveting area; Multiple first sensing modules are respectively disposed on one side of the groove; The pressing mechanism includes a hydraulic pump and a pressure column connected to the hydraulic pump; the pressure column is positioned directly above the riveting area. A stripping mechanism, connected to the first mold, is used to lift the riveted product after riveting is completed so that it is removed from the bearing surface; The controller is connected to the material transfer mechanism, the clamping mechanism, the first sensing module, the material unloading mechanism, and the hydraulic pump, respectively.

2. The automatic rivet pressing device according to claim 1, characterized in that, The material transfer mechanism includes a linear motor, a guide rail, and a positioning sensing module; The positioning sensing module is located at one end of the guide rail; the movable part of the guide rail is connected to the movable part of the linear motor and the clamping mechanism respectively. The controller is connected to the linear motor and the position sensing module respectively.

3. The automatic rivet pressing device according to claim 1, characterized in that, The clamping mechanism includes a second sensing module and a gripper. The second sensing module is located above the gripper, and the second sensing module and the gripper are respectively located on the material transfer mechanism.

4. The automatic rivet pressing device according to claim 1, characterized in that, It also includes a first positioning post, and the second mold is further provided with a first positioning hole. The first positioning post is located on one side of the clamping mechanism and can pass through the first positioning hole.

5. The automatic rivet pressing device according to claim 4, characterized in that, It also includes a second positioning hole, which is located on the first mold or on one side of the first mold.

6. The automatic rivet pressing device according to claim 4, characterized in that, It also includes a first feeding mechanism, a second feeding mechanism, and a feeding mechanism; The feeding mechanism includes a second positioning post, multiple material distribution channels, and multiple air blowing nozzles; the air blowing nozzles are connected to the material distribution channels in a one-to-one correspondence; the material distribution channels are connected to the first feeding mechanism, or the material distribution channels are connected to the second feeding mechanism; the second positioning post can pass through the first positioning hole.

7. The automatic rivet pressing device according to claim 6, characterized in that, The first feeding mechanism includes a first rivet vibrating plate, a first arranging mechanism, and a first distributing mechanism; the first distributing mechanism is connected to the distributing channel and the first arranging mechanism respectively, and the first rivet vibrating plate is connected to the first arranging mechanism.

8. The automatic rivet pressing device according to claim 6, characterized in that, The second feeding mechanism includes a second rivet vibrating plate, a second arranging mechanism, and a second distributing mechanism; the second distributing mechanism is connected to the distributing channel and the second arranging mechanism respectively, and the second rivet vibrating plate is connected to the second arranging mechanism.

9. The automatic rivet pressing device according to claim 1, characterized in that, It also includes a feeding conveyor mechanism, which includes a feeding conveyor belt, a first conveyor belt drive, a lifting mechanism, and a first robotic arm; The feeding conveyor belt is connected to the first conveyor belt drive; the lifting mechanism is located at the end of the feeding conveyor belt; the first robot arm is located above the lifting mechanism; The controller is connected to the first conveyor belt drive and the first robotic arm, respectively.

10. The automatic rivet pressing device according to claim 1, characterized in that, It also includes a discharge conveying mechanism, which includes a discharge conveyor belt, a second conveyor belt drive, and a second robotic arm; The discharge conveyor belt is connected to the second conveyor belt drive; the second robotic arm is positioned above the discharge conveyor belt. The controller is connected to the second conveyor belt drive and the second robotic arm, respectively.

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