CN112405766A

CN112405766A - Full-automatic woodworking drilling and riveting system and working mode thereof

Info

Publication number: CN112405766A
Application number: CN202011383714.7A
Authority: CN
Inventors: 胡豹; 罗鸿运; 李周全; 汪慧娟; 李德敏
Original assignee: Songle Intelligent Equipment Shenzhen Co ltd
Current assignee: Songle Intelligent Equipment Shenzhen Co ltd
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2021-02-26

Abstract

The invention discloses a full-automatic drilling and riveting system for woodworkers and a working mode thereof, and the full-automatic drilling and riveting system comprises 2 chair plate feeding stations, 1 feeding robot, 1 automatic aligning workbench, 1 drilling robot, 2 riveting robots, 2M 6 bolt riveting machines, 2M 8 bolt riveting machines, 1 set of dust collecting system, 2 chair plate blanking stations, 1 group of protective nets and 2 groups of manipulator control cabinets, and can effectively improve the automation degree of the production of a swivel chair and the labor efficiency, thereby promoting the transformation and upgrading of the industry.

Description

Full-automatic woodworking drilling and riveting system and working mode thereof

Technical Field

The invention relates to the field of furniture processing, in particular to a full-automatic woodworking drilling and riveting system and a working mode thereof.

Background

The revolving chair is processed and developed through four stages: from the falling of the collective economy to the beginning of the civil and civil economy, the internal marketing is carried out to the export of foreign trade, and the upgrading is carried out from the OEM products to the ODM. At present, the swivel chair is traditional in machining mode and low in production efficiency, and the 'suggestion on accelerating the transformation and upgrading of the Anji swivel chair industry' is issued by the government in 2010, so that the upgrading of the swivel chair industry is further accelerated, the overall development level of the swivel chair is improved, and the regional competitiveness, the comprehensive competitiveness of enterprises and the competitiveness of product markets of the swivel chair industry are improved. The production cost of the product must be reduced, the production process is reduced, the production efficiency is increased, the labor production capacity is improved, the development of enterprises is further promoted, and the full-automatic woodworking drilling and riveting system is required to be put into use to meet the production requirement.

Disclosure of Invention

The invention aims to provide a full-automatic woodworking drilling and riveting system, which is used for overcoming the defects of the existing revolving chair production in the background technology, improving the production efficiency and promoting the transformation and upgrading of the industry.

In order to achieve the purpose, the invention provides the following structural scheme: a full-automatic drilling and riveting system for woodworkers and a working mode thereof are disclosed, the full-automatic drilling and riveting system comprises 2 chair plate feeding stations, 1 feeding robot, 1 automatic aligning workbench, 1 drilling robot, 2 riveting robots, 2M 6 bolt riveting machines, 2M 8 bolt riveting machines, 1 set of dust collecting system, 2 chair plate discharging stations, 1 group of protective nets and 2 groups of manipulator control cabinets, wherein the feeding robots automatically grab the feeding, the automatic aligning workbench clamps and positions the chair plates, the drilling robots drill the fixed chair plates, the riveting robots clamp the chair plates on the automatic aligning workbench to the M6 bolt riveting machine for M6 bolt riveting, then clamp the chair plates to the M8 bolt riveting machine for M8 bolt riveting, the riveting production line is provided with 1 set of dust collecting system, dust generated in the production process is collected, the whole production line is surrounded by the protective nets and is integrally controlled by the manipulator control cabinets, the safety of workers is protected.

The automatic alignment workbench is installed at the center of a production line, the drilling robot is installed right in front of the automatic alignment workbench, 2 groups of manipulator control cabinets are respectively installed in front of 2M 6 bolt riveting machines and close to a protective net, the feeding robot is installed right behind the automatic alignment workbench, the 2 riveting robots are respectively installed right on the left and right of the automatic alignment workbench, 2 chair plate feeding stations are located right behind the feeding robot, 2 chair plate discharging stations are respectively located right behind the 2 riveting robots, the 2M 6 bolt riveting machines are respectively located in 45-degree left front and 45-degree right front directions of the automatic alignment workbench, the 2M 8 bolt riveting machines are respectively located in 70-degree left front and 70-degree right front directions of the automatic alignment workbench, and the dust collection system is located right in front of the drilling robot and close to the drilling robot.

Preferably, the invention can realize the automatic production of the swivel chair, and only needs to carry out raw material transportation and finished product transportation through manpower or a transportation trolley.

Preferably, the automatic alignment workbench can realize automatic positioning and clamping of various chair plates.

Preferably, the feeding robot can achieve automatic clamping and releasing of various chair plates.

Preferably, the drilling robot of the invention can drill the chair plate by using a pneumatic drill and an electric drill.

Preferably, the riveting robot can automatically clamp and jack down various chair plates.

Preferably, the dust collecting system matched with the dust collecting device can collect dust generated by drilling holes in time, so that the environment is protected.

Compared with the prior structure, the invention has the beneficial effects that:

1) automatic feeding can be realized through a feeding robot.

2) The chair plates in various general shapes can be positioned and processed through the automatic alignment workbench, and the processing precision is greatly improved.

3) Automatic drilling can be achieved by the drilling robot.

4) The riveting robot can realize the automatic movement of the chair plate among various processes.

5) The integrated system can timely collect dust generated in the processing process, and reduces environmental pollution.

6) Through this automatic system, improvement production efficiency that can be very big.

Drawings

FIG. 1 is a schematic view of the structure of the present invention.

In the figure: 1-automatic alignment workbench, 2-feeding robot, 3-drilling robot, 4-riveting robot, 5-dust collection system, 6-M6 bolt riveting machine, 7-M8 bolt riveting machine, 8-chair plate feeding station, 9-chair plate blanking station, 10-manipulator control cabinet and 11-protective net.

FIG. 2 is a schematic diagram of an automatic alignment table according to the present invention.

In the figure: 11-a housing, 12-a rack body, 111-a metal shell, 112-a foot cup, 113-an aluminum profile bracket, 114-an operating button, 121-a parallel guide rail structure, 1211-a linear guide rail, 1212-a servo motor, 1213-a synchronous belt, 1214-a motor support frame, 1215-a lead screw, 1216-a lead screw nut, 1217-a moving plate, 12211-a positioning support column, 12212-a limit collar, 12213-an adjusting support block and 12214-a support block.

Fig. 3 is a schematic structural diagram of a drilling assembly of the drilling robot in the structure of the invention.

In the figure: 321-motor, 322-synchronous belt, 323-cutter, 324-fixed base, 325-cylinder, 326-fan and 327-dust collecting pipe.

Fig. 4 is a schematic structural view of a riveting robot in the structure of the invention.

In the figure: 42-riveting and clamping device, 421-connecting flange, 423-pneumatic finger, 422-diaphragm, 43-riveting and lower plate device, 431-lower plate cylinder, 432-cylinder supporting seat, 433-sensor and 434-sensor support.

Fig. 5 is a flow chart of the working mode of the invention.

Fig. 6 is a schematic structural view of a feeding device of the feeding robot in the structure of the invention.

In the figure: 221-six-shaft assembly, 222-connecting plate, 223-guide column, 224-spring, 225-clamping cylinder and 226-clamping block.

FIG. 7 is a diagram showing the relationship between the mounting positions of the second workpiece and the automatic alignment table in the structure of the present invention;

in the figure: 501, first processing piece;

FIG. 8 is a diagram showing the relationship between the mounting positions of the second workpiece and the automatic alignment table in the structure of the present invention;

in the figure: 502-second work piece.

Fig. 9 is a perspective view of the structure of the present invention.

Detailed Description

The following will clearly and completely describe the structural scheme in the embodiment of the present invention with reference to the accompanying drawings in the embodiment of the present invention.

The working mode and the structure of the invention are as follows:

the working mode of the invention comprises the following steps: firstly, carrying a chair plate by an AGV or a manual mode and placing the chair plate at a chair plate feeding station 8; secondly, a feeding robot 2 grabs the chair plate placed at the chair plate feeding station 8 and places the chair plate on an automatic alignment workbench 1; step three, the automatic alignment workbench 1 adjusts the frame body 12 according to the shape of the chair plate and finally fixes the chair plate; after the chair plate is fixed, the drilling robot 3 works to drill the chair plate on the automatic alignment workbench 1, and dust generated by drilling is collected and processed through the dust collection system 5 while drilling is carried out; fifthly, after drilling is finished, the riveting robot 4 grips the chair plate to the M6 bolt riveting machine 6 through the riveting clamping device 42 to rivet the M6 bolt; sixthly, after riveting the M6 bolt, the riveting robot 4 grabs the chair plate to the M8 bolt riveting machine 7 through the riveting and clamping device 42 to rivet the M8 bolt; step seven, after riveting the M8 bolt, the riveting robot 4 grabs the chair plate to the chair plate blanking station 8 through the riveting and clamping device 42; and step eight, carrying the chair plate at the chair plate blanking station 9 away in an AGV or manual mode.

The invention provides a structural scheme: a full-automatic woodworking drilling and riveting system comprises an automatic alignment workbench 1, a feeding robot 2, a drilling robot 3, a riveting robot 4, a dust collecting system 5, an M6 bolt riveting machine 6, an M8 bolt riveting machine 7, a chair plate feeding station 8, a chair plate blanking station 9, a manipulator control cabinet 10 and a protective net 11;

the riveting robot 4 comprises a riveting robot 41 and a riveting robot 42, the M6 bolt riveting machine 6 comprises an M6 bolt riveting machine 61 and an M6 bolt riveting machine 62, the M8 bolt riveting machine) comprises an M8 bolt riveting machine 71 and an M8 bolt riveting machine 72, the manipulator control cabinet 10 comprises a manipulator control cabinet 101 and a manipulator control cabinet (02), the chair plate blanking station 9 comprises a chair plate blanking station 91 and a chair plate blanking station 92, the automatic alignment working table 1 can realize automatic positioning and clamping on the chair plate through a machine body 12, the feeding robot 2 clamps the chair plate through a feeding device 22, a drilling assembly 32 part of the drilling robot 3 is connected to a dust collecting system 5 and can timely collect dust generated in the processing process, the riveting robot 4 can automatically capture the chair plate through a riveting clamping device 42 and a riveting clamping device 43, the automatic movement of the chair plate is realized.

Automatic counterpoint workstation 1 comprises dustcoat 11 and frame body 12, and frame body 12 is installed in dustcoat 11, dustcoat 11 is by metal casing 111, foot cup 112, aluminium alloy support 113, operating button 114 constitutes, and metal casing 11 is 7 face body structures, and a right angle limit of cuboid changes into the inclined plane promptly, and foot cup 112 is installed in metal casing 111 bottom, and aluminium alloy support 113 is installed in metal casing 111, and operating button 114 is installed on metal casing 111's inclined plane, and whole parcels can reduce the dust and fall into equipment, and the inclined plane sets up the better operation of help and judges the equipment status.

The machine body 12 is composed of a parallel guide rail structure 121 and a chair plate positioning structure 122, the parallel guide rail structure is positioned in the outer cover 11, and the chair plate positioning structure 122 is positioned at the top of the outer cover 11;

the parallel guide rail mechanism 121 is composed of 2 linear guide rails 1211, a servo motor 1212, a synchronous belt 1213, a motor support frame 1214, a lead screw 1215, a lead screw nut 1216 and a moving plate 1217, wherein the 2 linear guide rails 1211 are parallelly installed on an aluminum profile on the same horizontal plane, the distance is the installation length of the moving plate 1217, the motor support frame 1214 is installed on the aluminum profile perpendicular to the linear guide rails 1211, the servo motor 1212 is installed on the motor support frame 1214, the synchronous belt 1213 is installed between the servo motor 1212 and the lead screw 1215 and located at one end of the lead screw 1215, the lead screw nut 1216 is installed at the other end of the lead screw 1215, two ends of the moving plate 1217 are installed on the linear guide rails 1211, the middle part of the moving plate is connected with the lead screw nut 1216, and through the arrangement of the linear guide rails 1211;

the chair plate positioning structure 122 is composed of 4 groups of

strut structures

1221, 2 groups of strut structures are respectively fixed at one end of 2 linear guide rails 1211, in addition, 2 groups of strut structures 1221 are respectively fixed at two ends of the moving plate 1217, the strut structures 1221 are composed of a positioning strut 12211, a limiting collar 12212, an adjusting supporting block 12213 and a supporting block 12214, one end of the positioning strut 12211 is fixed on the parallel guide rail structure 121, the other end of the positioning strut 12212 is fixed on the limiting collar 12212, the adjusting supporting block 12213 is installed in the middle of the positioning strut 12211 through an inner hole, the supporting block 12214 is installed on the adjusting supporting block 2213, the adjusting supporting block 12213 is adjusted up and down, and chair.

Drilling machine people 3 comprises robot 31, drilling subassembly 32, and robot 31 bottom is fixed subaerial, and drilling subassembly 32 is installed on robot 31's the robotic arm, supports and fixes a position for equipment through robot 31, improves the production automation level, and drilling subassembly 32 drills after the location.

The drilling assembly 32 comprises a motor 321, a synchronous belt 322, a cutter 323, a fixed base 324, an air cylinder 325, a fan 326 and a dust collecting pipeline 327, one end of the fixed base 324 is installed on the robot 31, the motor 321 is vertically installed at the other end of the fixed base 324, the synchronous belt 322 is installed at the lower end of the motor 321, the synchronous belt 322 is connected with the upper end of the fan 326 vertically installed in the middle of the fixed base 324, the air cylinder 325 is installed in the middle of the fixed base 324 and has the same height with the motor 321, the fan 326 is installed in the middle of the air cylinder 325 and the dust collecting pipeline 327 and is positioned under the air cylinder 325, the dust collecting pipeline 327 is installed in the middle of the fan 326 and the cutter 323, the cutter 323 is installed under the dust collecting pipeline and is connected with a movable rod of.

The feeding robot 2 is composed of a robot 21 and a feeding device 22, the bottom of the robot (21) is fixed on the ground, the feeding device 22 is installed on a robot arm of the robot 21, the robot 21 provides support, positioning and power for equipment, and the feeding device 22 automatically clamps the chair plate through the edge of the chair plate.

The feeding device 22 comprises a six-shaft assembly 221, a connecting plate 222, guide columns 223, springs 224, clamping cylinders 225 and clamping blocks 226), wherein the side surface of the six-shaft assembly 221 is installed on the robot 21, the upper end surface of the connecting plate 222 is installed at the bottom end of the six-shaft assembly 221, 4 guide columns 223 are installed on the lower end surface of the connecting plate 222, the clamping cylinders 225 are installed on the other sides of the guide columns 223, the springs 224 penetrate through the guide columns 223 to be installed between the connecting plate 222 and the clamping cylinders 225, the clamping blocks 226 are respectively fixed at two ends of the clamping cylinders 225, the contact surface of the clamping block 226 and the chair plate is a stripe knurling surface, so that the chair plate is not dropped off when being clamped, the initial state of the clamping cylinder 225 is an open state, when a signal for clamping the chair plate is received, the six-shaft assembly 221 acts, moves to a proper position, then the clamping cylinder 225 acts, the clamping block 226 clamps the chair plate, and the guide pillar 223 and the spring 224 are matched to ensure that the chair plate clamp has good guidance and buffering functions.

The riveting robot 4 comprises a robot 41, a riveting clamping device 42 and a riveting lower plate device 43, wherein the bottom of the robot 41 is fixed on the ground, the riveting clamping device 42 is installed on a robot arm of the robot 31, the riveting lower plate device 43 is installed on the riveting clamping device 42, the robot 31 provides support, positioning and power for equipment, the riveting clamping device 42 automatically clamps a chair plate, and the riveting lower plate device 43 is used for jacking the chair plate when the riveting clamping device 42 is loosened.

The riveting and clamping device 42 consists of a connecting flange 421, a membrane 422 and a pneumatic finger 423, wherein the upper end of the connecting flange 422 is installed on the robot 41, the upper end of the membrane 422 is installed at the lower end of the connecting flange 421 and is used for absorbing impact and certain position variation generated when the device is in contact with the chair plate, the pneumatic finger 423 is installed at the lower end of the membrane 422, and the pneumatic finger 423 can contract inwards or expand outwards along the axis during working so as to clamp and release the chair plate;

the riveting lower plate device 43 is composed of a lower plate cylinder 431, a cylinder supporting seat 432, a sensor 433 and a sensor support 434, wherein the upper end of the cylinder supporting seat 432 is fixed at the lower end of the connecting flange 421, the upper end of the lower plate cylinder 431 is fixed at the lower end of the cylinder supporting seat 432, the upper end of the sensor support 434 is fixed at the lower end of the sensor support 434 and close to the inner side, the sensor 433 is used for detecting whether the chair plate is clamped or not, signal butt joint is completed, when the riveting robot 4 clamps the chair plate, the lower plate cylinder 431 is in a contraction state, when the riveting robot 4 finishes clamping and needs to put down the chair plate, the lower plate cylinder 431 extends out to push the chair plate down.

The working process is as follows:

as shown in fig. 9, the full-automatic woodworking drilling and riveting system has innovation points on structural improvement and performance optimization compared with the existing traditional equipment, the traditional mechanical operation mode is single, and the automation degree is low, including: the scheme of the invention has the characteristics of simple overall structure, easy maintenance, high efficiency, high performance and easy operation;

the chair plate is conveyed to a chair plate feeding station 8 by a manual or conveying trolley, a feeding robot 2 clamps the chair plate and places the chair plate on an automatic alignment workbench 1, a servo motor 1212 in the automatic alignment workbench 1 acts to drive a moving plate 1217 to move, a support column structure 1221 is finally driven to move, the chair plate is clamped, a drilling robot 3 acts to drill the chair plate, a drilling completion hole is formed in the chair plate, the support column structure 1221 is loosened, a riveting robot 4 moves, a pneumatic finger 423 acts to clamp the chair plate to an M6 bolt riveting machine 6 for riveting, the chair plate is clamped to the M8 bolt riveting machine 7 by the riveting robot 4 for riveting, the chair plate is transferred to a chair plate blanking station 9 by the riveting robot 4, and finally the processed chair plate is conveyed from a production line by the manual or conveying trolley.

The performance parameters of the drilling and riveting are as follows: the repeated positioning precision range of the positioning table is 0.08mm, the average drilling speed is 0.5 second/piece, and the riveting hole speed is 1-2 seconds/piece (the specific parameters are determined by the actual material of the object to be processed, such as wood). The invention has the technical effects of flexible and intelligent operation and accurate positioning of equipment.

The first embodiment is as follows:

as shown in fig. 7: the first workpiece 501 includes, but is not limited to, some mortise and tenon structure related feature processing such as connecting holes and positioning slots of a part of a dining table or a wooden office table. The edge of the table plate or the bedplate is positioned through the automatic alignment workbench 1, then the drilling robot 3 drills a connecting hole, mills a positioning groove and other operations according to a two-dimensional coordinate provided by a system, and then riveting and pressing mounting nails on the relevant connecting holes are carried out, and finally stacking is completed.

Example two:

as shown in fig. 8: the second workpiece 502 includes, but is not limited to, a finishing process machining of a wood board tooling plate for industrial use. After the second workpiece 502 is positioned by the automatic alignment workbench 1, the second workpiece is processed according to the finishing impression requirement of the tooling plate. After the origin is set, the corresponding path can be compiled for processing, and the processing path can be planar two-dimensional or spatial three-dimensional. After the working plate finishes the finish carving processing, the positioning bushing or the bolt bushing is riveted according to requirements, and then the rear stacking is finished.

Example three:

a full-automatic woodworking drilling and riveting system comprises an automatic alignment workbench 1, a feeding robot 2, a drilling robot 3, a riveting robot 4, a dust collection system 5, an M6 bolt riveting machine 6, an M8 bolt riveting machine 7, a chair plate feeding station 8 and a chair plate blanking station 9;

While there have been shown and described the basic structure, essential features of the invention and advantages of the invention, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Although embodiments of the present invention have been described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a mode of operation of full-automatic drilling and riveting system of carpenter which characterized in that includes the following step:

the method comprises the following steps: the chair plate is conveyed and placed at a chair plate feeding station (8) in an AGV or manual mode;

step two: a feeding robot (2) grabs the chair plate placed at the chair plate feeding station (8) and places the chair plate on the automatic aligning workbench (1);

step three: the automatic alignment workbench (1) adjusts the frame body (12) according to the shape of the chair plate and finally fixes the chair plate;

step four: after the chair plate is fixed, the drilling robot (3) works to drill the chair plate on the automatic alignment workbench (1), and dust generated by drilling is collected and processed through the dust collection system (5) while drilling;

step five: after drilling is finished, the riveting robot (4) grips the chair plate to the M6 bolt riveting machine (6) through the riveting pressing and clamping device (42) to rivet the M6 bolt;

step six: after M6 bolt riveting is completed, the riveting robot (4) grabs the chair plate to the M8 bolt riveting machine (7) through the riveting pressing clamping device (42) to rivet the M8 bolt;

step seven: after M8 bolt riveting is completed, the riveting robot (4) grabs the chair plate to a chair plate blanking station (9) through the riveting pressing and clamping device (42);

step eight: the chair plate at the chair plate blanking station (9) is lifted away by an AGV or a manual mode.

2. The utility model provides a full-automatic drilling riveting system of carpenter which characterized in that: by automatic alignment workstation (1), material loading robot (2), drilling robot (3), rivet robot (4), dust collection system (5), M6 bolt riveter (6), M8 bolt riveter (7), chair board material loading station (8), chair board unloading station (9), manipulator switch board (10), protection network (11) and constitute, rivet robot (4) including riveting robot (41), rivet robot (42), M6 bolt riveter (6) including M6 bolt riveter (61), M6 bolt riveter (62), M8 bolt riveter (7) include M8 bolt riveter (71), M8 bolt riveter (72), manipulator switch board (10) include manipulator switch board (101), manipulator switch board (102), chair board unloading station (9) include chair board unloading station (91), Chair board unloading station (92), automatic positioning and clamping can be realized to the chair board through machine body (12) in automatic alignment workstation (1), feed robot (2) are got through loading attachment (22) clamp and are got the chair board, drilling subassembly (32) part of drilling robot (3) inserts dust collecting system (5), can in time collect the dust that produces in the course of working, it gets device (42) and riveting hypoplastron device (43) and can snatch the chair board voluntarily to beat riveter people (4) through the riveting clamp, realizes that the chair board is automatic to be moved.

3. The full-automatic woodworking drilling and riveting system according to claim 2, wherein: automatic counterpoint workstation (1) comprises dustcoat (11) and frame body (12), and install in dustcoat (11) frame body (12), dustcoat (11) comprise metal casing (111), foot cup (112), aluminium alloy support (113), operating button (114), and metal casing (111) are 7 face body structures, and a right angle limit of cuboid changes into the inclined plane promptly, and foot cup (112) are installed in metal casing (111) bottom, and aluminium alloy support (113) are installed in metal casing (111), and operating button (114) are installed on the inclined plane of metal casing (111), and whole parcels can reduce the dust and fall into equipment, and the inclined plane sets up better operation of help and judgement equipment state.

4. The full-automatic woodworking drilling and riveting system according to claim 3, wherein: the machine body (12) consists of a parallel guide rail structure (121) and a chair plate positioning structure (122), the parallel guide rail structure is positioned in the outer cover (11), and the chair plate positioning structure (122) is positioned at the top of the outer cover (11);

the parallel guide rail mechanism (121) consists of 2 linear guide rails (1211), a servo motor (1212), a synchronous belt (1213), a motor support frame (1214), a lead screw (1215), a lead screw nut (1216) and a moving plate (1217), wherein the 2 linear guide rails (1211) are parallelly installed on an aluminum profile on the same horizontal plane, the distance is the installation length of the moving plate (1217), the motor support frame (1214) is installed on the aluminum profile vertical to the linear guide rails (1211), the servo motor (1212) is installed on the motor support frame (1214), the synchronous belt (1213) is installed between the servo motor (1212) and the lead screw (1215) and is positioned at one end of the lead screw (1215), the lead screw nut (1216) is installed at the other end of the lead screw (1215), two ends of the moving plate (1217) are installed on the linear guide rails (1211), the middle part of the moving plate is connected with the lead screw nut (1216), and the arrangement of the, the processing of chair plates with various lengths and widths can be met, and automatic positioning and clamping are convenient;

chair board location structure (122) comprises 4 group's pillar structures (1221), and 2 group's pillar structures are fixed respectively in the one end of 2 linear guide (1211), and in addition 2 group's pillar structures (1221) are fixed respectively at movable plate (1217) both ends, pillar structure (1221) comprises location pillar (12211), spacing collar (12212), regulation supporting shoe (12213), supporting shoe (12214), and the one end of location pillar (12211) is fixed on parallel rail structure (121), and spacing collar (12212) is fixed to the other end, and regulation supporting shoe (12213) is installed in the middle of location pillar (12211) through the hole, and supporting shoe (12214) is installed on adjusting supporting shoe (12213), and regulation supporting shoe (12213) can satisfy the chair board processing of various thickness through adjusting from top to bottom.

5. The full-automatic woodworking drilling and riveting system according to claim 2, wherein: drilling robot (3) comprise robot (31), drilling subassembly (32), and robot (31) bottom is fixed subaerial, and drilling subassembly (32) are installed on the robot arm of robot (31), support and location are provided for equipment through robot (31), improve the production automation level, and drilling subassembly (32) are driling after the location.

6. The full-automatic woodworking drilling and riveting system according to claim 5, wherein: the drilling assembly (32) is composed of a motor (321), a synchronous belt (322), a cutter (323), a fixed base (324), a cylinder (325), a fan (326) and a dust collecting pipeline (327), one end of the fixed base (324) is installed on the robot (31), the motor (321) is vertically installed at the other end of the fixed base (324), the synchronous belt (322) is installed at the lower end of the motor (321), the synchronous belt (322) is connected with the upper end of the fan (326) vertically installed in the middle of the fixed base (324), the cylinder (325) is installed in the middle of the fixed base (324) and is at the same height as the motor (321), the fan (326) is installed in the middle of the cylinder (325) and the dust collecting pipeline (327) and is positioned under the cylinder (325), the dust collecting pipeline (327) is installed in the middle of the fan (326) and the cutter (323), the cutter (323) is installed under the dust collecting pipeline (327) and is connected with a movable rod of, the automatic tool (323) replacement can be achieved by the air cylinder (325).

7. The full-automatic woodworking drilling and riveting system according to claim 2, wherein: the feeding robot (2) is composed of a robot (21) and a feeding device (22), the bottom of the robot (21) is fixed to the ground, the feeding device (22) is installed on a robot arm of the robot (21), the robot (21) provides support, positioning and power for equipment, and the feeding device (22) automatically clamps the chair plate through the edge of the chair plate.

8. The full-automatic woodworking drilling and riveting system according to claim 7, wherein: the feeding device (22) comprises a six-axis assembly (221), a connecting plate (222), guide columns (223), springs (224), clamping cylinders (225) and clamping blocks (226), wherein the side surfaces of the six-axis assembly (221) are installed on the robot (21), the upper end surface of the connecting plate (222) is installed at the bottom end of the six-axis assembly (221), 4 guide columns (223) are installed on the lower end surface of the connecting plate (222), the clamping cylinders (225) are installed on the other sides of the guide columns (223), the springs (224) penetrate through the guide columns (223) and are installed between the connecting plate (222) and the clamping cylinders (225), the clamping blocks (226) are respectively fixed at two ends of the clamping cylinders (225), the contact surfaces of the clamping blocks (226) and the chair plate are stripe knurled surfaces, so that the chair plate is not fallen off when being clamped, the clamping cylinders (225) are in an initial state, and the six-axis assembly (221) acts when a chair plate clamping signal is received, the chair plate clamping device is moved to a proper position, then a clamping cylinder (225) acts to clamp the chair plate through a clamping block (226), and the cooperation of the guide post (223) and the spring (224) can ensure that the chair plate clamping device has good guiding performance and buffering effect.

9. The full-automatic woodworking drilling and riveting system according to claim 2, wherein: the riveting robot (4) is composed of a robot (41), a riveting clamping device (42) and a riveting lower plate device (43), wherein the bottom of the robot (41) is fixed on the ground, the riveting clamping device (42) is installed on a robot arm of the robot (31), the riveting lower plate device (43) is installed on the riveting clamping device (42), the robot (31) provides support, positioning and power for equipment, the riveting clamping device (42) automatically clamps and clamps a chair plate, and the riveting lower plate device (43) is used for jacking the chair plate when the riveting clamping device (42) is loosened.

10. The full automatic woodworking drilling and riveting system of claim 9, wherein: the riveting pressing clamping device (42) consists of a connecting flange (421), a membrane (422) and a pneumatic finger (423), wherein the upper end of the connecting flange (422) is installed on the robot (41), the upper end of the membrane (422) is installed at the lower end of the connecting flange (421) and is used for absorbing impact and certain position variation generated when the device is in contact with a chair plate, the pneumatic finger (423) is installed at the lower end of the membrane (422), and the pneumatic finger (423) can contract inwards or expand outwards along the axis during working so as to clamp and release the chair plate;

the riveting lower plate device (43) is composed of a lower plate cylinder (431), a cylinder supporting seat (432), a sensor (433) and a sensor support (434), the upper end of the cylinder supporting seat (432) is fixed at the lower end of a connecting flange (421), the upper end of the lower plate cylinder (431) is fixed at the lower end of the cylinder supporting seat (432), the upper end of the sensor support (434) is fixed at the lower end of the connecting flange (421), the upper end of the sensor (433) is fixed at the lower end of the sensor support (434) and close to the inner side, the sensor (433) is used for detecting whether the chair plate is clamped or not, signal butt joint is completed, when the riveting robot (4) clamps the chair plate, the lower plate cylinder (431) is in a contraction state, when the riveting robot (4) finishes clamping and needs to put down the chair plate, the lower plate cylinder (.