CN210188378U - Hydraulic riveting tool for riveting robot - Google Patents

Abstract

The utility model discloses a hydraulic pressure riveting tool for riveting robot. The tool comprises a riveting working head, a clamp structure, a riveter oil cylinder, a rivet tailing collecting mechanism, an oil inlet pipe, an oil return pipe, a radial buffer mechanism and an axial buffer mechanism, an anvil of the working head is fixed with a riveter oil cylinder body through the clamp structure, an inner sleeve of the working head is connected with a piston rod of the riveter oil cylinder, a tailing non-return base and a tailing non-return rubber pad of the rivet tailing collecting mechanism are connected with a rear check ring of the riveter oil cylinder, a bottom plate of the radial buffer mechanism is fixedly connected with the riveter oil cylinder body through screws, and a buffer sliding table of the axial buffer mechanism is fixed on the riveter oil cylinder body through a radial buffer cover plate. The utility model discloses can realize 5mm ~ 25mm diameter specification rivet's quick installation, accomplish snatching, riveting of rivet, can absorb rivet installation in-process axial and radial impact energy, guarantee riveting robot system's work precision and riveting robot mechanism's life.

Description

Hydraulic riveting tool for riveting robot

Technical Field

The utility model belongs to the technical field of the riveting fastening, especially, belong to riveting fastening smart machine manufacturing and designing technical field, in particular to hydraulic pressure riveting tool of riveting robot belongs to riveting class (B21J).

Background

The rivet fastening connection technology is widely applied to industries such as railways, aviation, automobiles and ships, but in the process of installing and using fixed stations in large batches, an operator needs to hold a riveting tool for riveting, the labor intensity of the operator is high under the working condition of a large number of riveting, and due to negligence of the operator and inspectors, problems such as rivet leakage, missing detection or error detection are likely to occur, so that great potential safety hazards are brought to system operation.

Chinese patent 201621343316.1 discloses an automatic robot riveting device, the riveting mechanism comprises an assembly robot and a vibration disc, the assembly robot is provided with a riveting mechanism, the riveting mechanism comprises a turnover seat, the turnover seat is provided with a motor, a riveting mounting plate is mounted on an output shaft of the motor, a riveting cylinder and a feeding rotary cylinder are arranged on the riveting mounting plate side by side, a riveting head is mounted on a piston rod of the riveting cylinder, the outer peripheral face of the riveting head is provided with an external thread matched with a riveting nut, a rotatable material receiving plate is mounted on a piston rod of the feeding rotary cylinder, a material sucking pipe is mounted at a material outlet of the vibration disc, the end of the material sucking pipe is connected with a material conveying pipe, the inner diameter of the material sucking pipe corresponds to the size of the riveting nut, and the outlet of the material conveying pipe corresponds to the material receiving plate.

Riveting robot is direct to be broken with rivet in riveting process riveting tool, has great impact energy in the twinkling of an eye of breaking, and this impact energy passes through riveting tool's axial respectively and radially transmits riveting robot's arm, and the vibrations influence of arm installs the precision of devices such as visual identification system on riveting arm, thereby influences riveting robot system precision and structural life, leads to the unable normal use of equipment. In order to solve the influence on the riveting robot caused by the impact energy in the riveting process, the design of the riveting tool needs to comprise a special structure for eliminating the axial and radial impact energy, and the normal operation of the riveting work is ensured.

Disclosure of Invention

The utility model discloses a hydraulic pressure riveting tool for riveting robot according to prior art's not enough. The utility model discloses the purpose is to rivet robot 5mm ~ 25mm rivet riveting in-process because of the impact energy for the transmission vibrations of riveting robot robotic arm influence the special hydraulic pressure riveting tool that is used for riveting robot of the automatic special structure of buffering of axial and radial impact energy and rivet tails automatic collection structure that riveting robot normal work scheduling problem provided.

The utility model adopts the technical scheme as follows:

a hydraulic riveting tool for a riveting robot comprises a riveting working head, a clamp structure, a riveter oil cylinder, a rivet tailing collecting mechanism, an oil inlet pipe, an oil return pipe, a radial buffer mechanism and an axial buffer mechanism, wherein an anvil of the riveting working head is fixedly locked with a riveter oil cylinder body through the clamp structure, an inner sleeve of the riveting working head is connected with a piston rod of the riveter oil cylinder through threads, a tailing non-return base and a tailing non-return rubber pad of the rivet tailing collecting mechanism are connected with a rear check ring of the riveter oil cylinder through screws, the oil inlet pipe and the oil return pipe are connected with a cylinder body of the riveter oil cylinder through threads, a radial buffer bottom plate of the radial buffer mechanism is connected with the riveter oil cylinder body through screws, and an axial buffer sliding table of the axial buffer mechanism is fixed on the riveter oil cylinder body through;

the riveting working head comprises an anvil, an inner sleeve and a rubber clamping flap: when in riveting installation, the rubber clamping flap tightly holds the tail teeth of the rivet and the inner sleeve and moves backwards along with the piston rod, the anvil moves forwards along with the inner sleeve through the fixing of the clamp structure and the cylinder body, the rivet sleeve ring is extruded, and the rivet is broken after the extrusion is in place;

the clamp structure comprises a clamp and a clamping sleeve: the clamp is of a two-semi-cylindrical structure and is responsible for positioning the anvil and the cylinder body, and the clamp sleeve is of a cylindrical structure and is responsible for locking the anvil and the cylinder body;

the riveter oil cylinder comprises a cylinder body, a piston rod, a cylinder body sealing ring and a rear check ring: the riveting working head, the radial buffer mechanism, the axial buffer mechanism and the rivet tailing collecting mechanism can be installed on the cylinder body, the piston rod is of a hollow structure, the hollow aperture can meet the discharge of 5-25 mm rivet tailing, the threaded part is connected with the inner sleeve, the piston rod and the inner sleeve are pushed to move back and forth under the action of oil pressure on the oil inlet working surface and the oil return working surface, the sealing ring of the cylinder body can realize the sealing and dust removing functions, the normal work of the riveting gun oil cylinder is ensured, and the sealing and dust removing functions and the rivet tailing collecting mechanism can be installed and fixed on the rear retainer ring;

rivet tails is collected mechanism and is collected shell, tails collection apron, cylinder, damper plate, the contrary base of ending of tails and the contrary cushion of ending of tails including the tails: the tail collecting shell is a steel structure cavity, all parts of the rivet tail collecting mechanism are arranged on the tail collecting shell in a centralized mode and can store rivet tails, the tail collecting cover plate is arranged on a hinge plate of the tail collecting shell through a pin shaft and is connected with a cylinder shaft through a bolt, the cylinder is arranged on a tail collecting shell support, an air cylinder rod retracts to drive the tail collecting cover plate to rotate and open to finish the rivet tail pouring action during work, a damping plate is a rubber part and can eliminate the vibration caused by the impact of the tails on the damping plate when rivets are broken, the tail non-return base is of a steel part structure, the tail non-return rubber pad is fixed on the tail collecting shell, and the tail non-return rubber pad is of a rubber part structure and can prevent the rivet tails from falling back and relieve the impact;

radial buffer gear includes radial buffer bottom plate, radial buffering offset plate and radial buffering apron: the radial buffer bottom plate is of an internal hollow steel structure and is mounted at symmetrical positions on two sides of the cylinder body through screws, the radial buffer rubber plate is of a cross-shaped rubber plate-shaped structure and is positioned between the radial buffer bottom plate and the radial buffer cover plate, the impact energy generated when a hydraulic riveting tool works can be absorbed, and the radial buffer cover plate can fix the radial buffer bottom plate and the radial buffer rubber plate and is mounted on the axial buffer sliding table;

axial buffer gear includes axial buffering foundatin plate, axial buffering slip table, buffering guide arm, buffer cylinder, buffering bearing and hysteresis lag displacement sensor: the axial buffer base plate is used for installing an axial buffer mechanism and other parts of a hydraulic riveting tool on a hydraulic quick-change disc through screws, so that the hydraulic riveting tool is always integrated with the hydraulic quick-change disc in the replacement and use processes, the automatic and quick replacement of the riveting tool is ensured, one end of the axial buffer sliding table is connected with the axial buffer base plate through a buffer guide rod and a buffer bearing, the other end of the axial buffer sliding table is connected with a riveting gun oil cylinder through a radial buffer cover plate, one end of a buffer air cylinder is connected with the axial buffer base plate through a hinge plate, one end of the buffer air cylinder is connected with the axial buffer sliding table through a support, a magnetic rod of a magnetic hysteresis displacement sensor is connected with the axial buffer base plate through a magnetic hysteresis sensor cover plate;

the utility model discloses when hydraulic riveting tool used, hydraulic riveting tool passes through the robot and removes to the position of snatching the rivet, the rubber card lamella is embraced rivet tail tooth and is removed to riveting hole position along with the robot, hydraulic riveting tool installs the rivet in the riveting hole, rivet in-process axial buffer gear realizes through buffer cylinder that the rivet is packed into in the riveting hole, the position of riveting hole is packed into through hysteresis lag displacement sensor real-time supervision rivet, whether install completely to the riveting hole in with judging the rivet, riveting robot system starts riveting procedure, hydraulic riveting tool advances oil pipe oil feed, hydraulic oil enters into riveting hydro-cylinder oil feed chamber and promotes piston rod area inner skleeve and rubber card lamella and move backward, rubber card lamella is embraced rivet tail tooth and anvil and takes place relative motion, the anvil extrusion rivet lantern ring, rivet tail tooth is broken after the rivet lantern ring extrusion, break in the twinkling of an eye radial buffer energy transfer to cylinder body both sides radial buffer gear through being located the ten in the middle of radial buffer gear in the moment The radial buffering offset plate of style of calligraphy absorbs radial buffering energy, axial buffering energy absorbs axial buffering energy through buffer cylinder in transmitting axial buffer gear through cylinder body and radial buffering apron, rivet tails launches to rivet tails collection mechanism through the piston rod mesopore after the rivet tail tooth breaks, shock energy when the rivet tails launches is alleviated to the shock attenuation board, vibrations when the rivet tails drops are alleviated simultaneously in the tail check cushion prevents that rivet tails from dropping back to the riveter hydro-cylinder, the rivet tails is located the tails collection shell, the cylinder begins to admit air and promotes the cylinder guide arm rearward movement, open the tails collection apron, the pouring of rivet tails is accomplished to the upset hydraulic riveting tool of riveting robot, the initial position that hydraulic riveting tool returned, accomplish whole riveting working process.

The utility model discloses beneficial effect: the utility model provides a quick installation that is used for special hydraulic pressure riveting tool of riveting robot can realize 5mm ~ 25mm diameter specification blind rivet, can accomplish snatching of blind rivet in the installation, accomplish blind rivet and install in the riveting hole, accomplish the riveting of blind rivet, can absorb axial and radial impact energy in the blind rivet installation simultaneously, has guaranteed the work precision of riveting robot system and the life of riveting robot mechanism.

Drawings

FIG. 1 is a schematic structural view of a hydraulic riveting tool of the present invention;

FIG. 2 is a schematic cross-sectional view of the radial buffering mechanism of the hydraulic riveting tool of the present invention;

FIG. 3 is a schematic cross-sectional view of the axial buffering mechanism of the hydraulic riveting tool of the present invention;

FIG. 4 is a schematic view of a radial damper assembly installation;

FIG. 5 is a front view of the axial damping mechanism assembly mounted schematically;

FIG. 6 is a rear view installation schematic of the axial damping mechanism assembly.

In the figure, 1 riveting working head, 1.1 anvil, 1.2 inner sleeve, 1.2a inner sleeve thread, 1.3 rubber clamping flap, 2 clamping structure, 2.1 clamping sleeve, 2.2 clamping hoop, 3 riveting gun oil cylinder, 3.1 cylinder body, 3.2 piston rod, 3.2a piston rod middle hole, 3.2b piston rod thread, 3.3 cylinder body sealing ring, 3.4 back retainer ring, 4 rivet tailing collecting mechanism, 4.1 tailing collecting shell, 4.2 tailing collecting cover plate, 4.3 cylinder, 4.3a cylinder guide rod, 4.4 damping plate, 4.5 tailing non-return base, 4.6 tailing non-return rubber pad, 5 oil inlet pipe, 6 oil return pipe, 7 radial buffer mechanism, 7.1 radial buffer bottom plate, 7.1a radial buffer bottom plate mounting hole, 7.2 radial buffer rubber plate, 7.3 radial buffer cover plate, 7.3a radial buffer cover plate mounting hole, 8 axial buffer mechanism, 8.1 axial buffer base plate, 8.2 axial buffer bottom plate, 8.5 sliding table, 8.5 buffer cylinder bearing guide rod, 8.5 buffer bearing, 8.6 hysteresis displacement sensor, 8.7 hinge plate, 8.8 support, 8.6a sensor apron, 8.6b magnetic ring, 8.6c magnetic pole, 9 rivets.

Detailed Description

The present invention will be further described with reference to the following embodiments, which are intended to illustrate the principles of the present invention without limiting the present invention in any way, and the present invention is not beyond the scope of the present invention.

With reference to the attached drawings.

As shown in figure 1, the special hydraulic riveting tool for the riveting robot comprises a riveting working head 1, a hoop structure 2, a riveter oil cylinder 3, a rivet tailing collecting mechanism 4, an oil inlet pipe 5, an oil return pipe 6, a radial buffer mechanism 7 and an axial buffer mechanism 8, wherein an anvil 1.1 of the riveting working head 1 is fixedly locked with a cylinder body 3.1 of the riveter oil cylinder 3 through the hoop structure 2, an inner sleeve 1.2 of the riveting working head 1 is connected with a piston rod 3.2 of the riveter oil cylinder 3 through an inner sleeve thread 1.2a and a piston rod thread 3.2b, a tailing non-return base 4.5 and a tailing non-return rubber gasket 4.6 of the rivet tailing collecting mechanism 4 are connected with a rear check ring 3.4 of the riveter oil cylinder 3 through screws, the oil inlet pipe 5 and the oil return pipe 6 are connected with the cylinder body 3.1 of the riveter oil cylinder 3 through threads, a radial buffer bottom plate 7.1 of the radial buffer mechanism 7 is connected with the cylinder body 3.1 of the rive, An axial buffering sliding table 8.2 of the axial buffering mechanism 8 is fixed on a cylinder body 3.1 of the riveter oil cylinder 3 through a radial buffering cover plate 7.3; the hydraulic riveting tool moves to a position for grabbing a rivet 9 through a robot, a rubber clamping flap 1.3 tightly holds a tail tooth of the rivet and moves to a riveting hole along with the robot, the hydraulic riveting tool installs the rivet 9 in the riveting hole, an axial buffer mechanism 8 realizes that the rivet 9 is installed in the riveting hole through a buffer cylinder 8.4 in the process of rivet installation, the position of the rivet 9 installed in the riveting hole is monitored in real time through a hysteresis displacement sensor 8.6 to judge whether the rivet 9 is completely installed in the riveting hole or not, a riveting robot system starts a riveting program, the hydraulic riveting tool is fed with oil through an oil pipe 5, hydraulic oil enters an oil inlet cavity of a riveting oil cylinder 3 to push a piston rod 3.2 to drive the piston rod 1.2 and a rubber clamping flap 1.3 to move backwards, the rubber clamping flap 1.3 tightly holds the tail tooth of the rivet and an iron anvil 1.1 to perform relative motion, the iron anvil 1.1 extrudes a rivet lantern ring, the tail tooth of the rivet is broken after the rivet lantern ring is extruded, and the instant breaking radial buffer energy is transferred into The cross-shaped radial buffer rubber plate 7.2 in the middle of the mechanism 7 absorbs radial buffer energy, the axial buffer energy is transmitted to the axial buffer mechanism 8 through the cylinder body 3.1 and the radial buffer cover plate 7.3 and absorbs the axial buffer energy through the buffer cylinder 8.4, the rivet tailing is ejected to the rivet tailing collecting mechanism 4 through the middle hole 3.2a in the piston rod after the rivet tail is broken, the shock absorption plate 4.4 relieves impact energy when the rivet tailing is ejected, the tailing non-return rubber pad 4.6 prevents the rivet tailing from falling back into the rivet gun cylinder 3 and relieves vibration when the rivet tailing falls, the rivet tailing is located in the tailing collecting shell 4.1, the cylinder 4.3 starts to admit air to push the cylinder guide rod 4.3a to move backwards, the tailing collecting cover plate 4.2 is opened, the riveting robot overturns the hydraulic riveting tool to finish the dumping of the rivet tailing, and the hydraulic riveting tool returns to the initial position to finish the whole riveting working process.

The following explains the systems and applications of the present invention:

the utility model is used for special hydraulic pressure riveting tool of riveting robot establishes following riveting working head 1, like fig. 2, including anvil 1.1, inner skleeve 1.2 and rubber card lamella 1.3: when in riveting installation, the rubber clamping flap 1.3 tightly holds the tail teeth of the rivet and the inner sleeve 1.2 to move backwards along with the piston rod 3.2, the anvil 1.1 fixedly fixes the inner sleeve 1.2 forwards through the clamping hoop structure 2 and the cylinder body 3.1, the rivet sleeve ring is extruded, and the rivet is broken after the extrusion is in place;

set up following riveter hydro-cylinder 3, as shown in fig. 2, including cylinder body 3.1, piston rod 3.2, cylinder body sealing ring 3.3 and back retaining ring 3.4: the riveting working head 1, the radial buffer mechanism 7, the axial buffer mechanism 8 and the rivet tailing collecting mechanism 4 can be installed on the cylinder body 3.1, the piston rod 3.2 is of a hollow structure, the aperture of a middle hole 3.2a of the piston rod can meet the discharge of 5-25 mm rivet tailing, the part of a thread 3.2b of the piston rod is connected with the inner sleeve 1.2, the piston rod 3.2 and the inner sleeve 1.2 are pushed to move back and forth under the action of oil pressure on an oil inlet working surface and an oil return working surface, the cylinder body sealing ring 3.3 can realize the functions of sealing and dust removal, the normal work of the riveter oil cylinder 3 is ensured, and the rear check ring 3.4 can realize the functions of sealing and dust removal and install and;

the following rivet tailing collecting mechanism 4 is arranged, as shown in fig. 2, and comprises a tailing collecting shell 4.1, a tailing collecting cover plate 4.2, an air cylinder 4.3, a damping plate 4.4, a tailing non-return base 4.5 and a tailing non-return rubber mat 4.6: the tail collecting shell 4.1 is a steel structure cavity, all parts of the rivet tail collecting mechanism 4 are intensively arranged on the tail collecting shell 4.1 and can store rivet tails, the tail collecting cover plate 4.2 is arranged on the tail collecting shell 4.1 through a pin shaft and is connected with a cylinder guide rod 4.3a through a bolt, the cylinder 4.3 is arranged on the tail collecting shell 4.1, the cylinder guide rod 4.3a retracts to drive the tail collecting cover plate 4.2 to rotate and open to finish the rivet tail dumping action during working, the damping plate 4.4 is a rubber part and can eliminate the vibration caused by the impact of the tails on the damping plate 4.4 at the moment of rivet fracture, the tail non-return base 4.5 is of a steel part structure, the tail non-return rubber pad 4.6 is fixed on the tail collecting shell 4.1, and the tail non-return rubber pad 4.6 is of a rubber part structure and can prevent the rivet tails from being dumped and released from impact;

the following radial buffer mechanism 7 is provided, as shown in fig. 2 and 4, and includes a radial buffer bottom plate 7.1, a radial buffer rubber plate 7.2, and a radial buffer cover plate 7.3: the radial buffer bottom plate 7.1 is of an internal hollow steel structure and is mounted at the symmetrical positions of two sides of the cylinder body 3.1 through screws, the radial buffer rubber plate 7.2 is of a cross-shaped rubber plate-shaped structure and is positioned between the radial buffer bottom plate 7.1 and the radial buffer cover plate 7.3, the impact energy of the hydraulic riveting tool during working can be absorbed, and the radial buffer cover plate 7.3 can realize the fixation of the radial buffer bottom plate 7.1 and the radial buffer rubber plate 7.2 and is mounted on the axial buffer sliding table 8.2;

the following axial buffer mechanism 8 is provided, as shown in fig. 3, 5 and 6, and comprises an axial buffer base plate 8.1, an axial buffer sliding table 8.2, a buffer guide rod 8.3, a buffer cylinder 8.4, a buffer bearing 8.5 and a hysteresis displacement sensor 8.6; axial buffering foundatin plate 8.1 passes through the screw with other parts of axial buffer gear 8 and hydraulic pressure riveting tool and installs on hydraulic pressure quick-change dish, it is as an organic whole with hydraulic pressure quick-change dish all the time to ensure hydraulic pressure riveting tool in change and the use, the automatic quick change of riveting tool has been guaranteed, axial buffering sliding table 8.2 one end is connected with axial buffering foundatin plate 8.1 through buffering guide arm 8.3 and buffer bearing 8.5, the other end is connected with riveter hydro-cylinder 3 through radial buffering apron 7.3, 8.4 one end of buffer cylinder is connected with axial buffering foundatin plate 8.1 through flap 8.7, one end is connected with axial buffering sliding table 8.2 through support 8.8, magnetic pole 8.6c of hysteresis lag displacement sensor 8.6 is connected with axial buffering foundatin plate 8.1 through sensor apron 8.6a, magnetic ring 8.6b is fixed in on axial buffering sliding table 8.2.

Claims (8)

1. A hydraulic riveting tool for a riveting robot is detachably connected with the riveting robot through a quick change disk and used for completing the full-space moving positioning of the hydraulic riveting tool; the method is characterized in that: the hydraulic riveting tool comprises a riveting working head, a clamp structure, a riveter oil cylinder, a rivet tailing collecting mechanism, an oil inlet pipe, an oil return pipe, a radial buffer mechanism and an axial buffer mechanism;

an anvil of a riveting working head is fixedly locked with a cylinder body of a riveter oil cylinder through a hoop structure, a tailing non-return base and a tailing non-return rubber mat of a rivet tailing collecting mechanism are connected with a rear check ring of the riveter oil cylinder through screws, an oil inlet pipe and an oil return pipe are connected with the cylinder body of the riveter oil cylinder through threads, a radial buffer bottom plate of a radial buffer mechanism is fixedly connected with the cylinder body of the riveter oil cylinder through the screws, and an axial buffer sliding table of the axial buffer mechanism is fixed on the cylinder body of the riveter oil cylinder through a radial buffer cover plate.

2. The hydraulic riveting tool for riveting robots according to claim 1, characterized in that: the riveter oil cylinder comprises a cylinder body, a piston rod, a cylinder body sealing ring and a rear check ring; the front end of the cylinder body is provided with a riveting working head, the side of the cylinder body is provided with a radial buffer mechanism and an axial buffer mechanism, and the rear end of the cylinder body is provided with a rivet tailing collecting mechanism.

3. The hydraulic riveting tool for riveting robots according to claim 2, characterized in that: the piston rod is of a hollow through hole structure, and the through hole is used for discharging tail materials of the blind rivet; the threaded part of the piston rod is connected with an inner sleeve riveted with the working head, and the oil inlet working surface and the oil return working surface of the piston rod drive the piston rod and the inner sleeve to move back and forth under the action of oil pressure; the rear retainer ring is fixedly connected with the rivet tailing collecting mechanism.

4. The hydraulic riveting tool for riveting robots according to claim 1, 2 or 3, characterized in that: rivet tails is collected mechanism and is collected shell, tails collection apron, cylinder, damper plate, the contrary base of ending of tails and the contrary cushion of ending of tails including the tails: the tail material collecting shell is a steel structure cavity and is used for storing rivet tail materials, and all parts of the rivet tail material collecting mechanism are arranged on the tail material collecting shell; the tail collecting cover plate is arranged at the rear end of the tail collecting shell and is arranged on a hinge plate of the tail collecting shell through a pin shaft and is connected with the cylinder shaft through a bolt; the damping plate is a rubber piece fixedly attached to the inner side surface of the tailing collecting cover plate; the connecting part of the rivet tailing collecting mechanism and the cylinder body of the riveter cylinder is provided with a tailing non-return base and a tailing non-return rubber cushion of a rubber part structure fixedly attached to the inner side of the tailing collecting shell.

5. The hydraulic riveting tool for riveting robots according to claim 4, characterized in that: the radial buffer mechanism comprises two groups of radial buffer bottom plates, radial buffer rubber plates and radial buffer cover plates which are sequentially and oppositely arranged and fixed; the radial buffer bottom plates are of an internal hollow steel structure, and the radial buffer bottom plates on two sides are arranged at symmetrical positions on two sides of the cylinder body; the radial buffer rubber plate is of a cross-shaped rubber plate-shaped structure and is positioned between the radial buffer bottom plate and the radial buffer cover plate; the radial buffer cover plates on the two sides fix the radial buffer bottom plate and the radial buffer rubber plate through bolts and are fixedly connected with an axial buffer sliding table of the axial buffer mechanism.

6. The hydraulic riveting tool for riveting robots according to claim 5, characterized in that: the axial buffer mechanism comprises an axial buffer base plate, an axial buffer sliding table, a buffer guide rod, a buffer cylinder, a buffer bearing and a hysteresis displacement sensor; the axial buffer base plate is arranged on the quick-change disc through a screw; one end of the axial buffering sliding table is connected with the axial buffering base plate through a buffering guide rod and a buffering bearing, and the other end of the axial buffering sliding table is connected with the riveter oil cylinder through a radial buffering cover plate; one end of the buffer cylinder is connected with the axial buffer base plate through a hinge plate, and the other end of the buffer cylinder is connected with the axial buffer sliding table through a bracket; the magnetic rod of the hysteresis displacement sensor is connected with the axial buffering foundation plate through the sensor cover plate, and the magnetic ring is fixed on the axial buffering sliding table.

7. The hydraulic riveting tool for riveting robots according to claim 6, characterized in that: the riveting working head comprises an anvil, an inner sleeve and a rubber clamping flap, wherein the anvil is fixed with the cylinder body through a hoop structure and moves forwards relative to the inner sleeve to extrude the rivet lantern ring.

8. The hydraulic riveting tool for riveting robots according to claim 6, characterized in that: the clamp structure comprises a clamp and a clamping sleeve; the clamp is of two semi-cylindrical structures and used for positioning the anvil and the cylinder body, and the clamp sleeve is of a cylindrical structure and used for locking the anvil and the cylinder body.

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