Multi-specification rivet supply conveying platform and automatic supply method

The invention discloses a multi-specification rivet supplying and conveying platform and an automatic supplying method. The platform comprises a multi-degree-of-freedom mechanical arm, a multifunctional end effector, a rivet bearing material box, a rivet specification checking platform, a workbench frame, a rivet conveying device, a mechanical arm supporting base, a multi-specification rivet supplying workbench, a control cabinet and an independent controller. According to the rivet feeding device, the rivets of various specifications can be rapidly and accurately fed, the extra equipment cost caused by the increase of the types of the rivets can be reduced, and the correct specifications of the conveyed rivets can be ensured by combining rivet recognition, measurement verification and a process monitoring algorithm. In addition, an independent rivet supply unit can be formed, and the multi-specification rivet supply requirements of various types of equipment are met. 本发明公开了多规格铆钉供应输送平台及自动供给方法，平台包括多自由度机械臂、多功能末