A nailing device for wooden board construction

Abstract

The present invention discloses a device for nailing wooden boards, comprising a robotic arm and a nailing tool. The nailing tool comprises an adjustment mechanism, including an adjustment frame and a connecting block, the adjustment frame being mounted to the robotic arm via the connecting block; a fixing mechanism, including a fixing frame and a fixing head, the fixing head being mounted to the bottom of the fixing frame, the fixing head being provided with a suction cup for sucking wooden boards, the top of the fixing frame being fixed to one end of the adjustment frame; a nailing mechanism, including an L-shaped mounting frame, a vertical movement mechanism fixed to the mounting frame, a nail gun, and a nail clamping mechanism. The mounting frame is L-shaped, the top of the mounting frame being mounted to the adjustment frame, the nail clamping mechanism being fixed to the bottom of the mounting frame, the vertical movement mechanism driving the nail gun to insert or remove the nail gun bit into or out of the nail clamping mechanism, the nail clamping mechanism including mutually cooperating clamping blocks for clamping screws; and a nail supply device connected to the nail clamping mechanism via a slideway. This device can automatically build and fix wooden boards, improving construction efficiency and quality.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and more particularly to a nailing device for building wooden boards. Background Art

[0002] With the development of society, more and more people are beginning to pursue spiritual satisfaction rather than material enjoyment. Therefore, handicrafts or sculptures with unique shapes are becoming more and more popular. Nowadays, in parks or squares, you can often see craft corridors or wooden sculptures built with wooden boards.

[0003] Because existing automated equipment can only complete simple tasks such as fixing wooden boards, it is unable to complete such complex and irregular handicrafts. Therefore, such craft corridors or wooden sculptures are usually built piece by piece by hand and fixed with nails or glue. It takes months or even months to complete one piece, which is inefficient. In addition, such handicrafts often use long screws, which are generally more than 40mm in length. The uneven force applied during manual nailing can cause the nails to tilt during the screwing process, requiring re-nailing or direct scrapping of the wooden boards, which is extremely time-consuming and labor-intensive.

[0004] Therefore, there is a need for an automated wood board construction nailing device that can solve the above problems. Summary of the Invention

[0005] An object of the present invention is to provide a new technical solution for automated wood panel construction and nailing.

[0006] According to a first aspect of the present invention, a wooden board construction nailing device is provided, comprising a robotic arm and a construction nailing tool, the construction nailing tool being mounted on the robotic arm, the construction nailing tool comprising an adjusting mechanism, a fixing mechanism, a nailing mechanism and a nail feeding device, wherein: the adjusting mechanism comprises an adjusting frame and a connecting block, the adjusting frame being mounted on the robotic arm through the connecting block; the fixing mechanism comprises a fixing frame and a fixing head, the fixing head being mounted to the bottom of the fixing frame, the fixing head being provided with a suction cup for sucking wooden boards, the top of the fixing frame being fixed to one end of the adjusting frame; the nailing mechanism comprises a mounting frame and a vertical movement mechanism fixed to the mounting frame, a nail gun and a nail clamping mechanism, the mounting frame being L-shaped, the top of the mounting frame being mounted to the adjusting frame, the nail clamping mechanism being fixed to the bottom of the mounting frame, the vertical movement mechanism driving the nail gun so that the nail gun's bit is inserted into or pulled out of the nail clamping mechanism, the nail clamping mechanism comprising mutually cooperating clamping blocks, the clamping blocks being used to clamp screws; the nail feeding device is connected to the nail clamping mechanism through a slideway.

[0007] Preferably, an adjustment rail is installed on the adjustment frame, the mounting frame is slidably connected to the adjustment rail, and the adjustment motor drives the mounting frame to move along the adjustment rail to move away from or close to the fixing mechanism.

[0008] Preferably, a connecting plate is fixed to the bottom of the fixing frame, and the connecting plate is arranged perpendicular to the direction of suction of the suction cup; the suction cup is elastically connected to the connecting plate through a spring connecting rod, and the spring connecting rod applies a force to the suction cup in a direction away from the connecting plate.

[0009] Preferably, the vertical movement mechanism includes a vertical movement push cylinder, a vertical movement rail, a guide rod and a fixed block, the piston rod of the vertical movement push cylinder is connected to the fixed block, the nail gun is fixed to the fixed block, and the fixed block is slidingly connected to the vertical movement rail and the guide rod; the guide rod and the vertical movement rail are both vertically fixed to the bottom of the mounting frame.

[0010] Preferably, a buffer spring is sleeved on the guide rod, and the buffer spring is located between the fixing block and the mounting bracket.

[0011] Preferably, a limiter is provided on the mounting frame, and the limiter cooperates with the fixing block to ensure that the distance that the screw is pushed by the bit is consistent with the length of the screw.

[0012] Preferably, the clamping mechanism includes an inverted "U"-shaped support plate and the clamping block, the top of the clamping block is hinged to the support plate by a torsion spring, and the two clamping blocks together form a guide slide, and the guide slide includes a guide part and a clamping part, and the diameter of the guide part is larger than the diameter of the screw head of the screw; the clamping part passes downward through the clamping block, and the diameter of the clamping part is larger than the diameter of the screw body and smaller than the diameter of the screw head, and the clamping part and the guide part have a smooth transition.

[0013] Preferably, a position detection module and a screw detection module are installed on the support plate, and the position detection module is arranged at the bottom of the support plate; the screw detection module faces the exit of the guide slide; the length of the clamping part is less than the length of the screw body.

[0014] Preferably, a pressing cylinder is further provided at the bottom of the support plate, the pressing cylinder is arranged toward the direction of driving the screw, and a pressing plate is provided at the top of the piston rod of the pressing cylinder.

[0015] Preferably, the nail feeding device includes a nail storage box, a slide and a funnel. The nail storage box is fixed to the top of the fixing mechanism and is connected to the slide. The funnel is installed on the support plate and is connected to the guide part. The funnel can be moved to the bottom opening of the slide under the drive of the nailing mechanism.

[0016] According to one embodiment of the present disclosure, the template construction nailing device can be used to adapt to various wooden sculptures with regular shapes, realize automatic construction and nailing and fixing actions, and has high reliability and safety, effectively improving construction efficiency and saving labor.

[0017] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 It is a structural schematic diagram of a wooden board construction nailing device according to an embodiment of the present invention.

[0020] Figure 2 yes Figure 1 Schematic diagram of the structure of the nailing mechanism in the wooden board building nailing device.

[0021] Figure 3 yes Figure 1 Schematic diagram of the main structure of the wooden board construction nailing device.

[0022] Figure 4 yes Figure 3 Schematic diagram of the cross-sectional structure of the clamping mechanism. DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0024] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0025] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0026] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0027] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0028] Example

[0029] like Figures 1 to 4 As shown, the wooden board construction nailing device in this embodiment includes a robotic arm (not shown) and a construction nailing tool. The construction nailing tool is installed on the robotic arm. The construction nailing tool includes an adjustment mechanism 1100, a fixing mechanism 1200, a nailing mechanism 1300 and a nail supply device 1400, wherein:

[0030] The adjustment mechanism 1100 includes an adjustment frame 1110 and a connecting block 1120 , and the adjustment frame 1110 is mounted on the robotic arm via the connecting block 1120 ;

[0031] The fixing mechanism 1200 includes a fixing frame 1210 and a fixing head 1220. The fixing head 1220 is mounted on the bottom of the fixing frame 1210. The fixing head 1220 is provided with a suction cup 1221 for sucking the wooden board 3000. The top of the fixing frame 1210 is fixed to one end of the adjustment frame 1110.

[0032] The nailing mechanism 1300 includes a mounting frame 1310, a vertical movement mechanism fixed to the mounting frame 1310, a nail gun 1330, and a nail clamping mechanism 1340. The mounting frame 1310 is L-shaped. The top of the mounting frame 1310 is mounted on the adjustment frame 1110. The nail clamping mechanism 1340 is fixed to the bottom of the mounting frame 1310. The vertical movement mechanism drives the nail gun 1330 to insert or remove the bit 1331 of the nail gun 1330 into or out of the nail clamping mechanism 1340. The nail clamping mechanism 1340 includes a clamping block 1342 that cooperates with each other. The clamping block 1342 is used to clamp the screw 2000.

[0033] The nail feeding device 1400 is connected to the nail clamping mechanism 1340 through a slideway 1420 .

[0034] Through this solution of the present embodiment, the robotic arm drives the construction of the nailing tool to the storage place of the wooden board 3000. The suction cup 1221 on the fixing mechanism 1200 sucks up the wooden board 3000 and moves it to the position where it needs to be installed under the drive of the robotic arm. The nail gun 1330 starts to rotate and moves to the clamping mechanism 1340 under the drive of the vertical movement mechanism on the nailing mechanism 1300 until the screw 2000 is screwed into the wooden board 3000 to fix it.

[0035] In this or other embodiments, an adjustment rail 1131 is mounted on the adjustment frame 1110. The mounting frame 1310 is slidably connected to the adjustment rail 1131. An adjustment motor 1132 drives the mounting frame 1310 to move along the adjustment rail 1131 to move away from or closer to the fixing mechanism 1200. The adjustment motor 1132 is threadedly connected to the mounting frame 1310, for example, via a screw. Rotation of the adjustment motor 1132 drives the mounting frame 1310 to move. This arrangement adjusts the nailing position of the nailing mechanism 1300, making the device suitable for fixing wooden boards 3000 of different lengths and at different nailing positions, thereby increasing the applicability of the device.

[0036] In this or other embodiments, a connecting plate 1211 is fixed to the bottom of the fixing frame 1210. The connecting plate 1211 is arranged perpendicular to the suction direction of the suction cup 1221. The suction cup 1221 is elastically connected to the connecting plate 1211 via a spring link 1212, which applies a force to the suction cup 1221 in a direction away from the connecting plate 1211. When the suction cup 1221 sucks the wooden board, the height of the wooden board 3000 may vary due to thickness variations and debris at the bottom of the wooden board 3000. Direct pressure and suction may cause mechanical damage to the fixing mechanism 1200. Therefore, the addition of the spring link 1212 can act as a buffer to accommodate variations in the thickness or height of the wooden board 3000 and prevent damage to the device caused by mechanical collision. This arrangement also protects the wooden board 3000 by preventing it from bending due to excessive downward pressure from the fixing mechanism 1200.

[0037] In this embodiment or other embodiments, the vertical movement mechanism includes a vertical movement push cylinder 1321, a vertical movement rail 1322, a guide rod 1323, and a fixed block 1324. The piston rod of the vertical movement push cylinder 1321 is connected to the fixed block 1324. The nail gun 1330 is fixed to the fixed block 1324. The fixed block 1324 is slidably connected to the vertical movement rail 1322 and the guide rod 1323. The guide rod 1323 and the vertical movement rail 1322 are both vertically fixed to the bottom of the mounting frame 1310. The mutual cooperation between the guide rod 1323 and the vertical movement rail 1322 can limit the movement direction of the nail gun 1330, preventing the nail gun 1330 from tilting during the downward pressing process, thereby ensuring that the screw 2000 can be nailed perpendicular to the wooden board 3000.

[0038] In this embodiment or other embodiments, a buffer spring 1325 is sleeved on the guide rod 1323 and located between the fixing block 1324 and the mounting bracket 1310. The buffer spring 1325 not only buffers the downward movement of the nail gun 1330, preventing the bit 1331 from bending and breaking due to excessive speed, but also assists in the upward movement of the fixing block 1324.

[0039] In this or other embodiments, a limiter 1350 is provided on the mounting frame 1310. The limiter 1350 cooperates with the fixing block 1324 to ensure that the distance the screw 2000 is pushed by the bit 1331 is consistent with the length of the screw 2000. The limiter 1350 is, for example, a travel switch, which is fixed to a suitable position below the fixing block 1324. When the fixing block 1324 touches the limiter, the limiter stops moving downward and moves upward, preventing the nail gun 1330 from moving too far downward and causing the screw 2000 to be driven too deeply.

[0040] In this embodiment or other embodiments, the clamping mechanism 1340 includes an inverted "U"-shaped support plate 1341 and the clamping block 1342. The top of the clamping block 1342 is hinged to the support plate 1341 by a torsion spring (not shown in the figure). The two clamping blocks 1342 together form a guide slide 1343. The guide slide 1343 includes a guide portion 1343-1 and a clamping portion 1343-2. ​​The diameter of the guide portion 1343-1 is larger than the diameter of the screw head of the screw 2000; the clamping portion 1343-2 penetrates the clamping block 1342 downward. The diameter of the clamping portion 1343-2 is larger than the diameter of the nail body of the screw 2000 and smaller than the diameter of the screw head. The clamping portion 1343-2 and the guide portion 1343-1 have a smooth transition. After the screw 2000 falls into the guide slide 1343, the head of the screw will be stuck at the bottom of the guide part 1343-1, and the body of the screw 2000 will remain in a vertical state in the clamping part 1343-2. ​​When the nail gun 1330 moves downward and presses the bit 1331 against the head of the screw 2000, the clamping block 1342 will open due to the squeezing and pushing of the screw head, allowing the screw 2000 to move downward and be nailed into the wooden board 3000.

[0041] The clamping block 1342 in this embodiment can serve as a temporary storage and guide for the screws 2000 , so that the screws 2000 can be driven perpendicularly to the wooden board 3000 .

[0042] In this embodiment or other embodiments, a position detection module 1360 and a screw detection module (not shown in the figure) are installed on the support plate 1341. The position detection module 1360 is, for example, a travel switch. The position detection module 1360 is arranged at the bottom of the support plate 1341. When the fixing mechanism 1200 moves downward until the detection module 1360 is touched by the wooden board 3000, it proves that the wooden board 3000 has been absorbed. The module can detect whether the wooden board 3000 is in the nailing position, and can assist in detecting whether the wooden board 3000 falls during the movement of the robotic arm; after the wooden board 3000 reaches the desired position, the fixing mechanism 1200 presses the wooden board 3000 to the specified position, so that the position detection module 1360 can be pressed onto the wooden board 3000 to trigger it, and then perform the nailing step, thereby improving the reliability of the device.

[0043] The screw detection module is facing the exit of the guide slide 1343, and the length of the clamping part 1343-2 is smaller than the length of the nail body of the screw 2000. After entering the guide slide 1343, the screw 2000 can extend the clamping block 1342 downward, so as to be sensed by the screw detection module to determine whether there is a screw 2000 to avoid empty driving; the screw detection module is, for example, a proximity switch or a laser sensor.

[0044] In this or other embodiments, a pressing cylinder 1370 is further provided at the bottom of the support plate 1341. The pressing cylinder 1370 is arranged in the direction in which the screw 2000 is driven, and a pressing plate 1371 is provided at the top of the piston rod of the pressing cylinder 1370. Before nailing, the pressing cylinder 1370 is first activated to press down on the wooden board to prevent the wooden board 3000 from being lifted and tilted during the screw 2000 driving process, thereby improving the reliability of the nailing device.

[0045] In this embodiment or other embodiments, the nail supply device 1400 includes a nail storage box 1410, a slide 1420 and a funnel 1430. The nail storage box 1410 is fixed to the top of the fixing mechanism 1200, and the nail storage box 1410 is connected to the slide 1420; the funnel 1430 is installed on the support plate 1341 and connected to the guide part 1343-1; the funnel 1430 can be moved to the bottom opening of the slide 1420 under the drive of the nailing mechanism 1300.

[0046] The nail storage box 1410 in this embodiment is provided with a discharge port at the bottom, which is blocked by a blocking cylinder (not shown in the figures). The action of the blocking cylinder allows the screw 2000 to pass through the discharge port into the slide 1420 and slide along the slide 1420 into the funnel 1430. The arrangement of the nail storage box 1410 can adapt to the upstream nail supply mechanism.

[0047] When this device is in use, the robotic arm drives the construction and nailing tooling to the storage place of the wooden board 3000, and the suction cup 1221 of the fixing mechanism 1200 is pressed onto the wooden board 3000. When the position detection module 1360 is actuated, the suction cup 1221 starts to suck the wooden board 3000; the robotic arm starts and drives the wooden board 3000 to the position set by the program, the clamping cylinder 1370 starts to press down on the wooden board 3000, starts the nail gun 1330, and moves downward under the drive of the vertical movement mechanism, nailing the screw 2000 into the wooden board 3000. When the limiter 1350 is actuated, the nail gun 1330 stops rotating, and the vertical movement mechanism is controlled to move upward, the suction cup 1221 is closed to release the wooden board 3000, and the construction and nailing of the wooden board 3000 are completed.

[0048] According to this embodiment, the template is used to build a nailing device, which can adapt to various wooden sculptures with regular shapes, realize automatic construction and nailing, and has high reliability and safety, effectively improving construction efficiency and saving labor.

[0049] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A wooden board construction nailing device, comprising a robotic arm and a construction nailing tool, wherein the construction nailing tool is mounted on the robotic arm, and is characterized in that: The building nailing tool comprises an adjusting mechanism, a fixing mechanism, a nailing mechanism and a nail supply device, wherein: The adjustment mechanism includes an adjustment frame and a connecting block, and the adjustment frame is mounted on the robotic arm through the connecting block; The fixing mechanism includes a fixing frame and a fixing head, wherein the fixing head is mounted on the bottom of the fixing frame, and a suction cup for sucking the wooden board is provided on the fixing head, and the top of the fixing frame is fixed to one end of the adjustment frame; The nailing mechanism includes a mounting frame, a vertical movement mechanism fixed to the mounting frame, a nail gun, and a nail clamping mechanism. The mounting frame is "L"-shaped, the top of the mounting frame is mounted on the adjustment frame, and the nail clamping mechanism is fixed to the bottom of the mounting frame. The vertical movement mechanism drives the nail gun to insert or remove the nail gun bit into or out of the nail clamping mechanism. The nail clamping mechanism includes mutually cooperating clamping blocks, and the clamping blocks are used to clamp screws. The nail feeding device is connected to the nail clamping mechanism through a slideway; An adjustment rail is installed on the adjustment frame, the mounting frame is slidably connected to the adjustment rail, and the adjustment motor drives the mounting frame to move along the adjustment rail to move away from or closer to the fixing mechanism; The clamping mechanism includes an inverted "U"-shaped support plate and the clamping block. The top of the clamping block is hinged to the support plate by a torsion spring. The two clamping blocks together form a guide slide. The guide slide includes a guide portion and a clamping portion. The diameter of the guide portion is larger than the diameter of the screw head. The clamping portion downwardly penetrates the clamping block. The diameter of the clamping portion is larger than the diameter of the screw body and smaller than the diameter of the screw head. The clamping portion and the guide portion have a smooth transition. The nail feeding device includes a nail storage box, a slide and a funnel. The nail storage box is fixed to the top of the fixing mechanism and is connected to the slide. The funnel is installed on the support plate and is connected to the guide part. The funnel can be moved to the bottom opening of the slide under the drive of the nailing mechanism. A discharge port is provided at the bottom of the nail storage box, and the discharge port is blocked by a blocking cylinder.

2. The wooden board construction nailing device according to claim 1, characterized in that: A connecting plate is fixed to the bottom of the fixing frame, and the connecting plate is arranged perpendicular to the direction of suction of the suction cup; the suction cup is elastically connected to the connecting plate through a spring connecting rod, and the spring connecting rod applies a force to the suction cup in a direction away from the connecting plate.

3. The wooden board construction nailing device according to claim 1, characterized in that: The vertical movement mechanism includes a vertical movement push cylinder, a vertical movement rail, a guide rod and a fixed block. The piston rod of the vertical movement push cylinder is connected to the fixed block. The nail gun is fixed to the fixed block. The fixed block is slidably connected to the vertical movement rail and the guide rod; the guide rod and the vertical movement rail are both vertically fixed to the bottom of the mounting frame.

4. The wooden board construction nailing device according to claim 3, characterized in that: A buffer spring is sleeved on the guide rod, and the buffer spring is located between the fixing block and the mounting bracket.

5. The wooden board construction nailing device according to claim 4, characterized in that: A limiter is provided on the mounting frame, and the limiter cooperates with the fixing block to ensure that the distance that the screw is pushed by the bit is consistent with the length of the screw.

6. The wooden board construction nailing device according to claim 1, characterized in that: A position detection module and a screw detection module are installed on the support plate. The position detection module is arranged at the bottom of the support plate; the screw detection module faces the exit of the guide slide; the length of the clamping part is less than the length of the screw body.

7. The wooden board construction nailing device according to claim 6, characterized in that: A pressing cylinder is further provided at the bottom of the support plate. The pressing cylinder is arranged toward the direction in which the screw is driven in, and a pressing plate is provided at the top of the piston rod of the pressing cylinder.

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