A building formwork iron nail removing device and method

Abstract

The application discloses a kind of building template iron nail removal device and method, comprising: frame portion;Template storage box portion, including installation in frame portion in template input box, the bottom of template input box is equipped with lifting mechanism, by lifting mechanism make abandoned wood template in template input box have clamping space;Annular clamping portion, by first annular track constitutes main body, first annular track is equipped with several movable lifting clamping jaw unit, for template in template storage box portion is clamped;Iron nail removal portion, including installation in the second annular track of the lower surface of top plate of frame portion, by electric trolley installation in the second annular track on pneumatic nail pulling unit, inductive positioning unit, adsorption collection unit, auxiliary drilling unit, for the iron nail on the template of annular clamping portion clamping is positioned, nail pulling and collection.The application can effectively improve iron nail removal efficiency and abandoned template recycling rate, improve efficiency and template quality.

Description

Technical Field

[0001] This invention relates to the technical field of construction engineering, specifically to a device for removing nails from building formwork, and also to a method for removing nails from building formwork. Background Technology

[0002] Construction formwork is a temporary support structure, manufactured according to design requirements, to shape concrete structures and components according to specified positions and geometric dimensions, maintain their correct position, and bear the self-weight of the formwork and external loads acting on it. Current technologies for processing waste construction formwork mainly involve compression, crushing, reconstruction, and incineration. The most energy-efficient and environmentally friendly method is to remove the nails from the formwork, allowing for direct reuse. However, there is currently no efficient automated method for removing formwork nails; workers still use auxiliary machines to pull out the nails one by one from the waste wooden formwork, which is inefficient, time-consuming, and labor-intensive. Therefore, a convenient and efficient device and method for removing construction formwork nails is needed. Summary of the Invention

[0003] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a nail removal device for building formwork. This device first stores a sufficient amount of waste wooden formwork in the formwork input box. Then, a push rod motor unit on the input box lifts each formwork. Several lifting gripper units work together to clamp the wooden formwork and adjust its direction. Next, the nail removal units work together to remove the nails from the formwork. Finally, the formwork with all nails removed is placed back into the formwork input box. The formwork output box is moved so that its side mechanism inserts into the formwork input box and is fixed relative to it. Through the push-out mechanism on the side of the formwork input box, the finished formwork is output, significantly saving manpower and improving efficiency and formwork quality.

[0004] Another objective of this invention is to provide a method for removing nails from building formwork, which can be directly applied to existing formwork nail removal processes. The method involves first storing the formwork in a formwork input box, then using an internal mechanism in conjunction with a lifting gripper unit on an external circular track to clamp and lift the waste wooden formwork. Once lifted to a suitable height, the nail removal unit at the top works in conjunction with the lifting gripper unit to locate and remove the nails from the wooden formwork. After completion, the wooden formwork is returned to the formwork input box. The formwork is then transferred from the input box to the output box via a side mechanism that connects the formwork input box and the formwork output box. Finally, the output box is moved out, effectively improving nail removal efficiency and the recycling rate of waste formwork.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The formwork nail removal device of the present invention includes: a frame portion, serving as the main body of the entire device; and a formwork storage box portion, including a formwork input box and a formwork output box installed in the frame portion. The bottom of the formwork input box is provided with a lifting mechanism, which is supported by a second electric push rod installed at the bottom of the formwork input box. The output end of the second electric push rod is connected to a first lifting push plate. The four corners of the first lifting push plate are provided with four second lifting push plate slots. The bottom end of each second lifting push plate slot is provided with an upward-facing third electric push rod, the output end of which is connected to the second lifting push plate. The lifting mechanism allows the formwork input box to... The waste wooden templates in the container have a clamping space; the annular clamping part consists of two first annular tracks installed on the bottom and top plates of the frame part, respectively. The first annular tracks are equipped with several movable lifting gripper units for clamping the templates in the template storage box part; the nail removal part includes a second annular track installed on the lower surface of the top plate of the frame part. The second annular track is equipped with a pneumatic nail removal unit, a sensing positioning unit, an adsorption collection unit, and an auxiliary drilling unit installed on the second annular track by an electric trolley, respectively, for positioning, removing, and collecting the nails on the templates clamped by the annular clamping part.

[0007] Preferably, the base plate has four circular columns from the middle to the left perimeter, and two rectangular columns at the front and rear perimeters of the right perimeter. A top plate of the same size as the base plate is installed at the top of the circular and rectangular columns. The rectangular area enclosed by the four circular columns is used to install the annular clamping part, the template input box, and the nail removal part. The rectangular area enclosed by the two circular columns in the middle and the two rectangular columns on the right is used to install the template output box. The annular clamping part is installed between the upper surface of the base plate and the lower surface of the top plate. The template storage box is installed on the upper surface of the base plate, and the nail removal part is installed on the lower surface of the top plate.

[0008] Furthermore, the left side of the template input box is provided with two nail storage boxes mounted on the base plate, and the bottom of the template output box is provided with a horizontal output track. The template output box is mounted on the track by an electric trolley and moves left and right on the output track. The template input box is mainly composed of an input box body. The top of the input box body is open, and the front of the top is provided with an outwardly extending sloping feed plate. The outer surface of the left side of the input box body is provided with a first electric push rod. The output end of the first electric push rod passes through the left side plate of the input box body and enters the box. This output end is connected to an output push plate. The right side of the input box body is provided with a push plate for the output push plate. The right output port is matched in size to the plate. The outer surface of the right output port is covered with a first output baffle with an area larger than the port. The first output baffle has an irregular structure with a vertical baffle with a vertical area larger than the right output port. The top of the vertical baffle is also provided with an extension baffle that faces outward and tilts downward. The rightmost side of the extension baffle has a rectangular slot facing inward. The outer surface of the right side of the vertical baffle is provided with a vertical rack and pinion track. An output stepper motor is provided on the outer surface of the right output port of the input box near the rack and pinion track. The output stepper motor controls the first output baffle to rise and close the right output port through gears and rack and pinion track.

[0009] Furthermore, the template output box is composed of an output box body as the main body. The outer surface of the left side of the output box body is provided with a rectangular opening, the size of which matches the size of the output port on the right side. The periphery of the rectangular opening is provided with a second output baffle that faces outward and is inclined upward. At the same time, the left and right ends of the second output baffle are provided with vertical output side baffles. The width of the second output baffle matches the width of the first output baffle. At its far end, there is also an outward convex output insert. The size, width and length of the output insert exactly match the rectangular slot that faces inward at the far end of the first output baffle.

[0010] Preferably, the lifting gripper unit consists of two upper and lower lead screw slide mounting plates as a base, connected by a vertical support rod with a vertical rectangular opening in the middle. Each of the upper and lower lead screw slide mounting plates is equipped with a lead screw stepper motor. The output end of each lead screw stepper motor is connected to a lead screw, and a slide is mounted on the lead screw. The slide is mainly composed of a first servo motor mounting base, which has a first servo motor facing the vertical rectangular opening. The output end of the first servo motor is connected to a fourth electric push rod mounting base, which mounts a fourth electric push rod. The rod passes through the vertical rectangular opening, pointing towards the center line of the first circular track; the output end of the fourth electric push rod is connected to the second servo motor mounting base, and the second servo motor is installed on the right side of the second servo motor mounting base. The output shaft of the second servo motor passes through the central opening of the second servo motor mounting base and is connected to an L-shaped clamp plate pointing towards the center line of the first circular track; the lifting gripper unit on the first circular track is moved to a position closer to the template. Since each lifting gripper unit is equipped with two sets of corresponding upper and lower slides, the upward and downward slidings of the L-shaped clamp plates on the two slides of a lifting gripper unit are the left slide and the right slide, respectively.

[0011] Furthermore, the pneumatic nail-pulling unit is composed of, from top to bottom, a fifth electric push rod, a servo mounting plate, a third servo, a fourth servo mounting base, a fourth servo, a component mounting base, and a pneumatic nail-puller connected together. The fourth servo is mounted on one side of the fourth servo mounting base, and its output shaft passes through the central opening of the fourth servo mounting base, on which a component mounting base is mounted. A pneumatic nail-puller is fixedly mounted on the component mounting base. The main structure of the sensing and positioning unit, the adsorption and collection unit, and the auxiliary drilling unit is the same as that of the pneumatic nail-pulling unit, only the components mounted on the component mounting base are different. A metal detector is mounted on the component mounting base of the sensing and positioning unit. An electro-permanent magnet chuck mounting base is mounted on the component mounting base of the adsorption and collection unit, and two electro-permanent magnet chucks are arranged on the left and right sides of the electro-permanent magnet chuck mounting base. A miniature drilling machine is mounted on the component mounting base of the auxiliary drilling unit.

[0012] Accordingly, the present invention also provides a method for removing nails from building formwork, the steps of which are as follows:

[0013] S1, Template Input: When it is necessary to input waste wood templates, first control the movement of each lifting gripper unit on the first circular track to avoid the input channel of the sloped material cutting plate. At this time, the first electric push rod, the second electric push rod, and the third electric push rod are all retracted to the shortest stroke. The output stepper motor controls the first output baffle to rise and close the right output port through the gear and rack track, and puts the wood template into the template input box for storage through the input channel of the sloped material cutting plate.

[0014] S2, Lifting and Retrieval: When it is necessary to lift and retrieve the waste wooden template, the second electric push rod of the lifting mechanism is used to lift the entire first lifting push plate to a suitable height. At this time, the waste wooden template is placed on the flat first lifting push plate. Since the template does not expose the clamping space, it is inconvenient for the lifting and lowering gripper unit to clamp it. At this time, according to the placement position of the template, the corresponding third electric push rod is controlled to lift the corresponding second lifting push plate. At this time, the template has a clamping space due to the height difference, and the lifting and lowering gripper unit is used to clamp it.

[0015] S3. Lifting and Clamping: When it is necessary to clamp the waste wooden template, the third electric push rod has already raised the template to a certain height difference. First, the left slide of two or more lifting jaw units is lowered to a suitable height via the lead screw stepper motor. Then, the L-shaped clamping plate is pushed out to the bottom of the template via its fourth electric push rod. Simultaneously, the right slide of two or more lifting jaw units is lowered to a suitable height, and the L-shaped clamping plate is pushed out to the top of the template via its fourth electric push rod. At this time, the left and right slides move up and down towards the template, so that the template is clamped. Multiple sets of lifting jaw units work together... When clamping a template, if an angled clamping is required, the second servo motor controls the L-shaped clamping plate to make a fine adjustment of the angle to cooperate with the angled clamping. After the template is clamped, the slide table is controlled by the lead screw stepper motor to raise the template along the lead screw, and then the nail is removed through the nail removal section. If the template angle needs to be adjusted during the removal process, the second servo motor is used to make a fine adjustment of the L-shaped clamping plate. If it is not enough, the first servo motor is used to rotate the fourth electric push rod to adjust the template so that the template can face the nail removal section from all directions.

[0016] S4. Nail Removal Process: After the annular clamping unit has gripped the template and raised it to a suitable position, the electric trolley first controls the fifth electric push rod of the sensing and positioning unit to push down the servo motor mounting plate to a suitable height, so that the metal detector below is higher than the template surface, and the nail positioning work is carried out. When positioning the nail, if the angle needs to be adjusted, the third servo motor first adjusts the horizontal angle, and then the fourth servo motor adjusts the vertical direction. When the position of the metal detector needs to be adjusted during the detection process, the template can also be moved in coordination with the various lifting gripper units to achieve bidirectional relative movement between the template and the construction machinery. When the nail is detected, the pneumatic nail removal unit is moved. The pneumatic nail puller is activated at the corresponding position to remove nails. Simultaneously, the adsorption and collection unit is moved to its vicinity, and the electro-permanent magnetic chuck is opened to adsorb the nails that have been removed. At the same time, the induction and positioning unit is moved away to detect the next nail. This process is repeated until no nails can be detected on the entire template. At this point, the nail removal of one template is complete. The template is then lowered by the lifting gripper unit and placed back into the template input box. At the same time, the adsorption and collection unit is moved above the nail storage box, and the electro-permanent magnetic chuck is closed. The nails fall into the nail storage box for storage. If a broken nail is encountered, the auxiliary drilling unit is activated to drill through the template near the nail using a micro drill and remove the nail.

[0017] S5. Template Output: When the finished template is returned to the input box after nail removal, the template is transferred and output. The lifting gripper units on the first circular track are moved to avoid the first output baffle on the right side of the template input box, connecting it to the template output box. First, the third electric push rod retracts all the second lifting push plates into the second lifting push plate slots. Simultaneously, the second electric push rod retracts, lowering the first lifting push plate to the bottom of the output push plate. Then, the output stepper motor controls the gear on it to rotate on the rack and pinion track, causing the first output baffle to descend to a suitable height, opening the right-side output port. Finally, the electric trolley below the template output box is controlled to move to the left on the output track. Finally, the output plate of the template output box is fully inserted into the rectangular slot at the end of the first output baffle. The output side baffle, the second output baffle, and the first output baffle together form an inclined template transfer channel. At this time, the first electric push rod pushes the output push plate, which pushes the finished wooden template in the input box out through the right output port and slides into the output box through the channel. After all the templates fall into the output box, the transfer is completed. At this time, the template output box moves to the right end of the output track, and the components of the template input box are restored, completing the finished product transfer. The construction personnel can use the template output box on the right to take out the finished template, while the template input box continues to remove nails.

[0018] Therefore, the beneficial effects of the building formwork nail removal device and method of the present invention are as follows:

[0019] 1. Compared to existing technologies, the special template input box and template output box designed in this invention can be matched and combined to form a double-box structure for internal template transfer. At the same time, the template output box can be separated from the template input box via the output track for separate finished template storage. In addition to its original function of storing waste wooden templates, the template input box can also lift the waste wooden templates in two stages via its lifting mechanism. The first stage lifts the wooden template as a whole. Although this method can raise the template to a suitable height, the uniform height makes it inconvenient to clamp. At this time, a third electric push rod can be used for a second lifting. The third electric push rod can be adjusted according to the actual situation to create a certain height difference in different parts of the waste wooden template, making it easier for the lifting gripper unit to clamp and retrieve it. After all the waste wooden templates have been processed, the first electric push rod, in conjunction with the output push plate, the right output port, the output stepper motor, and the rack and pinion track, can be used to quickly transfer the wooden templates through the channel formed by the template input box and the template output box. This method of storing, transferring, and outputting wooden templates is convenient and efficient, greatly improving the efficiency of template nail removal and retrieval.

[0020] 2. This invention provides two corresponding first annular tracks on the bottom and top plates, with several lifting gripper units installed between them. This allows for multi-directional and multi-angle synchronous gripping of the same template, significantly improving gripping efficiency and range, while also enhancing gripping stability. Furthermore, the cooperation between various mechanisms on the slide, such as the first servo motor, the second servo motor, the fourth electric push rod, and the L-shaped clamping plate, enables the template to tilt at various angles, perfectly adapting to various gripping and nail removal angle requirements, thereby improving nail removal efficiency and adaptability to various types of discarded templates. 3. This invention efficiently combines the pneumatic nail removal unit, the sensing and positioning unit, the adsorption and collection unit, and the auxiliary drilling unit through a second annular track set on the lower surface of the top plate. This enables the nail removal section to achieve the functions of positioning, removing, and collecting nails. In special cases, such as broken nails or nail heads that are difficult to remove, a micro-drilling machine can be used to further assist in the removal. If the nail cannot be removed, it can be forcibly removed, further improving the adaptability of the device to various templates. The fifth electric push rod, the third servo motor, and the fourth servo motor on each processing unit, together with the lifting gripper unit that can adjust various angles, can achieve construction with various angles and types of molds and nails, greatly improving work efficiency and collecting all removed nails, making it highly efficient and environmentally friendly. Attached Figure Description

[0021] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall structure of the frame portion of the present invention;

[0024] Figure 3 This is a schematic diagram of the overall structure of the template storage box portion of the present invention;

[0025] Figure 4 This is a schematic diagram of the overall structure of the template input box of the present invention;

[0026] Figure 5 This is a side bottom view of the template input box of the present invention;

[0027] Figure 6 This is a schematic diagram of the overall structure of the lifting mechanism of the present invention;

[0028] Figure 7 This is a schematic diagram of the overall structure of the template output box of the present invention;

[0029] Figure 8 This is a schematic diagram of the overall structure of the annular clamping part of the present invention;

[0030] Figure 9 This is a schematic diagram of the overall structure of the lifting gripper unit of the present invention;

[0031] Figure 10 This is an enlarged schematic diagram of a portion of the slide table of the present invention;

[0032] Figure 11 This is a schematic diagram of the overall structure of the nail removal part of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1000-Framework Section:

[0035] 1001 - Casters; 1002 - Base plate; 1003a - Round column; 1003b - Rectangular column; 1004 - Top plate;

[0036] 2000- Template Storage Box Section:

[0037] 2001 - Nail storage box; 2002 - Output track;

[0038] 2100 - Template input box; 2101 - Input box body; 2101a - Right output port; 2101b - Sloping feed plate; 2102a - First output baffle; 2102b - Rack and pinion track; 2103 - Output stepper motor; 2104 - First electric push rod; 2104a - Output push plate; 2105 - Lifting mechanism; 2105a - Second electric push rod; 2105b - First lifting push plate; 2105c - Third electric push rod; 2105d - Second lifting push plate slot; 2105e - Second lifting push plate;

[0039] 2200 - Template output box; 2201 - Output box body; 2201a - Second output baffle; 2201b - Output side baffle; 2201c - Output plug-in plate;

[0040] 3000-ring gripper section:

[0041] 3001 - First Circular Track;

[0042] 3100 - Lifting gripper unit; 3101 - Screw slide mounting plate; 3102 - Vertical pole; 3102a - Vertical rectangular opening; 3103 - Screw stepper motor; 3104 - Screw; 3105 - Slide; 3105a - First servo motor mounting base; 3105b - First servo motor; 3105c - Fourth electric actuator mounting base; 3105d - Fourth electric actuator; 3105e - Second servo motor mounting base; 3105f - Second servo motor; 3105g - L-shaped clamping plate;

[0043] 4000 - Nail Removal Section:

[0044] 4001 - Second Circular Track;

[0045] 4100 - Pneumatic nail puller unit; 4101 - Fifth electric push rod; 4102 - Servo mounting plate; 4103 - Third servo; 4104 - Fourth servo mounting base; 4105 - Fourth servo; 4106 - Component mounting base; 4107 - Pneumatic nail puller;

[0046] 4200 - Sensing and positioning unit; 4201 - Metal detector;

[0047] 4300 - Adsorption and collection unit; 4301 - Electro-permanent magnet chuck mounting base; 4302 - Electro-permanent magnet chuck; 4400 - Auxiliary drilling unit; 4401 - Micro drilling machine. Detailed Implementation

[0048] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0049] Below, in conjunction with Figures 1 to 11 This invention provides a detailed description of a device and method for removing nails from building formwork.

[0050] Depend on Figure 1As shown, the formwork nail removal device of the present invention includes a frame portion 1000 as the main body, in which a formwork storage box portion 2000 is installed. The formwork input box 2100 of the formwork storage box portion 2000 is provided with an annular clamping portion 3000 around its periphery. The inner side of the top end of the annular clamping portion 3000 is provided with a downward nail removal portion 4000. The nail removal portion 4000 is installed on the lower surface of the top end of the frame portion 1000.

[0051] Depend on Figure 2 As shown, the frame portion 1000 consists of a base plate 1002 with several casters 1001 mounted on its lower end. The base plate 1002 has four circular columns 1003a extending from its center to its left perimeter, and two rectangular columns 1003b extending from its right perimeter. A top plate 1004, the same size as the base plate 1002, is mounted on the top of both the circular and rectangular columns 1003a. The rectangular area enclosed by the four circular columns 1003a is used to install the annular clamping portion 30. 00, template input box 2100, nail removal part 4000, and the rectangular area enclosed by the two circular columns 1003a in the middle and the two rectangular columns 1003b on the right is used to install template output box 2200; the annular clamping part 3000 is installed between the upper surface of the base plate 1002 and the lower surface of the top plate 1004, the template storage box part 2000 is installed on the upper surface of the base plate 1002, and the nail removal part 4000 is installed on the lower surface of the top plate 1004.

[0052] Depend on Figures 3-7As shown, the template storage box section 2000 consists of a template input box 2100 on the left and a template output box 2200 on the right. The template input box 2100 has two nail storage boxes 2001 mounted on the base plate 1002 on its left side. The template output box 2200 has a horizontal output track 2002 at its bottom, and the template output box 2200 is mounted on it by an electric trolley, allowing it to move left and right on the output track 2002. The template input box 2100 consists of an input box body 2101 as its main body, and the top of the input box body 2101... The input box 2101 is designed with an opening, and the front of the top has an outwardly extending sloping feed plate 2101b. A first electric push rod 2104 is provided on the outer surface of the left side of the input box 2101. The output end of the first electric push rod 2104 passes through the left side plate of the input box 2101 and enters the box. The output end is connected to an output push plate 2104a. A right output port 2101a matching the size of the output push plate 2104a is provided on the right side of the input box 2101. The outer surface of the right output port 2101a is covered with a first output baffle 210, which has an area slightly larger than the baffle. 2a. The first output baffle 2102a has an irregular structure, with a vertical baffle whose vertical area is slightly larger than that of the right output port 2101a. The top of the vertical baffle is also provided with an extension baffle that faces outward and tilts downward. The rightmost side of the extension baffle has a rectangular slot facing inward. The right outer surface of the vertical baffle is provided with a vertical rack and pinion track 2102b. An output stepper motor 2103 is provided on the outer surface of the right output port 2101a of the input box 2101 near the rack and pinion track 2102b. The bottom surface of the input box 2101... A lifting mechanism 2105 is provided, which is supported by a second electric push rod 2105a installed on the bottom surface of the input box 2101. The output end of the second electric push rod 2105a is connected to a first lifting push plate 2105b. The four corners of the first lifting push plate 2105b are provided with four rectangular second lifting push plate slots 2105d. The bottom end of the second lifting push plate slots 2105d is provided with an upward-facing third electric push rod 2105c. The output end of the third electric push rod 2105c is connected to a second lifting push plate 2105e.

[0053] In addition, the template output box 2200 is mainly composed of an output box body 2201. The outer surface of the left side of the output box body 2201 is provided with a rectangular opening, the size of which matches the size of the output port 2101a on the right side. The periphery of the rectangular opening is provided with a second output baffle 2201a that faces outward and is inclined upward. At the same time, the left and right ends of the second output baffle 2201a are provided with vertical output side baffles 2201b. The width of the second output baffle 2201a matches the width of the first output baffle 2102a. At its far end, there is also an outward convex output insert 2201c. The size, width and length of the output insert 2201c are exactly matched with the inward rectangular slot at the far end of the first output baffle 2102a.The purpose of this structure is that when waste wood templates need to be input, the lifting gripper units 3100 on the first annular track 3001 are first controlled to move, so that they avoid the input channel of the sloped discharge plate 2101b. At this time, the first electric push rod 2104, the second electric push rod 2105a, and the third electric push rod 2105c are all retracted to their shortest stroke. The output stepper motor 2103 controls the first output baffle 2102a to rise and close the right output port 2101a through the gear and rack track 2102b, so that the wood templates can be placed into the template input box 2100 for storage through the sloped discharge plate 2101b. When it is necessary to lift and retrieve the waste wood templates, the second electric push rod 2105a of the lifting mechanism 2105 is first used to lift the templates. The entire first lifting push plate 2105b is raised to a suitable height. At this time, the waste wooden template is placed on the flat first lifting push plate 2105b. Since the template does not have exposed clamping space, it is inconvenient for the lifting gripper unit 3100 to clamp it. At this time, according to the placement position of the template, the corresponding third electric push rod 2105c is controlled to lift the corresponding second lifting push plate 2105e. At this time, the template has clamping space due to the height difference, and it can be clamped by the lifting gripper unit 3100. When the finished template after nail removal is placed back into the input box 2101, the template can be transferred and output. The lifting gripper units 3100 on the first circular track 3001 are controlled to move, avoiding the first output baffle 2102a on the right side of the template input box 2100, so that it can be connected to the first output baffle 2102a on the right side of the template input box 2100. The template output box 2200 is connected. First, the third electric push rod 2105c retracts all the second lifting push plates 2105e into the second lifting push plate slots 2105d. Simultaneously, the second electric push rod 2105a retracts, causing the first lifting push plate 2105b to descend to the bottom of the output push plate 2104a. At this time, the output stepper motor 2103 controls the gear on it to rotate on the rack and pinion track 2102b, thereby causing the first output baffle 2102a to descend to a suitable height and the right output port 2101a to open. Then, the electric trolley below the template output box 2200 is controlled to move to the left on the output track 2002, so that the output insert plate 2201c of the template output box 2200 is completely inserted into the rectangular slot at the end of the first output baffle 2102a. The output side baffle 2201b, the second output baffle 2201a, and the first output baffle 2102a together form an inclined template transfer channel. At this time, the first electric push rod 2104 pushes the output push plate 2104a, which pushes the finished wooden template in the input box 2101 out through the right output port 2101a and slides into the output box 2201 through the channel. After all the templates have fallen into the input box 2201, the transfer is completed. At this time, the template output box 2200 moves to the right end of the output track 2002, and the components of the template input box 2100 are restored, completing the finished product transfer. Construction personnel can use the template output box 2200 on the right to take out the finished templates, while the template input box 2100 continues to remove nails.

[0054] Compared to existing technologies, the special template input box 2100 and template output box 2200 designed in this invention can be matched and combined to form a double-box structure for internal template transfer. Simultaneously, the template output box 2200 can be separated from the template input box 2100 via the output track 2002 for independent finished template storage. The template input box 2100, in addition to its original function of storing waste wooden templates, can also lift waste wooden templates in two stages via its lifting mechanism 2105. The first stage lifts the entire template to a suitable height, but the uniform height makes clamping inconvenient. In this case, a third electric push rod 210 can be used. The third electric push rod 2105c is used for secondary lifting, and the lifting is adjusted according to the actual situation to create a certain height difference in various parts of the waste wooden template, which makes it easier for the lifting gripper unit 3100 to clamp and pick it up. After all the waste wooden templates have been processed, the first electric push rod 2104, together with the output push plate 2104a, the right output port 2101a, the output stepper motor 2103, and the rack and pinion track 2102b, can quickly transfer the wooden template through the channel formed by the template input box 2100 and the template output box 2200. This method of storing, transferring, and outputting wooden templates is convenient and efficient, and greatly improves the efficiency of template nail removal and retrieval.

[0055] Depend on Figures 8-10As shown, the annular clamping part 3000 is mainly composed of two first annular tracks 3001, one mounted on the bottom plate 1002 and the other on the top plate 1004. These first annular tracks 3001 cover the template input box 2100 and the nail storage box 2001. Several movable lifting gripper units 3100 are mounted on the first annular tracks 3001, and these lifting gripper units 3100 are mounted on them via an electric trolley. Each lifting gripper unit 3100 has two upper and lower lead screw slide mounting plates 3101 as its base, connected by a vertical upright 3102. The upright 3102 has a vertical rectangular opening 3102a in the middle. Lead screw stepper motors 3103 are respectively mounted on the upper and lower lead screw slide mounting plates 3101, with their positions corresponding left and right. The output end of each lead screw stepper motor 3103 is connected to a lead screw 3104, which has a slide 3105. The slide 3105 is mainly composed of a first servo mounting base 3105a. The first servo mounting base 3105a is provided with a first servo 3105b facing the end of the vertical rectangular opening 3102a. The output end of the first servo 3105b is connected to a fourth electric push rod mounting base 3105c. A fourth electric push rod 3105d is installed on the fourth electric push rod mounting base 3105c. The fourth electric push rod 3105d passes through the vertical rectangular opening 3102a and faces the center line of the first circular track 3001. The output end of the fourth electric push rod 3105d is connected to a second servo mounting base 3105e. A second servo 3105f is installed on the right side of the second servo mounting base 3105e. The output shaft of the second servo 3105f passes through the central opening of the second servo mounting base 3105e and is connected to an L-shaped clamp 3105g facing the center line of the first circular track 3001.The purpose of this structure is that when it is necessary to clamp the waste wooden template, the third electric push rod 2105c has already raised the template to a certain height difference. At this time, the lifting gripper unit 3100 on the first annular track 3001 is moved to a position closer to the template. Since each lifting gripper unit 3100 is equipped with two sets of corresponding upper and lower slides 3105, the L-shaped clamping plates 3105g on the two slides 3105 of a lifting gripper unit 3100 are referred to as the left slide and the right slide, respectively, with the upward and downward directions of the L-shaped clamping plates 3105g. First, the left slide of two or more lifting gripper units 3100 is lowered to a suitable height by the lead screw stepper motor 3103, and the L-shaped clamping plates 3105g are pushed out by its fourth electric push rod 3105d until the bottom of the template is reached. Simultaneously, the right slide of two or more lifting gripper units 3100 is lowered to a suitable height, and the L-shaped clamping plates 3105g are pushed out by its fourth electric push rod 3105d. The clamping plate 3105g reaches the top of the template. At this time, the left and right slides move up and down towards the template, clamping it tightly. Multiple lifting gripper units 3100 work together to grip a template, effectively enhancing the stability of clamping the template. If a tilt angle is required, the L-shaped clamping plate 3105g can be finely adjusted via the second servo motor 3105f. After clamping the template, the slide 3105, carrying the template, is raised via the lead screw stepper motor 3103, allowing the nail to be removed via the nail removal section 4000. If the template angle needs to be adjusted during the removal process, the L-shaped clamping plate 3105g can be finely adjusted via the second servo motor 3105f. If this is insufficient, the fourth electric push rod 3105d can be rotated and adjusted via the first servo motor 3105b, ensuring the template faces the nail removal section 4000 from all directions.

[0056] Compared to existing technologies, this invention provides two corresponding first annular tracks 3001 on the base plate 1002 and the top plate 1004, with several lifting gripper units 3100 installed therebetween. This allows for multi-directional and multi-angle synchronous gripping of the same template, significantly improving gripping efficiency and range, while also enhancing gripping stability. Furthermore, the cooperation between various mechanisms on the slide table 3105, such as the first servo motor 3105b, the second servo motor 3105f, the fourth electric push rod 3105d, and the L-shaped clamping plate 3105g, enables the template to tilt at various angles, perfectly adapting to various gripping and nail removal angle requirements, improving nail removal efficiency, and enhancing adaptability to various shapes of discarded templates.

[0057] Depend on Figure 11As shown, the nail removal section 4000 is mainly composed of a second annular track 4001 installed on the lower surface of the top plate 1004. The second annular track 4001 is equipped with a pneumatic nail removal unit 4100, a sensing and positioning unit 4200, an adsorption and collection unit 4300, and an auxiliary drilling unit 4400. Each unit is installed on the second annular track 4001 via an electric trolley. The pneumatic nail removal unit 4100 is composed of, from top to bottom, a fifth electric push rod 4101, a servo motor mounting plate 4102, a third servo motor 4103, a fourth servo motor mounting base 4104, a fourth servo motor 4105, a component mounting base 4106, and a pneumatic nail remover 4107 connected together. The fourth servo motor 4105 is installed on one side of the fourth servo motor mounting base 4104, and its output shaft passes through the fourth servo motor. The mounting base 4104 has an opening in the middle and a component mounting base 4106 is mounted on it. A pneumatic nail puller 4107 is fixedly mounted on the component mounting base 4106. The main structure of the sensing and positioning unit 4200, the adsorption and collection unit 4300, and the auxiliary drilling unit 4400 is the same as that of the pneumatic nail puller 4100, only the components mounted on the component mounting base 4106 are different. A metal detector 4201 is mounted on the component mounting base of the sensing and positioning unit 4200. An electro-permanent magnet chuck mounting base 4301 is mounted on the component mounting base of the adsorption and collection unit 4300. Two electro-permanent magnet chucks 4302 are arranged on the left and right sides of the electro-permanent magnet chuck mounting base 4301. A miniature drilling machine 4401 is mounted on the component mounting base of the auxiliary drilling unit 4400.

[0058] The purpose of this structure is that after the annular clamping part 3000 has finished clamping the template and raised it to a suitable position, the electric trolley first controls the fifth electric push rod 4101 of the sensing and positioning unit 4200 to push down the servo motor mounting plate 4102 to a suitable height, so that the metal detector 4201 below is slightly higher than the template surface, allowing for nail positioning. When positioning nails, if it is necessary to adjust the angle, such as tilting the template or nails, the third servo motor 4103 can be used to adjust the horizontal angle first, and then the fourth servo motor 4105 can be used to adjust the vertical direction. When it is necessary to adjust the position of the metal detector 4201 during the detection process, the template can also be moved in coordination with the various lifting gripper units 3100 to achieve bidirectional relative movement between the template and the construction machinery, thereby improving the nail removal efficiency. When a nail is detected, the pneumatic nail removal unit 4100 can be moved to the corresponding position to start the pneumatic nail remover 4107 to remove the nail, and the adsorption and collection unit 4300 can be moved to its vicinity and the electro-permanent magnet chuck 4302 can be opened. The system adsorbs the nails that have been knocked out, and simultaneously moves the sensing and positioning unit 4200 to detect the next nail. This process is repeated until no nails can be detected on the entire template. At this point, the template has been completely nail-removed. The template can then be lowered by the lifting gripper unit 3100 and returned to the template input box 2100. At the same time, the adsorption and collection unit 4300 is moved above the nail storage box 2001, and the electro-permanent magnet chuck 4302 is turned off. The nails fall into the nail storage box 2001 for storage. If a broken nail is found, it will be stored separately. In cases where nails are difficult to remove, such as nail heads, auxiliary drilling unit 4400 can be used. A micro drilling machine 4401 can be used to grind and drill holes near the nail, making the nail looser on the template and easier to remove. Then, a pneumatic nail puller 4107 can be used to remove it. If it still cannot be removed, it is determined that the nail is difficult to remove. At this time, the micro drilling machine 4401 can be used to drill through the template near the nail, forcibly removing the nail. The template is then marked as a damaged template, which can be removed separately for further processing when the construction personnel need to retrieve it.

[0059] Compared to existing technologies, this invention efficiently combines the pneumatic nail-pulling unit 4100, the sensing and positioning unit 4200, the adsorption and collection unit 4300, and the auxiliary drilling unit 4400 through the second annular track 4001 set on the lower surface of the top plate 1004. This enables the nail-pulling section 4000 to perform positioning, nail-pulling, and nail-collecting functions. In special cases, such as broken nails or nail heads that are difficult to remove, the micro-drilling machine 4401 can further assist in the removal. If the nail cannot be removed, it can be forcibly removed, further improving the adaptability of the device to various templates. The fifth electric push rod 4101, the third servo motor 4103, and the fourth servo motor 4105 on each processing unit, together with the lifting gripper unit 3100 that can adjust various angles, can achieve construction with various angles and types of molds and nails, greatly improving work efficiency and collecting all removed nails, making it highly efficient and environmentally friendly.

[0060] Accordingly, the method for removing nails from building formwork according to the present invention comprises the following steps:

[0061] S1, Template Input: When it is necessary to input waste wood templates, first control the lifting gripper units 3100 on the first annular track 3001 to move so that they avoid the input channel of the sloped material plate 2101b. At this time, the first electric push rod 2104, the second electric push rod 2105a, and the third electric push rod 2105c are all retracted to their shortest stroke. The output stepper motor 2103 controls the first output baffle 2102a to rise and close the right output port 2101a through the gear and rack track 2102b. The wood template can be put into the template input box 2100 for storage through the input channel of the sloped material plate 2101b.

[0062] S2, Lifting and Retrieval: When it is necessary to lift and retrieve the waste wooden template, the second electric push rod 2105a of the lifting mechanism 2105 first lift push plate 2105b is lifted to a suitable height. At this time, the waste wooden template is placed on the flat first lift push plate 2105b. Since the template does not expose the clamping space, it is inconvenient for the lifting gripper unit 3100 to clamp it. At this time, according to the placement position of the template, the corresponding third electric push rod 2105c is controlled to lift the corresponding second lift push plate 2105e. At this time, the template has a clamping space due to the height difference, and can be clamped by the lifting gripper unit 3100.

[0063] S3. Lifting and Clamping: When it is necessary to clamp the waste wooden template, the third electric push rod 2105c has already raised the template to a certain height difference. At this time, the lifting gripper unit 3100 on the first circular track 3001 is moved to a position closer to the template. Since each lifting gripper unit 3100 is equipped with two sets of corresponding upper and lower slides 3105, the L-shaped clamping plates 3105g on the two slides 3105 of a lifting gripper unit 3100 are the left and right slides respectively, with the upward and downward directions of the slides. First, the left slide of two or more lifting gripper units 3100 is lowered to a suitable height by the screw stepper motor 3103, and the L-shaped clamping plate 3105g is pushed out by its fourth electric push rod 3105d until the bottom of the template. Simultaneously, the right slide of two or more lifting gripper units 3100 is lowered to a suitable height, and the L-shaped clamping plate 3105g is pushed out by its fourth electric push rod 3105d. The template is lifted to the top of the template. At this time, the left and right slides move up and down towards the template, clamping it. Multiple lifting gripper units 3100 work together to grip a template, which can effectively enhance the stability of clamping the template. If a tilt angle is required, the L-shaped clamping plate 3105g can be finely adjusted by controlling the second servo motor 3105f. After the template is clamped, the slide 3105 is controlled by the lead screw stepper motor 3103 to lift the template on the lead screw 3104. Then, the nail can be removed through the nail removal section 4000. If the template angle needs to be adjusted during the removal process, the L-shaped clamping plate 3105g can be finely adjusted by the second servo motor 3105f. If it is not enough, the fourth electric push rod 3105d can be rotated and adjusted by the first servo motor 3105b, so that the template can face the nail removal section 4000 from all directions.

[0064] S4. Nail Removal Process: After the annular clamping part 3000 has finished clamping the template and raised it to a suitable position, the electric trolley first controls the fifth electric push rod 4101 of the sensing and positioning unit 4200 to push down the servo motor mounting plate 4102 to a suitable height, so that the metal detector 4201 below is slightly higher than the template surface, and the nail positioning work can be carried out. When positioning the nail, if it is necessary to adjust the angle, such as tilting the template or tilting the nail, the third servo motor 4103 can be used to adjust the horizontal angle first, and then the fourth servo motor 4105 can be used to adjust the vertical direction. When it is necessary to adjust the position of the metal detector 4201 during the detection process, the template can also be moved in coordination with the various lifting gripper units 3100 to achieve bidirectional relative movement between the template and the construction machinery, thereby improving the nail removal efficiency. When the nail is detected, the pneumatic nail removal unit 4100 can be moved to the corresponding position to start the pneumatic nail remover 4107 to remove the nail. At the same time, the adsorption and collection unit 4300 is moved to its vicinity and the electro-permanent magnet chuck 4302 is opened to attract the nail. As the nails are removed, the sensing and positioning unit 4200 is moved away to detect the next nail. This process is repeated until no nails can be detected on the entire template. At this point, the nail removal for one template is complete. The template can then be lowered using the lifting gripper unit 3100 and returned to the template input box 2100. Simultaneously, the adsorption and collection unit 4300 is moved above the nail storage box 2001, and the electro-permanent magnet chuck 4302 is turned off. The nails fall into the nail storage box 2001 for storage. If a broken nail is found... In cases where nails are difficult to remove, such as nail heads, auxiliary drilling unit 4400 can be used. A micro drill 4401 can be used to grind and drill holes near the nail, making the nail looser in the template and easier to remove. Then, a pneumatic nail puller 4107 can be used to remove it. If it still cannot be removed, it is determined that the nail is difficult to remove. At this time, the micro drill 4401 can be used to drill through the template near the nail, forcibly remove the nail, and mark the template as a damaged template. When construction personnel need to retrieve it, it can be removed separately for further processing.

[0065] S5. Template Output: When the finished template after nail removal is placed back into the input box 2101, template transfer and output can be performed. Control the movement of each lifting gripper unit 3100 on the first annular track 3001 to avoid the first output baffle 2102a on the right side of the template input box 2100, so that it can connect with the template output box 2200. First, the third electric push rod 2105c will retract all the second lifting push plates 2105e into the second lifting push plate slots 2105d. Simultaneously, the second electric push rod 2105a will retract, causing the first lifting push plate 2105b to descend to the bottom of the output push plate 2104a. At this time, the output stepper motor 2103 will control the gear on it to rotate on the rack and pinion track 2102b, thereby causing the first output baffle 2102a to descend to a suitable height, and the right output port 2101a will open. Then, control the electric trolley below the template output box 2200 to move on the output track 2002. The template moves to the left, eventually allowing the output plate 2201c of the template output box 2200 to be fully inserted into the rectangular slot at the end of the first output baffle 2102a. The output side baffle 2201b, the second output baffle 2201a, and the first output baffle 2102a together form an inclined template transfer channel. At this time, the first electric push rod 2104 pushes the output push plate 2104a, which pushes the finished wooden template in the input box 2101 out through the right output port 2101a and slides into the output box 2201 through the channel. After all the templates have fallen into the output box 2201, the transfer is completed. At this time, the template output box 2200 moves to the right end of the output track 2002, and the components of the template input box 2100 are restored, completing the finished product transfer. Construction personnel can use the template output box 2200 on the right to take out the finished templates, while the template input box 2100 continues to remove nails.

[0066] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A device for removing nails from building formwork, characterized in that, include: The frame section (1000) serves as the main body of the entire device; The template storage box section (2000) includes a template input box (2100) and a template output box (2200) installed in the frame section (1000). The bottom of the template input box (2100) is provided with a lifting mechanism (2105). The lifting mechanism (2105) is supported by a second electric push rod (2105a) installed at the bottom of the template input box (2100). The output end of the second electric push rod (2105a) is connected to a first lifting push plate (2105b). The four corners of the first lifting push plate (2105b) are provided with four second lifting push plate slots (2105d). The bottom of the template input box (2100) is provided with an upward-facing third electric push rod (2105c). The output end of the third electric push rod (2105c) is connected to a second lifting push plate (2105e). The lifting mechanism (2105) provides a clamping space for the waste wooden template in the template input box (2100). The bottom of the template output box (2200) is provided with a horizontal output track (2002). The template output box (2200) is mounted on the track by an electric trolley and moves left and right on the output track (2002). The template input box (2100) is mainly composed of an input box body (2101). The top of the input box body (2101) is open, and the top of the input box body (2101) is open. The front part is provided with an outwardly extending sloping feed plate (2101b). A first electric push rod (2104) is provided on the outer surface of the left side of the input box (2101). The output end of the first electric push rod (2104) passes through the left side plate of the input box (2101) and enters the box. The output end is connected to an output push plate (2104a). The right side of the input box (2101) is provided with a right output port (2101a) that matches the size of the output push plate (2104a). The outer surface of the right output port (2101a) is covered with a first output baffle (2102a) with an area larger than it. The first output baffle (2102a) has an irregular structure. The input box (2101) has a vertical baffle with a vertical area larger than the right output port (2101a). The top of the vertical baffle is also provided with an extension baffle that faces outward and tilts downward. The rightmost side of the extension baffle has a rectangular slot facing inward. The right outer surface of the vertical baffle has a vertical rack and pinion track (2102b). The outer surface of the right output port (2101a) of the input box (2101) is provided with an output stepper motor (2103) near the rack and pinion track (2102b). The output stepper motor (2103) controls the first output baffle (2102a) to rise and close the right output port (2101a) through gears and rack and pinion track (2102b).The template output box (2200) is mainly composed of an output box body (2201). The outer surface of the left side of the output box body (2201) is provided with a rectangular opening, the size of which matches the size of the output port (2101a) on the right side. The outer periphery of the rectangular opening is provided with a second output baffle (2201a) that faces outward and tilts upward. At the same time, the left and right ends of the second output baffle (2201a) are provided with vertical output side baffles (2201b). The width of the second output baffle (2201a) matches the width of the first output baffle (2102a). At its far end, there is also an outward convex output insert (2201c). The size, width and length of the output insert (2201c) are exactly matched with the inward rectangular slot at the far end of the first output baffle (2102a). The annular clamping part (3000) is mainly composed of two first annular tracks (3001) installed on the bottom plate (1002) and top plate (1004) of the frame part (1000). The first annular track (3001) is provided with several movable lifting claw units (3100) for clamping the template in the template storage box part (2000). The nail removal section (4000) includes a second annular track (4001) installed on the lower surface of the top plate (1004) of the frame section (1000). The second annular track (4001) is provided with a pneumatic nail removal unit (4100), a sensing positioning unit (4200), an adsorption collection unit (4300), and an auxiliary drilling unit (4400) respectively installed on the second annular track (4001) by an electric trolley, for positioning, removing and collecting nails on the template clamped by the annular clamping section (3000).

2. The formwork nail removal device according to claim 1, characterized in that, The base plate (1002) has four circular columns (1003a) from the middle to the left periphery, and two rectangular columns (1003b) at the right periphery. The top of the circular columns (1003a) and the rectangular columns (1003b) is fitted with a top plate (1004) of the same size as the base plate (1002). The rectangular area enclosed by the four circular columns (1003a) is used to install the annular clamping part (3000), the template input box (2100), and the nail removal part (4000). The rectangular area enclosed by the two circular columns (1003a) in the middle and the two rectangular columns (1003b) on the right is used to install the template output box (2200). The annular clamping part (3000) is installed between the upper surface of the base plate (1002) and the lower surface of the top plate (1004), the template storage box part (2000) is installed on the upper surface of the base plate (1002), and the nail removal part (4000) is installed on the lower surface of the top plate (1004).

3. The formwork nail removal device according to claim 2, characterized in that, Two nail storage boxes (2001) are installed on the left side of the template input box (2100) and mounted on the base plate (1002).

4. The formwork nail removal device according to claim 3, characterized in that, The lifting gripper unit (3100) consists of two upper and lower lead screw slide mounting plates (3101) as its base. The two lead screw slide mounting plates (3101) are connected by a vertical upright (3102), which has a vertical rectangular opening (3102a) in the middle. Each of the upper and lower lead screw slide mounting plates (3101) is equipped with a lead screw stepper motor (3103). The output end of the lead screw stepper motor (3103) is connected to a lead screw (3104), and a slide (3105) is provided on the lead screw (3104). The slide (3105) is mainly composed of a first servo mounting base (3105a). A first servo (3105b) is mounted on the first servo mounting base (3105a) with its direction facing the end of the vertical rectangular opening (3102a). The output end of the first servo (3105b) is connected to a fourth electric actuator mounting base (3105c). A fourth electric actuator (3105d) is mounted on the fourth electric actuator mounting base (3105c). The fourth electric actuator (3105d) passes through the vertical rectangular opening (3102a) and is oriented towards the center line of the first circular track (3001). The output end of the fourth electric actuator (3105d)... A second servo motor mounting base (3105e) is connected to the second servo motor mounting base (3105e). A second servo motor (3105f) is mounted on the right side of the second servo motor mounting base (3105e). The output shaft of the second servo motor (3105f) passes through the central opening of the second servo motor mounting base (3105e) and is connected to an L-shaped clamping plate (3105g) facing the center line of the first circular track (3001). Each lifting gripper unit (3100) is provided with two sets of corresponding upper and lower slides (3105). The L-shaped clamping plates (3105g) on ​​the two slides (3105) of a lifting gripper unit (3100) are the left slide and the right slide, respectively, with the upward and downward directions of the slides.

5. The formwork nail removal device according to claim 4, characterized in that, The pneumatic nail-pulling unit (4100) is composed of, from top to bottom, a fifth electric push rod (4101), a servo mounting plate (4102), a third servo (4103), a fourth servo mounting base (4104), a fourth servo (4105), a component mounting base (4106), and a pneumatic nail-puller (4107). The fourth servo (4105) is mounted on one side of the fourth servo mounting base (4104), and its output shaft passes through the central opening of the fourth servo mounting base (4104) and is mounted on the component mounting base (4106). The pneumatic nail-puller (4107) is fixedly mounted on the component mounting base (4106). The main structure of the sensing and positioning unit (4200), the adsorption and collection unit (4300), and the auxiliary drilling unit (4400) is the same as that of the pneumatic nail-pulling unit (4100), except that the components mounted on the component mounting base (4106) are different. A metal detector (4201) is installed on the component mounting base of the sensing and positioning unit (4200). An electro-permanent magnet chuck mounting base (4301) is installed on the component mounting base of the adsorption and collection unit (4300), and two electro-permanent magnet chucks (4302) are provided on the left and right sides of the electro-permanent magnet chuck mounting base (4301). A micro drilling machine (4401) is installed on the component mounting base of the auxiliary drilling unit (4400).

6. A method for removing nails from building formwork using the apparatus as described in claim 5, characterized in that, The steps are as follows: S1, Template Input: When it is necessary to input waste wood templates, first control the movement of each lifting gripper unit (3100) on the first circular track (3001) to avoid the input channel of the sloped material plate (2101b). At this time, the first electric push rod (2104), the second electric push rod (2105a), and the third electric push rod (2105c) are all retracted to the shortest stroke. The output stepper motor (2103) controls the first output baffle (2102a) to rise and close the right output port (2101a) through the gear and rack track (2102b). The wood template is put into the template input box (2100) for storage through the input channel of the sloped material plate (2101b). S2, Lifting and Retrieval: When it is necessary to lift and retrieve the waste wooden template, the second electric push rod (2105a) of the lifting mechanism (2105) is used to lift the entire first lifting push plate (2105b) to a suitable height. At this time, the waste wooden template is placed on the flat first lifting push plate (2105b). According to the placement position of the template, the corresponding third electric push rod (2105c) is controlled to lift the corresponding second lifting push plate (2105e). At this time, the template has a clamping space due to the height difference, and is clamped by the lifting gripper unit (3100). S3. Lifting and Clamping: When it is necessary to clamp the waste wooden template, the third electric push rod (2105c) has already raised the template to a certain height difference. At this time, the lifting gripper unit (3100) on the first circular track (3001) is moved to a position closer to the template. First, the left slide of two or more lifting gripper units (3100) is lowered to a suitable height by the lead screw stepper motor (3103). Then, the L-shaped clamping plate (3105g) is pushed out by its fourth electric push rod (3105d) until the bottom of the template. Simultaneously, the right slide of two or more lifting gripper units (3100) is lowered to a suitable height, and the L-shaped clamping plate (3105g) is pushed out by its fourth electric push rod (3105d) until the top of the template. At this time, the left and right slides are raised and lowered towards the template, so that the template is clamped. Multiple lifting gripper units (3100) work together to grip a template. If a tilt angle is required, the L-shaped clamp (3105g) is first finely adjusted by controlling the second servo motor (3105f) to coordinate with the tilt gripping. After the template is gripped, the slide (3105) is raised by the lead screw stepper motor (3103) with the template on the lead screw (3104) and then the nail is removed by the nail removal section (4000). If the template angle needs to be adjusted during the removal process, the L-shaped clamp (3105g) is first finely adjusted by the second servo motor (3105f). If it is not enough, the fourth electric push rod (3105d) is rotated and adjusted by the first servo motor (3105b) so that the template can face the nail removal section (4000) from all directions. S4. Nail Removal Process: After the annular clamping part (3000) has finished clamping the template and raised it to a suitable position, the electric trolley first controls the fifth electric push rod (4101) of the sensing positioning unit (4200) to push down the servo mounting plate (4102) to a suitable height, so that the metal detector (4201) below it is higher than the template surface, and the nail positioning work is carried out. When positioning the nail, if the angle needs to be adjusted, the third servo motor (4103) first adjusts the horizontal angle, and then the fourth servo motor (4105) adjusts the vertical direction. When the position of the metal detector (4201) needs to be adjusted during the detection process, the template can also be moved by the various lifting gripper units (3100) to realize the bidirectional relative movement between the template and the construction machinery. When the nail is detected, the pneumatic nail removal unit (4100) is moved to the corresponding position. The pneumatic nail puller (4107) is activated to remove nails. Simultaneously, the adsorption collection unit (4300) is moved to its vicinity and the electro-permanent magnet chuck (4302) is opened to adsorb the nails that have been removed. At the same time, the induction positioning unit (4200) is moved away to detect the next nail. This process is repeated until no nails can be detected on the entire template. At this point, the nail removal of a template is complete. The template is lowered by the lifting gripper unit (3100) and placed back into the template input box (2100). At the same time, the adsorption collection unit (4300) is moved above the nail storage box (2001), and the electro-permanent magnet chuck (4302) is closed. The nails fall into the nail storage box (2001) for storage. If a broken nail is encountered, the auxiliary drilling unit (4400) is activated, and the miniature drilling machine (4401) is used to drill through the template near the nail to remove the nail. S5, Template Output: When the finished template after nail removal is placed back into the input box (2101), the template is transferred and output. The lifting gripper units (3100) on the first circular track (3001) are controlled to move, avoiding the first output baffle (2102a) on the right side of the template input box (2100), so that it is connected to the template output box (2200). First, the third electric push rod (2105c) is used to put all the second lifting push plates (2105e) into the second lifting push plate slot (2105e). In step 05d), the second electric push rod (2105a) is retracted synchronously, causing the first lifting push plate (2105b) to descend to the bottom of the output push plate (2104a). At this time, the output stepper motor (2103) controls the gear on it to rotate on the rack and pinion track (2102b), thereby causing the first output baffle (2102a) to descend to a suitable height, opening the right output port (2101a). Then, the electric trolley below the template output box (2200) is controlled to move to the left on the output track (2002). Finally, the output plate (2201c) of the template output box (2200) is fully inserted into the rectangular slot at the end of the first output baffle (2102a). The output side baffle (2201b), the second output baffle (2201a), and the first output baffle (2102a) together form an inclined template transfer channel. At this time, the first electric push rod (2104) pushes the output push plate (2104a), which pushes the finished product into the input box (2101). The wooden formwork is pushed out through the right-side output port (2101a) and slides into the output box (2201) through the formwork transfer channel. After it has all fallen into the output box (2201), the transfer is completed. At this time, the formwork output box (2200) moves to the right end of the output track (2002), and the components of the formwork input box (2100) are restored to their original positions, completing the finished product transfer. The construction personnel use the formwork output box (2200) on the right side to take out the finished formwork, while the formwork input box (2100) continues to remove nails.

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