Flexible positioning nailing device

Abstract

This invention provides a flexible positioning and nailing device, including a support platform, a moving assembly, a drive component, a nail gun mechanism, and a vision control system. The flexible positioning and nailing device of this invention features a support platform with an mounting plane for supporting other equipment; a moving assembly that slidably connects to the support platform; a drive component connected to the moving assembly, which moves the moving assembly in a circular trajectory to perform ring nailing; a nail gun mechanism connected to the bottom of the moving assembly, which moves horizontally on the support platform with the moving assembly to perform ring nailing; and a vision control system electrically connected to the moving assembly and drive component, which controls the drive component to move the moving assembly and nail gun mechanism to the corresponding positions for nailing. The device is simple to operate, highly efficient and precise, adaptable, and practical.

Description

Technical Field

[0001] This invention belongs to the field of nail gun auxiliary tooling technology, specifically relating to a flexible positioning nailing device. Background Technology

[0002] A nail gun is a product consisting of a gun body and a magazine assembly. It is a fastening tool used to drive nails of various sizes into building structures. Nail guns are categorized into electric nail guns, pneumatic nail guns, gas nail guns, and manual nail guns. As a common fastening tool, nail guns are frequently used in fixing and assembling sheet metal.

[0003] In existing technologies, when using a nail gun, workers can only nail one nail at a time by holding the nail gun. When it comes to nailing rings, workers first need to draw lines to determine the points, and then manually operate the nail gun to nail the nails. The operation process is cumbersome, resulting in low efficiency and poor accuracy, as well as poor adaptability and practicality. Summary of the Invention

[0004] This invention provides a flexible positioning nailing device, which aims to solve the problems of low efficiency, poor accuracy, low adaptability, and poor practicality of existing nail guns when nailing ring nails.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a flexible positioning nailing device, comprising:

[0006] Support platform with a mounting surface at the top;

[0007] The movable assembly is slidably mounted on the support platform;

[0008] A drive component is disposed on the mounting plane and connected to the movable group, for driving the movable group to move the movable group in a circular trajectory;

[0009] The nail gun mechanism is connected to the bottom end of the movable group and is used to move horizontally with the movable group on the support platform to perform ring nailing.

[0010] The vision control system is used to detect the position of the nail gun in real time and control the position of the nails.

[0011] In one possible implementation, there are two moving groups, each of which includes two sliders;

[0012] The driving component is provided in two parts, and the two driving components are respectively configured to correspond one-to-one with the two moving groups. Each driving component is connected to the two corresponding sliders. As each driving component drives the two corresponding sliders, the movement paths of the two sliders combine to form a circular trajectory.

[0013] The support platform is provided with two circular limiting slide grooves that correspond one-to-one with each of the moving groups. Each circular limiting slide groove is used for sliding connection of the two corresponding sliders. Each circular limiting slide groove is concentrically arranged. The diameter of one circular limiting slide groove is larger than the diameter of the other circular limiting slide groove.

[0014] In one possible implementation, the two drive components are spaced apart in a vertical direction, wherein the upper drive component is connected to each of the sliders in the larger diameter circular limiting groove, and the lower drive component is connected to each of the sliders in the smaller diameter circular limiting groove.

[0015] In one possible implementation, the driving component includes:

[0016] A first rodless cylinder is disposed above the mounting plane and arranged radially along the mounting plane. The first rodless cylinder is provided with a sliding part that slides along the length direction of the first rodless cylinder.

[0017] A drive connecting block is fixed on the sliding part and moves with the sliding part;

[0018] Two connecting rods are provided, and the two connecting rods are spaced apart in a horizontal and vertical direction along the length direction of the first rodless cylinder, and are respectively provided on both sides of the drive connecting block;

[0019] Two first joint bearings are provided, and the two first joint bearings are arranged in a one-to-one correspondence with the two connecting rods. The outer rings of the two first joint bearings are respectively fixed on both sides of the drive connecting block, and the inner rings of the two first joint bearings are respectively connected to one end of the two connecting rods.

[0020] Two second joint bearings are provided, and the two second joint bearings are arranged one-to-one with the two connecting rods. The outer ring of each second joint bearing is fixed on the corresponding slider, and the inner ring of each second joint bearing is connected to the other end of the corresponding connecting rod.

[0021] In one possible implementation, the nail gun mechanism is provided in two groups, with each nail gun mechanism corresponding to each of the moving groups, and each nail gun mechanism including two nail gun components corresponding to each of the sliders.

[0022] In one possible implementation, each of the nail gun components includes:

[0023] The second rodless cylinder is arranged radially along the mounting plane and is located at the bottom end of the corresponding slider. The second rodless cylinder is provided with a second sliding part that slides along the length direction of the second rodless cylinder.

[0024] The nail ejection structure is located below the second rodless cylinder and is used to nail the board material that needs to be nailed.

[0025] The lifting unit has a fixed end that is fixed to the bottom end of the second rodless cylinder, and a telescopic end that extends downward in the vertical direction and is connected to the corresponding nail-out structure.

[0026] Adjustable nail-loading structure, set on the nail-out structure, is used to hold nails of different sizes and to transport the nails to the nail-out structure.

[0027] In one possible implementation, each of the adjusting pin structures includes:

[0028] The staple box body is disposed on the corresponding staple dispensing structure and has a receiving cavity;

[0029] The device includes two placement rods, which are parallel and spaced apart within the receiving cavity and slidably connected to the nail box body. A placement space is formed between the two placement rods for placing nails.

[0030] Two guide rods are provided, which are parallel and spaced apart in the receiving cavity and are parallel to the two placement rods. The two ends of each guide rod are respectively fixed to the two parallel inner walls of the mounting box. The two placement rods and the two guide rods together form the mounting space.

[0031] The abutment block is slidably mounted on the two guide rods and is used to abut against the nail to fix the position of the nail;

[0032] A spring, with one end connected to the side wall of the receiving cavity and the other end connected to the abutment block, is used to ensure that the abutment block always tends to move toward the nail;

[0033] An adjustment unit is provided on the mounting box body and has two adjustment positions that can move relative to each other or backward in the horizontal direction. The two adjustment positions are respectively connected to one end of the two placement rods and are used to drive the two placement rods to move relative to each other or backward in the horizontal direction.

[0034] The other end of each of the two placement rods is slidably connected to the mounting box.

[0035] In one possible implementation, the length direction of the placement rod is defined as the first direction, and the horizontal direction perpendicular to the first direction is defined as the second direction.

[0036] The adjustment unit includes:

[0037] A fixing seat is fixedly mounted on the mounting box body and integrally connected to the mounting box body. The fixing seat is provided with an adjustment slide groove arranged in the vertical direction and a moving slide groove arranged in the second direction.

[0038] Two drive blocks are provided, and the two drive blocks are arranged vertically at intervals within the adjusting slide groove;

[0039] Two adjusting blocks are provided, and the two adjusting blocks are spaced apart in the movable slide groove along the second direction for connecting the two placement rods;

[0040] The telescopic frame has two output ends that can move relative to each other or in opposite directions, and also has an input end that can drive the two output ends;

[0041] A telescopic structure, wherein the fixed end of the telescopic structure is fixed on the fixed base, and the telescopic end of the telescopic structure is connected to the input end.

[0042] In one possible implementation, the telescopic structure is an electric actuator.

[0043] In one possible implementation, the flexible positioning and nailing device further includes an auxiliary nail gun structure, which has the same structure as the nail gun assembly and is located at the center of the circular limiting groove.

[0044] Compared with existing technologies, this implementation includes a support platform with an installation plane to support other equipment; a movable assembly that can slide on the support platform; a drive component connected to the movable assembly, which moves the assembly in a circular trajectory to perform ring nailing; a nail gun mechanism connected to the bottom of the movable assembly, which moves horizontally on the support platform with the movable assembly to perform ring nailing; and a vision control system electrically connected to the movable assembly and drive component, which controls the drive component to move the movable assembly and nail gun mechanism to the corresponding positions for nailing. The operation is simple, efficient, precise, adaptable, and practical. Attached Figure Description

[0045] Figure 1 A schematic diagram of the flexible positioning and nailing device provided in an embodiment of the present invention. Figure 1 ;

[0046] Figure 2 A schematic diagram of the flexible positioning and nailing device provided in an embodiment of the present invention. Figure 2 ;

[0047] Figure 3 This is a top view of the flexible positioning and nailing device provided in an embodiment of the present invention.

[0048] Figure 4 This is a side view of the flexible positioning and nailing device provided in an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the internal structure of the adjustable mounting structure of the flexible positioning and nailing device provided in an embodiment of the present invention.

[0050] Figure 6 This is a side view of the internal structure of the adjustable nailing structure of the flexible positioning nailing device provided in an embodiment of the present invention;

[0051] Figure 7 for Figure 6 Enlarged structural diagram at point A of the provided side view of the internal structure of the adjustable mounting structure;

[0052] Explanation of reference numerals in the attached figures:

[0053] 100. Support platform; 110. Mounting plane; 120. Circular limit groove; 200. Moving assembly; 210. Slider; 300. Drive assembly; 310. First rodless cylinder; 320. Drive connecting block; 330. Connecting rod; 400. Nail gun mechanism; 410. Second rodless cylinder; 420. Nail ejection structure; 430. Lifting unit; 440. Adjustable nail mounting structure; 441. Nail mounting box; 442. Placement rod; 443. Guide rod; 444. Abutment block; 445. Spring; 446. Adjustment unit; 4461. Fixed base; 4462. Drive block; 4463. Adjustment block; 4464. Telescopic frame; 4465. Telescopic structure; 500. Vision control system; 600. Auxiliary nail gun structure. Detailed Implementation

[0054] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0055] Please refer to the following: Figures 1 to 7The flexible positioning and nailing device provided by the present invention will now be described. The flexible positioning and nailing device includes: a support platform 100, a moving assembly 200, a drive component 300, a nail gun mechanism 400, and a vision control system 500. The support platform 100 has a mounting plane 110 at its top. The moving assembly 200 is slidably disposed on the support platform 100. The drive component 300 is disposed on the mounting plane 110 and connected to the moving assembly 200, for driving the moving assembly 200 to move along a circular trajectory. The nail gun mechanism 400 is connected to the bottom end of the moving assembly 200, for moving horizontally with the moving assembly 200 on the support platform 100 to perform circular nailing. The vision control system 500 is used to detect the position of the nail gun in real time and control the nail position.

[0056] The flexible positioning and nailing device provided in this embodiment, compared with the prior art, features a support platform 100 with an mounting plane 110 that can support other equipment. A movable assembly 200 is slidably connected to the support platform 100. A drive assembly 300 is connected to the movable assembly 200 and drives it to move in a circular trajectory, enabling circular nailing. A nail gun mechanism 400 is connected to the bottom of the movable assembly 200 and moves horizontally on the support platform 100 with it for circular nailing. A vision control system 500 is electrically connected to the movable assembly 200 and the drive assembly 300, controlling the drive assembly 300 to move the movable assembly 200 and the nail gun mechanism 400 to the corresponding positions for nailing. The device is simple to operate, highly efficient and precise, adaptable, and practical.

[0057] In some embodiments, the aforementioned moving group 200 may employ, as follows: Figures 1 to 4 The structure shown. See also Figures 1 to 4 There are two moving groups 200, and each moving group 200 includes two sliders 210.

[0058] Two drive components 300 are provided, and each drive component 300 is respectively configured to correspond one-to-one with the two moving groups 200. Each drive component 300 is connected to the corresponding two sliders 210. As each drive component 300 drives the corresponding two sliders 210, the movement paths of the two sliders 210 combine to form a circular trajectory.

[0059] The support platform 100 is provided with two circular limiting slide grooves 120, each corresponding to one of the moving groups 200. Each circular limiting slide groove 120 is used for sliding connection of the corresponding two sliders 210. All circular limiting slide grooves 120 are concentrically arranged. The diameter of one circular limiting slide groove 120 is larger than the diameter of the other circular limiting slide groove 120.

[0060] There are two moving groups 200, each of which includes two sliders 210. Each driving component 300 can drive the corresponding two sliders 210 to slide, and the movement paths of the two corresponding sliders 210 are combined to form a circular trajectory.

[0061] The circular limiting slide groove 120 allows two corresponding sliders 210 to slide and connect, and the two circular limiting slide grooves 120 correspond to two sets of moving groups 200 respectively.

[0062] In some embodiments, the driving component 300 described above may employ, for example... Figures 1 to 4 The structure shown. See also Figures 1 to 4 Two drive components 300 are arranged at intervals along the vertical direction. The drive component 300 located above is connected to each slider 210 in the large-diameter circular limiting slide groove 120, and the drive component 300 located below is connected to each slider 210 in the small-diameter circular limiting slide groove 120.

[0063] Multiple drive components 300 and multiple moving groups 200 can be provided. When multiple drive components 300 are provided, they are arranged at intervals along the vertical direction. The sliding radius of the multiple moving groups 200 gradually decreases. The uppermost drive component 300 can drive the two sliders 210 in the circular limit groove 120 with the largest diameter to slide, and so on. The lowermost drive component 300 can drive the two sliders 210 in the circular limit groove 120 with the smallest diameter to slide.

[0064] In some embodiments, the driving component 300 described above may employ, for example... Figures 1 to 4 The structure shown. See also Figures 1 to 4 The drive assembly 300 includes: a first rodless cylinder 310, a drive connecting block 320, connecting rods 330, a first spherical bearing, and a second spherical bearing. The first rodless cylinder 310 is disposed above the mounting plane 110 and arranged radially along the mounting plane 110. The first rodless cylinder 310 has a sliding portion that slides along its length. The drive connecting block 320 is fixed to the sliding portion and moves with it. Two connecting rods 330 are provided, spaced horizontally and vertically along the length of the first rodless cylinder 310, and respectively disposed on both sides of the drive connecting block 320. Two first spherical bearings are provided, each corresponding to one of the two connecting rods 330. The outer rings of the two first spherical bearings are fixed to both sides of the drive block 4462 connection, and the inner rings of the two first spherical bearings are respectively connected to one end of the two connecting rods 330. Two second joint bearings are provided, and the two second joint bearings are arranged one-to-one with the two connecting rods 330. The outer ring of each second joint bearing is fixed on the corresponding slider 210, and the inner ring of each second joint bearing is connected to the other end of the corresponding connecting rod 330.

[0065] The first rodless cylinder 310 refers to a cylinder that uses a piston to directly or indirectly connect to an external actuator, causing it to reciprocate. The biggest advantage of this type of cylinder is its space-saving design. The first rodless cylinder 310 is existing technology and will not be elaborated upon here. The drive block 4462 can be understood as a moving block fixedly connected to the moving end of the first rodless cylinder 310. Two connecting rods 330 can be respectively positioned on both sides of the drive block 4462 connection, connected by a first joint bearing. This allows the two connecting rods 330 to rotate omnidirectionally on the drive connecting block 320, preventing limit stops when the drive connecting block 320 causes the connecting rods 330 to deflect. Second joint bearings can be respectively positioned on the corresponding two sliders 210, connected by the second joint bearing. This allows each connecting rod 330 to rotate omnidirectionally on its corresponding slider 210, preventing limit stops when each connecting rod 330 causes the slider 210 to deflect.

[0066] In some embodiments, the nail gun mechanism 400 described above may employ, for example... Figures 1 to 4 The structure shown. See also Figures 1 to 4 The nail gun mechanism 400 is provided in two sets, and each nail gun mechanism 400 is set in correspondence with each moving group 200. Each nail gun mechanism 400 includes two nail gun components that correspond to each slider 210.

[0067] Each nail gun mechanism 400 is set up in a one-to-one correspondence with each moving group 200. When there are three moving groups 200, there are three nail gun mechanisms 400, and so on.

[0068] In some embodiments, the above-described nail gun assembly may employ, for example... Figure 2 , Figure 4 The structure shown. See also Figure 2 , Figure 4 Each nail gun assembly includes: a second rodless cylinder 410, a nail ejection structure 420, a lifting unit 430, and an adjusting nail mounting structure 440. The second rodless cylinder 410 is arranged radially along the mounting plane 110 and is located at the bottom end of the corresponding slider 210. The second rodless cylinder 410 has a second sliding part that slides along its length. The nail ejection structure 420 is located below the second rodless cylinder 410 and is used to nail the material to be nailed. The fixed end of the lifting unit 430 is fixed to the bottom end of the second rodless cylinder 410, and the telescopic end of the lifting unit 430 extends downwards vertically and connects to the corresponding nail ejection structure 420. The adjusting nail mounting structure 440 is located on the nail ejection structure 420 and is used to hold nails of different sizes and transport the nails to the nail ejection structure 420.

[0069] The first rodless cylinder 310 refers to a cylinder that uses a piston to directly or indirectly connect to an external actuator, causing it to reciprocate. The biggest advantage of this type of cylinder is its space-saving design. The first rodless cylinder 310 is existing technology and will not be elaborated upon here. The nail ejection structure 420 can be understood as the nail-driving structure of a nail gun, responsible only for ejecting the nail. The lifting unit 430 can be an electric actuator, also known as a linear actuator, which is a new type of linear actuator mainly composed of a motor, actuator, and control device. Electric actuators are existing technology and will not be elaborated upon here. The adjusting nail loading structure 440 can hold nails of different sizes and transport them to the nail ejection structure 420.

[0070] In some embodiments, the aforementioned adjusting pin structure 440 may employ, as follows: Figure 5 , Figure 6 The structure shown. See also Figure 5 , Figure 6 Each adjusting nail-mounting structure 440 includes: a nail-mounting box 441, a placement rod 442, a guide rod 443, an abutment block 444, a spring 445, and an adjusting unit 446. The nail-mounting box 441 is mounted on the corresponding nail-dispensing structure 420 and has a receiving cavity. Two placement rods 442 are provided, parallel and spaced apart within the receiving cavity, and slidably connected to the nail-mounting box 441, forming a placement space for nails. Two guide rods 443 are provided, parallel and spaced apart within the receiving cavity, parallel to the two placement rods 442. The two ends of each guide rod 443 are fixed to two parallel inner walls of the nail-mounting box 441. The two placement rods 442 and the two guide rods 443 together constitute the nail-mounting space. The abutment block 444 is slidably mounted on the two guide rods 443 and abuts against the nail to fix its position. One end of the spring 445 is connected to the side wall of the receiving cavity, and the other end is connected to the abutment block 444, so that the abutment block 444 always tends to move toward the nail. The adjustment unit 446 is provided on the nail box body 441 and has two adjustment positions that can move relative to each other or backward in the horizontal direction. The two adjustment positions are respectively connected to one end of the two placement rods 442, so as to drive the two placement rods 442 to move relative to each other or backward in the horizontal direction.

[0071] The other ends of the two placement rods 442 are slidably connected to the mounting box 441.

[0072] The nail-loading box 441 can accommodate placement rods 442, guide rods 443, abutment blocks 444, springs 445, and adjusting unit 446 through a receiving cavity. The two placement rods 442 are for placing nails. The two guide rods 443 are parallel to and spaced apart from the two placement rods 442 within the receiving cavity, and their ends can be fixed to two parallel inner walls of the nail-loading box 441, forming a nail-loading space together with the two placement rods 442. The abutment blocks 444 abut against the nails under the action of the springs 445, ensuring that the abutment blocks 444 always tend to move towards the nails. The adjusting unit 446 can drive the two placement rods 442 to move horizontally relative to each other or backwards, changing the size of the nail-loading space to accommodate nails of different sizes.

[0073] In some embodiments, the adjustment unit 446 may employ, for example... Figures 5 to 7 The structure shown. See also Figures 5 to 7 The length direction of the placement rod 442 is defined as the first direction, and the horizontal direction perpendicular to the first direction is defined as the second direction.

[0074] The adjustment unit 446 includes: a fixed base 4461, a drive block 4462, an adjustment block 4463, a telescopic frame 4464, and a telescopic structure 4465. The fixed base 4461 is fixedly mounted on the mounting box 441 and integrally connected to it. The fixed base 4461 has an adjustment groove arranged vertically and a moving groove arranged in a second direction. Two drive blocks 4462 are provided, spaced apart vertically within the adjustment groove. Two adjustment blocks 4463 are provided, spaced apart in the moving groove in the second direction, for connecting two placement rods 442. The telescopic frame 4464 has two output ends that can move relative to each other or in opposite directions, and an input end that can drive the two output ends. The fixed end of the telescopic structure 4465 is fixed to the fixed base 4461, and the telescopic end of the telescopic structure 4465 is connected to the input end.

[0075] The fixed base 4461 is integrally connected to the staple box body 441. This can be understood as the fixed base 4461 and the staple box body 441 being integrally cast, or as the fixed base 4461 being a part of the staple box body 441. The drive block 4462 can be slidably disposed within an adjusting groove on the fixed base 4461, which is vertically oriented. Two adjusting blocks 4463 can be spaced apart in a moving groove along a second direction, allowing connection between the two placement rods 442. When the drive block 4462 moves, it drives the telescopic frame 4464 and the adjusting blocks 4463 to move accordingly. The telescopic frame 4464 can be understood as a parallel four-bar linkage, where the two ends connected to the two adjusting blocks 4463 are output ends, and one end of the other two ends is an input end, which is connected to the drive block 4462.

[0076] In some embodiments, the telescopic structure 4465 may adopt the following... Figures 5 to 7 The structure shown. See also Figures 5 to 7 The telescopic structure 4465 is an electric push rod.

[0077] Electric linear actuators, also known as linear actuators, are a new type of linear actuator mainly composed of a motor, a linear actuator, and a control device. Electric linear actuators are existing technology and will not be discussed in detail here.

[0078] In some embodiments, the above-described flexible positioning nailing device can employ, for example... Figure 2 , Figure 4 The structure shown. See also Figure 2 , Figure 4 The flexible positioning nailing device also includes an auxiliary nail gun structure 600, which has the same structure as the nail gun assembly and is located at the center of the circular limiting groove 120.

[0079] The auxiliary nail gun structure 600 can be understood as the positioning structure of the flexible positioning nailing device. The auxiliary nail gun structure 600 cannot slide on the support platform 100. The auxiliary nail gun structure 600 has the same structure as the nail gun assembly and can position the flexible positioning nailing device.

[0080] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible positioning nailing device, characterized in that, include: Support platform with a mounting surface at the top; The movable assembly is slidably mounted on the support platform; A drive component is disposed on the mounting plane and connected to the movable group, for driving the movable group to move the movable group in a circular trajectory; The nail gun mechanism is connected to the bottom end of the movable group and is used to move horizontally with the movable group on the support platform to perform ring nailing. A vision control system is used to detect the position of the nail gun in real time and control the position of the nails. There are two moving groups, and each moving group includes two sliders; The driving component is provided in two parts, and the two driving components are respectively configured to correspond one-to-one with the two moving groups. Each driving component is connected to the two corresponding sliders. As each driving component drives the two corresponding sliders, the movement paths of the two sliders combine to form a circular trajectory. The support platform is provided with two circular limiting slide grooves that correspond one-to-one with each of the moving groups. Each circular limiting slide groove is used for sliding connection of the two corresponding sliders. Each circular limiting slide groove is concentrically arranged. The diameter of one circular limiting slide groove is larger than the diameter of the other circular limiting slide groove. The two drive components are arranged at intervals along the vertical direction, wherein the drive component located above is connected to each of the sliders in the large-diameter circular limiting groove, and the drive component located below is connected to each of the sliders in the small-diameter circular limiting groove. The driving component includes: A first rodless cylinder is disposed above the mounting plane and arranged radially along the mounting plane. The first rodless cylinder is provided with a sliding part that slides along the length direction of the first rodless cylinder. A drive connecting block is fixed on the sliding part and moves with the sliding part; Two connecting rods are provided, and the two connecting rods are spaced apart in a horizontal and vertical direction along the length direction of the first rodless cylinder, and are respectively provided on both sides of the drive connecting block; Two first joint bearings are provided, and the two first joint bearings are arranged in a one-to-one correspondence with the two connecting rods. The outer rings of the two first joint bearings are respectively fixed on both sides of the drive connecting block, and the inner rings of the two first joint bearings are respectively connected to one end of the two connecting rods. The second joint bearing is provided in two, and the two second joint bearings are respectively arranged in a one-to-one correspondence with the two connecting rods. The outer ring of each second joint bearing is fixed on the corresponding slider, and the inner ring of each second joint bearing is respectively connected to the other end of the corresponding connecting rod. The nail gun mechanism is provided in two groups, and each nail gun mechanism is configured in one-to-one correspondence with each of the moving groups. Each nail gun mechanism includes two nail gun components that correspond one-to-one with each of the sliders. Each of the nail gun assemblies includes: The second rodless cylinder is arranged radially along the mounting plane and is located at the bottom end of the corresponding slider. The second rodless cylinder is provided with a second sliding part that slides along the length direction of the second rodless cylinder. The nail ejection structure is located below the second rodless cylinder and is used to nail the board material that needs to be nailed. The lifting unit has a fixed end that is fixed to the bottom end of the second rodless cylinder, and a telescopic end that extends downward in the vertical direction and is connected to the corresponding nail-out structure. Adjustable nail-loading structure, set on the nail-out structure, is used to hold nails of different sizes and to transport the nails to the nail-out structure.

2. The flexible positioning and nailing device as described in claim 1, characterized in that, Each of the aforementioned adjusting pin structures includes: The staple box body is disposed on the corresponding staple dispensing structure and has a receiving cavity; Two placement rods are provided, which are parallel and spaced apart in the receiving cavity and are slidably connected to the nail box body. A placement space is formed between the two placement rods for placing nails. Two guide rods are provided, which are parallel and spaced apart in the receiving cavity and are parallel to the two placement rods. The two ends of each guide rod are respectively fixed to the two parallel inner walls of the mounting box. The two placement rods and the two guide rods together form the mounting space. The abutment block is slidably mounted on the two guide rods and is used to abut against the nail to fix the position of the nail; A spring, with one end connected to the side wall of the receiving cavity and the other end connected to the abutment block, is used to ensure that the abutment block always tends to move toward the nail; An adjustment unit is provided on the mounting box body and has two adjustment positions that can move relative to each other or backward in the horizontal direction. The two adjustment positions are respectively connected to one end of the two placement rods and are used to drive the two placement rods to move relative to each other or backward in the horizontal direction. The other end of each of the two placement rods is slidably connected to the mounting box.

3. The flexible positioning and nailing device as described in claim 2, characterized in that, The length direction of the placement rod is defined as the first direction, and the horizontal direction perpendicular to the first direction is defined as the second direction. The adjustment unit includes: A fixing seat is fixedly mounted on the mounting box body and integrally connected to the mounting box body. The fixing seat is provided with an adjustment slide groove arranged in the vertical direction and a moving slide groove arranged in the second direction. Two drive blocks are provided, and the two drive blocks are arranged vertically at intervals within the adjusting slide groove; Two adjusting blocks are provided, and the two adjusting blocks are spaced apart in the movable slide groove along the second direction for connecting the two placement rods; The telescopic frame has two output ends that can move relative to each other or in opposite directions, and also has an input end that can drive the two output ends; A telescopic structure, wherein the fixed end of the telescopic structure is fixed on the fixed base, and the telescopic end of the telescopic structure is connected to the input end.

4. The flexible positioning and nailing device as described in claim 3, characterized in that, The telescopic structure is an electric push rod.

5. The flexible positioning and nailing device as described in claim 1, characterized in that, The flexible positioning and nailing device also includes an auxiliary nail gun structure, which has the same structure as the nail gun assembly and is located at the center of the circular limiting groove.

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