Template iron nail removing robot and method

Abstract

The invention discloses a template iron nail removing robot and method, and the robot comprises a template stacking and arranging part which comprises a rotating drum part, a rotating drum support used for driving the rotating drum part to rotate, a pressure sensor unit fixed on the rotating drum part, and a transverse stacking and arranging part which is used for stacking and arranging irregularly-arranged templates in order; the rotary drum part comprises a stacking and arranging plate, a stacking and arranging hydraulic cylinder unit, a pulley conveying unit and a rotary drum, and is used for forwards transporting templates in the stacking and arranging plate; the template sending part is aligned with an outlet of the template stacking and arranging part and is used for transferring and placing the stacked and arranged templates on a conveying belt of the template iron nail removing part one by one; the template iron nail removing part is arranged behind the template sending part and is used for removing and collecting iron nails on the front and back surfaces of the template; and the template collecting part is positioned at the tail end of the template iron nail removing part and is used for collecting the template of which the iron nails are removed. By means of the nail removing device, nails on a template can be effectively removed, and the iron nail removing accuracy is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, in particular to a template iron nail removal robot and also to a template iron nail removal method. Background Art

[0002] After the demolition of a building, a large number of discarded formworks will be left behind. These formworks contain iron nails. When recycling these formworks, the iron nails must first be separated from the formworks. However, the traditional separation method is to manually use tools to remove the iron nails on the formworks. Since there are many iron nails on each formwork and the number of formworks is huge, a large number of iron nails need to be removed. Manual removal consumes a lot of manpower and takes a lot of time. In addition, the iron nails on the formwork protrude upward, which will bring great safety hazards to the nail removers.

[0003] Therefore, a template nail removal robot is needed to replace manual labor, thereby improving the nail removal efficiency and reducing safety hazards. Summary of the invention

[0004] Based on the deficiencies in the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a template nail removal robot and method, which can replace manual work to arrange the template. In the actual process, the template can be directly placed into the template arrangement part to automatically arrange the template, which not only saves labor costs, but also improves processing efficiency. The nails on the template can be effectively removed, greatly improving the accuracy of nail removal.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0006] The template nail removal robot of the present invention comprises: a template arranging part, which comprises a rotating drum part, a rotating drum bracket for driving the rotating drum part to rotate, a pressure sensor unit fixed on the rotating drum part, and a transverse arranging part, which is used to arrange the irregularly arranged templates in order; the rotating drum part comprises an arranging plate, an arranging hydraulic cylinder unit, a pulley transmission unit, and a rotating drum, the left and right plates of the arranging plate are connected to the inner wall of the rotating drum by bolts, and the upper and lower plates are connected to the arranging hydraulic cylinder unit by bolts, and the telescopic control of the arranging hydraulic cylinder unit controls the upper and lower arranging plates to clamp the sent template; the pulley transmission unit is installed on the lower plate of the arranging plate, and is used to transport the template in the arranging plate forward; the arranging rod of the transverse arranging part extends into the arranging plate to arrange the template; the template sending part is aligned with the outlet of the template arranging part, and comprises a base a, a base connected to the arranging plate by sliding up and down on a slide rail The shovel fork a on the base a, the winch a fixed on the base a and used to drive the base a to move up and down, the top conveyor plate hinged to the top of the side wall of the base a through a hinge seat, and the top plate hydraulic cylinder that controls the top conveyor plate to rotate around the hinge seat are used to deliver the arranged templates one by one on the conveyor belt of the template nail removal part; the template nail removal part is arranged behind the template delivery part, which includes a front conveyor belt, a template flipper and a rear conveyor belt with the same structure as the front conveyor belt, which is used to remove and collect the nails on the front and back sides of the template; the front conveyor belt includes a conveyor belt and a template fixing unit, a metal detector and visual identifier, a nail remover and a nail sucker arranged in sequence along the conveying direction of the conveyor belt; the template collecting part is located at the end of the template nail removal part, which is used to collect the templates from which the nails have been removed.

[0007] Preferably, the drum bracket includes a rotating bearing, a gear ring, a gear ring rotating motor, and a bracket; the gear ring is connected to the inner ring of the rotating bearing, the drum is connected to the inner ring of the rotating bearing by bolts, the gear ring rotating motor is connected to the outer ring of the rotating bearing by bolts, the bracket is connected to the outer ring of the rotating bearing by bolts, the output shaft of the gear ring rotating motor is connected to the gear ring through a gear set, and the gear ring rotating motor drives the drum to rotate.

[0008] Furthermore, the transverse coding part includes a limit rod unit, a linear bearing unit, a screw unit, a motor unit, a coding rod and a center disk; the limit rod unit includes a long limit rod unit and a short limit rod unit; the long limit rod unit is fixed in the center disk by bolts, so that the coding rod moves in the direction of the long limit rod unit; the short limit rod unit is nested in the center disk, so that the center disk moves in the direction of the short limit rod unit; the linear bearing unit is fixed to the side of the coding rod and the side of the center disk by bolts, so that the coding rod and the center disk are smoother when moving along the limit rod unit; the screw unit is connected to the rotating shafts of each motor in the motor unit by bolts, so that each motor in the motor unit can drive each screw in the screw unit to rotate, and the screw parallel to the long limit rod unit is threadedly connected to the coding rod, and the rotation of the screw drives the coding rod to move along the screw, so that the coding rod codes the template, and the screw parallel to the short limit rod unit is threadedly connected to the center disk, and the rotation of the screw can drive the center disk along the screw The center disk and the coding rod can move synchronously in the direction of the short limit rod unit, so that the coding rod can extend into or out of the coding plate. When extending into the coding plate, the coding rod removes the coding template, and when extending out of the coding plate, the coding rod will not block the movement of the template; the motor used to adjust the coding rod in the motor unit is fixed to the side of the center disk by bolts, and the rotation of the motor drives the screw rod connected to it to rotate, thereby driving the movement of the coding rod to code the template; another motor in the motor unit is fixed to the coding plate by bolts. The outer surface drives the screw rod connected to it to rotate, thereby driving the center disk to move to adjust the position of the coding rod to extend into or out of the coding plate; the three holes on the surface of the coding rod respectively pass through the two long limit rods in the long limit rod unit and the screw rod parallel to the long limit rod in the screw rod unit, so that the coding rod moves along the direction of the two long limit rods in the long limit rod unit under the control of the screw rod; the center disk is connected to the short limit rod unit, so that the center disk moves along the direction of the short limit rod unit and the short limit rod unit prevents the center disk from falling.

[0009] Furthermore, the top conveying plate includes a top plate, a roller unit, a roller motor unit and a limiting roller; the top plate is hinged to the top of the side wall of the base a through a hinge seat, so that the top plate rotates around the hinge seat; the roller unit is fixed to the bottom of the top plate by bolts, and the roller motor unit is connected to the roller unit, so that the roller motor unit controls the rotation of the roller unit, so that the roller unit transmits the template forward by friction; the limiting roller is fixed to the bottom of the top plate by bolts and is located behind the roller unit, so that only one template transmitted from the roller unit can pass through the limiting roller at a time; after each template is transported to the front conveyor belt, the winch a rotates to pull the fork a up a distance so that the next template to be transmitted contacts the roller unit, thereby being transmitted to the front conveyor belt; one end of the top plate hydraulic cylinder is connected to the back of the side wall of the base a through a hinge seat, and the other end is connected to the top plate through a hinge seat, so that the top plate hydraulic cylinder controls the top plate to rotate around the hinge seat.

[0010] Preferably, the template fixing unit includes an electric push rod unit and a clamping plate unit; the electric push rod unit is fixed to the conveyor belt by bolts and moves with the conveyor belt; the clamping plate unit is fixed to one end of the electric push rod unit, so that the electric push rod unit controls the clamping plate unit to clamp the template.

[0011] Furthermore, the nail remover includes a stand b, a nail remover and a horizontal slide; the nail remover includes an electric push rod for the nail remover, an intermediate motor for the nail remover, a snap motor for the nail remover, a guide rod unit a for the nail remover, a guide rod unit b for the nail remover, an inner swivel for the nail remover, an outer swivel for the nail remover, a tooth extraction unit for the nail remover and an outer cover for the nail remover; one end of the electric push rod for the nail remover is fixed to the inner top end of the outer cover of the nail remover by bolts, and the other end of the electric push rod for the nail remover is connected to a circular iron plate by bolts; the intermediate motor for the nail remover is fixed to the bottom of the circular iron plate connected to one end of the electric push rod for the nail remover by bolts, and the rotating shaft of the intermediate motor for the nail remover is connected to the The nail remover is connected to a long rod extending from the inner rotating ring of the nail remover, so that the middle motor of the nail remover controls the rotation of the inner rotating ring of the nail remover; the nail remover buckle motor is fixed to the top of the circular iron ring connected to the outer cover of the nail remover by bolts, and the rotating shaft of the nail remover buckle motor is connected to a buckle by bolts, so that the nail remover buckle motor controls the rotation of the buckle, and the buckle can be stuck in the slot opened on the guide rod unit b of the nail remover, thereby limiting the guide rod unit b of the nail remover and preventing it from moving. When the nail remover buckle motor controls the buckle to rotate and separates the buckle from the slot opened on the guide rod unit b of the nail remover, the guide rod unit b of the nail remover moves in the up and down directions.

[0012] Furthermore, the nail remover guide rod unit a is fixed on the top of a circular iron plate connected to one end of the nail remover electric push rod by bolts, and the nail remover guide rod unit a moves in the up and down direction; one end of the nail remover guide rod unit b is three guide rods, and the other ends of the three guide rods are connected to the same circular ring, and there is a small cross bar between the circular ring and the three guide rods, and the three cross bars pass through the three teeth in the nail remover tooth extraction unit respectively, so that the three cross bars become the three tooth extraction tops in the nail remover tooth extraction unit The track of the pulley of the part; the middle long rod of the inner rotating ring of the nail remover is fixed to the bottom of the circular iron plate connected to the intermediate motor of the nail remover by bolts, so that the intermediate motor of the nail remover controls the rotation of the inner rotating ring of the nail remover, and the inner rotating ring of the nail remover and the circular iron plate connected to the intermediate motor of the nail remover move up and down together; the outer rotating ring of the nail remover and the circular iron plate connected to the intermediate motor of the nail remover are connected by three long rods with bolts, so that the outer rotating ring of the nail remover and the circular iron plate connected to the intermediate motor of the nail remover move up and down together.

[0013] Furthermore, the lower parts of the three teeth in the teeth extraction unit of the nail remover are provided with threads, and the outer surface of the inner rotating ring of the nail remover and the inner surface of the outer rotating ring of the nail remover are provided with threads, so that the three teeth in the teeth extraction unit of the nail remover are clamped between the inner rotating ring of the nail remover and the outer rotating ring of the nail remover, and the rotation of the intermediate motor of the nail remover can first drive the inner rotating ring of the nail remover to rotate. Since the surface of the inner rotating ring of the nail remover is provided with threads, both sides of the three teeth of the teeth extraction unit of the nail remover are provided with threads, and the rotation of the inner rotating ring of the nail remover drives the three teeth in the teeth extraction unit of the nail remover to rise and fall, and the pulleys at the tops of the three teeth in the teeth extraction unit of the nail remover are constrained by the transverse track. The transverse track passes through the hole below the pulley at the top of the three teeth, so that the three teeth in the teeth extraction unit of the nail remover can only move along the track direction in the horizontal direction. When the inner swivel ring and the outer swivel ring of the nail remover rotate, the three teeth in the teeth extraction unit of the nail remover can move closer and farther away, thereby clamping the iron nails; the nail remover outer cover is connected to the electric push rod of the nail remover by bolts to protect the internal structure; the horizontal slide is a square frame with an opening on one side, and pulleys are fixed on the top, left and right of the inner wall of the square frame by bolts, so that the horizontal slide slides along the slide rail on the vertical frame b under the control of the motor, so that the nail remover moves left and right to remove the iron nails.

[0014] Preferably, the template flipper includes a template clamping hydraulic cylinder, a template clamping plate, a template flipping motor, a stand d, a template flipping frame, an infrared detector and a template flipping pressure sensor; the template clamping hydraulic cylinder is fixed to the upper and lower inner surfaces of the template flipping frame by bolts; the template clamping plate is fixed to the other end of the template clamping hydraulic cylinder by bolts, so that the template clamping hydraulic cylinder controls the template clamping plate to clamp the template; the template flipping motor is fixed to the side of the stand d by bolts, and its rotating shaft is connected to the template flipping frame to control the rotation of the template flipping frame, so as to flip the clamped template; the stand d is fixed to the ground by bolts and is used as a bracket of the template flipper; one end of the template flipping frame is connected to the rotating shaft of the template flipping motor by a bearing, and the other end is connected to the stand d by a bearing, so that the template flipping frame is controlled to flip by the template flipping motor; the infrared detector is fixed to the upper surface of the template clamping plate by bolts; the template flipping pressure sensor is fixed to the upper surface of the template clamping plate by bolts.

[0015] Correspondingly, the present invention also provides a method for removing template nails, the steps of which are:

[0016] S1. First, put the messy template into the template stacking part, and the stacking hydraulic cylinder unit extends the hydraulic cylinder to make the upper and lower stacking plates clamp the template. During the clamping process, the stacking plate pressure sensor detects the pressure when the stacking plate clamps the template;

[0017] S2, the gear ring is rotated by the gear ring rotating motor, thereby driving the bracket to rotate, so that the template changes from the original horizontal state to the vertical state;

[0018] S3, the stacking hydraulic cylinder unit contracts, causing the stacking plate to loosen a short distance from the template, so that the clamped vertical template falls naturally, and one side of the template is close to the stacking plate below, so as to achieve neat stacking;

[0019] S4, then the stacking hydraulic cylinder unit extends the hydraulic cylinder to make the upper and lower stacking plates clamp the template again; then the gear ring rotating motor rotates in the opposite direction, driving the gear ring to rotate, thereby driving the bracket to rotate, so that the template changes from a vertical state to a horizontal state, and the template is neatly stacked in the horizontal direction;

[0020] S5, then the coding is performed in the longitudinal direction, the motor fixed on the right outer surface of the coding plate in the motor unit rotates, thereby driving the screw connected thereto to rotate, so that the center disk moves toward the center of the rotating drum, so that the coding rod originally located inside the right side of the coding plate extends into the inside of the rotating drum, and then the motor fixed on both sides of the center disk in the motor unit rotates to drive the coding rod to retract toward the center disk, so that the templates are neatly coded in the longitudinal direction;

[0021] S6. After the templates are neatly arranged, they can be transported to the next process. The pulleys a, b and c in the pulley transmission unit are lifted upward, so that the pulley transmission unit lifts the arranged templates. Then, the three sets of pulleys in the pulley transmission unit start their motors, thereby driving the pulleys to rotate, and the templates are transmitted forward to the fork a of the template delivery part through friction.

[0022] S7, then the winch a rotates to move the fork a upwards, thereby moving the template upwards until the template contacts the top conveyor plate, and then the roller motor unit is turned on to drive the roller unit to rotate, and the roller unit drives the template forward through friction, and then the template will pass through the limiting roller, the function of the limiting roller is to ensure that only one template is transported to the front conveyor belt at a time;

[0023] S8. After the template is transported to the front conveyor belt, the electric push rod unit extends the push rod so that the clamping plate unit fixes the left and right sides of the template, and then the template moves downward with the conveyor belt;

[0024] S9, when the template passes through the metal detector and the visual identifier, the metal detector detects the position of the metal nail and the visual identifier determines the posture of the metal nail, and transmits the data obtained by the metal detector and the visual identifier to the nail remover;

[0025] S10, then the template continues to move forward following the conveyor belt to reach the position of the nail remover; since the conveyor belt is conveyed downward at a constant speed, and the metal detector and the visual identifier have transmitted the position and posture data of each metal nail to the nail remover, the nail remover obtains the arrival time and specific position of each nail;

[0026] S11. Next, the nail remover will remove the nails on the template. After obtaining the arrival time and specific position of each nail, when the nail arrives, the horizontal slide will first move to the position where the nail is located, and then the electric push rod under the horizontal slide will extend to make the nail remover cover contact with the template. Then the electric push rod of the nail remover will move up and down to adjust the nail remover tooth extraction unit to maintain a suitable distance from the template; then the middle motor of the nail remover will rotate, driving the inner rotating ring of the nail remover to rotate, and the three teeth in the nail remover tooth extraction unit will slowly move out of the nail remover. The nail remover moves downward; in the process of moving downward, the distance between the top ends of the three teeth becomes smaller and smaller until the top ends of the three teeth clamp the nail, and at this time the middle motor of the nail remover stops rotating; at this time, the nail remover buckle motor rotates, so that the buckle connected to the rotating shaft of the nail remover buckle motor is clamped in the clamping groove of the nail remover guide rod unit b, so that the three teeth of the nail remover tooth extraction unit maintain the current position, and then the nail remover electric push rod contracts so that the nail remover tooth extraction unit pulls out the surrounded nail, thus completing the removal of the nail;

[0027] S12, then the template continues to move downward to the nail absorber, first the electromagnet is turned on, and the pulled-out nails are absorbed on the electromagnet, at this time, the nails with the nail caps on the front of the template are pulled out and collected;

[0028] S13. Since the nail caps of some nails are located on the back of the template, the template needs to be turned over; the template continues to be conveyed downward on the conveyor belt to the template flipper, at which time the electric push rod unit contracts so that the clamping plate unit no longer clamps the template, which is convenient for flipping the template later; the position of the template is detected by the infrared detector; after the template reaches the clamping range of the template clamping plate, the template flipping pressure sensor indirectly controls the extension length of the template clamping hydraulic cylinder, and the template clamping hydraulic cylinder extends so that the template clamping plate clamps the template, and then the template flipping motor is started to flip the template flipping frame to the rear conveyor belt;

[0029] S14, on the rear conveyor belt, the iron nails with the nail caps on the back of the template are removed, and the removal process is the same as the process of removing the iron nails with the nail caps on the front of the template;

[0030] S15. After all the nails are removed, the rear conveyor belt transports the template downward to the template collection part; the initial position of the shovel fork b in the template collection part is flush with the rear conveyor belt; the winch b rotates at a uniform speed so that the shovel fork b keeps descending at a uniform speed, so that each template transferred over can be placed exactly on the upper surface of the previous template; after all the templates are transferred to the template collection part, the entire template nail removal work is completed.

[0031] From the above, the beneficial effects of the template nail removal robot and method of the present invention are as follows:

[0032] 1. The template arrangement part of this device can replace manual arrangement of templates. In the actual process, the template can be directly placed into the template arrangement part to automatically arrange the template, which saves labor costs and improves processing efficiency.

[0033] 2. The template delivery part of this device can ensure that only one template is delivered to the conveyor belt at a time, preventing multiple templates from overlapping and reducing the impact on subsequent processes.

[0034] 3. The nail remover of this device can effectively remove the nails on the template, improving the accuracy of nail removal.

[0035] 4. This device combines machine vision technology to effectively identify nails in different postures, thereby determining the optimal nail removal position of the nail remover, greatly improving the accuracy of nail removal.

[0036] 5. The flipping mechanism of the device can realize the flipping of the template, so as to remove the iron nails on both sides of the template. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0038] Figure 1 It is a schematic diagram of the overall structure of the template nail removal robot of the present invention;

[0039] Figure 2 It is a structural schematic diagram of the template code arrangement part of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the drum part of the present invention;

[0041] Figure 4 It is a structural schematic diagram of the pulley transmission unit of the present invention;

[0042] Figure 5 It is a structural schematic diagram of the pulley a of the present invention;

[0043] Figure 6 It is a structural schematic diagram of the rotating drum support of the present invention;

[0044] Figure 7 It is a structural schematic diagram of the code plate pressure sensor of the present invention;

[0045] Figure 8 It is a structural schematic diagram of the transverse code arrangement part of the present invention;

[0046] Fig. 9 It is a structural schematic diagram of the limit rod unit of the present invention;

[0047] Fig.10 It is a structural schematic diagram of the template sending part of the present invention;

[0048] Fig.11 It is a schematic structural diagram of the top transfer plate of the present invention;

[0049] Fig.12 It is a structural schematic diagram of the template nail removal part of the present invention;

[0050] Fig.13 It is a structural schematic diagram of the front conveyor belt of the present invention;

[0051] Fig.14 It is a structural schematic diagram of the template fixing unit of the present invention;

[0052] Fig.15 It is a schematic diagram of the structure of the metal detection and visual recognition device of the present invention;

[0053] Fig.16It is a structural schematic diagram of the nail remover of the present invention;

[0054] Fig.17 It is a structural schematic diagram of the outer cover of the nail remover of the present invention;

[0055] Fig.18 It is a structural schematic diagram of the nail remover of the present invention;

[0056] Fig.19 A is a detail diagram of the staple remover of the present invention;

[0057] Fig. 20 FIG b is a detail view of the staple remover of the present invention;

[0058] Fig.21 It is a structural schematic diagram of the nail extractor of the present invention;

[0059] Fig. 22 It is a structural schematic diagram of the template flipper of the present invention;

[0060] Fig.23 It is a schematic structural diagram of the template collecting part of the present invention.

[0061] Description of reference numerals:

[0062] 10000-template code row part;

[0063] 11000-drum part;

[0064] 11100-code layout;

[0065] 11200-yard hydraulic cylinder unit;

[0066] 11300-pulley transmission unit; 11310-pulley a; 11311-pulley block; 11312-pulley motor; 11313-pulley hydraulic cylinder; 11320-pulley b; 11330-pulley c;

[0067] 11400-rotating drum;

[0068] 12000-drum bracket; 12100-rotating bearing; 12200-gear ring; 12300-gear ring rotating motor; 12400-bracket;

[0069] 13000-code layout pressure sensor;

[0070] 14000-horizontal code arrangement part;

[0071] 14100-limit rod unit; 14110-long limit rod unit; 14120-short limit rod unit;

[0072] 14200-Linear bearing unit;

[0073] 14300-screw unit;

[0074] 14400-motor unit;

[0075] 14,500-yard row of poles;

[0076] 14600-center plate;

[0077] 20000- Template delivery part;

[0078] 21000-base a;

[0079] 22000-fork a;

[0080] 23000-Winches a;

[0081] 24000-top transfer plate;

[0082] 24100-top plate;

[0083] 24200-Drum unit;

[0084] 24300-Drum motor unit;

[0085] 24400-limit roller;

[0086] 25000-top plate hydraulic cylinder;

[0087] 30000-the part where the template nails are removed;

[0088] 31000-front conveyor belt;

[0089] 31100-Conveyor belts;

[0090] 31200-template fixing unit; 31210-electric push rod unit; 31220-clamping plate unit;

[0091] 31300-Metal detector and visual identifier; 31310-Stand a; 31320-Metal detector; 31330-Visual identifier;

[0092] 31400-Nail remover;

[0093] 31410-stand b;

[0094] 31420-nail remover; 31421-electric push rod for nail remover; 31422-intermediate motor for nail remover; 31423-clip motor for nail remover; 31424-guide rod unit a for nail remover; 31425-guide rod unit b for nail remover; 31426-inner swivel for nail remover; 31427-outer swivel for nail remover; 31428-tooth extraction unit for nail remover; 31429-outer cover for nail remover;

[0095] 31430-Horizontal slide;

[0096] 31500-nail extractor; 31510-stand c; 31520-electromagnet;

[0097] 32000-template flipper;

[0098] 32100-template clamping hydraulic cylinder;

[0099] 32200-Template clamping plate;

[0100] 32300-template flip motor;

[0101] 32400-stand d;

[0102] 32500-template turning frame;

[0103] 32600-infrared detector;

[0104] 32700-template flip pressure sensor;

[0105] 33000-rear conveyor belt;

[0106] 40000-Template collection part;

[0107] 41000-base b;

[0108] 42000-fork b;

[0109] 43000-Winches b. DETAILED DESCRIPTION

[0110] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0111] Next, combine Figures 1 to 23 The template nail removal robot and method provided by the present invention are introduced in detail.

[0112] Depend on Figure 1As shown, the template nail removal robot of the present invention comprises a template arranging part 10000, a template sending part 20000, a template nail removal part 30000, and a template collecting part 40000. The template arranging part 10000 arranges the irregularly arranged templates in order to facilitate the subsequent processes; the template sending part 20000 places the arranged templates one by one on the conveyor belt of the template nail removal part 30000; the template nail removal part 30000 removes and collects the nails on both sides of the template; and the template collecting part 40000 collects the templates from which the nails have been removed.

[0113] like Figure 2 As shown, the template code arrangement part 10000 includes a drum part 11000, a drum support 12000, a pressure sensor unit 13000 and a transverse code arrangement part 14000. The logical relationship of the above components is described in detail below:

[0114] like Figure 3 As shown, the drum part 11000 includes a coding plate 11100, a coding hydraulic cylinder unit 11200, a pulley transmission unit 11300, and a drum 11400. The left and right plates of the coding plate 11100 are connected to the inner wall of the drum 11400 by bolts, and the upper and lower plates are connected to the coding hydraulic cylinder unit 11200 by bolts. The extension and contraction of the coding hydraulic cylinder unit 11200 can control the upper and lower coding plates to clamp the template sent in. One end of the coding hydraulic cylinder unit 11200 is connected to the inner wall of the drum 11400 by bolts, and the other end is connected to the upper and lower plates of the coding plate 11100 by bolts, which can control the upper and lower plates in the coding plate 11100 to move up and down, thereby clamping the template sent in.

[0115] like Figure 4 and Figure 5As shown, the pulley transmission unit 11300 is installed on the lower plate of the code plate 11100, and includes a pulley a11310, a pulley b11320 and a pulley c11330. Since the pulley b11320 and the pulley c11330 have similar structures, functions and connection methods as the pulley a11310, only the pulley a11310 is described in detail, and the pulley b11320 and the pulley c11330 are not described in detail. The pulley a11310 includes a pulley block 11311, a pulley motor 11312 and a pulley hydraulic cylinder 11313. The pulley block 11311 is fixed to one end of the pulley hydraulic cylinder 11313 by bolts. After the templates are neatly arranged, the pulley hydraulic cylinder 11313 extends to make the pulley a11310 lift the template, and then the pulley motor 11312 rotates, driving the pulley controlled by the pulley motor 11312 in the pulley block 11311 to rotate, and the pulley b11320 also rotates the pulleys controlled by their respective pulley motors in the same way. These rotating pulleys transport the templates in the encoding plate 11100 forward through friction.

[0116] like Figure 6 As shown, the drum bracket 12000 is used to drive the drum part 11000 to rotate, and includes a rotary bearing 12100, a gear ring 12200, a gear ring rotating motor 12300, and a bracket 12400. The gear ring 12200 is connected to the inner ring of the rotary bearing 12100, the drum 11400 is connected to the inner ring of the rotary bearing 12100 by bolts, the gear ring rotating motor 12300 is connected to the outer ring of the rotary bearing 12100 by bolts, the bracket 12400 is connected to the outer ring of the rotary bearing 12100 by bolts, the output shaft of the gear ring rotating motor 12300 is connected to the gear ring 12200 through a gear set, and the gear ring rotating motor 12300 drives the drum 11400 to rotate.

[0117] like Figure 7 As shown, the coding plate pressure sensor 13000 is fixed on the lower surface of the upper plate in the coding plate 11100, and can monitor the coding hydraulic cylinder unit 11200 in real time, so that the extended length of the coding hydraulic cylinder unit 11200 can just enable the coding plate 11100 to clamp the template.

[0118] like Figure 8 and Fig. 9As shown, the transverse code arrangement part 14000 includes a limit rod unit 14100, a linear bearing unit 14200, a screw rod unit 14300, a motor unit 14400, a code arrangement rod 14500 and a center disk 14600. The limit rod unit 14100 includes a long limit rod unit 14110 and a short limit rod unit 14120. The long limit rod unit 14110 is fixed in the center disk 14600 by bolts, so that the code arrangement rod 14500 can only move along the direction of the long limit rod unit 14110. The short limit rod unit 14120 is nested in the center disk 14600, so that the center disk 14600 can only move along the direction of the short limit rod unit 14120. The linear bearing unit 14200 is fixed to the side of the coding rod 14500 and the side of the center disk 14600 by bolts, so that the coding rod 14500 and the center disk 14600 are smoother when moving along the limit rod unit 14100. The screw unit 14300 is connected to the rotating shaft of each motor in the motor unit 14400 by bolts, so that each motor in the motor unit 14400 can drive each screw in the screw unit 14300 to rotate. The screw parallel to the long limit rod unit 14110 is threadedly connected to the coding rod 14500. The rotation of the screw can drive the coding rod 14500 to move along the screw, so that the coding rod 14500 can code the template. The screw parallel to the short limit rod unit 14120 is threadedly connected to the center disk 14600. The screw rotation The movement can drive the center disk 14600 to move along the screw rod. Since the center disk 14600 is connected to the coding rod 14500 through the long limit rod unit 14110, the center disk 14600 and the coding rod 14500 can realize synchronous movement in the direction of the short limit rod unit 14120, so that the coding rod 14500 can be extended into or extended out of the coding plate 11100. When extending into the coding plate 11100, the coding rod 14500 can go to code the template, and when extending out of the coding plate 11100, the coding rod 14500 will not block the movement of the template. The motor used to adjust the coding rod 14500 in the motor unit 14400 is fixed to the side of the center disk 14600 by bolts. The rotation of the motor can drive the screw rod connected thereto to rotate, thereby driving the movement of the coding rod 14500 to code the template. Another motor in the motor unit 14400 is fixed to the outer surface of the code plate 11100 by bolts, which can drive the screw connected to it to rotate, thereby driving the center disk 14600 to move to adjust the position of the code rod 14500 to extend into or out of the code plate 11100. The three holes on the surface of the code rod 14500 respectively pass through the two long limit rods in the long limit rod unit 14110 and the screw rod parallel to the long limit rod in the screw rod unit 14300, so that the code rod 14500 can move along the direction of the two long limit rods in the long limit rod unit 14110 under the control of the screw rod.The center disk 14600 is connected to the short limiting rod unit 14120 , so that the center disk 14600 can move along the direction of the short limiting rod unit 14120 and the short limiting rod unit 14120 can prevent the center disk 14600 from falling.

[0119] like Fig.10 and Fig.11 As shown, the template delivery part 20000 includes a base a21000, a shovel fork a22000, a winch a23000, a top conveying plate 24000, and a top plate hydraulic cylinder 25000. The logical relationship of the above components is described in detail below:

[0120] The base a21000 is placed on the ground, with its side aligned with the exit of the template arrangement part 10000, and its placement position allows the neatly arranged template to be directly transferred to the shovel fork a22000. The shovel fork a22000 is connected to the surface of the base a21000 through a slide rail, so that the shovel fork a22000 can move up and down along the slide rail, thereby realizing the up and down movement of the shovel fork a22000. The hoist a23000 is fixed to the back of the side wall of the base a21000 by bolts, and the wire rope of the hoist a23000 is connected to the shovel fork a22000, so that the hoist a23000 can control the lifting and lowering of the shovel fork a22000. The top conveying plate 24000 includes a top plate 24100, a roller unit 24200, a roller motor unit 24300 and a limiting roller 24400. The top plate 24100 is hinged to the top of the side wall of the base a21000 through a hinge seat, so that the top plate 24100 can rotate around the hinge seat. The roller unit 24200 is fixed to the bottom of the top plate 24100 by bolts, and the roller motor unit 24300 is connected to the roller unit 24200, so that the roller motor unit 24300 can control the rotation of the roller unit 24200, so that the roller unit 24200 can transmit the template forward through friction. The limiting roller 24400 is fixed to the bottom of the top plate 24100 by bolts and is located behind the roller unit 24200, so that only one template transmitted from the roller unit 24200 can pass through the limiting roller 24400 at a time. After each template is transported to the front conveyor belt 31000, the winch a23000 rotates to pull the fork a22000 upward for a distance so that the next template to be transported contacts the roller unit 24200, and can be transported to the front conveyor belt 31000. One end of the top plate hydraulic cylinder 25000 is connected to the back of the side wall of the base a21000 through a hinge seat, and the other end is connected to the top plate 24100 through a hinge seat, so that the top plate hydraulic cylinder 25000 can control the top plate 24100 to rotate around the hinge seat.

[0121] like Fig.12As shown, the template nail removal part 30000 includes a front conveyor belt 31000, a template flipper 32000 and a rear conveyor belt 33000. The logical relationship of the above components is described in detail below:

[0122] like Fig.13 As shown, the front conveyor belt 31000 includes a conveyor belt 31100 and a template fixing unit 31200, a metal detector and visual identifier 31300, a nail remover 31400 and a nail sucker 31500 arranged in sequence along the conveying direction of the conveyor belt 31100. The conveyor belt 31100 is placed behind the template delivery part 20000, so that the template coming out of the limiting roller 24400 can directly fall on the conveyor belt 31100. And a cross bar protrusion is provided on the conveyor belt 31100 at intervals, so that a template can be placed between every two cross bar protrusions, so that the templates will not overlap, which is convenient for the subsequent processes.

[0123] like Fig.14 As shown, the template fixing unit 31200 includes an electric push rod unit 31210 and a clamping plate unit 31220. The electric push rod unit 31210 is fixed to the conveyor belt 31100 by bolts and can move with the conveyor belt 31100. The clamping plate unit 31220 is fixed to one end of the electric push rod unit 31210, so that the electric push rod unit 31210 can control the clamping plate unit 31220 to clamp the template.

[0124] like Fig.15 As shown, the metal detector and visual identifier 31300 includes a stand a31310, a metal detector 31320 and a visual identifier 31330. The stand a31310 is fixed to the ground by bolts and is used to carry the metal detector 31320 and the visual identifier 31330. The metal detector 31320 is fixed to the lower surface of the middle beam of the stand a31310 by bolts and is used to monitor the metal nails in the template. The visual identifier 31330 is fixed to the side of the middle beam of the stand a31310 by bolts. Since the nails have nail tips facing upward and nail caps facing upward, the visual identifier 31330 can be used to identify nails of different shapes and record the positions of the nails at the same time. Since the conveying speed of the conveyor belt 31100 is known, the relationship between the position of the nails and time can be accurately located, and the positions of the nails at different times are transmitted to the nail remover 31400 in real time, so that the nail remover 31400 can accurately remove the nails with the nail caps facing upward.

[0125] like Fig.16 As shown, the nail remover 31400 includes a stand b31410, a nail remover 31420 and a horizontal slide 31430. The stand b31410 is similar in structure and function to the stand a31310.

[0126] like Figures 17 to 20 As shown, the nail remover 31420 includes a nail remover electric push rod 31421, a nail remover intermediate motor 31422, a nail remover buckle motor 31423, a nail remover guide rod unit a31424, a nail remover guide rod unit b31425, a nail remover inner rotating ring 31426, a nail remover outer rotating ring 31427, a nail remover tooth extraction unit 31428 and a nail remover outer cover 31429. One end of the nail remover electric push rod 31421 is fixed to the inner top of the nail remover outer cover 31429 by bolts, and the other end of the nail remover electric push rod 31421 is connected to a circular iron plate by bolts. The intermediate motor 31422 of the nail remover is fixed by bolts under a circular iron plate connected to one end of the electric push rod 31421 of the nail remover. The rotating shaft of the intermediate motor 31422 of the nail remover is connected to a long rod extending from the inner rotating ring 31426 of the nail remover, so that the intermediate motor 31422 of the nail remover controls the rotation of the inner rotating ring 31426 of the nail remover. The nail remover buckle motor 31423 is fixed on the top of the circular iron ring connected to the nail remover outer cover 31429 by bolts. The rotating shaft of the nail remover buckle motor 31423 is connected to a buckle by bolts, so that the nail remover buckle motor 31423 can control the rotation of the buckle. The buckle can be stuck in the slot opened on the nail remover guide rod unit b31425, thereby limiting the nail remover guide rod unit b31425 so that it no longer moves. When the nail remover buckle motor 31423 controls the buckle to rotate and separates the buckle from the slot opened on the nail remover guide rod unit b31425, the nail remover guide rod unit b31425 can only move in the up and down directions due to the constraint.

[0127] The nail remover guide rod unit a31424 is fixed by bolts on the top of the circular iron plate connected to one end of the nail remover electric push rod 31421. The nail remover guide rod unit a31424 can only move in the up and down direction due to the constraint. One end of the nail remover guide rod unit b31425 is three guide rods, and the other ends of the three guide rods are connected to the same circular ring. There is a small cross bar between the circular ring and the three guide rods. These three cross bars pass through the three teeth in the nail remover tooth extraction unit 31428 respectively, so that these three cross bars become the tracks of the pulleys at the top of the three teeth in the nail remover tooth extraction unit 31428. The middle long rod of the nail remover inner swivel 31426 is fixed by bolts below the circular iron plate connected to the nail remover intermediate motor 31422, so that the nail remover intermediate motor 31422 controls the rotation of the nail remover inner swivel 31426, and the nail remover inner swivel 31426 can move up and down together with the circular iron plate connected to the nail remover intermediate motor 31422. The nail remover outer swivel 31427 is connected to the circular iron plate connected to the nail remover intermediate motor 31422 (a circular iron plate is connected to the upper side of the nail remover intermediate motor 31422, and another circular iron plate is connected to the lower side of the nail remover intermediate motor 31422) through three long rods with bolts, so that the nail remover outer swivel 31427 can also move up and down together with the circular iron plate connected to the nail remover intermediate motor 31422. Therefore, since the inner rotating ring 31426 and the outer rotating ring 31427 of the nail remover can move up and down together with the circular iron plate connected to the middle motor 31422 of the nail remover, the relative positions of the inner rotating ring 31426 and the outer rotating ring 31427 of the nail remover are fixed.

[0128] The lower parts of the three teeth in the teeth extraction unit 31428 of the nail remover are provided with threads. Since the outer surface of the inner rotating ring 31426 of the nail remover and the inner surface of the outer rotating ring 31427 of the nail remover are also provided with threads, the three teeth in the teeth extraction unit 31428 of the nail remover can be clamped between the inner rotating ring 31426 of the nail remover and the outer rotating ring 31427 of the nail remover, and the inner rotating ring 31426 of the nail remover can be driven to rotate by the rotation of the intermediate motor 31422 of the nail remover. Since the surface of the inner rotating ring 31426 of the nail remover is provided with threads, both sides of the three teeth of the teeth extraction unit 31428 of the nail remover are provided with threads. Therefore, the rotation of the inner rotating ring 31426 of the nail remover can drive the three teeth in the tooth extraction unit 31428 of the nail remover to rise and fall. Since the pulleys at the top of the three teeth in the tooth extraction unit 31428 of the nail remover are constrained by the transverse track, the transverse track passes through the hole below the pulleys at the top of the three teeth, so that the three teeth in the tooth extraction unit 31428 of the nail remover can only move along the track direction in the horizontal direction. Therefore, when the inner rotating ring 31426 and the outer rotating ring 31427 of the nail remover rotate, the three teeth in the tooth extraction unit 31428 of the nail remover can move closer and farther, so as to clamp the iron nail. The outer cover 31429 of the nail remover is connected to the electric push rod 31421 of the nail remover by bolts to protect the internal structure. The horizontal slide 31430 is a square frame with an opening on one side. Pulleys are fixed on the top, left and right sides of the inner wall of the square frame by bolts, so that the horizontal slide 31430 can slide along the slide rail on the vertical frame b31410 under the control of the motor, so that the nail remover 31420 can move left and right to remove the nails.

[0129] like Fig.21 As shown, the nail extractor 31500 includes a stand c31510 and an electromagnet 31520. The stand c31510 has a similar structure, function, and connection method to the stand a31310, and the stand c31510 is not described in detail. The electromagnet 31520 is fixed to the upper and lower surfaces of the stand c31510 by bolts and can be used to absorb the nails removed by the nail remover 31400.

[0130] like Fig. 22As shown, the template flipper 32000 includes a template clamping hydraulic cylinder 32100, a template clamping plate 32200, a template flipping motor 32300, a stand d32400, a template flipping frame 32500, an infrared detector 32600 and a template flipping pressure sensor 32700. The template clamping hydraulic cylinder 32100 is fixed to the upper and lower inner surfaces of the template flipping frame 32500 by bolts. The template clamping plate 32200 is fixed to the other end of the template clamping hydraulic cylinder 32100 by bolts, so that the template clamping hydraulic cylinder 32100 can control the template clamping plate 32200 to clamp the template. The template flipping motor 32300 is fixed to the side of the stand d32400 by bolts, and its rotating shaft is connected to the template flipping frame 32500, which can control the template flipping frame 32500 to rotate, thereby realizing the flipping of the clamped template. The stand d32400 is fixed to the ground by bolts and is used as a bracket for the template flipper 32000. One end of the template flip frame 32500 is connected to the rotating shaft of the template flip motor 32300 through a bearing, and the other end is connected to the stand d32400 through a bearing, so that the template flip frame 32500 can be flipped by the template flip motor 32300. The infrared detector 32600 is fixed to the upper surface of the template clamping plate 32200 by bolts. The template flip pressure sensor 32700 is fixed to the upper surface of the template clamping plate 32200 by bolts. The rear conveyor belt 33000 has the same structure, similar functions and similar connection methods as the front conveyor belt 31000. However, since there are nails on both sides of the template, and the nail caps of some nails are on the front side of the template, and the nail caps of the remaining nails are on the back side of the template, only the nail remover 31400 at the side where the nail caps are located can clamp the nails and remove them. Therefore, the template flipper 32000 turns the template over to remove the nails on both sides, and the nail removal process on the front and back sides is the same, so only the front conveyor belt 31000 is described in detail, and the rear conveyor belt 33000 is not repeated.

[0131] like Fig.23 As shown, the template collecting part 40000 is located at the end of the template nail removing part 30000, which includes a base b41000, a shovel fork b42000 and a winch b43000. The logical relationship of the above components is described in detail below:

[0132] The base b41000, fork b42000 and winch b43000 in the template collecting part 40000 are respectively the same in structure, function and connection as the base a21000, fork a22000 and winch a23000 in the template sending part 20000, except that the initial position of the fork b42000 is at the highest point. As the template is piled up on the fork b42000, the fork b42000 drops at a constant speed, so that the newly delivered template can be piled just above the previous template. Only the above differences are introduced, and the rest will not be repeated.

[0133] Correspondingly, the template nail removal method of the present invention comprises the following steps:

[0134] 1. First, put the messy template into the template stacking part 10000, and the stacking hydraulic cylinder unit 11200 extends the hydraulic cylinder to make the upper and lower stacking plates 11100 clamp the template. When clamping, the stacking plate pressure sensor 13000 detects the pressure of the stacking plate 11100 clamping the template. The required pressure does not need to be too large, as long as it can clamp the template.

[0135] 2. The gear ring rotating motor 12300 rotates to drive the gear ring 12200 to rotate, thereby driving the bracket 12400 to rotate, so that the template changes from the original horizontal state to the vertical state.

[0136] 3. The stacking hydraulic cylinder unit 11200 contracts, causing the stacking plate 11100 to loosen the template by a short distance, so that the clamped vertical template falls naturally, and one side of the template is close to the stacking plate below, thereby achieving neat stacking.

[0137] 4. Then the hydraulic cylinder unit 11200 extends the hydraulic cylinder to make the upper and lower two stacking plates 11100 clamp the template again. Then the gear ring rotating motor 12300 rotates in the opposite direction, driving the gear ring 12200 to rotate, thereby driving the bracket 12400 to rotate, so that the template changes from a vertical state to a horizontal state. In this way, the templates are neatly stacked in the horizontal direction.

[0138] 5. Then, the longitudinal arrangement is performed. The motor fixed on the right outer surface of the arrangement plate 11100 in the motor unit 14400 rotates, thereby driving the screw connected thereto to rotate, so that the center disk 14600 moves toward the center of the rotating drum 11400, so that the arrangement rod 14500 originally located inside the right side of the arrangement plate 11100 extends into the interior of the rotating drum part 11000. Then, the motor fixed on both sides of the center disk 14600 in the motor unit 14400 rotates to drive the arrangement rod 14500 to shrink toward the center disk 14600, thereby arranging the templates neatly in the longitudinal direction.

[0139] 6. After the templates are neatly arranged, they can be transported to the next process. The pulley a11310, pulley b11320 and pulley c11330 in the pulley transmission unit 11300 are lifted, so that the pulley transmission unit 11300 lifts the arranged templates, and then the three pulleys in the pulley transmission unit 11300 start their motors, thereby driving the pulleys to rotate, and the templates are transported forward to the fork a22000 of the template delivery part 20000 through friction.

[0140] 7. The winch a23000 is then rotated to move the fork a22000 upward, thereby moving the template upward until the template contacts the top conveying plate 24000, and then the roller motor unit 24300 is turned on, thereby driving the roller unit 24200 to rotate. The roller unit 24200 drives the template forward through friction, and then the template will pass through the limiting roller 24400. The function of the limiting roller 24400 is to ensure that only one template can be transported to the front conveyor belt 31000 at a time.

[0141] 8. After the template is transported to the front conveyor belt 31000, the electric push rod unit 31210 extends the push rod so that the clamping plate unit 31220 fixes the left and right sides of the template, and then the template will move downward with the conveyor belt 31100.

[0142] 9. When the template passes through the metal detector and visual identifier 31300, the metal detector 31320 detects the position of the metal nail and the visual identifier 31330 determines the posture of the metal nail, and transmits the data obtained by the metal detector 31320 and the visual identifier 31330 to the nail remover 31400.

[0143] 10. Then the template continues to move forward following the conveyor belt 31100 to the position of the nail remover 31400. Since the conveyor belt 31100 is conveyed downward at a constant speed, and the metal detector 31320 and the visual identifier 31330 have transmitted the position, posture and other data of each metal nail to the nail remover 31400, the nail remover 31400 can obtain the arrival time and specific position of each nail.

[0144] 11. Next, the nail remover 31420 will remove the nails on the template. After obtaining the arrival time and specific position of each nail, when the nail arrives, the horizontal slide 31430 first moves to the position of the nail, and then the four electric push rods under the horizontal slide 31430 extend to make the nail remover cover 31429 contact the template, and then the nail remover electric push rod 31421 moves up and down to adjust the nail remover tooth extraction unit 31428 to maintain a suitable distance from the template. Then the nail remover middle motor 31422 rotates, driving the nail remover inner swivel 31426 to rotate, and the three teeth in the nail remover tooth extraction unit 31428 slowly move downward. In the process of moving downward, the distance between the tops of the three teeth becomes smaller and smaller until the tops of the three teeth clamp the nail, and at this time the nail remover middle motor 31422 stops rotating. At this time, the nail remover buckle motor 31423 rotates, so that the buckle connected to the rotating shaft of the nail remover buckle motor 31423 is stuck in the slot of the nail remover guide rod unit b31425, so that the three teeth of the nail remover tooth extraction unit 31428 maintain the current position, and then the nail remover electric push rod 31421 contracts so that the nail remover tooth extraction unit 31428 pulls out the surrounded iron nails, thus completing the removal of the iron nails.

[0145] 12. Then the template continues to move downward to the nail extractor 31500. First, the electromagnet 31520 is turned on, and the pulled-out nails are sucked onto the electromagnet 31520. At this time, the nails with the nail caps on the front of the template are pulled out and collected.

[0146] 13. Since the nail caps of some nails are located on the back of the template, the template needs to be turned over. The template continues to be conveyed downward on the conveyor belt 31100 to the template flipper 32000. At this time, the electric push rod unit 31210 contracts so that the clamping plate unit 31220 no longer clamps the template, which is convenient for flipping the template later. The position of the template is detected by the infrared detector 32600. After the template reaches the clamping range of the template clamping plate 32200, the template flipping pressure sensor 32700 indirectly controls the extension length of the template clamping hydraulic cylinder 32100. The template clamping hydraulic cylinder 32100 is extended so that the template clamping plate 32200 can clamp the template, and then the template flipping motor 32300 is started to flip the template flipping frame 32500 to the rear conveyor belt 33000.

[0147] 14. On the rear conveyor belt 33000, the iron nails with the nail caps on the back of the template will be removed. The removal process is the same as that for removing the iron nails with the nail caps on the front of the template, so it will not be repeated.

[0148] 15. After all the nails are removed, the rear conveyor belt 33000 transports the template downward to the template collection part 40000. The initial position of the shovel fork b42000 of the template collection part 40000 is flush with the rear conveyor belt 33000. The winch b43000 rotates at a constant speed to keep the shovel fork b42000 descending at a constant speed, so that each template transferred over can be placed on the upper surface of the previous template. After all templates are transferred to the template collection part 40000, the entire template nail removal work is completed.

[0149] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A template nail removal robot, characterized in that: include: The template alignment part (10000) comprises a drum part (11000), a drum support (12000) for driving the drum part (11000) to rotate, a pressure sensor unit (13000) fixed to the drum part (11000), and a transverse alignment part (14000) for aligning irregularly arranged templates; the drum part (11000) comprises an alignment plate (11100), an alignment hydraulic cylinder unit (11200), a pulley transmission unit (11300), and a drum (11400); the alignment plate The left and right plates of (11100) are connected to the inner wall of the rotating drum (11400) by bolts, and the upper and lower plates are connected to the stacking hydraulic cylinder unit (11200) by bolts. The telescopic control of the stacking hydraulic cylinder unit (11200) controls the upper and lower stacking plates to clamp the templates sent in; the pulley transmission unit (11300) is installed on the lower plate of the stacking plate (11100) and is used to transport the templates in the stacking plate (11100) forward; the stacking rod (14500) of the transverse stacking part (14000) extends into the stacking plate (11100) to stack the templates; The template delivery part (20000) is aligned with the exit of the template arrangement part (10000), and comprises a base a (21000), a shovel fork a (22000) connected to the base a (21000) by sliding up and down through a slide rail, a winch a (23000) fixed to the base a (21000) and used to drive the base a (21000) to move up and down, a top conveying plate (24000) hinged to the top of the side wall of the base a (21000) through a hinge seat, and a top plate hydraulic cylinder (25000) for controlling the top conveying plate (24000) to rotate around the hinge seat, and is used to deliver the arranged templates one by one onto the conveyor belt (31100) of the template nail removal part (30000); The template nail removal part (30000) is arranged behind the template delivery part (20000), and comprises a front conveyor belt (31000), a template flipper (32000) and a rear conveyor belt (33000) having the same structure as the front conveyor belt (31000), and is used to remove and collect the nails on the front and back sides of the template; the front conveyor belt (31000) comprises a conveyor belt (31100) and a template fixing unit (31200), a metal detector and visual identifier (31300), a nail remover (31400) and a nail sucker (31500) arranged in sequence along the conveying direction of the conveyor belt (31100); The template collecting part (40000) is located at the end of the template nail removing part (30000) and is used to collect the template from which the nails have been removed.

2. The template nail removal robot according to claim 1, characterized in that: The rotating drum bracket (12000) comprises a rotating bearing (12100), a gear ring (12200), a gear ring rotating motor (12300), and a bracket (12400); the gear ring (12200) is connected to the inner ring of the rotating bearing (12100), the rotating drum (11400) is connected to the inner ring of the rotating bearing (12100) via bolts, the gear ring rotating motor (12300) is connected to the outer ring of the rotating bearing (12100) via bolts, the bracket (12400) is connected to the outer ring of the rotating bearing (12100) via bolts, the output shaft of the gear ring rotating motor (12300) is transmission-connected to the gear ring (12200) via a gear set, and the gear ring rotating motor (12300) drives the rotating drum (11400) to rotate.

3. The template nail removal robot according to claim 1, characterized in that: The transverse coding part (14000) comprises a limit rod unit (14100), a linear bearing unit (14200), a screw rod unit (14300), a motor unit (14400), a coding rod (14500) and a center disk (14600); the limit rod unit (14100) comprises a long limit rod unit (14110) and a short limit rod unit (14120); the long limit rod unit (14110) is fixed in the center disk (14600) by bolts, so that the coding rod (14500) moves in the direction of the long limit rod unit (14110); the short limit rod unit (14120) is nested in the center disk (14600), so that the center disk (14600) moves in the direction of the short limit rod unit (14120); The linear bearing unit (14200) is fixed to the side of the coding rod (14500) and the side of the center disk (14600) by bolts, so that the coding rod (14500) and the center disk (14600) move more smoothly along the limit rod unit (14100); the screw rod unit (14300) is connected to the rotating shaft of each motor in the motor unit (14400) by bolts, so that each motor in the motor unit (14400) can drive each screw rod in the screw rod unit (14300) to rotate, and the screw rod parallel to the long limit rod unit (14110) is threadedly connected to the coding rod (14500), and the rotation of the screw rod drives the coding rod (14500) along The screw rod moves, so that the coding rod (14500) codes the template. The screw rod parallel to the short limit rod unit (14120) is threadedly connected to the center disk (14600). The rotation of the screw rod can drive the center disk (14600) to move along the screw rod. The center disk (14600) and the coding rod (14500) can achieve synchronous movement in the direction of the short limit rod unit (14120), so that the coding rod (14500) can extend into or extend out of the coding plate (11100). When extending into the coding plate (11100), the coding rod (14500) removes the coding template. When extending out of the coding plate (11100), the coding rod (14500) will not block the movement of the template. The motor in the motor unit (14400) used to adjust the coding rod (14500) is fixed to the side of the center disk (14600) by bolts, and the rotation of the motor drives the screw rod connected to it to rotate, thereby driving the coding rod (14500) to move to code the template; another motor in the motor unit (14400) is fixed to the outer surface of the coding plate (11100) by bolts, and drives the screw rod connected to it to rotate, thereby driving the center disk (14600) to move to adjust the position of the coding rod (14500) to extend into or out of the coding plate (11100); The three holes on the surface of the coding rod (14500) respectively pass through the two long limit rods in the long limit rod unit (14110) and the screw rod parallel to the long limit rod in the screw rod unit (14300), so that the coding rod (14500) moves along the direction of the two long limit rods in the long limit rod unit (14110) under the control of the screw rod; the center disk (14600) is connected to the short limit rod unit (14120), so that the center disk (14600) moves along the direction of the short limit rod unit (14120) and the short limit rod unit (14120) prevents the center disk (14600) from falling.

4. The template nail removal robot according to claim 1, characterized in that: The top conveying plate (24000) comprises a top plate (24100), a roller unit (24200), a roller motor unit (24300) and a limiting roller (24400); the top plate (24100) is hinged to the top of the side wall of the base a (21000) through a hinge seat, so that the top plate (24100) rotates around the hinge seat; the roller unit (24200) is fixed to the bottom of the top plate (24100) by bolts, and the roller motor unit (24300) is connected to the roller unit (24200) so that the roller motor unit (24300) controls the rotation of the roller unit (24200), so that the roller unit (24200) conveys the template forward through friction; The limiting roller (24400) is fixed by bolts below the top plate (24100) and is located behind the roller unit (24200), so that only one template transmitted from the roller unit (24200) can pass through the limiting roller (24400) at a time; after each template is transported to the front conveyor belt (31000), the winch a (23000) rotates to pull the fork a (22000) upward for a distance so that the next template to be transmitted contacts the roller unit (24200), thereby being transmitted to the front conveyor belt (31000); one end of the top plate hydraulic cylinder (25000) is connected to the back side of the side wall of the base a (21000) through a hinge seat, and the other end thereof is connected to the top plate (24100) through a hinge seat, so that the top plate hydraulic cylinder (25000) controls the top plate (24100) to rotate around the hinge seat.

5. The template nail removal robot according to claim 1, characterized in that: The template fixing unit (31200) includes an electric push rod unit (31210) and a clamping plate unit (31220); the electric push rod unit (31210) is fixed to the conveyor belt (31100) by bolts and moves with the conveyor belt (31100); the clamping plate unit (31220) is fixed to one end of the electric push rod unit (31210), so that the electric push rod unit (31210) controls the clamping plate unit (31220) to clamp the template.

6. The template nail removal robot according to claim 1, characterized in that: The nail remover (31400) comprises a stand b (31410), a nail remover (31420) and a horizontal slide plate (31430); the nail remover (31420) comprises a nail remover electric push rod (31421), a nail remover intermediate motor (31422), a nail remover buckle motor (31423), a nail remover guide rod unit a (31424), a nail remover guide rod unit b (31425), a nail remover inner swivel (31426), a nail remover outer swivel (31427), a nail remover tooth extraction unit (31428) and a nail remover outer cover (31429); One end of the nail remover electric push rod (31421) is fixed to the inner top of the nail remover outer cover (31429) by bolts, and the other end of the nail remover electric push rod (31421) is connected to a circular iron plate by bolts; the nail remover intermediate motor (31422) is fixed to the bottom of the circular iron plate connected to one end of the nail remover electric push rod (31421) by bolts, and the rotating shaft of the nail remover intermediate motor (31422) is connected to the long rod extending from the nail remover inner rotating ring (31426), so that the nail remover intermediate motor (31422) controls the rotation of the nail remover inner rotating ring (31426); The nail remover buckle motor (31423) is fixed on the top of the circular iron ring connected to the nail remover outer cover (31429) by bolts, and the rotating shaft of the nail remover buckle motor (31423) is connected to a buckle by bolts, so that the nail remover buckle motor (31423) controls the buckle to rotate, and the buckle can be stuck in the slot opened on the nail remover guide rod unit b (31425) to limit the nail remover guide rod unit b (31425) so that it no longer moves. When the nail remover buckle motor (31423) controls the buckle to rotate so that the buckle is separated from the slot opened on the nail remover guide rod unit b (31425), the nail remover guide rod unit b (31425) moves in the up and down directions.

7. The template nail removal robot according to claim 6, characterized in that: The nail remover guide rod unit a (31424) is fixed by bolts on the top of a circular iron plate connected to one end of the nail remover electric push rod (31421), and the nail remover guide rod unit a (31424) moves in the up and down direction; one end of the nail remover guide rod unit b (31425) is three guide rods, and the other ends of the three guide rods are connected to the same circular ring, and there is a small cross bar between the circular ring and the three guide rods, and the three cross bars pass through the three teeth in the nail remover tooth extraction unit (31428) respectively, so that the three cross bars become the tracks of the pulleys at the tops of the three teeth in the nail remover tooth extraction unit (31428); The middle long rod of the inner rotating ring (31426) of the nail remover is fixed by bolts below the circular iron plate connected to the intermediate motor (31422) of the nail remover, so that the intermediate motor (31422) of the nail remover controls the rotation of the inner rotating ring (31426) of the nail remover, and the inner rotating ring (31426) of the nail remover and the circular iron plate connected to the intermediate motor (31422) of the nail remover move up and down together; the outer rotating ring (31427) of the nail remover and the circular iron plate connected to the intermediate motor (31422) of the nail remover are connected by bolts through three long rods, so that the outer rotating ring (31427) of the nail remover and the circular iron plate connected to the intermediate motor (31422) of the nail remover move up and down together.

8. The template nail removal robot according to claim 7, characterized in that: The lower parts of the three teeth in the nail remover tooth extraction unit (31428) are provided with threads, and the outer surface of the inner rotating ring (31426) of the nail remover and the inner surface of the outer rotating ring (31427) of the nail remover are provided with threads. Therefore, the three teeth in the nail remover tooth extraction unit (31428) are clamped between the inner rotating ring (31426) of the nail remover and the outer rotating ring (31427) of the nail remover, and the inner rotating ring (31426) of the nail remover can be driven to rotate by the rotation of the intermediate motor (31422) of the nail remover. Since the surface of the inner rotating ring (31426) of the nail remover is provided with threads, both sides of the three teeth of the nail remover tooth extraction unit (31428) are provided with threads. The nail remover has a thread, and the rotation of the inner rotating ring (31426) of the nail remover drives the three teeth in the tooth extraction unit (31428) of the nail remover to rise and fall. The pulleys at the top of the three teeth in the tooth extraction unit (31428) of the nail remover are constrained by a transverse track. The transverse track passes through the hole below the pulleys at the top of the three teeth, so that the three teeth in the tooth extraction unit (31428) of the nail remover can only move along the track direction in the horizontal direction. When the inner rotating ring (31426) of the nail remover and the outer rotating ring (31427) of the nail remover rotate, the three teeth in the tooth extraction unit (31428) of the nail remover can move closer and farther, thereby clamping the iron nails; The nail remover outer cover (31429) is connected to the nail remover electric push rod (31421) by bolts to protect the internal structure; the horizontal slide (31430) is a square frame with an opening on one side, and pulleys are fixed on the top, left and right sides of the inner wall of the square frame by bolts, so that the horizontal slide (31430) slides along the slide rail on the stand b (31410) under the control of the motor, thereby moving the nail remover (31420) left and right to remove the nails.

9. The template nail removal robot according to claim 1, characterized in that: The template flipper (32000) comprises a template clamping hydraulic cylinder (32100), a template clamping plate (32200), a template flipping motor (32300), a stand (32400), a template flipping frame (32500), an infrared detector (32600) and a template flipping pressure sensor (32700); the template clamping hydraulic cylinder (32100) is fixed to the upper and lower inner surfaces of the template flipping frame (32500) by bolts; the template The clamping plate (32200) is fixed to the other end of the template clamping hydraulic cylinder (32100) by bolts, so that the template clamping hydraulic cylinder (32100) controls the template clamping plate (32200) to clamp the template; the template flipping motor (32300) is fixed to the side of the stand d (32400) by bolts, and its rotating shaft is connected to the template flipping frame (32500), which controls the template flipping frame (32500) to rotate, thereby realizing the flipping of the clamped template; The stand d (32400) is fixed to the ground by bolts and is used as a bracket of the template flipper (32000); one end of the template flip frame (32500) is connected to the rotating shaft of the template flip motor (32300) by a bearing, and the other end is connected to the stand d (32400) by a bearing, so that the template flip frame (32500) is flipped by the template flip motor (32300); the infrared detector (32600) is fixed to the upper surface of the template clamping plate (32200) by bolts; the template flip pressure sensor (32700) is fixed to the upper surface of the template clamping plate (32200) by bolts.

10. A method for removing nails from a template using the robot according to any one of claims 1 to 9, characterized in that: The steps are: S1. First, a disordered template is placed in the template stacking part (10000), and the stacking hydraulic cylinder unit (11200) extends the hydraulic cylinder so that the upper and lower stacking plates (11100) clamp the template. During the clamping process, the stacking plate pressure sensor (13000) detects the pressure of the stacking plate (11100) when clamping the template; S2, the gear ring rotating motor (12300) rotates to drive the gear ring (12200) to rotate, thereby driving the bracket (12400) to rotate, so that the template changes from the original horizontal state to the vertical state; S3, the stacking hydraulic cylinder unit (11200) contracts, causing the stacking plate (11100) to loosen the template by a short distance, so that the clamped vertical template falls naturally, and one side of the template is closely attached to the stacking plate below, thereby achieving neat stacking; S4, then the stacking hydraulic cylinder unit (11200) extends the hydraulic cylinder to make the upper and lower stacking plates (11100) clamp the template again; then the gear ring rotating motor (12300) rotates in the opposite direction, driving the gear ring (12200) to rotate, thereby driving the bracket (12400) to rotate, so that the template changes from a vertical state to a horizontal state, and the template is neatly stacked in the horizontal direction; S5, then perform longitudinal coding, the motor fixed on the right outer surface of the coding plate (11100) in the motor unit (14400) rotates, thereby driving the screw connected thereto to rotate, so that the center disk (14600) moves toward the center of the rotating drum (11400), so that the coding rod (14500) originally located inside the right side of the coding plate (11100) extends into the interior of the rotating drum part (11000), and then the motor fixed on both sides of the center disk (14600) in the motor unit (14400) rotates to drive the coding rod (14500) to shrink toward the center disk (14600), so that the templates are neatly coded in the longitudinal direction; S6. After the templates are neatly arranged, the templates can be transported to the next process. The pulley a (11310), pulley b (11320) and pulley c (11330) in the pulley transmission unit (11300) are lifted upward, so that the pulley transmission unit (11300) lifts the arranged templates. Then, the three groups of pulleys in the pulley transmission unit (11300) start their motors, thereby driving the pulleys to rotate, and the templates are transmitted forward to the fork a (22000) of the template delivery part (20000) through friction. S7, then the winch a (23000) rotates to move the fork a (22000) upward, thereby moving the template upward until the template contacts the top conveying plate (24000), and then the roller motor unit (24300) is turned on, thereby driving the roller unit (24200) to rotate, and the roller unit (24200) drives the template forward through friction, and then the template will pass through the limiting roller (24400), the function of the limiting roller (24400) is to ensure that only one template is transported to the front conveyor belt (31000) at a time; S8, after the template is transported to the front conveyor belt (31000), the electric push rod unit (31210) extends the push rod so that the clamping plate unit (31220) fixes the left and right sides of the template, and then the template moves downward along with the conveyor belt (31100); S9, when the template passes through the metal detector and visual identifier (31300), the metal detector (31320) detects the position of the metal nail and the visual identifier (31330) determines the posture of the metal nail, and transmits the data obtained by the metal detector (31320) and the visual identifier (31330) to the nail remover (31400); S10, then the template continues to move forward following the conveyor belt (31100) to reach the position of the nail remover (31400); since the conveyor belt (31100) is conveyed downward at a constant speed, and the metal detector (31320) and the visual identifier (31330) have transmitted the position and posture data of each metal nail to the nail remover (31400), the nail remover (31400) obtains the arrival time and specific position of each nail; S11. Next, the nail remover (31420) will remove the nails on the template. After obtaining the arrival time and specific position of each nail, when the nail arrives, the horizontal slide (31430) will first move to the position where the nail is located, and then the electric push rod under the horizontal slide (31430) will extend to make the nail remover cover (31429) contact the template, and then the nail remover electric push rod (31421) will move up and down to adjust the nail remover tooth extraction unit (31428) to maintain a suitable distance from the template; then the nail remover middle motor (31422) will rotate, driving the nail remover inner swivel (31426) to rotate, and the nail remover tooth extraction unit (31428) will rotate. The three teeth of the nail remover slowly move downward; in the process of moving downward, the distance between the top ends of the three teeth becomes smaller and smaller until the top ends of the three teeth clamp the iron nail, at which time the middle motor (31422) of the nail remover stops rotating; at this time, the nail remover buckle motor (31423) rotates, so that the buckle connected to the rotating shaft of the nail remover buckle motor (31423) is clamped in the clamping groove of the nail remover guide rod unit b (31425), so that the three teeth of the nail remover tooth extraction unit (31428) maintain the current position, and then the nail remover electric push rod (31421) contracts so that the nail remover tooth extraction unit (31428) pulls out the surrounded iron nail, thus completing the removal of the iron nail; S12, then the template continues to move downward to the nail extractor (31500), firstly the electromagnet (31520) is turned on, and the pulled-out nails are sucked onto the electromagnet (31520), at which time the nails whose nail caps are on the front of the template are pulled out and collected; S13. Since the nail caps of some nails are located on the back of the template, the template needs to be turned over; the template continues to be conveyed downward on the conveyor belt (31100) to the template flipper (32000), at which time the electric push rod unit (31210) contracts so that the clamping plate unit (31220) no longer clamps the template, making it easier to flip the template later; the infrared detector (32600) detects the position of the template; After the template reaches the clamping range of the template clamping plate (32200), the template flipping pressure sensor (32700) indirectly controls the extension length of the template clamping hydraulic cylinder (32100), and the template clamping hydraulic cylinder (32100) is extended so that the template clamping plate (32200) clamps the template, and then the template flipping motor (32300) is started to flip the template flipping frame (32500) to the rear conveyor belt (33000); S14, on the rear conveyor belt (33000), the iron nails whose nail caps are on the back of the template are removed, and the removal process is the same as the process of removing the iron nails whose nail caps are on the front of the template; S15. After all the nails are removed, the rear conveyor belt (33000) transports the template downward to the template collecting part (40000); the initial position of the shovel fork b (42000) of the template collecting part (40000) is flush with the rear conveyor belt (33000); the winch b (43000) rotates at a uniform speed so that the shovel fork b (42000) keeps descending at a uniform speed, so that each template transferred over can be placed exactly on the upper surface of the previous template; after all the templates are transferred to the template collecting part (40000), the entire template nail removal work is completed.

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