A robot and method for removing template nails

Abstract

The present invention discloses a template nail removal robot and method, comprising: a template stacking section comprising a rotating drum section, a rotating drum support for driving the rotating drum section to rotate, a pressure sensor unit fixed to the rotating drum section, and a transverse stacking section for stacking irregularly arranged templates; the rotating drum section comprising a stacking plate, a stacking hydraulic cylinder unit, a pulley transmission unit, and a rotating drum for transporting the templates in the stacking plate forward; a template delivery section, aligned with the exit of the template stacking section, for delivering the stacked templates one by one onto a conveyor belt of a template nail removal section; a template nail removal section, positioned behind the template delivery section, for removing and collecting nails from both sides of the template; and a template collection section, located at the end of the template nail removal section, for collecting templates from which nails have been removed. The present invention can effectively remove nails from templates, greatly improving the accuracy of nail removal.

Description

Technical Field

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

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

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

[0004] Based on the deficiencies of 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. It can effectively remove the nails on the template and greatly improve 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 for arranging the irregularly arranged templates; 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 fed 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 upper and lower sides of the arranging plate by sliding rails 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 rotation of the top conveyor plate around the hinge seat are used to deliver the arranged templates one by one onto 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 rotary bearing, a gear ring, a gear ring rotating motor, and a bracket; the gear ring is connected to the inner ring of the rotary bearing, the drum is connected to the inner ring of the rotary bearing through bolts, the gear ring rotating motor is connected to the outer ring of the rotary bearing through bolts, the bracket is connected to the outer ring of the rotary bearing through 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 rod 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 a bolt, so that the coding rod moves along 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 along the direction of the short limit rod unit; the linear bearing unit is fixed to the side surface of the coding rod and the side surface of the center disk by a bolt, so that the coding rod and the center disk move more smoothly when moving along the limit rod unit; the screw rod unit is connected to the rotating shaft of each motor in the motor unit by a bolt, so that each motor in the motor unit can drive each screw rod in the screw rod unit to rotate, and the screw rod parallel to the long limit rod unit is threadedly connected to the coding rod, and the rotation of the screw rod drives the coding rod to move along the screw rod, so that the coding rod codes the template, and the screw rod parallel to the short limit rod unit is threadedly connected to the center disk, and the rotation of the screw rod can drive the center disk along the screw rod 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 be extended into or out of the coding plate. When the coding rod is extended into the coding plate, the coding rod removes the coding template. When the coding plate is extended, 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. 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, thereby enabling the roller unit to convey 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 conveyed 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 conveyed contacts the roller unit, thereby being conveyed to the front conveyor belt; one end of the top plate hydraulic cylinder is connected to the back side 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 a bolt, and the other end of the electric push rod for the nail remover is connected to a circular iron plate by a bolt; 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 a bolt, and the rotating shaft of the intermediate motor for the nail remover is connected to the outer cover of the nail remover The long rod extending from the inner rotating ring of the nail remover is connected, so that the middle motor of the nail remover controls the rotation of the inner rotating ring of the nail remover; the nail remover clip motor is fixed on 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 clip motor is connected to a clip by bolts, so that the nail remover clip motor controls the rotation of the clip, and the clip can be stuck in the slot opened on the nail remover guide rod unit b to limit the nail remover guide rod unit b so that it no longer moves. When the nail remover clip motor controls the clip to rotate and separates the clip from the slot opened on the nail remover guide rod unit b, the nail remover guide rod unit b moves in the up and down directions.

[0012] Furthermore, the nail remover guide rod unit a is fixed to 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 directions; 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. 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 on 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 horizontal track passes through the hole below the pulley at the top of the three teeth, so that the three teeth in the nail remover teeth extraction unit can only move along the track direction in the horizontal direction. When the inner rotating ring and the outer rotating ring of the nail remover rotate, the three teeth in the nail remover teeth extraction unit can move closer and farther away, thereby clamping the nails; the nail remover outer cover is connected to the nail remover electric push rod 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 under the control of the motor, so that the nail remover moves left and right to remove the 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, thereby turning over the clamped template; the stand d is fixed to the ground by bolts and is used as a bracket for 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] Accordingly, the present invention also provides a method for removing template nails, the steps of which are:

[0016] S1. First, place the messy template into the template stacking part. 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 plates clamp the template.

[0017] S2, the gear ring rotates 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, allowing the clamped vertical template to fall naturally. One side of the template is pressed against the stacking plate below, thus achieving neat stacking.

[0019] S4, then the stacking hydraulic cylinder unit extends the hydraulic cylinder so that 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 longitudinal alignment is performed. The motor fixed on the right outer surface of the alignment 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 alignment rods originally located on the right inner side of the alignment plate extend into the interior of the rotating drum. Then, the motors fixed on both sides of the center disk in the motor unit rotate to drive the alignment rods to retract toward the center disk, thereby aligning the templates in the longitudinal direction.

[0021] S6. After the templates are neatly arranged, they can be transported to the next process. Pulleys a, b, and c in the pulley transfer unit are raised, allowing the pulley transfer unit to lift the arranged templates. The three pulleys in the pulley transfer unit then start their motors, driving the pulleys to rotate. The friction force then transfers the templates forward to the fork a of the template delivery section.

[0022] S7. Then, winch a rotates to move fork a upward, thereby carrying the template upward until the template contacts the top conveyor plate. Then, the roller motor unit is turned on, thereby driving the roller unit to rotate. The roller unit drives the template forward through friction, and then the template passes 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, the template then continues to move forward along the conveyor belt to the position of the nail remover; since the conveyor belt moves downward at a constant speed, and the metal detector and visual recognition have transmitted the position and posture data of each metal nail to the nail remover, the nail remover obtains the time and specific position of each nail arrival;

[0026] S11. Next, the nail remover will remove the nails on the template. When the arrival time and specific position of each nail are obtained, 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 rotate. The nail is then removed from the jaws, and the jaws are engaged, and the nail is then removed, and the jaws are engaged, and the jaws are engaged, and the jaws are engaged, and the jaws are engaged, and the nail is removed ...

[0027] S12, then the template continues to move downward to the nail extractor, first the electromagnet is turned on, and the pulled out nails are sucked onto 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, making it easier to flip 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 flip frame to the rear conveyor belt;

[0029] S14, on the rear conveyor belt, the 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 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 flip mechanism of this device can realize the flipping of the template, thereby removing 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 This 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 diagram of the template code arrangement part of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the drum portion 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 Schematic diagram of the structure of the pulley a of the present invention;

[0043] Figure 6 It is a structural schematic diagram of the 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 diagram of the horizontal code arrangement part of the present invention;

[0046] Figure 9 It is a structural schematic diagram of the limiting rod unit of the present invention;

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

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

[0049] Figure 12 This is a schematic structural diagram of the template nail removal portion of the present invention;

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

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

[0052] Figure 15 A schematic structural diagram of the metal detector and visual identifier of the present invention;

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

[0054] Figure 17 It is a structural schematic diagram of the outer cover of the staple remover of the present invention;

[0055] Figure 18 It is a structural schematic diagram of the staple remover of the present invention;

[0056] Figure 19 FIG a is a detail of the staple remover of the present invention;

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

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

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

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

[0061] Description of reference numerals:

[0062] 10000-Template code row part;

[0063] 11000-rotating drum part;

[0064] 11100-yard layout;

[0065] 11200-yard hydraulic cylinder unit;

[0066] 11300-pulley transmission unit; 11310-pulley a; 11311-pulley assembly; 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-yard plate 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 pole row;

[0076] 14600-center plate;

[0077] 20000-Template sending part;

[0078] 21000-base a;

[0079] 22000-shovel 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 - Snap 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-shovel fork b;

[0109] 43000-Winch b. DETAILED DESCRIPTION

[0110] In order to facilitate ordinary technicians in this field to understand and implement the present invention, the present invention is further described in detail below with reference to 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 aligning unit 10000, a template delivery unit 20000, a template nail removal unit 30000, and a template collection unit 40000. The template aligning unit 10000 aligns unevenly arranged templates, facilitating subsequent processing. The template delivery unit 20000 places aligned templates one by one onto the conveyor belt of the template nail removal unit 30000. The template nail removal unit 30000 removes and collects nails from both sides of the templates. The template collection unit 40000 collects templates from which 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 between the above components is described in detail below:

[0114] like Figure 3 As shown, the drum section 11000 includes a stacking plate 11100, a stacking hydraulic cylinder unit 11200, a pulley transmission unit 11300, and a drum 11400. The left and right plates of the stacking plate 11100 are bolted to the inner wall of the drum 11400, while the upper and lower plates are also bolted to the stacking hydraulic cylinder unit 11200. The extension and retraction of the stacking hydraulic cylinder unit 11200 controls the upper and lower stacking plates to clamp the incoming template. One end of the stacking hydraulic cylinder unit 11200 is bolted to the inner wall of the drum 11400, while the other end is bolted to the upper and lower plates of the stacking plate 11100. This allows the upper and lower plates of the stacking plate 11100 to move up and down, thereby clamping the incoming template.

[0115] like Figure 4 and Figure 5As shown, the pulley transmission unit 11300 is mounted on the lower plate of the coding plate 11100 and includes pulley a 11310, pulley b 11320, and pulley c 11330. Because pulleys b 11320 and c 11330 have similar structures, functions, and connection methods to pulley a 11310, only pulley a 11310 will be described in detail, and pulleys b 11320 and c 11330 will not be described in detail. Pulley a 11310 includes a pulley block 11311, a pulley motor 11312, and a pulley hydraulic cylinder 11313. The pulley group 11311 is fixed to one end of the pulley hydraulic cylinder 11313 by bolts. After the template is 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 group 11311 to rotate, and the pulley b11320 also rotates the pulley controlled by its own pulley motor in the same way. These rotating pulleys transport the template in the coding plate 11100 forward through friction.

[0116] like Figure 6 As shown, the drum bracket 12000 is used to drive the drum portion 1100 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 via bolts, the gear ring rotating motor 12300 is connected to the outer ring of the rotary bearing 12100 via bolts, and the bracket 12400 is connected to the outer ring of the rotary bearing 12100 via bolts. The output shaft of the gear ring rotating motor 12300 is connected to the gear ring 12200 via 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 Figure 9As shown, the transverse encoding section 14000 includes a limit rod unit 14100, a linear bearing unit 14200, a screw unit 14300, a motor unit 14400, an encoding 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 to the center disk 14600 by bolts, so that the encoding rod 14500 can only move 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 can only move 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 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 of the center disk 14600 can drive the center disk 14600 to move along the screw rod. Since the center disk 14600 is connected to the alignment rod 14500 via the long limit rod unit 14110, the center disk 14600 and the alignment rod 14500 can achieve synchronous movement in the direction of the short limit rod unit 14120, so that the alignment rod 14500 can be extended into or out of the alignment plate 11100. When extending into the alignment plate 11100, the alignment rod 14500 can be used to alignment the template. When extending out of the alignment plate 11100, the alignment rod 14500 will not block the movement of the template. The motor unit 14400 used to adjust the alignment rod 14500 is fixed to the side of the center disk 14600 by bolts. The rotation of the motor can drive the screw rod connected to it to rotate, thereby driving the movement of the alignment rod 14500 to alignment the template. Another motor in the motor unit 14400 is bolted to the outer surface of the code plate 11100, driving the screw connected to it to rotate, thereby driving the center disk 14600 to move and adjust the position of the code rod 14500 to extend into or out of the code plate 1110. 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 in the screw rod unit 14300 that is parallel to the long limit rods. This allows the code rod 14500 to 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 Figure 10 and Figure 11 As shown, the template delivery part 20000 includes a base a21000, a shovel fork a22000, a winch a23000, a top transmission plate 24000, and a top plate hydraulic cylinder 25000. The logical relationship between 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 stacking section 10000. This position allows neatly stacked templates to be directly transferred to the fork a22000. The fork a22000 is connected to the surface of the base a21000 via rails, allowing it to move up and down along the rails. A winch a23000 is bolted to the back of the sidewall of the base a21000. Its wire rope is connected to the fork a22000, allowing it to control the fork's movement. The top conveyor plate 24000 includes a top plate 24100, a roller unit 24200, a roller motor unit 24300, and a limiting roller 24400. Top plate 24100 is hinged to the top sidewall of base a21000 via a hinged seat, allowing it to rotate around the hinged seat. Roller unit 24200 is bolted to the bottom of top plate 24100. Roller motor unit 24300 is connected to roller unit 24200, controlling its rotation. This allows roller unit 24200 to propel the template forward through friction. Limiting roller 24400 is bolted to the bottom of top plate 24100 and behind roller unit 24200, ensuring that only one template at a time can pass through limiting roller 24400. After each template is transported to the front conveyor belt 31000, the winch a23000 rotates and pulls the fork a22000 upward a certain distance, allowing the next template to be transported to contact the roller unit 24200 and 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 Figure 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 between the above components is described in detail below:

[0122] like Figure 13 As shown, the front conveyor 31000 includes a conveyor belt 31100 and, arranged in sequence along the conveying direction of the conveyor belt 31100, a template fixing unit 31200, a metal detector and visual identifier 31300, a nail remover 31400, and a nail extractor 31500. The conveyor belt 31100 is positioned behind the template delivery section 20000, allowing templates from the limiting rollers 24400 to land directly on the conveyor belt 31100. Furthermore, the conveyor belt 31100 is provided with horizontal bar protrusions at regular intervals, ensuring that a template can fit between every two horizontal bar protrusions. This prevents template overlap and facilitates subsequent processing.

[0123] like Figure 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 via 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 Figure 15 As shown, the metal detection and visual recognition device 31300 includes a stand a31310, a metal detector 31320, and a visual recognition device 31330. Stand a31310 is bolted to the ground and carries the metal detector 31320 and the visual recognition device 31330. The metal detector 31320 is bolted to the bottom surface of the middle beam of stand a31310 and is used to detect metal nails in the formwork. The visual recognition device 31330 is bolted to the side of the middle beam of stand a31310. Since nails may face up, or their caps may face up, the visual recognition device 31330 can identify nails of different shapes and record their positions. Since the conveyor belt 31100 has a known speed, the position of the nails over time can be accurately determined. The nail positions at different times are then transmitted in real time to the nail remover 31400, enabling the nail remover 31400 to accurately remove nails with their caps facing up.

[0125] like Figure 16 As shown, the nail remover 31400 includes a stand b 31410, a nail remover 31420, and a horizontal slide 31430. The stand b 31410 is similar in structure and function to the stand a 31310.

[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 snap motor 31423, a nail remover guide rod unit a31424, a nail remover guide rod unit b31425, 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 a bolt, and the other end of the nail remover electric push rod 31421 is connected to a circular iron plate by a bolt. The intermediate motor 31422 of the nail remover is fixed by bolts under the 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 the 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 to 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 rotation of the buckle to separate 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 bolted to the top of a circular iron plate connected to one end of the nail remover electric push rod 31421. Due to its constraints, the nail remover guide rod unit a31424 can only move in the vertical direction. The nail remover guide rod unit b31425 has three guide rods at one end, and the other ends of these three guide rods are connected to the same circular ring. A small crossbar is located between the circular ring and the three guide rods. These three crossbars pass through the three extraction teeth of the nail remover tooth extraction unit 31428, making these three crossbars the tracks for the pulleys at the top of the three extraction teeth in the nail remover tooth extraction unit 31428. The middle long rod of the nail puller's inner swivel 31426 is bolted to the bottom of the circular iron plate connected to the nail puller's intermediate motor 31422, allowing the intermediate motor 31422 to control the rotation of the inner swivel 31426, and the inner swivel 31426 can move up and down together with the circular iron plate connected to the nail puller's intermediate motor 31422. The nail puller's outer swivel 31427 is bolted to the circular iron plate connected to the nail puller's intermediate motor 31422 (one circular iron plate is connected to the top of the nail puller's intermediate motor 31422, and another circular iron plate is connected to the bottom of the nail puller's intermediate motor 31422) via three long rods, allowing the outer swivel 31427 to move up and down together with the circular iron plate connected to the nail puller's 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 extraction teeth in the 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 extraction teeth in the 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 extraction teeth of the extraction unit 31428 of the nail remover are provided with threads. Therefore, the rotation of the inner swivel 31426 of the nail remover can drive the three teeth in the nail remover tooth extraction unit 31428 to rise and fall. Because the pulleys at the top of the three teeth in the nail remover tooth extraction unit 31428 are constrained by a transverse track that passes through the hole below the pulleys at the top of the three teeth, the three teeth in the nail remover tooth extraction unit 31428 can only move horizontally along the track. Therefore, when the inner swivel 31426 and the outer swivel 31427 of the nail remover rotate, the three teeth in the nail remover tooth extraction unit 31428 can move closer or further away, thereby clamping the nail. 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. Pulleys are fixed on the top, left and right 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 Figure 21 As shown, nail extractor 31500 includes a stand C31510 and an electromagnet 31520. Stand C31510 has a similar structure, functions, and connection method to stand A31310, so stand C31510 will not be described in detail. Electromagnet 31520 is bolted to the upper and lower surfaces of stand C31510 and is used to extract nails removed by nail remover 31400.

[0130] like Figure 22As shown, the template flipper 32000 includes a template clamping hydraulic cylinder 32100, a template clamping plate 32200, a template flipping motor 32300, a vertical frame 32400, a template flipping frame 32500, an infrared detector 32600, and a template flipping pressure sensor 32700. The template clamping hydraulic cylinder 32100 is bolted to the upper and lower inner surfaces of the template flipping frame 32500. The template clamping plate 32200 is bolted to the other end of the template clamping hydraulic cylinder 32100, allowing the template clamping hydraulic cylinder 32100 to control the template clamping plate 32200 to clamp the template. The template flipping motor 32300 is bolted to the side of the vertical frame 32400. Its rotating shaft is connected to the template flipping frame 32500, controlling the rotation of the template flipping frame 32500 to flip the clamped template. The vertical frame D32400 is bolted to the ground and serves as a support 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 via a bearing, and the other end is connected to the vertical frame D32400 via a bearing, allowing the template flip frame 32500 to be flipped by the template flip motor 32300. The infrared detector 32600 is bolted to the top surface of the template clamping plate 32200. The template flip pressure sensor 32700 is also bolted to the top surface of the template clamping plate 32200. 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 of the template, and the nail caps of the remaining nails are on the back 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 flips the template to remove the nails on both sides. 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 Figure 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 between the above components is described in detail below:

[0132] The base b41000, fork b42000, and hoist b43000 in the template collection section 40000 share the same structure, functionality, and connection method as the base a21000, fork a22000, and hoist a23000 in the template delivery section 20000, respectively. However, the fork b42000 is initially positioned at the highest point. As templates accumulate on the fork b42000, it descends at a constant speed, allowing the newly delivered template to be stacked directly on top of the previous one. These differences are the only ones discussed here, and the remaining details are omitted.

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

[0134] 1. First, place the unorganized template into the template stacking unit 10000. The stacking hydraulic cylinder unit 11200 extends the hydraulic cylinder, causing the upper and lower stacking plates 11100 to clamp the template. During clamping, the stacking plate pressure sensor 13000 detects the pressure applied by the stacking plates 11100. The required pressure does not need to be excessive; it only needs to be sufficient to hold 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 a short distance from the template, allowing the clamped vertical template to fall naturally, with one side of the template pressed against the stacking plate below, thereby achieving neat stacking.

[0137] 4. The stacking hydraulic cylinder unit 11200 then extends the hydraulic cylinder, causing the upper and lower stacking plates 11100 to clamp the template again. The gear ring rotary motor 12300 then rotates in the opposite direction, driving the gear ring 12200, which in turn drives the bracket 12400, causing the template to shift from a vertical position to a horizontal position. This ensures that the templates are neatly stacked horizontally.

[0138] 5. Then, the vertical alignment process begins. The motor in the motor unit 14400, fixed to the right outer surface of the alignment plate 11100, rotates, driving the connected screw to rotate, causing the center disk 14600 to move toward the center of the rotating drum 11400. This causes the alignment rods 14500, originally located on the right inner side of the alignment plate 11100, to extend into the interior of the rotating drum 1100. The motors in the motor unit 14400, fixed to both sides of the center disk 14600, then rotate, causing the alignment rods 14500 to retract toward the center disk 14600, thus aligning the templates in the vertical direction.

[0139] 6. After the templates are neatly arranged, they can be transported to the next process. Pulley a11310, pulley b11320, and pulley c11330 in pulley transport unit 11300 rise upward, allowing pulley transport unit 11300 to lift the aligned templates. The three pulley sets in pulley transport unit 11300 then activate their motors, driving the pulleys to rotate. Frictionally, the templates are transported forward to fork a22000 on the template delivery unit 20000.

[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 conveyor 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. The template then continues to move forward along the conveyor belt 31100 and arrives at the position of the nail remover 31400. Since the conveyor belt 31100 moves 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 location of each nail.

[0144] 11. Next, the nail remover 31420 removes the nails from the template. After determining the arrival time and specific location of each nail, the horizontal slide 31430 first moves to the nail's location. The four electric push rods beneath the horizontal slide 31430 extend, bringing the nail remover housing 31429 into contact with the template. The nail remover's electric push rods 31421 then move up and down to adjust the nail remover's tooth extraction unit 31428 to maintain an appropriate distance from the template. The nail remover's intermediate motor 31422 then rotates, driving the nail remover's inner swivel 31426, causing the three teeth in the nail remover's tooth extraction unit 31428 to slowly move downward. As they move downward, the distance between the three teeth decreases until the tips of the teeth clamp the nail, at which point the intermediate motor 31422 stops. 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 remain in 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. Because the caps of some nails are located on the back of the template, the template needs to be flipped over. The template continues down the conveyor belt 31100 to the template flipper 32000. At this point, the electric push rod unit 31210 retracts, freeing the clamping plate unit 31220 from gripping the template, facilitating subsequent flipping. The infrared detector 32600 detects the template's position. Once the template reaches the clamping range of the template clamping plate 32200, the template flipping pressure sensor 32700 indirectly controls the extension of the template clamping hydraulic cylinder 32100. This extension allows the template clamping plate 32200 to grip the template, and then the template flipping motor 32300 is activated to flip the template flip frame 32500 onto the rear conveyor belt 33000.

[0147] 14. On the rear conveyor belt 33000, the 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 nails with the nail caps on the front of the template, so it will not be repeated.

[0148] 15. After all the nails have been removed, the rear conveyor belt 33000 transports the template downward to the template collection area 40000. The initial position of the shovel fork b42000 in the template collection area 40000 is flush with the rear conveyor belt 33000. The hoist b43000 rotates at a constant speed, causing the shovel fork b42000 to descend at a constant speed, so that each incoming template fits neatly on the upper surface of the previous template. After all templates have been transported to the template collection area 40000, the template nail removal process is complete.

[0149] The above description is only a specific embodiment of the present invention, but the scope of protection 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), wherein 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 stacking hydraulic cylinder unit (11200) is used to control the upper and lower stacking plates to clamp the templates fed in by the telescopic control. 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 outlet 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 rails, 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) by 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 nails on both 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 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 encoding part (14000) comprises a limiting rod unit (14100), a linear bearing unit (14200), a screw rod unit (14300), a motor unit (14400), an encoding rod (14500) and a center disk (14600); the limiting rod unit (14100) comprises a long limiting rod unit (14110) and a short limiting rod unit (14120); the long limiting rod unit (14110) is fixed to the center disk (14600) by bolts, so that the encoding rod (14500) moves in the direction of the long limiting rod unit (14110); the short limiting rod unit (14120) is nested in the center disk (14600), so that the center disk (14600) moves in the direction of the short limiting 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, thereby enabling the coding rod (14500) to code 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 be extended into or out of the coding plate (11100). When the coding rod (14500) is extended into the coding plate (11100), the coding rod (14500) is used to code the template. When the coding rod (14500) is extended 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) for adjusting 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) via 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) via 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), thereby enabling the roller unit (24200) to convey 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 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) and is thus 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 along 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 (31430); the nail remover (31420) comprises a nail remover electric push rod (31421), a nail remover intermediate motor (31422), a nail remover snap 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 a bolt, and the other end of the nail remover electric push rod (31421) is connected to a circular iron plate by a bolt; 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 a bolt, and the rotating shaft of the nail remover intermediate motor (31422) is connected to a 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 staple remover buckle motor (31423) is fixed to the top of the circular iron ring connected to the staple remover outer cover (31429) by bolts, and the rotating shaft of the staple remover buckle motor (31423) is connected to a buckle by bolts, so that the staple remover buckle motor (31423) controls the buckle to rotate, and the buckle can be stuck in the slot opened on the staple remover guide rod unit b (31425) to limit the staple remover guide rod unit b (31425) so that it no longer moves. When the staple remover buckle motor (31423) controls the buckle to rotate so that the buckle is separated from the slot opened on the staple remover guide rod unit b (31425), the staple 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 to the top of the circular iron plate connected to one end of the nail remover electric push rod (31421) by bolts, 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. These three cross bars pass through the three extraction 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 extraction 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 to the bottom of the circular iron plate connected to the intermediate motor (31422) of the nail remover by bolts, 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 extraction teeth in the nail remover tooth extraction unit (31428) are provided with threads, and the outer surface of the nail remover inner rotating ring (31426) and the inner surface of the nail remover outer rotating ring (31427) are provided with threads. Therefore, the three extraction teeth in the nail remover tooth extraction unit (31428) are clamped between the nail remover inner rotating ring (31426) and the nail remover outer rotating ring (31427), and can first drive the nail remover inner rotating ring (31426) to rotate by the rotation of the nail remover intermediate motor (31422). Since the surface of the nail remover inner rotating ring (31426) is provided with threads, both sides of the three extraction 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 pulley 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) 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 or farther away, thereby clamping the 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) includes 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 vertical frame d (32400) by bolts, and its rotating shaft is connected to the template flipping frame (32500), controlling the rotation of the template flipping frame (32500) to flip the clamped template; The stand d (32400) is fixed to the ground by bolts and serves 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 d (32400) through a bearing, so that the template flip frame (32500) is controlled to flip 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, place the messy template into the template stacking part (10000). 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 plates (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 small 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 allow the upper and lower stacking plates (11100) to 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 stacked neatly in the horizontal direction; S5. Then, the coding is performed in the longitudinal direction. 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 rods (14500) originally located inside the right side of the coding plate (11100) extend into the interior of the rotating drum portion (11000). Then, the motors fixed on both sides of the center disk (14600) in the motor unit (14400) rotate to drive the coding rods (14500) to retract toward the center disk (14600), thereby aligning the templates in the longitudinal direction. S6. After the templates are neatly arranged, they 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 template is transported forward to the shovel fork a (22000) of the template delivery part (20000) through friction. S7. Then, the hoist a (23000) rotates to move the fork a (22000) upward, thereby moving the template upward until the template contacts the top conveyor plate (24000). 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 passes 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 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, the template then 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. When the arrival time and specific position of each nail are obtained, 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 be extended to make the nail remover cover (31429) contact the template. 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 middle motor (31422) of the nail remover will rotate, driving the inner swivel (31426) of the nail remover to rotate, and the nail remover tooth extraction unit (31428) will rotate. The three extraction teeth of the nail remover slowly move downward; in the process of moving downward, the distance between the top ends of the three extraction teeth becomes smaller and smaller until the top ends of the three extraction 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 extraction teeth of the nail remover tooth extraction unit (31428) maintain their 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), 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; S13. Since the 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, making it easier to flip the template later. The infrared detector (32600) detects the position of the template. After the template arrives within 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) extends so that the template clamping plate (32200) clamps the template, and then the template flipping motor (32300) is started to flip the template flip frame (32500) to the rear conveyor belt (33000); S14, on the rear conveyor belt (33000), the 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 nails with the nail caps 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 hoist 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 templates are transferred to the template collecting part (40000), the entire template nail removal work is completed.

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