Intelligent construction device for nailing on wall surface

Abstract

The invention relates to the technical field of construction machinery automation, and discloses a wall surface nailing intelligent construction device which comprises a feeding mechanism, a buckling mechanism, a nail shooting magazine mechanism, a nail shooting mechanism, a multi-axis mechanical arm, a control mechanism and two lifting platform trolleys. The first hopper is installed on the top of one lifting platform trolley through a first aluminum profile, the feeding assembly comprises an installation plate and a side plate which are installed on the outer side of the first hopper, a rolling bearing is installed on the inner side of the side plate, and a transmission motor is fixedly installed on the outer side of the installation plate. The nail shooting mechanism, the laser range finder and the image sensor are fused on the basis of the gas nail shooting gun head, and the position of the gas nail shooting gun head at the tail end of the nail shooting mechanism is adjusted, so that nail shooting operation for different calibration of a working surface is realized, and the problem that a high-altitude working surface and a narrow working surface are inconvenient to operate is solved.

Description

Technical Field

[0001] The invention relates to the technical field of construction machinery automation, and in particular to an intelligent wall nail construction device. Background Art

[0002] In the construction of high-rise buildings, the fixing of the insulation layer of the enclosure structure usually relies on manual nailing, which has many problems. First, when workers perform repetitive operations such as removing nails, positioning and nailing, the labor intensity is high, which can easily lead to fatigue and cause misoperation. This high-intensity labor is particularly prominent in large-scale and high-altitude operations, which significantly increases the physical exertion of workers and reduces efficiency. In addition, the complexity of the construction environment makes workers face safety risks such as falling from heights and high-voltage electric shock, which brings great psychological and physical pressure to workers.

[0003] Similarly, in tunnel construction, nailing operations also rely on manual operation, and workers need to complete nailing in a small space and complex environment. This not only increases the difficulty of operation, but also due to space limitations, workers may find it difficult to find a suitable working posture, further increasing fatigue and safety hazards. In tunnel construction, workers also face special environmental risks such as falling rocks and hypoxia, which bring additional challenges to the operation.

[0004] In addition, the accuracy of manual operation is difficult to guarantee, resulting in unstable nail fixing effect, which directly affects the construction quality. When performing wall and tunnel nail fixing operations at high altitudes or on narrow working surfaces, workers need to complete the task under extremely unfavorable conditions, which not only increases the difficulty of operation, but also further increases the probability of accidents. Therefore, in view of the shortcomings of these existing technologies, a new type of intelligent construction device is urgently needed to improve the efficiency and safety of wall and tunnel nail fixing operations. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides an intelligent wall nail construction device to solve the problem that the fixing operations of existing wall nails and tunnel nails rely on manual operation, resulting in high labor intensity, low efficiency, high safety risks and poor fixing accuracy.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent wall nail construction device, comprising a feeding mechanism, a buckling mechanism, a nail magazine mechanism, a nail shooting mechanism, a multi-axis robotic arm, a control mechanism and two lifting platform trolleys, the feeding mechanism comprising a hopper 1, a feeding assembly and a feeding assembly, the hopper 1 is installed on the top of one of the lifting platform trolleys through an aluminum profile 1, the feeding assembly comprises a mounting plate and a side plate installed on the outside of the hopper 1, a rolling bearing is installed on the inner side of the side plate, a transmission motor is fixedly installed on the outside of the mounting plate, the output end of the transmission motor passes through the mounting plate and is fixedly connected to a group of pulleys, a group of pulleys are installed on the outside of the rolling bearing, a synchronous belt 1 and a synchronous belt 2 are arranged side by side between the two pulleys, a baffle is installed on the outside of the side plate, and the synchronous belt 1 and the synchronous belt 2 move toward the baffle direction.

[0007] Preferably, the buckling mechanism includes a supporting plate, a feeding assembly and a fastener feeding assembly, the feeding assembly and the fastener feeding assembly are both installed on the top of the supporting plate, the supporting plate is installed on the top of one of the lifting platform trolleys through aluminum profile 2, the feeding assembly includes an outer shell, the outer shell is installed on the top of the supporting plate, a servo motor is fixedly connected to the bottom of the supporting plate, the top output end of the servo motor passes through the supporting plate and is fixedly connected to a transmission wheel one and a transmission wheel two, an introduction piece is fixedly connected to the inner wall of the outer shell, the introduction piece is located between the transmission wheel one and the transmission wheel two, and a discharge pipe is also fixedly connected to the outer side of the outer shell.

[0008] Preferably, the fastener discharge assembly includes a hopper two, the top of the hopper two is fixedly connected to a stirring motor, the bottom output end of the stirring motor is fixedly connected to a stirring blade, the bottom of the hopper two is fixedly connected to a discharge pipe, the outer side of the outer shell is fixedly connected to an infrared sensor, and the top of the support plate is also equipped with a push rod cylinder three through a fixed plate, and the output end of the push rod cylinder three is aligned with the notch on the outer side of the discharge pipe.

[0009] Preferably, the loading assembly includes a fixed seat, which is installed on the top of one of the lifting platform trolleys, and a pushing cylinder 1 and a pushing cylinder 2 are installed on the top of the fixed seat. The top output ends of the pushing cylinder 1 and the pushing cylinder 2 are respectively fixedly connected with a pushing module 1 and a pushing module 2, and the pushing module 1 is slidably connected to the inside of the hopper 1. A loading platform is also installed in the middle of the hopper 1, and the loading platform is located on the outside of the synchronous belt 1 and the synchronous belt 2. The pushing module 1 and the pushing module 2 are both slidably installed on the outside of the loading platform.

[0010] Preferably, the nail magazine mechanism includes a plurality of fixed nail magazines, a flexible nail magazine one, a flexible nail magazine two and a flexible nail magazine three, and the fixed nail magazine, the flexible nail magazine one, the flexible nail magazine two and the flexible nail magazine three are connected by a quick release assembly, and the quick release assembly includes a hook, a connecting ring, a quick release base and a pressure plate, and the hook and the quick release base are respectively installed at the head and tail ends of the magazine, and the pressure plate is rotatably connected to the inner side of the quick release base, and the connecting ring is rotatably connected to the middle part of the pressure plate.

[0011] Preferably, the multi-axis robotic arm includes a fixed platform, which is installed on the top of one of the lifting platform trolleys. A connecting seat, a second connecting arm, a first connecting lower arm and a first connecting upper arm are installed on the top of the fixed platform in sequence from bottom to top, and the first connecting upper arm and the first connecting lower arm are axially connected.

[0012] Preferably, the nail shooting mechanism includes a gas nail gun head, which is installed on the top of the multi-axis robotic arm. A laser rangefinder is installed on the top of the gas nail gun head through a mounting seat, and a sensor connector is also installed on the front side of the mounting seat, and an image sensor and a lighting lamp are connected to the end of the sensor connector.

[0013] Preferably, the lifting platform trolley includes a lifting platform and a frame, and the lifting platform and the frame are connected by multiple sets of articulated frames. Positioning plates are installed on the opposite sides of the lifting platform and the frame, and the ends of the articulated frames are slidably connected inside the positioning plates. The top of the frame is rotatably connected to a hydraulic cylinder, and the other end of the hydraulic cylinder is rotatably connected to the bottom of the articulated frame.

[0014] Preferably, the lifting platform trolley also includes a connecting plate, which is fixedly connected to the bottom of the frame, and a wheel motor is fixedly connected to one side of the connecting plate. The output end of the wheel motor passes through the connecting plate and is fixedly installed with a moving wheel. A motor controller and a battery are also installed on the top of the frame.

[0015] Preferably, the control mechanism includes a shell, which is installed on the top of the fixed platform, and a compressed air pump and a control panel are installed inside the shell, and an emergency stop button is installed on the outside of the shell. The compressed air pump is connected to the gas nail gun head, push rod cylinder three, pushing cylinder one, and pushing cylinder two, and the control panel is connected to the hydraulic cylinder, push rod cylinder three, pushing cylinder one, and pushing cylinder two.

[0016] Working principle: When in use, first place the nail parts inside hopper one, and place the fasteners of the nail parts inside hopper two, and then drive the push cylinder one and the push cylinder two to drive the push module one to move up and down. When the push module one moves to the bottom, the nails inside the hopper one move to the upper part of the push module one, and then the nail parts are pushed by the push cylinder one and the push cylinder two to reach the outside of the loading platform, and the nail parts are rolled down to between the synchronous belt one and the synchronous belt two through the inclined surface of the loading platform. Some nail parts will be placed between the synchronous belt one and the synchronous belt two because of the correct position, and the remaining nail parts will return to the inside of the hopper one along the inclined surface outside the loading platform, and be loaded by the push cylinder one and the push cylinder two again.

[0017] The operation of the transmission motor will drive the synchronous belt 1 and the synchronous belt 2 to move. At this time, the nail-shooting parts between the synchronous belt 1 and the synchronous belt 2 will move toward the baffle along the movement of the synchronous belt 1 and the synchronous belt 2, and finally fall into the tooth groove between the transmission wheel 1 and the shell under the guidance of the baffle.

[0018] After the fasteners are poured into the second hopper, the stirring blades are driven by the stirring motor to drive the fasteners to move inside the second hopper. When the direction of the fasteners matches the inner shape of the discharge tube, the fasteners fall down along the discharge tube and reach the bottom of the discharge tube. At this time, the nail parts that reach the outside of the conveying wheel 1 will perform circular motion inside the shell under the conveyance of the servo motor. When the nail parts reach the discharge tube position, the infrared sensor detects the appearance of the nail parts, and then drives the push rod cylinder 3 to push out the fasteners at the bottom of the discharge tube, so that the fasteners are clamped with the nail parts, and then the conveying wheel 1 continues to convey the nail parts with the fasteners. When the nail parts reach the discharge tube position, they are blocked by the introduction parts and enter the inside of the discharge tube.

[0019] As the nail pieces continue to enter the discharge pipe, the nail pieces inside the discharge pipe continue to move forward. After passing through the nail magazine mechanism composed of the flexible nail magazine 3, the flexible nail magazine 1, and the fixed nail magazine, they reach the inside of the gas nail gun head, and then the nail pieces can be shot out through the gas nail gun head, thus completing the nailing operation on the wall. During the operation, the hydraulic cylinder can also be driven to drive the articulated frame to unfold and retract, so as to adjust the height of the lifting platform to meet the needs of nailing at different heights, and then the compressed air pump can be used to drive the movement of the connecting seat, the second connecting arm, the first connecting lower arm and the first connecting upper arm, so as to meet the needs of nailing at different angles and positions. Finally, by driving the wheel motor to work, the moving wheel can be driven to rotate, thereby causing the entire device to move.

[0020] The present invention provides an intelligent wall nail construction device, which has the following beneficial effects:

[0021] 1. The present invention integrates a nailing mechanism, a laser rangefinder and an image sensor on the basis of an existing gas nail gun head, observes the set position through an operating screen, and adjusts the position of the gas nail gun head at the end of the nailing mechanism to achieve nailing operations for different calibrations of the working surface, which can solve the situation where workers on high-altitude working surfaces and narrow working surfaces face complex working environments and inconvenient operations.

[0022] 2. The present invention collects the image of the target nail shooting position through a laser rangefinder and an image sensor, converts the optical signal into a digital signal and displays it on the operating screen in the form of an image for observation, converts the electromagnetic wave signal into a digital signal and displays the working distance between the nail shooting mechanism and the target nail shooting working surface in the form of an analog image on the operating screen device, and can vividly display the predetermined nail shooting position and the predetermined nail shooting working surface distance on the screen, so as to foresee unknown risks in time.

[0023] 3. The image sensor used in the present invention is a binocular vision acquisition sensor, which improves the image acquisition range of the equipment and the efficiency of the automated nailing of the robot arm, and is fixed in front of the gas nail gun head through the connecting plate, facing the nail shooting position; through the cooperation between the image sensor and the laser rangefinder, the predetermined nail shooting position is vividly displayed on the visualization device through a three-dimensional picture, and the physical interference of the nail shooting device at the end of the robot arm will be greatly reduced. The worker observes the remote operation screen and operates the nail shooting mechanism to make the end gas nail gun head align with the predetermined working surface. The above design not only greatly reduces the work risk for workers in nail shooting operations, but also makes the nail shooting position more standardized, and improves the efficiency of nail shooting construction.

[0024] 4. The present invention is provided with an illumination lamp. The dark scene light on the narrow working surface and the tunnel working surface will affect the work of the image sensor. The use of appropriate working surface lighting and a light source with appropriate brightness is beneficial to the image quality of the image sensor and meets the visual observation standard of the predetermined nailing position on the nailing working surface.

[0025] 5. The wiring harnesses of the present invention are all hidden wiring harnesses, which reduce interference with the operation of the nail shooting mechanism. The laid wiring harnesses are all laid around the end of the multi-axis robotic arm to prevent the wiring harnesses from contacting the robotic arm motor and causing interference and accidents.

[0026] 6. The nail shooting mechanism in the present invention has a telescopic function, which can change the length of the telescopic arm. In a narrow working surface, the end nail shooting device can independently enter the working surface to shoot nails, and the mechanical arm has high strength and can bear the weight of the end nail shooting device.

[0027] 7. The lifting platform trolley in the present invention can realize the lifting and lowering of the platform through the extension and retraction of the hydraulic cylinder, and the lifting platform can be operated through the remote communication operation screen. The nail shooting mechanism and multi-axis mechanical arm installed on the platform can increase the effective working area as the platform rises, reducing the risk of nail shooting by workers on high-altitude working surfaces.

[0028] 8. The nail magazine mechanism of the present invention includes a fixed nail magazine and a flexible nail magazine. The quick-release assembly is installed on the flexible nail magazine, so that when performing nail shooting operations, nail magazines of various lengths can be freely combined to match the working distance and working height of the nail shooting mechanism. The quick-release assembly can quickly install the nail magazine, facilitate the assembly and disassembly of the nail shooting operation, and can adapt to the long and short distances and complex working surface conditions.

[0029] 9. In the present invention, the feeding assembly drives the connected pushing module by pushing the cylinder up and down, so that the nail pieces in the hopper 1 rise to the platform under the action of the pushing module, and roll to the middle of the two synchronous belts under the action of gravity. The transmission motor drives the synchronous belt to move at a uniform speed. At the end of the synchronous belt, the nail pieces fall freely into the conveying hole of the conveying wheel 1, and the baffle corrects the posture of the nail pieces falling freely in the air, which is convenient for automatic conveying of the nail pieces, simplifies the operation steps of the working surface of the nail pieces, and is easy to operate and automated.

[0030] 10. In the present invention, the make-up mechanism detects that there is a nail piece being transported in the conveying wheel 1 through an infrared sensor, and the control board detects the change of the infrared signal, and issues a command to the push rod cylinder 3 to push the nail fastener forward so that the fastener and the nail piece are connected. The hopper 2 is equipped with a stirring motor with rotating blades, which stirs the nail fastener during the operation of the make-up mechanism so that it falls freely into the discharge pipe and is loaded for the make-up of the next nail piece.

[0031] 11. In the present invention, a compressed air pump, a remote communication operation screen and a control panel are arranged in the control box, and a battery is placed on the frame of the trolley. The compressed air pump is used to provide a power source for each air pressure device in the system, which is convenient for remote operation and use. There is no need to connect batteries and air pumps separately, and the operation is more convenient.

[0032] 12. The present invention integrates technologies such as image acquisition, laser ranging and human-computer interaction control, nail shooting operation and positioning, and nail shooting distance and angle, so as to achieve precise operation of nail shooting, reduce the safety risks of workers in construction, improve work accuracy, simplify the workers' work process, and promote the automation development of nail shooting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A perspective view of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the feeding mechanism in the present invention;

[0035] Figure 3 It is a structural schematic diagram of the buckle mechanism in the present invention;

[0036] Figure 4 for Figure 3 The enlarged view of point A in the middle;

[0037] Figure 5 It is a schematic diagram of the installation position of the introduction member in the present invention;

[0038] Figure 6 It is a structural schematic diagram of the nail magazine mechanism of the present invention;

[0039] Figure 7 for Figure 6 The enlarged view of point B in the middle;

[0040] Figure 8 It is a schematic diagram of the structural cross section of the flexible nail magazine 3 of the present invention;

[0041] Fig. 9 It is a structural schematic diagram of the multi-axis robotic arm in the present invention;

[0042] Fig.10 for Fig. 9 Enlarged view of point C in the middle;

[0043] Fig.11 It is a structural schematic diagram of the lifting platform trolley in the present invention.

[0044] Among them, 1. Feeding mechanism; 101. Hopper 1; 102. Transmission motor; 103. Mounting plate; 104. Synchronous belt 1; 105. Synchronous belt 2; 106. Push module 1; 107. Aluminum profile 1; 108. Nail parts; 109. Feeding table; 110. Side plate; 111. Push module 2; 112. Rolling bearing; 113. Baffle; 114. Push cylinder 1; 115. Push cylinder 2; 116. Fixed seat; 2. Buckle mechanism; 201. Conveying wheel 1; 202, housing; 203, supporting plate; 204, servo motor; 205, aluminum profile 2; 206, stirring motor; 207, stirring blade; 208, discharge pipe; 209, hopper 2; 210, infrared sensor; 211, push rod cylinder 3; 212, fixed plate; 213, introduction piece; 214, driving wheel 2; 215, discharge pipe; 3, nail magazine mechanism; 301, fixed nail magazine; 302, flexible nail magazine 1; 303, Flexible nail magazine 2; 304, hook; 305, connecting ring; 306, flexible nail magazine 3; 3061, magazine shell; 3062, positioning strip; 307, quick-release base; 308, pressure plate; 4, nailing mechanism; 401, laser rangefinder; 402, mounting seat; 403, gas nail gun head; 404, sensor connector; 405, image sensor; 406, lighting lamp; 5, multi-axis robotic arm; 501, first connecting upper arm; 502, first connecting Lower arm; 503, second connecting arm; 504, connecting seat; 505, fixed platform; 6, lifting platform trolley; 601, lifting platform; 602, articulated frame; 603, frame; 604, positioning plate; 605, hydraulic cylinder; 606, connecting plate; 607, wheel motor; 608, moving wheel; 609, motor controller; 610, battery; 7, control mechanism; 701, housing; 702, emergency stop button; 703, compressed air pump; 704, control panel. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Embodiment 1:

[0047] Please see attached Figure 1 -Attached Figure 2The embodiment of the present invention provides an intelligent wall nail construction device, comprising a feeding mechanism 1, a buckling mechanism 2, a nail magazine mechanism 3, a nail shooting mechanism 4, a multi-axis mechanical arm 5, a control mechanism 7 and two lifting platform trolleys 6, the feeding mechanism 1 comprises a hopper 101, a feeding assembly and a feeding assembly, the hopper 101 is installed on the top of one of the lifting platform trolleys 6 through an aluminum profile 107, the feeding assembly comprises a mounting plate 103 and a side plate 110 installed on the outside of the hopper 101, a rolling bearing 112 is installed on the inside of the side plate 110, a transmission motor 102 is fixedly installed on the outside of the mounting plate 103, an output end of the transmission motor 102 passes through the mounting plate 103 and is fixedly connected to a group of pulleys, a group of pulleys is installed on the outside of the rolling bearing 112, a synchronous belt 104 and a synchronous belt 2 105 are arranged side by side between the two groups of pulleys, and the width of the synchronous belt 104 and the synchronous belt 2 105 can be adjusted according to the required mechanical energy. After the nail piece 108 rolls between the synchronous belt 104 and the synchronous belt 2 105, it will be transmitted to one side along with the synchronous belt 104 and the synchronous belt 2 105. A baffle 113 is installed on the outer side of the side plate 110, and the baffle 113 is used to adjust the falling posture of the nail piece 108 so that it falls vertically into the buckle mechanism 2. The synchronous belt 104 and the synchronous belt 2 105 move toward the baffle 113 to transport the nail piece 108;

[0048] Please see attached Figure 2The feeding assembly includes a fixed seat 116, which is installed on the top of one of the lifting platform trolleys 6. A push cylinder 114 and a push cylinder 2 115 are installed on the top of the fixed seat 116. The top output ends of the push cylinder 114 and the push cylinder 2 115 are respectively fixedly connected with a push module 106 and a push module 2 111. The push module 106 is slidably connected to the inside of the hopper 101. After the nail piece 108 is placed in the inside of the hopper 101, the push cylinder 114 and the push cylinder 2 115 are driven to work to drive the push module 106 to move up and down. When the push module 106 and the push module 2 111 move to the bottom, the nails in the hopper 101 move to the upper part of the push module 106 and the push module 2 111, and then the push cylinder 114 and the push cylinder 2 115 are pushed to the upper part of the push module 106 and the push module 2 111. The push of the nail piece 108 is used to push it upward. A loading platform 109 is also installed in the middle of the hopper 101. The loading platform 109 is located on the outside of the synchronous belt 104 and the synchronous belt 2 105. The pushing module 106 and the pushing module 2 111 are both slidably installed on the outside of the loading platform 109. After the pushing module 106 pushes the nail piece 108 upward, the nail piece 108 reaches the outside of the loading platform 109, and is caused to roll down between the synchronous belt 104 and the synchronous belt 2 105 through the inclined surface of the loading platform 109. Some nail pieces 108 will be placed between the synchronous belt 104 and the synchronous belt 2 105 because of the correct position, and the remaining nail pieces 108 will return to the inside of the hopper 101 along the inclined surface of the outer side of the loading platform 109, and be fed by the pushing cylinder 114 and the pushing cylinder 2 115 again.

[0049] Please see attached Figure 3 -Attached Figure 5 The buckle mechanism 2 includes a supporting plate 203, a feeding assembly and a fastener unloading assembly, both of which are mounted on the top of the supporting plate 203, and the supporting plate 203 is mounted on the top of one of the lifting platform trolleys 6 through an aluminum profile 205. The feeding assembly includes a shell 202, and the shell 202 is mounted on the top of the supporting plate 203. A servo motor 204 is fixedly connected to the bottom of the supporting plate 203. The top output end of the servo motor 204 passes through the supporting plate 203 and is fixedly connected to a transmission wheel 1 201 and a transmission wheel 2 214. The transmission wheel 1 201 and the transmission wheel 2 214 are both key-connected to the output end of the servo motor 204. The nail pieces 108 transported by the synchronous belt 104 and the synchronous belt 2 105 will fall into the groove between the transmission wheel 1 201 and the shell 202 under the guidance of the baffle 113.

[0050] The fastener unloading assembly includes a hopper 209, a stirring motor 206 is fixedly connected to the top of the hopper 209, a stirring blade 207 is fixedly connected to the bottom output end of the stirring motor 206, and a unloading pipe 215 is fixedly connected to the bottom of the hopper 209. After the fasteners are poured into the hopper 209, the stirring blades 207 are driven by the stirring motor 206 to drive the fasteners to move inside the hopper 209. When the direction of the fasteners matches the inner cavity shape of the unloading pipe 215, the fasteners fall downward along the unloading pipe 215 and reach the bottom of the unloading pipe 215. An infrared sensor 210 is fixedly connected to the outside of the shell 202, and a push rod cylinder 211 is installed on the top of the supporting plate 203 through a fixed plate 212. The output end of the push rod cylinder 211 is aligned with the outer notch of the discharge pipe 215. The infrared sensor 210 detects the nail piece 108 transmitted from the outside of the transmission wheel 201. After the detection board detects the change of the infrared signal, a command is issued to the push rod cylinder 211, so that the push rod cylinder 211 pushes the fastener forward, so that the fastener is connected to the nail piece 108. The infrared sensor 210 uses the E3F-DS10B2 sensor. The inner wall of the housing 202 is fixedly connected with an introduction piece 213, and the introduction piece 213 is located between the transmission wheel 1 201 and the transmission wheel 2 214. The outer side of the housing 202 is also fixedly connected with a discharge pipe 208. As the transmission wheel 1 201 continues to rotate, the nail piece 108 with the fastener can be continuously transported. When the nail piece 108 reaches the position of the discharge pipe 208, it is blocked by the introduction piece 213 and enters the inside of the discharge pipe 208.

[0051] Please see attached Figure 6 -Attached Figure 8 The nail magazine mechanism 3 includes a plurality of fixed nail magazines 301, a flexible nail magazine 1 302, a flexible nail magazine 2 303 and a flexible nail magazine 3 306. The flexible nail magazine 3 306 includes a magazine shell 3061 and a plurality of positioning bars 3062. The plurality of positioning bars 3062 are installed on the inner wall of the magazine shell 3061. The nail member 108 is installed between the positioning bars 3062. After the nail member 108 after the fastener is installed enters the flexible nail magazine 3 306, the positioning bars 3062 guide the nail member 108. The internal structures of the fixed nail magazine 301, the flexible nail magazine 1 302 and the flexible nail magazine 2 303 are the same as those of the flexible nail magazine 3 306. The fixed nail magazine 301, the flexible nail magazine 1 302, the flexible nail magazine 2 303 and the flexible nail magazine 3 306 are connected by a quick-release assembly, and the fixed nail magazine 301, the flexible nail magazine 1 302, the flexible nail magazine 2 303 and the flexible nail magazine 3 306 can be freely combined according to work needs.

[0052] The quick release assembly includes a hook 304, a connecting ring 305, a quick release base 307 and a pressure plate 308. The hook 304 and the quick release base 307 are respectively installed at the front and rear ends of the magazine. The pressure plate 308 is rotatably connected to the inner side of the quick release base 307. The connecting ring 305 is rotatably connected to the middle part of the pressure plate 308. When the magazine needs to be connected, the connecting ring 305 only needs to be rotated to the outside of the hook 304 so that it can be overlapped with the hook 304, and then the pressure plate 308 can be rotated to pull the connecting ring 305, so as to complete the quick installation of the magazine. Conversely, the pressure plate 308 can be reversely turned to complete the disassembly of the magazine. One end of the nail magazine mechanism 3 is clamped with the discharge pipe 208, and the other end is connected to the nail mechanism 4. As the nail piece 108 continues to enter the discharge pipe 208, the nail piece 108 inside the discharge pipe 208 continues to move forward. After passing through the nail magazine mechanism 3 composed of the flexible nail magazine 3 306 , the flexible nail magazine 1 302 , and the fixed nail magazine 301 , the nails are transported toward the nail mechanism 4 .

[0053] Please see attached Fig. 9 -Attached Fig.10 The nailing mechanism 4 includes a gas nail gun head 403, which is installed on the top of the multi-axis robot arm 5. After the nail piece 108 equipped with the fastener is transported to the inside of the gas nail gun head 403, the nail piece 108 can be shot out through the gas nail gun head 403, thus completing the nailing operation on the wall. The gas nail gun head 403 uses the Meite pneumatic gas nail gun CS3025 pneumatic gas nail gun as a whole. After removing the magazine and the handle part, it is connected to the multi-axis robot arm 5, and the manual control switch is converted into an electric control switch.

[0054] A laser rangefinder 401 is installed on the top of the gas nail gun head 403 through a mounting base 402. The laser rangefinder 401 uses a WT53R-485 sensor to measure the distance between the gas nail gun head 403 and the wall. A sensor connector 404 is also installed on the front side of the mounting base 402. An image sensor 405 and a lighting lamp 406 are connected to the ends of the sensor connector 404. The target nail position image is collected through the laser rangefinder 401 and the image sensor 405. The image sensor 405 uses a binocular vision collection sensor to increase the image collection range of the device. By converting the optical signal into a digital signal and displaying it on the operating screen in the form of an image for observation, the electromagnetic wave signal is converted into a digital signal and displayed on the operating screen device as a simulated image and the working distance between the target nail working surface, the predetermined nail position and the predetermined nail working surface distance can be vividly displayed on the screen, and unknown risks can be foreseen in time. The lighting lamp 406 can be used for appropriate work surface lighting in narrow work surfaces and tunnel work surface scenes, using a light source with appropriate brightness to reduce the impact of dark light on the work of the image sensor 405 and improve the image quality of the image sensor 405.

[0055] Please see attached Fig. 9 The multi-axis robot arm 5 includes a fixed platform 505, which is installed on the top of one of the lifting platform trolleys 6. A connecting seat 504, a second connecting arm 503, a first connecting lower arm 502 and a first connecting upper arm 501 are installed on the top of the fixed platform 505 from bottom to top. The first connecting upper arm 501 and the first connecting lower arm 502 are axially connected. The fixed platform 505, the connecting seat 504, the second connecting arm 503, the first connecting lower arm 502 and the first connecting upper arm 501 together constitute a robot arm rotation mechanism, thereby realizing multi-angle adjustment of the nail shooting direction.

[0056] Please see attached Fig.11 The lifting platform trolley 6 includes a lifting platform 601 and a frame 603. The lifting platform 601 and the frame 603 are connected by multiple sets of articulated frames 602. Positioning plates 604 are installed on the sides of the lifting platform 601 and the frame 603 facing each other. The ends of the articulated frames 602 are slidably connected inside the positioning plates 604. The top of the frame 603 is rotatably connected to a hydraulic cylinder 605, and the other end of the hydraulic cylinder 605 is rotatably connected to the bottom of the articulated frame 602. The hydraulic cylinder 605 is driven to work to drive the bottom of the articulated frame 602 to move, so that the articulated frame 602 can be unfolded and retracted as a whole, so that the height of the lifting platform 601 can be adjusted to meet the needs of nailing at different heights. The lifting platform trolley 6 also includes a connecting plate 606, which is fixedly connected to the bottom of the frame 603. A wheel motor 607 is fixedly connected to one side of the connecting plate 606. The output end of the wheel motor 607 passes through the connecting plate 606 and is fixedly installed with a moving wheel 608. By driving the wheel motor 607 to work, the moving wheel 608 can be driven to rotate, thereby making the entire device move. A motor controller 609 and a battery 610 are also installed on the top of the frame 603. The motor controller 609 controls the operation of the wheel motor 607 respectively, thereby realizing the translation and rotation of the equipment. The battery 610 provides power for the entire equipment, which is convenient for remote operation and use. There is no need to connect an additional power supply, and the operation is more convenient.

[0057] Please see attached Fig. 9The control mechanism 7 includes a housing 701, which is mounted on the top of the fixed platform 505. A compressed air pump 703 and a control panel 704 are mounted inside the housing 701. An emergency stop button 702 is mounted on the outside of the housing 701. The emergency stop button 702 is electrically connected to the transmission motor 102, the servo motor 204, and the gas nail gun head 403. The operator can perform emergency braking on the working device in an emergency. The compressed air pump 703 is connected to the gas nail gun head 403, the push rod cylinder 3 211, the push cylinder 1 114, and the push cylinder 2 115. The compressed air pump 703 is connected to the gas nail gun head 403, the push rod cylinder 3 211, the push cylinder 1 114, and the push cylinder 2 115 through the air pipe to provide power for these components. The control panel 704 is electrically connected to the hydraulic cylinder 605, the push rod cylinder 3 211, the push cylinder 1 114, and the push cylinder 2 115. The control panel 704 can control various components such as the motor controller, the cylinder, and the hydraulic cylinder 605. The control panel 704 uses a SI EMENS S7-1200 PLC. At the same time, the control panel 704 can communicate with the remote communication device in real time through wireless transmission. The laser rangefinder 401 scans the nailing points of the nailing working surface through laser scanning and provides position information to the control panel 704. The control panel 704 issues instructions to the multi-axis robot arm 5, so that the gas nail gun head 403 is aligned with the nailing points of the nailing working surface. At the same time, the image sensor 405 transmits the image screen to the remote communication device for real-time viewing.

[0058] Embodiment 2:

[0059] Based on the above embodiments, the present embodiment provides an operation control of an intelligent wall nail construction device. When the transmission wheel 201 rotates to drive the nail piece 108 to the outlet position of the feed tube 215, the infrared light emitted by the infrared sensor 210 bounces back after contacting the nail piece 108 and is received by the infrared sensor 210. At this time, the infrared sensor 210 converts the received infrared signal into an electrical signal and transmits it to the control board 704. Then, the control board 704 sends a signal to drive the push rod cylinder 3 211 to work, so that the working end of the push rod cylinder 3 211 extends, thereby pushing the fastener located at the bottom of the feed tube 215 forward, thereby pushing the fastener into the outside of the nail piece 108 at the outlet position of the feed tube 215, and completing the socket connection of the fastener. After passing through the socket fastener, the nail piece 108 can be continuously transported to the inside of the nail magazine mechanism 3, and after being transported to the inside of the gas nail gun head 403 through the nail magazine mechanism 3, the image sensor 405 receives the image information in front of the gas nail gun head 403 and converts it into an electrical signal and transmits it to the control board 704. The control board 704 transmits the signal wirelessly to the external remote operation screen, and then the laser rangefinder 401 transmits the distance information between the gas nail gun head 403 and the wall, converts it into an electrical signal, and transmits it to the external remote operation screen through the control board 704. The operator can control the control board 704 through the remote operation screen to drive the multi-axis robot arm 5 and the hydraulic cylinder 605 to work to adjust the outlet position of the gas nail gun head 403. After reaching the appropriate position, the gas nail gun head 403 is controlled by the control panel 704 to work, and the nail piece 108 entering the working chamber of the gas nail gun head 403 is pushed out, so that the nail piece 108 enters the wall surface, thus completing the nailing operation.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent wall nail construction device, characterized in that: The invention comprises a feeding mechanism (1), a buckling mechanism (2), a nail magazine mechanism (3), a nail shooting mechanism (4), a multi-axis mechanical arm (5), a control mechanism (7) and two lifting platform trolleys (6); the feeding mechanism (1) comprises a hopper (101), a feeding assembly and a feeding assembly; the hopper (101) is installed on the top of one of the lifting platform trolleys (6) through an aluminum profile (107); the feeding assembly comprises a mounting plate (103) and a side plate (110) installed on the outside of the hopper (101); a rolling bearing (112) is installed on the inside of the side plate (110); and the mounting plate (103) is installed on the inside of the side plate (110). A transmission motor (102) is fixedly mounted on the outer side of the mounting plate (103); the output end of the transmission motor (102) passes through the mounting plate (103) and is fixedly connected to a group of pulleys; a group of pulleys is mounted on the outer side of the rolling bearing (112); a synchronous belt 1 (104) and a synchronous belt 2 (105) are sleeved side by side between the two pulleys; a nail-shooting piece (108) is placed between the synchronous belt 1 (104) and the synchronous belt 2 (105); a baffle (113) is mounted on the outer side of the side plate (110); the synchronous belt 1 (104) and the synchronous belt 2 (105) move toward the baffle (113).

2. According to claim 1, the intelligent wall nail construction device is characterized in that: The buckling mechanism (2) comprises a supporting plate (203), a material feeding assembly and a fastener material feeding assembly, wherein the material feeding assembly and the fastener material feeding assembly are both mounted on the top of the supporting plate (203), and the supporting plate (203) is mounted on the top of one of the lifting platform trolleys (6) through an aluminum profile 2 (205). The material feeding assembly comprises a shell (202), and the shell (202) is mounted on the top of the supporting plate (203). A servo motor (204) is fixedly connected to the bottom of the supporting plate (203), and the top output end of the servo motor (204) passes through the supporting plate (203) and is fixedly connected to a transmission wheel 1 (201) and a transmission wheel 2 (214). An introduction member (213) is fixedly connected to the inner wall of the shell (202), and the introduction member (213) is located between the transmission wheel 1 (201) and the transmission wheel 2 (214). A discharge pipe (208) is also fixedly connected to the outer side of the shell (202).

3. The intelligent wall nail construction device according to claim 2 is characterized in that: The fastener unloading assembly includes a hopper two (209), the top of the hopper two (209) is fixedly connected to a stirring motor (206), the bottom output end of the stirring motor (206) is fixedly connected to a stirring blade (207), the bottom of the hopper two (209) is fixedly connected to a unloading pipe (215), the outer side of the shell (202) is fixedly connected to an infrared sensor (210), and the top of the support plate (203) is also equipped with a push rod cylinder three (211) through a fixed plate (212), and the output end of the push rod cylinder three (211) is aligned with the outer notch of the unloading pipe (215).

4. The intelligent wall nail construction device according to claim 1, characterized in that: The loading assembly comprises a fixed seat (116), the fixed seat (116) is installed on the top of one of the lifting platform trolleys (6), a pushing cylinder 1 (114) and a pushing cylinder 2 (115) are installed on the top of the fixed seat (116), the top output ends of the pushing cylinder 1 (114) and the pushing cylinder 2 (115) are respectively fixedly connected with a pushing module 1 (106) and a pushing module 2 (111), the pushing module 1 (106) is slidably connected to the inside of the hopper 1 (101), and a loading platform (109) is also installed in the middle of the hopper 1 (101), the loading platform (109) is located on the outside of the synchronous belt 1 (104) and the synchronous belt 2 (105), and the pushing module 1 (106) and the pushing module 2 (111) are both slidably installed on the outside of the loading platform (109).

5. The intelligent wall nail construction device according to claim 2, characterized in that: The nail magazine mechanism (3) comprises a plurality of fixed nail magazines (301), a flexible nail magazine 1 (302), a flexible nail magazine 2 (303) and a flexible nail magazine 3 (306), wherein the flexible nail magazine 3 (306) comprises a magazine shell (3061) and a plurality of positioning strips (3062), wherein the plurality of positioning strips (3062) are mounted on the inner side wall of the magazine shell (3061), and the nail-shooting member (108) is mounted between the positioning strips (3062). The internal structures of the fixed nail magazine (301), the flexible nail magazine 1 (302) and the flexible nail magazine 2 (303) are similar to those of the flexible nail magazine 3 (306). The fixed nail magazine (301), the flexible nail magazine (302), the flexible nail magazine (303) and the flexible nail magazine (306) are connected by a quick release assembly, and the quick release assembly includes a hook (304), a connecting ring (305), a quick release base (307) and a pressure plate (308), the hook (304) and the quick release base (307) are respectively installed at the front and rear ends of the magazine, the pressure plate (308) is rotatably connected to the inner side of the quick release base (307), and the connecting ring (305) is rotatably connected to the middle part of the pressure plate (308).

6. The intelligent wall nail construction device according to claim 5, characterized in that: The multi-axis robot arm (5) comprises a fixed platform (505), wherein the fixed platform (505) is mounted on the top of one of the lifting platform trolleys (6), and a connecting seat (504), a second connecting arm (503), a first connecting lower arm (502) and a first connecting upper arm (501) are sequentially mounted on the top of the fixed platform (505) from bottom to top, and the first connecting upper arm (501) and the first connecting lower arm (502) are axially connected.

7. The intelligent wall nail construction device according to claim 6, characterized in that: The nail-shooting mechanism (4) comprises a gas nail-shooting gun head (403), the gas nail-shooting gun head (403) being mounted on the top of the multi-axis mechanical arm (5), a laser rangefinder (401) being mounted on the top of the gas nail-shooting gun head (403) via a mounting seat (402), a sensor connecting piece (404) being mounted on the front side of the mounting seat (402), and an image sensor (405) and an illuminating lamp (406) being connected to the end of the sensor connecting piece (404).

8. The intelligent wall nail construction device according to claim 1, characterized in that: The lifting platform trolley (6) comprises a lifting platform (601) and a frame (603), wherein the lifting platform (601) and the frame (603) are connected via a plurality of sets of articulated frames (602), positioning plates (604) are installed on the opposite sides of the lifting platform (601) and the frame (603), the end of the articulated frame (602) is slidably connected inside the positioning plate (604), the top of the frame (603) is rotatably connected to a hydraulic cylinder (605), and the other end of the hydraulic cylinder (605) is rotatably connected to the bottom of the articulated frame (602).

9. The intelligent wall nail construction device according to claim 8, characterized in that: The lifting platform trolley (6) further comprises a connecting plate (606), wherein the connecting plate (606) is fixedly connected to the bottom of the vehicle frame (603), a wheel motor (607) is fixedly connected to one side of the connecting plate (606), an output end of the wheel motor (607) passes through the connecting plate (606) and is fixedly mounted with a moving wheel (608), and a motor controller (609) and a storage battery (610) are also mounted on the top of the vehicle frame (603).

10. The intelligent wall nail construction device according to claim 7, characterized in that: The control mechanism (7) comprises a shell (701), wherein the shell (701) is mounted on the top of the fixed platform (505), wherein a compressed air pump (703) and a control panel (704) are mounted inside the shell (701), and an emergency stop button (702) is mounted on the outer side of the shell (701), wherein the compressed air pump (703) is connected to a gas nail gun head (403), a push rod cylinder three (211), a push cylinder one (114), and a push cylinder two (115), and wherein the control panel (704) is connected to a hydraulic cylinder (605), a push rod cylinder three (211), a push cylinder one (114), and a push cylinder two (115).

Images