A smart construction device for nailing nails on walls

Abstract

This invention relates to the field of construction machinery automation technology and discloses an intelligent wall-mounting nailing device, including a feeding mechanism, a fastening mechanism, a nail magazine mechanism, a nailing mechanism, a multi-axis robotic arm, a control mechanism, and two lifting platform trolleys. The feeding mechanism includes a hopper, a feeding assembly, and a feeding component. The hopper is mounted on the top of one of the lifting platform trolleys via an aluminum profile. The feeding assembly includes a mounting plate and a side plate mounted on the outside of the hopper. A rolling bearing is mounted on the inner side of the side plate, and a drive motor is fixedly mounted on the outer side of the mounting plate. By integrating a nailing mechanism, a laser rangefinder, and an image sensor into a gas nail gun head, and by adjusting the position of the gas nail gun head at the end of the nailing mechanism, nailing operations can be performed on different calibrations of the working surface, thus solving the problem of inconvenient operation on high-altitude and narrow working surfaces.

Description

Technical Field

[0001] This invention relates to the field of construction machinery automation technology, specifically to an intelligent construction device for nailing nails on walls. Background Technology

[0002] In high-rise building construction, the fixing of the insulation layer of the building envelope typically relies on manual nailing, a process fraught with problems. Firstly, the repetitive tasks of nail removal, positioning, and driving in inefficient nails are physically demanding, leading to fatigue and potential errors. This high-intensity work is particularly pronounced in large-area and high-altitude operations, significantly increasing worker fatigue and reducing efficiency. Furthermore, the complexity of the construction environment exposes workers to safety risks such as falls from heights and electric shocks, placing immense psychological and physiological stress on them.

[0003] Similarly, in tunnel construction, nailing operations also rely on manual labor, requiring workers to secure the nails in confined spaces and complex environments. This not only increases the difficulty of the operation but also, due to space constraints, makes it difficult for workers to find suitable working postures, further increasing fatigue and safety hazards. In tunnel construction, workers also face unique environmental risks such as falling rocks and low oxygen levels, adding further challenges to the work.

[0004] Furthermore, the precision of manual operation is difficult to guarantee, leading to inconsistent nailing results and directly affecting construction quality. When performing wall and tunnel nailing operations at heights or in confined spaces, workers must complete the task under extremely unfavorable conditions, which not only increases the difficulty of operation but also further increases the probability of accidents. Therefore, to address these shortcomings of existing technologies, a new type of intelligent construction device is urgently needed to improve the efficiency and safety of wall and tunnel nailing operations. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent wall-mounting device that solves the problems of high labor intensity, low efficiency, high safety risks, and poor fixing accuracy caused by the reliance on manual operation for fixing existing wall nails and tunnel nails.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a smart wall-mounting construction device, comprising a feeding mechanism, a fastening mechanism, a nail cartridge mechanism, a nailing mechanism, a multi-axis robotic arm, a control mechanism, and two lifting platform trolleys. The feeding mechanism includes a hopper, a feeding assembly, and a feeding component. The hopper is mounted on the top of one of the lifting platform trolleys via an aluminum profile. The feeding assembly includes a mounting plate and a side plate mounted on the outside of the hopper. A rolling bearing is mounted on the inner side of the side plate. A drive motor is fixedly mounted on the outer side of the mounting plate. The output end of the drive motor passes through the mounting plate and is fixedly connected to a set of pulleys. A set of pulleys is mounted on the outer side of the rolling bearing. A synchronous belt and a synchronous belt are sleeved side-by-side between the two pulleys. A baffle is mounted on the outer side of the side plate. The synchronous belts move towards the baffle.

[0007] Preferably, the upper buckling mechanism includes a support plate, a material conveying assembly, and a fastener unloading assembly. The material conveying assembly and the fastener unloading assembly are both installed on the top of the support plate. The support plate is installed on the top of one of the lifting platform trolleys via an aluminum profile. The material conveying assembly includes a housing, which is installed on the top of the support plate. A servo motor is fixedly connected to the bottom of the support plate. The top output end of the servo motor passes through the support plate and is fixedly connected to a first conveyor wheel and a second transmission wheel. An inlet is fixedly connected to the inner wall of the housing, and the inlet is located between the first conveyor wheel and the second transmission wheel. A discharge pipe is also fixedly connected to the outer side of the housing.

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

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

[0010] Preferably, the nail magazine mechanism includes several fixed nail magazines, a flexible nail magazine one, a flexible nail magazine two, and a flexible nail magazine three. The fixed nail magazines, flexible nail magazine one, flexible nail magazine two, and flexible nail magazine three are connected by a quick-release assembly. The quick-release assembly includes a hook, a connecting ring, a quick-release base, and a pressure plate. The hook and the quick-release base are respectively installed at the beginning and end of the magazine. 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 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. From bottom to top, a connecting seat, a second connecting arm, a first connecting lower arm, and a first connecting upper arm are sequentially installed on the top of the fixed platform. The first connecting upper arm and the first connecting lower arm are axially connected.

[0012] Preferably, the nailing mechanism includes a gas nail gun head, which is mounted on the top of the multi-axis robotic arm. A laser rangefinder is mounted on the top of the gas nail gun head via a mounting base. A sensor connector is also mounted on the front side of the mounting base, 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, which are connected by multiple sets of hinge frames. Positioning plates are installed on opposite sides of the lifting platform and the frame. The ends of the hinge frames are slidably connected inside the positioning plates. A hydraulic cylinder is rotatably connected to the top of the frame, and the other end of the hydraulic cylinder is rotatably connected to the bottom of the hinge frame.

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

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

[0016] Working principle: In use, the nail is first placed inside hopper one, and the fastener of the nail is placed inside hopper two. Then, the push cylinders one and two are driven to move the push module one up and down. When the push module one moves to the bottom, the nail inside hopper one moves to the top of the push module one. Then, under the push of the push cylinders one and two, the nail reaches the outside of the loading platform. The inclined surface of the loading platform causes the nail to roll down between synchronous belts one and two. Some nails will be placed between synchronous belts one and two because they are in the correct position, while the remaining nails will return to hopper one along the inclined surface of the loading platform and be loaded again by the push cylinders one and two.

[0017] When the drive motor is working, it will drive synchronous belt one and synchronous belt two to move. At this time, the nail gun piece placed between synchronous belt one and synchronous belt two will move towards the baffle along the movement of synchronous belt one and synchronous belt two, and finally fall into the tooth groove between the transmission wheel one and the outer shell under the guidance of the baffle.

[0018] After the fastener is poured into the second hopper, the stirring blades driven by the stirring motor move the fastener inside the second hopper. When the orientation of the fastener matches the shape of the inner cavity of the discharge pipe, the fastener falls down along the discharge pipe to the bottom. At this time, the nail gun, which is on the outside of the first conveyor wheel, will move in a circular motion inside the outer shell under the conveyor motor. When the nail gun reaches the position of the discharge pipe, the infrared sensor detects the appearance of the nail gun and then drives the push rod cylinder three to push out the fastener located at the bottom of the discharge pipe, so that the fastener and the nail gun are engaged. Then the first conveyor wheel continues to convey the nail gun with the fastener. When the nail gun reaches the position of the discharge pipe, it is blocked by the guide and enters the discharge pipe.

[0019] As the nails continuously enter the discharge pipe, they move forward continuously inside. After passing through the nail magazine mechanism, which consists of a flexible nail magazine three, a flexible nail magazine one, and a fixed nail magazine, the nails reach the gas nail gun head and are then fired out, completing the nailing operation on the wall. During operation, a hydraulic cylinder can be driven to extend and retract the articulated frame, adjusting the height of the lifting platform to accommodate nailing at different heights. A compressed air pump can also drive the movement of the connecting seat, second connecting arm, first lower connecting arm, and first upper connecting arm to adapt to nailing at different angles and positions. Finally, a drive wheel motor rotates the moving wheels, thus moving the entire device.

[0020] This invention provides an intelligent wall-mounting device. It has the following beneficial effects:

[0021] 1. This invention integrates a nail-shooting mechanism, a laser rangefinder, and an image sensor into the existing gas nail gun head. By observing the set position through the operation screen and adjusting the position of the gas nail gun head at the end of the nail-shooting mechanism, nail-shooting operations can be performed on different calibrations of the working surface. This can solve the problem of workers facing complex working environments and inconvenient operation on high-altitude and narrow working surfaces.

[0022] 2. This invention acquires images of the target nail position using a laser rangefinder and an image sensor. It converts optical signals into digital signals and displays them as images on the operating screen for observation. It also converts electromagnetic wave signals into digital signals and displays the working distance between the nail-shooting mechanism and the target nail working surface as a simulated image on the operating screen device. By vividly displaying the predetermined nail position and the predetermined nail working surface distance on the screen, it can anticipate unknown risks in a timely manner.

[0023] 3. The image sensor used in this invention is a binocular vision acquisition sensor, which improves the image acquisition range of the equipment and the efficiency of automated nailing by the robotic arm. It is fixed to the front of the gas nail gun head via the connecting plate, pointing towards the nail firing position. Through the cooperation between the image sensor and the laser rangefinder, the predetermined nail position is vividly displayed on the visualization device in three dimensions. Physical interference from the nail firing device at the end of the robotic arm is greatly reduced. Workers can observe and operate the nail firing mechanism on a remote control screen, ensuring the gas nail gun head is aligned with the predetermined working surface. This design not only significantly reduces the work risk for workers performing nail firing operations but also makes the nail firing position more standardized, improving the efficiency of nail firing.

[0024] 4. The invention includes a lighting fixture. In confined working areas and tunnels, dim lighting can negatively impact the image sensor's operation. Appropriate working surface lighting and a suitable light source improve image quality and ensure the image meets visual observation standards for the predetermined nail positions on the nailing working surface.

[0025] 5. All wiring harnesses in this invention are concealed, reducing interference with the operation of the nail-shooting mechanism. The wiring harnesses are laid around the end of the multi-axis robotic arm to prevent the wiring harnesses from contacting the robotic arm motor and causing interference that could lead to accidents.

[0026] 6. The nail-shooting mechanism in this 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 be inserted into the working surface to shoot nails independently, and the robotic arm has high strength to withstand the weight of the end nail-shooting device.

[0027] 7. In this invention, the lifting platform trolley can raise and lower the platform by extending and retracting the hydraulic cylinder. The lifting platform can be operated through a remote communication control panel. The nail shooting mechanism and multi-axis robotic arm installed on the platform can increase the effective working area as the platform is raised, reducing the risk of nail shooting for workers at high-altitude work surfaces.

[0028] 8. The nail magazine mechanism of this invention includes a fixed nail magazine and a flexible nail magazine. A quick-release assembly is installed on the flexible nail magazine, enabling the free combination of various lengths of nail magazines to suit the working distance and height of the nail firing mechanism during nail firing operations. The quick-release assembly allows for rapid installation of the nail magazine, facilitating the assembly and disassembly of nail firing operations and adapting to situations involving varying distances and complex working conditions.

[0029] 9. In this invention, the feeding assembly drives the connected pushing module by moving the cylinder up and down. This causes the nails in hopper one to rise to the platform under the action of the pushing module. Under the action of gravity, they roll to the middle of the two synchronous belts. The drive motor drives the synchronous belts to move at a constant speed. At the end of the synchronous belt, the nails fall freely into the conveying hole of the conveyor wheel one. The baffle corrects the posture of the nails as they fall freely in the air, facilitating automatic conveying of the nails, simplifying the operation steps of the nail working surface, and making the operation convenient and automated.

[0030] 10. In this invention, the upper buckle mechanism detects the nail-shooting component being conveyed in the first conveyor wheel via an infrared sensor. The control board detects the change in the infrared signal and sends a command to the third pusher cylinder to push the nail-shooting fastener forward, thus connecting the fastener and the nail-shooting component. The second hopper is equipped with a stirring motor with rotating blades. During the operation of the upper buckle mechanism, the nail-shooting fastener is stirred, causing it to fall freely into the feed pipe and fill the upper buckle for the next nail-shooting component.

[0031] 11. In this invention, the control box is equipped with a compressed air pump, a remote communication operation screen and a control board. A storage battery is placed on the trolley frame. The compressed air pump is used to provide power to the various pneumatic devices in this system, which is convenient for remote operation and use. There is no need to connect a separate storage battery and air pump, making operation more convenient.

[0032] 12. This 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, enabling precise operation of nails, reducing safety risks for workers, improving work accuracy, simplifying the worker's workflow, and promoting the automation of nail shooting operations. Attached Figure Description

[0033] Figure 1 This is a perspective view of the present invention;

[0034] Figure 2 This is a schematic diagram of the feeding mechanism in this invention;

[0035] Figure 3 This is a schematic diagram of the upper buckle mechanism in this invention;

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

[0037] Figure 5 This is a schematic diagram showing the installation position of the introduced component in this invention;

[0038] Figure 6 This is a schematic diagram of the nail gun magazine mechanism in this invention;

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

[0040] Figure 8 This is a schematic cross-sectional view of the flexible nail gun magazine 3 in this invention;

[0041] Figure 9 This is a schematic diagram of the structure of the multi-axis robotic arm in this invention;

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

[0043] Figure 11 This is a schematic diagram of the lifting platform trolley in this invention.

[0044] The components include: 1. Feeding mechanism; 101. Hopper 1; 102. Drive motor; 103. Mounting plate; 104. Synchronous belt 1; 105. Synchronous belt 2; 106. Pushing module 1; 107. Aluminum profile 1; 108. Nail gun component; 109. Feeding platform; 110. Side plate; 111. Pushing module 2; 112. Rolling bearing; 113. Baffle; 114. Pushing cylinder 1; 115. Pushing cylinder 2; 116. Fixed base; 2. Upper buckling mechanism; 201. 1. Conveyor wheel 1; 202. Outer shell; 203. Support plate; 204. Servo motor; 205. Aluminum profile 2; 206. Stirring motor; 207. Stirring blades; 208. Discharge pipe; 209. Hopper 2; 210. Infrared sensor; 211. Push rod cylinder 3; 212. Fixing plate; 213. Inlet component; 214. Transmission wheel 2; 215. Discharge pipe; 3. Nail gun magazine mechanism; 301. Fixed nail magazine; 302. Flexible nail gun magazine 1; 303. Flexible nail gun magazine 2; 304, hook; 305, connecting ring; 306, Flexible nail gun magazine 3; 3061, magazine case sleeve; 3062, positioning strip; 307, quick-release base; 308, pressure plate; 4, nail firing mechanism; 401, laser rangefinder; 402, mounting base; 403, gas nail gun head; 404, sensor connector; 405, image sensor; 406, illumination lamp; 5, multi-axis robotic arm; 501, first connecting upper arm; 502, first connecting 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 board. Detailed Implementation

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1:

[0047] Please see the appendix Figure 1 -Appendix Figure 2This invention provides a smart wall-mounting nailing device, including a feeding mechanism 1, a fastening mechanism 2, a nail cartridge mechanism 3, a nailing mechanism 4, a multi-axis robotic arm 5, a control mechanism 7, and two lifting platform trolleys 6. The feeding mechanism 1 includes a hopper 101, a feeding assembly, and a feeding component. The hopper 101 is mounted on the top of one of the lifting platform trolleys 6 via an aluminum profile 107. The feeding assembly includes a mounting plate 103 and a side plate 110 mounted on the outside of the hopper 101. A rolling bearing 112 is mounted on the inner side of the side plate 110. A drive motor 102 is fixedly mounted on the outer side of the mounting plate 103. The output end of the drive motor 102 passes through the mounting plate 103 and is fixedly connected to a set of pulleys. A set of pulleys is mounted on the outer side of the rolling bearing 112. A synchronous belt 104 and a synchronous belt 205 are sleeved side by side between the two sets of pulleys. The width of the synchronous belt 104 and the synchronous belt 205 can be adjusted mechanically as needed. After the nail gun 108 rolls between the first synchronous belt 104 and the second synchronous belt 105, it will be driven to one side along with the first synchronous belt 104 and the second synchronous belt 105. A baffle 113 is installed on the outer side of the side plate 110. The falling posture of the nail gun 108 is adjusted by the baffle 113 so that it falls vertically into the upper buckling mechanism 2. The first synchronous belt 104 and the second synchronous belt 105 move towards the baffle 113 to transport the nail gun 108.

[0048] Please see the appendix Figure 2The feeding assembly includes a fixed base 116, which is mounted on the top of one of the lifting platform trolleys 6. A first pushing cylinder 114 and a second pushing cylinder 115 are mounted on the top of the fixed base 116. Pushing modules 106 and 111 are respectively fixedly connected to the top output ends of the first pushing cylinder 114 and the second pushing cylinder 115. The first pushing module 106 is slidably connected inside the first hopper 101. After the nail gun 108 is placed inside the first hopper 101, the first pushing cylinder 114 and the second pushing cylinder 115 are driven to move the first pushing module 106 up and down. When the first pushing module 106 and the second pushing module 111 move to the lower position, the nail inside the first hopper 101 moves to the upper part of the first pushing module 106 and the second pushing module 111, and then is released by the first pushing cylinder 114 and the second pushing cylinder 115. The pusher pushes the nail gun 108 upward. A loading platform 109 is also installed in the middle of the hopper 101. The loading platform 109 is located outside the timing belt 104 and timing belt 205. Pushing module 106 and pushing module 211 are slidably installed on the outside of the loading platform 109. After the pushing module 106 pushes the nail gun 108 upward, the nail gun 108 reaches the outside of the loading platform 109 and rolls down between timing belt 104 and timing belt 205 through the inclined surface of the loading platform 109. Some nail guns 108 will be placed between timing belt 104 and timing belt 205 due to correct positioning, while the remaining nail guns 108 will return to the inside of the hopper 101 along the inclined surface outside the loading platform 109 and be loaded again by the pushing cylinder 114 and pushing cylinder 215.

[0049] Please see the appendix Figure 3 -Appendix Figure 5 The upper buckling mechanism 2 includes a support plate 203, a material conveying assembly, and a fastener unloading assembly. The material conveying assembly and the fastener unloading assembly are both installed on the top of the support plate 203. The support plate 203 is installed on the top of one of the lifting platform trolleys 6 via an aluminum profile 205. The material conveying assembly includes a housing 202, which is installed on the top of the support plate 203. A servo motor 204 is fixedly connected to the bottom of the support plate 203. The top output end of the servo motor 204 passes through the support plate 203 and is fixedly connected to a first transmission wheel 201 and a second transmission wheel 214. The first transmission wheel 201 and the second transmission wheel 214 are both keyed to the output end of the servo motor 204. The nail 108 conveyed by the first synchronous belt 104 and the second synchronous belt 105 will fall into the groove between the first transmission wheel 201 and the housing 202 under the guidance of the baffle 113.

[0050] The fastener feeding assembly includes a second hopper 209. A stirring motor 206 is fixedly connected to the top of the second hopper 209. A stirring blade 207 is fixedly connected to the bottom output end of the stirring motor 206. A feeding pipe 215 is fixedly connected to the bottom of the second hopper 209. After the fastener is poured into the second hopper 209, the stirring motor 206 drives the stirring blade 207 to work, which can drive the fastener to move inside the second hopper 209. When the orientation of the fastener matches the inner cavity shape of the feeding pipe 215, the fastener falls down along the feeding pipe 215 and reaches the bottom of the feeding pipe 215. An infrared sensor 210 is fixedly connected to the outside of the outer casing 202. A push rod cylinder 211 is also installed on the top of the support plate 203 via a fixing plate 212. The output end of the push rod cylinder 211 is aligned with the notch on the outside of the feed tube 215. The infrared sensor 210 detects the nail gun 108 conveyed by the outside of the conveyor wheel 201. After the detection plate detects the change in infrared signal, it sends a command to the push rod cylinder 211, causing the push rod cylinder 211 to push the fastener forward, so that the fastener is connected to the nail gun 108. The infrared sensor 210 is an E3F-DS10B2 type sensor. An inlet member 213 is fixedly connected to the inner wall of the outer casing 202. The inlet member 213 is located between the first conveyor wheel 201 and the second transmission wheel 214. A discharge pipe 208 is also fixedly connected to the outer side of the outer casing 202. As the first conveyor wheel 201 continues to rotate, the nail gun 108 with fasteners can continue to be conveyed. When the nail gun 108 reaches the position of the discharge pipe 208, it is blocked by the inlet member 213 and enters the interior of the discharge pipe 208.

[0051] Please see the appendix Figure 6 -Appendix Figure 8 The nail magazine mechanism 3 includes several fixed nail magazines 301, a first flexible nail magazine 302, a second flexible nail magazine 303, and a third flexible nail magazine 306. The third flexible nail magazine 306 includes a magazine housing 3061 and multiple positioning strips 3062. The positioning strips 3062 are installed on the inner wall of the magazine housing 3061. The nail component 108 is installed between the positioning strips 3062. After the nail component 108, with its fastener installed, enters the third flexible nail magazine 306, it is guided by the positioning strips 3062. The internal structures of the fixed nail magazines 301, the first flexible nail magazine 302, and the second flexible nail magazine 303 are the same as those of the third flexible nail magazine 306. The fixed nail magazine 301, flexible nail magazine one 302, flexible nail magazine two 303 and flexible nail magazine three 306 are connected by quick-release components, and the fixed nail magazine 301, flexible nail magazine one 302, flexible nail magazine two 303 and flexible nail magazine three 306 can be freely combined according to the needs of operation.

[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 beginning and end of the magazine. The pressure plate 308 is rotatably connected to the inside of the quick-release base 307, and the connecting ring 305 is rotatably connected to the middle of the pressure plate 308. When the magazine needs to be connected, simply rotate the connecting ring 305 to the outside of the hook 304 to make it overlap with the hook 304, and then rotate the pressure plate 308 to pull the connecting ring 305, thus completing the quick installation of the magazine. Conversely, simply reverse the movement of the pressure plate 308 to complete the disassembly of the magazine. One end of the nail magazine mechanism 3 is engaged with the discharge tube 208, and the other end is connected to the nail firing mechanism 4. As the nail component 108 continuously enters the discharge tube 208, the nail component 108 inside the discharge tube 208 continuously moves forward. After passing through the nail magazine mechanism 3, which consists of the flexible nail magazine 306, the flexible nail magazine 1 302, and the fixed nail magazine 301, it is transported to the nail firing mechanism 4.

[0053] Please see the appendix Figure 9 -Appendix Figure 10 The nailing mechanism 4 includes a gas nail gun head 403, which is installed on the top of the multi-axis robotic arm 5. After the nail component 108 with fastener is fed into the gas nail gun head 403, the nail component 108 can be fired through the gas nail gun head 403, thus completing the nailing operation on the wall. The gas nail gun head 403 is a complete MITEK pneumatic gas nail gun CS3025 wind-powered gas nail gun. After removing the magazine and handle, it is connected to the multi-axis robotic arm 5, and the manual control switch is converted into an electric control switch.

[0054] A laser rangefinder 401 is mounted on the top of the gas nail gun head 403 via a mounting base 402. The laser rangefinder 401 uses a WT53R-485 sensor to determine the distance between the gas nail gun head 403 and the wall. A sensor connector 404 is also mounted on the front of the mounting base 402. An image sensor 405 and a lighting lamp 406 are connected to the end of the sensor connector 404. The laser rangefinder 401 and the image sensor 405 acquire images of the target nail position. The image sensor 405 is a binocular vision sensor to improve the image acquisition range of the device. By converting optical signals into digital signals and displaying them as images on the operation screen, and converting electromagnetic wave signals into digital signals and displaying the working distance between the target nail working surface and the screen as an analog image, the predetermined nail position and the predetermined nail working surface distance can be clearly displayed on the screen, allowing for timely prediction of unknown risks. The lighting 406 can provide appropriate working surface lighting in narrow working surfaces and tunnel working surfaces, and use a suitable brightness light source to reduce the impact of dim light on the operation of the image sensor 405 and improve the image quality of the image sensor 405.

[0055] Please see the appendix Figure 9 The multi-axis robotic arm 5 includes a fixed platform 505, which is installed on the top of one of the lifting platform trolleys 6. From bottom to top, the fixed platform 505 is equipped with a connecting seat 504, a second connecting arm 503, a first connecting lower arm 502, and a first connecting upper arm 501. 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 form a robotic arm rotation mechanism, thereby realizing multi-angle adjustment of the nail shooting direction.

[0056] Please see the appendix Figure 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 opposite sides of both the lifting platform 601 and the frame 603. The ends of the articulated frames 602 are slidably connected inside the positioning plates 604. A hydraulic cylinder 605 is rotatably connected to the top of the frame 603, and the other end of the hydraulic cylinder 605 is rotatably connected to the bottom of the articulated frame 602. Driving the hydraulic cylinder 605 moves the bottom of the articulated frame 602, thereby allowing the articulated frame 602 to unfold and retract as a whole. This adjusts the height of the lifting platform 601 to accommodate nailing needs 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 mounted with a moving wheel 608. By driving the wheel motor 607, the moving wheel 608 can be rotated, 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, thereby realizing the translation and rotation of the equipment. The battery 610 provides power to the entire equipment, which is convenient for remote operation and does not require a separate power supply, making operation more convenient.

[0057] Please see the appendix Figure 9The control mechanism 7 includes a housing 701, which is mounted on top of the fixed platform 505. Inside the housing 701 are a compressed air pump 703 and a control board 704. An emergency stop button 702 is mounted on the outside of the housing 701. The emergency stop button 702 is electrically connected to the drive motor 102, the servo motor 204, and the gas nail gun head 403, allowing the operator to apply emergency braking to the working device in an emergency. The compressed air pump 703 is connected to the gas nail gun head 403, the push rod cylinder 211, the push cylinder 114, and the push cylinder 215 via air pipes, providing power to these components. The control board 704 is electrically connected to the hydraulic cylinder 605, the push rod cylinder 211, the push cylinder 114, and the push cylinder 115. The control board 704 can control various components such as motor controllers, cylinders, and hydraulic cylinder 605. The control board 704 uses a SI EMENS S7-1200 PLC. Simultaneously, the control board 704 can communicate in real-time with a remote communication device via wireless transmission. The laser rangefinder 401 scans the nailing point on the nailing working surface with a laser, providing position information to the control board 704. The control board 704 then issues commands to the multi-axis robotic arm 5, causing the gas nail gun head 403 to align with the nailing point on the nailing working surface. Simultaneously, the image sensor 405 transmits the image to the remote communication device for real-time viewing.

[0058] Example 2:

[0059] Based on the above embodiments, this embodiment provides an operation control system for a smart wall-mounted nailing device. When the conveyor wheel 201 rotates to drive the nailing component 108 to the outlet position of the feed pipe 215, the infrared light emitted by the infrared sensor 210 bounces off the nailing component 108 upon contact 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 211 to work, causing the working end of the push rod cylinder 211 to extend, thereby pushing the fastener located at the bottom of the feed pipe 215 forward, thus pushing the fastener into the outside of the nailing component 108 at the outlet position of the feed pipe 215, completing the fastener engagement. After passing through the fastener, the nail gun 108 is continuously fed into the nail magazine mechanism 3. After being fed into the gas nail gun head 403 by 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, which is then transmitted to the control board 704. The control board 704 wirelessly transmits the signal to the external remote operation screen. 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 robotic arm 5 and the hydraulic cylinder 605 to adjust the exit position of the gas nail gun head 403. Once the appropriate position is reached, the gas nail gun head 403 is controlled by the control panel 704 to push out the nailing component 108 that has entered the working chamber of the gas nail gun head 403, so that the nailing component 108 enters the wall, thus completing the nailing operation.

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

Claims

1. A smart construction device for nailing nails to walls, characterized in that, The system includes a loading mechanism (1), a fastening mechanism (2), a nail magazine mechanism (3), a nail firing mechanism (4), a multi-axis robotic arm (5), a control mechanism (7), and two lifting platform trolleys (6). The loading mechanism (1) includes a hopper (101), a loading assembly, and a feeding assembly. The hopper (101) is mounted on the top of one of the lifting platform trolleys (6) via an aluminum profile (107). The feeding assembly includes a mounting plate (103) and a side plate (110) mounted on the outside of the hopper (101). A rolling bearing (112) is mounted on the inside of the side plate (110). A drive motor (102) is fixedly installed on the outside of the mounting plate (103). The output end of the drive motor (102) passes through the mounting plate (103) and is fixedly connected to a set of pulleys. A set of pulleys is installed on the outside of the rolling bearing (112). A synchronous belt one (104) and a synchronous belt two (105) are sleeved side by side between the two pulleys. A nail gun (108) is placed between the synchronous belt one (104) and the synchronous belt two (105). A baffle (113) is installed on the outside of the side plate (110). The synchronous belt one (104) and the synchronous belt two (105) move toward the baffle (113). The upper buckling mechanism (2) includes a support plate (203), a material conveying assembly, and a fastener unloading assembly. The material conveying assembly and the fastener unloading assembly are both installed on the top of the support plate (203). The support plate (203) is installed on the top of one of the lifting platform trolleys (6) via an aluminum profile (205). The material conveying assembly includes a housing (202). The housing (202) is installed on the top of the support plate (203). A servo motor (204) is fixedly connected to the bottom of the support plate (203). The top output end of the servo motor (204) passes through the support plate (203) and is fixedly connected to a first transmission wheel (201) and a second transmission wheel (214). An inlet (213) is fixedly connected to the inner wall of the housing (202). The inlet (213) is located between the first transmission wheel (201) and the second transmission wheel (214). A discharge pipe (208) is also fixedly connected to the outer side of the housing (202). The feeding assembly includes a fixed base (116), which is installed on the top of one of the lifting platform trolleys (6). A first pushing cylinder (114) and a second pushing cylinder (115) are installed on the top of the fixed base (116). The top output ends of the first pushing cylinder (114) and the second pushing cylinder (115) are respectively fixedly connected to the first pushing module (106) and the second pushing module (111). The first pushing module (106) is slidably connected inside the first hopper (101). A feeding platform (109) is also installed in the middle of the first hopper (101). The feeding platform (109) is located outside the first synchronous belt (104) and the second synchronous belt (105). The first pushing module (106) and the second pushing module (111) are slidably installed outside the feeding platform (109). The nail magazine mechanism (3) includes several fixed nail magazines (301), a flexible nail magazine one (302), a flexible nail magazine two (303), and a flexible nail magazine three (306). The flexible nail magazine three (306) includes a magazine housing (3061) and multiple positioning strips (3062). The multiple positioning strips (3062) are installed on the inner side wall of the magazine housing (3061). The nail gun (108) is installed between the positioning strips (3062). The internal structure of the fixed nail magazine (301), the flexible nail magazine one (302), and the flexible nail magazine two (303) is consistent with that of the flexible nail magazine three (306). The fixed nail magazine (301), flexible nail magazine (302), flexible nail magazine (303) and flexible nail magazine (306) are connected by a quick-release assembly. 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 beginning and end of the magazine. The pressure plate (308) is rotatably connected to the inside of the quick-release base (307). The connecting ring (305) is rotatably connected to the middle of the pressure plate (308). The multi-axis robotic arm (5) includes a fixed platform (505), which is installed on the top of one of the lifting platform trolleys (6). From bottom to top, the fixed platform (505) is equipped with a connecting seat (504), a second connecting arm (503), a first connecting lower arm (502), and a first connecting upper arm (501). The first connecting upper arm (501) and the first connecting lower arm (502) are axially connected.

2. The intelligent construction device for nailing nails on a wall according to claim 1, characterized in that, The fastener feeding assembly includes a second hopper (209), a stirring motor (206) is fixedly connected to the top of the second hopper (209), a stirring blade (207) is fixedly connected to the bottom output end of the stirring motor (206), a feeding pipe (215) is fixedly connected to the bottom of the second hopper (209), an infrared sensor (210) is fixedly connected to the outside of the outer shell (202), and a push rod cylinder (211) is also installed on the top of the support plate (203) through a fixing plate (212), the output end of the push rod cylinder (211) is aligned with the notch on the outside of the feeding pipe (215).

3. The intelligent construction device for nailing nails on a wall according to claim 1, characterized in that, The nailing mechanism (4) includes a gas nail gun head (403), which is mounted on the top of the multi-axis robotic arm (5). A laser rangefinder (401) is mounted on the top of the gas nail gun head (403) via a mounting base (402). A sensor connector (404) is also mounted on the front side of the mounting base (402). An image sensor (405) and a lighting lamp (406) are connected to the end of the sensor connector (404).

4. The intelligent construction device for nailing nails on a wall according to claim 1, characterized in that, 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 opposite sides of the lifting platform (601) and the frame (603). The ends of the articulated frames (602) are slidably connected inside the positioning plates (604). A hydraulic cylinder (605) is rotatably connected to the top of the frame (603). The other end of the hydraulic cylinder (605) is rotatably connected to the bottom of the articulated frames (602).

5. The intelligent construction device for nailing nails on a wall according to claim 4, characterized in that, 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). A moving wheel (608) is fixedly installed after the output end of the wheel motor (607) passes through the connecting plate (606). A motor controller (609) and a battery (610) are also installed on the top of the frame (603).

6. The intelligent construction device for nailing nails on a wall according to claim 2, characterized in that, The 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 board (704) are installed inside the housing (701). An emergency stop button (702) is installed on the outside of the housing (701). The compressed air pump (703) is connected to the gas nail gun head (403), the push rod cylinder three (211), the push cylinder one (114), and the push cylinder two (115). The control board (704) is connected to the hydraulic cylinder (605), the push rod cylinder three (211), the push cylinder one (114), and the push cylinder two (115).

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