Nail locking method of multifunctional robot for container bottom plate nail locking

Abstract

The invention discloses a nail locking method of a multifunctional robot for container bottom plate nail locking, and the method comprises the steps: detecting the position deviation of a lock hole position of a container bottom plate relative to a nail locking module through a visual detection mechanism, transmitting image information to an image processing program for analysis and processing, and judging whether the nail locking module is aligned with a corresponding lock hole or not; the first driving mechanism, the dip angle adjusting mechanism and the second driving mechanism are controlled to correspondingly adjust the positions of the lock pin modules, so that each lock pin module is aligned with the corresponding lock hole of the container bottom plate, it is guaranteed that the lock pin modules accurately lock the corresponding lock holes, the lock pin accuracy is guaranteed, and high-precision machining operation is achieved.

Description

[Technical field]

[0001] The invention relates to the technical field of container manufacturing equipment, in particular to a nail locking method of a multifunctional robot for locking nails of a container bottom plate. [Background technology]

[0002] In the production process of containers, the connection between the wooden floor and the bottom crossbeam of the container is a key link. In order to ensure the stability, maintainability and durability of the container, screw connection is usually adopted. The current method is to integrate drilling and locking nails on the same machine. After the drilling module drills the hole, the servo high-precision drives the drilling module and the locking nail module to swap positions, and then the locking nail module is locked. However, the integration of the drilling module and the locking nail module will make the machine more bulky and increase instability, because the drilling module has inevitable phenomena such as drill bit wear and drill bit breakage, and the failure rate is increased.

[0003] The drilling function and the nail locking function are separated into two independent machines, with the drilling machine being responsible for drilling and the nail locking machine being responsible for nail locking. This can simplify the mechanical structure and improve the reliability of the equipment. However, after the drilling machine has drilled the hole, the nail locking machine needs to lock the nail, which requires high-precision repositioning of the drilled hole and flexible nail locking. Therefore, the present invention is specially designed to achieve flexible nail locking with high-precision repositioning. [Summary of the invention]

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a locking method for a multifunctional robot for locking container bottom plate nails. A visual detection mechanism is used to detect and determine whether each locking nail module is aligned with the locking hole of the container bottom plate, so as to control the first driving mechanism, the tilt adjustment mechanism and the second driving mechanism to adjust the position of the locking nail module accordingly, so that each locking nail module is aligned with the corresponding locking hole of the container bottom plate, ensuring that the locking nail module accurately locks the corresponding locking hole, ensuring the accuracy of the locking nails and achieving high-precision processing operations.

[0005] The present invention is achieved through the following technical solutions:

[0006] A method for locking nails of a multifunctional robot for locking nails of a container bottom plate, the multifunctional robot comprises a frame 1 and a beam slide rail 10 arranged on the frame 1 along the Y-axis direction, a beam 11 is slidably connected between the two beam slide rails 10, a first driving mechanism 2 is arranged between the beam 11 and the frame 1 for driving the beam 11 to slide along the Y-axis direction of the frame 1, an inclination adjustment mechanism 3 is arranged between the beam slide rail 10 and the end of the beam 11 or between the beam 11 and the frame 1 for fine-tuning the inclination and deflection of the beam 11 in the XY-axis plane; the beam 11 is provided with a sliding mechanism that can slide along the length direction of the beam 11 A sub-beam 12 is provided between the sub-beam 12 and the cross beam 11, and a second driving mechanism 4 is provided between the sub-beam 12 and the cross beam 11 for driving the sub-beam 12 to slide along the length direction of the cross beam 11; the sub-beam 12 is provided with a plurality of groups of locking nail modules 5 for locking nails into the locking holes of the container bottom plate, and the multifunctional robot is provided with a visual detection mechanism 6 for detecting the locking holes of the container bottom plate, and the container bottom plate is pre-processed with a plurality of rows of locking holes, and the center distance between two adjacent locking holes in the same row is equal to the center distance between two adjacent locking nail modules 5, and the center points of the lower ends of the locking rods of each locking nail module 5 are all on a straight line L1, and the line connecting the centers of the openings of the lock holes in the same row is a straight line L2;

[0007] The nail locking method comprises the following steps:

[0008] S1. Move the multifunctional robot to the bottom plate of the container;

[0009] S2, the visual inspection mechanism 6 photographs the lock hole on the bottom plate of the container;

[0010] S3, determining the relative position of each locking pin module 5 and the corresponding locking hole;

[0011] S4, if it is determined in step S3 that each locking nail module 5 is misaligned with the corresponding locking hole, the crossbeam 11 and / or the sub-beam 12 moves accordingly relative to the container bottom plate, so that each locking nail module 5 is aligned with the corresponding locking hole, and then each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction;

[0012] S5. If it is determined in step S3 that each locking nail module 5 has no misalignment with the corresponding locking hole, each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the beam 11 moves relative to the container bottom plate along the Y-axis direction.

[0013] In the above-mentioned method for locking nails of a multifunctional robot for locking nails of a container bottom plate, the step S3 comprises the following steps:

[0014] S31, the visual inspection mechanism 6 first photographs at least two lock holes in the same row to determine whether there is an angle between the center line L2 of the two lock holes and the straight line L1 of the lower end center of each lock nail module 5 in the XY plane, so as to determine the relative position of each lock nail module 5 and the corresponding lock hole.

[0015] In the above-mentioned method for locking nails of a multifunctional robot for locking nails of a container bottom plate, the step S4 comprises the following steps:

[0016] S41, determining whether L2 is parallel to L1;

[0017] S42, if L2 is parallel to L1, further determine whether each locking pin module 5 is located directly above the corresponding locking hole;

[0018] S43, if it is determined in step S42 that each locking nail module 5 is located directly above the corresponding locking hole, each locking nail module 5 performs a locking action toward the corresponding locking hole, and then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction;

[0019] S44, if it is determined in step S42 that each locking nail module 5 is offset from the corresponding locking hole along the Y-axis direction and has no offset from the corresponding locking hole along the X-axis direction, the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction so that each locking nail module 5 is located directly above the corresponding locking hole, and then each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-direction;

[0020] S45, if it is determined in step S42 that each locking nail module 5 is offset from the corresponding locking hole along the X-axis direction and has no offset from the corresponding locking hole along the Y-axis direction, the second driving mechanism 4 drives the sub-beam 12 to drive the locking nail module 5 to move accordingly along the length direction of the crossbeam 11, so that each locking nail module 5 is located directly above the corresponding locking hole, and then each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction;

[0021] S46. If it is determined in step S41 that L2 and L1 are in a non-parallel state, the inclination adjustment mechanism 3 adjusts the corresponding deflection of the beam 11 in the XY plane so that L2 and L1 are parallel to each other. Then, it is further determined whether each locking pin module 5 is located directly above the corresponding locking hole, and then steps S43-45 are repeated.

[0022] In the above-mentioned method for locking nails of a container bottom plate by a multifunctional robot, both ends of the crossbeam 11 are synchronously connected with a visual detection mechanism 6 .

[0023] In the above-mentioned method for locking nails of a container bottom plate by a multifunctional robot, the visual detection mechanism 6 is a camera synchronously installed on the end of the crossbeam 11 or the subbeam 12.

[0024] In the above-mentioned method for locking nails of a multifunctional robot for locking nails of a container bottom plate, the inclination adjustment mechanism 3 is arranged between the crossbeam slide rail 10 and the end of the crossbeam 11 .

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. The present invention detects the position deviation of the lock hole position of the container bottom plate relative to the lock nail module through a visual detection mechanism, and transmits the image information to the image processing program for analysis and processing, so as to determine whether the lock nail module and the corresponding lock hole are aligned, so as to control the first driving mechanism, the tilt adjustment mechanism and the second driving mechanism to adjust the position of the lock nail module accordingly, so that each lock nail module is aligned with the corresponding lock hole of the container bottom plate, ensuring that the lock nail module accurately performs the lock nail action on the corresponding lock hole, ensuring the accuracy of the lock nail and realizing high-precision processing operations.

[0027] 2. The present invention cooperates with the visual detection mechanism and the inclination adjustment mechanism to adjust the inclination angle of the beam in the XY-axis plane according to actual production needs; in addition, by configuring the first drive device and the second drive device to work independently, that is, when the first drive device and the second drive device are not synchronized, the first adjustment connection assembly and the second adjustment connection assembly will have a slight misalignment in the Y-axis direction, thereby causing the beam to deflect in the XY-axis plane; when the first drive device and the second drive device are synchronized, the beam can be translated along the Y-axis direction of the frame. For this reason, the present invention utilizes the characteristics that the first drive device and the second drive device can work independently, and easily realizes the front and rear translation of the beam and the adjustment of the inclination angle in the XY-axis plane, and has the characteristics of simple structure, convenient control and low cost.

Brief Description of the Drawings

[0028] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein:

[0029] Figure 1 This is one of the three-dimensional structural schematic diagrams of the container bottom plate locking nail multifunctional robot in the present invention.

[0030] Figure 2 This is the second schematic diagram of the three-dimensional structure of the container bottom plate locking nail multifunctional robot in the present invention.

[0031] Figure 3 This is the third schematic diagram of the three-dimensional structure of the container bottom plate locking nail multifunctional robot in the present invention.

[0032] Figure 4This is a schematic diagram of the main structure of the container bottom plate locking nail multifunctional robot in the present invention.

[0033] Figure 5 This is one of the exploded structural schematic diagrams of the container bottom plate locking nail multifunctional robot in the present invention.

[0034] Figure 6 This is the second schematic diagram of the explosion structure of the container bottom plate locking nail multifunctional robot in the present invention.

[0035] Figure 7 This is one of the schematic diagrams of the container bottom plate locking nail multifunctional robot in the present invention during the locking process.

[0036] Figure 8 This is the second schematic diagram of the container bottom plate locking nail multifunctional robot in the present invention during the locking process.

[0037] Fig. 9 This is the third schematic diagram of the container bottom plate locking nail multifunctional robot in the present invention during the locking process.

[0038] Fig.10 This is one of the schematic diagrams of the working principle of the container bottom plate locking nail multifunctional robot in the present invention.

[0039] Fig.11 This is the second schematic diagram of the working principle of the container bottom plate locking nail multifunctional robot in the present invention.

[0040] Fig.12 This is the third schematic diagram of the working principle of the container bottom plate locking nail multifunctional robot in the present invention. [Specific implementation method]

[0041] The following is combined with Figure 1-12 Embodiments of the present invention are described in detail.

[0042] like Figure 1-11As shown, the present invention provides a method for locking nails of a multifunctional robot for locking nails of a container bottom plate, the multifunctional robot comprises a frame 1 and a beam slide rail 10 arranged on the frame 1 along the Y-axis direction, a beam 11 is slidably connected between the two beam slide rails 10, a first driving mechanism 2 is arranged between the beam 11 and the frame 1 for driving the beam 11 to slide along the Y-axis direction of the frame 1, an inclination adjustment mechanism 3 is arranged between the beam slide rail 10 and the end of the beam 11 or between the beam 11 and the frame 1 for fine-tuning the inclination and deflection of the beam 11 in the XY-axis plane; the beam 11 is provided with a tilt adjustment mechanism which can be adjusted along the length of the beam 11 A second driving mechanism 4 is provided between the sub-beam 12 and the cross beam 11 for driving the sub-beam 12 to slide along the length direction of the cross beam 11; a plurality of locking nail modules 5 for locking nails into the locking holes of the container bottom plate are provided on the sub-beam 12; a visual inspection mechanism 6 for detecting the locking holes of the container bottom plate is provided on the multifunctional robot; a plurality of rows of locking holes are pre-processed on the container bottom plate; the center distance between two adjacent locking holes in the same row is equal to the center distance between two adjacent locking nail modules 5; the center points of the lower ends of the locking rods of the locking nail modules 5 are all on a straight line L1; and a line connecting the centers of the openings of the lock holes in the same row is a straight line L2;

[0043] The nail locking method comprises the following steps:

[0044] S1. Move the multifunctional robot to the bottom plate of the container;

[0045] S2, the visual inspection mechanism 6 photographs the lock hole on the bottom plate of the container;

[0046] S3, determining the relative position of each locking pin module 5 and the corresponding locking hole;

[0047] S4, if it is determined in step S3 that each locking nail module 5 is misaligned with the corresponding locking hole, the crossbeam 11 and / or the sub-beam 12 moves accordingly relative to the container bottom plate, so that each locking nail module 5 is aligned with the corresponding locking hole, and then each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction;

[0048] S5. If it is determined in step S3 that each locking nail module 5 has no misalignment with the corresponding locking hole, each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction. The present invention detects the position deviation of the locking hole position of the container bottom plate relative to the locking nail module through a visual detection mechanism, and transmits the image information to the image processing program for analysis and processing, and determines whether the locking nail module and the corresponding locking hole are aligned, so as to control the first driving mechanism, the tilt adjustment mechanism and the second driving mechanism to adjust the position of the locking nail module accordingly, so that each locking nail module is aligned with the corresponding locking hole of the container bottom plate, ensuring that the locking nail module accurately performs a locking action on the corresponding locking hole, ensuring the accuracy of the locking nail and achieving high-precision processing operations.

[0049] In the present invention, the multifunctional robot can be driven to move along the Y-axis direction relative to the container bottom plate, or the crossbeam 11 can be driven to move along the Y-axis direction relative to the container bottom plate.

[0050] like Figure 7-11 As shown, the S3 step includes the following steps:

[0051] S31, the visual inspection mechanism 6 first photographs at least two lock holes in the same row to determine whether there is an angle between the center line L2 of the two lock holes and the straight line L1 of the lower end center of each lock nail module 5 in the XY plane, so as to determine the relative position of each lock nail module 5 and the corresponding lock hole.

[0052] like Figure 7-11 As shown, the S4 step includes the following steps:

[0053] S41, determining whether L2 is parallel to L1;

[0054] S42, if L2 is parallel to L1, further determine whether each locking pin module 5 is located directly above the corresponding locking hole;

[0055] S43, if it is determined in step S42 that each locking nail module 5 is located directly above the corresponding locking hole, each locking nail module 5 performs a locking action toward the corresponding locking hole, and then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction;

[0056] S44, if it is determined in step S42 that each locking nail module 5 is offset from the corresponding locking hole along the Y-axis direction and has no offset from the corresponding locking hole along the X-axis direction, the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction so that each locking nail module 5 is located directly above the corresponding locking hole, and then each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-direction;

[0057] S45, if it is determined in step S42 that each locking nail module 5 is offset from the corresponding locking hole along the X-axis direction and has no offset from the corresponding locking hole along the Y-axis direction, the second driving mechanism 4 drives the sub-beam 12 to drive the locking nail module 5 to move accordingly along the length direction of the crossbeam 11, so that each locking nail module 5 is located directly above the corresponding locking hole, and then each locking nail module 5 performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam 11 moves relative to the container bottom plate along the Y-axis direction; in this implementation step, along the X-axis direction can be interpreted as along the length direction of the crossbeam 11, or in other words, along the length direction of the crossbeam 11 can be unlocked as along the X-axis direction;

[0058] S46. If it is determined in step S41 that L2 and L1 are in a non-parallel state, the inclination adjustment mechanism 3 adjusts the corresponding deflection of the beam 11 in the XY plane so that L2 and L1 are parallel to each other. Then, it is further determined whether each locking pin module 5 is located directly above the corresponding locking hole, and then steps S43-45 are repeated.

[0059] Preferably, both ends of the cross beam 11 are synchronously connected with a visual inspection mechanism 6. For accurate inspection, the visual inspection mechanism 6 is a camera synchronously installed on the end of the cross beam 11 or the auxiliary beam 12.

[0060] Preferably, in order to facilitate, efficiently and accurately adjust, the inclination adjustment mechanism 3 is arranged between the crossbeam slide rail 10 and the end of the crossbeam 11 .

[0061] The algorithm of the present invention, such as Fig.12 As shown:

[0062] (1) Adjust the positions of two adjacent locking pin modules until they are aligned with the corresponding two locking holes on the bottom plate of the container, and record the positions a of the first driving mechanism 2, the tilt adjustment mechanism 3, and the second driving mechanism 4 relative to the frame 1;

[0063] (2) recording the image coordinates O1 (O1x, O1y) of the same row of keyholes 1 in the field of view of the visual inspection mechanism 1 at position a in step (1) and the image coordinates O2 (O2x, O2y) of the same row of keyholes 2 in the field of view of the visual inspection mechanism 2 by means of the visual inspection mechanism 1 and the visual inspection mechanism 2 respectively disposed on both sides of the frame or the crossbeam or the subbeam;

[0064] (3) Through calibration conversion, the image coordinate systems of the visual inspection mechanism 1 and the visual inspection mechanism 2 are aligned to the same coordinate system, O1 is defined as the coordinate origin, O1 and O2 establish an X-axis, the Y-axis passes through O1 and is perpendicular to the X-axis, and an XY coordinate system based on O1 is constructed;

[0065] (4) When sampling the actual lock nails, the visual inspection mechanism 1 and the visual inspection mechanism 2 take photos at the same time to obtain the coordinate points (C1x, C1y) of the lock holes C1 in the same row and the coordinate points (C2x, C2y) of the lock holes C2 in the same row in the O1 coordinate system. According to plane analytic geometry, the angle between the line L2 connecting the points C1 and C2 and the X-axis and other information can be calculated;

[0066] (5) Finally, the relative movement position of the first driving mechanism 2, the tilt adjustment mechanism 3, and the second driving mechanism 4 relative to the frame 1 is obtained by transformation calculation;

[0067] (6) According to the calculated relative movement position, the first driving mechanism 2, the tilt adjustment mechanism 3, and the second driving mechanism 4 are driven to move accordingly, so that the locking pin module and the locking hole are aligned.

[0068] like Figure 1-6 As shown, the inclination adjustment mechanism 3 includes a first adjustment connection component 31 rotatably connected to one end of the beam 11 and a second adjustment connection component 32 rotatably and slidably connected to the other end of the beam 11, and the first adjustment connection component 31 and the second adjustment connection component 32 can be slidably connected to the corresponding beam slide rail 10 along the Y-axis direction of the frame 1; the first driving mechanism 2 includes a first driving device 21 arranged between the first adjustment connection component 31 and the frame 1 and used to drive the first adjustment connection component 31 to slide along the Y-axis direction of the frame 1, and a second driving device 22 arranged between the second adjustment connection component 32 and the frame 1 and used to drive the second adjustment connection component 32 to slide along the Y-axis direction of the frame 1, and the first driving device 21 and the second driving device 22 are configured to work independently to fine-tune the inclination angle of the beam 11. The present invention cooperates with a visual detection mechanism and an inclination adjustment mechanism to adjust the inclination angle of the beam in the XY-axis plane according to actual production needs; in addition, the first drive device and the second drive device are configured to work independently, that is, when the first drive device and the second drive device are not synchronized, the first adjustment connection component and the second adjustment connection component will have a slight misalignment in the Y-axis direction, thereby causing the beam to deflect in the XY-axis plane; when the first drive device and the second drive device are synchronized, the beam can be translated along the Y-axis direction of the frame. For this reason, the present invention uses the characteristics that the first drive device and the second drive device can work independently to easily realize the front and rear translation of the beam and the adjustment of the inclination angle in the XY-axis plane, and has the characteristics of simple structure, convenient control and low cost.

[0069] like Figure 5 , 6As shown, in order to facilitate fine-tuning of the tilt angle of the beam on the XY-axis plane, the first adjustment connection assembly 31 includes a first sliding seat 311 slidably connected to the corresponding beam slide rail 10 and a first pivot rod 312 arranged on the first sliding seat 311 and pivotally connected to one end of the beam 11.

[0070] like Figure 1-6 As shown, in order to improve transmission stability and reliability, the first driving device 21 includes a first driving motor 211 arranged on a first sliding seat 311, a first gear 212 is provided on the motor shaft of the first driving motor 211, and the frame 1 is provided with a first rack 213 extending along the Y-axis direction of the frame 1 and cooperating with the first gear 212 for transmission.

[0071] like Figure 5 , 6 As shown, in order to facilitate fine-tuning of the tilt angle of the beam on the XY-axis plane, the second adjustment connection assembly 32 includes a second sliding seat 321 slidably connected to the corresponding beam slide rail 10, and the second sliding seat 321 is provided with a second connecting seat 322 that can slide along the X-axis direction of the frame 1, and the second connecting seat 322 is provided with a second pivot rod 323 pivotally connected to the other end of the beam 11.

[0072] like Figure 1-6 As shown, in order to improve transmission stability and reliability, the inclination adjustment mechanism 3 includes a second drive motor 221 arranged on a second sliding seat 321, a second gear 222 is provided on the motor shaft of the second drive motor 221, and the frame 1 is provided with a second rack 223 extending along the Y-axis direction of the frame 1 and cooperating with the second gear 222.

[0073] like Figure 1-6 As shown, in order to achieve efficient and accurate adjustment, the second driving mechanism 4 includes a second driving motor 41 arranged on the cross beam 11, and the motor shaft of the second driving motor 41 is movably connected to a second transmission screw 42 rotatably arranged on the cross beam 11, and a second transmission nut 43 driven by the second transmission screw 42 is sleeved on the second transmission screw 42, and the second transmission nut 43 is relatively fixedly connected to the sub-beam 12.

Claims

1. A method for locking nails of a multifunctional robot for locking nails of a container bottom plate, characterized in that The multifunctional robot comprises a frame (1) and a beam slide rail (10) arranged on the frame (1) along the Y-axis direction; a beam (11) is slidably connected between the two beam slide rails (10); a first driving mechanism (2) is arranged between the beam (11) and the frame (1) for driving the beam (11) to slide along the Y-axis direction of the frame (1); an inclination adjustment mechanism (3) is arranged between the beam slide rail (10) and the end of the beam (11) or between the beam (11) and the frame (1) for fine-tuning the inclination and deflection of the beam (11) in the XY-axis plane; a sub-beam (3) which can slide along the length direction of the beam (11) is arranged on the beam (11); 12), a second driving mechanism (4) is provided between the sub-beam (12) and the cross beam (11) for driving the sub-beam (12) to slide along the length direction of the cross beam (11); the sub-beam (12) is provided with a plurality of locking nail modules (5) for locking nails into the locking holes of the container bottom plate; the multifunctional robot is provided with a visual detection mechanism (6) for detecting the locking holes of the container bottom plate; the container bottom plate is pre-processed with a plurality of rows of locking holes, the center distance between two adjacent locking holes in the same row is equal to the center distance between two adjacent locking nail modules (5), the lower end center points of the locking rods of the respective locking nail modules (5) are all on a straight line L1, and the line connecting the centers of the openings of the locking holes in the same row is a straight line L2; The nail locking method comprises the following steps: S1. Move the multifunctional robot to the bottom plate of the container; S2, the visual inspection mechanism (6) photographs the lock hole on the bottom plate of the container; S3, determining the relative position of each locking pin module (5) and the corresponding locking hole; S4, if it is determined in step S3 that each locking nail module (5) is misaligned with the corresponding locking hole, the crossbeam (11) and / or the sub-beam (12) move accordingly relative to the container bottom plate, so that each locking nail module (5) is aligned with the corresponding locking hole, and then each locking nail module (5) performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam (11) moves relative to the container bottom plate along the Y-axis direction; S5. If it is determined in step S3 that each locking nail module (5) is not misaligned with the corresponding locking hole, each locking nail module (5) performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam (11) moves relative to the container bottom plate along the Y-axis direction.

2. The method for locking nails of a container bottom plate by a multifunctional robot according to claim 1, characterized in that The S3 step includes the following steps: S31, the visual detection mechanism (6) first photographs at least two lock holes in the same row, and determines whether there is an angle between the center line L2 of the two lock holes and the straight line L1 of the lower end center of each lock nail module (5) in the XY plane, so as to determine the relative position of each lock nail module (5) and the corresponding lock hole.

3. The method for locking nails of a container bottom plate by a multifunctional robot according to claim 2, characterized in that The S4 step comprises the following steps: S41, determining whether L2 is parallel to L1; S42, if L2 is parallel to L1, further determine whether each locking pin module (5) is located directly above the corresponding locking hole; S43, if it is determined in step S42 that each locking nail module (5) is located directly above the corresponding locking hole, each locking nail module (5) performs a locking action toward the corresponding locking hole, and then the multifunctional robot and / or the crossbeam (11) moves relative to the container bottom plate along the Y-axis direction; S44, if it is determined in step S42 that each locking nail module (5) is offset from the corresponding locking hole along the Y-axis direction and has no offset from the corresponding locking hole along the X-axis direction, the multifunctional robot and / or the crossbeam (11) moves relative to the container bottom plate along the Y-axis direction so that each locking nail module (5) is located directly above the corresponding locking hole, and then each locking nail module (5) performs a locking action toward the corresponding locking hole; thereafter, the multifunctional robot and / or the crossbeam (11) moves relative to the container bottom plate along the Y-direction; S45, if it is determined in step S42 that each locking nail module (5) is offset from the corresponding locking hole along the X-axis direction and has no offset from the corresponding locking hole along the Y-axis direction, the second driving mechanism (4) drives the sub-beam (12) to drive the locking nail module (5) to move accordingly along the length direction of the crossbeam (11), so that each locking nail module (5) is located directly above the corresponding locking hole, and then each locking nail module (5) performs a locking action toward the corresponding locking hole; then the multifunctional robot and / or the crossbeam (11) moves relative to the container bottom plate along the Y-axis direction; S46. If it is determined in step S41 that L2 and L1 are in a non-parallel state, the tilt adjustment mechanism (3) adjusts the cross beam (11) to deflect accordingly in the XY plane so that L2 and L1 are parallel to each other. Then, it is further determined whether each locking pin module (5) is located directly above the corresponding locking hole, and then steps S43-45 are repeated.

4. A method for locking nails of a multifunctional robot for locking nails of a container bottom plate according to any one of claims 1 to 3, characterized in that Both ends of the crossbeam (11) are synchronously connected with a visual detection mechanism (6).

5. The method for locking nails of a container bottom plate by a multifunctional robot according to claim 4, characterized in that The visual detection mechanism (6) is a camera synchronously mounted on the end of the crossbeam (11) or the auxiliary beam (12).

6. A method for locking nails of a container bottom plate by a multifunctional robot according to any one of claims 1 to 3, characterized in that The inclination angle adjustment mechanism (3) is arranged between the crossbeam slide rail (10) and the end of the crossbeam (11).

Images