Efficient carrier accelerated transmission equipment

Abstract

The efficient carrier accelerated transmission equipment comprises a conveying assembly and further comprises an automatic screw feeding assembly used for storing screws and conveying the screws, the conveying assembly comprises a line body, an RFID and a motor, the motor is fixedly installed on the line body, the line body is driven by the motor to conduct accelerated transmission action, the RFID is fixed to one side of the line body, and the automatic screw feeding assembly is used for storing the screws and conveying the screws. And the automatic nail feeding assembly is used for identifying and tracking information of the carrier and performs automatic transmission action. By integrating the tightening gun, the robot, the automatic nail feeding module, the tray in-place module, the conveying assembly and other modules, the tightening operation process is optimized, efficiency and precision are improved, manual intervention is reduced, trays are conveyed through the high-speed conveying assembly, it is ensured that the trays accurately reach the stations through RFID position monitoring, the trays are stabilized through a blocking cylinder and a positioning air cylinder, and the production efficiency is improved. The six-axis robot moves the tightening gun to the bolt position according to an instruction, torque control tightening is completed, the automatic screw feeding assembly guarantees continuous supply of screws, and the equipment is further provided with an emergency stop device, so that safety is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated transmission processing, and in particular relates to a highly efficient carrier accelerated transmission device. Background Art

[0002] Carrier transfer equipment is a mechanical device used to achieve fast and precise movement of carriers such as pallets and goods in automated production lines or logistics systems.

[0003] However, there are some problems with traditional technologies: as the modern transportation and logistics industries place increasing demands on acceleration and transmission efficiency, traditional internal combustion engine drives and electric motor drives can no longer meet current high efficiency and environmental protection requirements, and have the problem of high energy consumption. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a high-efficiency carrier acceleration transmission device, which solves the problem that traditional internal combustion engine drive and electric motor drive can no longer meet the current high efficiency and environmental protection requirements and have high energy consumption.

[0005] The present invention is implemented as follows: a high-efficiency carrier accelerated transmission device includes a conveying component and an automatic nail feeding component for storing and conveying screws, wherein the conveying component includes a wire body, an RFID and a motor, wherein the motor is fixedly installed on the wire body, and the wire body is driven by the motor to perform accelerated transmission action, wherein the RFID is fixed on one side of the wire body for identifying and tracking the information of the carrier, and the automatic nail feeding component performs automated transmission action.

[0006] As a preferred embodiment of the present invention, the line also includes legs, a protective box, a control cabinet, a ladder, a blocking cylinder and a blocking sensor, wherein the line body includes a line body support and a line body roller, and the line body speed is twenty-two meters per minute.

[0007] As a preferred embodiment of the present invention, the legs are connected to the wire body by bolts, so as to support the wire body and keep it stable.

[0008] As a preferred embodiment of the present invention, the motor is fixedly connected to the wire body by bolts, the control cabinet controls the start and stop actions of the motor, and the control cabinet is fixed on one side of the wire body.

[0009] As a preferred embodiment of the present invention, the motor includes a motor box and a motor box cover, the motor is used to drive the carrier to accelerate and move on the line, the motor is a servo motor, and controls the carrier to accelerate and decelerate, and the protective box is fixed to the outside of the motor.

[0010] As a preferred embodiment of the present invention, the cross-line ladder is fixed above the line body and is used for personnel to cross the line body for maintenance and operation, and the cross-line ladder adopts an anti-slip design.

[0011] As a preferred embodiment of the present invention, the blocking cylinder is fixed on one side of the wire body to block the movement of the carrier.

[0012] As a preferred embodiment of the present invention, the blocking sensor is fixedly connected to the line body, and is used to detect the position of the vehicle and control the action of the blocking cylinder.

[0013] As a preferred embodiment of the present invention, the accelerated transmission equipment also includes a tightening gun assembly for controlling the torque applied to the bolt, a robot assembly, a pallet in-place assembly, a fence, a main control box and an HMI, the tightening gun assembly includes a tightening shaft, a sleeve and an extension rod, the tightening shaft is vertically arranged to the sleeve, the extension rod is fixedly connected to the sleeve, the other end of the extension rod is fixedly connected to an automatic nail feeder, the fence is fixedly installed with an emergency stop device, and the tightening shaft is rotatably installed at the lower part of the main body of the tightening gun assembly.

[0014] As a preferred embodiment of the present invention, the robot assembly includes a six-axis robot, a robot base, a robot control box and a calibration rod, wherein a six-axis robot is fixedly installed on the upper part of the robot base, the six-axis robot is electrically connected to the robot control box, the calibration rod is placed on one side of the robot base, the robot assembly is used to drag the tightening gun to quickly move to the bolt tightening position and execute the tightening command, the automatic nail feeding assembly is used to store screws and transport screws to the tightening gun assembly, the automatic nail feeding assembly includes a nail feeding machine and a silo, the input end of the nail feeding machine is fixedly connected to the silo, the pallet in-place assembly includes a bracket and a sensor, the pallet positioning assembly includes a check cylinder, a positioning cylinder and a base plate, the positioning cylinder is fixed on the upper part of the base plate, and two check cylinders are provided, and the two check cylinders are respectively fixed on both sides of the upper part of the base plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention integrates multiple functional modules through an automated system, optimizes the tightening operation process, improves work efficiency and accuracy, and reduces manual intervention. The equipment is mainly composed of a tightening gun assembly, a robot assembly, an automatic nail feeding assembly, a pallet in-place assembly, a conveying assembly, a fence, and a control system, which coordinate and cooperate to complete the automated operation. First, the pallet is transmitted through a high-speed conveying assembly (line body), and the motor drives the line body to deliver the pallet to the tightening station at a high speed. The RFID system monitors the position of the pallet in real time to ensure that it arrives at the station accurately. After arriving, the blocking cylinder fixes the pallet, the positioning cylinder ensures that the pallet is aligned with the working position, and the check air cylinder ensures that the pallet is aligned with the working position. The cylinder prevents the pallet from flowing back and ensures stability. When the pallet is stable, the six-axis robot moves the tightening gun assembly accurately to the bolt position according to the command to complete the tightening task. The tightening gun ensures that the bolt is tightened to the set value by accurately controlling the torque to avoid overtightening or over-loosening. The automatic nail feeding assembly supplies screws through the nail feeding machine and the silo to ensure the continuity of the tightening process and improve efficiency. The equipment is also equipped with an emergency stop device, which can quickly interrupt the operation in an emergency to ensure safety. The entire workflow is automated and efficient, and the pallet transmission, robot operation, nail feeding and tightening operations are seamlessly connected, reducing manual intervention and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of a top view structure provided by an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of a line structure provided by an embodiment of the present invention;

[0020] Figure 4 is a schematic structural diagram of a tightening gun provided by an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of the structure of a robot provided by an embodiment of the present invention;

[0022] Figure 6 It is a schematic diagram of a tray positioning structure provided by an embodiment of the present invention.

[0023] In the figure: 1. Robot assembly; 2. Pallet in-place assembly; 3. Tightening gun assembly; 4. Main control box; 5. Fence; 6. Conveying assembly; 7. Pallet positioning assembly; 8. Automatic nail feeding assembly; 9. HMI;

[0024] 1-1, calibration needle; 1-2, six-axis robot; 1-3, robot control box; 1-4, robot base; 1-5, calibration rod.

[0025] 3-1. Sleeve; 3-2. Extension rod; 3-3. Tightening shaft.

[0026] 6-1, outrigger; 6-2, RFID; 6-3, control cabinet; 6-4, motor; 6-5, protection box; 6-6, cross-line ladder; 6-7, blocking sensor; 6-8, blocking cylinder; 6-9, line body.

[0027] 7-1, base plate; 7-2, check cylinder; 7-3, positioning cylinder. DETAILED DESCRIPTION

[0028] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0029] The structure of the present invention is described in detail below in conjunction with the accompanying drawings.

[0030] like Figures 1 to 6 As shown, an embodiment of the present invention provides an efficient carrier accelerated transmission device, including a conveying component 6, and also includes an automatic nail feeding component 8 for storing and conveying screws, the conveying component 6 includes a wire body 6-9, an RFID6-2 and a motor 6-4, wherein the motor 6-4 is fixedly installed on the wire body 6-9, and the wire body 6-9 is driven by the motor 6-4 to perform accelerated transmission action, wherein the RFID6-2 is fixed on one side of the wire body 6-9, and is used to identify and track the information of the carrier, and the automatic nail feeding component 8 performs automated transmission action.

[0031] In the above-mentioned efficient carrier acceleration transmission device, the carrier is first sent to the starting end of the conveying component 6, and the RFID6-2 identification tag in the system encodes the relevant information of the carrier. The position and status of the carrier are tracked in real time through the RFID6-2 sensor to ensure that it smoothly enters the conveying system of the equipment.

[0032] RFID6-2 is fixed on one side of the line 6-9. When a vehicle passes by, the RFID6-2 sensor automatically identifies the vehicle and sends the information to the control system. Through RFID6-2 technology, the system can accurately know the specific location of the vehicle and track it in real time. This intelligent tracking helps optimize system operation, avoid vehicle blockage or loss, and improve work efficiency.

[0033] The motor 6-4 in the conveying assembly 6 drives the conveyor belt of the line body 6-9 to accelerate. The motor 6-4 adopts a high-efficiency servo motor 6-4 system, which can adjust the transmission speed according to real-time needs to ensure that the carrier passes through the conveyor line with the best acceleration and speed. Compared with traditional motor drive, this equipment adopts a more efficient motor 6-4 and control system, which can greatly reduce energy consumption, improve acceleration response speed, reduce mechanical wear, and extend the service life of the equipment.

[0034] The motor 6-4 can realize precise control of the acceleration and deceleration of the carrier on the line 6-9, ensuring that the carrier passes through the conveyor line at the best acceleration and speed. Compared with the traditional motor drive, this equipment adopts a more efficient motor 6-4 and control system, which can greatly reduce energy consumption, improve the acceleration response speed, reduce mechanical wear, and extend the service life of the equipment.

[0035] The motor 6-4 includes a servo motor 6-4, which can flexibly adjust the speed according to the demand to ensure that the vehicle reaches the predetermined position with appropriate acceleration. Since the motor 6-4 adopts a high-efficiency drive system, the entire acceleration process is fast and energy-saving, which can reduce energy consumption and emissions compared with traditional systems.

[0036] In the present embodiment, it also includes a leg 6-1, a protective box 6-5, a control cabinet 6-3, a ladder 6-6, a blocking cylinder 6-8 and a blocking sensor 6-7, wherein the line body 6-9 includes a line body 6-9 bracket and a line body 6-9 roller, and the line body 6-9 speed is 22 meters per minute. The leg 6-1 is connected to the line body 6-9 by bolts, and is used to support the line body 6-9 and keep it stable. The motor 6-4 is fixedly connected to the line body 6-9 by bolts, and the control cabinet 6-3 controls the motor 6-4 to start and stop, and the control cabinet (6-3) is fixed on one side of the line body (6-9). The motor 6-4 includes a motor 6-4 box and a motor 6-4 box cover, and the motor 6-4 is used to drive the carrier to accelerate and move on the line body 6-9. The motor 6-4 is a servo motor 6-4, which controls the carrier to accelerate and decelerate. The protective box 6-5 is fixed on the outside of the motor 6-4. The cross-line ladder 6-6 is fixed above the line body 6-9, and is used for personnel to cross the line body 6-9 for maintenance and operation. The cross-line ladder 6-6 adopts an anti-slip design. The blocking cylinder 6-8 is fixed on one side of the line body 6-9 to block the movement of the vehicle. The blocking sensor 6-7 is fixedly connected to the line body 6-9, and is used to detect the position of the vehicle and control the action of the blocking cylinder 6-8.

[0037] When the equipment is started, the control cabinet 6-3 starts the servo motor 6-4. The motor 6-4 is fixed to the wire body 6-9 by bolts, and the rotation of the motor 6-4 drives the wire body 6-9 to start running. The precise control of the servo motor 6-4 enables the carrier to achieve smooth acceleration during the transmission process, and by controlling the acceleration and deceleration of the carrier, the sudden acceleration problem of the traditional drive method is avoided, ensuring a smooth transition and reducing energy consumption.

[0038] The FID system tracks vehicle information in real time. When the vehicle moves, the RFID6-2 device senses and records the vehicle's current location, and transmits the data to the control system via wireless signals. This enables the system to accurately understand the vehicle's location information and make real-time adjustments to optimize the vehicle's transmission path.

[0039] When the vehicle approaches the target position, the blocking sensor 6-7 detects the position of the vehicle and triggers the blocking cylinder 6-8 to operate. The blocking cylinder 6-8 responds quickly and accurately stops the vehicle from moving forward, ensuring that the vehicle stops at the predetermined target position. Since the blocking cylinder 6-8 is a pneumatic design, the response speed is extremely fast, which can effectively reduce delays and ensure work efficiency.

[0040] The legs 6-1 are connected to the wire body 6-9 by bolts, and are responsible for supporting and stabilizing the wire body 6-9, preventing vibration or deviation caused by acceleration or deceleration of the vehicle, and ensuring that the wire body 6-9 remains in a horizontal state. During rapid acceleration or stopping, the design of the legs 6-1 ensures the stability of the wire body 6-9, avoids any unnecessary vibration or tilt, and ensures the smooth progress of the transmission process.

[0041] In order to ensure the safety of personnel in maintenance and operation, the cross-line ladder 6-6 is fixed above the line body 6-9 and adopts an anti-slip design to ensure that operators can safely cross the line body 6-9 to inspect, maintain and debug equipment. The design of the cross-line ladder 6-6 takes into account the convenience and safety of personnel operation, ensuring smooth and safe operation at any time.

[0042] When the carrier completes the transmission and locates at the target position, the blocking cylinder 6-8 returns to the initial state, the blocking sensor 6-7 confirms that the carrier is parked firmly, and the system transmits the position information of the carrier to the control cabinet 6-3. After the system checks that the carrier position is correct, the equipment is ready to enter the next working cycle, and the line body 6-9 returns to its original position, waiting for the arrival of a new carrier and starting a new transmission task.

[0043] In this embodiment, the accelerated transmission equipment also includes a tightening gun assembly 3 for controlling the torque applied to the bolt, a robot assembly 1, a pallet in-place assembly 2, a fence 5, a main control box 4 and an HMI9. The tightening gun assembly 3 includes a tightening shaft 3-3, a sleeve 3-1 and an extension rod 3-2. The tightening shaft 3-3 is vertically arranged with the sleeve 3-1, and the extension rod 3-2 is fixedly connected to the sleeve 3-1. The other end of the extension rod 3-2 is fixedly connected to an automatic nail feeder. The equipment is fixedly installed with an emergency stop device on the fence 5, which is used to quickly stop all operations in an emergency. The tightening shaft 3-3 is rotatably installed at the lower part of the main body of the tightening gun assembly 3.

[0044] The robot assembly 1 includes a six-axis robot 1-2, a robot base 1-4, a robot control box 1-3 and a calibration rod 1-5. The six-axis robot 1-2 is fixedly installed on the upper part of the robot base 1-4, and the six-axis robot 1-2 is electrically connected to the robot control box 1-3. The calibration rod 1-5 is placed on one side of the robot base 1-4. The moving part of the six-axis robot 1-2 is fixedly installed with a calibration needle 1-1. The robot assembly 1 is used to drag the tightening gun to quickly move to the bolt tightening position and execute the tightening command. The automatic nail feeding assembly 8 is used to store screws and transport screws to the tightening gun assembly 3.

[0045] The automatic nail feeding assembly 8 includes an L nail feeding machine and an L material bin. The pallet in-place assembly 2 includes a bracket and a sensor for detecting whether the carrier is in place. The pallet positioning assembly 7 includes a check cylinder 7-2, a positioning cylinder 7-3 and a base plate 7-1. The positioning cylinder 7-3 is fixed on the upper part of the base plate 7-1. There are two check cylinders 7-2, and the two check cylinders 7-2 are respectively fixed on both sides of the upper part of the base plate 7-1.

[0046] Driven by motor 6-4, line body 6-9 starts working at a speed of twenty-two meters per minute, transferring the pallet from the initial position to the tightening station. Control cabinet 6-3 accurately controls the start, acceleration and stop of motor 6-4 to ensure that the pallet moves smoothly and efficiently. During the transmission process, RFID6-2 identifies and tracks the information of the pallet to ensure that the exact position of the pallet is monitored in real time. When the pallet reaches the predetermined position, the blocking cylinder 6-8 starts and quickly holds the pallet. The blocking cylinder 6-8 is a pneumatic cylinder that can respond quickly to ensure that the pallet does not continue to move. The pallet positioning assembly 7 starts working, and the positioning cylinder 7-3 extends to accurately position the pallet. At the same time, the check cylinder 7-2 starts to prevent the pallet from backflowing or position shifting. At this time, the bottom of the pallet is fully docked with line body 6-9 to ensure the stability of the pallet at the tightening station.

[0047] After the pallet is positioned, the robot assembly 1 starts to perform the tightening task. The six-axis robot 1-2 receives instructions through the robot control box 1-3, and quickly and accurately moves the tightening gun to the tightening position of the bolt. The robot control box 1-3 uses precise calibration rods 1-5 and operating algorithms to ensure that the robot can move along the predetermined path, avoid errors or offsets, and ensure accurate docking between the tightening gun and the bolt. The automatic nail feeding assembly 8 is started, and the screws are delivered to the tightening gun in time through the nail feeder and the hopper. The nail feeder efficiently transports screws to ensure the accuracy of each nail supply and avoid jamming or errors. The automatic nail feeding assembly 8 ensures the continuous supply of bolts, avoids the inconvenience caused by manual nail feeding, and improves the degree of automation of the entire tightening process.

[0048] After the tightening gun is accurately aligned with the bolt, the tightening gun applies a certain torque by controlling the tightening shaft 3-3 and the sleeve 3-1. The extension rod 3-2 of the tightening gun is connected to the sleeve 3-1 to accurately apply torque at a certain angle. The tightening gun monitors the torque value applied to the bolt in real time through the torque control system to ensure that the torque is within the set range to prevent over-tightening or over-loosening. When the tightening gun completes the task of tightening the bolt, the six-axis robot 1-2 moves the tightening gun back to the starting position to prepare for the next operation cycle. The automatic nail feeding assembly 8 stops feeding nails, and the screw delivery system stands by to ensure that the equipment is in standby state and waits for the next round of tasks.

[0049] An emergency stop device is installed on the fence 5. If an emergency occurs or the operator needs to stop the equipment immediately, all components will stop immediately after pressing the emergency stop button to ensure the safety of the operator and the protection of the equipment. The emergency stop system quickly interrupts the operation of the motor 6-4, the robot component 1 and the conveying system through linkage with each key component to prevent accidents. A protective box 6-5 is provided outside the motor 6-4.

[0050] Working principle of the present invention:

[0051] By integrating multiple functional modules through the automation system, the tightening operation process is optimized, the work efficiency and precision are improved, and manual intervention is reduced. The equipment is mainly composed of a tightening gun component 3, a robot component 1, an automatic nail feeding component 8, a pallet in place component 2, a conveying component 6, a fence 5 and a control system, which coordinate and cooperate to complete the automated operation. First, the pallet is transmitted through the high-speed conveying component 6 line body 6-9, and the motor 6-4 drives the line body 6-9 to deliver the pallet to the tightening station at a higher speed. The RFID6-2 system monitors the position of the pallet in real time to ensure that it arrives at the station accurately. After arriving, the blocking cylinder 6-8 fixes the pallet, and the positioning cylinder 7-3 ensures that the pallet is aligned with the work position, the check cylinder 7-2 prevents the pallet from flowing back and ensures stability. When the pallet is stable, the six-axis robot 1-2 moves the tightening gun assembly 3 accurately to the bolt position according to the instruction to complete the tightening task. The tightening gun ensures that the bolt is tightened to the set value by accurately controlling the torque to avoid overtightening or over-loosening. The automatic nail feeding assembly 8 supplies screws through the nail feeding machine and the silo to ensure the continuity of the tightening process and improve efficiency. The equipment is also equipped with an emergency stop device, which can quickly interrupt the operation in an emergency to ensure safety. The entire work process is automated and efficient, and the pallet transmission, robot operation, nail feeding and tightening operations are seamlessly connected, which reduces manual intervention and improves production efficiency.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] 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. A highly efficient carrier accelerating transmission device, comprising a conveying assembly (6), characterized in that: It also includes an automatic screw delivery assembly (8) for storing and delivering screws, wherein the delivery assembly (6) includes a wire body (6-9), an RFID (6-2) and a motor (6-4). The motor (6-4) is fixedly mounted on the wire body (6-9), and the wire body (6-9) is driven by the motor (6-4) to perform an accelerating transmission action. The RFID (6-2) is fixed on one side of the wire (6-9) and is used to identify and track the information of the carrier. The automatic nail feeding component (8) performs an automatic transmission action.

2. The high-efficiency carrier accelerating transmission device according to claim 1, characterized in that: The invention also includes supporting legs (6-1), a protection box (6-5), a control cabinet (6-3), a line-jumping ladder (6-6), a blocking cylinder (6-8) and a blocking sensor (6-7), wherein the line body (6-9) includes a line body bracket and a line body roller.

3. The high-efficiency carrier accelerating transmission device according to claim 2, characterized in that: The supporting legs (6-1) are connected to the wire body (6-9) via bolts.

4. The high-efficiency carrier accelerating transmission device according to claim 2, characterized in that: The motor (6-4) is fixedly connected to the wire body (6-9) by bolts, the control cabinet (6-3) controls the motor (6-4) to start and stop, and the control cabinet (6-3) is fixed on one side of the wire body (6-9).

5. The high-efficiency carrier accelerating transmission device according to claim 2, characterized in that: The motor (6-4) comprises a motor box and a motor box cover. The motor (6-4) is used to drive the carrier to accelerate movement on the linear body (6-9). The motor (6-4) is a servo motor. The protective box (6-5) is fixed to the outside of the motor (6-4).

6. The high-efficiency carrier accelerating transmission device according to claim 2, characterized in that: The cross-line ladder (6-6) is fixed above the line body (6-9), and the cross-line ladder (6-6) adopts an anti-slip design.

7. The high-efficiency carrier accelerating transmission device according to claim 2, characterized in that: The blocking cylinder (6-8) is fixed on one side of the line body (6-9) and is used to block the movement of the carrier.

8. The high-efficiency carrier accelerating transmission device according to claim 2, characterized in that: The blocking sensor (6-7) is fixedly connected to the line body (6-9).

9. The high-efficiency carrier accelerating transmission device according to claim 4, characterized in that: The accelerated transmission device also includes a tightening gun assembly (3) for controlling the torque applied to the bolt, a robot assembly (1), a pallet in-place assembly (2), a fence (5), a main control box (4) and an HMI (9). The tightening gun assembly (3) includes a tightening shaft (3-3), a sleeve (3-1) and an extension rod (3-2). The tightening shaft (3-3) is vertically arranged with the sleeve (3-1), the extension rod (3-2) is fixedly connected with the sleeve (3-1), and the other end of the extension rod (3-2) is fixedly connected with an automatic nail feeder. The fence (5) is fixedly installed with an emergency stop device. The tightening shaft (3-3) is rotatably installed at the lower part of the main body of the tightening gun assembly (3).

10. The high-efficiency carrier accelerating transmission device according to claim 9, characterized in that: The robot assembly (1) comprises a six-axis robot (1-2), a robot base (1-4), a robot control box (1-3) and a calibration rod (1-5); the six-axis robot (1-2) is fixedly mounted on the upper part of the robot base (1-4); the six-axis robot (1-2) is electrically connected to the robot control box (1-3); a calibration pin (1-1) is fixedly mounted on the moving part of the six-axis robot (1-2); and the calibration rod (1-5) is placed on one side of the robot base (1-4). The automatic nail feeding assembly (7) comprises a nail feeding machine and a material bin, the input end of the nail feeding machine is fixedly connected to the material bin, the pallet in-position assembly (2) comprises a bracket and a sensor, the pallet positioning assembly (8) comprises a check cylinder (7-2), a positioning cylinder (7-3) and a base plate (7-1), the positioning cylinder (7-3) is fixed on the upper part of the base plate (7-1), and two check cylinders (7-2) are provided, and the two check cylinders (7-2) are respectively fixed on both sides of the upper part of the base plate (7-1).

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