Automatic nail-changing mechanism and method

Abstract

The present invention discloses an automatic nail-changing mechanism and method. The automatic nail-changing mechanism includes a rotary positioning module, a positioning and guiding assembly, and a plurality of nail material clamping modules; a plurality of nail outlet holes are provided on the rotary positioning module, and a plurality of nail material clamping modules are all arranged on the rotary positioning module, and each nail material clamping module communicates with a corresponding nail outlet hole; one end of the positioning and guiding assembly is arranged on the rotary positioning module, and the other end of the positioning and guiding assembly is connected to the end of the nail driving robot arm; wherein, the nail material clamping module is used for clamping nails; the nail material clamping module is further used for loosening the nails when the nails are pressed down by a nail driving bit on the end of the nail driving robot arm, so that the nails pass through the corresponding nail outlet holes; the rotary positioning module is used for driving the plurality of nail material clamping modules to rotate, so that the plurality of nail material clamping modules are sequentially rotated to the working positions. The present invention can automatically adjust nail changing, enabling the nail driving robot to efficiently realize automatic nail changing during the nail driving process and improving the nail-changing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of construction automation equipment, and particularly to an automatic nail-changing mechanism and method. Background Art

[0002] In building decoration and woodworking construction, nailing refers to the process of using tools to fix nails on building materials. The nailing operation is a high-frequency and labor-intensive process. During the nailing operation, the traditional manual nail-changing method has the following defects: the nail-changing efficiency is low, and the single nail-changing time-consuming is about 15 - 30 seconds, seriously affecting the construction continuity; it cannot adapt to the automation rhythm of nailing, restricting the improvement of the overall construction efficiency. Summary of the Invention

[0003] An embodiment of the present invention provides an automatic nail-changing mechanism and method, aiming to solve the problem of low nail-changing efficiency in the prior art.

[0004] In a first aspect, an embodiment of the present invention provides an automatic nail-changing mechanism, which is applied to a nailing robot and includes: a rotation positioning module, a positioning and guiding component, and a plurality of nail material clamping modules; a plurality of nail exit holes are provided on the rotation positioning module, and the plurality of nail material clamping modules are all arranged on the rotation positioning module, and each nail material clamping module is communicated with a corresponding nail exit hole; one end of the positioning and guiding component is arranged on the rotation positioning module, and the other end of the positioning and guiding component is connected to the arm end of the nailing robot; wherein, the nail material clamping module is used for clamping nails; the nail material clamping module is further used for releasing the nails when the nails are pressed down by a nailing bit on the arm end of the nailing robot, so that the nails pass through the corresponding nail exit holes; the rotation positioning module is used to drive the plurality of nail material clamping modules to rotate, so that the plurality of nail material clamping modules are sequentially rotated to the working positions.

[0005] In a second aspect, an embodiment of the present invention further provides an automatic nail-changing method, which is applied to a nailing device. The nailing device includes a nailing robot and the automatic nail-changing mechanism described in the first aspect above. The method includes:

[0006] The nailing robot responds to a start instruction, drives the nailing bit to press down on the nails clamped by the target nail material clamping module, so that the target nail material clamping module releases the nails, and the nails are driven out from the corresponding nail exit holes; wherein, the target nail material clamping module is the nail material clamping module located at the working position among the plurality of nail material clamping modules;

[0007] The nailing robot drives the nailing bit to rise to a preset safe position and obtains the cumulative number of nailings;

[0008] If the nail - driving robot determines that the cumulative number of nail - drivings is less than the preset number of nails, it sends a rotation instruction to the rotation and positioning module;

[0009] The rotation and positioning module rotates the next nail - material clamping module to the working position according to the rotation instruction, and sends a signal indicating that nail changing is completed to the nail - driving robot;

[0010] If the nail - driving robot receives the signal indicating that nail changing is completed, it returns to execute the step of driving the nail - driving bit to press down on the nail clamped by the target nail - material clamping module, so that the target nail - material clamping module releases the nail, and the nail is driven out from the corresponding nail - discharging hole.

[0011] An embodiment of the present invention provides an automatic nail - changing mechanism and method. The automatic nail - changing mechanism includes a rotation and positioning module, a positioning and guiding assembly, and multiple nail - material clamping modules; multiple nail - discharging holes are provided on the rotation and positioning module, and multiple nail - material clamping modules are all arranged on the rotation and positioning module, and each nail - material clamping module communicates with a corresponding nail - discharging hole; one end of the positioning and guiding assembly is arranged on the rotation and positioning module, and the other end of the positioning and guiding assembly is connected to the end of the nail - driving robot arm; wherein, the nail - material clamping module is used for clamping nails; the nail - material clamping module is also used for releasing the nails when the nails are pressed down by the nail - driving bit on the end of the nail - driving robot arm, so that the nails pass through the corresponding nail - discharging holes; the rotation and positioning module is used for driving the multiple nail - material clamping modules to rotate, so that the multiple nail - material clamping modules are sequentially rotated to the working position. The present invention can automatically adjust nail changing, enabling the nail - driving robot to efficiently achieve automatic nail changing during the nail - driving process and improving the nail - changing efficiency. Description of the Drawings

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0013] Figure 1 It is a schematic structural diagram of an automatic nail - changing mechanism provided by an embodiment of the present invention;

[0014] Figure 2 It is a top view of an automatic nail - changing mechanism provided by an embodiment of the present invention;

[0015] Figure 3 It is a schematic structural diagram of an automatic nail - changing mechanism provided by another embodiment of the present invention;

[0016] Figure 4 It is a cross - sectional view of an automatic nail - changing mechanism provided by an embodiment of the present invention;

[0017] Figure 5 A schematic flowchart of an automatic nail-changing method provided by an embodiment of the present invention;

[0018] Among them, the reference numerals are explained as follows:

[0019] 1. Rotating positioning module; 11. Driving component; 111. Connecting plate; 112. Rotating motor; 113. Rotating disk; 12. Nail material turntable; 121. Nail outlet hole; 2. Alignment and guiding component; 21. First connecting rod; 22. Second connecting rod; 23. Adjustable sliding groove; 3. Nail material clamping module; 31. First sliding rail; 32. Second sliding rail; 33. First slider; 331. First groove; 34. Second slider; 341. Second groove; 35. First elastic reset component; 351. First connecting piece; 36. Second elastic reset component; 361. Second connecting piece; 37. Nail-changing hole; 4. Buffer cylinder; 41. Guiding channel. Specific embodiments

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0022] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0023] It should be further understood that the term " / and" as used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0024] Please refer to Figures 1 to 4 , Figure 1 A schematic structural diagram of an automatic nail-changing mechanism provided by an embodiment of the present invention; Figure 2 A top view of an automatic nail-changing mechanism provided by an embodiment of the present invention; Figure 3Schematic structural diagram of the automatic nail-changing mechanism provided by another embodiment of the present invention; Figure 4 Cross-sectional view of the automatic nail-changing mechanism provided by an embodiment of the present invention.

[0025] The automatic nail-changing mechanism provided by the embodiment of the present invention is applied to a nail-driving robot (not shown). The automatic nail-changing mechanism includes: a rotation positioning module 1, a positioning and guiding assembly 2, and a plurality of nail material clamping modules 3. A plurality of nail outlet holes 121 are provided on the rotation positioning module 1. The plurality of nail material clamping modules 3 are all arranged on the rotation positioning module 1, and each nail material clamping module 3 is communicated with a corresponding nail outlet hole 121. One end of the positioning and guiding assembly 2 is arranged on the rotation positioning module 1, and the other end of the positioning and guiding assembly 2 is connected to the end of the nail-driving robot arm. Wherein, the nail material clamping module 3 is used for clamping nails. The nail material clamping module 3 is further used for loosening the nails when the nails are pressed down by the nail-driving bit on the end of the nail-driving robot arm, so that the nails pass through the corresponding nail outlet holes 121. The rotation positioning module 1 is used for driving the plurality of nail material clamping modules 3 to rotate, so that the plurality of nail material clamping modules 3 are sequentially rotated to the working positions.

[0026] In this embodiment, refer to Figure 1, the automatic nail-changing mechanism consists of a rotary positioning module 1, a positioning and guiding component 2, and multiple nail material clamping modules 3. Multiple nail outlet holes 121 are provided on the rotary positioning module 1, and the number of nail outlet holes 121 is the same as the number of nail material clamping modules 3. A nail material clamping module 3 is installed at the upper end of each nail outlet hole 121 of the rotary positioning module 1. The nail material clamping module 3 can clamp nails, and multiple nails are stored through multiple nail material clamping modules 3, increasing the nail capacity of the automatic nail-changing mechanism. Moreover, when the nail material clamping module 3 releases the clamped nail, the nail can pass through the corresponding nail outlet hole 121. The positioning and guiding component 2 is installed on the rotary positioning module 1 and is used to connect with the end of the nail-driving robot arm. A nail-driving bit is installed on the end of the nail-driving robot arm. By installing the positioning and guiding component 2 on the end of the nail-driving robot arm, multiple nail material clamping modules 3 installed on the rotary positioning module 1 are all located below the nail-driving bit. Among them, when installing the positioning and guiding component 2 on the end of the nail-driving robot arm, it is necessary to ensure that the center line of the nail-driving bit on the end of the nail-driving robot arm is coaxial with the center line of the nail clamped by the nail material clamping module 3 in the working position, that is, when the nail material clamping module 3 is in the working position, the nail it clamps is aligned with the nail-driving bit on the end of the nail-driving robot arm, so that the nail-driving robot can accurately drive the nail clamped by the nail material clamping module 3 in the working position when driving the nail-driving bit to perform the nail-driving operation. The rotary positioning module 1 can drive multiple nail material clamping modules 3 to rotate, so that multiple nail material clamping modules 3 can be rotated to the working position in sequence. Thus, after the nail-driving robot drives the nail-driving bit to complete the operation of a single nail, the next nail material clamping module 3 can be rotated to the working position through the rotary positioning module 1 without manual nail-changing, and the nail-changing can be automatically adjusted, enabling the nail-driving robot to efficiently achieve automatic nail-changing during the nail-driving process, improving the nail-changing efficiency, and being particularly suitable for construction scenarios that require continuous automated nail-driving.

[0027] In a more specific embodiment, the rotary positioning module 1 includes a driving component 11 and a nail material turntable 12; the driving component 11 is arranged on the nail material turntable 12, and the positioning and guiding component 2 is arranged on the driving component 11; the multiple nail material clamping modules 3 are evenly arranged along the circumferential direction of the nail material turntable 12, and the multiple nail outlet holes 121 are provided on the nail material turntable 12; among them, the driving component 11 is used to drive the nail material turntable 12 to rotate.

[0028] In this embodiment, refer to Figure 1, the driving component 11 is installed on the staple turntable 12, the alignment and guiding component 2 is installed on the driving component 11, a plurality of staple outlet holes 121 are evenly arranged on the staple turntable 12 in the circumferential direction, and a staple clamping module 3 is installed at the upper end of each staple outlet hole 121 of the staple turntable 12, that is, a plurality of staple clamping modules 3 are evenly arranged along the circumferential direction of the staple turntable 12. Among them, the plurality of staple clamping modules 3 are carried by the staple turntable 12, the driving component 11 drives the staple turntable 12 to rotate, and the plurality of staple clamping modules 3 rotate synchronously with the staple turntable 12, so that the plurality of staple clamping modules 3 are sequentially rotated to the working position, thereby realizing the automatic adjustment of the position of the staple clamping module 3 and realizing the automatic adjustment of staple replacement. Preferably, the number of the staple clamping modules 3 is four, the four staple clamping modules 3 are evenly arranged along the circumferential direction of the staple turntable 12, and the driving component 11 drives the staple turntable 12 to rotate precisely by 90° to rotate the next staple clamping module 3 to the working position.

[0029] In a more specific embodiment, the driving component 11 includes a connection disk 111 and a rotary motor 112; the rotary motor 112 and the alignment and guiding component 2 are both arranged on the connection disk 111, and the output shaft of the rotary motor 112 penetrates through the connection disk 111 and is connected to the staple turntable 12.

[0030] In this embodiment, refer to Figure 1 and Figure 2 , the connection disk 111 is used to fix the rotary motor 112 and the alignment and guiding component 2, the output shaft of the rotary motor 112 penetrates through the connection disk 111 and is connected to the staple turntable 12, and the rotary motor 112 is used to drive the staple turntable 12 to rotate.

[0031] In a more specific embodiment, the driving component 11 further includes a rotary disk 113; one end of the rotary disk 113 is arranged on the output shaft of the rotary motor 112, and the rotary disk 113 is arranged on the other end of the staple turntable 12.

[0032] In this embodiment, refer to Figure 3 , the output shaft of the rotary motor 112 is connected to the rotary disk 113, the rotary disk 113 is connected to the staple turntable 12, the rotary motor 112 drives the rotary disk 113 to rotate, and further drives the staple turntable 12 to rotate through the rotary disk 113.

[0033] In a more specific embodiment, the alignment and guiding component 2 includes a first connecting rod 21 and a second connecting rod 22; the first connecting rod 21 and the second connecting rod 22 are arranged at intervals on the rotary positioning module 1, adjustable sliding grooves 23 are arranged at the upper ends of the first connecting rod 21 and the second connecting rod 22, and the adjustable sliding grooves 23 are connected to the end of the nail driving robot arm through fasteners.

[0034] In this embodiment, referring to Figure 1 , the alignment guiding component 2 is composed of a first connecting rod 21 and a second connecting rod 22. Among them, the first connecting rod 21 and the second connecting rod 22 have the same structure. The first connecting rod 21 and the second connecting rod 22 are arranged at intervals on the rotation positioning module 1, and the first connecting rod 21 and the second connecting rod 22 are parallel to each other. Adjustable sliding grooves 23 for connecting the end of the nail driving robot arm are provided at the upper ends of the first connecting rod 21 and the second connecting rod 22. By passing a fastener through the adjustable sliding groove 23 and connecting it to the corresponding fixing hole on the end of the nail driving robot arm, the first connecting rod 21 and the second connecting rod 22 are installed on the end of the nail driving robot arm. The operation is simple and it is convenient for disassembly and assembly.

[0035] In a more specific embodiment, the nail material clamping module 3 includes a first slide rail 31, a second slide rail 32, a first slider 33, a second slider 34, a first elastic reset component 35 and a second elastic reset component 36. A first groove 331 is provided on the first slider 33, and a second groove 341 is provided on the second slider 34; the first slide rail 31 and the second slide rail 32 are arranged at intervals on the rotation positioning module 1, and the first slide rail 31 and the second slide rail 32 are parallel to each other; the first slider 33 and the second slider 34 are both located between the first slide rail 31 and the second slide rail 32. Two sides of the first slider 33 are respectively slidably connected to the first slide rail 31 and the second slide rail 32, and two sides of the second slider 34 are respectively slidably connected to the first slide rail 31 and the second slide rail 32; the first elastic reset component 35 and the second elastic reset component 36 are both arranged on the rotation positioning module 1. The first elastic reset component 35 is connected to one end of the first slider 33 away from the second slider 34, and the second elastic reset component 36 is connected to one end of the second slider 34 away from the first slider 33; wherein, when the first slider 33 and the second slider 34 are in contact with each other, the first groove 331 and the second groove 341 enclose a nail changing hole 37 communicating with the corresponding nail outlet hole 121.

[0036] In this embodiment, referring to Figure 1 and Figure 2, the nail material clamping module 3 is composed of a first slide rail 31, a second slide rail 32, a first slider 33, a second slider 34, a first elastic reset component 35 and a second elastic reset component 36. The first slide rail 31 and the second slide rail 32 are arranged at intervals and in parallel on the rotation positioning module 1. The first slider 33 and the second slider 34 are installed between the first slide rail 31 and the second slide rail 32, and both the first slider 33 and the second slider 34 are slidably connected to the first slide rail 31 and the second slide rail 32. A first groove 331 is provided at one end of the first slider 33 close to the second slider 34, and the end of the first slider 33 far from the second slider 34 is connected to the first elastic reset component 35. A second groove 341 is provided at one end of the second slider 34 close to the first slider 33, and the end of the second slider 34 far from the first slider 33 is connected to the second elastic reset component 36. Wherein, the first elastic reset component 35 and the second elastic reset component 36 can abut the first slider 33 and the second slider 34 against each other, so that the first groove 331 on the first slider 33 and the second groove 341 on the second slider 34 enclose a nail replacement hole 37. The nail replacement hole 37 is used for clamping nails, which can effectively prevent the nails from falling off during rotation, and the nail replacement hole 37 communicates with the corresponding nail outlet hole 121 on the rotation positioning module 1. When installing the alignment and guiding component 2 at the end of the nail driving robot arm, it is necessary to ensure that the center line of the nail driving bit on the end of the nail driving robot arm is coaxial with the center line of the nail replacement hole 37 formed by the nail material clamping module 3 in the working position, so that the nail driving bit can be aligned with the nail clamped in the nail replacement hole 37 of the nail material clamping module 3.

[0037] Specifically, when the nail driving robot drives the nail driving bit to press down the nail clamped in the nail replacement hole 37, the elastic members in the first slider 33, the second slider 34, the first elastic reset component 35 and the second elastic reset component 36 are squeezed, so that the first slider 33 and the second slider 34 move in opposite directions along the first slide rail 31 and the second slide rail 32, and the first slider 33 and the second slider 34 are separated, thus loosening the nail, and the nail is driven out from the corresponding nail outlet hole 121 on the rotation positioning module 1. When the nail driving is completed and the nail driving robot drives the nail driving bit to rise, when the nail driving bit does not contact the first slider 33 and the second slider 34, the first elastic reset component 35 and the second elastic reset component 36 respectively push the first slider 33 and the second slider 34 to move, so that the first slider 33 and the second slider 34 move in opposite directions along the first slide rail 31 and the second slide rail 32, and further make the first slider 33 and the second slider 34 resume abutting against each other, realizing the automatic reset of the first slider 33 and the second slider 34.

[0038] In a more specific embodiment, the first elastic reset component 35 includes a first connecting piece 351 and a first elastic member; the first connecting piece 351 is disposed on the rotation positioning module 1, and two ends of the first elastic member are respectively connected to the first connecting piece 351 and the first slider 33.

[0039] In this embodiment, referring to Figure 1 and Figure 2 , the first elastic reset component 35 is composed of a first connecting piece 351 and a first elastic member. The first connecting piece 351 is mounted on the rotation positioning module 1. The first elastic member is disposed between the first connecting piece 351 and the first slider 33, and two ends of the first elastic member are respectively connected to the first connecting piece 351 and the first slider 33. Wherein, when the nail driving robot drives the nail driving bit to press down the nail clamped in the nail changing hole 37, the first elastic member is squeezed, so that the first slider 33 moves along the first slide rail 31 and the second slide rail 32 in a direction away from the second slider 34. When the nail driving is completed and the nail driving robot drives the nail driving bit to rise, when the nail driving bit does not contact the first slider 33 and the second slider 34, the first elastic member pushes the first slider 33 to move along the first slide rail 31 and the second slide rail 32 in a direction close to the second slider 34, realizing the automatic reset of the first slider 33.

[0040] In a more specific embodiment, the second elastic reset component 36 includes a second connecting piece 361 and a second elastic member; the second connecting piece 361 is disposed on the rotation positioning module 1, and two ends of the second elastic member are respectively connected to the second connecting piece 361 and the second slider 34.

[0041] In this embodiment, referring to Figure 1 and Figure 2 , the second elastic reset component 36 is composed of a second connecting piece 361 and a second elastic member. The second connecting piece 361 is mounted on the rotation positioning module 1. The second elastic member is disposed between the second connecting piece 361 and the second slider 34, and two ends of the second elastic member are respectively connected to the second connecting piece 361 and the second slider 34. Wherein, when the nail driving robot drives the nail driving bit to press down the nail clamped in the nail changing hole 37, the second elastic member is squeezed, so that the second slider 34 moves along the first slide rail 31 and the second slide rail 32 in a direction away from the first slider 33. When the nail driving is completed and the nail driving robot drives the nail driving bit to rise, when the nail driving bit does not contact the first slider 33 and the second slider 34, the second elastic member pushes the second slider 34 to move along the first slide rail 31 and the second slide rail 32 in a direction close to the first slider 33, realizing the automatic reset of the second slider 34.

[0042] In a more specific embodiment, the automatic nail changing mechanism further includes a plurality of buffer cylinders 4, the plurality of buffer cylinders 4 are all arranged at the bottom of the rotation positioning module 1, and a guiding channel 41 is arranged inside each buffer cylinder 4, and the guiding channel 41 of each buffer cylinder 4 communicates with a corresponding nail outlet hole 121.

[0043] In this embodiment, referring to Figure 1 and Figure 4 , a plurality of buffer cylinders 4 are further arranged at the bottom of the rotation positioning module 1. Each buffer cylinder 4 is installed at the lower end of a corresponding nail outlet hole 121, and the guiding channel 41 inside the buffer cylinder 4 communicates with the corresponding nail outlet hole 121. Among them, the buffer cylinder 4 is used to guide the nail to fall vertically. When the nail clamped by the nail material clamping module 3 at the upper end of the nail outlet hole 121 is pressed down by the nail driving bit, the nail passes through the nail outlet hole 121 and is driven out after being guided by the guiding channel 41 in the buffer cylinder 4 at the lower end of the nail outlet hole 121, so that the driven nail can be kept as vertical as possible and will not cause the nail to tilt, thereby ensuring that the posture of the nail material (that is, the posture when the nail falls) meets the requirements.

[0044] The automatic nail changing mechanism provided by the embodiment of the present invention supplies nails through a plurality of nail material clamping modules 3, and drives the plurality of nail material clamping modules 3 to rotate to the working position in turn through the rotation positioning module 1, and can automatically adjust the nail change, so that the nail driving robot can efficiently realize automatic nail change during the nail driving process, improve the nail change efficiency, and improve the construction efficiency, and is particularly suitable for construction scenarios that require continuous automatic nail driving.

[0045] As Figure 5 shown, Figure 5 is a schematic flow chart of an automatic nail changing method provided by an embodiment of the present invention. The automatic nail changing method provided by the embodiment of the present invention is applied to a nail driving device. The nail driving device includes a nail driving robot and the automatic nail changing mechanism provided in any of the foregoing embodiments. The method includes steps S11 to S15.

[0046] S11. In response to a start instruction, the nail driving robot drives the nail driving bit to press down on the nail clamped by the target nail material clamping module, so that the target nail material clamping module releases the nail, and the nail is driven out from the corresponding nail outlet hole; wherein, the target nail material clamping module is the nail material clamping module located at the working position among the plurality of nail material clamping modules.

[0047] In this embodiment, after the alignment guiding component is installed at the end of the nail driving robot arm, that is, the automatic nail changing mechanism has been installed on the nail driving robot and the nail driving device has been assembled. When the nail driving device needs to be used for nail driving operation, the nail driving robot responds to the start instruction, and the nail driving robot starts to drive the nail driving bit to press down on the nail clamped by the target nail material clamping module (i.e., the nail material clamping module located at the working position). The target nail material clamping module releases the nail, so that the nail is driven out from the corresponding nail outlet hole. Among them, the start instruction can be triggered by relevant personnel.

[0048] S12. The nail driving robot drives the nail driving bit to rise to a preset safe position and obtains the cumulative nail driving times.

[0049] In this embodiment, after the nail driving robot drives out the nail in the target nail material clamping module, the nail driving robot drives the nail driving bit to rise to a preset safe position and records the cumulative nail driving times. The cumulative nail driving times refers to the number of nails driven out by the nail driving robot after responding to the start instruction. The nail driving robot can judge whether all the nails clamped by multiple nail material clamping modules have been driven out according to the cumulative nail driving times.

[0050] S13. If the nail driving robot determines that the cumulative nail driving times is less than the preset number of nails, the nail driving robot sends a rotation instruction to the rotation positioning module.

[0051] In this embodiment, if the nail driving robot determines that the cumulative nail driving times is less than the preset number of nails, it means that not all the nails clamped by multiple nail material clamping modules have been driven out. The nail driving robot then sends a rotation instruction to the rotation positioning module so that the rotation positioning module rotates the next nail material clamping module to the working position. Among them, the preset number of nails is equal to the number of multiple nail material clamping modules.

[0052] In one embodiment, if the nail driving robot determines that the cumulative nail driving times is equal to the preset number of nails, a nail replenishment prompt message is generated.

[0053] In this embodiment, if the nail driving robot determines that the cumulative nail driving times is equal to the preset number of nails, it means that all the nails clamped by multiple nail material clamping modules have been driven out and the multiple nail material clamping modules need to be replenished with nails. The nail driving robot then generates a nail replenishment prompt message to remind relevant personnel to replenish the multiple nail material clamping modules with nails in time through the nail replenishment prompt message.

[0054] S14. The rotation positioning module rotates the next nail material clamping module to the working position according to the rotation instruction and sends a nail changing completion signal to the nail driving robot.

[0055] In this embodiment, if the rotation positioning module receives a rotation instruction, it starts to drive a plurality of nail material clamping modules to rotate, so that the next nail material clamping module rotates to the working position. When the rotation positioning module rotates the next nail material clamping module to the working position, it will send a nail changing completion signal to the nail driving robot, thereby automatically adjusting the nail changing, enabling the nail driving robot to efficiently achieve automatic nail changing during the nail driving process, improving the nail changing efficiency, and being particularly suitable for construction scenarios that require continuous automated nail driving.

[0056] S15. If the nail driving robot receives the nail changing completion signal, it returns to execute the step of driving the nail driving bit to press down on the nail clamped by the target nail material clamping module, so that the target nail material clamping module releases the nail, and the nail is ejected from the corresponding nail ejection hole.

[0057] In this embodiment, if the nail driving robot receives the nail changing completion signal, it returns to execute the step of driving the nail driving bit to press down on the nail clamped by the target nail material clamping module, so that the target nail material clamping module releases the nail, and the nail is ejected from the corresponding nail ejection hole, that is, driving the nail driving bit to perform a new round of nail driving operation.

[0058] The automatic nail changing method provided by the embodiment of the present invention supplies nails through a plurality of nail material clamping modules, and drives the plurality of nail material clamping modules to rotate to the working position in sequence through the rotation positioning module, which can automatically adjust the nail changing, enabling the nail driving robot to efficiently achieve automatic nail changing during the nail driving process, improving the nail changing efficiency, enhancing the construction efficiency, and being particularly suitable for construction scenarios that require continuous automated nail driving.

[0059] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An automatic nail-changing mechanism, characterized in that, Applied to a nail - driving robot, the automatic nail - changing mechanism includes: a rotary positioning module, a positioning and guiding component, and multiple nail - material clamping modules; A plurality of nail - discharging holes are provided on the rotary positioning module. The multiple nail - material clamping modules are all arranged on the rotary positioning module, and each nail - material clamping module communicates with a corresponding nail - discharging hole. One end of the positioning and guiding component is arranged on the rotary positioning module, and the other end of the positioning and guiding component is connected to the arm end of the nail - driving robot; Among them, the nail - material clamping module is used to clamp nails; the nail - material clamping module is also used to release the nails when the nails are pressed down by a nail - driving bit on the arm end of the nail - driving robot, so that the nails pass through the corresponding nail - discharging holes; The rotary positioning module is used to drive the multiple nail - material clamping modules to rotate, so that the multiple nail - material clamping modules are sequentially rotated to the working positions; The rotary positioning module includes a driving component and a nail - material turntable; The driving component is arranged on the nail - material turntable, and the positioning and guiding component is arranged on the driving component. The multiple nail - material clamping modules are evenly arranged on the nail - material turntable along the circumferential direction, and the multiple nail - discharging holes are provided on the nail - material turntable. Among them, the driving component is used to drive the nail - material turntable to rotate; The nail - material clamping module includes a first slide rail, a second slide rail, a first slider, a second slider, a first elastic reset component, and a second elastic reset component. A first groove is provided on the first slider, and a second groove is provided on the second slider; The first slide rail and the second slide rail are arranged on the rotary positioning module at intervals, and the first slide rail and the second slide rail are parallel to each other. Both the first slider and the second slider are located between the first slide rail and the second slide rail. The two sides of the first slider are respectively slidably connected to the first slide rail and the second slide rail, and the two sides of the second slider are respectively slidably connected to the first slide rail and the second slide rail. The first elastic reset component and the second elastic reset component are both arranged on the rotary positioning module. The first elastic reset component is connected to one end of the first slider away from the second slider, and the second elastic reset component is connected to one end of the second slider away from the first slider; Among them, when the first slider and the second slider are in contact with each other, the first groove and the second groove enclose a nail - changing hole that communicates with the corresponding nail - discharging hole.

2. The automatic nail-changing mechanism according to claim 1, characterized in that, The driving component includes a connecting disk and a rotary motor; The rotary motor and the positioning and guiding component are both arranged on the connecting disk. The output shaft of the rotary motor penetrates the connecting disk and is connected to the nail - material turntable.

3. The automatic nail-changing mechanism according to claim 2, characterized in that, The driving component further includes a rotary disk; one end of the rotary disk is arranged on the output shaft of the rotary motor, and the other end of the rotary disk is arranged on the nail - material turntable.

4. The automatic nail changing mechanism according to claim 1, characterized in that, The positioning and guiding component includes a first connecting rod and a second connecting rod; The first connecting rod and the second connecting rod are arranged on the rotary positioning module at intervals. Adjustable sliding grooves are provided at the upper ends of the first connecting rod and the second connecting rod, and the adjustable sliding grooves are connected to the end of the nail driving robot arm through fasteners.

5. The automatic nail-changing mechanism according to claim 1, characterized in that, The first elastic reset assembly includes a first connecting piece and a first elastic member; The first connecting piece is arranged on the rotary positioning module, and two ends of the first elastic member are respectively connected to the first connecting piece and the first slider.

6. The automatic nail-changing mechanism according to claim 1, characterized in that, The second elastic reset assembly includes a second connecting piece and a second elastic member; The second connecting piece is arranged on the rotary positioning module, and two ends of the second elastic member are respectively connected to the second connecting piece and the second slider.

7. The automatic nail changing mechanism according to claim 1, characterized in that, It further includes a plurality of buffer cylinders. The plurality of buffer cylinders are all arranged at the bottom of the rotary positioning module. A guiding channel is arranged inside each buffer cylinder, and the guiding channel of each buffer cylinder is communicated with a corresponding nail outlet hole.

8. An automatic nail-changing method, applied to a nail driving device, the nail driving device comprising a nail driving robot and the automatic nail-changing mechanism according to any one of claims 1 to 7, characterized in that, The method includes: In response to a start instruction, the nail driving robot drives the nail driving bit to press down on the nail clamped by the target nail material clamping module, so that the target nail material clamping module releases the nail, and the nail is driven out from the corresponding nail outlet hole; wherein, the target nail material clamping module is the nail material clamping module located at the working position among the plurality of nail material clamping modules; The nail driving robot drives the nail driving bit to rise to a preset safe position and obtains the cumulative number of nail drivings; If the nail driving robot determines that the cumulative number of nail drivings is less than a preset number of nails, it sends a rotation instruction to the rotary positioning module; The rotary positioning module rotates the next nail material clamping module to the working position according to the rotation instruction and sends a nail changing completion signal to the nail driving robot; If the nail driving robot receives the nail changing completion signal, it returns to execute the step of driving the nail driving bit to press down on the nail clamped by the target nail material clamping module, so that the target nail material clamping module releases the nail, and the nail is driven out from the corresponding nail outlet hole.

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