Rotary nailing robot and method of working thereof

Abstract

The application discloses a rotary nailing robot and a working method thereof, and relates to the technical field of rotary nailing, comprising a fixing assembly, the fixing assembly comprising a base, a fixing support being installed on the top of the base, an installation seat being arranged on the top of the base, an adjusting motor being installed on one side of the installation seat, and a connecting shaft being connected to the output end of the adjusting motor on one side. The fixing assembly is arranged to control the movement of the fixing plate, so that the foot pier can be effectively fixed. After being fixed, the foot pier can be connected and fixed with the bottom plate. The movement of the fixing plate can be controlled to adaptively adjust the size of different foot piers, so that different sizes of foot piers can be adapted, the situation that the foot pier cannot be effectively fixed and causes deviation when being connected and fixed with the bottom plate can be avoided, the influence on the buffering effect and stability can be prevented, the quality can be guaranteed, the distance between the foot piers can be adjusted by controlling the sliding of the sliding block on the sliding rail, adaptive adjustment can be quickly completed according to the needs, and the efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of rotary nailing technology, and more particularly to a rotary nailing robot and its working method. Background Technology

[0002] When shipping goods over oceans, the weight and shock absorption of the packaging boxes need to be considered. Wooden pallets are used for shock absorption and cushioning. When processing wooden pallets, foot blocks need to be installed for shock protection. To ensure stability, the foot blocks at the bottom need to be designed as a single unit. Usually, the production of single-unit foot blocks is done manually. This method is inefficient and has poor precision, which can easily lead to quality problems and prevent large-scale processing. To increase efficiency and precision, a rotary nailing robot can be used to assist in processing, reducing the need for manual operation and thus increasing processing efficiency. Compared with manual processing, it can greatly improve processing speed and meet the needs of large-scale processing.

[0003] A search revealed Chinese patent application number 201920633202.8, which discloses a wood pallet industrial robot nailing assembly device. This device includes an industrial robot and a movable multi-station workbench. Two industrial robots are independently positioned on either side of the workbench. The industrial robots are SCARA robots. The movable multi-station workbench includes a frame and worktables. Independent worktables are evenly placed sequentially on the workbench to form independent workstations. The wood pallet industrial robot nailing assembly device in the aforementioned patent has the following shortcomings: the existing device lacks an effective foot support positioning component during use. The foot support needs to be fixed during processing before the base plate can be placed for nailing. The lack of an effective positioning component can easily affect the installation accuracy of the foot support and base plate, leading to positional misalignment during installation, which affects the shock absorption and cushioning effect, and ultimately fails to provide effective quality assurance. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a rotary nailing robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A rotary nailing robot includes a fixing component, which includes a base. A fixing bracket is mounted on the top of the base, and a mounting seat is provided on the top of the fixing bracket. An adjusting motor is mounted on one side of the mounting seat, and a connecting shaft is connected to the output end of the adjusting motor. One end of the connecting shaft rotatably passes through the mounting seat, and an adjusting frame is mounted on the connecting shaft. An operating table is mounted on the top of the adjusting frame. Two sets of slide rails are symmetrically arranged on the top of the operating table, and several sets of sliders are slidably mounted on the slide rails. Several sets of positioning holes are opened in sequence on the slide rails, and the sliders are also opened with positioning holes. Fixing pins are installed through the positioning holes, and the diameter of the end of the fixing pin is larger than the diameter of the positioning hole. A pull ring is provided at the end of the fixing pin. A fixing seat is provided on the top of the slider. A first clamping cylinder is mounted on one side of the fixing seat, and a fixing plate is mounted on the telescopic end of one side of the first clamping cylinder. A positioning plate is mounted on one side of the fixing seat, and the position of the positioning plate is adapted to the fixing plate. A nailing component for assembly and an installation and adjustment component for overall installation are provided on one side of the base.

[0007] As a further embodiment of the present invention: the nailing assembly includes a rotating base, the rotating base is mounted on the top of the base, and a multi-axis robotic arm is mounted on the output end of the top of the rotating base, with a nail gun mounted on one end of the multi-axis robotic arm.

[0008] As a further embodiment of the present invention: the installation and adjustment assembly includes a rotary motor, which is installed on the top of the base. The output end of the rotary motor is connected to a rotary shaft. A placement platform is installed on the top of the rotary shaft. A support frame is installed on the top of the placement platform. Two sets of support frames are arranged in parallel. Several sets of moving rails are installed between the two sets of support frames. The support frame is triangular in shape.

[0009] As a further embodiment of the present invention: the moving rail is provided with a moving groove, through which a moving frame can be slidably installed. A placement plate is provided on one side of the moving frame, and several sets of second clamping cylinders are respectively installed on both sides of the placement plate. A clamping frame is installed on the telescopic end of one side of the second clamping cylinder.

[0010] As a further embodiment of the present invention: a number of anti-slip pads are arranged sequentially on one side of the fixing plate, and the anti-slip pads are made of rubber.

[0011] As a further embodiment of the present invention: a plurality of support legs are installed at the bottom of the base, and foot pads are provided at the bottom of the support legs.

[0012] As a further embodiment of the present invention: several sets of connecting blocks are symmetrically installed on both sides of the base, a hydraulic cylinder is installed at the bottom of the connecting block, and a universal wheel is installed at the telescopic end of the bottom of the hydraulic cylinder.

[0013] As a further embodiment of the present invention: a number of reinforcing rods are installed on the top of the placement platform, and the other end of the reinforcing rods is fixed to the support frame.

[0014] As a further embodiment of the present invention: connecting plates are symmetrically installed on both sides of the placement platform, and a support pad is provided on the top of the connecting plates.

[0015] As a further embodiment of the present invention: a storage rack is installed at the bottom of the base, and several sets of partitions are arranged sequentially on the inner wall of the storage rack.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. By setting a fixed component to control the movement of the fixed plate, the foot blocks can be effectively fixed. After fixing, it is easy to connect and fix them to the base plate. By controlling the movement of the fixed plate, it can be adaptively adjusted according to the size of different foot blocks, which can accommodate different sizes of foot blocks and avoid the situation where the foot blocks cannot be effectively fixed and will shift when connected to the base plate. This prevents the impact on the cushioning effect and stability, and ensures quality. By controlling the slider to slide on the slide rail, the distance between the foot blocks can be adjusted, which can be quickly and adaptively adjusted as needed, thereby increasing the processing efficiency. After the distance is adjusted, the fixing pin can be inserted into the positioning hole aligned with the slider and the slide rail to complete the limit fixation, thereby completing the limit fixation and preventing unnecessary sliding after the distance adjustment. The pull ring set at the end of the fixing pin makes it easy to pull, which is convenient to apply force and prevents it from slipping out of your hand.

[0018] 2. By setting up and adjusting the components, the triangular support frame can be used to place the foot block on both sides. While processing one side, the other side can be placed. After processing is completed, the support frame can be rotated to switch to the other side for nailing. By repeatedly rotating and nailing in combination with double-sided placement, the processing efficiency can be greatly increased. There is no need to stop processing for placement, which reduces the waste of time and enables the processing of large batches more quickly.

[0019] 3. By controlling the sliding frame to slide within the mounting groove of the moving rail, the distance between the base plates can be quickly adjusted, facilitating adjustments according to the size of the wooden pallet and preventing improper installation. After the base plates are placed, the second clamping cylinder can control the movement of the clamping frame. By controlling the adjacent clamping frames to move closer to each other, the placed base plates and feet can be clamped and fixed, thus preventing the base plates or feet from tilting and causing assembly defects, and preventing any impact on the stability of the assembly.

[0020] 4. Several sets of reinforcing rods can be used to reinforce the support frame, preventing it from tipping over during processing and ensuring normal processing. Rubber support pads are used to support the base plate during placement, preventing it from falling and affecting assembly. The rubber support pads also increase friction with the base plate, providing anti-slip properties and preventing the base plate from sliding on the support pads during placement. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the rotating nailing robot from the main perspective proposed in this invention;

[0022] Figure 2 This is a schematic diagram of the limiting part of the rotary nailing robot proposed in this invention;

[0023] Figure 3 This is a schematic diagram of the structure of the support part of the rotary nailing robot proposed in this invention;

[0024] Figure 4 This is a schematic diagram of the rotating part of the rotary nailing robot proposed in this invention;

[0025] Figure 5 This is a schematic diagram of the placement part of the rotary nailing robot proposed in this invention;

[0026] Figure 6 This is a schematic diagram of the structure of the fixing part of the rotary nailing robot proposed in this invention;

[0027] Figure 7 This is a schematic diagram of the structure of the adjustment part of the rotary nailing robot proposed in this invention;

[0028] Figure 8 This is a schematic diagram of the moving part of the rotary nailing robot proposed in this invention.

[0029] In the diagram: 1. Base; 2. Foot pad; 3. Support leg; 4. Connecting block; 5. Rotary motor; 6. Reinforcing rod; 7. Support frame; 8. Moving rail; 9. Placement platform; 10. Multi-axis robotic arm; 11. Adjusting motor; 12. Nail gun; 13. First clamping cylinder; 14. Anti-slip pad; 15. Fixing plate; 16. Fixing seat; 17. Positioning plate; 18. Slider; 19. Slide rail; 20. Caster wheel; 21. Fixing pin; 22. Hydraulic cylinder; 23. Fixing bracket; 24. Mounting seat; 25. Rotating base; 26. Storage rack; 27. Operating table; 28. Placement plate; 29. ​​Second clamping cylinder; 30. Clamping frame; 31. Moving frame; 32. Rotating shaft; 33. Connecting plate; 34. Support pad; 35. Connecting shaft; 36. Adjusting frame. Detailed Implementation

[0030] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] Example 1

[0033] Rotary nailing robot, such as Figures 1-8 As shown, the device includes a fixing assembly, which includes a base 1. A fixing bracket 23 is mounted on the top of the base 1. A mounting seat 24 is provided on the top of the fixing bracket 23. An adjusting motor 11 is mounted on one side of the mounting seat 24. A connecting shaft 35 is connected to the output end of one side of the adjusting motor 11. One end of the connecting shaft 35 is rotatably inserted through the mounting seat 24. An adjusting frame 36 is mounted on the connecting shaft 35. An operating table 27 is mounted on the top of the adjusting frame 36. Two sets of slide rails 19 are symmetrically arranged on the top of the operating table 27. Several sets of sliders 18 are slidably mounted on the slide rails 19. The slide rails 19 are arranged sequentially. The slider 18 is provided with a number of positioning holes. A fixing pin 21 is installed through the positioning holes. The diameter of the end of the fixing pin 21 is larger than the diameter of the positioning hole. A pull ring is provided at the end of the fixing pin 21. A fixing seat 16 is provided on the top of the slider 18. A first clamping cylinder 13 is installed on one side of the fixing seat 16. A fixing plate 15 is installed on the telescopic end of one side of the first clamping cylinder 13. A positioning plate 17 is installed on one side of the fixing seat 16. The position of the positioning plate 17 is adapted to the fixing plate 15. A nailing assembly for assembly and an installation adjustment assembly for overall installation are provided on one side of the base 1.

[0034] In use, the foot blocks can be arranged sequentially on the fixed base 16. After placement, the first clamping cylinder 13 is activated to control the movement of the fixed plate 15. By controlling the fixed plate 15 to move closer to the positioning plate 17, the foot blocks can be pressed against the positioning plate 17 for clamping and fixing. After fixing, the base plate can be placed on the foot blocks and fixed with nails using the nailing assembly. After nailing, the connection and fixing of the bottom and foot blocks are completed, facilitating subsequent operations. By controlling the movement of the fixed plate 15, it can be adaptively adjusted according to the size of different foot blocks, adapting to different sizes of foot blocks and avoiding situations where the foot blocks cannot be effectively fixed, causing them to shift when connected and fixed to the base plate. This prevents the impact on the cushioning effect and stability, ensuring quality. After multiple sets of foot blocks are arranged sequentially on the fixed base 16 and fixed, multiple sets of base plates can be simultaneously fixed. The connection and fixing mechanism can effectively increase the efficiency of assembly and fixing. The motor 11 can be started to control the rotation of the connecting shaft 35 and the adjusting frame 36. The angle of the fixing seat 16 can be adjusted by the rotation of the adjusting frame 36, which is convenient for the angle to be corrected when tilting occurs and prevents the base plate from slipping during connection and fixing. The slider 18 can be controlled to slide on the slide rail 19 according to the installation spacing of the foot block, so as to adjust the spacing to fit the base plate as needed. The slider 18 and the slide rail 19 are equipped with damping to prevent sliding when not in operation. After adjusting the spacing, the positioning holes of the slider 18 and the slide rail 19 are aligned. After alignment, the fixing pin 21 can be inserted for limit fixing, so as to prevent unnecessary sliding displacement and spacing problems. The pull ring at the end of the fixing pin 21 makes it easy to pull out the fixing pin 21 to adjust the slider 18, which makes it easier to apply force and prevents the slider from slipping out.

[0035] The nailing assembly includes a rotating base 25, which is mounted on the top of the base 1. A multi-axis robotic arm 10 is mounted on the output end of the top of the rotating base 25, and a nail gun 12 is mounted on one end of the multi-axis robotic arm 10.

[0036] In use, the nail gun 12 is connected to a nail magazine at one end, into which nails can be added. After completion, the nail magazine is connected to the nail gun 12, which can feed materials to the nail gun 12, enabling the nail gun 12 to perform nail shooting normally. The position and direction of the nail gun 12 can be adjusted by rotating the base 25 in cooperation with the multi-axis robotic arm 10. The nail gun 12 can be moved to the fixed seat 16 to perform nail shooting and fixing after the base plate is placed, thereby quickly completing the connection and fixing of the foot block and the base plate. The nail gun 12 can be moved to different positions for processing as needed, greatly increasing the processing efficiency.

[0037] The installation and adjustment assembly includes a rotary motor 5, which is mounted on the top of the base 1. The output end of the rotary motor 5 is connected to a rotary shaft 32. A placement platform 9 is mounted on the top of the rotary shaft 32. A support frame 7 is mounted on the top of the placement platform 9. Two sets of support frames 7 are arranged in parallel. Several sets of moving rails 8 are installed between the two sets of support frames 7. The support frame 7 is triangular in shape.

[0038] In use, the triangular support frame 7, in conjunction with the moving rail 8, allows for the placement of the fixed feet on both sides. The connected base plate prevents the feet from sliding during placement, facilitating overall assembly. The feet with the connected base plate can be placed on the moving rail 8 and arranged as needed. After arrangement, the wooden pallet can be moved to the moving rail 8 and fitted with the arranged feet. Once fitted, the nail gun 12 can be moved to fix the feet with nails, thus completing the overall assembly of the wooden pallet and feet. After nail fixing, the overall assembly is complete, and the feet can be put into normal use. The rotary motor 5 controls the rotation of the rotating shaft 32 and the placement table 9. With the double-sided placement design of the support frame 7, the feet and wooden pallet on the other side can be placed while nail fixing is being done on one side. After processing on one side, the placement table 9 can be rotated to switch to the other side for continuous processing. By repeating the above operations, the double-sided placement design greatly increases assembly efficiency, making it easier to complete large-scale processing more quickly.

[0039] To facilitate adjusting the spacing, such as Figure 2 , 3 As shown in Figures 4 and 5, the moving rail 8 has a moving groove, through which a moving frame 31 can be slidably installed. A placement plate 28 is provided on one side of the moving frame 31, and several sets of second clamping cylinders 29 are installed on both sides of the placement plate 28. A clamping frame 30 is installed on the telescopic end of one side of the second clamping cylinder 29.

[0040] During use, the movable frame 31 and the mounting slot are equipped with damping to prevent displacement when not in operation. After the base plate is connected, the base plate can be placed on the placement plate 28 to facilitate the assembly of the foot block and the wooden pallet. By controlling the movement of the placement plate 28, the movable frame 31 can slide in the mounting slot of the movable rail 8 to quickly adjust the distance between the base plates, which is convenient to adjust according to the size of the wooden pallet and avoids improper installation. After the base plate is placed, the clamping frame 30 can be moved by the second clamping cylinder 29. By controlling the adjacent clamping frames 30 to move closer to each other, the placed base plate and foot block can be clamped and fixed, thereby preventing the base plate or foot block from tilting and causing assembly defects, and preventing the stability after assembly from being affected.

[0041] To prevent slippage during fixing, such as Figure 6As shown, several sets of anti-slip pads 14 are arranged sequentially on one side of the fixing plate 15. The anti-slip pads 14 are made of rubber.

[0042] When using the foot block, the fixed plate 15 is moved to clamp and fix it. The rubber anti-slip pad 14 can play an anti-slip role, preventing the foot block from sliding and affecting its processing.

[0043] In order to provide support, such as Figure 3 As shown, the base 1 has several sets of support legs 3 installed at its bottom, and the support legs 3 have foot pads 2 at their bottoms.

[0044] During use, the device can be supported by the support legs 3 and the foot pads 2 to maintain stability. The rubber foot pads 2 can act as a buffer during processing and also play a non-slip role to avoid unnecessary sliding displacement.

[0045] For ease of relocation, such as Figure 8 As shown, several sets of connecting blocks 4 are symmetrically installed on both sides of the base 1. A hydraulic cylinder 22 is installed at the bottom of the connecting block 4, and a universal wheel 20 is installed at the telescopic end of the bottom of the hydraulic cylinder 22.

[0046] When the device needs to be moved during use, the hydraulic cylinder 22 can be activated to control the caster wheel 20 to fall to the ground and lift the device. After the device is lifted, pushing or pulling the device will make the caster wheel 20 rotate to drive the device to move. It can be quickly moved to the required position. After the movement is completed, the caster wheel 20 can be controlled to retract to avoid unnecessary displacement caused by the caster wheel 20.

[0047] To reinforce support frame 7, such as Figure 1 As shown, a number of reinforcing rods 6 are installed on the top of the placement platform 9, and the other end of the reinforcing rods 6 is fixed to the support frame 7;

[0048] During use, the support frame 7 can be reinforced by several sets of reinforcing rods 6, thereby preventing the support frame 7 from tipping over during processing;

[0049] To prevent it from falling during placement, such as Figure 5 As shown, connecting plates 33 are symmetrically installed on both sides of the placement platform 9, and a support pad 34 is provided on the top of the connecting plate 33;

[0050] When in use, the support pad 34 is made of rubber. The rubber support pad 34 can support the base plate when it is placed, which can prevent it from falling and affecting the assembly process. At the same time, the rubber support pad 34 can increase the friction between the base plate and the base plate, thus playing a non-slip role and preventing the base plate from sliding on the support pad 34 when placed.

[0051] Example 2

[0052] For easy placement of tools, refer to Figure 1 The rotating nailing robot has the following improvements compared to embodiment 1: a storage rack 26 is installed at the bottom of the base 1, and several sets of partitions are arranged in sequence on the inner wall of the storage rack 26.

[0053] When in use, the space inside the storage rack 26 can be divided by the partitions. The divided space can be used to store commonly used tools in categories, so that tools can be quickly found and used when a malfunction occurs and repairs are needed.

[0054] The above description is merely a preferred embodiment of the present invention. For parts that do not require creative effort in circuit control, signal control and transmission, please refer to the prior art. However, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A rotary nail-driving robot, characterized in that, The system includes a fixing component, which includes a base (1). A fixing bracket (23) is mounted on the top of the base (1). A mounting seat (24) is provided on the top of the fixing bracket (23). An adjusting motor (11) is mounted on one side of the mounting seat (24). A connecting shaft (35) is connected to the output end of one side of the adjusting motor (11). One end of the connecting shaft (35) is rotatably inserted through the mounting seat (24). An adjusting frame (36) is mounted on the connecting shaft (35). An operating table (27) is mounted on the top of the adjusting frame (36). Two sets of slide rails (19) are symmetrically arranged on the top of the operating table (27). Several sets of sliders (18) are slidably mounted on the slide rails (19). The slide rails (19) are sequentially... A number of positioning holes are arranged, and the slider (18) is also provided with positioning holes. A fixing pin (21) is installed through the positioning holes. The diameter of the end of the fixing pin (21) is larger than the diameter of the positioning hole. A pull ring is provided at the end of the fixing pin (21). A fixing seat (16) is provided on the top of the slider (18). A first clamping cylinder (13) is installed on one side of the fixing seat (16). A fixing plate (15) is installed on the telescopic end of the first clamping cylinder (13). A positioning plate (17) is installed on one side of the fixing seat (16). The position of the positioning plate (17) is adapted to the fixing plate (15). A nailing assembly for assembly and an installation adjustment assembly for overall installation are provided on one side of the base (1). The nailing assembly includes a rotating base (25), which is mounted on the top of the base (1). A multi-axis robotic arm (10) is mounted on the output end of the top of the rotating base (25), and a nail gun (12) is mounted on one end of the multi-axis robotic arm (10). The installation and adjustment assembly includes a rotary motor (5), which is installed on the top of the base (1). The output end of the rotary motor (5) is connected to a rotary shaft (32). A placement platform (9) is installed on the top of the rotary shaft (32). A support frame (7) is installed on the top of the placement platform (9). Two sets of support frames (7) are arranged in parallel. Several sets of moving rails (8) are installed between the two sets of support frames (7). The support frame (7) is triangular in shape.

2. The rotary nailing robot according to claim 1, characterized in that, The moving rail (8) has a moving groove, through which a moving frame (31) can be slidably installed. A placement plate (28) is provided on one side of the moving frame (31), and several sets of second clamping cylinders (29) are installed on both sides of the placement plate (28). A clamping frame (30) is installed on the telescopic end of one side of the second clamping cylinder (29).

3. The rotary nailing robot according to claim 1, characterized in that, Several sets of anti-slip pads (14) are arranged in sequence on one side of the fixing plate (15), and the anti-slip pads (14) are made of rubber.

4. The rotary nailing robot according to claim 1, characterized in that, The base (1) has several sets of support legs (3) installed at the bottom, and foot pads (2) are provided at the bottom of the support legs (3).

5. The rotary nailing robot according to claim 1, characterized in that, Several sets of connecting blocks (4) are symmetrically installed on both sides of the base (1). A hydraulic cylinder (22) is installed at the bottom of the connecting block (4). A universal wheel (20) is installed at the telescopic end of the bottom of the hydraulic cylinder (22).

6. The rotary nailing robot according to claim 1, characterized in that, The top of the placement platform (9) is equipped with several sets of reinforcing rods (6), and the other end of the reinforcing rods (6) is fixed to the support frame (7).

7. The rotary nailing robot according to claim 1, characterized in that, The placement platform (9) is symmetrically equipped with connecting plates (33) on both sides, and a support pad (34) is provided on the top of the connecting plate (33); the base (1) is equipped with a storage rack (26) at the bottom, and several sets of partitions are arranged in sequence on the inner wall of the storage rack (26).

8. A working method for the rotary nailing robot according to claim 1, characterized in that, Includes the following steps: S1. Arrange the foot blocks sequentially on the fixed base. After placement, activate the first clamping cylinder to move the fixed plate. By controlling the fixed plate to move closer to the positioning plate, the foot blocks are pressed against the positioning plate and clamped and fixed. After fixing, place the base plate on the foot blocks and fix it with nails using the nailing assembly. After nailing, the connection and fixation between the bottom and the foot blocks are completed. The movement of the fixed plate can be adjusted adaptively according to the size of different foot blocks. After multiple sets of foot blocks are arranged and fixed on the fixed base, multiple sets of base plates are connected and fixed simultaneously by adjusting the electric... The machine can be started to control the rotation of the connecting shaft and the adjusting frame. The angle of the fixed seat can be adjusted by rotating the adjusting frame, which can be used to correct the angle when tilting occurs and prevent the base plate from slipping during connection and fixing. The slider is controlled to slide on the slide rail according to the installation spacing of the foot block, so that the spacing can be adjusted as needed to fit the base plate. The slider and slide rail are equipped with damping to prevent slippage when not in operation. After adjusting the spacing, the positioning holes of the slider and slide rail are aligned. After alignment, the fixing pin is inserted for limit fixing. The pull ring at the end of the fixing pin can be used to pull out the fixing pin to adjust the slider. S2, the nail gun is connected to a nail magazine at one end, which can be used to add nails. After completion, the nail magazine is connected to the nail gun, which can feed the nail gun and enable it to shoot nails normally. The position and direction of the nail gun can be adjusted by rotating the base and cooperating with the multi-axis robotic arm. The nail gun can be moved to the fixed seat and nailed after the base plate is placed, thus quickly completing the connection and fixation of the foot block and the base plate. The nail gun can be moved to different positions for processing as needed. S3 uses a triangular support frame with a moving rail to place the fixed feet on both sides. The fixed base plate prevents the feet from sliding during placement. The feet with the fixed base plate are placed on the moving rail and can be arranged as needed. After arrangement, the wooden pallet can be moved to the moving rail and placed against the arranged feet. After the pallet is aligned, the nail gun is moved to fix the feet with nails, thus completing the overall assembly of the wooden pallet and feet. After nail fixing, the overall assembly is completed. The rotating shaft and the placement table are rotated by a rotary motor. With the double-sided placement design of the support frame, the feet and wooden pallet on the other side can be placed while nail fixing is being done on one side. After processing one side, the placement table is rotated to switch to the other side for continuous processing.

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