Flexible nail locking mechanical arm, multifunctional nail locking robot and nail locking method

Abstract

According to the flexible nail locking mechanical arm, the multifunctional nail locking robot and the nail locking method, a reset transmission mechanism senses counter-acting force generated by cooperation of a screw and a bottom plate lock hole in real time in the nail locking process through a mechanical feedback mechanism; the counter-acting force generated by screw matching is used for driving the lock screw module to integrally adaptively displace in the length direction of the main arm of the rack, the coincidence degree of the central axis of the lock screw driver rod and the central axis of the bottom plate lock hole is dynamically adjusted, it is ensured that the lock screw driver rod precisely screws the screw into the bottom plate lock hole, damage to the bottom plate lock hole and failure of the screw are avoided, and the production efficiency is improved. The qualified rate of the lock nails is greatly improved; meanwhile, after the nail locking batch rod completes nail locking and is separated from a screw, reset force generated by the energy storage mechanism acts on the reset transmission mechanism so that the reset transmission mechanism can be in linkage with the nail locking module to be automatically reset relative to the whole main arm, the next round of nail locking process can be rapidly started without manual intervention, and the continuous operation capacity of equipment is remarkably improved; the method is particularly suitable for batch production scenes of multiple lock holes of the container bottom plate.

Description

Technical field

[0001] The present invention relates to the technical field of container manufacturing equipment, and in particular to a flexible nail locking mechanical arm, a multifunctional nail locking robot and a nail locking method. [Background Technology]

[0002] In the field of container manufacturing and maintenance, the container floor, as a core structural component for carrying cargo, the quality of its locking holes and screws directly affects the structural strength and operational safety of the entire container. As container manufacturing evolves towards high-precision, automated, and intelligent manufacturing, automated nailing of floor floor lockholes has become a key step in improving production efficiency and product quality. However, existing technologies for nailing container floor floor lockholes still face numerous technical bottlenecks, making it difficult to meet the demands of high-speed, high-precision production.

[0003] Traditional container floor nailing operations rely primarily on manual labor. Manual nailing presents problems such as low efficiency, high labor intensity, and poor consistency in nail depth and angle. While existing semi-automatic nailing equipment can achieve basic automated nailing, its mechanical structure design still has significant limitations: most devices use a rigid connection method, with the nailing module fixedly connected to a frame or mobile mechanism. When the position of the prefabricated lock hole on the container floor deviates from the preset trajectory of the nailing equipment, such as when the center axis of the rod and the center axis of the hole do not coincide, the rigidly connected rod will be unable to adjust adaptively and will directly squeeze the edge of the hole, causing deformation of the hole or jamming of the rod, slipping of the threads, or even causing the screw to become thread-stripped and scrapped.

[0004] Furthermore, container floor panels are typically large and feature numerous locking holes. A single floor panel often requires dozens or even hundreds of screws, and the holes are densely distributed. Traditional equipment, lacking dynamic correction capabilities, requires frequent downtime to adjust the locking device to match the various locking holes. This results in low locking efficiency and high overall energy consumption. Furthermore, when the locking module is not precisely positioned directly above the prefabricated locking holes, the rigid connection design can easily cause the screw rod to become stuck or slip during the locking process due to the reaction force of the screws, further exacerbating the risk of poor locking reliability.

[0005] Therefore, the present invention is studied and proposed in view of the above problems. [Summary of the invention]

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a flexible nail locking robot arm, which includes an adaptive deviation correction component. The reset transmission mechanism of the adaptive deviation correction component senses the reaction force generated by the cooperation of the screw and the base plate lock hole in real time during the nail locking process through a mechanical feedback mechanism, and utilizes the reaction force generated by the cooperation of the screw to drive the nail locking module as a whole to adaptively displace along the length direction of the main arm of the frame, and dynamically adjusts the coincidence degree of the central axis of the nail locking rod and the central axis of the base plate lock hole, ensuring that the nail locking rod can accurately screw the screw into the base plate lock hole, avoiding the failure of nail locking due to damage to the base plate lock hole and the screw, and greatly improving the qualified rate of nail locking; in addition, the reset transmission mechanism is in the lock During the nailing process, the displacement of the entire locking module relative to the main arm is recorded, and at the same time, the energy storage mechanism of the adaptive correction component is linked to enable the energy storage mechanism to generate potential energy for driving the reset transmission mechanism to link the locking module to reset. After the locking rod completes the locking and disengages the screw, the reset force generated by the energy storage mechanism acts on the reset transmission mechanism to enable the reset transmission mechanism to link the locking module to automatically reset relative to the main arm as a whole. The next round of nailing process can be quickly entered without human intervention, which significantly improves the continuous operation capability of the equipment. It is especially suitable for batch production scenarios of multiple lock holes in container bottom plates, and provides reliable technical support for high-precision, high-efficiency, low-maintenance automated production of container bottom plate lock holes.

[0007] The present invention also provides a multifunctional nail locking robot, which, by integrating the above-mentioned flexible nail locking robotic arm, can significantly improve the coverage, positioning accuracy, production efficiency and equipment versatility of the nail locking operation, and is particularly suitable for the automated assembly scenarios of large, multi-locking hole workpieces such as container bottom plates.

[0008] The present invention also provides a nail locking method for a multifunctional nail locking robot. The use of the above-mentioned multifunctional nail locking robot can significantly improve the nail locking accuracy, efficiency and equipment adaptability, and effectively solve the problems of traditional nail locking equipment relying on high-precision initial positioning, low efficiency of single workstation, and difficulty in adapting to complex working conditions. It is particularly suitable for the automated assembly scenarios of large, multi-locking hole workpieces such as container bottom plates.

[0009] In order to solve the above technical problems, the present invention provides a flexible nail locking robot arm, comprising:

[0010] A main arm 1, the main arm 1 being movably mounted on a frame 4 of the multifunctional nail locking robot, the main arm 1 being provided with a secondary arm 11 that is slidable relative to the main arm 1 along its length, and the main arm 1 being provided with a second driving mechanism 12 for driving the secondary arm 11 to slide along the length of the main arm 1;

[0011] A locking nail module 2, wherein the locking nail module 2 has a locking nail mounting plate 21, and the locking nail module 2 is slidably connected to the main arm 1 through the locking nail mounting plate 21. The locking nail module 2 includes a locking nail driving unit 22 and a locking nail batch rod 23. The locking nail driving unit 22 is provided on the locking nail mounting plate 21. The locking nail batch rod 23 is directly or indirectly connected to the rotation drive shaft of the locking nail driving unit 22. The locking nail batch rod 23 is driven by the locking nail driving unit 22 to lock the screw 100 into the base plate lock hole 200;

[0012] The adaptive deviation-correcting assembly 3 includes a reset transmission mechanism 31 and an energy storage mechanism 32. The reset transmission mechanism 31 is provided between the locking nail mounting plate 21 and the auxiliary arm 11. The energy storage mechanism 32 is directly or indirectly provided on the locking nail mounting plate 21 and is interlocked with the reset transmission mechanism 31.

[0013] The flexible locking nail mechanical arm has a positioning mode and a locking nail mode: in the positioning mode, the auxiliary arm 11 can be driven by the second driving mechanism 12 to slide relative to the main arm 1, and the locking nail module 2 is driven by the reset transmission mechanism 31 and blocked by the energy storage mechanism 32, so that the locking nail module 2 is slid and adjusted as a whole along the length direction of the main arm 1; in the locking nail mode, the auxiliary arm 11 is stationary relative to the main arm 1, and when the central axis of the locking nail batch rod 23 deviates from the central axis of the bottom plate lock hole 200 in the length direction of the main arm 1, the locking nail module 2 is adaptively offset as a whole relative to the main arm 1, and during the adaptive offset process of the locking nail module 2 as a whole, the reset transmission mechanism 31 acts on the energy storage mechanism 32 so that the energy storage mechanism 32 generates potential energy for driving the reset transmission mechanism 31 to link the locking nail module 2 to automatically reset.

[0014] As described above, a flexible locking nail mechanical arm, the reset transmission mechanism 31 includes a reset transmission gear 311 and a reset transmission rack 312. The reset transmission rack 312 is relatively fixedly arranged on the auxiliary arm 11 and meshes with the reset transmission gear 311. The reset transmission gear 311 is rotatably connected to the locking nail mounting plate 21 through the pivot shaft 211; a reset transmission rocker 313 is relatively fixedly connected to the reset transmission gear 311, and the other end of the reset transmission rocker 313 abuts against the energy storage mechanism 32.

[0015] As described above, a flexible locking nail mechanical arm, the energy storage mechanism 32 includes two energy storage springs 321 symmetrically arranged on the left and right sides of the reset transmission rocker 313 and an energy storage support seat 212 for accommodating the energy storage spring 321. The energy storage support seat 212 is directly or indirectly arranged on the locking nail mounting plate 21. One end of the energy storage spring 321 elastically abuts against the corresponding side of the reset transmission rocker 313, and the other end of the energy storage spring 321 elastically abuts and is placed in the energy storage support seat 212. The outer end of each energy storage support seat 212 is provided with an adjusting bolt 213 for adjusting the energy storage spring 321 to elastically press the reset transmission rocker 313.

[0016] In the flexible nail locking mechanical arm described above, the reset transmission mechanism 31 includes a reset transmission gear 311 and a reset transmission rack 312. The reset transmission rack 312 is relatively fixedly provided on the auxiliary arm 11 and meshes with the reset transmission gear 311. The reset transmission gear 311 is rotatably connected to the nail locking mounting plate 21 via the pivot shaft 211.

[0017] The energy storage mechanism 32 includes two energy storage tension springs 322, one end of each of the two energy storage tension springs 322 is directly or indirectly fixedly connected to the locking nail mounting plate 21, and the other end of each of the two energy storage tension springs 322 is eccentrically and vertically staggeredly connected to the reset transmission gear 311;

[0018] Alternatively, the energy storage mechanism 32 includes a pair of energy storage coil springs disposed between the pivot shaft 211 and the reset transmission gear 311 and having opposite winding directions.

[0019] As described above, a flexible locking nail robotic arm, the locking nail mounting plate 21 is connected to an adjustment mounting plate 310 that can be adjusted relative to the locking nail mounting plate 21, and the adjustment mounting plate 310 is provided with an adjustment connection hole 3101 corresponding to the locking nail mounting plate 21, and the reset transmission gear 311 is rotatably connected relative to the adjustment mounting plate 310 through a pivot shaft 211.

[0020] As described above, a flexible locking nail mechanical arm, the reset transmission mechanism 31 includes a reset transmission connecting rod 314 and a reset transmission block 315, one end of the reset transmission connecting rod 314 is relatively fixedly connected to the locking nail mounting plate 21, and the other end of the reset transmission connecting rod 314 is connected to the reset transmission block 315; the energy storage mechanism 32 includes two symmetrically arranged energy storage springs 321, one end of the energy storage spring 321 is elastically abutted against the corresponding side of the reset transmission block 315, and the other end of the energy storage spring 321 is elastically abutted against the correction connecting seat 111 fixedly connected to the relative auxiliary arm 1.

[0021] As described above, in a flexible nail locking robot arm, the rotation drive shaft of the nail locking drive unit 22 is flexibly connected to the nail locking rod 23 through a universal joint 24, and the universal joint 24 is provided with a joint elastic sheath 25 for providing elastic reset to the nail locking rod 23 relative to the rotation drive shaft of the nail locking drive unit 22.

[0022] The present invention also provides a multifunctional nail locking robot, which adopts the flexible nail locking robot arm as described above, including a frame 4, a main arm slide rail 41 extending along the Y-axis direction is provided on the frame 4, the main arm 1 is slidably connected between the two main arm slide rails 41, and a first driving mechanism 42 is provided between the main arm 1 and the frame 4 for driving the main arm 1 to slide along the Y-axis direction of the frame 4. A plurality of nail locking modules 2 are slidably connected to the main arm 1 at intervals along the X-axis direction. The nail locking modules 2 are reset by the transmission mechanism 3. 1 is linked with the auxiliary arm 11. Under the drive of the second driving mechanism 12, the auxiliary arm 11 enables the plurality of locking nail modules 2 to slide in the length direction of the main arm 1 in a coordinated manner through the transmission of the reset transmission mechanism 31 and the blocking of the energy storage mechanism 32 for adjustment; the rotary drive shaft of each locking nail driving unit 22 is flexibly connected to the locking nail batch rod 23 through a universal joint 24, and the universal joint 24 is provided with a joint elastic sheath 25 for providing elastic reset to the locking nail batch rod 23 relative to the rotary drive shaft of the locking nail driving unit 22

[0023] The present invention also provides a nail locking method of a multifunctional nail locking robot, using the multifunctional nail locking robot as described above, and the nail locking method comprises the following steps:

[0024] S1. Move the multifunctional nail locking robot to the bottom plate of the container;

[0025] S2. Position the main arm 1 by driving the main arm 1 to slide along the Y-axis direction through the first driving mechanism 42 to move the main arm 1 to the position directly above the station to be locked or to the target position; or by driving the multifunctional nail locking robot to move as a whole to move the main arm 1 to the position directly above the station to be locked or to the target position;

[0026] S3, start the locking operation, the locking drive unit 22 is started, drives the locking rod 23 to rotate and applies downward pressure, and attempts to screw the screw 100 into the bottom plate lock hole 200;

[0027] S4, adaptive deviation correction, when the locking nail driving unit 22 drives the screw 100 to connect with the base plate lock hole 200 through the locking nail batch rod 23, if the central axis of the locking nail batch rod 23 deviates from the central axis of the base plate lock hole 200 in the length direction of the main arm 1, the locking nail module 2 will be subjected to the reaction force in the X-axis direction generated by the cooperation between the screw 100 and the base plate lock hole 200, causing the locking nail module 2 to adaptively deviate relative to the main arm 1 as a whole until the central axis of the locking nail batch rod 23 coincides with or nearly coincides with the central axis of the base plate lock hole 200;

[0028] S5, the locking of the nails is completed. When the central axis of the locking rod 23 coincides or nearly coincides with the central axis of the base plate locking hole 200, the locking rod 23 is continued to be driven by the locking driving unit 22 to rotate until the screw 100 is locked and connected to the base plate locking hole 200;

[0029] S6, separation and reset. After the locking is completed, the locking drive unit 22 is controlled to stop the rotational power output and lift the locking rod 23, so that the locking rod 23 is separated from the screw 100. Then the reset force generated by the energy storage mechanism 32 acts on the reset transmission mechanism 31 to drive the locking module 2 to automatically reset relative to the main arm 1 as a whole, completing a single locking cycle.

[0030] As described above, a nail locking method of a multifunctional nail locking robot, the step S4 further includes S4-1, if the central axis of the nail locking rod 23 deviates relatively from the central axis of the base plate lock hole 200 in the Y-axis direction, the nail locking rod 23 will be subjected to the screw 100 and the base plate lock hole 200 to generate a reaction force in the Y-axis direction, so that the nail locking rod 23 is elastically offset relative to the rotation drive shaft of the nail locking drive unit 22 in the Y-axis direction through the universal joint 24 and the joint elastic sheath 25 until the central axis of the nail locking rod 23 coincides with or nearly coincides with the central axis of the base plate lock hole 200;

[0031] Said step S6 further includes S6 - 1 , whereby the joint elastic sheath 25 elastically acts on the universal joint 24 , so that the nail locking rod 23 is reset relative to the rotation drive shaft of the nail locking drive unit 22 .

[0032] Compared with the prior art, the present invention has the following advantages:

[0033] 1. The flexible locking nail mechanical arm of the present invention includes an adaptive correction component. The reset transmission mechanism of the adaptive correction component uses a mechanical feedback mechanism to sense the reaction force generated by the cooperation of the screw and the base plate lock hole in real time during the locking process, and uses the reaction force generated by the screw cooperation to drive the locking nail module as a whole to adaptively displace along the length direction of the main arm of the frame, and dynamically adjust the coincidence degree of the central axis of the locking nail batch rod and the central axis of the base plate lock hole, to ensure that the locking nail batch rod accurately screws the screw into the base plate lock hole, avoiding the failure of locking nails due to damage to the base plate lock hole and the screw, and greatly improving the qualified rate of locking nails; in addition, the reset transmission mechanism records the displacement of the locking nail module as a whole relative to the main arm during the locking process, and The energy storage mechanism of the adaptive deviation correction component is linked to the energy storage mechanism to generate potential energy for driving the reset transmission mechanism to reset the locking nail module. After the locking nail batch rod completes the locking and disengages the screw, the reset force generated by the energy storage mechanism acts on the reset transmission mechanism to make the reset transmission mechanism linked to the locking nail module automatically reset relative to the main arm as a whole. The next round of locking process can be quickly entered without manual intervention, which significantly improves the continuous operation capacity of the equipment. It is especially suitable for batch production scenarios of multiple lock holes in the bottom plate of the container, reduces the positioning accuracy requirements and the requirements for the position error of the bottom plate lock holes, and provides reliable technical support for the high-precision, high-efficiency and low-maintenance automated production of the container bottom plate lock holes.

[0034] 2. In the present invention, the reset transmission gear is rotatably connected to the lock nail mounting plate through a pivot shaft, the reset transmission rocker arm is fixed to the reset transmission gear, and the other end abuts against the energy storage mechanism, and the linear motion of the lock nail mounting plate is transmitted to the energy storage mechanism through the "gear rotation → rocker arm swing" method, avoiding the extra space required for traditional linear transmission, such as hydraulic cylinders and pneumatic cylinders, and the structure is more compact; at the same time, the combination of gear-rack transmission and rocker arm swing can efficiently convert linear displacement into rotational motion, reduce energy loss, and ensure that the energy storage mechanism can respond quickly and generate a reset force that matches the displacement.

[0035] 3. In the present invention, when a reaction force is generated due to the deviation between the screw and the base plate lock hole during the locking process, the linear displacement of the lock nail mounting plate will force the reset transmission gear to passively rotate through the reset transmission gear-reset transmission rack transmission, and the reset transmission rocker arm will swing accordingly and push the energy storage mechanism to generate a reverse reset force. The above-mentioned "displacement-rotation-force feedback" linkage mechanism has good buffering characteristics, that is, the engagement of the reset transmission gear and the reset transmission rack can absorb part of the impact energy, such as the impact force of the instantaneous collision between the screw and the base plate lock hole, thereby reducing the rigid impact on the mechanical structure and extending the service life.

[0036] 4. The present invention integrates the energy storage coil spring directly between the pivot shaft and the reset transmission gear, which can make its structure more compact and occupy less space.

[0037] 5. The reset transmission mechanism in the present invention is composed only of a reset transmission connecting rod and a reset transmission block, and the energy storage mechanism is a bilaterally symmetrical energy storage spring, which are all standardized mechanical parts. Compared with complex transmission structures such as gears and racks and energy storage coil springs, its processing technology is simpler and assembly does not require precise alignment, which greatly reduces the manufacturing cost; at the same time, daily maintenance only requires checking the elasticity of the energy storage spring or replacing the reset transmission connecting rod, without disassembling complex components, so maintenance is convenient and low-cost.

[0038] 6. The present invention arranges the joint elastic sleeve on the circumferential side of the universal joint, and respectively abuts against the end of the rotating drive shaft and the end of the locking nail rod, thereby forming an annular buffer area, which can effectively absorb and disperse external impact energy. At the same time, the annular abutment structure of the joint elastic sleeve can form a flexible constraint on the radial displacement of the locking nail rod, thereby avoiding the "shaking" phenomenon of the locking nail rod due to excessive swinging of the universal joint, enhancing the movement stability, and improving the quality of the locking nails.

[0039] 7. The multifunctional nail locking robot of the present invention reduces the positioning accuracy requirements and the requirements for the position error of the bottom plate lock holes by integrating the above-mentioned flexible nail locking mechanical arm, which can significantly improve the coverage range, nail locking reliability, production efficiency and equipment versatility of the nail locking operation. It is particularly suitable for the automated assembly scenarios of large-scale workpieces with multiple lock holes, such as container bottom plates.

[0040] 8. The present invention provides a nail locking method for a multifunctional nail locking robot. Using the above-mentioned multifunctional nail locking robot can significantly improve the nail locking accuracy, efficiency and equipment adaptability, and effectively solve the problems of traditional nail locking equipment relying on high-precision initial positioning, low efficiency of single workstation, and difficulty in adapting to complex working conditions. It is especially suitable for the automated assembly scenarios of large-scale, multi-locking hole workpieces such as container bottom plates.

Brief Description of the Drawings

[0041] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein:

[0042] Figure 1 This is one of the three-dimensional views of the multifunctional nail locking robot in the present invention.

[0043] Figure 2 This is the second stereoscopic view of the multifunctional nail locking robot in the present invention.

[0044] Figure 3 This is the front view of the multifunctional nail locking robot in the present invention.

[0045] Figure 4 This is a rear view of the multifunctional nail locking robot of the present invention.

[0046] Figure 5 This is one of the exploded views of the multifunctional nail locking robot in the present invention.

[0047] Figure 6 This is the second exploded view of the multifunctional nail locking robot in the present invention.

[0048] Figure 7 This is the third exploded view of the multifunctional nail locking robot in the present invention.

[0049] Figure 8 This is a three-dimensional diagram of Example 1 of the flexible locking nail mechanical arm in the present invention.

[0050] Figure 9 This is the front view of Example 1 of the flexible locking nail mechanical arm in the present invention.

[0051] Figure 10 This is a rear view of embodiment 1 of the flexible locking nail mechanical arm of the present invention.

[0052] Figure 11 This is a side view of Example 1 of the flexible locking nail mechanical arm in the present invention.

[0053] Figure 12 This is a three-dimensional diagram of the adaptive correction component of the flexible locking nail robot arm embodiment 1 of the present invention.

[0054] Figure 13 This is an exploded view of the adaptive correction component of Example 1 of the flexible locking nail robot arm in the present invention.

[0055] Figure 14 This is a stereoscopic diagram of Example 2 of the flexible locking nail mechanical arm in the present invention.

[0056] Figure 15 This is an exploded view of the adaptive correction component of Example 2 of the flexible locking nail robot arm in the present invention.

[0057] Figure 16 This is a rear view of Example 3 of the flexible locking nail mechanical arm in the present invention. [Specific implementation method]

[0058] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0059] like Figure 1-16 As shown, the present invention provides a flexible nail locking mechanical arm, comprising:

[0060] A main arm 1, the main arm 1 being movably mounted on a frame 4 of the multifunctional nail locking robot, the main arm 1 being provided with a secondary arm 11 that is slidable relative to the main arm 1 along its length, and the main arm 1 being provided with a second driving mechanism 12 for driving the secondary arm 11 to slide along the length of the main arm 1;

[0061] A locking nail module 2, wherein the locking nail module 2 has a locking nail mounting plate 21, and the locking nail module 2 is slidably connected to the main arm 1 through the locking nail mounting plate 21. The locking nail module 2 includes a locking nail driving unit 22 and a locking nail batch rod 23. The locking nail driving unit 22 is provided on the locking nail mounting plate 21. The locking nail batch rod 23 is directly or indirectly connected to the rotation drive shaft of the locking nail driving unit 22. The locking nail batch rod 23 is driven by the locking nail driving unit 22 to lock the screw 100 into the base plate lock hole 200;

[0062] The adaptive deviation-correcting assembly 3 includes a reset transmission mechanism 31 and an energy storage mechanism 32. The reset transmission mechanism 31 is provided between the locking nail mounting plate 21 and the auxiliary arm 11. The energy storage mechanism 32 is directly or indirectly provided on the locking nail mounting plate 21 and is interlocked with the reset transmission mechanism 31.

[0063] The flexible locking nail mechanical arm has a positioning mode and a locking nail mode: in the positioning mode, the auxiliary arm 11 can be driven by the second driving mechanism 12 to slide relative to the main arm 1, and the locking nail module 2 is driven by the reset transmission mechanism 31 and blocked by the energy storage mechanism 32, so that the locking nail module 2 is slid and adjusted as a whole along the length direction of the main arm 1; in the locking nail mode, the auxiliary arm 11 is stationary relative to the main arm 1, and when the central axis of the locking nail batch rod 23 deviates from the central axis of the bottom plate lock hole 200 in the length direction of the main arm 1, the locking nail module 2 is adaptively offset as a whole relative to the main arm 1, and during the adaptive offset process of the locking nail module 2 as a whole, the reset transmission mechanism 31 acts on the energy storage mechanism 32 so that the energy storage mechanism 32 generates potential energy for driving the reset transmission mechanism 31 to link the locking nail module 2 to automatically reset.

[0064] After the screw 100 is released from the screw, the reset force generated by the energy storage mechanism 32 acts on the reset transmission mechanism 31, and the reset transmission mechanism 31 then links the lock nail module 2 to reset the main arm 1 as a whole.

[0065] The flexible locking nail mechanical arm of the present invention includes an adaptive correction component. The reset transmission mechanism of the adaptive correction component uses a mechanical feedback mechanism to sense the reaction force generated by the cooperation of the screw and the lock hole of the base plate in real time during the locking process, and uses the reaction force generated by the cooperation of the screw to drive the locking nail module as a whole to adaptively displace along the length direction of the main arm of the frame, and dynamically adjust the coincidence degree of the central axis of the locking nail batch rod and the central axis of the lock hole of the base plate to ensure that the locking nail batch rod can accurately screw the screw into the lock hole of the base plate, avoiding the failure of locking nails due to damage to the lock hole and screw of the base plate, and greatly improving the qualified rate of locking nails; in addition, the reset transmission mechanism records the entire locking nail module during the locking process The displacement of the body relative to the main arm, and at the same time, the energy storage mechanism of the adaptive correction component is linked to enable the energy storage mechanism to generate potential energy for driving the reset transmission mechanism to link the locking nail module to reset. After the locking nail batch rod completes the locking and disengages the screw, the reset force generated by the energy storage mechanism acts on the reset transmission mechanism to enable the reset transmission mechanism to link the locking nail module to automatically reset relative to the main arm as a whole. The next round of locking process can be quickly entered without manual intervention, which significantly improves the continuous operation capability of the equipment. It is especially suitable for batch production scenarios of multiple lock holes in container bottom plates, and provides reliable technical support for high-precision, high-efficiency, low-maintenance automated production of container bottom plate lock holes.

[0066] The present invention provides four embodiments of the adaptive correction component:

[0067] Example 1, as Figure 8-13 As shown, the reset transmission mechanism 31 includes a reset transmission gear 311 and a reset transmission rack 312. The reset transmission rack 312 is relatively fixedly arranged on the auxiliary arm 11 and meshes with the reset transmission gear 311. The reset transmission gear 311 is rotatably connected to the lock pin mounting plate 21 through the pivot shaft 211; a reset transmission rocker 313 is relatively fixedly connected to the reset transmission gear 311, and the other end of the reset transmission rocker 313 abuts against the energy storage mechanism 32. In this embodiment, the reset transmission gear is rotatably connected to the lock nail mounting plate through a pivot shaft. One end of the reset transmission rocker arm is relatively fixed to the reset transmission gear, and the other end abuts against the energy storage mechanism. The linear motion of the lock nail mounting plate is transmitted to the energy storage mechanism through the "gear rotation → rocker arm swing" method, avoiding the extra space required for traditional linear transmission, such as hydraulic cylinders and pneumatic cylinders, and the structure is more compact; at the same time, the combination of gear-rack transmission and rocker arm swing can efficiently convert linear displacement into rotational motion, ensuring that the energy storage mechanism can respond quickly and generate a reset force that matches the displacement.

[0068] Example 1, as Figure 8-13As shown, the energy storage mechanism 32 includes two energy storage springs 321 symmetrically arranged on the left and right sides of the reset transmission rocker 313, and an energy storage support seat 212 for accommodating the energy storage springs 321. The energy storage support seat 212 is provided with a receiving hole 214 for accommodating the energy storage spring 321. The energy storage support seat 212 is directly or indirectly mounted on the locking pin mounting plate 21. One end of the energy storage spring 321 elastically abuts the corresponding side of the reset transmission rocker 313, while the other end of the energy storage spring 321 elastically abuts and is positioned within the energy storage support seat 212. Each energy storage support seat 212 is provided with an adjustment bolt 213 at the outer end for adjusting the elastic pressure of the energy storage spring 321 against the reset transmission rocker 313. In this embodiment, the symmetrical arrangement of the energy storage springs 321 on the left and right sides of the reset transmission rocker 313 ensures that the reset transmission rocker is subjected to uniform force during movement, avoiding deformation or abnormal wear caused by unilateral stress concentration, and effectively improving the smoothness and reliability of the operation of the adaptive correction assembly 3. Accommodating energy storage spring 321 within accommodating hole 214 provides a guiding constraint on the direction of expansion and contraction of energy storage spring 321, preventing it from deflecting or twisting during compression or extension. This ensures precise contact between the energy storage spring and reset transmission rocker 313, improving energy transfer efficiency. By directly adjusting the preload force of energy storage spring 321 via adjusting bolt 213, the spring force can be flexibly adjusted based on actual operating conditions (such as load changes and reset speed requirements), expanding the applicability of adaptive correction assembly 3 and enhancing its versatility.

[0069] Example 2, as Figure 14 、 15 As shown, the reset transmission mechanism 31 includes a reset transmission connecting rod 314 and a reset transmission block 315. One end of the reset transmission connecting rod 314 is relatively fixedly connected to the locking pin mounting plate 21, and the other end of the reset transmission connecting rod 314 is connected to the reset transmission block 315. The energy storage mechanism 32 includes two symmetrically arranged energy storage springs 321. One end of each energy storage spring 321 elastically abuts against the corresponding side of the reset transmission block 315, and the other end of each energy storage spring 321 elastically abuts against the correction connection seat 111 fixedly connected to the auxiliary arm 1. Preferably, the correction connection seat 111 has a receiving groove 112, and the reset transmission block 315 is placed in the receiving groove 112. In this embodiment, the reset transmission mechanism is composed only of a reset transmission connecting rod and a reset transmission block, and the energy storage mechanism is a bilaterally symmetrical energy storage spring, which are all standardized mechanical parts. Compared with complex transmission structures such as gears and racks and energy storage coil springs, its processing technology is simpler and assembly does not require precise alignment, which greatly reduces manufacturing costs; at the same time, daily maintenance only requires checking the elasticity of the energy storage spring or replacing the reset transmission connecting rod, without disassembling complex components, making maintenance convenient and low-cost.

[0070] Example 3, as Figure 16As shown, the reset transmission mechanism 31 includes a reset transmission gear 311 and a reset transmission rack 312. The reset transmission rack 312 is directly or indirectly provided on the main arm 1 and meshes with the reset transmission gear 311. The reset transmission gear 311 is rotatably connected to the lock nail mounting plate 21 via the pivot shaft 211. The energy storage mechanism 32 includes two energy storage tension springs 322. One end of each of the two energy storage tension springs 322 is directly or indirectly fixedly connected to the lock nail mounting plate 21, and the other end of each of the two energy storage tension springs 322 is eccentrically and vertically offset and connected to the reset transmission gear 311. In this embodiment, two energy storage tension springs are eccentrically connected to the reset transmission gear. When the reset transmission gear 311 is driven to rotate by the reset transmission rack 312, the energy storage tension springs on both sides are correspondingly stretched or compressed, achieving stable energy storage. When resetting is required, the energy storage tension springs release energy to push the reset transmission gear 311 to rotate in the opposite direction, driving the entire lock nail module to automatically reset. The two energy storage tension springs 322 adopt an "upper and lower offset" connection method (that is, the two energy storage tension springs are asymmetrical but offset relative to the center of the reset transmission gear 311), which can effectively solve the torque imbalance problem caused by unilateral energy storage; the upper and lower offset energy storage tension springs 322 provide reverse tension at different angles during the rotation of the reset transmission gear 311, forming a symmetrical torque compensation, avoiding the reset transmission gear 311 from being overloaded, vibrating or stuck due to excessive force on one side; at the same time, the offset layout can adjust the distance (lever arm) between the line of action of the energy storage tension spring 322 and the rotation center of the reset transmission gear 311, flexibly matching the reset force requirements under different working conditions, and improving the adaptability of the mechanism.

[0071] Example 4. Example 4 differs from Example 3 in that the energy storage mechanism 32 includes a pair of energy storage coil springs disposed between the pivot shaft 211 and the reset transmission gear 311 and with opposite winding directions, which are not shown in the figure. Specifically, one set of energy storage coil springs is configured to drive the reset transmission gear 311 to rotate forward and reset, and the other set of energy storage coil springs is configured to drive the reset transmission gear 311 to rotate backward and reset, such as one end of the energy storage coil spring is relatively fixedly connected to the pivot shaft 211, and the other end is relatively fixedly connected to the reset transmission gear 311. By directly integrating the energy storage coil springs between the pivot shaft and the reset transmission gear 311, this embodiment can make its structure more compact and occupy less space.

[0072] like Figure 12 、 13As shown in Figures 16 and 17 , the locking pin mounting plate 21 is connected to an adjustment mounting plate 310 that is adjustable relative to the locking pin mounting plate 21. The adjustment mounting plate 310 is provided with an adjustment connection hole 3101 corresponding to the locking pin mounting plate 21. The adjustment mounting plate 310 is adjustably connected to the locking pin mounting plate 21 via the adjustment connection hole 3101 and the adjustment bolt. The reset transmission gear 311 is rotatably connected to the adjustment mounting plate 310 via the pivot shaft 211. Specifically, the reset transmission gear 311 is provided with an arc-shaped waist hole for avoiding during debugging and installation. During debugging, the reset transmission gear 311 is rotated to fully engage the reset transmission rack 312, ensuring uniform force on the left and right sides. The adjustment connection hole 3101 is an elongated hole. During the adjustment process, the adjustment bolt is loosened to release the locking state of the adjustment mounting plate 310 relative to the locking nail mounting plate 21. The adjustment mounting plate 310 is then adjusted downward relative to the locking nail mounting plate 21 to separate the reset transmission gear 311 and the reset transmission rack 312. The locking nail module 2 is then slid along the length direction of the main arm 1 to the desired adjustment position. The displacement mounting plate 310 is then adjusted upward relative to the locking nail mounting plate 21 to engage the corresponding teeth of the reset transmission gear 311 and the reset transmission rack 312. The adjustment bolt is then tightened to lock the adjustment mounting plate 310 relative to the locking nail mounting plate 21. This embodiment has the characteristic of convenient installation and debugging. By integrating the reset transmission mechanism 31 and the energy storage mechanism 32 on the adjustment mounting plate 310, the present invention can make the structure more compact and easier to assemble and maintain, significantly improving the accuracy, efficiency, and reliability of the flexible locking nail robot arm, while reducing manufacturing costs and maintenance difficulties. This design is a typical practice of modularization and miniaturization of flexible locking nail robot arms.

[0073] like Figure 8-11 As shown, the rotary drive shaft of the locking nail driving unit 22 is flexibly connected to the locking nail batch rod 23 through a universal joint 24, and the universal joint 24 is provided with a joint elastic sleeve 25 for providing elastic reset to the locking nail batch rod 23 relative to the rotary drive shaft of the locking nail driving unit 22. In this embodiment, the joint elastic sleeve is sleeved on the circumferential side of the universal joint, and abuts against the end of the rotary drive shaft and the end of the locking nail batch rod above and below, forming an annular buffer area, which can effectively absorb and disperse external impact energy. At the same time, the annular abutment structure of the joint elastic sleeve can form a flexible constraint on the radial displacement of the locking nail batch rod, avoiding the "wobbling" phenomenon of the locking nail batch rod due to excessive swinging of the universal joint, enhancing the smoothness of movement, and improving the quality of the locking nails.

[0074] like Figure 1-11As shown in Figures 14 and 16, a nail receiving assembly 26 for accommodating a screw 100 is slidably mounted on the nail mounting plate 21. The nail driving unit 22 is slidably mounted on the nail mounting plate 21 and rotates the screw 100 in the nail receiving assembly 26 by driving the nail locking rod 23. A sliding driving mechanism 27 is provided between the nail driving unit 22 and the nail mounting plate 21 for driving the nail driving unit 22 to slide relative to the nail mounting plate 21 so that the nail locking rod 23 extends into the nail receiving assembly 26. This embodiment realizes the automation and high-precision control of the entire process of nail feeding, positioning, and driving through the design of "independent sliding of the nail receiving assembly and the nail driving unit 22 and the nail locking rod 23 of the nail locking module + linkage of the sliding driving mechanism", while taking into account multi-specification compatibility, maintenance convenience, and energy economy; it integrates the scattered "nail placement-positioning-driving" processes in traditional nail locking equipment into one, significantly improving the automation level, operating efficiency, and nail locking quality of the equipment.

[0075] like Figure 1-16 As shown, in order to synchronously drive the corresponding sliding adjustment of several groups of locking nail modules, the main arm 1 is provided with a secondary arm 11 that can slide relative to the main arm 1 along its length direction, the reset transmission mechanism 31 is set between the locking nail mounting plate 21 and the secondary arm 11, and the main arm 1 is provided with a second driving mechanism 12 for driving the secondary arm 11 to slide along the length direction of the main arm 1; the secondary arm 11 is driven by the reset transmission mechanism 31 and blocked by the energy storage mechanism 32, so that the locking nail module 2 as a whole slides along the length direction of the main arm 1. Specifically, as Figure 10 、 16 As shown, the reset transmission rack 312 is provided on the auxiliary arm 11. In the process of adjusting the synchronous movement of several groups of locking nail modules to the left or right along the length of the main arm, the second driving mechanism 12 drives the auxiliary arm 11 to drive the reset transmission rack 312 to slide accordingly, so that the reset transmission rack 312 and the reset transmission gear 311 are meshed and transmitted. At this time, since the damping force applied by the energy storage mechanism 32 to the reset transmission gear 311 is greater than the driving force of the reset transmission rack 312 on the reset transmission gear 311, the reset transmission gear 311 cannot overcome the damping force and rotate, and can only "passively translate" along the sliding direction of the reset transmission rack 312, thereby driving the locking nail modules to move accordingly along the main arm. Or, as Figure 14 As shown, the energy storage spring 321 is placed between the reset transmission block 315 and the auxiliary arm 11.

[0076] like Figure 1-16As shown, the present invention is a multifunctional nail locking robot, which adopts a flexible nail locking robot arm as described above, including a frame 4, a main arm slide rail 41 extending along the Y-axis direction is provided on the frame 4, and the main arm 1 can be slidably connected between the two main arm slide rails 41, and a first driving mechanism 42 for driving the main arm 1 to slide along the Y-axis direction of the frame 4 is provided between the main arm slide rail 41 and the frame 4, and a mechanism for fine-tuning the inclination of the main arm 1 in the XY-axis plane is provided between the main arm slide rail 41 and the end of the main arm 1 or between the main arm 1 and the frame 4. The tilt adjustment mechanism 43 of the yaw is provided, the main arm 1 is provided with a secondary arm 11 which can slide along the length direction of the main arm 1, and the main arm 1 is provided with a second driving mechanism 12 for driving the secondary arm 11 to slide along the length direction of the main arm 1; the multifunctional locking nail robot is provided with a visual detection mechanism 44 for detecting the lock hole 200 of the container bottom plate; a plurality of locking nail modules 2 are slidably connected to the main arm 1 at intervals along the X-axis direction; before locking, the spacing between two adjacent locking nail modules 2 is pre-calibrated and set according to the spacing between two adjacent bottom plate lock holes. The locking nail module 2 is linked to the auxiliary arm 11 through a reset transmission mechanism 31. The auxiliary arm 11 enables the plurality of locking nail modules 2 to slide cooperatively along the length direction of the main arm 1 for adjustment through the transmission of the reset transmission mechanism 31 and the blocking of the energy storage mechanism 32. The rotary drive shaft of each locking nail driving unit 22 is flexibly connected to the locking nail batch rod 23 through a universal joint 24. The universal joint 24 is provided with a joint elastic sheath 25 for providing elastic reset to the locking nail batch rod 23 relative to the rotary drive shaft of the locking nail driving unit 22. The multifunctional locking nail robot of the present invention, by integrating the above-mentioned flexible locking nail mechanical arm, can significantly improve the coverage range, positioning accuracy, production efficiency and equipment versatility of the locking nail operation, and is particularly suitable for the automated assembly of large-scale workpieces with multiple locking holes, such as container bottom plates.

[0077] The structures of the first drive mechanism 42, the inclination adjustment mechanism 43, the second drive mechanism 12, the visual detection mechanism 44 and the like in the present invention can be referred to the corresponding structures of the locking method of a multifunctional locking robot for locking nails of a container bottom plate and the application document with application number 202411862792.3 applied by the present applicant, and will not be repeated here.

[0078] The present invention provides a nail locking method for a multifunctional nail locking robot, which uses the multifunctional nail locking robot described above. The nail locking method includes the following steps:

[0079] S1. Move the multifunctional locking robot to the bottom plate of the container.

[0080] S2, positioning the main arm 1, driving the main arm 1 to slide along the Y-axis through the first drive mechanism 42, moving the main arm 1 to the position directly above the station to be locked or the target position; or driving the multifunctional locking robot to move as a whole, moving the main arm 1 to the position directly above the station to be locked or the target position. Step S2 provides two main arm positioning methods: either the main arm can be driven by the first drive mechanism to slide along the Y-axis for precise positioning, or the position can be adjusted by moving the multifunctional locking robot as a whole. This "local fine-tuning + overall movement" dual-mode design can flexibly cope with scenarios such as uneven distribution of lock holes on the container floor, limited space, or initial position deviation of the multifunctional locking robot. There is no need to frequently adjust the overall layout of the multifunctional locking robot, which significantly shortens the positioning preparation time and expands the robot's adaptability to complex working environments.

[0081] S3. Start the nail locking operation: The nail locking driving unit 22 is started, driving the nail locking rod 23 to rotate and apply downward pressure, trying to screw the screw 100 into the bottom plate lock hole 200.

[0082] S4, adaptive deviation correction: During the process of the locking nail driving unit 22 driving the screw 100 to connect with the base plate lock hole 200 through the locking nail rod 23, if the central axis of the locking nail rod 23 deviates from the central axis of the base plate lock hole 200 in the length direction of the main arm 1, the locking nail module 2 will be subjected to the reaction force in the X-axis direction generated by the cooperation between the screw 100 and the base plate lock hole 200, causing the locking nail module 2 to adaptively offset relative to the main arm 1 as a whole, until the central axis of the locking nail rod 23 coincides with or nearly coincides with the central axis of the base plate lock hole 200. The design of step S4 breaks through the limitation of traditional locking nail equipment that relies on "absolute precision in pre-positioning". It automatically compensates for slight deviations through dynamic adjustment, avoids the problems of slipping teeth, locking nail rod jamming or locking failure caused by misalignment of the central axis, and greatly improves the success rate of locking nails.

[0083] S5. Complete the locking of the nails: When the central axis of the locking rod 23 coincides or nearly coincides with the central axis of the base plate locking hole 200, the locking rod 23 is continued to be driven by the locking driving unit 22 to rotate until the screw 100 is completely locked with the base plate locking hole 200;

[0084] S6, separation and reset: After the nail locking is completed, the nail locking drive unit 22 is controlled to stop the rotation power output and lift the nail locking rod 23, so that the nail locking rod 23 is separated from the screw 100, and then the reset force generated by the energy storage mechanism 32 acts to reset the transmission mechanism 31 to drive the nail locking module 2 to automatically reset relative to the main arm 1 as a whole, completing a single nail locking cycle. Step S6 drives the nail locking module to automatically reset through the reset force of the energy storage mechanism 32, without the need for additional power input or manual operation. This design eliminates the tedious steps of "manual return" or "additional reset mechanism" in traditional nail locking equipment, shortens the time of a single nail locking cycle (from "locking nail-separation-manual reset" to "locking nail-separation-automatic reset"), greatly improving the nail locking efficiency per unit time, and is particularly suitable for batch nail locking operation scenarios.

[0085] The present invention provides a nail locking method for a multifunctional nail locking robot. Using the above-mentioned multifunctional nail locking robot, the nail locking accuracy, efficiency and equipment adaptability can be significantly improved, and the problems of traditional nail locking equipment relying on high-precision initial positioning, low efficiency of a single workstation, and difficulty in adapting to complex working conditions are effectively solved. It is particularly suitable for the automated assembly scenarios of large-scale, multi-locking hole workpieces such as container bottom plates.

[0086] In order to further expand the adaptive capability of the multifunctional locking nail robot, the step S4 also includes S4-1. If the center axis of the locking nail rod 23 deviates relatively from the center axis of the base plate lock hole 200 in the Y-axis direction, the locking nail rod 23 will be subjected to the screw 100 and the base plate lock hole 200 to cooperate to generate a reaction force in the Y-axis direction, so that the locking nail rod 23 is elastically offset relative to the rotation drive axis of the locking nail drive unit 22 in the Y-axis direction through the universal joint 24 and the joint elastic sleeve 25 until the center axis of the locking nail rod 23 coincides or is nearly coincident with the center axis of the base plate lock hole 200; the step S6 also includes S6-1. Accordingly, the joint elastic sleeve 25 elastically acts on the universal joint 24, so that the locking nail rod 23 is reset relative to the rotation drive axis of the locking nail drive unit 22.

Claims

1. A flexible nail locking robot arm, characterized in that include: A main arm (1), the main arm (1) being movably mounted on a frame (4) of a multifunctional nail locking robot, the main arm (1) being provided with a secondary arm (11) capable of sliding relative to the main arm (1) along its length direction, and the main arm (1) being provided with a second driving mechanism (12) for driving the secondary arm (11) to slide along the length direction of the main arm (1); A locking nail module (2), wherein the locking nail module (2) has a locking nail mounting plate (21), and the locking nail module (2) is slidably connected to the main arm (1) through the locking nail mounting plate (21), and the locking nail module (2) includes a locking nail driving unit (22) and a locking nail batching rod (23), wherein the locking nail driving unit (22) is arranged on the locking nail mounting plate (21), and the locking nail batching rod (23) is directly or indirectly connected to the rotating driving shaft of the locking nail driving unit (22), and the locking nail batching rod (23) is driven by the locking nail driving unit (22) to lock the screw (100) into the bottom plate lock hole (200); An adaptive deviation-correcting assembly (3), the adaptive deviation-correcting assembly (3) comprising a reset transmission mechanism (31) and an energy storage mechanism (32), the reset transmission mechanism (31) being arranged between the locking nail mounting plate (21) and the auxiliary arm (11), the energy storage mechanism (32) being directly or indirectly arranged on the locking nail mounting plate (21) and being arranged in linkage with the reset transmission mechanism (31); The flexible nail locking mechanical arm has a positioning mode and a nail locking mode: in the positioning mode, the auxiliary arm (11) can be driven by the second driving mechanism (12) to slide relative to the main arm (1), and the nail locking module (2) is driven by the reset transmission mechanism (31) and blocked by the energy storage mechanism (32), so that the nail locking module (2) is slidably adjusted along the length direction of the main arm (1); in the nail locking mode, the auxiliary arm (11) is stationary relative to the main arm (1), and when the central axis of the nail locking rod (23) and the central axis of the bottom plate lock hole (200) deviate relative to each other in the length direction of the main arm (1), the nail locking module (2) is adaptively offset relative to the main arm (1), and during the adaptive offset process of the nail locking module (2), the reset transmission mechanism (31) acts on the energy storage mechanism (32) so that the energy storage mechanism (32) generates potential energy for driving the reset transmission mechanism (31) to automatically reset the nail locking module (2).

2. A flexible nail locking robot arm according to claim 1, characterized in that The reset transmission mechanism (31) comprises a reset transmission gear (311) and a reset transmission rack (312). The reset transmission rack (312) is relatively fixedly arranged on the auxiliary arm (11) and meshes with the reset transmission gear (311). The reset transmission gear (311) is rotatably connected to the locking pin mounting plate (21) via a pivot shaft (211). A reset transmission rocker (313) is relatively fixedly connected to the reset transmission gear (311), and the other end of the reset transmission rocker (313) abuts against the energy storage mechanism (32).

3. A flexible nail locking robot arm according to claim 2, characterized in that The energy storage mechanism (32) comprises two energy storage springs (321) symmetrically arranged on the left and right sides of the reset transmission rocker (313) and an energy storage support seat (212) for accommodating the energy storage springs (321). The energy storage support seat (212) is directly or indirectly arranged on the lock nail mounting plate (21). One end of the energy storage spring (321) elastically abuts against the corresponding side of the reset transmission rocker (313), and the other end of the energy storage spring (321) elastically abuts and is placed in the energy storage support seat (212). An adjusting bolt (213) for adjusting the elastic pressing of the energy storage spring (321) against the reset transmission rocker (313) is provided at the outer end of each energy storage support seat (212).

4. The flexible nail locking robot arm according to claim 1, characterized in that The reset transmission mechanism (31) includes a reset transmission gear (311) and a reset transmission rack (312). The reset transmission rack (312) is relatively fixedly arranged on the auxiliary arm (11) and meshes with the reset transmission gear (311). The reset transmission gear (311) is rotatably connected to the locking nail mounting plate (21) via a pivot shaft (211). The energy storage mechanism (32) includes two energy storage tension springs (322), one end of each of the two energy storage tension springs (322) is directly or indirectly fixedly connected to the locking nail mounting plate (21), and the other end of each of the two energy storage tension springs (322) is eccentrically and vertically staggeredly connected to the reset transmission gear (311); Alternatively, the energy storage mechanism (32) includes a pair of energy storage coil springs disposed between the pivot shaft (211) and the reset transmission gear (311) and having opposite winding directions.

5. A flexible nail locking robot arm according to any one of claims 2 to 4, characterized in that The locking nail mounting plate (21) is connected to an adjustment mounting plate (310) that can be adjusted relative to the locking nail mounting plate (21). The adjustment mounting plate (310) is provided with an adjustment connection hole (3101) corresponding to the locking nail mounting plate (21). The reset transmission gear (311) is rotatably connected relative to the adjustment mounting plate (310) via a pivot shaft (211).

6. The flexible nail locking robot arm according to claim 1, characterized in that The reset transmission mechanism (31) comprises a reset transmission connecting rod (314) and a reset transmission block (315), one end of the reset transmission connecting rod (314) is relatively fixedly connected to the locking nail mounting plate (21), and the other end of the reset transmission connecting rod (314) is connected to the reset transmission block (315); the energy storage mechanism (32) comprises two symmetrically arranged energy storage springs (321), one end of the energy storage spring (321) elastically abuts against the corresponding side of the reset transmission block (315), and the other end of the energy storage spring (321) elastically abuts against the deviation correction connection seat (111) fixedly connected to the auxiliary arm (1).

7. The flexible nail locking robot arm according to claim 1, characterized in that The rotation drive shaft of the locking nail driving unit (22) is flexibly connected to the locking nail batch rod (23) through a universal joint (24), and the universal joint (24) is provided with a joint elastic sheath (25) for providing elastic force to reset the locking nail batch rod (23) relative to the rotation drive shaft of the locking nail driving unit (22).

8. A multifunctional nail locking robot, characterized in that A flexible nail locking robot arm as claimed in claim 1 is used, comprising a frame (4), wherein the frame (4) is provided with a main arm slide rail (41) extending along the Y-axis direction, the main arm (1) is slidably connected between the two main arm slide rails (41), and a first driving mechanism (42) for driving the main arm (1) to slide along the Y-axis direction of the frame (4) is provided between the main arm (1) and the frame (4), and a plurality of nail locking modules (2) are slidably connected to the main arm (1) at intervals along the X-axis direction, and the nail locking modules (2) are connected to the auxiliary arm (11) through a reset transmission mechanism (31). The auxiliary arm (11) is driven by the second driving mechanism (12) and the plurality of locking nail modules (2) are cooperatively slid along the length direction of the main arm (1) for adjustment through the transmission of the reset transmission mechanism (31) and the blocking of the energy storage mechanism (32); the rotary drive shaft of each locking nail driving unit (22) is flexibly connected to the locking nail batch rod (23) through a universal joint (24), and the universal joint (24) is provided with a joint elastic sleeve (25) for providing elastic reset to the locking nail batch rod (23) relative to the rotary drive shaft of the locking nail driving unit (22).

9. A nail locking method of a multifunctional nail locking robot, using the multifunctional nail locking robot as claimed in claim 8, characterized in that The nail locking method comprises the following steps: S1. Move the multifunctional nail locking robot to the bottom plate of the container; S2, positioning the main arm (1), driving the main arm (1) to slide along the Y-axis direction through the first driving mechanism (42), and moving the main arm (1) to the position directly above the station to be locked or the target position; or driving the multifunctional nail locking robot to move as a whole, and moving the main arm (1) to the position directly above the station to be locked or the target position; S3, start the locking operation, the locking drive unit (22) starts, drives the locking rod (23) to rotate and applies downward pressure, and attempts to screw the screw (100) into the bottom plate lock hole (200); S4, adaptive deviation correction, when the locking nail driving unit (22) drives the screw (100) to connect with the base plate lock hole (200) through the locking nail rod (23), if the central axis of the locking nail rod (23) and the central axis of the base plate lock hole (200) are relatively deviated in the length direction of the main arm (1), the locking nail module (2) will be subjected to the reaction force generated by the cooperation between the screw (100) and the base plate lock hole (200), causing the locking nail module (2) to adaptively deviate as a whole relative to the main arm (1) until the central axis of the locking nail rod (23) and the central axis of the base plate lock hole (200) coincide or nearly coincide; S5, completing the locking of the nails. When the central axis of the locking nail rod (23) coincides or nearly coincides with the central axis of the base plate locking hole (200), the locking nail driving unit (22) continues to drive the locking nail rod (23) to rotate until the screw (100) is locked and connected to the base plate locking hole (200); S6, separation and reset. After the nail locking is completed, the nail locking drive unit (22) is controlled to stop the rotational power output and the nail locking rod (23) is lifted, so that the nail locking rod (23) is separated from the screw (100). Then, the reset force generated by the energy storage mechanism (32) acts on the reset transmission mechanism (31) to drive the nail locking module (2) to automatically reset relative to the main arm (1) as a whole, completing a single nail locking cycle.

10. A nail locking method for a multifunctional nail locking robot according to claim 9, characterized in that The step S4 further includes S4-1, if the central axis of the locking nail rod (23) deviates relatively from the central axis of the base plate lock hole (200) in the Y-axis direction, the locking nail rod (23) will be subjected to another reaction force generated by the screw (100) and the base plate lock hole (200) cooperating, so that the locking nail rod (23) is elastically offset relative to the rotation drive shaft of the locking nail drive unit (22) in the Y-axis direction through the universal joint (24) and the joint elastic sleeve (25) until the central axis of the locking nail rod (23) coincides with or nearly coincides with the central axis of the base plate lock hole (200); Said step S6 also includes S6-1, whereby the joint elastic sheath (25) elastically acts on the universal joint (24) so ​​that the locking nail batch rod (23) is reset relative to the rotation drive shaft of the locking nail drive unit (22).

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