Robot nailing machine

Abstract

The utility model discloses a robot nailing machine which comprises an E-shaped machine table and a base fixed to one side of the back face of the E-shaped machine table, a six-axis mechanical arm is installed at the top end of the base, a supporting plate is installed at the tail end of an arm body of the six-axis mechanical arm, a nailing gun body is arranged on one side of the supporting plate, and the nailing gun body is arranged on the other side of the supporting plate. A four-point type elastic crumple structure is arranged between the supporting plate and the nailing gun body, lifting units are arranged on the two sides of the top of the E-shaped machine table, and lower pressing plates are installed at the movable ends of the lifting units. The impact force caused by the motion inertia of the robot arm is absorbed and reduced, so that the impact on the nailing gun body and a workpiece is reduced, the risk of damage is reduced, the contact between the nailing gun body and the surface of the workpiece is more uniform and stable due to the four-point elastic crumple structure, and the service life of the nailing gun is prolonged. And the condition of deviation from a nail connection point caused by overlarge impact force is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of plate nailing, in particular to a robot nailing machine. Background Art

[0002] The plate nailing machine based on a six-axis memory robot is an automated equipment designed to replace traditional manual operations and realize the automation of the nailing process in plate processing and production. Its main structure includes mechanical structure, six-axis memory robot system and control system. The mechanical structure provides the framework and support of the machine. The six-axis robot system is the core component with flexible movement ability. The control system is responsible for precise control and scheduling of the robot. The structural principle of this equipment is based on six-axis robot technology, sensor technology and advanced control algorithm. The accuracy and stability of nailing operation are achieved through precise calculation and adjustment. The working process includes six-axis position memory, workpiece positioning, nailing planning, robot operation, quality inspection and result output. Through advanced technology and precise control, the automation of plate nailing operation is realized. However, during the operation of the current robot nailing machine, the staff is generally required to pre-plan and simulate the action position of the robot arm so that the subsequent robot can memorize the action and complete the nailing operation. However, when the robot moves the nail gun to the designated nailing position on the plate, the inertia of the robot arm will cause the gun end of the nail gun to collide with the plate, which will cause damage to the surface of the workpiece or damage to the nail gun itself. The impact contact will also cause the position of the nail gun to shift, resulting in inaccurate nailing point position, nail deflection and other problems, affecting the quality and appearance of the product. Utility Model Content

[0003] The utility model aims to provide a robot nailing machine, which adds a four-point elastic collapse structure interconnected with a nailing gun at the end of a six-axis robot arm to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot nailing machine, comprising an E-shaped machine platform and a base fixed on one side of the back of the E-shaped machine platform, and a six-axis robotic arm is installed on the top of the base, a support plate is installed at the end of the arm of the six-axis robotic arm, a nail gun body is arranged on one side of the support plate, and a four-point elastic collapse structure is arranged between the support plate and the nail gun body, lifting units are arranged on both sides of the top of the E-shaped machine platform, a lower pressure plate is installed on the movable end of the lifting unit, an upper limit structure is installed on the top of the E-shaped machine platform, and a PLC control panel electrically connected to the lifting unit and the input end of the six-axis robotic arm is installed on one side of the surface of the E-shaped machine platform.

[0005] Preferably, the upper limit structure includes vertical plates fixed on both sides of the top of the E-shaped machine platform, and an upper pressing plate fixed on the top of the two vertical plates.

[0006] Preferably, the top ends of the upper pressing plate and the lower pressing plate are both provided with rectangular cutting grooves, and the top-view cross-sectional shapes of the upper pressing plate and the lower pressing plate are U-shaped.

[0007] Preferably, the lifting unit includes a cylinder installed on both sides of the top of the E-shaped machine platform, and a C-mouth seat installed on the top of the cylinder piston rod, and the top of the C-mouth seat is fixedly connected to the bottom end of the lower pressure plate.

[0008] Preferably, guide columns are fixed on both sides of the bottom end of the lower pressing plate, and the bottom ends of the guide columns penetrate to the outside of the E-shaped machine platform.

[0009] Preferably, the four-point elastic collapse structure includes a guide sleeve fixed on the outer wall of one side of the support plate, and a steel column slidably installed inside the guide sleeve, a flat plate is fixed to one end of the steel column, and the other end of the steel column passes through the outside of the support plate and is fixed with a stopper, and a coil spring is mounted on the outer peripheral surface of the steel column between the guide sleeve and the flat plate.

[0010] Preferably, the guide sleeve and the flat plate are both made of stainless steel.

[0011] Compared with the prior art, the beneficial effect of the utility model is as follows: the robot nailing machine is provided with a four-point elastic collapse structure and a support plate and other structures that cooperate with each other. When the gun end of the nail gun body contacts the surface of the plate, the nail gun body will move toward the direction of the support plate under the pressure of the arm end of the six-axis robot arm. At this time, the four-point elastic collapse structure collapses, so that the nail gun body can move back a distance, thereby absorbing and reducing the impact force caused by the inertia of the robot arm movement, thereby reducing the impact on the nail gun body and the workpiece, reducing the risk of damage, and the four-point elastic collapse structure can make the contact between the nail gun body and the workpiece surface more uniform and stable, avoiding the deviation of the nail connection point due to excessive impact force. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0013] Figure 2 It is a side view structural schematic diagram of the utility model;

[0014] Figure 3 The three-dimensional structure of the utility model is shown in FIG. Figure 1 ;

[0015] Figure 4 The three-dimensional structure of the utility model is shown in FIG. Figure 2 ;

[0016] Figure 5 For this utility model Figure 3 The enlarged structural diagram at A in the middle;

[0017] In the figure: 1. E-shaped machine; 2. vertical plate; 3. upper pressure plate; 4. lifting unit; 401. cylinder; 402. C-mouth seat; 403. guide column; 5. lower pressure plate; 6. base; 7. six-axis robot arm; 8. support plate; 9. four-point elastic collapse structure; 901. guide sleeve; 902. steel column; 903. spiral spring; 904. stopper; 905. flat plate; 10. nail gun body; 11. PLC control panel. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] See also Figure 1-5 The utility model provides an embodiment: a robot nailing machine, comprising an E-shaped machine platform 1 and a base 6 fixed on one side of the back of the E-shaped machine platform 1, and a six-axis mechanical arm 7 is installed on the top of the base 6, a support plate 8 is installed at the end of the arm of the six-axis mechanical arm 7, a nail gun body 10 is arranged on one side of the support plate 8, and a four-point elastic collapse structure 9 is arranged between the support plate 8 and the nail gun body 10, and the six-axis mechanical arm 7 controls the nail gun body 10 to move according to the motion trajectory, speed, and strength preset by the staff;

[0020] Both sides of the top of the E-shaped machine 1 are provided with lifting units 4, the movable end of the lifting unit 4 is provided with a lower pressing plate 5, the top of the E-shaped machine 1 is provided with an upper limit structure, and one side of the surface of the E-shaped machine 1 is provided with a PLC control panel 11 electrically connected to the lifting unit 4 and the input end of the six-axis robot 7;

[0021] The upper limit structure includes vertical plates 2 fixed on both sides of the top of the E-shaped machine 1, and an upper pressing plate 3 fixed on the top of the two vertical plates 2. The tops of the upper pressing plate 3 and the lower pressing plate 5 are both provided with rectangular cutting grooves. The top view cross-sectional shape of the upper pressing plate 3 and the lower pressing plate 5 is U-shaped. The lifting unit 4 is turned on by the PLC control panel 11 to work, and the lifting unit 4 drives the lower pressing plate 5 to move upward until the lower pressing plate 5 and the upper pressing plate 3 press the plate workpiece tightly. By limiting and stabilizing the plate, it can be ensured that the plate maintains a fixed position and posture during the nailing process;

[0022] The lifting unit 4 includes a cylinder 401 installed on both sides of the top of the E-shaped machine platform 1, and a C-mouth seat 402 installed on the top of the piston rod of the cylinder 401, and the top of the C-mouth seat 402 is fixedly connected to the bottom of the lower pressing plate 5;

[0023] Guide columns 403 are fixed on both sides of the bottom of the lower pressing plate 5. The bottom ends of the guide columns 403 extend through the outside of the E-shaped machine 1. The guide columns 403 guide and support the lifting and lowering movement of the lower pressing plate 5.

[0024] When the plate workpiece is placed on the top of the lower pressing plate 5, the cylinder 401 is controlled by the PLC control panel 11 to work, and the cylinder 401 pushes the C-mouth seat 402 and the lower pressing plate 5 to move upward until the upper pressing plate 3 and the lower pressing plate 5 firmly clamp the workpiece, which ensures that the plate remains stable during the nailing process, and reduces the problems of nailing position deviation or nail deflection caused by the movement or shaking of the plate;

[0025] The four-point elastic collapse structure 9 includes a guide sleeve 901 fixed on the outer wall of one side of the support plate 8, and a steel column 902 slidably installed inside the guide sleeve 901. The guide sleeve 901 and the plate 905 are both made of stainless steel. Stainless steel has good strength and toughness, can withstand large loads and impacts, and is not easy to deform or break.

[0026] A flat plate 905 is fixed to one end of the steel column 902, and a stopper 904 is fixed to the other end of the steel column 902 through the outside of the support plate 8. A coil spring 903 is sleeved on the outer circumference of the steel column 902 between the guide sleeve 901 and the flat plate 905. When the gun end of the nail gun body 10 contacts the plate, the nail gun body 10 drives the flat plate 905, the steel column 902, and the stopper 904 to slide together. At this time, the steel column 902 slides inside the guide sleeve 901, and the coil spring 903 is squeezed and compressed by the guide sleeve 901 and the flat plate 905.

[0027] When the nail gun body 10 is separated from the plate, the steel column 902, the stopper 904, the nail gun body 10 and other components will be reset under the action of gravity and the coil spring 903, thereby reducing the inertial impact force caused by the movement of the six-axis robot arm 7 and reducing the damage to the nail gun body 10 caused by impact and vibration.

[0028] When the embodiment of the present application is in use, the staff first places the plate to be nailed on the top of the lower pressing plate 5, and then the staff turns on the lifting unit 4 through the PLC control panel 11 to work, and the lifting unit 4 drives the lower pressing plate 5 to move upward until the lower pressing plate 5 and the upper pressing plate 3 press the plate workpiece tightly. By limiting and stabilizing the plate, it can be ensured that the plate maintains a fixed position and posture during the nailing process. After the plate is fixed, the staff turns on the six-axis robot arm 7 through the PLC control panel 11 again to work, and the six-axis robot arm 7 completes the nailing operation according to the preset nailing path instruction, according to the predetermined path and action. When the six-axis robot arm 7 presses the gun end of the nail gun body 10 against the surface of the workpiece, the nail gun body 10 completes a nailing operation, and the six-axis robot arm 7 continues to drive the nailing. The gun body 10 moves to the next nail connection point until the nailing operation is completed. During this process, when the gun end of the nail gun body 10 contacts the surface of the plate, the nail gun body 10 will move toward the support plate 8 under the pressure of the arm end of the six-axis robot 7. At this time, the four-point elastic collapse structure 9 collapses, so that the nail gun body 10 can move back a distance to absorb and reduce the impact force caused by the inertia of the robot arm movement, that is, the four-point elastic collapse structure 9 can disperse and alleviate this impact force, thereby reducing the impact on the nail gun body 10 and the workpiece, reducing the risk of damage, and the four-point elastic collapse structure 9 can make the contact between the nail gun body 10 and the workpiece surface more uniform and stable, avoiding the deviation of the nail connection point due to excessive impact force, thereby improving the nailing quality.

[0029] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot nailing machine, characterized in that: The invention comprises an E-shaped machine (1) and a base (6) fixed on one side of the back of the E-shaped machine (1), wherein a six-axis robot arm (7) is installed on the top of the base (6), a support plate (8) is installed at the end of the arm of the six-axis robot arm (7), a nail gun body (10) is arranged on one side of the support plate (8), a four-point elastic collapse structure (9) is arranged between the support plate (8) and the nail gun body (10), lifting units (4) are arranged on both sides of the top of the E-shaped machine (1), a lower pressure plate (5) is installed on the movable end of the lifting unit (4), an upper limit structure is installed on the top of the E-shaped machine (1), and a PLC control panel (11) electrically connected to the lifting unit (4) and the input end of the six-axis robot arm (7) is installed on one side of the surface of the E-shaped machine (1).

2. A robot nailing machine according to claim 1, characterized in that: The upper limit structure comprises vertical plates (2) fixed on both sides of the top of the E-shaped machine platform (1), and an upper pressing plate (3) fixed on the top of the two vertical plates (2).

3. A robot nailing machine according to claim 2, characterized in that: The top ends of the upper pressing plate (3) and the lower pressing plate (5) are both provided with rectangular cut-out grooves, and the top-view cross-sectional shapes of the upper pressing plate (3) and the lower pressing plate (5) are U-shaped.

4. A robot nailing machine according to claim 1, characterized in that: The lifting unit (4) comprises a cylinder (401) installed on both sides of the top of the E-shaped machine platform (1), and a C-mouth seat (402) installed at the top end of the piston rod of the cylinder (401), and the top end of the C-mouth seat (402) is fixedly connected to the bottom end of the lower pressure plate (5).

5. A robot nailing machine according to claim 4, characterized in that: Guide columns (403) are fixed on both sides of the bottom end of the lower pressing plate (5), and the bottom ends of the guide columns (403) penetrate to the outside of the E-shaped machine platform (1).

6. A robot nailing machine according to claim 1, characterized in that: The four-point elastic collapse structure (9) comprises a guide sleeve (901) fixed on the outer wall of one side of the support plate (8), and a steel column (902) slidably installed inside the guide sleeve (901), one end of the steel column (902) is fixed with a flat plate (905), the other end of the steel column (902) passes through the outside of the support plate (8) and is fixed with a stopper (904), and the outer peripheral surface of the steel column (902) between the guide sleeve (901) and the flat plate (905) is sleeved with a coil spring (903).

7. A robot nailing machine according to claim 6, characterized in that: The guide sleeve (901) and the flat plate (905) are both made of stainless steel.

Images