A flexible locking nail mechanical arm, multifunctional locking nail robot

Abstract

The utility model discloses a kind of flexible locking screw mechanical arm, multifunctional locking screw robot, reset transmission mechanism is through mechanical feedback mechanism, real-time sensing reaction force produced in locking screw process with screw and bottom plate lockhole cooperation, the reaction force produced using screw cooperation drives locking screw module adaptively displacement along the main arm length direction of rack, the coincidence degree of dynamic adjustment locking screw batch bar's central axis and the central axis of bottom plate lockhole, ensure that locking screw batch bar will screw accurate spin into bottom plate lockhole, avoid bottom plate lockhole damage and screw failure, substantially improve locking screw qualified rate;Simultaneously after locking screw batch bar completes locking screw and separates from screw, reset force produced by energy storage mechanism acts reset transmission mechanism to make that reset transmission mechanism linkage locking screw module relatively main arm overall automatic reset, without manual intervention can quickly enter next round locking screw process, significantly improve equipment continuous operation ability, especially suitable for the batch production scene of container bottom plate multiple lockhole.

Description

[Technical Field]

[0001] This utility model relates to the field of container manufacturing equipment technology, and in particular to a flexible locking manipulator and a multi-functional locking robot. [Background Technology]

[0002] In the field of container manufacturing and repair, the container floor, as a core structural component bearing cargo, directly affects the structural strength and operational safety of the entire container through the quality of its locking holes and screws. As container manufacturing moves towards higher precision, automation, and intelligence, the automated locking process for floor locking holes has become a key link in improving production efficiency and product quality. However, existing locking equipment for container floor locking holes still faces many technical bottlenecks, making it difficult to meet the demands of high-speed, high-precision production.

[0003] Traditional container floor locking operations primarily rely on manual labor. Manual locking suffers from low efficiency, high labor intensity, and poor consistency in locking depth and angle. While existing semi-automated locking equipment can achieve basic automation, its mechanical structure design still has significant limitations: most equipment uses a rigid connection method, with the locking module fixedly connected to the frame or moving mechanism. When there is a deviation between the pre-drilled locking hole position on the container floor and the preset trajectory of the locking equipment—for example, if the center axis of the screwdriver does not coincide with the center axis of the locking hole—the rigidly connected screwdriver will directly press against the edge of the locking hole due to its inability to self-adjust, causing locking hole deformation, screwdriver jamming, stripping, or even screw stripping and rendering the screw unusable.

[0004] Furthermore, container floor panels are typically large in size and have numerous locking holes, with each panel often requiring dozens or even hundreds of screws for fastening, and these locking holes are densely distributed. Traditional equipment, lacking dynamic correction capabilities, requires frequent shutdowns to adjust the position of the locking device to match the different locking holes, resulting in low locking efficiency and high overall energy consumption. Simultaneously, when the locking module is not precisely positioned above the pre-fabricated locking holes, the rigid connection design can easily lead to issues such as the screw rod getting stuck or stripping due to the screw reaction force during the locking process, further exacerbating the risk of poor locking reliability.

[0005] Therefore, this utility model was developed to address the aforementioned problems. [Utility Model Content]

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a flexible nail-locking robotic arm. This robotic arm includes an adaptive correction component. The reset transmission mechanism of the adaptive correction component, through a mechanical feedback mechanism, senses the reaction force generated by the screw's engagement with the base plate's locking hole in real time during the nail-locking process. Utilizing this reaction force, the nail-locking module is adaptively displaced along the length of the main arm of the frame, dynamically adjusting the alignment of the nail-locking tool's central axis with the base plate's locking hole. This ensures the nail-locking tool precisely screws the screw into the base plate's locking hole, preventing damage to the base plate's locking hole and the screw that could lead to nail-locking failure, significantly improving the nail-locking pass rate. Furthermore, the reset transmission mechanism... During the nail-locking process, the displacement of the entire nail-locking module relative to the main arm is recorded. Simultaneously, the energy storage mechanism of the adaptive correction component is activated to generate potential energy that drives the reset transmission mechanism to reset the nail-locking module. After the nail-locking rod completes the nail-locking and disengages from the screw, the reset force generated by the energy storage mechanism acts on the reset transmission mechanism, causing the reset transmission mechanism to automatically reset the entire nail-locking module relative to the main arm. This allows for rapid entry into the next nail-locking process without manual intervention, significantly improving the equipment's continuous operation capability. It is particularly suitable for mass production scenarios with multiple locking holes on container floor panels, providing reliable technical support for high-precision, high-efficiency, and low-maintenance automated production of container floor locking holes.

[0007] This utility model also provides a multifunctional locking robot. By integrating the above-mentioned flexible locking robot arm, the coverage, positioning accuracy, production efficiency and equipment versatility of locking operations can be significantly improved. It is especially suitable for automated assembly scenarios of large, multi-locking-hole workpieces such as container floor plates.

[0008] To solve the above-mentioned technical problems, this utility model provides a flexible locking manipulator, comprising:

[0009] Main arm 1, which is movably mounted on the frame 4 of the multi-functional nail-locking robot;

[0010] The locking module 2 has a locking mounting plate 21 and is slidably connected to the main arm 1 through the locking mounting plate 21. The locking module 2 includes a locking drive unit 22 and a locking screw rod 23. The locking drive unit 22 is disposed on the locking mounting plate 21. The locking screw rod 23 is directly or indirectly connected to the rotation drive shaft of the locking drive unit 22. Under the drive of the locking drive unit 22, the locking screw rod 23 locks the screw 100 into the locking hole 200 of the base plate.

[0011] The adaptive correction component 3 includes a reset transmission mechanism 31 and an energy storage mechanism 32. The reset transmission mechanism 31 is located between the locking pin mounting plate 21 and the main arm 1. The energy storage mechanism 32 is directly or indirectly connected to the locking pin mounting plate 21 and is linked with the reset transmission mechanism 31. When the central axis of the locking pin rod 23 and the central axis of the bottom plate locking hole 200 deviate relative to each other in the length direction of the main arm 1, during the overall adaptive offset of the locking pin module 2 relative to the main arm 1, the reset transmission mechanism 31 acts on the energy storage mechanism 32 to generate potential energy for driving the reset transmission mechanism 31 to reset the locking pin module 2.

[0012] As described above, in a flexible locking pin robotic arm, 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 mounted on the main arm 1 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 swing rod 313 is fixedly connected to the reset transmission gear 311, and the other end of the reset transmission swing rod 313 abuts against the energy storage mechanism 32.

[0013] As described above, in a flexible locking pin robotic arm, the energy storage mechanism 32 includes two energy storage springs 321 symmetrically disposed on the left and right sides of the reset transmission swing arm 313 and an energy storage support 212 for accommodating the energy storage springs 321. The energy storage support 212 is directly or indirectly disposed on the locking pin mounting plate 21. One end of the energy storage spring 321 elastically abuts against the corresponding side of the reset transmission swing arm 313, and the other end of the energy storage spring 321 elastically abuts against and is placed inside the energy storage support 212. Each energy storage support 212 has an adjusting bolt 213 at its outer end for adjusting the elastic pressing of the energy storage spring 321 against the reset transmission swing arm 313.

[0014] As described above, in a flexible locking pin robotic arm, 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 mounted on the main arm 1 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. 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 pin mounting plate 21, and the other end of each of the two energy storage tension springs 322 is eccentrically and vertically offset from the other end of the energy storage tension springs and 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 with opposite winding directions.

[0015] As described above, in a flexible locking pin robotic arm, an adjustment mounting plate 310 is connected to the locking pin mounting plate 21, which 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 reset transmission gear 311 is rotatably connected relative to the adjustment mounting plate 310 via a pivot shaft 211.

[0016] As described above, in a flexible locking pin robotic arm, the reset transmission mechanism 31 includes a reset transmission connecting rod 314 and a reset transmission stop 315. One end of the reset transmission connecting rod 314 is 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 stop 315. The energy storage mechanism 32 includes 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 stop 315, and the other end of the energy storage spring 321 elastically abuts against the main arm 1 directly or indirectly.

[0017] As described above, in a flexible nail-locking robotic arm, the rotation drive shaft of the nail-locking drive unit 22 is flexibly connected to the nail-locking tool 23 via a universal joint 24. The universal joint 24 is fitted with a joint elastic sleeve 25 for providing elastic reset of the nail-locking tool 23 relative to the rotation drive shaft of the nail-locking drive unit 22.

[0018] As described above, a flexible locking pin robotic arm has a main arm 1 with a secondary arm 11 that can slide relative to the main arm 1 along its length direction. A reset transmission mechanism 31 is disposed between the locking pin mounting plate 21 and the secondary arm 11. The main arm 1 has a second drive mechanism 12 for driving the secondary arm 11 to slide along the length direction of the main arm 1. The secondary arm 11 enters a positioning mode under the drive of the second drive mechanism 12, and the locking pin module 2 slides and adjusts along the length direction of the main arm 1 through the transmission of the reset transmission mechanism 31 and the blocking of the energy storage mechanism 32.

[0019] This utility model also provides a multifunctional nail-locking robot, employing a flexible nail-locking robotic arm as described above, including a frame 4. The frame 4 is provided with a main arm slide rail 41 extending along the Y-axis. The main arm 1 is slidably connected between two of the main arm slide rails 41. A first drive mechanism 42 for driving the main arm 1 to slide along the Y-axis of the frame 4 is provided between the main arm 1 and the frame 4. A secondary arm 11 slidable along the length of the main arm 1 is provided on the main arm 1. A second drive mechanism 12 for driving the secondary arm 11 to slide along the length of the main arm 1 is provided on the main arm 1. A plurality of nail-locking modules 2 are arranged along the X-axis. The locking pin modules 2 are slidably connected to the main arm 1 at intervals. The locking pin modules 2 are linked to the auxiliary arm 11 through a reset transmission mechanism 31. The auxiliary arm 11 is driven by the second drive mechanism 12 and, through the transmission of the reset transmission mechanism 31 and the blocking of the energy storage mechanism 32, allows several locking pin modules 2 to slide cooperatively along the length direction of the main arm 1 for adjustment. The rotation drive shaft of each locking pin drive unit 22 is flexibly connected to the locking pin tweezers 23 through a universal joint 24. The universal joint 24 is fitted with a joint elastic sleeve 25 for providing elastic reset to the locking pin tweezers 23 relative to the rotation drive shaft of the locking pin drive unit 22.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. This utility model of a flexible nail-locking robotic arm includes an adaptive correction component. The reset transmission mechanism of the adaptive correction component, through a mechanical feedback mechanism, senses the reaction force generated by the screw's engagement with the base plate's locking hole in real time during the nail-locking process. Utilizing this reaction force, the entire nail-locking module is adaptively displaced along the length of the main arm of the frame, dynamically adjusting the alignment of the nail-locking tool's central axis with the base plate's locking hole. This ensures the nail-locking tool precisely screws the screw into the base plate's locking hole, preventing nail-locking failure due to damage to the base plate's locking hole or the screw, significantly improving the nail-locking pass rate. Furthermore, the reset transmission mechanism records the overall displacement of the nail-locking module relative to the main arm during the nail-locking process, and... Simultaneously, the energy storage mechanism of the adaptive correction component generates potential energy to drive the reset transmission mechanism to reset the locking module. After the locking pin rod completes the locking and disengages from the screw, the reset force generated by the energy storage mechanism acts on the reset transmission mechanism, causing the locking module to automatically reset relative to the main arm. This allows for rapid entry into the next locking process without manual intervention, significantly improving the equipment's continuous operation capability. It is particularly suitable for mass production scenarios with multiple locking holes on container floor panels, reducing the requirements for positioning accuracy and floor panel locking hole position errors. This provides reliable technical support for high-precision, high-efficiency, and low-maintenance automated production of container floor panel locking holes.

[0022] 2. In this utility model, the reset transmission gear is rotatably connected to the lock pin mounting plate via a pivot shaft. The reset transmission rocker arm is fixed to the reset transmission gear, and its other end abuts against the energy storage mechanism. The linear motion of the lock pin mounting plate is transmitted to the energy storage mechanism through the "gear rotation → rocker arm swing" method, avoiding the extra space required by traditional linear transmissions such as hydraulic cylinders and pneumatic cylinders, resulting in a more compact structure. 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.

[0023] 3. In the process of locking the screw, when the screw deviates from the locking hole of the base plate and generates a reaction force, the linear displacement of the locking screw mounting plate will force the reset transmission gear to rotate passively through the reset transmission gear-reset transmission rack transmission. 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 meshing of the reset transmission gear-reset transmission rack can absorb part of the impact energy, such as the impact force of the instantaneous collision between the screw and the locking hole of the base plate, reducing the rigid impact on the mechanical structure and extending the service life.

[0024] 4. This utility model integrates the energy storage coil spring directly between the pivot shaft and the reset transmission gear, which makes its structure more compact and occupies less space.

[0025] 5. In this utility model, the reset transmission mechanism consists only of a reset transmission connecting rod and a reset transmission stop, and the energy storage mechanism consists of symmetrical energy storage springs on both sides. Both are standardized mechanical parts. Compared with complex transmission structures such as gear-rack and energy storage coil spring, 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 parts, making maintenance convenient and low-cost.

[0026] 6. This utility model uses an elastic joint sleeve fitted around the universal joint, abutting against the ends of the rotary drive shaft and the locking pin rod respectively, forming an annular buffer area. This effectively absorbs and disperses external impact energy. At the same time, the annular abutment structure of the elastic joint sleeve can flexibly constrain the radial displacement of the locking pin rod, avoiding the "shaking" phenomenon caused by excessive swinging of the universal joint, enhancing the stability of movement and improving the quality of the locking pin.

[0027] 7. This utility model is a multifunctional locking robot. By integrating the above-mentioned flexible locking robot arm, it reduces the positioning accuracy requirements and the requirements for the position error of the locking hole on the base plate. It also reduces the positioning accuracy requirements of the main arm, which can significantly improve the coverage of locking operations, locking reliability, production efficiency and equipment versatility. It is especially suitable for automated assembly scenarios of large, multi-locking hole workpieces such as container base plates. [Attached Image Description]

[0028] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, wherein:

[0029] Figure 1 This is one of the perspective views of the multifunctional nail-locking robot of this utility model.

[0030] Figure 2 This is the second perspective view of the multifunctional nail-locking robot of this utility model.

[0031] Figure 3 This is the front view of the multifunctional nail-locking robot of this utility model.

[0032] Figure 4 This is a rear view of the multifunctional nail-locking robot of this utility model.

[0033] Figure 5 This is one of the exploded views of the multifunctional nail-locking robot of this utility model.

[0034] Figure 6 This is the second exploded view of the multifunctional nail-locking robot of this utility model.

[0035] Figure 7 This is the third exploded view of the multifunctional nail-locking robot of this utility model.

[0036] Figure 8 This is a perspective view of Embodiment 1 of the flexible locking nail robotic arm of this utility model.

[0037] Figure 9 This is a front view of Embodiment 1 of the flexible locking nail robotic arm of this utility model.

[0038] Figure 10 This is a rear view of Embodiment 1 of the flexible locking nail robotic arm of this utility model.

[0039] Figure 11 This is a side view of Embodiment 1 of the flexible locking nail robotic arm of this utility model.

[0040] Figure 12 This is a perspective view of the adaptive correction component of Embodiment 1 of the flexible locking nail robotic arm of this utility model.

[0041] Figure 13 This is an exploded view of the adaptive correction component of Embodiment 1 of the flexible locking nail robotic arm of this utility model.

[0042] Figure 14 This is a perspective view of Embodiment 2 of the flexible locking nail robotic arm in this utility model.

[0043] Figure 15This is an exploded view of the adaptive correction component of Embodiment 2 of the flexible locking nail robotic arm in this utility model.

[0044] Figure 16 This is a rear view of Embodiment 3 of the flexible locking nail robotic arm in this utility model.

Detailed Implementation Methods

[0045] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0046] like Figure 1-16 As shown, this utility model discloses a flexible locking pin robotic arm, characterized by comprising:

[0047] Main arm 1, which is movably mounted on the frame 4 of the multi-functional nail-locking robot;

[0048] The locking module 2 has a locking mounting plate 21 and is slidably connected to the main arm 1 through the locking mounting plate 21. The locking module 2 includes a locking drive unit 22 and a locking screw rod 23. The locking drive unit 22 is disposed on the locking mounting plate 21. The locking screw rod 23 is directly or indirectly connected to the rotation drive shaft of the locking drive unit 22. Under the drive of the locking drive unit 22, the locking screw rod 23 locks the screw 100 into the locking hole 200 of the base plate.

[0049] The adaptive correction component 3 includes a reset transmission mechanism 31 and an energy storage mechanism 32. The reset transmission mechanism 31 is located between the locking pin mounting plate 21 and the main arm 1. The energy storage mechanism 32 is directly or indirectly connected to the locking pin mounting plate 21 and is linked with the reset transmission mechanism 31. When the central axis of the locking pin rod 23 and the central axis of the bottom plate locking hole 200 deviate relative to each other in the length direction of the main arm 1, during the overall adaptive offset of the locking pin module 2 relative to the main arm 1, the reset transmission mechanism 31 acts on the energy storage mechanism 32 to generate potential energy for driving the reset transmission mechanism 31 to reset the locking pin module 2.

[0050] Specifically, when the central axis of the locking pin shank 23 deviates from the central axis of the base plate locking hole 200 in the length direction of the main arm 1, the bit of the locking pin shank 23 is subjected to the reaction force of the screw 100 screwing into the base plate locking hole 200, causing the locking pin module 2 to adaptively shift relative to the main arm 1, so that the central axis of the locking pin shank 23 coincides with or nearly coincides with the central axis of the base plate locking hole 200; when the locking pin module 2 adaptively shifts relative to the main arm 1, the reset transmission mechanism 31 is activated by the locking pin module 2, causing the reset transmission mechanism 31 to act on the energy storage mechanism 32, and the energy storage mechanism 32 generates potential energy to drive the locking pin module 2 to reset relative to the main arm 1. When the bit of the locking pin shank 23 is disengaged from the screw 100, 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 locking pin module 2 to reset relative to the main arm 1.

[0051] This utility model of a flexible nail-locking robotic arm includes an adaptive correction component. The reset transmission mechanism of the adaptive correction component, through a mechanical feedback mechanism, senses the reaction force generated by the screw's engagement with the base plate's locking hole in real time during the nail-locking process. Utilizing this reaction force, the nail-locking module is adaptively displaced along the length of the main arm of the frame, dynamically adjusting the alignment of the nail-locking tool's central axis with the base plate's locking hole. This ensures the nail-locking tool precisely screws the screw into the base plate's locking hole, preventing damage to the base plate's locking hole and the screw that could lead to nail-locking failure, significantly improving the nail-locking pass rate. Furthermore, the reset transmission mechanism records the nail-locking module's operation during the nail-locking process. The overall displacement relative to the main arm, along with the energy storage mechanism of the adaptive correction component, generates potential energy to drive the reset transmission mechanism to reset the locking module. After the locking pin rod completes the locking and disengages from the screw, the reset force generated by the energy storage mechanism acts on the reset transmission mechanism, causing the reset transmission mechanism to automatically reset the locking module relative to the main arm. This allows for rapid entry into the next locking process without manual intervention, significantly improving the equipment's continuous operation capability. It is particularly suitable for mass production scenarios with multiple locking holes in container floor panels, providing reliable technical support for high-precision, high-efficiency, and low-maintenance automated production of container floor locking holes.

[0052] This utility model provides four embodiments of an adaptive correction component:

[0053] Example 1, as Figure 8-13As shown, the reset transmission mechanism 31 includes a reset transmission gear 311 and a reset transmission rack 312. The reset transmission rack 312 is fixedly mounted 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 arm 313 is fixedly connected to the reset transmission gear 311, and the other end of the reset transmission rocker arm 313 abuts against the energy storage mechanism 32. In this embodiment, the reset transmission gear is rotatably connected to the locking pin mounting plate via a pivot shaft. One end of the reset transmission rocker arm is fixed relative to the reset transmission gear, and the other end abuts against the energy storage mechanism. The linear motion of the locking pin mounting plate is transmitted to the energy storage mechanism through "gear rotation → rocker arm swing", avoiding the extra space required by traditional linear transmissions such as hydraulic cylinders and pneumatic cylinders, resulting in a more compact structure. 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.

[0054] Example 1, as Figure 8-13 As shown, the energy storage mechanism 32 includes two energy storage springs 321 symmetrically arranged on the left and right sides of the reset transmission swing rod 313 and an energy storage support 212 for accommodating the energy storage springs 321. The energy storage support 212 is provided with a receiving hole 214 for accommodating the energy storage springs 321. The energy storage support 212 is directly or indirectly provided on the locking pin mounting plate 21. One end of the energy storage spring 321 elastically abuts against the corresponding side of the reset transmission swing rod 313, and the other end of the energy storage spring 321 elastically abuts against and is placed inside the energy storage support 212. Each energy storage support 212 has an adjusting bolt 213 at its outer end for adjusting the elastic pressure of the energy storage spring 321 against the reset transmission swing rod 313. In this embodiment, the energy storage springs 321 are symmetrically arranged on the left and right sides of the reset transmission swing rod 313, which can make the reset transmission swing rod uniformly stressed during movement, avoid deformation or abnormal wear caused by stress concentration on one side, and effectively improve the stability and reliability of the adaptive correction component 3. The energy storage spring 321 is housed within the receiving hole 214, which provides guidance and constraint for its extension and retraction direction. This prevents the energy storage spring from shifting or twisting during compression or extension, ensuring precise contact between the energy storage spring and the reset transmission lever 313 and improving energy transmission efficiency. The preload of the energy storage spring 321 can be directly adjusted via the adjusting bolt 213, allowing for flexible adjustment of the spring force according to actual working conditions (such as load changes and reset speed requirements). This expands the applicability of the adaptive correction assembly 3 and enhances its versatility.

[0055] Example 2, as Figure 14 , 15As shown, the reset transmission mechanism 31 includes a reset transmission connecting rod 314 and a reset transmission stop 315. One end of the reset transmission connecting rod 314 is 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 stop 315. The energy storage mechanism 32 includes 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 stop 315, and the other end of the energy storage spring 321 elastically abuts against a correction connecting seat 111. The correction connecting seat 111 can remain stationary relative to the main arm 1. Preferably, the correction connecting seat 111 has a receiving groove 112, and the reset transmission stop 315 is placed in the receiving groove 112. In this embodiment, the reset transmission mechanism consists only of a reset transmission connecting rod and a reset transmission stop, and the energy storage mechanism consists of symmetrical energy storage springs on both sides. Both are standardized mechanical parts. Compared with complex transmission structures such as gear-rack and energy storage coil spring, their 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 parts, making maintenance convenient and low-cost.

[0056] Example 3, as Figure 16 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 directly or indirectly mounted on the main arm 1 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. The energy storage mechanism 32 includes two energy storage springs 322. One end of each energy storage spring 322 is directly or indirectly fixedly connected to the locking pin mounting plate 21, and the other end of each energy storage spring 322 is eccentrically and vertically offset from the reset transmission gear 311. In this embodiment, two energy storage 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 springs on both sides are stretched or compressed accordingly to achieve stable energy storage. When reset is required, the energy storage springs release energy to push the reset transmission gear 311 to rotate in the opposite direction, causing the entire locking pin module to automatically reset. The two energy storage springs 322 are connected in a staggered manner (i.e., the two energy storage springs are asymmetrically but staggeredly distributed relative to the center of the reset transmission gear 311), which can effectively solve the problem of torque imbalance caused by unilateral energy storage. During the rotation of the reset transmission gear 311, the staggered energy storage springs 322 provide reverse tension at different angles, forming symmetrical torque compensation, avoiding the reset transmission gear 311 from being overloaded, vibrating or jammed due to excessive force on one side. At the same time, the staggered layout can adjust the distance (lever arm) between the line of action of the energy storage springs 322 and the center of rotation of the reset transmission gear 311, flexibly matching the reset force requirements under different working conditions and improving the adaptability of the mechanism.

[0057] Example 4 differs from Example 3 in that the energy storage mechanism 32 includes a pair of energy storage coil springs (not shown in the figure) disposed between the pivot shaft 211 and the reset transmission gear 311, with opposite winding directions. Specifically, one set of energy storage coil springs is configured to drive the reset transmission gear 311 to rotate forward for reset, and the other set is configured to drive the reset transmission gear 311 to rotate in the reverse direction for reset. For example, one end of the energy storage coil spring is fixedly connected to the pivot shaft 211, and the other end is fixedly connected to the reset transmission gear 311. This embodiment, by directly integrating the energy storage coil springs between the pivot shaft and the reset transmission gear 311, achieves a more compact structure and smaller space occupation.

[0058] like Figure 12 , 13 As shown in Figure 16, an adjustable mounting plate 310 is connected to the locking pin mounting plate 21, which is adjustable relative to the locking pin mounting plate 21. The adjustable mounting plate 310 has an adjustable connecting hole 3101 corresponding to the locking pin mounting plate 21. The adjustable mounting plate 310 is adjustablely connected to the locking pin mounting plate 21 through the adjustable connecting hole 3101 and the adjusting bolt. The reset transmission gear 311 is rotatably connected to the adjustable mounting plate 310 through a pivot shaft 211. Specifically, the reset transmission gear 311 has an arc-shaped waist hole for avoidance during installation and adjustment. During adjustment, rotating the reset transmission gear 311 allows it to fully mesh with the reset transmission rack 312, resulting in uniform force on both sides. The adjustable connecting hole 3101 is an elongated hole. During adjustment, loosening the adjusting bolt releases the locking state of the adjusting mounting plate 310 relative to the locking pin mounting plate 21. Then, adjusting the adjusting mounting plate 310 downwards relative to the locking pin mounting plate 21 separates the reset transmission gear 311 and the reset transmission rack 312. Next, the locking pin module 2 slides along the length of the main arm 1 to the desired adjustment position. Then, adjusting the displacement mounting plate 310 upwards relative to the locking pin mounting plate 21 engages the corresponding teeth of the reset transmission gear 311 and the reset transmission rack 312. Finally, tightening the adjusting bolt locks the adjusting mounting plate 310 relative to the locking pin mounting plate 21. This design offers convenient installation and debugging. This embodiment integrates the reset transmission mechanism 31 and the energy storage mechanism 32 onto the adjusting mounting plate 310, resulting in a more compact structure, easier assembly and maintenance, significantly improved accuracy, efficiency, and reliability of the flexible locking pin robotic arm, while reducing manufacturing costs and maintenance difficulty. This design is a typical example of modularization and miniaturization of flexible locking pin robotic arms.

[0059] like Figure 8-11As shown, the rotary drive shaft of the locking pin drive unit 22 and the locking pin rod 23 are flexibly connected via a universal joint 24. The universal joint 24 is fitted with a joint elastic sleeve 25 for providing elastic reset of the locking pin rod 23 relative to the rotary drive shaft of the locking pin drive unit 22. In this embodiment, the joint elastic sleeve is fitted around the universal joint, abutting against the ends of the rotary drive shaft and the locking pin rod respectively, forming an annular buffer area. This effectively absorbs and disperses external impact energy. At the same time, the annular abutment structure of the joint elastic sleeve can flexibly constrain the radial displacement of the locking pin rod, avoiding the "wobbling" phenomenon caused by excessive swinging of the universal joint, enhancing motion stability, and improving the quality of the locking pin.

[0060] like Figure 1-11 As shown in Figures 14 and 16, a screw-accommodating assembly 26 for accommodating screws 100 is slidably mounted on the screw mounting plate 21. The screw-accommodating drive unit 22 is slidably mounted on the screw mounting plate 21 and drives the screw-accommodating screw 100 within the screw-accommodating assembly 26 to rotate by driving the screw-accommodating screw-driving rod 23. A sliding drive mechanism 27 is provided between the screw-accommodating drive unit 22 and the screw mounting plate 21 to drive the screw-accommodating drive unit 22 to slide relative to the screw mounting plate 21, thereby allowing the screw-accommodating screw-driving rod 23 to extend into the screw-accommodating assembly 26. This embodiment achieves full-process automation and high-precision control of screw feeding, positioning, and driving through the design of "independent sliding of the screw-accommodating assembly and the screw-accommodating module's screw-accommodating drive unit 22 and screw-accommodating screw-driving rod 23 + linkage of the sliding drive mechanism," while also taking into account multi-specification compatibility, convenient maintenance, and energy economy. It integrates the scattered "screw placement-positioning-driving" processes in traditional screw-accommodating equipment into one, significantly improving the automation level, operating efficiency, and screw quality of the equipment.

[0061] like Figure 1-16 As shown, in order to synchronously drive several sets of locking pin modules to slide and adjust accordingly, 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 disposed between the locking pin mounting plate 21 and the secondary arm 11. The main arm 1 is provided with a second drive mechanism 12 for driving the secondary arm 11 to slide along the length direction of the main arm 1. The secondary arm 11 enters the positioning mode under the drive of the second drive mechanism 12, and the locking pin module 2 as a whole slides and adjusts along the length direction of the main arm 1 through the transmission of the reset transmission mechanism 31 and the blocking of the energy storage mechanism 32. Specifically, as shown... Figure 10 , 16As shown, the reset transmission rack 312 is mounted on the auxiliary arm 11. During the process of adjusting several sets of locking pin modules to move synchronously to the left or right along the length of the main arm, the second drive mechanism 12 drives the auxiliary arm 11 to slide the reset transmission rack 312 accordingly, causing the reset transmission rack 312 to mesh with the reset transmission gear 311. At this moment, because 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 rotates, but can only "passively translate" along the sliding direction of the reset transmission rack 312, thereby driving the locking pin modules to move accordingly along the main arm. Alternatively, as... Figure 14 As shown, the energy storage spring 321 is placed between the reset transmission stop 315 and the auxiliary arm 11.

[0062] like Figure 1-16 As shown, this utility model discloses a multifunctional nail-locking robot, employing a flexible nail-locking robotic arm as described above. It includes a frame 4, on which a main arm slide rail 41 extending along the Y-axis is provided. The main arm 1 is slidably connected between two of the main arm slide rails 41. A first drive mechanism 42 is provided between the main arm 1 and the frame 4 to drive the main arm 1 to slide along the Y-axis of the frame 4. A mechanism for fine-tuning the tilt 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 is provided for the slant swing. The main arm 1 is provided with a secondary arm 11 that can slide along the length direction of the main arm 1. The main arm 1 is provided with a second drive mechanism 12 for driving the secondary arm 11 to slide along the length direction of the main arm 1. The multi-functional nailing robot is provided with a vision inspection mechanism 44 for detecting the lock holes 200 of the container bottom plate. Several nailing modules 2 are slidably connected to the main arm 1 at intervals along the X-axis direction. Before nailing, the distance between two adjacent nailing modules 2 is pre-calibrated according to the distance between two adjacent bottom plate lock holes. The locking pin module 2 is linked to the auxiliary arm 11 via a reset transmission mechanism 31. Driven by the second drive mechanism 12, and through the transmission of the reset transmission mechanism 31 and the blocking of the energy storage mechanism 32, the auxiliary arm 11 allows several locking pin modules 2 to slide collaboratively along the length of the main arm 1 for adjustment. The rotation drive shaft of each locking pin drive unit 22 is flexibly connected to the locking pin bit 23 via a universal joint 24. The universal joint 24 is fitted with a joint elastic sleeve 25 for providing elastic reset to the locking pin bit 23 relative to the rotation drive shaft of the locking pin drive unit 22. This utility model provides a multi-functional locking pin robot. By integrating the aforementioned flexible locking pin robotic arm, it can significantly improve the coverage, positioning accuracy, production efficiency, and equipment versatility of locking pin operations, and is particularly suitable for automated assembly scenarios of large, multi-locking-hole workpieces such as container bottom plates.

[0063] The structures of the first drive mechanism 42, tilt adjustment mechanism 43, second drive mechanism 12, and vision inspection mechanism 44 in this utility model can be found in the corresponding structures of the applicant's application for a multi-functional locking robot for locking container floor nails, application number 202411862792.3, and will not be repeated here.

[0064] This utility model discloses a locking method for a multifunctional locking robot, which employs the multifunctional locking robot described above. The locking method includes the following steps:

[0065] S1. Move the multi-functional nail-locking robot onto the container floor.

[0066] S2. Main arm 1 positioning: The first drive mechanism 42 drives the main arm 1 to slide along the Y-axis, moving the main arm 1 to directly above the nail-locking station or the target position; or the entire multi-functional nail-locking robot is moved to move the main arm 1 to directly above the nail-locking station or the target position. Step S2 provides two main arm positioning methods: either the main arm can be precisely positioned by sliding along the Y-axis driven by the first drive mechanism, or the position can be adjusted by moving the entire multi-functional nail-locking robot. This dual-mode design of "local fine-tuning + overall movement" can flexibly cope with scenarios such as uneven distribution of lock holes on the container floor, limited space, or initial position deviation of the multi-functional nail-locking robot. It eliminates the need for frequent adjustments to the overall layout of the multi-functional nail-locking robot, significantly shortening the positioning preparation time and expanding the robot's adaptability to complex working environments.

[0067] S3. Start the locking operation: The locking drive unit 22 is started, driving the locking pin lever 23 to rotate and apply downward pressure, attempting to screw the screw 100 into the base plate locking hole 200.

[0068] S4. Adaptive Correction: During the process of the locking pin drive unit 22 driving the screw 100 to connect with the base plate locking hole 200 via the locking pin rod 23, if the central axis of the locking pin rod 23 deviates from the central axis of the base plate locking hole 200 in the length direction of the main arm 1, the locking pin module 2 will be subjected to a reaction force in the X-axis direction generated by the screw 100 and the base plate locking hole 200. This causes the locking pin module 2 to adaptively shift relative to the main arm 1 until the central axis of the locking pin rod 23 coincides with or nearly coincides with the central axis of the base plate locking hole 200. The design of step S4 breaks through the limitation of traditional locking pin equipment relying on "absolutely precise pre-positioning". By dynamically adjusting and automatically compensating for small deviations, it avoids problems such as stripping, locking pin rod jamming, or locking pin failure caused by misalignment of the central axis, and significantly improves the success rate of locking pins.

[0069] S5. Complete the locking: When the central axis of the locking pin rod 23 coincides or nearly coincides with the central axis of the base plate locking hole 200, continue to drive the locking pin rod 23 to rotate through the locking pin drive unit 22 until the screw 100 and the base plate locking hole 200 are locked together.

[0070] S6. Separation and Reset: After the nail is locked, the control nail drive unit 22 stops rotating and outputs power, and lifts the nail-locking tool 23, causing the nail-locking tool 23's bit to separate from the screw 100. Subsequently, 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, completing a single nail-locking cycle. Step S6 uses the reset force of the energy storage mechanism 32 to drive the nail-locking module to automatically reset, without the need for additional power input or manual operation. This design eliminates the cumbersome steps of "manual return" or "additional reset mechanism" in traditional nail-locking equipment, shortens the time of a single nail-locking cycle (from "nailing-separation-manual reset" to "nailing-separation-automatic reset"), and significantly improves the nail-locking efficiency per unit time, especially suitable for batch nail-locking operations.

[0071] This utility model discloses a locking method for a multi-functional locking robot. By using the aforementioned multi-functional locking robot, the locking accuracy, efficiency, and equipment adaptability can be significantly improved. It effectively solves the problems of traditional locking equipment, such as reliance on high-precision initial positioning, low efficiency per workstation, and difficulty in adapting to complex working conditions. It is especially suitable for automated assembly scenarios of large, multi-locking-hole workpieces such as container bottom plates.

[0072] To further expand the adaptive capability of the multi-functional nail-locking robot, step S4 also includes S4-1, where if the central axis of the nail-locking rod 23 is relatively deviated from the central axis of the base plate locking hole 200 in the Y-axis direction, the nail-locking rod 23 will be subjected to a reaction force in the Y-axis direction generated by the screw 100 and the base plate locking hole 200, causing the nail-locking rod 23 to 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 sleeve 25, until the central axis of the nail-locking rod 23 coincides with or is nearly coincident with the central axis of the base plate locking hole 200; step S6 also includes S6-1, whereby the joint elastic sleeve 25 elastically acts on the universal joint 24, causing the nail-locking rod 23 to reset relative to the rotation drive shaft of the nail-locking drive unit 22.

Claims

1. A flexible locking pin robotic arm, characterized in that... include: Main arm (1), which is movably mounted on the frame (4) of the multi-functional nail-locking robot; A nail-locking module (2) has a nail-locking mounting plate (21) and is slidably connected to the main arm (1) through the nail-locking mounting plate (21). The nail-locking module (2) includes a nail-locking drive unit (22) and a nail-locking screwdriver (23). The nail-locking drive unit (22) is mounted on the nail-locking mounting plate (21). The nail-locking screwdriver (23) is directly or indirectly connected to the rotation drive shaft of the nail-locking drive unit (22). The nail-locking screwdriver (23) locks the screw (100) into the base plate lock hole (200) under the drive of the nail-locking drive unit (22). An adaptive correction component (3) is provided, comprising a reset transmission mechanism (31) and an energy storage mechanism (32). The reset transmission mechanism (31) is located between the locking pin mounting plate (21) and the main arm (1). The energy storage mechanism (32) is directly or indirectly connected to the locking pin mounting plate (21) and is linked with the reset transmission mechanism (31). When the central axis of the locking pin rod (23) and the central axis of the bottom plate locking hole (200) deviate relative to each other in the length direction of the main arm (1), during the overall adaptive offset of the locking pin module (2) relative to the main arm (1), the reset transmission mechanism (31) acts on the energy storage mechanism (32) to generate potential energy for driving the reset transmission mechanism (31) to link the locking pin module (2) to reset.

2. The flexible locking manipulator 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 directly or indirectly mounted on the main arm (1) 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 arm (313) is fixedly connected to the reset transmission gear (311), and the other end of the reset transmission rocker arm (313) abuts against the energy storage mechanism (32).

3. The flexible locking manipulator according to claim 2, characterized in that... The energy storage mechanism (32) includes two energy storage springs (321) symmetrically disposed on the left and right sides of the reset transmission swing rod (313) and an energy storage support (212) for accommodating the energy storage springs (321). The energy storage support (212) is disposed directly or indirectly on the locking pin mounting plate (21). One end of the energy storage spring (321) elastically abuts against the corresponding side of the reset transmission swing rod (313), and the other end of the energy storage spring (321) elastically abuts against and is placed inside the energy storage support (212).

4. The flexible locking pin robotic arm according to claim 3, characterized in that... Each of the energy storage support bases (212) has an adjusting bolt (213) at its outer end for adjusting the elastic pressing and reset transmission rocker arm (313) of the energy storage spring (321).

5. The flexible locking manipulator 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 directly or indirectly mounted on the main arm (1) 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). The energy storage mechanism (32) includes two energy storage springs (322). One end of each of the two energy storage springs (322) is directly or indirectly fixedly connected to the locking pin mounting plate (21). The other end of each of the two energy storage springs (322) is eccentrically and vertically misaligned with the reset transmission gear (311). Alternatively, the energy storage mechanism (32) may include a pair of energy storage coil springs disposed between the pivot shaft (211) and the reset transmission gear (311) and in opposite winding directions.

6. A flexible locking manipulator according to any one of claims 2-5, characterized in that... The locking pin mounting plate (21) is connected to an adjustment mounting plate (310) that can be adjusted 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 reset transmission gear (311) is rotatably connected relative to the adjustment mounting plate (310) through a pivot shaft (211).

7. The flexible locking manipulator according to claim 1, characterized in that... The reset transmission mechanism (31) includes a reset transmission connecting rod (314) and a reset transmission stop (315). One end of the reset transmission connecting rod (314) is 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 stop (315). The energy storage mechanism (32) includes 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 stop (315), and the other end of the energy storage spring (321) elastically abuts against a correction connecting seat (111). The correction connecting seat (111) can be stationary relative to the main arm (1).

8. The flexible locking pin robotic arm according to claim 1, characterized in that... The rotating drive shaft of the locking pin drive unit (22) is flexibly connected to the locking pin shovel (23) via a universal joint (24). The universal joint (24) is fitted with a joint elastic sleeve (25) for providing elastic reset of the locking pin shovel (23) relative to the rotating drive shaft of the locking pin drive unit (22).

9. A flexible locking manipulator according to claim 1, 2, 3, 4, 5, 7, or 8, characterized in that... 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 located between the locking pin mounting plate (21) and the secondary arm (11). The main arm (1) is provided with a second drive mechanism (12) for driving the secondary arm (11) to slide along the length direction of the main arm (1). The secondary arm (11) enters the debugging mode under the drive of the second drive mechanism (12), and the locking pin module (2) is adjusted as a whole along the length direction of the main arm (1) by the transmission of the reset transmission mechanism (31) and the blocking of the energy storage mechanism (32).

10. A multifunctional locking and nailing robot, characterized in that... The flexible nail-locking robotic arm as described in claim 1 includes a frame (4), on which a main arm slide rail (41) extending along the Y-axis is provided. The main arm (1) is slidably connected between two of the main arm slide rails (41). A first drive mechanism (42) for driving the main arm (1) to slide along the Y-axis of the frame (4) is provided between the main arm (1) and the frame (4). A secondary arm (11) slidable along the length of the main arm (1) is provided on the main arm (1). A second drive mechanism (12) for driving the secondary arm (11) to slide along the length of the main arm (1) is provided on the main arm (1). A plurality of nail-locking modules (2) are slidably spaced along the X-axis. Connected to the main arm (1), the locking pin module (2) is linked to the auxiliary arm (11) through the reset transmission mechanism (31). The auxiliary arm (11) is driven by the second drive mechanism (12) and is adjusted by the transmission of the reset transmission mechanism (31) and the blocking of the energy storage mechanism (32). The rotation drive shaft of each locking pin drive unit (22) is flexibly connected to the locking pin shovel (23) through a universal joint (24). The universal joint (24) is fitted with a joint elastic sleeve (25) for providing elastic reset to the locking pin shovel (23) relative to the rotation drive shaft of the locking pin drive unit (22).

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