Wooden pallet nailing device

Abstract

The utility model discloses wood tray nailing device has mutually orthogonal first direction, second direction and third direction, wood tray nailing device includes: positioning drive system, and positioning drive system is equipped with the execution end, connector, and connector is installed in the execution end, and the permanent connection beam, and the permanent connection beam extends along the first direction, and the permanent connection beam is installed in the connector, and the permanent nailing gun is equipped with a plurality of, and a plurality of nailing guns are installed in the permanent connection beam, and a plurality of permanent nailing guns are arranged along the first direction interval, and a plurality of reserve connection beams, and the reserve connection beam is connected along the third direction with the permanent connection beam and slides, and a plurality of reserve nailing guns, and the reserve nailing gun is arranged along the first direction with the permanent nailing gun, and the reserve nailing gun corresponds with the reserve connection beam one to one, and the reserve nailing gun is installed in the reserve connection beam.

Description

Technical Field

[0001] This utility model relates to the field of pallet processing technology, and in particular to a nailing device for wooden pallets. Background Technology

[0002] Wooden pallets are commonly used load-bearing tools in logistics and warehousing. Their structure is generally formed by fixing multiple wooden boards together with nails. Due to the diversity of application scenarios, wooden pallets come in various specifications and models, with significant differences in structural dimensions, nail locations, and numbers between different models.

[0003] Currently, to improve the production efficiency of wooden pallets, the industry generally uses automatic nailing devices for nailing operations. Existing wooden pallet nailing devices typically include a positioning drive system and an actuator installed at the execution end of the positioning drive system. The actuator usually integrates multiple nail guns, which are controlled by the movement of the positioning drive system to nail the pallet to preset positions.

[0004] Existing wooden pallet nailing devices generally include a positioning drive system and an execution component installed on the execution end of the positioning drive system. The execution component includes multiple nail guns. However, the number of nail guns used in the prior art is mostly fixed. The spacing between the nail guns on the execution component is not adjustable or the adjustment structure is complex and the adjustment efficiency is low, resulting in poor adaptability of the wooden pallet nailing device to different pallet models.

[0005] When the pallet model changes, it is often necessary to replace the entire nailing assembly or make tedious mechanical adjustments to the position of the nail gun, which seriously affects production efficiency and automation level.

[0006] Therefore, there is an urgent need to provide a nailing device with a flexible structure, adjustable nail gun spacing, and compatibility with various wooden pallet models, in order to improve the automation level and work efficiency of wooden pallet production lines. Utility Model Content

[0007] The technical problem to be solved by this utility model is to provide a nailing device for wooden pallets, so as to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0008] The solution to the technical problem of this utility model is:

[0009] A wooden pallet nailing device has three mutually orthogonal directions: a first direction, a second direction, and a third direction; the wooden pallet nailing device includes:

[0010] The positioning drive system is equipped with an execution end;

[0011] Connector, the connector is installed on the execution end;

[0012] A permanent connecting beam extends along a first direction and is installed at the connector;

[0013] A plurality of permanent nail guns are provided, and the plurality of nail guns are installed on the permanent connecting beam, and the plurality of permanent nail guns are arranged at intervals along a first direction.

[0014] Several pre-connecting beams are provided, and the pre-connecting beams are slidably connected to the permanent connecting beams along a third direction.

[0015] A number of pre-installed nail guns are arranged along a first direction with the stationary nail guns. Each pre-installed nail gun corresponds to a pre-installed connecting beam and is installed on the pre-installed connecting beam.

[0016] As a further improvement to the above technical solution, the permanent connecting beam is slidably connected to the connecting head;

[0017] The wooden pallet nailing device also includes a beam control structure, which drives the permanent connecting beam to slide relative to the connector in a first direction.

[0018] As a further improvement to the above technical solution, it also includes:

[0019] Multiple counterweights are provided, which are slidably connected to the permanent connecting beam along a first direction. The counterweights are used to balance the weight of the positioning drive system on both sides in the first direction.

[0020] As a further improvement to the above technical solution, it also includes multiple counterweight actuators, each corresponding to a counterweight block, and the counterweight actuators drive the counterweight blocks to slide along a first direction.

[0021] As a further improvement to the above technical solution, a pre-connecting beam driver is also included, which drives the pre-connecting beam to move relative to the permanent connecting beam in a third direction.

[0022] As a further improvement to the above technical solution, a plurality of the permanent nail guns are slidably disposed on the permanent connecting beam; and the pre-nailing nail gun is slidably disposed on the corresponding pre-nailing connecting beam.

[0023] The wooden pallet nailing device also includes:

[0024] A synchronous adjustment mechanism drives multiple stationary nail guns to move relative to the stationary connecting beam along a first direction to change the spacing between the multiple stationary nail guns.

[0025] A pre-drive mechanism drives the pre-nail gun to move relative to the pre-connecting beam in a first direction.

[0026] As a further improvement to the above technical solution, the synchronization adjustment mechanism includes:

[0027] Multiple linkage units are provided, and the linkage units are arranged between two adjacent stationary nail guns; the linkage unit includes a linkage hinge point and two linkage links, the ends of the two linkage links that are far apart from each other are respectively hinged to the two stationary nail guns, and the ends that are close to each other are hinged to each other through the linkage hinge point;

[0028] A linkage connector is slidably connected to the permanent connecting beam. The linkage connector can be close to or away from the permanent nail gun. The linkage hinge point is slidably connected to the linkage connector along a first direction.

[0029] As a further improvement to the above technical solution, the two adjacent resident nail guns are respectively configured as a fixed nail gun and an adjustable nail gun.

[0030] The synchronization adjustment mechanism further includes a spacing adjustment driver, which is fixed relative to the fixed nail gun, and the output end of the spacing adjustment driver is fixed to the adjusting nail gun.

[0031] As a further improvement to the above technical solution, the fixed nail gun is fixedly connected to the permanent connecting beam, and the fixed nail gun is located at the end of the permanent connecting beam.

[0032] As a further improvement to the above technical solution, the connector is detachably connected to the execution end.

[0033] The beneficial effects of this utility model are: by controlling the movement of the pre-nailing gun, the number of nails can be increased or decreased each time, thus adapting to different models of pallets, thereby effectively enhancing the adaptability of the wooden pallet nailing device to different models of pallets.

[0034] This invention relates to the field of pallet processing technology. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of this utility model, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0037] Figure 2This is a structural schematic diagram of some components of an embodiment of this utility model.

[0038] In the diagram, 100 is the positioning drive system; 200 is the connector; 300 is the permanent connecting beam; 310 is the beam control structure; 400 is the permanent nail gun; 411 is the linkage connector; 412 is the linkage unit; 413 is the spacing adjustment driver; 414 is the linkage link; 415 is the linkage hinge point; 500 is the pre-connecting beam; 510 is the pre-beam driver; 600 is the pre-nail gun; 610 is the pre-drive mechanism; 700 is the counterweight; and 710 is the counterweight driver. Detailed Implementation

[0039] The following will clearly and completely describe the concept, specific structure, and technical effects of this utility model in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the scope of protection of this utility model. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this invention can be combined interactively without contradicting each other.

[0040] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0041] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0042] Reference Figure 1 and Figure 2 The present invention provides a nailing device for wooden pallets, which has a first direction, a second direction and a third direction that are orthogonal to each other.

[0043] The first direction is parallel to the X-axis in the figure (the X-axis is parallel to the width or length direction of the wooden pallet), the second direction is parallel to the Y-axis in the figure (the Y-axis is parallel to the width or length direction of the wooden pallet, and the Y-axis is perpendicular to the X-axis, that is, when the X-axis is parallel to the length direction of the wooden pallet, the Y-axis is parallel to the width direction of the wooden pallet), and the third direction is parallel to the Z-axis in the figure (in actual use, the Z-axis is set to be parallel to the up and down direction).

[0044] The core objective of this wooden pallet nailing device is to adapt to the nailing needs of different pallet models.

[0045] The wooden pallet nailing device includes a positioning drive system 100 and a nailing actuator. The nailing actuator includes components such as a connector 200, a permanent connecting beam 300, a permanent nail gun 400, a pre-connecting beam 500, and a pre-nail gun 600.

[0046] The positioning function of the wooden pallet nailing device is provided by the positioning drive system 100. The positioning drive system 100 is equipped with an actuator.

[0047] Specifically, in this embodiment, the positioning drive system 100 is a conventional multi-axis industrial robotic arm in the art. The specific structure of the multi-axis industrial robotic arm will not be described in detail here. The multi-axis industrial robotic arm provides the necessary degrees of freedom of movement for the other components of the wooden pallet nailing device. It is worth noting that the actuator end of this multi-axis industrial robotic arm is equipped with a flange.

[0048] In other embodiments, the positioning drive system 100 may also be configured as a multi-axis drive platform or gantry system based on linear modules, servo motors, etc. Those skilled in the art can make the selection according to the spatial layout and load requirements of the actual production line.

[0049] The connector 200 is connected to the execution end of the positioning drive system 100. Specifically, in this embodiment, the connector 200 is fixedly installed to the execution end of the positioning drive system 100 by a detachable connection method (e.g., using bolts or other quick-release structures conventional in the art) to facilitate modular installation, disassembly, and maintenance of the entire nailing actuator.

[0050] The permanent connecting beam 300 extends along a first direction and is slidably connected to the connector 200. The permanent connecting beam 300 can slide relative to the connector 200 along the first direction. Specifically, in this embodiment, the permanent connecting beam 300 and the connector 200 are connected by two sets of slide rail slider assemblies (in other embodiments, the slide rail slider assemblies can also be set as one set) to guide the permanent connecting beam 300.

[0051] Specifically, in this embodiment, the nailing actuator further includes a beam control structure 310, which is configured as a linear module. The beam control structure 310 is fixedly installed on the stationary connecting beam 300, and its output end is fixedly connected to the connector 200. The beam control structure 310 is used to drive and control the position of the stationary connecting beam 300 in the first direction, thereby adjusting the nailing position of the nailing actuator.

[0052] In other embodiments, the beam control structure 310 may also be configured as a servo motor driven ball screw mechanism, linear hydraulic cylinder, linear motor or other components. Those skilled in the art can select the specific structure of the beam control structure 310 according to actual needs.

[0053] The stationary nail gun 400 adopts a pneumatic or electric firing design. The stationary nail gun 400 is installed on the stationary connecting beam 300, and the number of stationary nail guns 400 is set to three (in other embodiments, the number of stationary nail guns 400 can also be set to two, four, etc., and those skilled in the art can select the number of stationary nail guns 400 according to actual needs). The multiple stationary nail guns 400 are arranged at equal intervals along the first direction.

[0054] To accommodate the different spacing of wooden boards in different pallet models, the wooden pallet nailing device also includes a synchronous adjustment mechanism, with the stationary nail gun 400 and the stationary connecting beam 300 slidably connected.

[0055] Specifically, in this embodiment, the synchronization adjustment mechanism includes a linkage connector 411, multiple linkage units 412, and a spacing adjustment driver 413.

[0056] The linkage connector 411 is slidably connected to the permanent connecting beam 300 along the second direction. Specifically, the linkage connector 411 is connected to the permanent connecting beam 300 through a slide rail slider mechanism, thereby realizing the directional guidance of the linkage connector 411.

[0057] The linkage unit 412 includes two linkage links 414 and one linkage hinge point 415. The ends of the two linkage links 414 that are far apart from each other are respectively hinged to two adjacent stationary nail guns 400, and the ends of the two linkage links 414 that are close to each other are hinged together through the linkage hinge point 415.

[0058] The linkage hinge point 415 is slidably connected to the linkage connector 411, and the linkage hinge point can slide relative to the linkage connector 411 in a first direction.

[0059] When the spacing between two adjacent stationary nail guns 400 changes, the position of the linkage connection point of the linkage unit 412 located between them in the second direction will change, so as to drive the linkage connector 411 to move, and then drive the linkage hinge point 415 of other linkage units 412 to move, thereby realizing the synchronous adjustment of the spacing between multiple stationary nail guns 400.

[0060] Specifically, in this embodiment, two adjacent stationary nail guns 400 are respectively configured as a fixed nail gun and an adjustable nail gun. A spacing adjustment driver 413 is fixedly installed on the stationary connecting beam 300, and its output end is fixedly connected to the fixed nail gun. The fixed nail gun is located at the end of the stationary connecting beam 300 and is fixedly connected to it. The adjustable nail gun's position relative to the fixed nail gun is adjusted via the spacing adjustment driver 413.

[0061] In other embodiments, each stationary nail gun 400 may be equipped with a separate independent nail gun driver (the independent nail gun driver may be a lead screw mechanism driven by a small servo motor, a linear motor, or a precision cylinder). The independent nail gun driver is fixedly installed on the stationary connecting beam 300, and its output end is fixedly connected to the corresponding stationary nail gun 400. The control system of this wooden pallet nailing device can independently or according to a preset proportional relationship command to activate multiple independent nail gun drivers, driving each stationary nail gun 400 to move a specific distance along a first direction, so as to ensure that multiple stationary nail guns 400 are arranged at the same spacing. By precisely controlling the displacement and proportional relationship of multiple independent nail gun drivers, the complex positioning requirements of synchronous scaling, asymmetrical adjustment, or moving only specific gun bodies of all stationary nail guns 400 can be achieved.

[0062] Those skilled in the art can choose the most suitable linkage drive method for the resident nail gun 400 from the above-mentioned linkage drive, endpoint drive or independent proportional drive, according to the required adjustment flexibility, cost and control complexity.

[0063] The linkage adjustment principle of the multiple resident nail guns 400 in this embodiment is as follows:

[0064] When the distance between any two adjacent stationary nail guns 400 changes, the linkage 414 between them pushes their linkage hinge point 415 to move along the second direction; the displacement of the linkage hinge point 415 in the second direction forces the linkage connector 411 to slide along the second direction as a whole; the movement of the linkage connector 411 drives all linkage hinge points 415 to move synchronously; the linkage hinge points 415 of each synchronous adjustment mechanism drive the corresponding stationary nail gun 400 to move along the first direction through the linkage 414, thereby realizing the synchronous adjustment of the distance between all stationary nail guns 400.

[0065] This design reduces the need for drive units, allowing for the synchronous adjustment of multiple stationary nail guns 400 using only one drive unit, thereby effectively reducing production costs.

[0066] To increase the number of nailing points per nailing pass or cover more complex nailing positions, the device includes two pre-connecting beams 500. The two pre-connecting beams 500 are arranged sequentially along a first direction and are slidably connected by a slide rail slider assembly along a third direction. The pre-connecting beams 500 and the permanent connecting beam 300 are arranged along the first direction, with one of the pre-connecting beams 500 slidably connected to the permanent connecting beam 300 via a slide rail slider assembly along a third direction.

[0067] Each pre-connecting beam 500 is equipped with a pre-connecting beam driver 510, which is configured as a linear module (in other embodiments, the pre-connecting beam driver 510 may also be configured as a linear cylinder or a servo electric cylinder). The pre-connecting beam driver 510 drives the pre-connecting beam 500 to move along a third direction to switch the working state and non-working state of the pre-connecting beam 500. In the working state, the pre-connecting beam 500 is lowered to a low position, and in the non-working state, the pre-connecting beam 500 is raised to a high position to avoid interference with other components or the pallet.

[0068] Each pre-connecting beam 500 is equipped with a pre-nail gun 600. The pre-nail gun 600 is used to increase the number of nailing points for each nailing operation to accommodate the needs of different nailing points on the tray. Each pre-nail gun 600 is slidably mounted on the pre-connecting beam 500 via a set of slide rail slider assemblies along a first direction.

[0069] An independent pre-drive mechanism 610 (such as a miniature cylinder, servo motor, or stepper motor) is associated with each pre-nail gun 600 to drive the pre-nail gun 600 to move along a first direction on its pre-connecting beam 500 to adjust the distance between the pre-nail gun 600 and the stationary nail gun 400 for precise positioning.

[0070] To accommodate the different spacing of the wooden planks in different pallet models, the wooden pallet nailing device also includes a pre-drive mechanism 610.

[0071] As the pre-nailing gun 600 descends, the number of nailing points increases with each nailing operation. The beam control structure 310 needs to control the permanent connecting beam 300 to move relative to the connector 200 in the first direction so that multiple nailing guns performing nailing tasks are evenly distributed on both sides of the connector 200.

[0072] Since the beam control structure 310 drives the permanent connecting beam 300 to move along the first direction, the load torque on both sides of the execution end of the positioning drive system 100 in the first direction will be unbalanced. Therefore, in this embodiment, a dynamic counterweight system is added to the nailing execution mechanism.

[0073] The dynamic counterweight system includes a counterweight block 700 and a counterweight actuator 710.

[0074] Multiple counterweights 700 are provided, arranged along the second direction and evenly distributed on both sides of the connector 200 in the second direction to balance the weight of the actuator of the positioning drive system 100 on both sides of the second direction. The counterweights 700 are slidably connected to the permanent connecting beam 300 along the first direction, and are used to balance the weight of the positioning drive system 100 on both sides of the first direction.

[0075] Specifically, in this embodiment, the nailing actuator further includes multiple counterweight drivers 710, each corresponding to a counterweight block 700. The counterweight driver 710 drives the counterweight block 700 to slide along the first direction. By controlling the sliding position of the counterweight block 700 through the counterweight driver 710, the force on the positioning drive system 100 in the first direction is balanced.

[0076] The control system of the wooden pallet nailing device dynamically calculates the load torque change based on the relative position of the permanent connecting beam 300 and the connector 200, and sends a signal to the counterweight drive 710 to adjust the position of the counterweight block 700 in the first direction. By increasing the counterweight torque on the light load side (or decreasing the counterweight on the heavy load side), the off-center load torque caused by the displacement of the permanent connecting beam 300 is offset, thereby maintaining the force balance at the execution end of the positioning drive system 100, so as to significantly improve the stability and positioning accuracy of the nailing operation.

[0077] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A wooden pallet nailing device, characterized in that: The wooden pallet nailing device comprises: a first direction, a second direction, and a third direction that are mutually orthogonal; The positioning drive system is equipped with an execution end; Connector, the connector is installed on the execution end; A permanent connecting beam extends along a first direction and is installed at the connector; A plurality of permanent nail guns are provided, and the plurality of nail guns are installed on the permanent connecting beam, and the plurality of permanent nail guns are arranged at intervals along a first direction. Several pre-connecting beams are provided, and the pre-connecting beams are slidably connected to the permanent connecting beams along a third direction. A number of pre-installed nail guns are arranged along a first direction with the stationary nail guns. Each pre-installed nail gun corresponds to a pre-installed connecting beam and is installed on the pre-installed connecting beam.

2. The wooden pallet nailing device according to claim 1, characterized in that: The permanent connecting beam is slidably connected to the connecting head; The wooden pallet nailing device also includes a beam control structure, which drives the permanent connecting beam to slide relative to the connector in a first direction.

3. The wooden pallet nailing device according to claim 2, characterized in that: Also includes: Multiple counterweights are provided, which are slidably connected to the permanent connecting beam along a first direction. The counterweights are used to balance the weight of the positioning drive system on both sides in the first direction.

4. The wooden pallet nailing device according to claim 3, characterized in that: It also includes multiple counterweight actuators, each corresponding to a counterweight block, and the counterweight actuators drive the counterweight blocks to slide along a first direction.

5. The wooden pallet nailing device according to claim 1, characterized in that: It also includes a pre-connecting beam driver that drives the pre-connecting beam to move relative to the permanent connecting beam in a third direction.

6. The wooden pallet nailing device according to claim 1, characterized in that: Multiple of the permanent nail guns are slidably disposed on the permanent connecting beam; the pre-nailing nail gun is slidably disposed on the corresponding pre-nailing connecting beam; The wooden pallet nailing device also includes: A synchronous adjustment mechanism drives multiple stationary nail guns to move relative to the stationary connecting beam along a first direction to change the spacing between the multiple stationary nail guns. A pre-drive mechanism drives the pre-nail gun to move relative to the pre-connecting beam in a first direction.

7. The wooden pallet nailing device according to claim 6, characterized in that: The synchronization adjustment mechanism includes: Multiple linkage units are provided, and the linkage units are arranged between two adjacent stationary nail guns; the linkage unit includes a linkage hinge point and two linkage links, the ends of the two linkage links that are far apart from each other are respectively hinged to the two stationary nail guns, and the ends that are close to each other are hinged to each other through the linkage hinge point; A linkage connector is slidably connected to the permanent connecting beam. The linkage connector can be close to or away from the permanent nail gun. The linkage hinge point is slidably connected to the linkage connector along a first direction.

8. The wooden pallet nailing device according to claim 7, characterized in that: Two adjacent resident nail guns are respectively designated as a fixed nail gun and an adjustable nail gun; The synchronization adjustment mechanism further includes a spacing adjustment driver, which is fixed relative to the fixed nail gun, and the output end of the spacing adjustment driver is fixed to the adjusting nail gun.

9. The wooden pallet nailing device according to claim 8, characterized in that: The fixed nail gun is fixedly connected to the permanent connecting beam, and the fixed nail gun is located at the end of the permanent connecting beam.

10. The wooden pallet nailing device according to claim 1, characterized in that: The connector is detachably connected to the execution end.

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