CN115008563A - Full-automatic coding nail machine - Google Patents

Abstract

The invention discloses a full-automatic coding nailing machine, which comprises: the assembly line, the installation base and the automatic nail feeding device are respectively supported on the ground, the installation base and the automatic nail feeding device are located on the same side of the assembly line, and the installation base is located at a nailing station of the assembly line. The assembly line is provided with two groups of positioning mechanisms and a plurality of groups of blocking mechanisms, the plurality of groups of blocking mechanisms are sequentially arranged at intervals along the length direction of the assembly line, and the two groups of positioning mechanisms are positioned at nailing stations and are respectively arranged on two sides of the assembly line. The installation base is rotatably provided with a robot, the robot is provided with a control system, the operation end of the robot is connected with an automatic nailing device, and the automatic nailing device, the automatic nail feeding device, the blocking mechanism and the positioning mechanism are respectively connected with the control system. The full-automatic coding nailing machine has the advantages of high automation degree, high nailing efficiency, low labor intensity of workers, capability of effectively reducing the labor cost, compact and reasonable layout and small occupied area.

Description

Full-automatic coding nail machine

Technical Field

The invention relates to the technical field of automatic equipment, in particular to a full-automatic coding nailing machine.

Background

In recent years, with the improvement of science and technology and the improvement of quality of life, people pay more attention to the comfort of living environment and the diversity of structure functions, modern wood products get more and more attention by virtue of unique advantages of the modern wood products, the demand on the wood products is increased year by year, and therefore the development of the wood products in China is accelerated.

Wooden product modularization has adopted the prefabricated mode production of mill at present, need adopt the code nail to connect and fix the structure in the timber structure modularization production, among the prior art, generally manual pack the code nail strip into the code nail rifle, perhaps adopt and supply nail platform supporting code nail strip, the last nail device of operation in-process is arranged by supplying the nail platform to go up the nail, it is prescribed a limit to receive to supply nail platform length, need to be equipped with the special messenger and manually to adorn the code nail bar to supplying the nail platform, in addition, still adopt simple automatic nailing device to slide to install and slide the nailing on sharp module.

When the nails are manually fed, the nail feeding efficiency is low, so that the production efficiency is low, and the labor intensity of workers is high; when the manual cooperation supplies to follow closely on the platform, on the one hand supply to follow closely the platform and need great installation place, on the other hand also need be equipped with the special messenger and go up the nail, improvement manufacturing cost.

The existing simple automatic nailing device can only load 3-4 rows of nails at one time, so that the nailing efficiency is low and the labor intensity of workers is high; and the nailing speed is slow, and continuous nailing cannot be realized.

Disclosure of Invention

The invention provides a full-automatic coding nailing machine, which solves the technical problems of low nailing efficiency, high labor intensity of workers and large occupied area required by installation in the conventional nailing mode.

The technical scheme adopted by the invention is as follows:

a full-automatic coding nailing machine comprises: the automatic nailing machine comprises a production line for conveying a product to be nailed, a mounting base for mounting a robot and an automatic nail feeding device for automatically feeding nailing strips required by nailing, wherein the production line, the mounting base and the automatic nail feeding device are respectively supported on the ground, the mounting base and the automatic nail feeding device are positioned on the same side of the production line, and the mounting base is positioned at a nailing station of the production line; the assembly line is provided with two groups of positioning mechanisms and a plurality of groups of blocking mechanisms, the groups of blocking mechanisms are sequentially arranged at intervals along the length direction of the assembly line and are used for separating and limiting products supported on the assembly line, and the two groups of positioning mechanisms are positioned at the nailing station and are respectively arranged at two sides of the assembly line and are used for relatively clamping and fixing the products limited at the nailing station by the blocking mechanisms under the matching action; the installation base is rotatably provided with a robot, the robot is provided with a control system, the operation end of the robot is connected with an automatic nailing device for automatically driving code nails into products, and the automatic nailing device, the automatic nail feeding device, the blocking mechanism and the positioning mechanism are respectively connected with the control system.

Furthermore, the assembly line comprises a rack arranged on the ground in a supporting mode and a conveying line rail arranged on the rack in a sliding mode, wherein the conveying line rail comprises supporting strips which are arranged at intervals in sequence along the conveying direction and used for supporting products; the blocking mechanism is connected to the rack and positioned below the conveying line rail, so that when a product needs to be blocked and limited, the blocking mechanism rises and penetrates through a gap between two adjacent supporting bars to extend out; the positioning mechanism is connected to the frame.

Furthermore, the blocking mechanism comprises a mounting bar, a blocking cylinder, a plurality of linear bearings, a guide shaft, a blocking plate and a plurality of supporting bars, wherein the mounting bar is arranged along the width direction of the conveying line rail and connected to the rack; the positioning mechanism comprises an air cylinder mounting plate fixed on the rack, a clamping air cylinder fixed on the air cylinder mounting plate, and a push plate connected to the driving end of the clamping air cylinder.

Further, the automatic staple supplying apparatus includes: the installing support is erected on the ground, a binding box for containing the staple strips is arranged at the top of the installing support, and a plurality of layers of staple strips which are sequentially arranged from top to bottom are arranged in the binding box; the mounting support is also provided with a servo material distributing mechanism, and the servo material distributing mechanism is connected with the control system and is used for relatively inserting the lowermost layer nail stacking strips and the penultimate layer nail stacking strips at two sides of the binding box and then moving upwards to drive the rest layers of nail stacking strips except the lowermost layer nail stacking strips to move upwards to separate the lowermost layer nail stacking strips; and the top of the mounting support is also provided with a material pushing mechanism connected with the control system, so that the separated lowermost layer of nail stacking strips can be horizontally pushed into the automatic nailing device.

Furthermore, the nail loading box is in a hollow box body without an upper cover, two inner side walls in the width direction of the nail loading box are correspondingly provided with inwards concave limiting grooves which are sequentially arranged at intervals along the length direction, each limiting groove extends from the top to the bottom of the nail loading box, and two ends of the nail stacking strip are clamped in the two opposite limiting grooves; set up many shift fork passageways that correspond the spacing groove setting on two lateral walls of dress nail box width direction, each shift fork passageway and the spacing groove intercommunication that corresponds, and extend towards the top by the bottom of dress nail box to servo feed mechanism inserts in the dress nail box through pulling out the passageway of inserting.

Furthermore, the mounting support comprises a mounting support column vertically supported on the ground and a mounting box fixed at the top end of the mounting support column; the top end of the mounting support is concave to form a lower mounting cavity; the mounting box is located the both sides of binding box width direction and does not have the curb plate, and binding box and pushing equipment are fixed in the top of mounting box respectively, and servo feed mechanism installs in the mounting box, and downwardly extending goes into down in the installation cavity to servo feed mechanism is outwards stretched out by mounting box width direction's both sides.

Further, the automatic nailing device includes: the vertical plate group, and a bin pushing mechanism, a stacking nail pushing mechanism and a floating nailing mechanism which are connected to the vertical plate group, wherein the bin pushing mechanism, the stacking nail pushing mechanism and the floating nailing mechanism are respectively connected with the control system; the floating nailing mechanism is connected with the operation end of the robot and comprises a nailing gun which is arranged in a floating mode along the nailing direction, and the nailing gun is used for continuously driving the piled nails of the pushed nailing strip into the product after the floating nailing mechanism presses the product; the feed end of the bin pushing mechanism is used for being communicated with the automatic nail feeding device, and the opposite discharge end of the bin pushing mechanism is communicated with the feed end of the stacking nail pushing mechanism so as to temporarily store the stacking nail strips fed by the automatic nail feeding device and sequentially push the stacking nail strips into the stacking nail pushing mechanism; the discharge end of the setting nail pushing mechanism is communicated with the setting nail gun to be used for continuously pushing the setting nail strip into the setting nail gun.

Further, the bin pushing mechanism comprises a bin for temporarily storing and arranging the staple strips in sequence along the staple strip pushing direction, and a horizontal pushing component for horizontally pushing all the staple strips which are arranged in order forwards integrally, and the horizontal pushing component is connected with the control system; the bin is fixed with the vertical plate group, a feeding end arranged along the length direction of the bin is communicated with a discharging end of the automatic nail feeding device, so that a plurality of nail stacking strips horizontally pushed by the automatic nail feeding device enter the bin, and the opposite discharging end of the discharging end is communicated with a feeding end of the nail stacking and pushing mechanism; the flat push component is arranged on the feed bin in a spanning mode, the two ends of the flat push component are connected with the feed end and the discharge end of the feed bin respectively, and the flat push component pushes the tail end stacking nail strips which are arranged in order, so that the head end stacking nail strips sequentially enter the stacking nail pushing mechanism by pushing all the stacking nail strips in a flat push mode.

Furthermore, the nail stacking and pushing mechanism comprises a pushing strip group fixed with the vertical plate group, a linear pushing component used for integrally pushing all nail stacking strips sequentially arranged in the pushing strip group forwards, and a pressing wheel pushing component used for pressing the nail stacking strips and then pushing the nail stacking strips forwards, wherein the linear pushing component and the pressing wheel pushing component are respectively connected with the control system; the feeding end of the pushing strip group is vertically communicated with the discharging end of the storage bin, and the opposite discharging end of the pushing strip group is communicated with the nail stacking gun so as to be used for sequentially arranging the nail stacking strips along the length direction of the nail stacking strips and guiding the slippage of the nail stacking strips; the linear pushing member is connected to the pushing strip group, and the driving end of the linear pushing member abuts against the tail ends of the tail end staple stacking strips which are sequentially arranged; the pressing wheel pushing component is connected to the vertical plate group and is rotationally arranged and presses down the code nail strip so as to apply the forward pushing force of the code nail strip, and then the linear pushing component retreats to push the next code nail strip to enter the pushing strip group, so that the code nail gun continuously enters the code nail gun.

Furthermore, the floating nailing mechanism also comprises a floating plate group connected with the robot, a buffer component used for applying buffer force in the nailing direction of the nailing gun, a third electromagnetic valve connected to the nailing gun and electrically connected with the nailing gun, and a pinch roller pressing component used for pressing products, wherein the buffer component, the third electromagnetic valve and the pinch roller pressing component are respectively connected with the control system; the first end of the floating plate group is connected with the top end of the vertical plate group, the opposite second end of the floating plate group is rotatably arranged relative to the first end of the vertical plate group, the buffer member is suspended at the second end of the floating plate group, and the staple gun is suspended on the buffer member; the pressing wheel pressing member is connected to the pushing strip group and spans two sides of a staple stacking groove strip of the staple stacking gun.

The invention has the following beneficial effects:

the full-automatic coding nailing machine has high automation degree, and less manual participation is caused in the whole working process, so that the nailing efficiency is high, the labor intensity of workers is low, and the labor cost can be effectively reduced; when nailing, the robot can automatically arrange nailing according to the feedback of the control system to the position information, so that the nailing efficiency is further improved, and the nailing position does not need to be repeatedly confirmed, so that the nailing efficiency is high, and the nailing quality is good; in the full-automatic coding and nailing machine, the mounting base and the automatic nail feeding device are positioned on the same side of the production line, the mounting base is positioned at a nailing station of the production line, the plurality of groups of blocking mechanisms are sequentially arranged at intervals along the length direction of the production line, and the two groups of positioning mechanisms are positioned at the nailing station and are respectively arranged on two sides of the production line.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic space structure diagram of a fully automatic coding nailing machine according to a preferred embodiment of the invention;

FIG. 2 is a schematic view of the spatial structure of the blocking mechanism of FIG. 1;

FIG. 3 is a schematic view of the positioning mechanism of FIG. 1 in a spatial configuration;

FIG. 4 is a schematic view showing a spatial structure of the automatic staple feeder of FIG. 1;

FIG. 5 is a schematic view of the spatial structure of the servo feed mechanism in FIG. 4;

FIG. 6 is a schematic front view of the structure of FIG. 5;

FIG. 7 is a schematic view of the spatial arrangement of the staple cartridge of FIG. 4;

FIG. 8 is a schematic view showing a spatial structure of the automatic nailing device of FIG. 1;

FIG. 9 is a schematic view of the spatial structure of the horizontal pushing member of FIG. 8;

FIG. 10 is a schematic view of the spatial structure of the magazine of FIG. 8 in combination with a staple pushing mechanism;

fig. 11 is a schematic view showing a spatial structure of the floating nailing mechanism of fig. 8.

Description of the figures

1. Producing a product; 2. a robot; 3. installing a base; 4. an automatic nail feeding device; 5. an automatic nailing device; 8. a production line; 11. mounting a support; 111. mounting a support column; 112. mounting a box; 12. stacking the nail strips; 13. a staple cartridge; 131. a limiting groove; 132. a fork channel; 133. a nail box bottom plate; 134. a side plate; 135. a connecting strip; 14. a missing nail detection member; 141. a sensor mounting plate; 142. a sensor; 20. a servo material distributing mechanism; 21. a shifting fork plate; 211. a shifting fork fixing plate; 212. a fork strip is shifted; 22. a lateral drive member; 221. a bidirectional cylinder; 222. mounting blocks; 23. a lifting drive member; 231. a servo motor; 232. a screw nut structure; 233. a lifting bottom plate; 24. a guide limit member; 241. a linear bearing; 242. a guide shaft; 243. a lower limit sleeve; 244. a limiting flange; 30. a material pushing mechanism; 31. a material pushing plate; 32. a slipping cylinder; 33. a guide block; 41. a vertical plate group; 411. a first vertical plate; 412. a second vertical plate; 43. a positioning sensor; 50. a stock bin pushing mechanism; 51. a storage bin; 511. a bin floor; 512. a side guide bar; 52. a horizontal pushing component; 521. installing branch bars; 522. installing a mandrel; 523. a rodless cylinder; 524. a first solenoid valve; 525. a guide shaft seat; 526. a push plate group; 60. a staple pushing mechanism; 61. pushing the strip group; 611. a bottom slat; 612. a limiting strip; 62. a linear pushing member; 621. a push rod cylinder; 622. a second solenoid valve; 623. a push rod; 624. a connecting plate; 63. the pinch roller pushes the component; 631. a pinch roller mounting plate; 632. installing a shaft; 633. a deflection shaft seat; 634. a motor mounting plate; 635. a pinch roller motor; 636. a lower pinch roller; 70. a floating nailing mechanism; 71. setting a nail gun; 711. stacking nail groove strips; 712. a transverse handle; 72. a floating plate group; 721. a first mounting seat; 722. a floating mounting plate; 73. a cushioning member; 731. a floating cylinder; 732. a pressure regulating valve; 733. a connecting ring; 74. a third electromagnetic valve; 75. the pinch roller compresses the component; 751. a second mounting seat; 752. a pinch roller; 81. a frame; 82. a conveyor track; 821. a supporting strip; 91. a positioning mechanism; 911. a cylinder mounting plate; 912. a clamping cylinder; 913. pushing the plate; 92. a blocking mechanism; 921. mounting a bar; 922. a blocking cylinder; 923. a linear bearing; 924. a guide shaft; 925. a barrier plate.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.

Referring to fig. 1, a preferred embodiment of the present invention provides a fully automatic coding nailing machine including: a automatic confession nail device 4 for carrying the required sign indicating number nail strip of product 1 of treating the nailing, an installation base 3 for installing robot 2, a production line 8, installation base 3 and automatic confession nail device 4 prop up respectively and locate subaerially, and installation base 3 and automatic confession nail device 4 lie in same one side of production line 8 to installation base 3 lies in the nailing station department of production line 8. Be equipped with two sets of positioning mechanism 91 and multiunit blocking mechanism 92 on assembly line 8, multiunit blocking mechanism 92 sets up along the length direction of assembly line 8 interval in proper order to be used for separating and spacing propping up the product 1 of establishing on assembly line 8, two sets of positioning mechanism 91 are located nailing station department and divide the both sides of locating assembly line 8, carry out the relative clamp to fixing by blocking mechanism 92 spacing product 1 in nailing station department. The installation base 3 is provided with a robot 2 in a rotating mode, the robot 2 is provided with a control system, the operation end of the robot 2 is connected with an automatic nailing device 5 used for automatically nailing a code nail into a product 1, and the automatic nailing device 5, the automatic nail feeding device 4, the blocking mechanism 92 and the positioning mechanism 91 are respectively connected with the control system.

When the automatic nailing device works, a plurality of layers of nail stacking strips 12 with a plurality of rows at each layer are manually placed in the automatic nail feeding device 4, the automatic nail feeding device 4 automatically feeds materials, one layer of nail stacking strips 12 is fed each time, and then the automatic nailing device 5 enables the nail stacking strips 12 to be loaded into the automatic nailing device 5; when the product 1 flows into the nailing station through the assembly line 8, the blocking mechanisms 92 automatically block the product 1 to limit, and the two groups of positioning mechanisms 91 are clamped and positioned relatively; the control system in the robot 2 controls the automatic nailing device 5 to carry out position detection, and after position information is obtained, the robot 2 carries out automatic arrangement nailing; when the nail is not enough, the robot 2 drives the automatic nailing device 5 to move to the automatic nail feeding device 4 to feed the nail.

The full-automatic coding nailing machine has high automation degree, and less manual participation is caused in the whole working process, so that the nailing efficiency is high, the labor intensity of workers is low, and the labor cost can be effectively reduced; when nailing, the robot 2 can automatically arrange nailing according to the feedback of the control system to the position information, so that the nailing efficiency is further improved, and the nailing position does not need to be repeatedly confirmed, so that the nailing efficiency is high, and the nailing quality is good; in the full-automatic coding nailing machine, the mounting base 3 and the automatic nail feeding device 4 are positioned on the same side of the production line 8, the mounting base 3 is positioned at a nailing station of the production line 8, a plurality of groups of blocking mechanisms 92 are sequentially arranged at intervals along the length direction of the production line 8, and two groups of positioning mechanisms 91 are positioned at the nailing station and are respectively arranged on two sides of the production line 8.

Alternatively, as shown in fig. 1, the production line 8 includes a frame 81 supported on the ground, and a conveying line rail 82 slidably supported on the frame 81, wherein the conveying line rail 82 includes support bars 821 arranged at intervals in the conveying direction and used for supporting the products 1. The assembly line 8 is simple in structure and easy to set. The blocking mechanism 92 is connected to the frame 81 and located below the conveying line rail 82, so as to be raised and extended after penetrating through the gap between two adjacent supporting bars 821 when the product 1 needs to be blocked for limiting. The positioning mechanism 91 is connected to the frame 81.

In this alternative, as shown in fig. 2, the blocking mechanism 92 includes a mounting strip 921 disposed along the width direction of the conveying line rail 82 and connected to the frame 81, a blocking cylinder 922 and a plurality of linear bearings 923 vertically fixed to the mounting strip 921, a guide shaft 924 slidably mounted in each linear bearing 923, and a blocking plate 925 connected to the upper end of the guide shaft 924 and the output end of the blocking cylinder 922, where the blocking plate 925 is disposed in parallel with the support bars 821 to be raised when the blocking cylinder 922 extends out and to be inserted into a gap between the two support bars 821. When the product 1 on the conveying line rail 82 needs to be blocked for limitation, the control system controls the blocking cylinder 922 to be started, the telescopic end of the blocking cylinder 922 rises, the blocking plate 925 is driven to rise, and the blocking plate 925 rises to the upper side of the conveying line rail 82 after penetrating through the gap between the two supporting bars 821, so that the product 1 is blocked for limitation and separation.

In this alternative, as shown in fig. 3, the positioning mechanism 91 includes a cylinder mounting plate 911 fixed to the frame 81, a clamping cylinder 912 fixed to the cylinder mounting plate 911, and a push plate 913 connected to a driving end of the clamping cylinder 912. When the product 1 is blocked by the blocking mechanism 92 and limited at the nailing station, the control system controls the clamping cylinder 912 to start, the telescopic end of the clamping cylinder 912 extends outwards to drive the push plate 913 to move towards the product 1, and then the two groups of positioning mechanisms 91 are matched to clamp the product 1 relatively.

Referring to fig. 4, the automatic staple supplying apparatus 4 of the present invention includes: the installing support 11 is arranged on the ground, the top of the installing support 11 is provided with a binding box 13 used for containing the binding strips 12, and the binding box 13 is internally provided with a plurality of layers of binding strips 12 which are sequentially arranged from top to bottom. The mounting support 11 is further provided with a servo material-distributing mechanism 20, and the servo material-distributing mechanism 20 is connected with the control system and used for relatively inserting the lowermost staple bar 12 and the penultimate staple bar 12 between the two sides of the staple box 13 and then moving upwards so as to drive the rest layers of staple bars 12 except the lowermost staple bar 12 to move upwards to separate the lowermost staple bar 12. The top of the mounting support 11 is further provided with a pushing mechanism 30 connected with the control system for horizontally pushing the separated lowermost stacking nail strip 12 into the automatic nailing device 5.

When the automatic nail feeding device 4 works, the control system firstly controls the servo feed mechanism 20 to start, the servo feed mechanism 20 acts, the two opposite sides of the nail loading box 13 are relatively inserted into a gap between the lowermost layer nail stacking strip 12 and the penultimate layer nail stacking strip 12 (the nail stacking strips 12 are strip-shaped and are formed by sequentially arranging and connecting a plurality of bent nails, so that a gap is formed between two superposed nail stacking strips 12), and the control system then controls the servo feed mechanism 20 to ascend to drive the rest layers of nail stacking strips 12 except the lowermost layer nail stacking strip 12 to move upwards so as to separate the lowermost layer nail stacking strip 12; and then the control system controls the material pushing mechanism 30 to start, and the material pushing mechanism 30 horizontally pushes the separated lowermost layer nail stacking strip 12 into the automatic nailing device 5, so that full-automatic nail feeding of the nail stacking strips is realized.

The automatic nail feeding device 4 can realize full-automatic nail feeding of the nail stacking strips 12, has high nail feeding efficiency, can effectively improve the modularized production efficiency, has low labor intensity of a nail feeding person, and can effectively reduce the labor cost; the upper layer and the lower layer of the staple stacking strip 12 in the staple loading box 13 are sequentially overlapped, so that the required installation site is small, the single staple supply amount can be more, the staple loading personnel do not need to frequently load staples, and the labor intensity of the staple loading personnel is low.

Optionally, as shown in fig. 7, the stapling box 13 is a hollow box body without an upper cover, two inner side walls of the stapling box 13 in the width direction are correspondingly provided with concave limiting grooves 131 which are sequentially arranged at intervals in the length direction, each limiting groove 131 extends from the top to the bottom of the stapling box 13, two ends of each staple bar 12 are clamped in the two opposite limiting grooves 131, and the installation and arrangement of the staple bars 12 can be respectively positioned by the arrangement of the limiting grooves 131, so that the plurality of staple bars 12 are regularly and stably arranged in the stapling box 13. A plurality of shifting fork channels 132 corresponding to the limiting grooves 131 are formed on two outer side walls of the width direction of the binding box 13, each shifting fork channel 132 is communicated with the corresponding limiting groove 131 and extends from the bottom of the binding box 13 to the top, so that the servo distributing mechanism 20 is inserted into the binding box 13 through the plugging channels. The nail loading box 13 is simple in structure and easy to manufacture, the number of the limiting grooves 131 in the nail loading box 13 is set, so that the nail loading box 13 can supply a large number of nails at a time, frequent nailing is avoided, and the number of the nail stacking strips 12 in the nail loading box 13 is large through setting the height of the nail loading box 13, so that frequent nailing by an operator is avoided.

In this alternative, as shown in fig. 7, the magazine 13 includes a magazine bottom plate 133 fixed to the top of the mounting bracket 11, two side plates 134 disposed opposite to each other and vertically connected to both sides in the width direction of the magazine bottom plate 133, and a connecting strip 135 connecting the two side plates 134. The inner wall surfaces of the two side plates 134 are provided with limiting grooves 131, and the outer wall surfaces of the two side plates 134 are correspondingly provided with shifting fork channels 132. The staple cartridge 13 of the present invention is simple in structure and easy to manufacture.

Alternatively, as shown in fig. 7, the automatic staple supplying apparatus 4 further includes a staple missing detecting means 14 for detecting a staple missing in the staple cartridge 13 and alarming, the staple missing detecting means 14 including: a sensor mounting plate 141 fixed on the staple cartridge 13, a sensor 142 fixed on the sensor mounting plate 141, an alarm connected with the control system, and the sensor is also connected with the control system. During operation, the sensor 142 detects the number of piles of sign indicating number nail strip 12 in the binding box 13 in real time to give control system with the number of piles signal feedback, when the number of piles signal that control system received is less than the system and presets the number of piles, control system control alarm warning suggestion, and then operating personnel mends the nail to binding box 13.

Alternatively, as shown in fig. 4, the mounting support 11 includes a mounting pillar 111 vertically supported on the ground, and a mounting box 112 fixed to the top end of the mounting pillar 111. The top end of the mounting post 111 is recessed to form a lower mounting cavity. The mounting box 112 is located the both sides of the width direction of the staple cartridge 13 and does not have the curb plate 134, the staple cartridge 13 and the pushing equipment 30 are fixed in the top of mounting box 112 respectively, the servo feed mechanism 20 is installed in the mounting box 112, and downwardly extending goes into the lower mounting cavity, and the servo feed mechanism 20 is outwardly directed by the both sides of the width direction of the mounting box 112. In this alternative, the mounting strut 111 is a hollow column; the mounting box 112 comprises a bottom plate fixed at the top end of the mounting pillar 111, two side plates relatively and vertically fixed on the bottom plate along the length direction of the binding box 13, and a top plate fixed at the top ends of the two side plates; the staple cartridge 13 and the pusher mechanism 30 are fixed to the top plate, respectively. The mounting support 11 has a simple structure and is easy to manufacture.

Alternatively, as shown in fig. 4 and 5, the servo feed mechanism 20 includes two fork plates 21 disposed opposite to each other in the width direction of the magazine 13, a lateral driving member 22 for driving the two fork plates 21 to move relatively, and a lifting driving member 23 for driving the two fork plates 21 to lift. A lifting drive member 23 is disposed within the mounting box 112 with its lifting end connected to the lateral drive member 22 and its opposite drive end extending downwardly into the lower mounting cavity. Two fork plates 21 are fixed on two opposite telescopic ends of a transverse driving member 22. When the lifting mechanism works, the control system controls the lifting driving component 23 to start, and the lifting end of the lifting driving component 23 rises, so that the transverse driving component 22 and the two shifting fork plates 21 are driven to rise synchronously; after the shifting fork plates 21 rise to a certain position, the control system controls the transverse driving component 22 to start, the transverse driving component 22 drives the two shifting fork plates 21 to be relatively close to be inserted between the lowest layer of coded nail strip 12 and the penultimate coded nail strip 12, the control system controls the lifting end of the lifting driving component 23 to continuously rise, the shifting fork plates 21 separate the lowest layer of coded nail strip 12, the lowest layer of coded nail strip 12 is in a free state, after the lowest layer of coded nail strip 12 is pushed away by the material pushing mechanism 30, the servo distributing mechanism 20 integrally descends to the lowest end, the coded nail strips 12 fall on the bottom plate of the nail loading box 13, the two shifting fork plates 21 are relatively far away, and the action is finished.

In this alternative, as shown in fig. 5, the shift fork plate 21 includes a shift fork fixing plate 211 vertically disposed, and a plurality of shift fork strips 212 for being inserted between two adjacent layers of staple strips 12, the plurality of shift fork strips 212 are disposed in one-to-one correspondence with the plurality of shift fork channels 132, and each shift fork strip 212 is perpendicular to the shift fork fixing plate 211. In operation, the code nail strip 12 in the corresponding limit groove 131 is lifted upwards along the limit groove 131 through the shifting fork strip 212. The transverse driving member 22 includes a bidirectional cylinder 221 fixed to the top end of the elevation driving member 23, and two mounting blocks 222 connected to the driving rods at opposite ends of the bidirectional cylinder 221, and the fork fixing plate 211 is fixed to the mounting block 222 at the corresponding side. The lateral driving member 22 is simple in structure and easy to set. During operation, the control system controls the bi-directional cylinder 221 to start, the driving rods at the two ends of the bi-directional cylinder stretch, and then the two mounting blocks 222 drive the two fork-moving plates 21 to relatively approach or move away from each other.

In this alternative, as shown in fig. 5 and 6, the elevation driving means 23 includes a servo motor 231, a lead screw nut structure 232 connected to an output end of the servo motor 231, and an elevation base plate 233 fixed to the lead screw nut structure 232. The servo motor 231 is vertically arranged in the lower mounting cavity, and the output end of the servo motor penetrates through the bottom plate of the mounting box 112 and then extends into the mounting box 112. The lateral driving member 22 is fixed to the elevating base plate 233. In this alternative, the feed screw nut structure 232 includes a feed screw fixed with the output end of the servo motor 231, a feed screw nut threadedly mounted on the outer circumference of the feed screw, and a feed screw nut seat for fixing the feed screw nut; the feed screw nut seat is fixed on the lower surface of the lifting bottom plate 233, and the feed screw nut is fixed with the feed screw nut seat. When the lifting base plate 233 is driven to lift, the servo motor is started to drive the screw rod to rotate, and then the screw rod nut and the screw rod nut seat lift up and down, so that the lifting base plate 233 is driven to lift.

In this alternative, as shown in fig. 5 and 6, the servo material distribution mechanism 20 further includes a plurality of sets of guide and position-limiting members 24 for guiding and limiting the ascending and descending of the ascending and descending bottom plate 233, and each set of guide and position-limiting members 24 includes: a linear bearing 241 mounted on the bottom plate of the mounting box 112, a guide shaft 242 inserted into the linear bearing 241, a lower limit sleeve 243 for limiting the descending of the ascending/descending bottom plate 233, and a limit flange 244 for limiting the ascending of the ascending/descending bottom plate 233. The upper end of the guide shaft 242 is connected to the lifting bottom plate 233, the opposite lower end thereof penetrates the bottom plate of the mounting box 112 and then extends into the lower mounting cavity, and the limiting flange 244 is connected to the outer circle of the lower end of the guide shaft 242. The lower limit sleeve 243 is sleeved on the excircle of the upper end of the guide shaft 242 and is located between the bottom plate of the mounting box 112 and the lifting bottom plate 233. The lifting of the lifting bottom plate 233 is guided by the guide limit member 24, so that the lifting bottom plate 233 is stably lifted, and the operation stability of the servo feed mechanism 20 is further improved, and the descending and ascending end positions of the lifting bottom plate 233 are limited by the arrangement of the lower limit sleeve 243 and the limit flange 244, so that the operation reliability of the servo feed mechanism 20 is enhanced.

Alternatively, as shown in fig. 4, the pushing mechanism 30 includes a pushing plate 31 slidably supported at the top of the mounting box 112, and a sliding cylinder 32 connected to the control system for driving the pushing plate 31 to slide. The ejector plate 31 is arranged on one side of the magazine 13 in the longitudinal direction of the magazine 13. The fixed end of the sliding cylinder 32 is fixed with the mounting box 112, and the opposite driving end is connected with the material pushing plate 31. During operation, the control system controls the sliding cylinder 32 to extend and retract, so that the sliding cylinder 32 drives the material pushing plate 31 to slide, and the material pushing plate 31 horizontally pushes the separated lowermost nailing strip 12 into the automatic nailing device 5.

In this alternative, as shown in fig. 4, the pushing mechanism 30 further includes two guide blocks 33 oppositely disposed along the width direction of the pushing plate 31, inner side walls opposite to the guide blocks 33 are respectively provided with an inwardly concave guide groove, and two sides of the pushing plate 31 are respectively clamped into the guide grooves on the corresponding sides to guide the sliding of the pushing plate 31.

Referring to fig. 8, the automatic nailing device 5 of the present invention comprises: the vertical plate group 41, the bin material pushing mechanism 50, the stacking nail pushing mechanism 60 and the floating nailing mechanism 70 are connected to the vertical plate group 41, and the bin material pushing mechanism 50, the stacking nail pushing mechanism 60 and the floating nailing mechanism 70 are respectively connected with the control system. The floating nailing mechanism 70 is used in connection with the operation end of the robot 2, and includes a tacking gun 71 floatingly disposed in the nailing direction for continuously driving the tacking of the pushed tacking bar into the product by the tacking gun 71 after the floating nailing mechanism 70 presses the product. The feed end of the bin pushing mechanism 50 is used for being communicated with the automatic nail feeding device 4, and the opposite discharge end of the bin pushing mechanism is communicated with the feed end of the nail stacking pushing mechanism 60 so as to temporarily store nail stacking strips fed by the automatic nail feeding device 4 and sequentially push the nail stacking strips into the nail stacking pushing mechanism 60. The discharge end of the staple pushing mechanism 60 is communicated with the staple gun 71 for continuously pushing the staple bar into the staple gun 71.

When the automatic nailing device 5 works, the bin pushing mechanism 50 is internally provided with the multi-bar code nail strip 12, the control system controls the bin pushing mechanism 50, the code nail pushing mechanism 60 and the floating nailing mechanism 70 to be started, the bin pushing mechanism 50 sequentially pushes the code nail strips 12 internally arranged into the code nail pushing mechanism 60 from the discharge end of the bin pushing mechanism, the code nail pushing mechanism 60 continuously and uninterruptedly pushes the code nail strips 12 into the code nail gun 71, and the code nail gun 71 drives the code nails of the code nail strips 12 into a product one by one, so that the connection and the fixation of wood structure modules are realized.

The automatic nailing device is connected with the robot when working, so that the automation degree of the whole action is high, and the participation amount in the whole nailing process is small, thereby improving the working efficiency and reducing the labor intensity and the labor cost of workers; compared with the prior art that the nailing machine 71 needs to stop nailing when the nailing strip 12 is replaced, in the automatic nailing device, the nailing pushing mechanism 60 is used for continuously pushing the nailing strip 12 into the nailing machine 71, so that the nailing machine 71 can continuously nail, and the nailing speed and the working efficiency are high; in addition, in the automatic nailing device, the stock bin material pushing mechanism 50 can store a plurality of rows of nail stacking strips 12 supplied by the automatic nail supplying device at least once, and the stock bin material pushing mechanism 50 can also continuously push the stored nail stacking strips 12 into the nail stacking and pushing mechanism 60, so that the frequent nailing during the nailing process is effectively avoided, the working efficiency is improved, and the labor intensity and the labor cost of workers can be effectively reduced.

Optionally, as shown in fig. 8, riser set 41 includes intersecting first riser 411 and second riser 412. The bin pushing mechanism 50 is connected to the first vertical plate 411, and the tacking pushing mechanism 60 and the floating nailing mechanism 70 are respectively connected to the first vertical plate 411 and the second vertical plate 412.

Optionally, as shown in fig. 8, the magazine pushing mechanism 50 includes a magazine 51 for temporarily storing and sequentially arranging the nailing strips along the nailing strip pushing direction, and a horizontal pushing member 52 for horizontally pushing all the orderly arranged nailing strips forward integrally, and the horizontal pushing member 52 is connected to the control system. The stock bin 51 is fixed with the vertical plate group 41, the feeding end of the stock bin arranged along the length direction is communicated with the discharging end of the automatic nail feeding device 4, so that a plurality of nail stacking strips horizontally pushed by the automatic nail feeding device enter the stock bin 51, and the opposite discharging end of the stock bin is communicated with the feeding end of the nail stacking and pushing mechanism 60. The horizontal pushing component 52 spans the stock bin 51, and two ends of the horizontal pushing component are respectively connected with the feed end and the discharge end of the stock bin 51, and the horizontal pushing component pushes the tail end stacking nail strips which are regularly arranged, so that all the stacking nail strips are integrally horizontally pushed to enable the head end stacking nail strips to sequentially enter the stacking nail pushing mechanism 60.

In this alternative, as shown in fig. 10, the magazine 51 includes a magazine bottom plate 511 fixed to the group of vertical plates 41, and side guide bars 512 fixed to both sides in the width direction of the magazine bottom plate 511 and extending in the length direction of the magazine bottom plate 511. The staple stacking strips are sequentially arranged along the length direction of the bin bottom plate 511 in a close-fitting manner, and two ends of each staple stacking strip are respectively abutted against the side guide strips 512 at the corresponding ends for limiting. In this alternative, feed bin 51 simple structure, easy preparation, and feed bin 51 is not only used for depositing sign indicating number nailing strip 12 temporarily, and can arrange sign indicating number nailing strip 12 along its length direction in proper order, and spacing along its width direction's both ends to realize the arrangement, the sequencing of many bar code nailing strips 12.

In this alternative, as shown in fig. 8 and 9, the horizontal pushing member 52 includes two mounting bars 521 fixed at two ends of the side guide bar 512, a plurality of mounting mandrels 522 connected between the two mounting bars 521, a rodless cylinder 523 slidably mounted on one of the mounting mandrels 522, a first electromagnetic valve 524 fixed on the vertical plate set 41 and electrically connected to the rodless cylinder 523, a guide shaft seat 525 slidably mounted on the other mounting mandrels 522, and a push plate set 526 connected to bottoms of the rodless cylinder 523 and the guide shaft seat 525. The pushing plate group 526 is arranged in a self-resetting rotating mode to push and abut against the tail end stacking nail strips which are arranged in order, all the stacking nail strips are integrally pushed horizontally under the driving of the rodless cylinder 523, and then the head end stacking nail strips sequentially enter the stacking nail pushing mechanism 60. In operation, the rodless cylinder 523 moves to the rightmost side as shown in fig. 8, that is, moves to the feeding end of the storage bin 51 to wait for feeding of the staple bar; when the automatic feeding device feeds the staple stacking strips 12 from the feeding end of the storage bin 51, the pushing plate group 526 is pushed to warp upwards, the staple stacking strips 12 are fed into the rear pushing plate group 526 to automatically swing downwards and return to form a limit position, and the staple stacking strips are prevented from falling off; the rodless cylinder 523 moves back, and the pushing plate group 526 presses the last row of stacking nail strips 12 to push all the stacking nail strips horizontally under the driving of the rodless cylinder 523, so that the first-end stacking nail strips sequentially enter the stacking nail pushing mechanism 60.

In an alternative embodiment, as shown in fig. 9, the guiding shaft seat 525 includes a linear bearing installed on the outer circle of the installation core shaft 522, and a linear bearing seat installed outside the linear bearing for installing the linear bearing. The pushing plate group 526 comprises a sliding plate fixed with the linear bearing seat and the rodless cylinder 523, a code nail pushing plate hinged with the sliding plate through a rotating shaft, and a torsional spring arranged on the excircle of the rotating shaft, wherein the code nail pushing plate can drive the rotating shaft to rotate to compress the torsional spring when receiving the feeding pushing force of the code nail strip 12, and after the feeding pushing force disappears, the code nail pushing plate is self-reset under the action of the torsional spring.

Optionally, as shown in fig. 8, the staple pushing mechanism 60 includes a pushing bar group 61 fixed to the vertical plate group 41, a linear pushing member 62 for integrally pushing all the staple bars sequentially arranged in the pushing bar group forward, and a pressing wheel pushing member 63 for pressing the staple bars and then pushing the staple bars forward, where the linear pushing member 62 and the pressing wheel pushing member 63 are respectively connected to the control system. The feeding end of the pushing strip group 61 is vertically communicated with the discharging end of the storage bin 51, and the opposite discharging end of the pushing strip group is communicated with the stacking nail gun 71 so as to be used for sequentially arranging the stacking nail strips along the length direction of the stacking nail strips and guiding the sliding of the stacking nail strips. The linear pushing member 62 is connected to the pushing bar group 61, and the driving end thereof abuts against the tail ends of the tail end staple bars arranged in sequence. The pressing wheel pushing member is connected to the vertical plate group 41, and is rotatably disposed and presses down the code nail strip to apply a forward pushing force to the code nail strip, so that the code nail gun 71 continuously enters the code nail gun 71 when the linear pushing member 62 retreats to push the next code nail strip into the pushing strip group 61.

In this alternative, as shown in fig. 10, the pushing strip group 61 includes a bottom strip 611 disposed along the length direction, a limiting strip 612 disposed on the bottom strip 611 along the length direction of the bottom strip 611, and a staple guide strip fixed on the output end of the bottom strip 611, a guide groove penetrating through both ends along the length direction and guiding the sliding of the staple strip is disposed in the limiting strip 612, and a staple inlet disposed at the feed end of the limiting strip 612 and vertically communicated with the guide groove, the staple inlet is communicated with the discharge end of the magazine 51, and the staple guide strip is used for being matched and positioned with the lower notch of the staple strip. When nails are fed, the nail stacking strips 12 are translated into the guide grooves through nail feeding ports formed in the feeding ends of the limiting strips 612, and are limited by sliding through the guide grooves; after the staple bar 12 slides out of the limiting bar 612, the lower notch of the staple bar is matched with the staple guide bar to slide and limit.

In this alternative, as shown in fig. 10, the linear pushing member 62 includes a push rod cylinder 621 fixed on the outer side wall of the pushing bar group 61, a second electromagnetic valve 622 disposed on the vertical plate group 41 and electrically connected to the push rod cylinder 621, push rods 623 disposed parallel to the push rod cylinder 621 at intervals, and a connecting plate 624 connecting the telescopic ends of the push rod cylinder 621 and the extending ends of the push rods 623, wherein the push rods 623 are inserted into the guide grooves from the ends of the limiting bars 612 and abut against the ends of the staple stacking bars 12 finally entering the guide grooves.

In this alternative, as shown in fig. 10, the pressing wheel pushing member includes a pressing wheel mounting plate 631 connected to the vertical plate group 41, a mounting shaft 632 vertically fixed to the pressing wheel mounting plate 631, a yaw shaft base 633 rotatably mounted on an outer circle of the mounting shaft 632, a motor mounting plate 634 having one end fixed to an outer circle of the yaw shaft base 633, a pressing wheel motor 635 fixed to the other end of the motor mounting plate 634, and a lower pressing wheel 636 fixed to an output shaft of the pressing wheel motor 635. The lower pressure wheel 636 is rotationally disposed and pressed against the top of the strip of staples for applying a driving force to move the strip of staples forward during rotation. In this alternative embodiment, as shown in fig. 10, the yaw axis seat 633 includes a bearing mounted on the outer circumference of the mounting shaft 632, and a swing axis seat mounted on the bearing for mounting the bearing, and the motor mounting plate 634 is fixed on the outer circumference of the swing axis seat. The lower pressure wheel 636 is a rubber-coated roller to avoid damaging the nailing strip 12.

During operation, the push rod cylinder 621 retracts to enable the push rod 623 to abut against and compress the tail end of the staple strip formed by sequentially arranging the staple strips 12, so that the front end of the staple strip abuts against the muzzle of the staple gun 71, and continuous compression feeding is achieved. Next time the sign indicating number nail strip gets into the guide way when reloading, the push rod cylinder 621 stretches out and drives push rod 623 and rolls back, at this moment, because pinch roller motor 635 rotates and guarantees that the rubber coating gyro wheel pushes down the sign indicating number nail strip, and then can provide a drive power that moves forward, guarantees that the rectangular atress of sign indicating number nail is pushed forward continuously to realize the incessant nailing of sign indicating number nail rifle 71 when the sign indicating number nail strip reloads.

Optionally, as shown in fig. 8, the floating nailing mechanism 70 further includes a floating plate set 72 for connecting with the robot, a buffering member 73 for applying a buffering force in the nailing direction of the nailing gun 71, a third solenoid valve 74 connected to the nailing gun 71 and electrically connected with the nailing gun 71, and a pinch roller pressing member 75 for pressing the product, wherein the buffering member 73, the third solenoid valve 74 and the pinch roller pressing member 75 are respectively connected with the control system. The first end of the floating plate group 72 is connected with the top end of the vertical plate group 41, the opposite second end is rotatably arranged relative to the first end, the buffer member 73 is suspended at the second end of the floating plate group 72, and the staple gun 71 is suspended on the buffer member 73. The pressing wheel pressing member 75 is connected to the pushing bar group 61 and straddles both sides of a staple groove bar 711 of the staple gun 71.

In this alternative, as shown in fig. 11, the floating plate group 72 includes a first mounting seat 721 fixed to the top of the vertical plate group 41, and a floating mounting plate 722 for connecting to the robot, wherein a first end of the floating mounting plate 722 is hinged to the first mounting seat 721, and an opposite second end thereof is suspended from the buffer member 73. In this alternative, the floating plate group 72 is simple in structure and easy to manufacture. In this alternative embodiment, as shown in fig. 11, the first mounting seat 721 includes an elastic mounting base plate, two bearing mounting blocks disposed oppositely and vertically supported on the elastic mounting base plate, and a bearing installed in each bearing mounting block. The floating mounting plate 722 comprises a robot mounting plate, two connecting plates which are oppositely arranged and vertically connected with the first end of the robot mounting plate, and connecting shafts which are vertically fixed on the connecting plates, wherein the connecting shafts are rotatably arranged in bearings on corresponding sides, so that the rotation setting of the robot mounting plate is realized.

In this alternative, as shown in fig. 11, the buffer member 73 includes a floating cylinder 731 fixed to the second end of the floating mounting plate 722, a pressure regulating valve 732 fixed to the floating mounting plate 722 and electrically connected to the floating cylinder 731, and a connecting ring 733 fixed to the telescopic end of the floating cylinder 731, wherein the connecting ring 733 is fixed to the lateral handle 712 of the nailing gun 71, and the pressure regulating valve is used to regulate the pressure of the floating cylinder 731.

In this alternative, as shown in fig. 11, the pressing wheel pressing member 75 includes a second mounting seat 751 having two legs, and a pressing wheel 752 fixed to the two legs of the second mounting seat 751, the second mounting seat 751 is connected to the pushing bar group 61, and the two legs thereof are disposed across the tack groove 711. In this alternative embodiment, the second mounting seat 751 comprises a connecting column fixed to the pushing strip group 61, a pinch roller connecting plate fixed to the connecting column, and a pinch roller fixing plate oppositely disposed to form two legs, and the pinch roller 752 is rotatably mounted on the pinch roller fixing plate on the corresponding side.

In operation, the nail stacking bar 12 is moved along the nail stacking groove bar 711 to the mouth of the nail stacking gun, the third solenoid valve 74 controls the nail stacking gun 71 to perform nailing, the pressing wheel 752 presses the product to prevent the product from shaking or having a concave-convex stroke, the pressure regulating valve 732 regulates the nailing pressure, and controls the floating tension of the floating cylinder 731.

Optionally, the automatic nailing device further comprises a positioning sensor 43 fixed on the nailing gun 71, the positioning sensor 43 is communicated with the control system for sending the position information of the product to the control system, and the control system controls the robot to move to the corresponding position according to the position information of the product. During operation, the positioning sensor 43 detects the position of the product and sends the position information of the product to the control system, and the control system controls the robot to move to a corresponding position according to the received position information of the product.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a full-automatic coding nailing machine which characterized in that includes:

the automatic nailing machine comprises a production line (8) for conveying a product (1) to be nailed, a mounting base (3) for mounting a robot (2), and an automatic nail feeding device (4) for automatically feeding nail stacking strips required for nailing, wherein the production line (8), the mounting base (3) and the automatic nail feeding device (4) are respectively supported on the ground, the mounting base (3) and the automatic nail feeding device (4) are positioned on the same side of the production line (8), and the mounting base (3) is positioned at a nailing station of the production line (8);

the assembly line (8) is provided with two groups of positioning mechanisms (91) and multiple groups of blocking mechanisms (92), the multiple groups of blocking mechanisms (92) are sequentially arranged at intervals along the length direction of the assembly line (8) to be used for separating and limiting the products (1) supported on the assembly line (8), the two groups of positioning mechanisms (91) are positioned at the nailing station and are respectively arranged at two sides of the assembly line (8) to be used for clamping and fixing the products (1) limited at the nailing station by the blocking mechanisms (92) in a relative manner under the cooperation effect;

install robot (2) on installation base (3) and rotate, robot (2) are equipped with control system, just the operation end of robot (2) is connected with and is used for automatic nail code to squeeze into automatic nailing device (5) of product (1), and automatic nailing device (5) automatic supply nail device (4) stop mechanism (92) and positioning mechanism (91) respectively with control system links to each other.

2. The fully automatic coding nailing machine according to claim 1,

the production line (8) comprises a rack (81) arranged on the ground in a supporting mode, and a conveying line rail (82) arranged on the rack (81) in a sliding mode, wherein the conveying line rail (82) comprises supporting strips (821) which are sequentially arranged at intervals in the conveying direction and used for supporting the products (1);

the blocking mechanism (92) is connected to the rack (81) and located below the conveying line rail (82) so as to be used for rising and penetrating through a gap between two adjacent supporting bars (821) to extend out when the product (1) needs to be blocked for limiting;

the positioning mechanism (91) is connected to the frame (81).

3. The fully automatic coding nailing machine according to claim 2,

the blocking mechanism (92) comprises a mounting strip (921) which is arranged along the width direction of the conveying line rail (82) and connected to the rack (81), a blocking cylinder (922) and a plurality of linear bearings (923) which are vertically fixed on the mounting strip (921), a guide shaft (924) which is slidably arranged in each linear bearing (923), and a blocking plate (925) which is connected with the upper end of the guide shaft (924) and the output end of the blocking cylinder (922), wherein the blocking plate (925) is arranged in parallel with the supporting strips (821) and used for ascending when the blocking cylinder (922) extends out and penetrating through a gap between the two supporting strips (821);

the positioning mechanism (91) comprises a cylinder mounting plate (911) fixed on the rack (81), a clamping cylinder (912) fixed on the cylinder mounting plate (911), and a push plate (913) connected to the driving end of the clamping cylinder (912).

4. The fully automatic coding nailing machine according to claim 1,

the automatic nail feeding device (4) comprises: the nail installing device comprises an installing support (11) which is erected on the ground, a binding box (13) which is used for containing binding strips (12) is arranged at the top of the installing support (11), and a plurality of layers of binding strips (12) which are sequentially arranged from top to bottom are arranged in the binding box (13);

the mounting support (11) is further provided with a servo distributing mechanism (20), the servo distributing mechanism (20) is connected with the control system and used for relatively inserting the lowermost staple strip (12) and the penultimate staple strip (12) between the two sides of the staple containing box (13) and moving upwards to drive the rest staple strips (12) except the lowermost staple strip (12) to move upwards to separate the lowermost staple strip (12);

the top of the mounting support (11) is also provided with a material pushing mechanism (30) connected with the control system, so that the separated lowermost nailing strip (12) is horizontally pushed into the automatic nailing device (5).

5. The fully automatic coding nailing machine according to claim 4,

the nail installing box (13) is in a hollow box body shape without an upper cover, two inner side walls in the width direction of the nail installing box (13) are correspondingly provided with inwards concave limiting grooves (131) which are sequentially arranged at intervals along the length direction, each limiting groove (131) extends from the top to the bottom of the nail installing box (13), and two ends of the nail stacking strip (12) are clamped in the two opposite limiting grooves (131);

a plurality of shifting fork channels (132) corresponding to the limiting grooves (131) are formed in two outer side walls of the width direction of the nail loading box (13), each shifting fork channel (132) is communicated with the corresponding limiting groove (131), and extends towards the top from the bottom of the nail loading box (13), so that the servo distributing mechanism (20) is inserted into the nail loading box (13) through the pulling and inserting channels.

6. The fully automatic coding nailing machine according to claim 5,

the mounting support (11) comprises a mounting support column (111) vertically supported on the ground and a mounting box (112) fixed at the top end of the mounting support column (111);

the top end of the mounting support column (111) is concave to form a lower mounting cavity;

the mounting box (112) is located on two sides of the width direction of the nail loading box (13) and is not provided with side plates (134), the nail loading box (13) and the material pushing mechanism (30) are respectively fixed at the top end of the mounting box (112), the servo distributing mechanism (20) is arranged in the mounting box (112) and extends downwards into the lower mounting cavity, and the servo distributing mechanism (20) extends outwards from two sides of the width direction of the mounting box (112).

7. The fully automatic coding nailing machine according to claim 1,

the automatic nailing device (5) includes: the vertical plate group (41) and the bin pushing mechanism (50), the stacking nail pushing mechanism (60) and the floating nailing mechanism (70) are connected to the vertical plate group (41), and the bin pushing mechanism (50), the stacking nail pushing mechanism (60) and the floating nailing mechanism (70) are respectively connected with the control system;

the floating nailing mechanism (70) is connected with the operation end of the robot (2) and comprises a nailing gun (71) which is arranged in a floating mode along the nailing direction, and after the floating nailing mechanism (70) presses the product (1), the nailing gun (71) continuously drives the piled nails of the pushed nailing strips into the product (1);

the feeding end of the bin pushing mechanism (50) is communicated with the automatic nail feeding device (4), and the opposite discharging end of the bin pushing mechanism is communicated with the feeding end of the stacking nail pushing mechanism (60) so as to temporarily store the stacking nail strips fed by the automatic nail feeding device (4) and sequentially push the stacking nail strips into the stacking nail pushing mechanism (60);

the discharge end of the stacking nail pushing mechanism (60) is communicated with the stacking nail gun (71) so as to be used for continuously pushing the stacking nail strips into the stacking nail gun (71).

8. The fully automatic coding nailing machine according to claim 7,

the storage bin pushing mechanism (50) comprises a storage bin (51) used for temporary storage and sequentially arranging the staple strips along the staple strip pushing direction, and a horizontal pushing component (52) used for horizontally pushing all the staple strips which are arranged orderly forwards integrally, wherein the horizontal pushing component (52) is connected with the control system;

the stock bin (51) is fixed with the vertical plate group (41), the feeding end of the stock bin, which is arranged along the length direction, is communicated with the discharging end of the automatic nail feeding device (4), so that a plurality of nail stacking strips horizontally pushed by the automatic nail feeding device (4) enter the stock bin (51), and the opposite discharging end of the stock bin is communicated with the feeding end of the nail stacking and pushing mechanism (60);

the flat push component (52) is arranged on the stock bin (51) in a spanning mode, the two ends of the flat push component are connected with the feeding end and the discharging end of the stock bin (51) respectively, and the tail end stacking nail strips which are arranged in order are supported against the flat push component, so that the whole flat push component pushes all the stacking nail strips to enable the head end stacking nail strips to enter the stacking nail pushing mechanism (60) in sequence.

9. The fully automatic coding nailing machine according to claim 8,

the flat nail pushing mechanism (60) comprises a pushing strip group (61) fixed with the vertical plate group (41), a linear pushing component (62) used for integrally pushing all flat nail strips sequentially arranged in the pushing strip group forwards, and a pressing wheel pushing component used for pressing the flat nail strips and then pushing the flat nail strips forwards, wherein the linear pushing component (62) and the pressing wheel pushing component are respectively connected with the control system;

the feeding end of the pushing strip group (61) is vertically communicated with the discharging end of the storage bin (51), and the opposite discharging end of the pushing strip group is communicated with the nailing gun (71) so as to be used for sequentially arranging the nailing strips along the length direction of the nailing strips and guiding the slippage of the nailing strips;

the linear pushing member (62) is connected to the pushing strip group (61), and the driving end of the linear pushing member abuts against the tail ends of the tail end staple stacking strips which are sequentially arranged;

the pinch roller pushing member is connected to the vertical plate group (41), and is rotationally arranged and presses the nail stacking strips downwards so as to apply forward pushing force of the nail stacking strips, and the nail stacking gun (71) continuously enters the nail stacking gun (71) when the linear pushing member (62) retreats to push the next nail stacking strip into the pushing strip group (61).

10. The fully automatic coding nailing machine according to claim 9,

the floating nailing mechanism (70) further comprises a floating plate group (72) connected with the robot, a buffering member (73) used for applying buffering force in the nailing direction of the nailing gun (71), a third electromagnetic valve (74) connected to the nailing gun (71) and electrically connected with the nailing gun (71), and a pinch roller pressing member (75) used for pressing the product (1), wherein the buffering member (73), the third electromagnetic valve (74) and the pinch roller pressing member (75) are respectively connected with the control system;

the first end of the floating plate group (72) is connected with the top end of the vertical plate group (41), the opposite second end of the floating plate group is rotatably arranged relative to the first end of the floating plate group, the buffer member (73) is suspended at the second end of the floating plate group (72), and the nailing gun (71) is suspended on the buffer member (73);

the pressing wheel pressing member (75) is connected to the pushing strip group (61) and spans two sides of a staple stacking groove strip (711) of the staple stacking gun (71).

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