CN210677672U - Drilling and nail locking robot - Google Patents

Abstract

The utility model provides a drilling staple robot. The drilling and locking robot is used for drilling and locking a hole on the floor of the container, and comprises an underframe, at least two drilling and locking components, a longitudinal moving device, a sensor and a controller; the chassis is provided with a walking assembly; the at least two drilling locking nail assemblies are arranged on the underframe along the transverse direction; the longitudinal moving device is arranged on the underframe and is connected with the drilling locking nail assembly so as to drive the drilling locking nail assembly to move along the longitudinal direction, so that the position of the drilling locking nail assembly relative to the underframe is changed; the sensor is arranged on the bottom frame; the controller is electrically connected to the walking assembly and the sensor and controls the walking assembly to work according to information sensed by the sensor, so that the drilling and locking robot is moved. Through the utility model discloses a drilling chain riveting robot, two at least drilling chain riveting subassemblies can be simultaneously drilling and chain riveting on the floor of container, and the chain riveting is efficient, need not artifical chain riveting.

Description

Drilling and nail locking robot

Technical Field

The utility model relates to a container processing field generally, and more specifically relates to a drilling staple robot.

Background

In the container industry, wood floors are currently fastened to the bottom cross beams of the underframe by screws. The number of the stations of the container production line related to the screw fastening of the wood floor is 6 to 8. Passing; the process of fastening the wood floor by the screws sequentially comprises the following steps: manual marking, reaming, cleaning, nail scattering, nail locking, cleaning, checking and repairing. And a 40-foot standard container needs to be provided with wood floors through 408 screws, a 45-foot standard container needs to be provided with wood floors through 452 screws, and a 53-foot standard container needs to be provided with wood floors through 1462 screws. At present, screws are fastened to bottom cross beams (locking nails) of the wood floor mainly by hand-held screws, the locking nail efficiency is low, the labor intensity of the locking nails is high, and in the locking nail operation, the screws are densely and fully placed on the wood floor, and the operation environment is severe.

Therefore, there is a need to provide a drill and staple robot to at least partially solve the above mentioned problems.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content does not imply any attempt to define the essential features and essential features of the claimed solution, nor is it implied to be intended to define the scope of the claimed solution.

For at least partly solve above-mentioned technical problem, the utility model provides a drilling staple robot for drilling and staple on the floor of container, drilling staple robot includes: the chassis is provided with a walking assembly; the at least two drilling locking nail assemblies are arranged on the underframe along the transverse direction; the longitudinal moving device is arranged on the underframe and is connected with the drilling locking nail assembly so as to drive the drilling locking nail assembly to move along the longitudinal direction, so that the position of the drilling locking nail assembly relative to the underframe is changed; the sensor is arranged on the bottom frame; and the controller is electrically connected to the walking assembly and the sensor and controls the walking assembly to work according to the information sensed by the sensor, so that the drilling and locking robot is moved.

According to the drilling locking nail robot of the utility model, the drilling locking nail robot firstly drills holes on the floor, then drives the drilling locking nail component to move along the longitudinal direction through the longitudinal moving device, thereby changing the position of the drilling locking nail component relative to the chassis, and quickly performing locking nail operation without moving the drilling locking nail robot after drilling; and two at least drilling locking nail subassemblies can be simultaneously drilling and locking nail on the floor of container, and the locking nail is efficient, need not artifical locking nail.

Optionally, the drilling and locking pin assembly comprises a drilling device, a locking pin device and a connecting plate, both connected to the connecting plate.

Optionally, the chassis is further provided with a sliding table, the longitudinal moving device includes a cylinder and a piston rod movable relative to the cylinder, the piston rod is connected to the sliding table to drive the sliding table to move along the longitudinal direction, and the connecting plate is disposed on the sliding table.

Optionally, the connecting plate is provided with a positioning plate, the sliding table is provided with a positioning frame, and the positioning plate can be fixedly connected with the positioning frame through a connecting piece, so that the position of the connecting plate relative to the chassis along the transverse direction can be adjusted.

Optionally, the connecting plate is provided with a connecting plate slider and the sliding table is provided with a transverse guide rail cooperating with the connecting plate slider.

Optionally, the sliding table is provided with a sliding table slider, and the base frame is provided with a longitudinal guide rail cooperating with the sliding table slider.

Optionally, the chassis is further provided with a lateral movement device arranged on the sliding table and connected to the drilling locking pin assembly at the side of the drilling locking pin robot for driving the drilling locking pin assembly at the side to move in the lateral direction.

Optionally, a first connecting rod and a second connecting rod are arranged between the connecting plate and the sliding table, the first connecting rod, the second connecting rod, the connecting plate and the sliding table form a four-bar structure, the lateral moving device comprises a cylinder body and a piston rod movable relative to the cylinder body, and the cylinder body and the piston rod are respectively hinged to the connecting plate and the sliding table.

Optionally, the drilling apparatus comprises: the drilling device supporting plate is connected to the connecting plate; a drill bit connected to the drilling device support plate; a drilling device driving member for driving the drill bit to move up and down relative to the drilling device support plate.

Optionally, the locking pin device comprises: the locking nail device supporting plate is connected to the connecting plate; the screw driver is connected to the locking nail device supporting plate; and the locking screw device driving component is used for driving the screwdriver to move up and down relative to the locking screw device supporting plate.

Optionally, the walking assembly includes a walking drive motor and a mecanum wheel driven by the drive motor.

Optionally, the sensor includes a vision sensor for sensing a seam of the floor, and the controller controls the walking assembly according to a signal sensed by the vision sensor to align a centerline of the chassis with the seam.

Optionally, the sensor comprises a metal sensor for sensing a bottom cross beam of the container, and the controller controls the walking assembly according to a signal sensed by the metal sensor, so that the drilling locking pin assembly is located above the bottom cross beam.

Optionally, a screw conveying device is further arranged on the chassis and used for conveying screws to the drilling and locking screw assembly.

Optionally, the screw feeding means comprises a vibrating disk connected to the chassis by a connecting arm, the connecting arm being movable relative to the chassis such that the vibrating disk is movable relative to the chassis.

Optionally, a roller assembly and a roller moving device are further disposed on the bottom frame, and the roller moving device is used for driving the roller assembly to move along the transverse direction.

Drawings

In order that the advantages of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings.

Fig. 1 is a perspective view of a drilling and stapling robot according to a preferred embodiment of the present invention;

fig. 2 is another perspective view of a drilling and stapling robot according to a preferred embodiment of the present invention;

fig. 3 is yet another perspective view of a drill and nail robot according to a preferred embodiment of the present invention;

fig. 4 is a front view of a drilling and stapling robot according to a preferred embodiment of the present invention;

fig. 5 is a top view of a drilling and stapling robot according to a preferred embodiment of the present invention;

fig. 6 is a right side view of a drilling and stapling robot according to a preferred embodiment of the present invention;

fig. 7 is a top view of a bottom plate of a drilling and stapling robot according to a preferred embodiment of the present invention;

FIG. 8 is an enlarged partial schematic view at F of FIG. 4;

fig. 9 is a partially enlarged schematic view at D in fig. 2;

FIG. 10 is a schematic perspective view of the drilling staple assembly, the connecting plate slider and the positioning plate of the drilling staple robot of FIG. 1 connected together;

FIG. 11 is a front view of the drill locking pin assembly, the connecting plate slide and the positioning plate of the drill locking pin robot of FIG. 10 connected together;

FIG. 12 is an enlarged partial schematic view at A in FIG. 1;

fig. 13 is a partially enlarged schematic view at E in fig. 3;

FIG. 14 is an enlarged partial schematic view at C of FIG. 1; and

fig. 15 is a partially enlarged schematic view of a portion B in fig. 1.

Description of reference numerals:

10: drilling and nail locking robot 100: chassis

110: the first shield cover 120: second protective cover

130: bottom plate 140: longitudinal guide rail

150: column 160: cross beam

170: the control cabinet 200: drilling locking nail assembly

210: connecting plate 211: connecting plate slider

212: positioning plate 230: drilling device

231: drilling device support plate 232: drill bit

233: drilling device drive member 234: drilling motor

235: bit locker 236: spline shaft support

237: pulley shield 238: belt wheel support

240: the locking pin device 241: support plate for locking nail device

242: screw driver 243: drive member of locking nail device

244: first screwdriver fixing seat 245: screwdriver slide rail

246: linear bearing 247: guide rail support

248: second screwdriver fixing seat 249: spring

310: the slide table 311: sliding block of sliding table

312: the cross rail 313: positioning frame

320: the longitudinal moving device 321: cylinder block of longitudinal moving device

322: longitudinal mover cylinder shaft 410: vision sensor

411: visual sensor mount 420: metal sensor

601: first link 602: second connecting rod

603: lateral movement device cylinder block 604: cylinder shaft of transverse moving device

710: travel driving motor 720: mecanum wheel

800: screw conveying device 810: vibration plate

820: the connecting arm 910: row wheel assembly

911: the row wheel bracket 912: row wheel

920: the roller moving device 930: row wheel guide rail

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring embodiments of the present invention.

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the invention. It is apparent that the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

As shown in fig. 1 to 9, the present invention provides a drilling and nailing robot 10 for drilling floor nail holes on a wood floor (not shown) of a container and nailing in the drilled floor nail holes.

Specifically, the drill-pinning robot 10 may include an undercarriage 100. The undercarriage 100 is provided with a running assembly, a drill pin assembly 200, a longitudinal movement device 320, sensors, and a controller.

The drill-pin assembly 200 is used to drill and pin the floor of a shipping container. At least two drill key assemblies 200 are disposed on the chassis 100 in the transverse direction D1. In the illustrated embodiment, the number of the drill locking pin assemblies 200 is 20, and the 20 drill locking pin assemblies 200 are arranged in two rows along the longitudinal direction D2. The number and arrangement of the drill pin assemblies 200 are not limited to the present embodiment, and may be modified as desired.

A longitudinal movement device 320 is coupled to the drill pin assembly 200 for driving the drill pin assembly 200 to move in the longitudinal direction D2 to change the position of the drill pin assembly 200 relative to the chassis 100. In this way, the pinning operation can be performed quickly after drilling without moving the drill-pinning robot 10.

The controller is electrically connected to the walking assembly and the sensor, and can control the walking assembly to operate according to information sensed by the sensor, thereby automatically moving the drilling and stapling robot 10.

According to the drilling locking nail robot 10 of the present invention, the drilling locking nail assembly 200 can be driven by the longitudinal moving device 320 to move along the longitudinal direction D2, so as to change the position of the drilling locking nail assembly 200 relative to the underframe 100, and after drilling, locking nail operation can be rapidly performed without moving the drilling locking nail robot 10; and a plurality of drilling staple subassemblies 200 can be simultaneously drilling or the staple on the floor of container, and work efficiency is high, reduces the human cost.

Note that the transverse direction D1 herein corresponds to the width direction of the container. The longitudinal direction D2 in this case corresponds to the length direction of the container.

Turning now to fig. 1 and 7, the undercarriage 100 of the drill-pinning robot 10 according to the present embodiment will now be described in detail. The chassis 100 includes a bottom plate 130, and the bottom plate 130 has a substantially plate shape. The base plate 130 has an opening formed therein for the drill pin assembly 200 to extend therethrough. The bottom chassis 100 further includes a first shield 110 and a second shield 120 respectively disposed at both ends of the bottom plate 130 in the longitudinal direction D2. The first shield 110 and the second shield 120 are respectively used to shield the traveling assemblies located at both ends of the base plate 130.

The base frame 100 further includes four uprights 150 disposed on the base plate 130, and a cross member 160 connecting the two uprights 150 on the same side. The beam 160 may be provided with a control cabinet 170, a display screen, and the like. A controller such as a PLC (programmable logic controller) is provided in the control cabinet 170.

In the illustrated embodiment, a travel driving motor 710 and mecanum wheels 720 driven by the driving motor 710 are respectively provided at four corners of the base plate 130. It will be appreciated by those skilled in the art that mecanum wheel 720 may be rotated in any direction to move undercarriage 100. Thus, the controller may control the mecanum wheel 720 based on signals from the sensors, thereby enabling the drill-pinning robot 10 to move more quickly and accurately.

Turning now to fig. 14 and 15, in the illustrated embodiment, the sensors include a vision sensor 410 and a metal sensor 420. In particular, the vision sensor 410 may be a CCD camera. The vision sensor 410 may be connected to the second shield 120 located at the front end of the bottom chassis 100 through the vision sensor bracket 411. The vision sensor 410 is used to sense a patchwork of the container floor, and the controller controls the driving motor 710 and the mecanum wheel 720 according to a signal sensed by the vision sensor 410 so that the center line of the base frame 100 is aligned with the patchwork.

As shown in fig. 15, a metal sensor 420 may be provided on the base frame 100 and used to sense a bottom cross member of a container located below the base frame 100. The controller may control the drive motor 710 and the mecanum wheel 720 based on the signals sensed by the metal sensor 420 such that the drill pin assembly 200 is positioned above the bottom rail.

By arranging the mecanum wheel 720, the vision sensor 410 and the metal sensor 420, the position of the seam of the wood floor of the container can be detected in real time in the moving process of the drilling and locking robot 10, and then the movement of the drilling and locking robot 10 is automatically controlled according to the seam position, so that the center line of the underframe 100 is aligned with the seam; and detects the position of the bottom cross beam of the container and the number of the bottom cross beams through the metal sensor 420, and automatically controls the drilling and locking robot 10 to move to the position above the bottom cross beam, and then automatically drill and lock the holes at the position of the bottom cross beam.

Turning now to fig. 10 and 11, in the illustrated embodiment, the drill locking pin assembly 200 includes a drilling device 230, a locking pin device 240, and a connecting plate 210. As will be described in detail below, the drilling device 230 is used to drill a hole in the floor of the container, and the locking screw device 240 is used to screw and fix a screw in a floor screw hole drilled by the drilling device 230. Both the drilling device 230 and the locking pin device 240 are connected to the connection plate 210.

Further, the base frame 100 is provided with a slide table 310. In the illustrated embodiment, the slide table 310 is located below the connection plate 210. As shown in fig. 8, the longitudinal moving device 320 (e.g., a cylinder) includes a longitudinal moving device cylinder block 321 (i.e., a cylinder block) and a longitudinal moving device cylinder shaft 322 (i.e., a piston rod) movable with respect to the longitudinal moving device cylinder block 321. The longitudinal moving means cylinder shaft 322 is connected to the sliding table 310 to move the sliding table 310 in the longitudinal direction D2. In this manner, the longitudinal movement device 320 may move the slide table 310 in the longitudinal direction D2, thereby also moving the plurality of drill pin assemblies 200 connected to the slide table 310 in unison in the longitudinal direction D2. Thus, after completion of drilling, the plurality of drill nail assemblies 200 may be integrally moved to enable the nail device 240 to be moved to the floor nail hole without moving the drill nail robot 10.

In order to ensure the straightness of the movement of the sliding table 310 in the longitudinal direction D2, the sliding table 310 may be provided with a sliding table slider 311, and the base plate 130 is provided with a longitudinal guide rail 140 engaged with the sliding table slider 311.

It will be appreciated that the location of the drill pin assembly 200 in the transverse direction D1 determines the location of the floor pin holes, and thus, the location of the drill pin assembly 200 in the transverse direction D1 relative to the undercarriage 100 is adjustable to accommodate different use environments. As shown in fig. 9 and 10, the connecting plate 210 of the drill locking pin assembly 200 is provided with a positioning plate 212, and the positioning plate 212 is provided with a through hole. The slide table 310 is provided with a positioning frame 313, and the positioning frame 313 is provided with a long groove. Thus, after the position of the positioning plate 212 relative to the positioning frame 313 is determined, the positioning plate 212 and the positioning frame 313 can be fixedly connected by using the connecting member.

Further, the connection plate 210 may be provided with a connection plate slider 211, and the slide table 310 may be provided with a cross rail 312 engaged with the connection plate slider 211. In this manner, link plate 210 is able to move laterally relative to slide table 310, and lateral guide rails 312 are able to provide guidance and support to link plate 210 via link plate slides 211. In the illustrated embodiment, two link plate sliders 211 are provided on the lower surface of the link plate 210, and two lateral guide rails 312 are provided on the slide table 310.

In order to prevent the drill-nail assemblies 200 located at both sides of the drill-nail robot 10 in the transverse direction D1 from colliding or rubbing against the container when entering and exiting the container, the undercarriage 100 is further provided with a transverse moving device.

In the illustrated embodiment, a lateral movement device is provided on the slide table 310 and connected to the drill locking nail assembly 200 at the lateral side of the drill locking nail robot 10 for driving the drill locking nail assembly 200 at the lateral side to move in the lateral direction D1. In this way, the drill-pin assemblies 200 at the sides may be retracted (in the lateral direction D1) into the undercarriage 100 as the robot enters and exits the container, and extended (in the lateral direction D1) out of the undercarriage 100 after the robot enters the container.

In an alternative embodiment, reference is made to fig. 12 and 13. A first link 601 and a second link 602 are provided between the connection plate 210 and the slide table 310. Both ends of the first link 601 are hinged to the connection plate 210 and the sliding table 310, respectively. Likewise, both ends of the second link 602 are hinged to the connection plate 210 and the sliding table 310, respectively. The first link 601, the second link 602, the connection plate 210, and the sliding table 310 form a four-link structure. The four bar linkage structure may be a parallelogram four bar linkage. In the illustrated embodiment, the first link 601 and the second link 602 may be disposed between the lower surface of the connection plate 210 and the upper surface of the sliding table 310. Further, since the four-bar linkage structure is provided, the link plates 210 of the drill locking nail assembly 200 located at both sides of the transverse direction D1 of the drill locking robot 10 may not be provided with link plate sliders.

The lateral moving device (e.g., a cylinder) includes a lateral moving device cylinder block 603 (i.e., a cylinder block) and a lateral moving device cylinder shaft 604 (i.e., a piston rod) movable relative to the lateral moving device cylinder block 603, the lateral moving device cylinder block 603 and the lateral moving device cylinder shaft 604 being respectively hinged to the connecting plate 210 and the slide table 310.

Turning now to fig. 1 and 5, optionally, a roller assembly 910 and a roller moving device 920 are further disposed on the chassis 100. A roller moving device 920 (e.g., an air cylinder) is used to drive the roller assembly 910 to move in the transverse direction D1.

The roller assembly 910 includes a roller bracket 911 and a roller 912. The roller 912 is disposed on the roller bracket 911 and is rotatable relative to the roller bracket 911. The roller moving device 920 includes a cylinder block disposed on the cross beam 160 of the base frame 100 and a cylinder shaft movable relative to the cylinder block, and the cylinder shaft is connected to the roller bracket 911 to move the roller bracket 911 in the transverse direction D1. In this way, the cylinder shaft of the gang wheel moving device 920 may move the gang wheel bracket 911 in the transverse direction D1, thereby also moving the gang wheel 912 connected to the gang wheel bracket 911 integrally in the transverse direction D1 to avoid collision or friction of the undercarriage 100 or the drill nail assembly 200 with the container when the drill nail robot 10 moves.

To facilitate movement of the roller bracket 911 in the transverse direction D1, the cross beam 160 of the undercarriage 100 may also be provided with a roller guide 930. In this manner, the caster brackets 911 are able to move laterally relative to the cross beam 160 of the undercarriage 100.

Turning now to fig. 10 and 11, optionally, the drilling device 230 includes a drilling device support plate 231, a drill bit 232, a drilling device drive member 233. The drilling device support plate 231 is connected to the connection plate 210. The drill 232 is connected to the drilling device support plate 231. The drilling device driving member 233 serves to drive the drill 232 up and down with respect to the drilling device support plate 231.

Specifically, the drilling device 230 includes a drilling motor 234 fixed to a drilling device support plate 231, two pulleys, a spline shaft, a drill bit 232, a drill bit locker 235, a drill bit slide, a spline shaft holder 236, a pulley guard 237, and a pulley holder 238. The drill motor 234, the two pulleys, and the pulley support 238 are fixedly attached to the attachment plate 210 by a drill support plate 231. The bit 232 is connected to the pulley by bit locker 235, a splined shaft. The drill motor 234 drives the pulley and, in turn, the drill bit 232. A pulley guard 237 covers the pulley.

As shown in fig. 10 and 11, the drilling device driving member 233 (e.g., an air cylinder) includes a cylinder block and a cylinder shaft movable relative to the cylinder block, and the cylinder shaft is connected to the spline shaft holder 236 to move the spline shaft holder 236 in the up-down direction. In this way, the cylinder shaft of the drilling device driving member 233 can move the spline shaft holder 236 in the up-down direction, thereby also moving the bit 232 connected to the spline shaft holder 236 and the spline shaft integrally in the up-down direction.

To facilitate movement of spline shaft mount 236 in the up-down direction, spline shaft mount 236 is provided with a drill slide, and drilling device support plate 231 is provided with a drill slide that mates with the drill slide. In this way, spline shaft holder 236 can move up and down relative to drilling device support plate 231.

Optionally, a reamer is also provided on the top of the drill bit 232. Thus, a counter bore can be drilled without the need for tool changing during drilling.

The stapling device 240 includes a stapling device support plate 241, a screwdriver 242 and a stapling device driving member 243. The locking pin device supporting plate 241 is connected to the connecting plate 210. The screwdriver 242 is connected to the locking screw device supporting plate 241. The locking device driving member 243 is used for driving the screwdriver 242 to move up and down relative to the locking device supporting plate 241.

Specifically, the screw locking device 240 includes a screw locking device supporting plate 241, a screw locking device driving member 243, a first screw driver fixing seat 244, a screw driver 242, a screw driver sliding rail 245, a linear bearing 246, a guide rail support 247, a second screw driver fixing seat 248 and a spring 249. The locking device support plate 241 and the drilling device support plate 231 are spaced apart in the longitudinal direction of the base frame 100. The cylinder block of the staple driving member 243 is fixedly attached to the connecting plate 210.

As shown in fig. 10 and 11, the driving member 243 (e.g., an air cylinder) of the locking device includes a cylinder block and a cylinder shaft movable relative to the cylinder block, and the cylinder shaft is connected to the first screwdriver fixing seat 244 to drive the first screwdriver fixing seat 244 to move in the up-and-down direction. In this way, when the cylinder shaft of the driving member 243 of the locking device drives the first screwdriver fixing seat 244 to move in the up-and-down direction, the screwdriver 242 connected to the first screwdriver fixing seat 244 is driven to move in the up-and-down direction as a whole.

In order to facilitate the first screwdriver fixing seat 244 to move up and down, the first screwdriver fixing seat 244 is provided with a linear bearing 246, and the screw driver sliding rail 245 matched with the linear bearing 246 is connected to the locking device supporting plate 241 through a rail support 247. In this way, the first screwdriver fixing seat 244 can move up and down with respect to the locking device supporting plate 241.

To buffer the downward movement of the screwdriver 242, the locking device supporting plate 241 is provided with a second screwdriver fixing seat 248. The spring 249 is located between the first and second screwdriver holders 244, 248. In this manner, spring 249 can dampen downward movement of screwdriver 242.

In addition, as shown in fig. 1 and 6, a screw feeding device 800 is further provided on the base frame 100, and the screw feeding device 800 is used for feeding screws to the locking nail device 240.

In the illustrated embodiment, the screw feeding device 800 includes a vibrating disk 810 and a connecting arm 820. Vibratory plate 810 is used to sequence the screws placed therein so that the screws can be delivered to the clincher of screwdriver 242 in a preset orientation. Thus, when the screw is conveyed to the nail clamping device, the screw is in a vertical state, the large head of the screw faces upwards, and the small head of the screw faces downwards.

The vibration plate 810 may be connected to the cross member 160 of the base frame 100 by a connecting arm 820 such as an articulated arm. Also, the connecting arm 820 may be moved with respect to the base frame 100 so that the vibration plate 810 may be moved with respect to the base frame 100 to facilitate maintenance and the like by a worker. In the illustrated embodiment, the connecting arm 820 includes a first connecting arm and a second connecting arm. The first connecting arm is rotatably connected to the bottom of the vibration plate 810, and the second connecting arm is rotatably connected to the cross beam 160 and the first connecting arm, respectively.

In the present embodiment, the working flow of the drilling and nail locking robot 10 is as follows:

step A: after the container to be drilled and locked is moved to the drilling and locking station on the production line, the container feeding platform (not shown) of the drilling and locking robot 10 is in butt joint with the container, and the drilling and locking robot 10 enters the container through the container feeding platform. At this time, the gang wheels of the gang wheel assembly 910 are close to the cross beam 160 of the base frame 100, and the drill locking nail assemblies 200 at the side edges are located inside the base frame 100.

The drill-nail robot 10 is movable on the container floor (the end of the drill-nail robot 10 provided with the vision sensor 410 is directed towards the end wall of the container). In the process that the drilling locking nail robot 10 moves, the drilling locking nail robot 10 searches for the middle abutted seam of the wood floor of the container through the vision sensor 410, controls the Mecanum wheel 720 to rotate cooperatively, enables the drilling locking nail robot 10 to move in the middle along the middle abutted seam of the wood floor, and the metal sensor 420 starts to detect the bottom beam and counts.

And B: the cross-travel cylinder shaft 604 extends out of the cross-travel cylinder block 603, which in turn moves the drill pin assembly 200 at the side out of the chassis 100 in the cross direction D1.

And C: the drilling and nail locking robot 10 reaches the innermost preset construction position in the box body, the controller controls the traveling assembly to drive the drilling and nail locking robot 10 to be positioned to the middle position of the bottom cross beam according to the signal of the edge position of the bottom cross beam detected by the metal sensor 420, and the drilling and nail locking robot 10 stops moving.

Step D: the drilling and locking robot 10 starts the drilling operation and cleans the drill cuttings after the drilling operation is completed.

Step E: the longitudinal moving device 320 moves to drive the sliding table 310 to move, so that the locking pin device 240 of each drilling locking pin assembly 200 moves to the floor locking pin hole.

Step F: before the locking device 240 locks the nail, the screw feeding device 800 has fed the screw to the nail holder of the screwdriver 242, the sensor detects the feeding of the screw to the nail holder, and the locking device 240 starts the locking operation.

Step G: after the locking nail operation is finished, the cylinder shaft 322 of the longitudinal moving device 320 extends out, so that each drilling locking nail assembly 200 is reset, and the drilling locking nail robot 10 is tracked and positioned to the next drilling locking nail position and performs the operation.

Step H: after the locking operation of all the drilling locking nail positions of the current container is completed, the gang wheel moving device 920 is operated to retract the gang wheel support 911 to the initial position, and the lateral moving device cylinder shaft 604 is retracted into the lateral moving device cylinder seat 603, so that the drilling locking nail assembly 200 at the side edge is moved in the lateral direction D1 to be retracted into the chassis 100.

Step I: the drilling and locking robot 10 moves out of the current container through the container entering platform, and the container entering platform of the drilling and locking robot 10 retreats to wait for the next container to be processed.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "component" and the like, when used herein, can refer to either a single part or a combination of parts. Terms such as "mounted," "disposed," and the like, as used herein, may refer to one component as being directly attached to another component or one component as being attached to another component through intervening components. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it is to be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the described embodiments. It will be appreciated by those skilled in the art that many more modifications and variations are possible in light of the above teaching and are intended to be included within the scope of the invention.

Claims (16)

1. A drill-and-lock robot for drilling and locking a hole in a floor of a container, the drill-and-lock robot comprising:

the chassis is provided with a walking assembly;

the at least two drilling locking nail assemblies are arranged on the underframe along the transverse direction;

the longitudinal moving device is arranged on the chassis and connected with the drilling locking nail assembly so as to drive the drilling locking nail assembly to move along the longitudinal direction, so that the position of the drilling locking nail assembly relative to the chassis is changed;

a sensor disposed on the chassis; and

the controller is electrically connected to the walking assembly and the sensor and controls the walking assembly to work according to information sensed by the sensor so as to move the drilling and locking robot.

2. The drill-nail robot according to claim 1, wherein the drill-nail assembly comprises a drilling device, a nail device and a connecting plate, both the drilling device and the nail device being connected to the connecting plate.

3. The drill-and-lock nail robot according to claim 2, wherein the chassis is further provided with a slide table, the longitudinal moving means comprises a cylinder and a piston rod movable relative to the cylinder, the piston rod being connected to the slide table to move the slide table in the longitudinal direction, the connecting plate being provided on the slide table.

4. A drill and nail robot according to claim 3, wherein the connecting plate is provided with a positioning plate, and the slide table is provided with a positioning frame, the positioning plate being fixedly connectable with the positioning frame by a connecting piece, so that the position of the connecting plate in the transverse direction with respect to the base frame is adjustable.

5. A drill and nail robot according to claim 3, wherein the connection plate is provided with a connection plate slider and the slide table is provided with a transverse guide rail cooperating with the connection plate slider.

6. The drill-and-lock nail robot according to claim 3, wherein the sliding table is provided with a sliding table slider, and the base frame is provided with a longitudinal guide rail cooperating with the sliding table slider.

7. The drill-pinning robot according to claim 3, wherein the chassis is further provided with a lateral movement means arranged on the sliding table and connected to the drill-pinning assembly at a side of the drill-pinning robot for driving the drill-pinning assembly at the side to move in the lateral direction.

8. The drill and nail robot according to claim 7, wherein a first link and a second link are provided between the connecting plate and the slide table, the first link, the second link, the connecting plate and the slide table forming a four-link structure, the lateral moving device comprising a cylinder and a piston rod movable relative to the cylinder, the cylinder and the piston rod being respectively articulated to the connecting plate and the slide table.

9. The drill-hole staple robot of claim 2, wherein said drilling means comprises:

a drilling device support plate connected to the connection plate;

a drill bit connected to the drilling device support plate;

a drilling device drive member for driving the drill bit up and down relative to the drilling device support plate.

10. The drill-nail locking robot according to claim 2, wherein the nail locking device comprises:

a locking pin device support plate connected to the connection plate;

a screwdriver connected to the locking screw device support plate;

a screw device driving member for driving the screwdriver to move up and down relative to the screw device supporting plate.

11. The drill-and-lock nail robot according to claim 1, wherein the walking assembly comprises a walking drive motor and a mecanum wheel driven by the drive motor.

12. The drill-hole staple robot of claim 1, wherein said sensor comprises a visual sensor for sensing a seam of said floor, said controller controlling said walking assembly to align a centerline of said undercarriage with said seam based on a signal sensed by said visual sensor.

13. The drill-nail robot of claim 1, wherein the sensor comprises a metal sensor for sensing a bottom cross beam of the container, and the controller controls the walking assembly according to a signal sensed by the metal sensor such that the drill-nail assembly is located above the bottom cross beam.

14. The drill-hole nail-locking robot according to claim 1, wherein a screw conveying device is further arranged on the chassis and used for conveying screws to the drill-hole nail-locking assembly.

15. The drill-and-lock bolt robot of claim 14, wherein the screw delivery device comprises a vibrating disk and a connecting arm, the vibrating disk being connected to the chassis by the connecting arm, the connecting arm being movable relative to the chassis such that the vibrating disk is movable relative to the chassis.

16. The drilling and locking robot as claimed in claim 1, wherein the chassis is further provided with a gang wheel assembly and a gang wheel moving device, the gang wheel moving device is used for driving the gang wheel assembly to move along the transverse direction.

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