JP2910572B2 - Nail feeding device for nailing robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nail feeding device for a nail driving robot, and more particularly to a nail feeding device for feeding a nail sheet having a plurality of nails connected to a nail driving terminal.

[0002]

2. Description of the Related Art A nailing robot for producing a prefabricated house panel or the like nails a workpiece on a work table in accordance with a control program, and after a specified number of nailing, moves a nailing terminal to a nail supply location. It is configured to be. As a nail supply device, a device in which single nails are aligned and automatically supplied to a nail magazine of a nailing machine is known, but about tens of long nails used in a two-by-four construction or the like are formed by a plastic belt or the like. There is no automatic feeder for the linked nail sheets, such nail sheets are loaded manually.

[0003]

In a nail driving robot using a nail sheet for two-by-four construction, a nail sheet is replenished when the number of remaining nails in a nail magazine mounted on a nail driving machine is reduced to some extent. In addition, the replenishment work is complicated and causes a reduction in work efficiency. Then, there arises a technical problem to be solved in order to improve the work efficiency by automating the feeding operation of the nail sheet, and an object of the present invention is to solve the above problem.

[0004]

SUMMARY OF THE INVENTION The present invention proposes to achieve the above object, and supplies a nail sheet in which a plurality of nails are connected in parallel by a belt to a nailing terminal of a nailing robot. a nail feeder for the provided nails sheet discharge port 3 b in the longitudinal direction the lower front of the stocker 3 for accommodating a nail seat 10 by loading, the nail sheet nail sheet 10 of the lowermost within the stocker 3 continuously feeding device 7 for discharging from the discharge port 3 b forwardly disposed, on the nail sheet discharge port 3 b horizontal flat surface for supporting the nail to be discharged from the nail sheet discharge port 3 b in front of the said flat surface A table 4 having a rounded surface gradually inclined downward is provided, and actuators 8 and 9 such as air cylinders are disposed on both left and right sides of the table 4 so as to face each other. By 9 The nail sheet 10 on the table 4 is formed so that the nail sheet 10 can be dropped to the left or right of the table 4, and a control device for sequentially controlling the feed device 7 and the left and right actuators 8 and 9 is provided. The nail magazines 5 and 6 whose upper surfaces are opened are located, and the nail sheet 10 in the stocker 3 is placed with the nail toe first.
From Table 4 it is intended to provide a nail feeder for nailing robot to be able to refill the left right alternating to said nail magazine 5,6.

[0005]

The nail sheets stacked in the packing box are alternately inverted in nail sheet units, and the nail sheets are transferred to the stocker in the posture at the time of storage. When a feeder constituted by an actuator such as an air cylinder or a motor installed on the back side of the stocker is driven, the lowermost nail sheet in the stocker is fed in the longitudinal direction and discharged onto the front table.

[0006] Actuators for dropping the nail sheet to the side of the table are disposed on the left and right sides of the table so as to face each other. When the actuator on the nail head side of the nail sheet is driven, the nail sheet on the table is driven by the nail. Drop from the table with its tip facing downward. The left and right actuators are alternately driven with respect to the nail sheets sequentially discharged onto the table, and the nail driving terminal of the nail driving robot controls the nail sheets sequentially at the left and right sides of the table so that a plurality of nails are driven. The nail sheet is continuously replenished to the terminal.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 to 3 show a nail feeding device 1 and a frame 2
A stocker 3 installed above, a table 4 installed in front of the stocker 3, nail magazines 5, 6 provided on both left and right sides of the table 4, and three air cylinders 7, 8, 9 on the frame 2. Air cylinder 7,
8 and 9 are controlled by a cylinder control device (not shown).

The stocker 3 is a box-shaped container having an open upper surface, and a feed air cylinder 7 as a feeder is disposed on the back side. A push plate 7b having a thickness substantially equal to the thickness of the nail sheet 10 is fixed to the piston rod 7a of the feed air cylinder 7, and an opening through which the push plate 7b can enter is provided at the lower rear portion of the stocker 3, as shown in FIG. A portion 3a is provided. A nail sheet discharge port 3b for discharging the nail sheet 10 pressed by the push plate 7b is provided at a lower portion of the front surface of the stocker 3, and the nail at the lowest layer in the stocker 3 is expanded and contracted by the air cylinder 7 for feeding. Sheet 1
0 is sequentially discharged onto the table 4.

FIG. 4 shows a nail sheet 1 for two-by-four construction.
0, a number of nails N, N,... Of 75 mm or 90 mm are connected in parallel by plastic belts B, B in an inclined posture. The nail sheets 10, 10,... Are supplied in a stacked state in a packing box C with the direction of the head H being alternately reversed as shown in FIG. When the nail sheets 10, 10,... Are transferred to the stocker 3 while keeping the posture in the packing box C, and the lowermost nail sheet 10 is sequentially discharged onto the table 4 by the air cylinder 7 for feeding.
The nail sheet 10 having the nail head H located on the left side of the table 4 and the nail sheet H located on the right side of the table 4 are alternately discharged.

As shown in FIG. 3, the table 4 is formed in a round shape in which the left and right sides of the flat surface F on which the nail sheet 10 is supported are gradually inclined downward. 6 is attached, and the nail sheet 1 is dropped from the table 4 to the left or right with the tip of the nail at the head.
0 is introduced into the nail magazines 5,6.
On the left and right sides of the table 4, dropping air cylinders 8,
9 are arranged facing each other, and piston rods 8a, 9a are respectively provided.
Push plates 8b and 9b are mounted on the table 4 so that the nail sheet 10 on the table 4 can be dropped into the left or right nail magazines 5 and 6.

The nail magazines 5, 6 are inclined forward as shown in FIG. 1, and the shaft portions of the nails N, N,... Are inserted into guide grooves 5a, 6a provided on the upper surface in the front-rear direction. With the nail head hooking on both sides of the guide grooves 5a, 6a, the nails N, N,... Descend in the vertical posture along the guide grooves 5a, 6a. In the vicinity of the tip portions of the nail magazines 5, 6, a stopper cylinder 11,
When the piston 11 of the stopper cylinder 11 is contracted and retracted from the passage of the nail sheet 10, the nail sheet 10 is introduced into the nail magazine 13 of the nailing terminal 12 shown in FIG.

When the nail feeder 1 is used, the nail sheets 10, 10,... Are loaded from the packing box C into the stocker 3 in a stacked state at the time of packing. And the lowermost nail sheet 1
Which of the left and right dropping air cylinders 8 and 9 should be driven first is set in the cylinder control device depending on which of the left and right of the nail head H in the feed direction is located.

The cylinder controller is controlled by a main controller (not shown) of the nailing robot. First, the air cylinder 7 for feeding is driven to move the table 4 from the stocker 3 to the table 4.
The nail sheet 10 is pushed upward. Subsequently, the left or right dropping air cylinders 8 and 9 are driven in a preset order to put the nail sheet 10 on the table 4 into the nail magazine 5 or 6 and then discharge it onto the table 4. The nail sheet 10 is loaded into the nail magazine on the opposite side by the dropping air cylinder on the side opposite to the dropping air cylinder driven earlier.

.. Of the nailing robot move alternately or simultaneously to the positions of the left and right nail magazines 5 and 6, and the nail magazine 1 of the nailing terminal 12 is moved.
3 is connected to the nail magazines 5 and 6 of the nail feeder 1, the stopper cylinders 11 and 11 are driven to open the passages of the nail magazines 5 and 6, and the nail sheet 10 is stored in the nail magazine 13 of the nailing terminal 12. Be replenished.

The nail sheets 10 and 1 in the stocker 3
If, for example, the nail sheets 10 whose heads are located on the right side are continuous due to an error in the stacking order of 0,..., The second nail sheets 10 are moved by the falling air cylinders 8, 9 that are driven alternately. The nail sheet 10 is not stored in the nail magazines 5 or 6 because the nail sheet H falls at the top, but nail detecting means such as a proximity sensor is provided in the nail magazines 5 and 6, and the left and right air cylinders 8 and 9 are provided. By comparing the above operation with the nail insertion detection, a supply failure can be detected.

The present invention is not limited to the above embodiment. For example, a guide plate may be provided on the left and right sides of the table 4 so that the nail sheet 10 is reliably introduced into the nail magazines 5 and 6. Good. Further, the nail magazines 5 and 6 of the nail supply device 1 are removed to make the nail magazine 13 of the nailing terminal 12 open to the upper side, and the nailing terminal 12 moves to the left and right sides of the table 4 and directly nails from the table 4. Various modifications can be made, such as receiving the supply of the sheet 10, and it goes without saying that the present invention extends to those modifications.

[0017]

According to the present invention, as described in detail in the above embodiment, the nail sheets stacked by alternately reversing the nail directions of the nail sheets are alternately left and right nail magazines by a pair of left and right actuators. As a result, a nail feeding device capable of automatically refilling a plurality of nailing terminals with nail sheets automatically can be realized. Further, it is not necessary to align the directions of the nail sheets when transferring the nail sheets from the packing box to the stocker, so that the working efficiency can be remarkably improved.

[Brief description of the drawings]

FIG. 1 is a partially cutaway side view showing a nail feeding device according to an embodiment of the present invention.

FIG. 2 is a plan view of the nail supply device shown in FIG.

FIG. 3 is a front view of the nail supply device shown in FIG. 1;

FIG. 4 is a front view of a nail sheet.

FIG. 5 is an explanatory view of a packed nail sheet.

FIG. 6 is a side view of a nailing terminal of the nailing robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Nail supply apparatus 2 Frame 3 Stocker 3b Nail sheet discharge port 4 Table 5,6 Nail magazine 7 Feed air cylinder 8,9 Dropping air cylinder 10 Nail sheet N nail

Claims (1)

(57) [Claims] 1. A nail feeder for feeding a nail sheet, in which a plurality of nails are connected in parallel by a belt, to a nailing terminal of a nailing robot, wherein the stocker stacks and stores the nail sheet (10). (3) longitudinal bottom front nail sheet discharge port (3 b) provided in, for discharging said stocker (3) the nail sheet (10) lowermost in the nail sheet discharge port from (3 b) forward feed device (7) is provided, in succession to the nail sheet discharge port said nail the sheet discharge port (3 b) horizontal flat surface and the flat surface for supporting the nail is discharged from the front of the (3 b), and A table (4) having a rounded surface gradually inclined downward is provided, and actuators (8, 9) such as air cylinders are disposed on both left and right sides of the table (4) so as to face each other; By the actuator (8, 9), the table ( ) The upper nail sheet (10) is formed so that it can be dropped to the left or right of the table (4), and a control device for sequentially controlling the feeder (7) and the left and right actuators (8, 9) is provided. A nail magazine (5, 6) having an open top is positioned on the left and right sides of the table (4), and the nail sheet (10) in the stocker (3) is nailed.
Top to nailing robot nail supply apparatus that can be replenished to the left right alternating from the table (4) to said nail magazine (5,6) a foot destination.