JPH06238608A - Nailing robot for producing housing panel - Google Patents

Abstract

PURPOSE:To provide a nailing robot for producing a housing panel with which nailing can be done automatically on nailing points of various members of frame of various housing panels and it can be done correctly from longitudinal, lateral, and slant directions, labor of worker can be reduced, and productivity of the panel can be improved. CONSTITUTION:A panel frame arranged on a stage on the way of production line for various housing panels is sent under control of a computer and positioned. To the panel frame, an articulated arm 53a of a robot body 53 moves automatically in accordance with a coordinate data indication from the computer. Position and angle of a nailing machine 54 supported at the tip of the articulated arm 53a are changed so as to be positioned in a state facing nailing points of various members of a panel frame 15 sequentially. Also, a floating mechanism 56 using a fine adjustment air cylinder 57 for abutting a nailing machine tip head 54a against the nailing point in nailing operation of the nailing machine 54 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is mainly for housing panel production installed in a production line system for manufacturing and assembling two-by-four (2 × 4) housing panels such as outer wall panels and inner wall panels of general houses. Regarding nailing robot.

[0002]

2. Description of the Related Art In recent years, along with an increase in demand for housing and a shortage of construction workers, there has been a strong demand for shortening the construction period and labor saving by using a full panel structure structure for houses. For this reason, there is an urgent need to establish efficient production of residential panels by mechanization in factories, and the produced residential panels can be variously designed according to user's wishes by free design for each building. There is a demand for production by size and form by residence and establishment of a just-in-time (only necessary panel, when needed) production system.

For example, FIG. 3 shows a typical example of a two-by-four outer wall panel of a general house. The procedure for manufacturing the outer wall panel 1 will be briefly described. First, as shown in FIG. 3A, the combined magsa 2, the window upper frame 3 and the window lower frame 4, the upper bundle 5 and the lower bundle 3 each. 6, a pair of left and right magsa receivers 7,
The opening unit (sub-assembly) 10 is assembled by cutting the members such as the side pillars 8 and the composite side pillars 9 into required dimensions, and joining and nailing.

Next, as shown in FIG. 3B, with respect to the opening unit 10, an upper frame 11 and a lower frame 12, each of which is cut into a required size, as peripheral members, two studs 13, and a head. The panel frame 15 is assembled by joining and joining the joint 14 and nailing.

Then, as shown in FIG. 3 (c), a required number of plywoods (such as veneer) 16 each having a required width are piled up and nailed and fixed on the entire surface of the panel frame 15, and the plywoods are also fixed. The outer wall panel 1 is completed by hollowing out the required portions 16 to form the openings 17.

This type of outer wall panel is different from the one shown in FIG. 3 in that the size, the number, the position and size of the openings 17 of each part are different, and there are no openings but two openings. Various forms and sizes, such as existing ones, are required. In addition to this outer wall panel, it is also necessary to produce inner wall panels of various shapes and sizes as similar products.

In order to factory-produce such various types of housing panels, a production line system as shown in FIG. 4, for example, has been developed. This line system is a combined magsa driving table 21 with a plurality of nailing machines inside the factory building.
An opening unit assembly table 22 provided with a reference gauge and a transfer roller, an opening unit stocker 23 provided with a chain conveyor in three upper and lower stages, a positioning transfer device and a clamp device, and two nailing machines on each side. A wall panel framing stage 24 provided and a plywood sheeting / router stage 25 equipped with a positioning / conveying device and a clamping device, two nailing machines and one router machine (drilling machine) are arranged in sequence. It is a configuration.

[0008] Then, an operator superimposes two magsa members, which have been cut to a required size based on the panel design drawing in advance, and clamps them on the first combined magsa table 21 to set four nailing machines. Are manually operated and four nails are nailed at the same time to make a combined magsa 2.

The next worker and the other members (window upper and lower frames, upper and lower bundles, magsa holders, side pillars) 3 to which the above-mentioned combined magsa 2 is cut in advance to a predetermined size and stacked and placed on the side of the line 3 to 3 The required number of 9 and 9 are picked up on the opening unit assembly table 22, and the members are framed in accordance with the reference gauge, and the nailing points of the members are nailed and fixed by a worker using a hand nailing machine. Then, the opening unit 10 is assembled. The opening unit 10 is placed on the next opening unit stocker 23 and is put on standby.

The opening unit 10 on the stocker 23
The next worker sends it to the wall panel framing stage 24 by a switch operation, and there, the opening unit 10 and other peripheral members (upper and lower frames 11) that are cut to the required dimensions and stacked on the side of the line are placed. , 12,
Stud 13, head joint 14, etc.) are combined and joined, and the positioning clamp is performed while adjusting the diagonal, parallel, and horizontal accuracy, and in that state, the worker turns the handle and uses two nailing machines on each side. The panel frame 15 is assembled by operating it while moving and nailing it.

In this state, a predetermined number of plywoods (such as veneer) 16 ... Each of which is sized to a required width and stacked on the side of the line, is temporarily fixed by superposing it on the entire upper surface of the panel frame 15. Then, it is moved to the next plywood sheeting / router stage 25 and positioned and clamped, and in this state, the worker operates the two nail driving machines by rotating the handle to move the two nailing machines to each member of the panel frame 15. While plywood 16 is nailed and fixed permanently,
While moving the router machine, a worker hollows out a required portion of the plywood 16 to form an opening 17 to complete the outer wall panel 1.

[0012]

The conventional residential panel production line system is provided with a nailing machine and a router machine. However, a lot of manual work including operation of these machines is required, resulting in panel productivity. There is a limit to the increase. In particular, a worker on the opening unit assembly table 22 adjusts the alignment magsa 2, the window upper and lower frames 3 and 4, and the upper and lower bundles 5.
6 and the left and right magsa bridges 7 and the left and right side pillars 8 and 9 are nailed to each other at the joints, the nailing points are numerous, and the nailing direction is vertical (horizontal and horizontal). Of course, there is also a slant, which is very complicated, and it is very troublesome and inefficient in manual nailing work using a hand nailing machine.

On the other hand, the conventional automatic nailing machine cannot perform the complicated nailing as described above, and if the panel production is of the same standard, it can be variously designed according to the user's wishes by freely designing each building. When it comes to the production of various types of housing panels of various sizes and configurations, the nailing points and orientations differ for each panel, and there are dimensional errors and warpage in individual members, making machine automation extremely difficult. It is difficult, and the work must be done by hand, which puts a heavy burden on the workers, lowers work efficiency, and raises costs.

The present invention has been made in view of the above circumstances, and an object thereof is to automatically check each nailing point between various members of a frame for various residential panels that are successively sent under computer control. Another object of the present invention is to provide a nailing robot for house panel production, which can be nailed and fixed accurately from diagonally in the vertical and horizontal directions, which is effective for saving labor of workers and increasing panel production efficiency and cost reduction.

[0015]

In order to achieve the above object, a nailing robot for housing panel production according to the present invention is installed on a stage in the middle of a production line for assembling and manufacturing various housing panels, and is controlled by a computer. Originally, when the panel frame is sent and positioned on the stage in the order of the production panel numbers, the robot body in which the articulated arm automatically moves based on the coordinate data instruction from the computer, and the tip of the articulated arm of the robot body A nailing machine, which is supported by a plurality of jointed arms, changes its position and angle by movement of the multi-joint arm, and is positioned so as to sequentially face each nailing point of various members of the panel frame, and nails the nailing machine; The nailing machine is supported so as to be able to move forward and backward with respect to the tip of the multi-joint arm, and the tip end of the nailing machine is moved during the nailing operation of the nailing machine. Parts of a provided comprising constituting a floating mechanism using the fine adjustment air cylinder abutting on the nailing points.

[0016]

If the nailing robot for producing a house panel having the above-mentioned structure is installed on a stage in the middle of a production line for assembling and producing various house panels, the panel frame is sent to the stage in the order of production panel numbers under computer control. When the robot is positioned, the multi-joint arm of the robot body automatically changes its position and angle based on the coordinate data instruction from the computer, and the nailing machine supported at the tip of the arm is attached to each of the various members of the panel frame. While facing the nailing points one after another, at the respective facing positions, the tip head portion of the nailing machine is abutted to the nailing points of the above members by the fine adjustment air cylinder of the floating mechanism, and nailing is performed in this state. The machine now nails nails at the nailing points of each member, and the nailing point and direction for each panel Even if they are different, and even if there are dimensional errors or warpage in individual members, it is possible to accurately and accurately nail from the vertical and horizontal directions, and it is possible to greatly reduce the burden on the operator and the user. It will be possible to efficiently produce various types of housing panels of various sizes and configurations by freely designing each building according to the wishes of.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a nailing robot for producing a housing panel according to the present invention will be described below with reference to FIGS. First,
This section describes the overall configuration of the residential panel production line system in which this robot is installed.

As shown in FIG. 2, a computer room 31 is provided at a corner of the factory building, and a line computer 32 is installed therein. This line computer 32
Is input from a host computer (not shown) through a floppy desk or optical fiber to information on various types of residential panels that are produced each day. Under the control of this line computer 32, various machines and operations in the line system are performed. It is designed to give necessary information to employees in a timely manner.

A first printer 33 is installed next to the computer room 31. This first printer 33
In response to a command from the line computer 32, 6 sets of 6 sets each of an opening kanban 34 in which the processing information of the opening unit is written and a parent kanban illustrating the entire panel configuration are printed out in order of the production panel number. At this timing, if 6 production panels are dropped (line out) from the final process of the line, and if the printer of the parent Kanban (not shown) that illustrates the entire panel configuration inputs the difference from the Kanban information previously announced, the next New 6
Launch a single Kanban board.

Based on this opening Kanban 34, the worker A
Is an opening preparation stage for sequentially preparing the opening unit members (matching magsa, window upper and lower frames, upper and lower bundles, magsa trays, side pillars) 2 to 9 as one side (starting side) of the production line in the building. ), The cross-cut saw stand 36 is installed at the position, and the buffer stand 37 is provided near this tip side.
Is installed, and a nailing table 38 is installed near one side thereof, and a preparation conveyor 39 is installed near one side of the nailing table 38.

In the vicinity of the first cross-cut saw table 36 of the opening preparation stage, the opening unit members 2 to 9 are selected (picked) from a separate storage (not shown).
A plurality of hand-held or electric self-propelled carriages 41 that can carry in a set at a time are provided.

The operator A carries in the opening unit members 2 to 9 by these trolleys 41 and inserts them into the cross-cut saw table 36 one by one, and according to the information of the opening kanban 34, numerical data is input to the cutter 36a. Enter and cut to the required length dimension. The cut members 2 to 9 are placed on the buffer table 37 in order. The next worker B takes them out in order and places them on the preparation conveyor 39.
At that time, the combined magsa 2 and the composite pillar 9 are set on the nailing table 38 and are nailed and coupled by the nailing machine 38a.

Thus, the opening unit members 2 to 9 are
Although not shown in the drawings, the preparation conveyer 39, which is placed in order for each set, is 1/50 to 1/100 of human step speed under inverter control under the command of the line computer 32.
It has a chain conveyor that conveys at a speed of (0 to 2000 mm / min), its effective length is 3000 mm and width is 2500 mm, and the opening unit members 2 to 9 are always 6 sets each in the order of production panel numbers. It is ready to be installed.

Next, a temporary assembly stage 42 is installed adjacent to the tip side of the preparation conveyor 39. At this stage 42, one worker C takes the set of opening unit members 2 to 9 from the preparation conveyor 39 and temporarily assembles the opening unit 10. The members are temporarily joined together by a hand type air stapler (not shown). This work has a belt conveyor with a dog that is interlocked with the preparation stage 39 so that this work is performed in line.

Further, a diverder (feeding direction conversion table) 4 which is connected to this tip side and changes the flow direction of the line at a right angle
3 is installed, receives the opening unit 10 sent from the temporary assembly stage 42, and sends the opening unit 10 in the width direction. For this reason, sequence ON
A lengthwise feed roller conveyor that is controlled to be OFF and a bi-pitch chain widthwise feed chain conveyor with an air cylinder for vertical movement are provided, and both are operated alternately.

The opening unit 1 temporarily assembled at this tip
A buffer stage (storage conveyor) 44, which sequentially receives 0s one by one and slowly conveys 6 sets, is provided in series. This buffer stage 44 has a total length of 8000 mm
To some extent, it has a bi-pitch chain type chain conveyor that always moves by inverter speed control, and an air cylinder that moves this conveyor up and down.

A second printer 45 is installed on one side of the buffer stage 44 of the line. Similarly to the above, the second printer 45 uses the peripheral member kanban 46 in which the processing information of the peripheral members (upper and lower frames, studs, head joints, etc.) 11 to 14 for the panel frame is written in the order of the production panel numbers by the command from the line computer 32. Print out 6 sets each.

Based on the peripheral member kanban 46, the worker D uses the peripheral members for the panel frame (upper and lower frames, studs,
As a peripheral member preparation stage for sequentially preparing the sets 11 to 14 in sequence, a cross-cut saw blacking table 47 is provided near one side of the buffer stage 44.
Is installed, and a buffer table 48 is installed near the one end side. Further, in the vicinity of the cross-cut saw blacking table 47, a hand-operated or electric self-propelled cart that can pick up the peripheral members 11 to 14 from a separate storage (not shown) and carry in 6 sets at once A plurality of 49 are provided.

The worker D carries in the peripheral members 11 to 14 by these carts 49 and inserts them one by one into the cross-cut saw black table 47, and inputs numerical data to the cutter 47a according to the information of the peripheral member kanban 46. And cut it to the required length. The cut peripheral members 11 to 1
4 are sequentially placed on the buffer table 48, and 6 sets each can be prepared and placed in the production panel number order at all times.

A frame assembly stage 50 is connected to the tip of the buffer stage 44. The frame assembly stage 50 includes a peripheral member 11 taken by the two workers E and F from the buffer base 48 of the peripheral member preparation stage on the line side for the opening unit 10 sequentially sent from the buffer stage 44. It is a place for assembling the panel frame 15 by combining 14 together and nailing from the left and right in that state.

Therefore, this frame assembly stage 5
0 is about 5000 mm in length and 3000 mm in width, and is based on the loading / unloading roller conveyor that moves up and down simultaneously with the conveyor of the buffer stage 44, the width direction fixed air cylinder of the panel frame 15, and the length direction fixed air cylinder drive. In addition to the pusher bar, a total of four nailing machines 50b are provided on each of the left and right portions of the portal-type movable mount 50a, with two groups each having a V-shaped head portion angle changed.

Then, the gate-type movable platform 50a is driven by a motor to move in a self-propelled manner by the operation of the worker F, and is positioned one after another by a laser sensor. At each position, the operator F operates four groups. The nailing base 50b simultaneously nails the CN 90. With this, the upper and lower frame 1 is
1, 12 and the head joint 14 are integrally fixed, and the stud 13 is fixed between the upper and lower frames 11 and 12 so that the entire panel frame 15 can be assembled (fleming).

An opening nailing stage 51 is connected to the tip of the frame assembly stage 50. The opening portion nailing stage 51 is automatically driven by the nailing robot 52 of the present invention between the members 2 to 9 that are temporarily fixed to each other by the staples of the opening portion unit 10 in the panel frame 15 that are sequentially sent out from the frame assembly stage 50. This is the stage where the actual nailing is done.

For this reason, this opening nailing stage 5
1, a length of about 5000 mm and a width of about 3000 mm, which is a bi-pitch chain loading / unloading chain conveyor that moves up and down at the same time as the buffer stage 44 conveyor, a width direction fixed air cylinder of the panel frame 15, and a length direction fixed Has a pusher bar driven by an air cylinder, and a clamp jig that clamps the upper bundle and the lower bundle by position control by a servo motor during nailing, and is also mounted on the gate-type mount 51a to perform a nailing robot. 52.

In this nailing robot 52, a robot main body 53 having an articulated arm 53a is fixedly mounted on a gate-shaped stand 51a, like a kind of industrial robot, and the tip of the articulated arm 53a is shown in FIG. As shown, the nailing machine 54 is attached and supported.

That is, when the panel frame 15 is fed and positioned on the opening nailing stage 51 in the order of the production panel numbers under the control of the line computer, the coordinate data (pattern instruction) from the line computer.
Based on the above, the multi-joint arm 53a of the robot body 53 automatically moves such as expansion / contraction, rotation, and tilting, and the position and angle of the nailing machine 54 supported at the tip of the arm are changed one after another.
This tip nailing machine head portion 54a is made to face each other nailing points 2-9 of various members of the panel frame 15 (matching magsa, window upper and lower frames, upper and lower bundles, magsa bearings, side pillars) one after another. After positioning, the nails of CN90 are designed to be hammered vertically and horizontally. For example, FIG. 1 shows a state in which the nailing machine head portion 54a is diagonally opposed to and positioned at the nailing points at the joints between the window upper frame 3 and the upper bundle 5.

An inverted L-shaped bracket 55 is attached to the tip of the multi-joint arm 53a, and the nailing machine 54 is provided with a floating mechanism 56 on one side of the lower end of the hanging plate.
It is attached and supported through. The floating mechanism 56 is provided with an air cylinder 57 for fine adjustment, and the nail driving machine 54 is provided in the direction parallel to the direction of the head portion 54a via the mounting plate 58 at the tips of the three parallel piston rods 57a of the air cylinder 57. The air cylinder 57 for fine adjustment is supported so as to be able to move forward and backward, and when the nailing operation of the nailing machine 54 is performed, the nailing machine head portion 54 is abutted against the nailing point with appropriate pressure. Is automatically activated to move a few centimeters.

As a result, the size and position of the opening unit 10 of the panel frame 15 sent in the order of the production panel numbers are different for each panel, and various members of the opening unit 10 (matching magsa, window top and bottom). Frames, upper and lower bundles, magsa bridges, side pillars) 2 to 9 The mutual nailing points and the movement position of the robot that accurately moves by coordinate support from the line computer 32 due to dimensional errors and distortion (sliding) of each member. Even if it is slightly different, the fine-adjustment air cylinder 57 can automatically and accurately abut the nailing machine head portion 54a at the nailing point between the various members.

A pass conveyor stage 59 is provided on the leading end side of the opening nailing stage 51 so as to convey the panel frame 15 to the next stage at the same conveyance timing.

The third printer 6 is provided on one side of the line.
0 is set. The third printer 60 prints out six sets of plywood kanban 61 in which the processing information of the plywood 16 is written in the order of the production panel numbers in accordance with a command from the line computer 32 as described above.

Based on this plywood kanban 61, a storage place 62 for stacking and storing a large number of plywood 16 suitable for one day is provided as a plywood preparation stage for the worker G to prepare plywood 16 ... Is secured, and a plywood cut-and-sew table 63 is installed near this, and a buffer table 64 is installed near this tip side one side. Then, the worker G moves from the storage location 62 to the required number of plywoods 16 ...
And insert them one by one into the plywood cut and sew table 63, and according to the instruction information of the plywood kanban 61, the cutter 63
Numerical data is input to a, the width is cut to a required width, the plywood 16 ... Is placed on the buffer base 64 in order, and 6 sets can be always prepared and placed in the order of the production panel numbers.

A plywood assembly stage 66 is connected to the leading end side of the path conveyor stage 59. The plywood assembly stage 66 is a plywood 1 taken by the worker G from the buffer table 64 of the plywood preparation stage on the panel frame 15 sequentially sent from the pass conveyor stage 59.
This is a stage for temporarily assembling the outer wall panel 1 by superimposing 6 and temporarily fixing.

To this end, the plywood assembly stage 66 has a length of about 4000 mm and a width of about 3000 mm, and is a bi-pitch chain loading / unloading chain conveyor that moves up and down simultaneously with the conveyor of the path conveyor stage 59, and the panel frame 15.
And a pusher bar driven by an air cylinder that fixes the two in a right angle state from two directions. On this, so that one worker G can stack the necessary number of cut plywoods 16 on the panel frame 15 and manually hit the nails of the nails CN50 to the minimum necessary positions to temporarily fix the plywoods. Has become.

A plywood nailing stage 67 is connected to the tip of the plywood assembly stage 66. In the plywood nailing stage 67, the plywood 16 of the temporarily assembled outer wall panel 1, which is sequentially sent from the plywood assembly stage 66, is nailed to the panel frame 15 automatically at a small pitch based on a command from the computer 32. It is a stage that is fixed by striking.

For this reason, this plywood nailing stage 67
Has a length of about 4000 mm and a width of about 3000 mm, is equipped with a loading / unloading roller conveyor, and a pusher bar driven by an air cylinder for fixing the panel 1 at a right angle from two directions. It has a large number of nailing machines 67b supported (15 heads mounted at 200 mm pitch).

The gate type moving mount 67a and each nailing machine 67
b is a panel frame of the plywood 16 with a small pitch while automatically moving by the sequencer / servo drive unit in response to the nailing position instruction based on the coordinate data in the order of the production panel number from the line computer 32. Each member of 15 is quickly nailed and fixed with CN50.

Further, an opening stage 68 is continuously provided on the tip side (line end) of the plywood nailing stage 67. The opening stage 68 is a plywood nailing stage 67.
Based on a command from the computer 32, the required opening 1 is automatically provided to the plywood 16 of the panel 1 which is sequentially sent from
7 is a stage for forming 7.

For this reason, the opening stage 68 has a length of about 4000 mm and a width of about 3000 mm, and is driven by a bi-pitch chain loading / unloading chain conveyor that moves up and down, and an air cylinder drive that positions and fixes the panel 1 in two directions. It is equipped with a pusher bar and also has a gate-shaped movable mount 68a.
And the router 68b supported by this and this router 68
and a dust collecting duct (not shown) that covers the periphery of the mounting head of FIG.

This gate type mobile mount 68a and router 68b
Each received an instruction of the opening position on the basis of the coordinate data according to the order of the production panel numbers from the line computer 32, and automatically moved by each of the sequencer / servo drive units, and drooped from the head end of the router 68b. An opening 17 is formed by punching and cutting the plywood 16 with a rotating bit (blade).

At this time, each panel 1 sent in the order of the production panel number has various opening dimensions and positions, and the panel 1 has dimensional error and distortion.
Since the position of the designated coordinate and the position of the opening 17 are slightly deviated due to such factors as described above, in addition to the control of the servo drive by the coordinate data of the computer, a floating mechanism (a pair of air cylinders that can move in the X-axis direction and the Y-axis direction, respectively) is also added. Support router 68b via the
The rotary bit is appropriately pressed against the window upper and lower frames 3 and 4 of the opening unit 10 and the inner peripheral surfaces of the left and right magsa receivers 7 and can move along the contour while cutting the plywood.

As described above, in the case of the panel production line system in which the nailing robot 52 is installed, the daily production plan is instructed by the host computer to the on-site line computer 32 by a floppy disk or the like, and the line computer performs fine control. Originally, while controlling the operation of various machines in the line, the information necessary for the workers at each position was transmitted in a timely manner using a Kanban that was printed in a timely manner to ensure the best matching, and according to the user's wishes. It becomes possible to rationally produce the outer wall panel 1 of various sizes and forms as a panel for a house, and other inner wall panels (not shown), etc. by freely designing each one after another.

As a result, a productivity of several tens of times (a production capacity of approximately four times that in the case of only manual work) can be obtained and a panel production of 240 sheets (for approximately four buildings) per day becomes possible. Since many stages in the line are mechanized, especially by the nailing robot 52 at the opening nailing stage 51, and unmanned mechanization at the plywood nailing stage 67 and the opening stage 68, the human hand has been used so far. Dangerous work requiring advanced technology is also eliminated, and labor saving of workers and high precision and high quality of product panels can be achieved. Moreover, the preparation of various components to be put on the line and the panel production control can be done in just-in-time, and a significant cost reduction can be realized by reducing inventory and eliminating waste.

[0053]

Since the nailing robot for housing panel production of the present invention is configured as described above, each nailing of each member of the frame for various housing panels sent one after another under computer control. The points can be automatically and accurately nailed and fixed from diagonally in the vertical and horizontal directions, which is effective for saving labor of workers, increasing panel production efficiency, and reducing costs.

[Brief description of drawings]

FIG. 1 is a partially omitted perspective view showing an embodiment of a nailing robot for producing a housing panel of the present invention.

FIG. 2 is a schematic configuration diagram of an entire residential panel production line system in which a nailing robot is installed.

FIG. 3 shows an example of a typical outer wall panel as a housing panel, (a) is a configuration diagram of its opening unit,
(B) is a block diagram of the entire panel frame in which peripheral members are attached to the opening unit, and (c) is a completed outer wall panel in which plywood is further punched to form openings.

FIG. 4 is a perspective view schematically showing a conventional example of a residential panel production system.

[Explanation of symbols]

1 ... Panel, 2-9 ... Member for opening unit, 10 ...
Opening units 11 to 14 ... Surrounding members, 15 ... Panel frame, 16 ... Plywood, 17 ... Opening, 32 ... Computer, 51 ... Opening nailing stage, 52 ... Nailing robot, 53 ... Robot body, 53a ... Many Articulated arm, 54
... nailer 54a ... nailer head portion, 56 ... floating mechanism, 57 ... air cylinder for fine adjustment.

Claims (1)

[Claims] 1. When installed on a stage in the middle of a production line for assembling and manufacturing various types of housing panels, and when a panel frame is fed and positioned on the stage in the order of production panel numbers under computer control, the computer is operated by the computer. The robot main body in which the multi-joint arm automatically moves based on the coordinate data instruction, and the position of the multi-joint arm supported by the end of the multi-joint arm of the robot main body and the angle of the various members of the panel frame are changed by the movement of the multi-joint arm. A nailing machine that is positioned to face each other at each nailing point and performs nailing, and a nailing machine that supports the nailing machine so that it can advance and retreat with respect to the tip of the multi-joint arm, and And a floating mechanism using a fine-adjustment air cylinder for abutting the tip head of the nailing machine at the nailing point. A nailing robot for housing panel production.