Automatic screw feeding and discharging carrying robot

Abstract

The application discloses a screw automatic feeding and discharging carrying robot, and relates to the technical field of intelligent industrial robots, which comprises a mechanical arm arranged on the side of an installation assembly line, a moving platform fixed to the upper side of the end arm part of the mechanical arm, a continuous feeding device movably arranged on the moving platform, a control connector rotatably arranged at the end of the arm part of the mechanical arm, a conveying pipe rotatably arranged at the top end of the control connector, a clamping and grabbing positioning device arranged at the lower part of the control connector and fixedly connected with the bottom of the conveying pipe, a control assembly fixedly arranged at the upper part of the control connector and located on the outer side of the conveying pipe, and a temporary storage conveying device rotatably arranged on the conveying pipe and abutting the control assembly on the outer side. The application realizes automatic adaptation and efficient and stable conveying of screws of different specifications, and achieves the technical effects of convenient change, stable feeding, reliable clamping and high tightening precision.

Description

Technical Field

[0001] This invention relates to the field of intelligent industrial robot technology, and more specifically, to an automatic screw loading and unloading robot. Background Technology

[0002] Screws are among the most commonly used connecting parts in mechanical assembly, and their automatic feeding and installation technology directly impacts production efficiency and assembly quality. Currently, automatic screw feeding equipment relies on a single vibratory feeder method, resulting in poor adaptability to different screw specifications and difficulties in changing screw types. The gripping mechanisms are mostly rigid clamps, which struggle to adapt to the random postures of screws. The handling mechanisms often employ linkage-type articulated arms, leading to complex structures and high manufacturing costs. Furthermore, the independent operation of each functional module lacks coordination, limiting overall efficiency. Existing equipment struggles to effectively address the technical problems of poor versatility, cumbersome changeovers, mismatched feeding and gripping rates, and insufficient reliability in clamping and positioning. Therefore, it is necessary to provide an automatic screw loading and unloading robot to solve the problems mentioned in the background. Summary of the Invention

[0003] To achieve the above objectives, the present invention provides the following technical solution: an automatic screw loading and unloading robot, comprising: A robotic arm is installed on the side of the assembly line. The mobile platform is fixed to the upper side of the end arm of the robotic arm; A continuous feeding device is mounted on a mobile platform. The control connector is rotated and located at the end of the robotic arm. The delivery pipe is rotatably mounted at the top of the control connector; The clamping and positioning device is located at the lower part of the control connector and is fixedly connected to the bottom of the delivery pipe; The control component is fixed to the upper part of the control connector and located on the outside of the delivery tube; The temporary storage and conveying device is rotatably mounted on the conveying pipe, with its outer side in contact with the control components.

[0004] Furthermore, preferably, the continuous feeding device includes: The connecting platform is slidably set on the mobile platform, and a transition section is provided at the front end, which corresponds to the temporary storage and conveying device; Two control base plates are symmetrically distributed and fixed to the connecting platform; Two conveyor tracks are symmetrically distributed and slidably mounted on the connecting platform, located between the control base plates. Their movement is controlled by the control base plates, and the front end of each conveyor track is provided with a transition track corresponding to the temporary storage conveyor device. There are two adjustment panels corresponding to the conveyor rail, which are slidably connected to the top of the control base plate; The material storage chamber is fixed on the control base plate.

[0005] Furthermore, as a preferred embodiment, the side wall of the conveying pipe is provided with a feeding channel, and the feeding channel is located on the side opposite to the continuous feeding device.

[0006] Furthermore, preferably, the gripping and positioning device includes: The mounting bracket is fixed to the bottom of the control connector; The fixing rods are arranged in a ring, with one end fixed to the outside of the fixing base; The clamping component is provided correspondingly to the fixed rod, and its end is rotatably connected to the fixed rod; The adjusting seat is coaxially arranged with the fixed seat and located below the fixed seat; The adjusting linkage is rotatably connected at both ends to the outer side of the adjusting seat and the clamping member, respectively; The control screw is hollow inside and connected to the center thread of the adjusting seat on the outside. Its top passes through the bottom of the fixed seat and the control connector and is fixedly connected to the bottom of the delivery pipe. Its rotation is controlled by the control connector.

[0007] Furthermore, preferably, the control component includes: The fixed arc body is fixed on the top of the control connector, located on the side of the temporary storage conveyor, supports the temporary storage conveyor, and has a pushing mechanism on its inner wall corresponding to the feeding channel. Multiple control wheels are distributed along the inner wall of the fixed arc, located above the pushing mechanism, and connected to the side of the temporary storage and conveying device.

[0008] Furthermore, preferably, the temporary storage and conveying device includes: The temporary storage component is coaxially mounted with the delivery pipe and corresponds to the pushing mechanism on the control component. A positioning ring is fixed to the top of the temporary storage component, has a drive mechanism inside, and its outer wall is connected to the control wheel. The pitch adjustment component is rotatably mounted on the temporary storage component, with its inner wall fitting against the outer wall of the delivery pipe; The notched ring is rotatably positioned on the outside of the pitch adjustment assembly, and the notch is sequentially aligned with the continuous feeding device and the pushing mechanism.

[0009] Furthermore, preferably, the temporary storage component includes: Multiple arc-shaped base plates are arranged in a ring at intervals. Multiple vertical spacers are provided corresponding to the arc-shaped base plate, with two spacers symmetrically distributed in each group. The two vertical spacers in the same group are respectively fixed to the top of two adjacent arc-shaped base plates. The connecting ring is fixed at the bottom to the top of the spacer plate, and at the top to the positioning ring body.

[0010] Furthermore, preferably, the adjusting component includes: Adjustable arc plates are provided in multiple sets corresponding to the arc-shaped base plate, with two plates in each set, which are slidably set at the bottom of the arc-shaped base plate; The inner adjusting ring is rotatably mounted on the top inner side of the connecting ring and is connected to the drive mechanism inside the positioning ring body; Multiple internal connectors are provided corresponding to the arc-shaped base plate, connecting the inner adjusting ring and the corresponding adjusting arc plate, with the inner wall fitting against the conveying pipe; The outer adjusting ring is rotatably mounted on the top outer side of the connecting ring and is connected to the drive mechanism inside the positioning ring body; Multiple outer connectors are provided corresponding to the inner connectors, connecting the outer adjusting ring and the corresponding adjusting arc plate. The outer wall fits into the notched ring, and the two adjusting arc plates in the same group are fixedly connected to the inner connector and the outer connector, respectively.

[0011] Compared with the prior art, the beneficial effects of the present invention are: In this invention, by controlling the bottom plate in the continuous feeding device to push the two conveying tracks to slide in opposite directions or in opposite directions, and by adjusting the sliding cover spacing of the panel, the spacing between the conveying tracks is precisely matched with the diameter of the screw, thereby achieving stable feeding and head limiting of screws of various specifications without the need to replace the feeding module. By using the positioning ring in the temporary storage and conveying device to drive the inner and outer adjusting rings to rotate in opposite directions and drive the two adjusting arc plates in the same group to move towards or away from each other through the inner and outer connecting parts, the gap between adjacent arc base plates is precisely matched with the screw diameter, thus realizing the temporary storage and adaptive adjustment of screws of various specifications. By alternating the arc-shaped base plate and the spacer vertical plate in the temporary storage component to form multiple independent storage gaps, and with the control wheel driving intermittent rotation, the temporary storage conveying device can pre-store multiple screws and supply them one by one in sequence, thereby decoupling the feeding and conveying links and reducing frequent docking between equipment. By controlling the screw and adjusting seat threadedly in the clamping and positioning device and driving each clamping component to swing synchronously via the adjusting connecting rod, the clamping opening is precisely matched with the screw diameter, achieving stable clamping and automatic centering of the screw. At the same time, the upper inner wall of the screw limits the screw head to prevent the screw from tilting or falling off during transportation. By controlling the screw to pass through the fixed base and the bottom of the control connector and be fixedly connected to the conveying pipe, and by having a hollow interior for the screwdriver rod to pass through, the screw conveying channel, clamping drive element and tightening guide channel are integrated into one unit, simplifying the equipment structure and achieving synchronous coordination between the gradual loosening of the clamping parts and the rotation and tightening of the screwdriver rod, thus ensuring tightening quality. Attached Figure Description

[0012] Figure 1This is a schematic diagram of the overall structure of an automatic screw loading and unloading robot. Figure 2 A schematic diagram showing the distribution of the continuous feeding device and the temporary storage conveying device; Figure 3 A schematic diagram of the continuous feeding device; Figure 4 A schematic diagram showing the connection between the continuous feeding device and the temporary storage conveyor. Figure 5 This is a schematic diagram of the gripping and positioning device. Figure 6 This is a schematic diagram of the control component structure; Figure 7 This is a schematic diagram of the temporary storage and conveying device. Figure 8 This is a schematic diagram of the temporary storage component and the adjustment component. In the diagram: 1. Robotic arm; 2. Moving platform; 3. Continuous feeding device; 4. Control connector; 5. Conveying pipe; 6. Gripping and positioning device; 7. Control component; 8. Temporary storage and conveying device; 31. Connecting platform; 32. Control base plate; 33. Conveying track; 34. Adjustment panel; 35. Storage chamber; 51. Feeding channel; 61. Fixed seat; 62. Fixed rod; 63. Gripping component; 64. Adjusting seat; 65. Adjusting connecting rod; 66. Control screw; 71. Fixed arc body; 72. Control wheel; 81. Temporary storage component; 82. Positioning ring; 83. Adjustment component; 84. Notched ring; 811. Arc-shaped base plate; 812. Spacing vertical plate; 813. Connecting ring; 831. Adjusting arc plate; 832. Inner adjusting ring; 833. Inner connecting component; 834. Outer adjusting ring; 835. Outer connecting component. Detailed Implementation

[0013] Please see Figures 1 to 8 In this embodiment of the invention, an automatic screw loading and unloading robot includes: Robotic arm 1 is installed on the side of the assembly line; Mobile platform 2 is fixed to the upper side of the end arm of robotic arm 1; The continuous feeding device 3 is movably mounted on the mobile platform 2; Control connector 4 is rotatably mounted at the end of the arm of robotic arm 1; The delivery pipe 5 is rotatably mounted on the top of the control connector 4; The clamping and positioning device 6 is located at the lower part of the control connector 4 and is fixedly connected to the bottom of the conveying pipe 5; The control component 7 is fixed to the upper part of the control connector 4 and is located on the outside of the delivery pipe 5; The temporary storage and conveying device 8 is rotatably mounted on the conveying pipe 5, and its outer side is in contact with the control component 7.

[0014] In this embodiment, the continuous feeding device 3 includes: The connecting platform 31 is slidably mounted on the mobile platform 2, and has a transition section at the front end, which corresponds to the temporary storage and conveying device 8; Two control base plates 32 are symmetrically distributed and fixed on the connecting platform 31; Two conveying tracks 33 are symmetrically distributed and slidably mounted on the connecting platform 31, located between the control base plates 32. Their movement is controlled by the control base plates 32, and the front end of each conveying track 33 is provided with a transition track corresponding to the temporary storage conveying device 8. Two adjustment panels 34 are provided corresponding to the conveyor rail 33 and are slidably connected to the top of the control base plate 32; The material storage chamber 35 is fixed on the control base plate 32.

[0015] In other words, in the initial state, the system automatically adjusts according to the specifications of the screw to be processed. Taking the screw diameter as a reference, the control base plate 32 pushes the two conveying tracks 33 on both sides to slide towards or away from each other on the connecting platform 31, precisely adjusting the distance between the two conveying tracks 33 so that the screw can just enter the conveying channel formed between the two conveying tracks 33. The screw head (nut) is placed on the top end face of the conveying track 33. At the same time, the adjustment panel 34 slides on the top of the control base plate 32, covering the distance between the control base plate 32 and the conveying track 33, preventing the screw from getting stuck on the outside of the conveying track 33. The inner side of the conveying track 33 is provided with an active conveying structure (such as a friction belt), which can drive the screw that falls into it to move forward continuously along the conveying direction.

[0016] As a preferred embodiment, a mixing and dispersing mechanism (which may be a stirring paddle or a vibrating paddle structure) is provided in the storage chamber 35 to make the scattered screws accumulated in the storage chamber 35 continuously move towards the conveying track 33, ensuring that the screws can continuously and orderly fall into the conveying channel between the two conveying tracks 33.

[0017] In a preferred embodiment, when the temporary storage conveying device 8 needs to replenish screws, under the control of the robotic arm 1, the connector 4 is controlled to rotate to a horizontal state, so that the conveying pipe 5 and the temporary storage conveying device 8 are in a horizontal position. Then, the continuous feeding device 3 slides forward on the moving platform 2, so that the transition track at the front end of the conveying track 33 is accurately connected with the temporary storage conveying device 8. Then, the conveying track 33 starts active conveying, conveying the screws along the conveying track 33 to the transition track. At this time, the temporary storage conveying device 8 rotates intermittently, and the screws enter the temporary storage conveying device 8 in sequence.

[0018] In this embodiment, the side wall of the conveying pipe 5 is provided with a feeding channel 51, and the feeding channel 51 is located on the side opposite to the continuous feeding device 3.

[0019] In this embodiment, the gripping and positioning device 6 includes: The mounting base 61 is fixed to the bottom of the control connector 4; The fixing rods 62 are arranged in a ring, and one end is fixed to the outside of the fixing base 61; The clamping member 63 is provided correspondingly to the fixing rod 62, and its end is rotatably connected to the fixing rod 62; Adjustment seat 64 is coaxially arranged with fixed seat 61 and located below fixed seat 61; The adjusting rod 65 is rotatably connected at both ends to the outer side of the adjusting seat 64 and the clamping member 63, respectively; The control screw 66 is hollow inside and threaded to the center of the adjusting seat 64. Its top passes through the bottom of the fixed seat 61 and the control connector 4 and is fixedly connected to the bottom of the delivery pipe 5. Its rotation is controlled by the control connector 4.

[0020] In other words, in the initial state, the inner diameter of the clamping area formed by the gripping members 63 is smaller than the screw diameter of the screw to be processed, meaning that each gripping member 63 is in a closed state. When a screw is conveyed downwards through the conveying pipe 5, the screw shaft passes through the hollow control screw 66 and continues to move downwards until the bottom end face of the screw is in contact with the top end face of each gripping member 63 (at this point, because the distance between the gripping members 63 is smaller than the screw diameter, the screw cannot move further downwards). At the same time, the upper inner wall of the control screw 66 still maintains a limiting constraint on the head (nut) of the screw to prevent the screw from tilting. Subsequently, the control connector 4 drives the control screw 66 to rotate around its own axis. Since the control screw 66 and the adjusting seat 64 are threadedly fitted... The adjusting seat 64 is connected to the clamping member 63 via the adjusting link 65. The rotational motion of the control screw 66 is converted into the linear motion of the adjusting seat 64 along the axial direction. When the adjusting seat 64 moves downward, it pushes each clamping member 63 to swing outward around its hinge point with the fixed rod 62 via the adjusting link 65, so that the clamping distance between the clamping members 63 gradually increases. When the distance between the clamping members 63 increases to match the screw diameter of the current screw, the screw continues to move downward under the action of gravity and falls into the clamping area of ​​the clamping member 63. At this time, the control connector 4 stops driving the control screw 66 to rotate, and the clamping member 63 remains in this position, clamping the screw part, while the head of the screw is still limited by the upper inner wall of the control screw 66.

[0021] In a preferred embodiment, after the robotic arm 1 delivers the screw to the target assembly position, another auxiliary robotic arm extends a screwdriver bar through the upper end of the delivery pipe 5. The screwdriver bar passes through the hollow channel inside the delivery pipe 5 and the control screw 66, and contacts and engages with the head (nut) of the screw. Subsequently, the gripper 63 gradually releases under the drive of the control screw 66, while the screwdriver bar rotates and screws the screw into the target threaded hole, completing the loading and installation work.

[0022] In this embodiment, the control component 7 includes: The fixed arc body 71 is fixed on the top of the control connector 4, located on the side of the temporary storage conveying device 8, supports the temporary storage conveying device 8, and has a pushing mechanism on its inner wall corresponding to the feeding channel 51. Multiple control wheels 72 are distributed along the inner wall of the fixed arc body 71, located above the pushing mechanism, and connected to the side of the temporary storage and conveying device 8.

[0023] In other words, the fixed arc body 71 has an arc-shaped structure, and the curvature of its inner wall matches the curvature of the outer wall of the temporary storage and conveying device 8, forming a wrapping support for the lower part of the temporary storage and conveying device 8, ensuring the stability and coaxiality of the temporary storage and conveying device 8 during rotation. The control wheel 72 contacts and cooperates with the upper outer wall of the temporary storage and conveying device 8. When it is necessary to drive the temporary storage and conveying device 8 to rotate, the control wheel 72 rotates under the action of the drive mechanism (such as a micro motor) on the fixed arc body 71. Through friction or gear meshing, it drives the entire temporary storage and conveying device 8 to rotate around the conveying pipe 5. When it is necessary to send the screw in the temporary storage and conveying device 8 into the conveying pipe 5, the pushing mechanism extends and is stuck on the side wall of the temporary storage and conveying device 8. With the intermittent rotation of the temporary storage and conveying device 8, the corresponding screw is pushed radially into the feeding channel 51 in sequence.

[0024] In this embodiment, the temporary storage and conveying device 8 includes: The temporary storage component 81 is coaxially arranged with the conveying pipe 5 and corresponds to the pushing mechanism on the control component 7; The positioning ring 82 is fixed on the top of the temporary storage component 81, and has a drive mechanism inside. The outer wall of the positioning ring 82 is connected to the control wheel 72. The pitch adjustment component 83 is rotatably mounted on the temporary storage component 81, and its inner wall is in contact with the outer wall of the conveying pipe 5. The notch ring 84 is rotatably disposed on the outside of the pitch adjustment assembly 83, and the notch is sequentially aligned with the continuous feeding device 3 and the pushing mechanism.

[0025] In other words, in the specification adjustment state, the spacing distance of the temporary storage component 81 is adjusted by the internal adjusting component 83 according to the screw diameter of the screw to be processed, so that the spacing distance matches the screw diameter. In this state, the temporary storage conveying device 8 remains stationary around the conveying pipe 5, and only the adjusting component 83 rotates relative to the screw under the action of the internal drive mechanism of the positioning ring 82. In the screw filling state, after the specification adjustment is completed, the temporary storage conveying device 8 is in a rotatable state. At this time, the transition track of the continuous feeding device 3 is aligned with the notch of the notch ring 84 of the temporary storage conveying device 8. The control wheel 72 on the control component 7 drives the temporary storage conveying device 8 to rotate gradually around the conveying pipe 5 through the positioning ring 82, so that the screws conveyed from the continuous feeding device 3 enter the storage gaps of the temporary storage component 81 one by one. During this process, the notch ring 84 is subjected to the transition of the continuous feeding device 3. The limiting function of the track keeps the position fixed, that is, the notch of the notch ring 84 is always aligned with the exit direction of the transition track. While conveying the screws, it protects the storage gap of the screws already in the temporary storage component 81 to prevent the screws from falling out. In the screw transfer state, after the temporary storage conveying device 8 has finished filling the screws, the continuous feeding device 3 is withdrawn and reset. The control wheel 72 drives the temporary storage conveying device 8 to rotate around the conveying pipe 5 again, so that the storage gap containing the screws and the notch of the notch ring 84 are aligned with the feeding channel 51 on the conveying pipe 5. Then, the pushing mechanism on the control component 7 extends, locks the notch ring 84, and pushes the screw in the storage gap radially into the feeding channel 51 through the notch of the notch ring 84, completing the transfer of the screw from the temporary storage conveying device 8 to the conveying pipe 5. Then, the control wheel 72 drives the temporary storage conveying device 8 to rotate intermittently, and the pushing mechanism pushes the screws into the conveying pipe 5 in sequence.

[0026] In this embodiment, the temporary storage component 81 includes: The arc-shaped base plate 811 is provided in multiple rings at intervals; Multiple vertical spacers 812 are provided corresponding to the arc-shaped base plates 811, with two spacers symmetrically distributed in each group. The two vertical spacers 812 in the same group are respectively fixed to the top of two adjacent arc-shaped base plates 811. The connecting ring 813 is fixed at the bottom to the top of the spacer plate 812, and its top is fixedly connected to the positioning ring body 82.

[0027] In this embodiment, the distance adjustment component 83 includes: Adjustable arc plates 831 are provided in multiple sets corresponding to the arc-shaped base plate 811, with two plates in each set, and are slidably disposed at the bottom of the arc-shaped base plate 811; The inner adjusting ring 832 is rotatably mounted on the top inner side of the connecting ring 813 and is connected to the drive mechanism inside the positioning ring body 82. The inner connecting parts 833 are provided in multiple ways corresponding to the arc-shaped base plate 811, connecting the inner adjusting ring 832 and the corresponding adjusting arc plate 831, and the inner wall is in contact with the conveying pipe 5; The outer adjusting ring 834 is rotatably mounted on the top outer side of the connecting ring 813 and is connected to the drive mechanism inside the positioning ring body 82; Multiple outer connectors 835 are provided corresponding to inner connectors 833, connecting outer adjusting rings 834 and corresponding adjusting arc plates 831. The outer wall fits against the notched ring 84, and the two adjusting arc plates 831 in the same group are respectively fixedly connected to the inner connectors 833 and outer connectors 835.

[0028] In a preferred embodiment, during specification adjustment, automatic adjustment is performed according to the specifications of the screw to be processed. The drive mechanism inside the positioning ring 82 controls the inner adjusting ring 832 and the outer adjusting ring 834 in the adjusting assembly 83 to rotate in opposite directions. When the inner adjusting ring 832 rotates, it drives each adjusting arc plate 831 to slide along the bottom of the arc-shaped base plate 811 through the inner connector 833. When the outer adjusting ring 834 rotates in the opposite direction, it drives another adjusting arc plate 831 in the same group to slide in the opposite direction through the outer connector 835. The inner adjusting ring 832 and the outer adjusting ring 834... The reverse rotation of 4 causes the two adjusting arc plates 831 in the same group to move towards each other or away from each other, thereby precisely adjusting the gap between the two adjacent arc base plates 811. After adjustment, under the action of the adjusting arc plate 831, the gap between the adjacent arc base plates 811 matches the screw diameter of the screw to be processed - that is, the screw part can be just inserted into the gap, while the head (nut) of the screw is mounted on the upper surface of the arc base plate 811. During the adjustment process, the notch ring 84 remains in a fixed position and is not affected by the rotation of the adjusting component 83.

[0029] In a preferred embodiment, when the temporary storage conveying device 8 needs to replenish screws while the screws are filled, the continuous feeding device 3 moves on the moving platform 2, aligning the transition track at the front end of the conveying track 33 with the notch of the notched ring 84. At this time, the notch of the notched ring 84 is aligned with the gap between adjacent arc-shaped base plates 811 in the temporary storage component 81. The conveying track 33 starts active conveying, conveying the screws along the transition track to the notch of the notched ring 84, and then inserting them between the arc-shaped base plates 811. The control wheel 72 drives the temporary storage component 81 to rotate gradually around the conveying pipe 5 through the positioning ring 82, so that the screws enter the gaps between adjacent arc-shaped base plates 811 one by one. During the rotation of the temporary storage component 81, the notched ring 84 is kept in a fixed position by the limiting effect of the transition track, that is, the notch of the notched ring 84 is always aligned with the exit direction of the transition track. When all the gaps in the temporary storage component 81 are filled with screws, the continuous feeding device 3 stops feeding and moves back to its original position on the moving platform 2, disengaging from the temporary storage conveying device 8.

[0030] In a preferred embodiment, during screw transfer, the control wheel 72 drives the positioning ring 82 to rotate again, causing the temporary storage component 81 to rotate, and the notched ring 84 to rotate accordingly. A gap on the notched ring 84 and the corresponding temporary storage component 81 aligns with the feed channel 51 on the conveying pipe 5. Subsequently, the pushing mechanism extends and locks the notched ring 84 to prevent displacement of the notched ring 84 during the pushing process and when switching screws. The push rod of the pushing mechanism passes through the notch of the notched ring 84 and pushes the screw in the gap radially, so that the screw enters the interior of the conveying pipe 5 through the feed channel 51. Then the pushing mechanism retracts, and the control wheel 72 drives the temporary storage component 81 to rotate, switching to the next gap containing a screw.

[0031] In practice, initially, according to the screw specifications, the control base plate 32 of the continuous feeding device 3 pushes the two conveying tracks 33 to slide to adjust the spacing. Simultaneously, the drive mechanism inside the positioning ring 82 of the temporary storage conveying device 8 drives the inner adjusting ring 832 and outer adjusting ring 834 of the spacing adjustment assembly 83 to rotate in opposite directions. This, through the inner connector 833 and outer connector 835, drives the two adjusting arc plates 831 in the same group to move towards or away from each other, adjusting the gap between adjacent arc-shaped base plates 811 in the temporary storage assembly 81 so that the gap matches the screw diameter. At the same time, the corresponding inner diameter conveying pipe 5 and control screw 66 are replaced. After adjustment, the control connector 4 rotates... When the device is moved to a horizontal position, the continuous feeding device 3 slides forward on the moving platform 2, causing the transition track at the front end of the conveying track 33 to align with the notch of the notched ring 84 of the temporary storage conveying device 8. The conveying track 33 then starts conveying, sending the screws continuously fed into the storage chamber 35 by the mixing and dispersing mechanism through the notch of the notched ring 84 to the arc-shaped base plate 811 of the temporary storage component 81. Simultaneously, the control wheel 72 drives the temporary storage component 81 to rotate intermittently around the conveying pipe 5 via the positioning ring 82, causing the screws to enter the gaps between the arc-shaped base plates 811 one by one. The notched ring 84 remains fixed during the filling process due to the limiting position of the transition track. After filling is complete, the continuous feeding device 3... Upon resetting, the control wheel 72 drives the temporary storage assembly 81 to rotate again, aligning the gap containing the screw and the notch of the notched ring 84 with the feed channel 51 of the conveying pipe 5. The pushing mechanism extends, clamps the notched ring 84, and pushes the screw in the gap radially through the feed channel 51 into the conveying pipe 5. The pushing mechanism then retracts, and the control wheel 72 drives the temporary storage assembly 81 to rotate intermittently, pushing each screw into the conveying pipe 5 in sequence. The screw entering the conveying pipe 5 passes downwards through the hollow control screw 66 until the bottom of the screw is in contact with the top of the retracted clamping member 63. The control connector 4 drives the control screw 66 to rotate, which, through its threaded engagement with the adjusting seat 64, drives the adjustment... The seat 64 moves downward, and the adjusting rod 65 pushes each clamping member 63 to swing outward around the fixed rod 62 to open, so that the screw falls into the clamping area of ​​the clamping member 63. Then the control connector 4 stops driving, and the clamping member 63 clamps the screw shaft. At the same time, the inner wall of the upper end of the control screw 66 limits the screw head. After the robotic arm 1 transports the screw to the target assembly position, the auxiliary robotic arm extends into the screwdriver bar through the upper end of the conveying pipe 5, so that the screwdriver bar passes through the conveying pipe 5 and the inside of the control screw 66 and contacts the screw head. Then the control connector 4 drives the control screw 66 to reverse, so that the clamping member 63 gradually releases. At the same time, the screwdriver bar rotates to screw the screw into the target threaded hole, completing the loading.

[0032] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic screw loading and unloading robot, characterized in that: include: The robotic arm (1) is set on the side of the installation assembly line; The mobile platform (2) is fixed on the upper side of the end arm of the robotic arm (1); The continuous feeding device (3) is movable and set on the mobile platform (2); Control connector (4), which is rotatably mounted at the end of the arm of the robotic arm (1); The delivery pipe (5) is rotatably mounted on the top of the control connector (4); The clamping and positioning device (6) is located at the lower part of the control connector (4) and is fixedly connected to the bottom of the delivery pipe (5); The control component (7) is fixed to the upper part of the control connector (4) and located on the outside of the delivery pipe (5); The temporary storage and conveying device (8) is rotatably mounted on the conveying pipe (5), and its outer side is in contact with the control component (7).

2. The automatic screw loading and unloading robot according to claim 1, characterized in that: The continuous feeding device (3) includes: The connecting platform (31) is slidably set on the mobile platform (2), and a transition section is provided at the front end, the transition section corresponding to the temporary storage and conveying device (8); Two control base plates (32) are symmetrically distributed and fixed on the connecting platform (31); Two conveying tracks (33) are symmetrically distributed and slidably set on the connecting platform (31) between the control base plate (32). The movement is controlled by the control base plate (32), and the front end of the conveying track (33) is provided with a transition track corresponding to the temporary storage conveying device (8). Two adjustment panels (34) are provided corresponding to the conveyor rail (33), and are slidably connected to the top of the control base plate (32); The material storage chamber (35) is fixed on the control base plate (32).

3. The automatic screw loading and unloading robot according to claim 1, characterized in that: The side wall of the conveying pipe (5) is provided with a feeding channel (51), and the feeding channel (51) is located on the side opposite to the continuous feeding device (3).

4. The automatic screw loading and unloading robot according to claim 1, characterized in that: The gripping and positioning device (6) includes: The mounting base (61) is fixed to the bottom of the control connector (4); The fixing rods (62) are arranged in a ring, and one end is fixed to the outside of the fixing seat (61); The clamping member (63) is provided corresponding to the fixing rod (62), and its end is rotatably connected to the fixing rod (62); The adjusting seat (64) is coaxially arranged with the fixed seat (61) and located below the fixed seat (61); The adjusting link (65) is rotatably connected at both ends to the outer side of the adjusting seat (64) and the clamping member (63); The control screw (66) is hollow inside and threaded to the center of the adjusting seat (64) on the outside. Its top passes through the bottom of the fixed seat (61) and the control connector (4) and is fixedly connected to the bottom of the delivery pipe (5). Its rotation is controlled by the control connector (4).

5. The automatic screw loading and unloading robot according to claim 3, characterized in that: The control component (7) includes: The fixed arc body (71) is fixed on the top of the control connector (4), located on the side of the temporary storage conveying device (8), supporting the temporary storage conveying device (8), and has a pushing mechanism on its inner wall corresponding to the feeding channel (51). Multiple control wheels (72) are distributed along the inner wall of the fixed arc body (71), located above the pushing mechanism, and connected to the side of the temporary storage and conveying device (8).

6. The automatic screw loading and unloading robot according to claim 5, characterized in that: The temporary storage and transport device (8) includes: The temporary storage component (81) is coaxially arranged with the delivery pipe (5) and corresponds to the pushing mechanism on the control component (7); The positioning ring (82) is fixed on the top of the temporary storage component (81), and has a drive mechanism inside. The outer wall of the positioning ring (82) is connected to the control wheel (72). The pitch adjustment component (83) is rotatably mounted on the temporary storage component (81), and its inner wall is in contact with the outer wall of the delivery pipe (5); The notch ring (84) is rotatably set on the outside of the pitch adjustment assembly (83), and the notch is sequentially opposite to the continuous feeding device (3) and the pushing mechanism.

7. The automatic screw loading and unloading robot according to claim 6, characterized in that: The temporary storage component (81) includes: Multiple arc-shaped base plates (811) are arranged in a ring at intervals; Multiple vertical spacers (812) are provided corresponding to the arc-shaped base plates (811), with two spacers symmetrically distributed in each group. The two vertical spacers (812) in the same group are respectively fixed to the top of two adjacent arc-shaped base plates (811). The bottom of the connecting ring (813) is fixed to the top of the spacer plate (812), and the top is fixedly connected to the positioning ring body (82).

8. The automatic screw loading and unloading robot according to claim 7, characterized in that: The distance adjustment component (83) includes: Adjustable arc plates (831) are provided in multiple sets corresponding to the arc-shaped base plate (811), with two plates in each set, which are slidably disposed at the bottom of the arc-shaped base plate (811); The inner adjusting ring (832) is rotatably disposed on the top inner side of the connecting ring (813) and connected to the drive mechanism inside the positioning ring body (82); The inner connecting piece (833) is provided in multiple ways corresponding to the arc-shaped base plate (811), connecting the inner adjusting ring (832) and the corresponding adjusting arc plate (831), and the inner wall is in contact with the conveying pipe (5); The outer adjusting ring (834) is rotatably disposed on the top of the outer side of the connecting ring (813) and connected to the drive mechanism inside the positioning ring body (82); Multiple outer connectors (835) are provided corresponding to the inner connectors (833), connecting the outer adjusting ring (834) and the corresponding adjusting arc plate (831). The outer wall is in contact with the notched ring (84), and the two adjusting arc plates (831) in the same group are fixedly connected to the inner connectors (833) and the outer connectors (835) respectively.

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