Screw locking machine claw and screw locking machine

Abstract

The present invention relates to the field of automated production and processing technology, and provides a screw locking machine gripper and a screw locking machine. The screw locking machine gripper is used to be installed on a robotic arm to lock screws. The screw locking machine gripper includes: a locking bit, a servo motor, and a sleeve; the sleeve is sleeved on the outer periphery of the locking bit, and the sleeve can slide relative to the locking bit along the axial direction of the locking bit; the sleeve is used to adsorb the screw to be locked; the servo motor is connected to the locking bit, and the servo motor is used to drive the locking bit to rotate to lock the screw. The screw locking machine gripper of the present invention is connected to the locking bit through a servo motor, and the servo motor is used to drive the locking bit to rotate to lock the screw. The servo motor can accurately control the locking torque of the screw to avoid the screw being easily loosened due to insufficient screw locking torque, and the screw or screw hole being damaged due to too high a locking torque.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production and processing, in particular to a screw locking machine for automatically locking screws. Background Art

[0002] To improve production efficiency and reduce labor costs, screw locking machines have been developed for tightening screws during product assembly. However, these machines are unable to precisely control the tightening torque during screw tightening. Consequently, insufficient tightening torque can lead to loosening of screws, while excessive tightening torque can damage the screws or screw holes.

[0003] Furthermore, existing screw machines use jigs to secure the product being processed, driving the screwdriver bit to a fixed coordinate point to tighten the screw. If the screw-locking mechanism or jig deviates, the screwdriver bit cannot align with the screw hole on the product, causing the screw to hit other parts of the product. Without the screw entering the hole, the screwdriver bit cannot reach the set torque and will continue to rotate until the set time. Therefore, not only will the screw not be tightened, but the screw driven by the screwdriver bit can damage the product. This can result in significant losses for high-value products. Summary of the Invention

[0004] Therefore, it is necessary to provide a screw locking machine gripper to solve the above technical problems.

[0005] To achieve the above-mentioned purpose, the present invention provides a screw locking machine gripper, which is used to be installed on a robotic arm to lock screws. The screw locking machine gripper includes: a screw bit, a servo motor and a sleeve;

[0006] The sleeve is sleeved on the outer circumference of the locking bit, and the sleeve can slide relative to the locking bit along the axial direction of the locking bit; the sleeve is used to absorb the screw to be locked; the servo motor is connected to the locking bit, and the servo motor is used to drive the locking bit to rotate to lock the screw.

[0007] Furthermore, a sensor is further included, wherein the sensor is fixedly arranged, the screwdriver bit is fixed on a slider, and the slider can move relative to the sensor in a vertical direction. The sensor is used to detect the position of the screwdriver bit when the screwdriver claw is pressed down. When the screwdriver bit moves relative to the sensor to a preset position, the screwdriver claw stops pressing down.

[0008] The sensor includes any one of an infrared object detection sensor, a micro motion detection switch, and a pressure sensor.

[0009] Furthermore, it also includes a camera, which is fixed to the servo motor and is used to obtain an image of the workpiece to be locked and determine the position of the screw hole in the image.

[0010] Furthermore, the camera is provided with a fill light.

[0011] Furthermore, the fill light is a ring light source, and the fill light is arranged around the viewfinder lens of the camera.

[0012] Furthermore, a displacement sensor is included, and the displacement sensor is used to detect the relative sliding displacement between the screwdriver bit and the sleeve;

[0013] When the relative displacement is greater than a preset value, the servo motor drives the locking bit to lock the screw; otherwise, the servo motor does not drive the locking bit to lock the screw.

[0014] Furthermore, the displacement sensor includes a magnetic scale and a magnetic scale sensor;

[0015] The magnetic scale and the magnetic scale sensor are arranged opposite to each other, the magnetic scale and the sleeve are fixedly arranged, the magnetic scale sensor and the locking screwdriver bit are fixedly arranged, or the magnetic scale and the locking screwdriver bit are fixedly arranged, and the magnetic scale sensor and the sleeve are fixedly arranged.

[0016] Furthermore, the sleeve is connected to a vacuum suction tube, which is communicated with the internal cavity of the sleeve to generate negative pressure in the internal cavity of the sleeve, thereby adsorbing the screw to be locked.

[0017] Furthermore, the screw locking machine gripper is also used to monitor the tightening torque of the screwdriver bit in real time and upload the tightening torque to the host computer.

[0018] In order to solve the above technical problems, the present invention also provides another technical solution:

[0019] A screw locking machine comprises a mechanical arm and a gripper, wherein the gripper is arranged at the end of the mechanical arm and the gripper is the screw locking machine gripper described in any of the above technical solutions.

[0020] Different from the existing technology, the above-mentioned technical solution of the screw locking machine gripper includes: a locking bit, a servo motor and a sleeve. The servo motor is connected to the locking bit, and the servo motor is used to drive the locking bit to rotate to lock the screw. The servo motor can accurately control the locking torque of the screw to avoid the screw being loosened due to insufficient locking torque, and the screw or screw hole being damaged due to too high locking torque.

[0021] Furthermore, the screw locking machine gripper of the above technical solution also includes a sensor, which can detect the displacement of the end of the screw bit when it is pressed down, to prevent the end of the screw bit from being displaced too much when pressed down and damaging the screw bit or the workpiece.

[0022] Furthermore, the screw locking machine gripper of the above technical solution also includes a displacement sensor, which can detect the relative sliding displacement of the sleeve and the locking bit during the downward movement of the locking bit, and based on the relative sliding displacement, it can be determined whether the end of the locking bit is aligned with the screw hole, thereby preventing damage to the workpiece caused by the screw not being aligned with the screw hole when the screw is locked.

[0023] Furthermore, the screw locking machine gripper of the above technical solution also includes a camera, which obtains an image of the workpiece to be locked and determines the position of the screw hole in the image, thereby improving the alignment accuracy of the screw hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural diagram of the screw locking machine gripper described in the specific implementation method;

[0025] Figure 2 It is a structural diagram of the screw locking machine described in the specific implementation method;

[0026] Figure 3 This is a structural diagram of the screw locking machine gripper according to another embodiment;

[0027] Figure 4 A schematic diagram of aligning the end of a locking bit with a screw hole in a specific embodiment;

[0028] Figure 5 A schematic diagram of a specific embodiment in which the end of the locking bit is not aligned with the screw hole;

[0029] Figure 6 Schematic diagram of adjusting the visual positioning deviation of screw holes according to the specific implementation method;

[0030] Description of reference numerals:

[0031] 1. Screw locking machine claw;

[0032] 100. Install the bracket;

[0033] 10. Servo motor;

[0034] 11. Lock the batch head;

[0035] 12. Sleeve;

[0036] 13. Displacement sensor;

[0037] 131. Magnetic scale sensor;

[0038] 132. Magnetic scale;

[0039] 14. Vacuum straw;

[0040] 15. Sensor;

[0041] 16. Camera;

[0042] 17. Fill light;

[0043] 2. Workpiece;

[0044] 21. Screw holes;

[0045] 3. Screws;

[0046] 4. Workbench;

[0047] 5. Robotic arm;

[0048] 6. High-position camera; DETAILED DESCRIPTION

[0049] In order to explain the technical content, structural features, achieved objectives and effects of the technical solution in detail, the following is a detailed description in conjunction with specific embodiments and accompanying drawings.

[0050] See also Figures 1 to 6 This embodiment provides a screw locking machine gripper 1, which is mounted on a robotic arm 5 for screw locking. The screw locking machine gripper 1 can be used to lock various screws or bolts, such as slotted screws, Phillips screws, hexagonal screws, and Torx screws. Furthermore, the screw locking machine can precisely control the locking torque, preventing the screw from loosening due to insufficient tightening torque, and preventing the screw or screw hole from being damaged due to excessive tightening torque.

[0051] like Figure 1 As shown, in this embodiment, the screw locking machine gripper 1 includes: a screw bit 11, a servo motor 10 and a sleeve 12. The sleeve 12 is sleeved on the outer periphery of the screw bit 11, and the sleeve 12 can slide relative to the screw bit 11 along the axial direction of the screw bit 11; the sleeve 12 is used to absorb the screw 3 to be locked; the servo motor 10 can be fixed on the mounting bracket 100, and the servo motor 10 is connected to the screw bit 11, and the servo motor 10 is used to drive the screw bit 11 to rotate to lock the screw. Figure 2As shown, the screw locking machine claw 1 is set on the robot arm 5, and the robot arm 5 can drive the locking bit 11 and the sleeve 12 to move. Specifically, the servo motor 10 is fixed on the mounting bracket 100, and the mounting bracket 100 is installed on the robot arm 5. When the screw is locked, the robot arm 5 drives the locking bit 11 and the sleeve to move to the screw placement position, and then absorbs the screw through the sleeve 12, so that the end of the locking bit 11 is connected to the nut of the screw 3. Then the robot arm 5 drives the locking bit 11 to move to the position of the screw hole, and drives the locking bit 11, the sleeve 12 and the screw along the depth direction of the screw hole (such as Figure 1 and Figure 3 ) close to the screw hole 21, and then the screw bit 11 drives the screw 3 to rotate and screw the screw into the screw hole.

[0052] In one embodiment, the mounting bracket 100 of the screwdriver gripper 1 is provided with a slider and a slide groove, wherein the slider is slidably connected to the slide groove, and the sleeve 12 is provided on the slider. The slide groove extends along the axial direction of the screwdriver bit 11, thereby allowing the slider and the sleeve 12 thereon to slide along the axial direction of the screwdriver bit 11.

[0053] The end of the locking bit 11 extends from the top of the sleeve 12 into the interior of the sleeve 12. The end of the locking bit 11 is configured to fit the nut of the screw 3, thereby enabling connection with the screw and driving the screw to lock. For example, when the screw is a flat-blade screw, the nut of the screw is provided with a flat-blade groove, and the end of the locking bit is provided with a flat-blade connection structure that fits the flat-blade groove; when the screw is a cross-blade screw, the nut of the screw is provided with a cross-blade groove, and the end of the locking bit is provided with a connection structure that fits the cross-blade groove.

[0054] The servo motor 10 is connected to the screwdriver bit 11. The servo motor 10 is used to drive the screwdriver bit 11 to rotate. The end of the rotating shaft of the servo motor 10 is provided with a connection hole. The top of the screwdriver bit 11 is detachably connected to the connection hole by means of bolts, magnetism, slots, etc. By replacing the screwdriver bit, the screw locking machine can be used to lock screws of different types or sizes. The servo motor 10 is connected to a controller. The controller generates a pulse control signal. The servo motor converts the pulse control signal into the motor's torque (i.e., locking torque) and speed, thereby making the torque and speed of the servo motor very accurate.

[0055] During use, the corresponding locking torque can be set according to the type of screw to be locked. The controller of the servo motor generates a corresponding control pulse signal according to the locking torque, so that the servo motor outputs the corresponding locking torque to lock the screw, so that the screw locking torque is accurate and can be pressed, avoiding the loosening of the screw due to insufficient screw locking torque and damage to the screw or screw hole due to too high locking torque.

[0056] In one embodiment, the screw-locking machine gripper 1 is further configured to monitor the tightening torque of the screw bit in real time via the servo motor 10 and its controller, and to upload the tightening torque to a host computer. The host computer is connected to the screw-locking machine and can receive data from the screw-locking machine. Each time the screw-locking machine gripper tightens a workpiece, it records the actual tightening torque (i.e., the actual tightening torque) of the servo motor during the tightening process and uploads this actual tightening torque to the host computer. This effectively monitors the tightening torque of the product and provides sufficient data support for subsequent traceability.

[0057] When the robot arm drives the screw locking machine claw to move downward (ie, toward the screw hole), the sleeve 12 will contact the surface of the workpiece, so that the screw bit and the sleeve move relative to each other, and the screw bit also moves relative to the sensor 15. Figure 1 As shown, in one embodiment, in order to prevent the screw bit from being damaged due to excessive downward pressure, the screw machine gripper 1 further includes a sensor 15. The sensor 15 is fixedly mounted on a mounting bracket 100. A slider is provided on the mounting bracket 100. The screw bit is fixed on the slider. The slider can move vertically relative to the sensor 15. The sensor 15 is used to detect the position of the screw bit when the screw machine gripper is pressed down. When the screw bit moves relative to the sensor 15 to a preset position, the screw machine gripper stops pressing down. When the robotic arm 5 drives the screw bit to press down and the screw bit is blocked and cannot continue to move downward, the slider will move upward relative to the mounting bracket 100, thereby triggering the sensor and controlling the robotic arm to stop pressing down.

[0058] In one embodiment, the sensor 15 is a pressure sensor, which is connected to the locking bit 11. The pressure sensor is used to detect the downward pressure of the end of the locking bit when the claw of the screw locking machine is pressed down. Preferably, the pressure sensor can be a piezoresistive pressure sensor. The pressure sensor can be arranged on the side of the locking bit 11, and the locking bit 11 is fixedly connected to a conductive member, one end of the conductive member is fixedly connected to the locking bit 11, and the other end of the conductive member is opposite to or connected to the sensing surface of the pressure sensor. The conductive member moves synchronously with the locking bit, so the downward pressure of the end of the locking bit can act on the pressure sensor through the locking bit and the conductive member, so that the downward pressure of the end of the locking bit can be detected by the pressure sensor.

[0059] In another embodiment, the sensor 15 can be an infrared object measuring sensor, such as an infrared photoelectric sensor. The infrared object measuring sensor is fixed on the mounting bracket 100, and the locking screwdriver bit is fixed on the slider of the mounting bracket. The locking screwdriver bit and the infrared object measuring sensor can move relative to each other. When the locking screwdriver bit moves upward relative to the infrared object measuring sensor (i.e., relative to the mounting bracket 100), the infrared object measuring sensor is triggered, thereby controlling the robotic arm to stop pressing down.

[0060] In another embodiment, the sensor 15 may also be a micro detection switch, which is provided with a contact head. When the screwdriver bit moves upward relative to the micro detection switch (i.e., relative to the mounting bracket 100), the screwdriver bit touches the contact head, thereby changing the output state of the micro detection switch. Therefore, the robotic arm can be controlled to stop pressing down according to the output state of the micro switch.

[0061] like Figure 2 As shown, before tightening the screw, the robotic arm 5 moves the screwdriver bit downward and close to the screw hole, allowing the end of the screw in the sleeve 12 to extend into the screw hole. The servo motor 10 then drives the screwdriver bit 11 to rotate and tighten the screw. During the downward movement of the screwdriver bit 11, the sensor 15 detects the downward displacement of the screwdriver bit end. When the downward pressure detected by the sensor 15 reaches a preset displacement, indicating that the screwdriver bit has been fully depressed, the screwdriver gripper stops pressing downward, ensuring that the gripper does not overpress and damage the workpiece.

[0062] like Figure 1As shown, in one embodiment, the screw-locking machine gripper 1 further includes a displacement sensor 13, which is used to detect the relative sliding displacement of the screw-locking bit 11 and the sleeve 12, thereby determining whether the end of the screw in the sleeve is aligned with the screw hole. When the relative sliding displacement of the screw-locking bit 11 and the sleeve 12 is greater than a preset value, the screw-locking bit 11 tightens the screw 3; otherwise, the screw-locking bit 11 does not tighten the screw.

[0063] like Figure 3 As shown, in this embodiment, the sensor 13 includes a magnetic scale 132 and a magnetic scale sensor 131. The magnetic scale 132 is arranged opposite the magnetic scale sensor 131, and the magnetic scale 132 is fixed to the sleeve 12, and the magnetic scale sensor 131 is fixed to the screwdriver bit 11, or the magnetic scale is fixed to the screwdriver bit, and the magnetic scale sensor is fixed to the sleeve. When the sleeve 12 slides relative to the screwdriver bit 11, the magnetic scale sensor 131 and the magnetic scale 132 also slide synchronously relative to each other, and the relative sliding displacement is converted into a corresponding pulse number output. Therefore, the controller of the screw locking machine, such as a PLC or single-chip microcomputer, can obtain the relative sliding displacement of the sleeve relative to the screwdriver bit based on the pulse number. The use of a magnetic scale sensor has the advantages of high precision and strong anti-interference ability, and the displacement accuracy can reach 0.01MM.

[0064] In other embodiments, other sensors may be used to detect the relative displacement between the sleeve and the screwdriver bit. For example, the sensors may include a photoelectric sensor and a grating ruler, wherein the grating ruler is fixed to the sleeve and the photoelectric sensor is fixed to the screwdriver bit, or the grating ruler is fixed to the screwdriver bit and the electro-optical sensor is fixed to the sleeve. The relative sliding displacement between the sleeve and the screwdriver bit can be detected based on the number of pulses output by the electro-optical sensor.

[0065] The sleeve 12 is provided with an adsorption component, so that the sleeve 12 can adsorb the screw 3 in the sleeve. Figure 1 As shown, in this embodiment, the adsorption component includes a vacuum suction tube 14, one end of the vacuum suction tube 14 is connected to the internal cavity of the sleeve 12, and the other end of the vacuum suction tube 14 is connected to a vacuum pump, vacuum bottle or other vacuum device, so that the internal cavity of the sleeve 12 forms a negative pressure adsorption screw.

[0066] In other embodiments, the adsorption component can be an electromagnetic adsorption device, including an electromagnetic coil. The electromagnetic coil can be arranged on the outer periphery of the middle and lower part of the sleeve. The electromagnetic coil is connected to a power supply. When the electromagnetic coil is energized, it generates magnetic force, thereby adsorbing the screw into the sleeve.

[0067] Before the screw is rotated and locked, the locking bit 11 moves toward the screw hole; the displacement sensor 13 is used to detect the relative displacement between the sleeve 12 and the locking bit 11 when the locking bit 11 moves toward the screw hole; when the relative displacement is greater than a preset value, it indicates that the end of the screw has entered the screw hole (such as Figure 4 As shown), the locking bit drives the screw to rotate and lock the screw, so that the screw is locked into the screw hole. If the relative displacement is less than the preset value, it means that the screw is not aligned with the screw hole and the end of the screw has not entered the screw hole (as shown). Figure 5 At this time, the locking bit is not controlled to rotate and lock the screw, thereby preventing the screw from rotating outside the screw hole and damaging the workpiece.

[0068] like Figures 3 to 5 As shown, the height b0 from the end of the screwdriver bit 11 to the sleeve needs to be greater than the overall height a2 of the screw. Figure 3 As shown, when the difference between the current position h1 of the sleeve 12 detected by the displacement sensor 13 and the original position h0 is greater than the difference between b0 (where b0 is the relative displacement of the sleeve 12 and the locking bit when the locking bit moves toward the screw hole) and a2, it means that the screw 3 has partially entered the screw hole, and the locking bit 11 can be started to rotate and start locking. Figure 5 As shown in the figure, when the difference between the current position h1 of the magnetic scale and the original position h0 is less than or equal to the difference between b0 and a2, it means that the screw has not entered the screw hole properly and the screw cannot be tightened. The above method can prevent the automatic screw machine from damaging the workpiece.

[0069] like Figure 1 As shown, in one embodiment, the screw locking machine gripper 1 further includes a camera 16, the relative position of the camera 16 to the servo motor 10 and the screw bit 11 is fixed, and the camera 16 is used to obtain an image of the workpiece to be screwed and to determine the position of the screw hole in the image. Figure 1 As shown, the camera 16 and the servo motor 10 are both mounted on a mounting bracket 100 , and the screwdriver bit 11 is connected to the servo motor 10 , so that the camera 16 can be moved by the robotic arm together with the servo motor 10 and the screwdriver bit 11 .

[0070] like Figure 2As shown, when the robotic arm 5 drives the screw-locking machine gripper 1 and the camera 16 thereon to move, the camera 16 moves synchronously with the screw-locking bit 11 on the screw-locking machine gripper. Therefore, the camera can capture the image of the workpiece directly below the screw-locking machine gripper (the image includes the image of the workpiece and the image of the end of the screw-locking bit), and by analyzing the image, the screw hole in the image can be identified, and it can be determined whether the end of the screw-locking bit is aligned with the screw hole in the workpiece image. When the end of the screw-locking bit is not aligned with the screw hole (that is, when the screw to be tightened is not aligned with the screw hole), the specific offset data between the end of the screw-locking bit and the screw hole can be determined by image analysis, and the movement of the robotic arm can be adjusted according to the offset data to align the end of the screw-locking bit with the screw hole.

[0071] To ensure optimal camera capture, in one embodiment, the camera is equipped with a fill light 17. Preferably, the fill light 17 is a ring-shaped light source, positioned around the camera's viewfinder lens. The ring-shaped light source provides light from various angles, enabling the camera to clearly capture the workpiece's three-dimensional structure. This effectively addresses the problem of existing fill lights casting shadows, which can affect camera capture quality and positioning accuracy.

[0072] like Figure 2 As shown, the screw locking machine can also be provided with a high-position camera 6. The camera 16 provided on the robot arm 5 in the above embodiment is a low-position camera. The high-position camera 16 is fixedly provided above the workbench 4. The robot arm 5 is provided on the side of the workbench 4. The camera 16 (i.e., the low-position camera) and the screwdriver bit are provided on the robot arm 5. The height of the high-position camera 6 is greater than that of the low-position camera. For ease of understanding, the camera 16 in the above embodiment will be referred to as the low-position camera below.

[0073] The workpiece 2 to be screwed is placed on the workbench 4, and the high-position camera 6 is used to capture an image of the entire workpiece. The controller of the screw locking machine locates the position of the screw hole on the workpiece based on the image of the workpiece to obtain the first positioning data (preliminary positioning data) of the screw hole. When obtaining the first positioning data of the screw hole from the image of the workpiece, it is necessary to mark an area on the workpiece image that is on the same plane as the screw hole to be screwed as a positioning template for workpiece identification and positioning. The positioning template is located on the same plane as the screw hole to be screwed, and the positioning template has features that are easy for the high-position camera 6 to identify. Therefore, the positioning template can also be called a feature template. After obtaining the positioning template, the center coordinates of the positioning template are set; the visual algorithm identifies and locates the part of the image of the workpiece that matches the positioning template in the input image of the workpiece, thereby identifying and positioning the image of the workpiece. Because the relative relationship between the identification feature on the workpiece and the screw hole is fixed, once the position of the identification feature in the image of the workpiece is determined, the position of the workpiece screw hole can be determined, that is, the first positioning data of the screw hole mentioned above is obtained.

[0074] As the robotic arm 5 moves, the low-position camera identifies and locates each screw hole one by one, thereby controlling the robotic arm 5 to accurately move above the screw hole. The distance sensor then detects the height of the screw hole identification surface (i.e., the distance from the screw hole identification surface to the calibration surface). This step is repeated multiple times until the distance sensor measures the height of each screw hole identification surface.

[0075] Finally, the controller of the screw locking machine corrects the first positioning data of the screw hole according to the height of the screw hole identification surface. Figure 6 As shown, the corrected screw hole positioning data is X1 and Y1;

[0076]

[0077] Where X1 is the horizontal coordinate, Y1 is the vertical coordinate, X2 and Y2 are used to locate the screw hole position in the image with reference to the positioning template to obtain the first positioning data of the screw hole, h0 is the distance from the first camera to the workpiece surface, h2 is the distance from the first camera to the identification surface of the screw hole, h2 = h0 - h3, h3 is the height of the screw hole identification surface. Figure 6 As shown, through this correction step, the screw hole positioning error caused by the height difference of the workpiece surface can be avoided, and the visual positioning accuracy of the screw hole is improved.

[0078] Furthermore, in this embodiment, the screw machine uses visual positioning to precisely locate the position of each screw hole on the workpiece and drive the screwdriver bit to tighten the screws on the workpiece. Compared to traditional screw machines, this reduces the investment in tooling and fixtures, thereby saving the company's production costs. The automatic screw hole calibration function of the visual screw machine reduces the manpower required to adjust the automatic screw machine to different workpieces, thereby saving the company's manpower costs and improving its efficiency.

[0079] like Figure 2 As shown, in one embodiment, a screw locking machine is provided, characterized in that it includes a workbench 4, a robotic arm 5 and a gripper, wherein the gripper is arranged at the end of the robotic arm, and the gripper is the screw locking machine gripper described in any of the above embodiments.

[0080] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, based on the innovative concept of the present invention, changes and modifications to the embodiments described herein, or equivalent structural or equivalent process transformations made using the contents of the present invention's specification and drawings, and direct or indirect application of the above technical solutions to other related technical fields, are all included in the scope of patent protection of the present invention.

Claims

1. A screw locking machine gripper, which is used to be installed on a robotic arm to lock screws, characterized in that: The screw locking machine gripper comprises: a screw bit, a servo motor and a sleeve; The sleeve is sleeved on the outer circumference of the locking bit and can slide relative to the locking bit along the axial direction of the locking bit; the sleeve is used to absorb the screw to be tightened; the servo motor is connected to the locking bit, and the servo motor is used to drive the locking bit to rotate to tighten the screw; It also includes a camera, which is fixed to the servo motor and is used to obtain an image of the workpiece to be locked and determine the position of the screw hole in the image. The camera is a low-position camera; The screw locking machine is also provided with a high-position camera, which is fixedly arranged above the workbench and is used to capture an image of the entire workpiece; During the movement of the robotic arm, each screw hole is identified and located one by one by a low-position camera, thereby controlling the robotic arm to accurately move above the screw hole. Then, the height of the screw hole identification surface is detected by the ranging sensor, and the first positioning data of the screw hole is corrected according to the height of the screw hole identification surface. The corrected positioning data of the screw hole is X1 and Y1; Among them, X1 is the horizontal coordinate, Y1 is the vertical coordinate, X2 and Y2 are used to locate the screw hole position in the image with reference to the positioning template to obtain the first positioning data of the screw hole, h0 is the distance from the high-position camera to the workpiece surface, h2 is the distance from the high-position camera to the identification surface of the screw hole, h2=h0-h3, h3 is the height of the screw hole identification surface, and the positioning template is an area marked on the workpiece image that is on the same plane as the screw hole to be locked.

2. The screw locking machine gripper according to claim 1, characterized in that: The machine further comprises a sensor, wherein the sensor is fixedly arranged, the screwdriver bit is fixed on a slider, and the slider can move relative to the sensor in a vertical direction. The sensor is used to detect the position of the screwdriver bit when the screwdriver claw is pressed down. When the screwdriver bit moves relative to the sensor to a preset position, the screwdriver claw stops pressing down. The sensor includes any one of an infrared object detection sensor, a micro motion detection switch, and a pressure sensor.

3. The screw locking machine gripper according to claim 1, characterized in that: The low-position camera is provided with a fill light.

4. The screw locking machine gripper according to claim 3, characterized in that: The fill light is a ring light source and is arranged around the viewfinder lens of the camera.

5. The screw locking machine gripper according to claim 1, characterized in that: It also includes a displacement sensor, which is used to detect the relative sliding displacement between the screwdriver bit and the sleeve; When the relative sliding displacement is greater than a preset value, the locking bit locks the screw; otherwise, the locking bit does not lock the screw.

6. The screw locking machine gripper according to claim 5, characterized in that: The displacement sensor includes a magnetic scale and a magnetic scale sensor; The magnetic scale and the magnetic scale sensor are arranged opposite to each other, the magnetic scale and the sleeve are fixedly arranged, the magnetic scale sensor and the locking screwdriver bit are fixedly arranged, or the magnetic scale and the locking screwdriver bit are fixedly arranged, and the magnetic scale sensor and the sleeve are fixedly arranged.

7. The screw locking machine gripper according to claim 1, characterized in that: The sleeve is connected to a vacuum suction tube, which is communicated with the internal cavity of the sleeve to generate negative pressure in the internal cavity of the sleeve, thereby absorbing the screw to be locked.

8. The screw locking machine gripper according to claim 1, characterized in that: The screw locking machine gripper is also used to monitor the tightening torque of the screwdriver bit in real time and upload the tightening torque to the host computer.

9. A screw locking machine, characterized in that: It comprises a robotic arm and a gripper, wherein the gripper is arranged at the end of the robotic arm, and the gripper is the gripper of the screw locking machine as described in any one of claims 1 to 8.

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