A mechanical arm end-operating tool integrating pressing and screwing

Abstract

The present invention relates to a mechanical arm end operation tool integrating pressing and screwing, comprising a tool fixing base connected to the mechanical arm, a driving mechanism and a depth camera being installed on the tool fixing base; and also comprising a pressing and screwing mechanism, the pressing and screwing mechanism comprising an adapter shaft, a guide shaft, a sleeve, a low-rigidity spring and a driving handle, the adapter shaft being installed at the output end of the driving mechanism, the guide shaft being connected to the adapter shaft, the guide shaft having a fixed portion, the low-rigidity spring being sleeved outside the guide shaft and being located between the fixed portion and the sleeve, the sleeve being slidably installed outside the guide shaft, and one end of the driving handle being fixedly connected to the sleeve. The mechanical arm end operation tool has an ingenious structure, cooperates with the mechanical arm, realizes the emergency opening and closing operation of the substation switch cabinet, improves the operation success rate, and does not need to install a variety of end operation tools, thereby reducing the probability of overweight problems occurring at the end of the mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm devices, in particular to a mechanical arm end operating tool integrating pressing and screwing. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] A substation is a power facility in the power system that transforms voltage, receives and distributes electric energy, controls the flow of electricity, and adjusts voltage. It connects power grids of various voltage levels through its transformers. The equipment that transforms voltage in a substation is the transformer. In addition, the substation equipment also includes switchgear for opening and closing circuits, busbars for collecting current, transformers, instruments, relay protection devices, lightning protection devices, dispatching and communication devices for measurement and control, and some substations also have reactive power compensation equipment. The main equipment and connection methods of a substation vary according to their functions.

[0004] Safety equipment must be used to prevent accidents such as electric shock, burns, and falls from heights when workers are engaged in electrical work. They are divided into basic safety equipment and auxiliary safety equipment. Basic safety equipment refers to safety equipment whose insulation strength can withstand the working voltage of electrical equipment for a long time. Basic safety equipment can directly operate voltage electrical equipment, including: insulating operating rods, insulating clamps, nuclear phase high-voltage rods, high and low voltage testers, insulating baffles, protective glasses, etc. Auxiliary safety equipment refers to safety equipment whose insulation strength cannot withstand the working voltage of electrical equipment for a long time. It can only play an auxiliary safety role, that is, to strengthen the security role of basic safety equipment. There are: insulating gloves, insulating boots, insulating shoes, insulating platforms, insulating mats, insulating ropes, etc.

[0005] With the maturity of industrial robot technology, in order to further prevent accidents from happening during the operation of substation switchgear, the application of industrial robots in the field of substation switchgear technology is becoming more and more extensive. However, due to the different types and manufacturers of substation switchgear, there are often multiple switches of different types and shapes, resulting in more and more objects operated by robots and more complex working conditions. In order to ensure the operation effect, multiple end tools are required to operate separately. However, the load of the robot arm is often limited. Installing multiple end operating tools is prone to overweight problems, which affects the movement of the arm, and the cost is difficult to control, which is not conducive to the promotion and application of the above-mentioned robots in the field of substation switchgear technology. Summary of the invention

[0006] In order to overcome the defects in the above-mentioned prior art, the purpose of the present invention is to provide a robot arm end operating tool that integrates pressing and screwing. The robot arm end operating tool has an ingenious structure and cooperates with the robot arm to realize emergency opening and closing operations of the substation switch cabinet, thereby improving the operation success rate. It does not need to install a variety of end operating tools, thereby reducing the probability of overweight problems at the end of the robot arm, which is conducive to the promotion and application of the above-mentioned robot arm end operating tool that integrates pressing and screwing in the field of robot arm device technology.

[0007] In order to achieve the above-mentioned invention objectives, the present invention adopts the following technical solutions: a robot arm end operating tool integrating pressing and screwing, comprising a tool fixing base connected to the robot arm, on which a driving mechanism and a depth camera are installed; and also comprising a pressing and screwing mechanism, wherein the pressing and screwing mechanism comprises an adapter shaft, a guide shaft, a sliding sleeve, a low-rigidity spring and a driving handle, wherein the adapter shaft is installed at the output end of the driving mechanism, the guide shaft is connected to the adapter shaft, the guide shaft has a fixed part, the low-rigidity spring is sleeved outside the guide shaft and is located between the fixed part and the sliding sleeve, the sliding sleeve is slidably installed outside the guide shaft, and one end of the driving handle is fixedly connected to the sliding sleeve.

[0008] As a preferred solution of the present invention, the pressing and screwing mechanism further includes a high-rigidity spring and a sliding cover, the sliding cover is slidably installed outside the guide shaft, and the high-rigidity spring is sleeved outside the guide shaft and located between the fixing portion and the sliding cover.

[0009] As a preferred solution of the present invention, the sliding cover is a hollow structure with one end open.

[0010] As a preferred solution of the present invention, a spring sheath is provided outside the high-rigidity spring, one end of the spring sheath is fixedly connected to the fixing portion, and the other end is opened to be slidably connected to the sliding sleeve.

[0011] As a preferred solution of the present invention, the guide shaft further comprises a shaft connection portion and a handle connection portion, and the fixing portion is in a flat cylindrical shape and is located between the shaft connection portion and the handle connection portion.

[0012] As a preferred solution of the present invention, the shaft connection portion and the adapter shaft are connected via a coupling.

[0013] As a preferred solution of the present invention, a bearing is installed outside the adapter shaft, the outer surface of the adapter shaft has a protruding bearing abutment portion, the bearing is installed outside the adapter shaft and abuts against the bearing abutment portion; a bearing seat is provided outside the bearing.

[0014] As a preferred solution of the present invention, the tool fixing base includes a connecting part connected to the robot arm, a diagonal support part, a drive mechanism mounting part and a camera mounting part, and angles are formed between the connecting part and the diagonal support part, between the diagonal support part and the drive mechanism mounting part, and between the drive mechanism mounting part and the camera mounting part.

[0015] As a preferred solution of the present invention, both the connecting portion and the diagonal supporting portion are provided with through grooves.

[0016] As a preferred solution of the present invention, the depth camera is installed on a camera fixing seat, and the camera fixing seat is arranged obliquely upward and fixed to the tool fixing base.

[0017] Compared with the prior art, the beneficial effects of the present invention are: a robot arm end operating tool that integrates pressing and screwing in the present invention, the robot arm end operating tool is connected to the operating end of the robot arm, and by setting a pressing and screwing mechanism, it can perform emergency opening and closing operations on the substation switch cabinet that needs to be pressed or screwed, compensate for the single structure of the robot robot arm itself, expand the scope of use of the robot while ensuring safety during use, and improve operational efficiency; by integrating the depth camera on the robot arm end operating tool, it can reduce the image algorithm error caused by installing the camera on the robot in the prior art, and ensure the accuracy of the operation results.

[0018] Furthermore, a plurality of through grooves are provided on the tool fixing base in the present invention, which can reduce the weight of the tool fixing base itself while ensuring the stability of the end-operating tool of the robot arm during installation and use, thereby reducing the operating difficulty of the robot arm and ensuring the accuracy of the operating results. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a mechanical arm end operating tool integrating pressing and screwing in an embodiment of the present invention;

[0020] Figure 2 This is a structural front view of a mechanical arm end operating tool that integrates pressing and screwing in an embodiment of the present invention;

[0021] Figure 3 yes Figure 2 Structural cross-section view along the AA axis;

[0022] Figure 4 It is a schematic structural diagram of a guide shaft in a robot arm end operating tool integrating pressing and screwing in an embodiment of the present invention;

[0023] Figure 5 It is a structural schematic diagram of a transfer shaft in a robot arm end operating tool integrating pressing and screwing in an embodiment of the present invention;

[0024] Figure 6 It is a structural schematic diagram of a tool fixing base in a robot arm end operating tool integrating pressing and screwing in an embodiment of the present invention;

[0025] Figure 7 It is a structural schematic diagram of a camera fixing seat in a robot arm end operating tool integrating pressing and screwing in an embodiment of the present invention;

[0026] Figure 8 It is a structural schematic diagram of a sliding cover in a robot arm end operating tool integrating pressing and twisting in an embodiment of the present invention;

[0027] Fig. 9 It is a schematic structural diagram of a spring sheath in a robot arm end operating tool integrating pressing and screwing in an embodiment of the present invention;

[0028] Fig.10 It is a schematic structural diagram of a driving handle in a robot arm end operating tool integrating pressing and screwing in an embodiment of the present invention.

[0029] 1-2, the support part; 1-3, the drive mechanism mounting part; 1-4, the camera mounting part; 1-5, the through groove; 2, the drive mechanism; 3, the camera fixing seat; 3-1, the camera fixing seat groove; 4, the depth camera; 5, the bearing; 6, the adapter shaft; 6-1, the bearing abutment part; 7, the coupling; 8, the sliding cover; 8-1, the sliding cover abutment part; 9, the spring sleeve; 9-1, the sleeve fixing end; 9-2, the sliding cover abutment part; 9-3, the sliding sleeve anti-slip end; 10, the sliding sleeve; 11, the driving handle; 11-1, the driving handle fixing part; 11-2, the square handle part; 12, the high-rigidity spring; 13, the low-rigidity spring; 14, the guide shaft; 14-1, the fixing part; 14-2, the shaft connection part; 14-3, the handle connection part; 15, the bearing seat. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0032] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] like Figures 1 to 10 As shown, a manipulator end operating tool integrating pressing and screwing includes a tool fixing base 1, and the entire manipulator end operating tool can be fixed on the robot manipulator through the tool fixing base 1. A driving mechanism 2 and a depth camera 4 are installed on the above-mentioned tool fixing base 1. The driving mechanism 2 can be a steering gear. The steering gear is another name for a servo motor. The steering gear usually refers to a motor that can rotate to a specified angle according to a signal, such as a 180-degree steering gear. Because of this feature, it is often used in many fields such as remote-controlled aircraft, remote-controlled cars, and robots to control their direction and position. This is why it is called a steering gear. There is also a steering gear, called a 360-degree steering gear. The difference between it and a general steering gear is that if a signal is given, the ordinary steering gear rotates to a certain angle, while the 360-degree steering gear rotates at a uniform speed according to the speed corresponding to the signal. It seems to be similar to an ordinary motor, but the difference is that the 360-degree steering gear is controlled by an internal circuit and has a stable operating speed. In order to realize the pressing and screwing function of the end-operating tool of the manipulator arm, so as to perform opening and closing operations on different types of substation switch cabinets, the end-operating tool of the manipulator arm in this embodiment also includes a pressing and screwing mechanism. Specifically, the pressing and screwing mechanism includes a switching shaft 6, a guide shaft 14, a sleeve 10, a low-rigidity spring 13 and a driving handle 11, the switching shaft 6 is installed at the output end of the driving mechanism 2, the guide shaft 14 is connected to the switching shaft 6, the guide shaft 14 has a fixing portion 14-1, the low-rigidity spring 13 is sleeved outside the guide shaft 14 and is located between the fixing portion 14-1 and the sleeve 10, the sleeve 10 is slidably installed outside the guide shaft 14, and one end of the driving handle 11 is fixedly connected to the sleeve 10.

[0034] When using the screwing function, the robot first takes a photo of the operating object through the depth camera 4, so that the robot can identify the operating object through the image algorithm, and feed the operating object back to the mechanical arm. The mechanical arm then determines the position of the operating object based on the image and calculates the distance between the driving handle 11 and the operating object, and then controls the mechanical arm to align the driving handle 11 with the operating object. The mechanical arm then advances to a certain position based on the distance between the driving handle 11 and the operating object, causing the low-rigidity spring 13 to be compressed, that is, the driving handle 11 is connected to the operating object, and then the steering gear is started and starts to rotate. While rotating, under the action of the elastic force of the low-rigidity spring 13, when the driving handle 11 and the operating object are just aligned, the driving handle 11 automatically inserts into the operating object hole and starts the screwing operation. After screwing in place, the steering gear recognizes that the torque increases and stops automatically, and the mechanical arm drives the driving handle 11 to exit the operating object hole, and the operation is completed.

[0035] When using the press function, similarly, the robot first takes a picture of the operation object through the depth camera 4, and identifies the operation object on the switch cabinet through the image algorithm. The robot arm moves according to the algorithm feedback to align the driving handle 11 with the operation object, and the robot arm moves forward according to the depth information until the low-rigidity spring 13 is compressed. If the operation object is a low-rigidity button, it has been triggered at this time, and the button triggering operation is completed.

[0036] In order to enable the end-operating tool of the robot arm in this embodiment to press the high-rigidity button, that is, to adapt to the operation of various types of buttons and make it more widely used, the above-mentioned pressing and screwing mechanism also includes a high-rigidity spring 12 and a slide cover 8, and the above-mentioned slide cover 8 is slidably installed outside the above-mentioned guide shaft 14, and the above-mentioned high-rigidity spring 12 is sleeved outside the above-mentioned guide shaft 14 and is located between the above-mentioned fixed part 14-1 and the above-mentioned slide cover 8. Specifically, when using the pressing function operation, the robot first takes a picture of the operation object through the depth camera 4, and identifies the operation object on the switch cabinet through the image algorithm. The robot moves according to the algorithm feedback to align the driving handle 11 with the operation object, and the robot moves forward according to the distance between the driving handle 11 and the operation object until the high-rigidity spring 12 is compressed to trigger the high-rigidity button.

[0037] In order to make the structure of the above-mentioned robot arm end operating tool compact and reduce its own weight, it is convenient to apply the force of the sliding sleeve 10 to the high-rigidity spring 12, the above-mentioned sliding cover 8 is opened at one end toward the high-rigidity spring 12 and has a hollow structure inside, that is, one end of the high-rigidity spring 12 abuts against the sliding cover abutment part 8-1 of the sliding cover 8.

[0038] In order to prevent foreign objects from affecting the high-rigidity spring 12 and the low-rigidity spring 13, a spring sheath 9 is provided outside the above springs. Specifically, Fig. 9As shown, the spring sheath 9 has a sheath fixed end 9-1, a slide cover abutment portion 9-2 and a slide sleeve anti-slip end 9-3. The sheath fixed end 9-1 is fixedly connected to the fixed portion 14-1 on the guide shaft 14 by means of locking bolts or the like. The slide cover 8 is installed between the slide cover abutment portion 9-2 and the sheath fixed end 9-1. The other end of the spring sheath 9 is open and a slide sleeve anti-slip end 9-3 is provided at the opening. While the spring sheath 9 and the slide sleeve 10 are slidingly connected, the slide sleeve anti-slip end 9-3 can prevent the spring sheath 9 and the slide sleeve 10 from separating, thereby ensuring the use effect of the operating tool. One end of the low-rigidity spring 13 abuts against the fixed portion 14-1, and the other end abuts against the slide sleeve 10. The low-rigidity spring 13 is squeezed by pushing the slide sleeve 10 through the driving handle 11, and then the low-rigidity button is pressed.

[0039] Specifically, to facilitate connection, such as Figure 4 As shown, the guide shaft 14 also has an axial connection portion 14-2 and a handle connection portion 14-3, and the fixing portion 14-1 is in a flat cylindrical shape and is located between the axial connection portion 14-2 and the handle connection portion 14-3. The axial connection portion 14-2 is docked with the adapter shaft 6. In order to ensure the transmission effect, the axial connection portion 14-2 and the adapter shaft 6 are connected by a coupling 7. The coupling 7 here is a single diaphragm coupling, which has a strong ability to withstand misalignment and has corresponding vibration reduction and noise reduction capabilities. Its misalignment ability can meet the misalignment requirements of most power transmission devices in operation, and can meet the connection requirements of the connection between the axial connection portion 14-2 and the adapter shaft 6 in this embodiment, ensuring the use effect of the above-mentioned robot arm end operating tool.

[0040] A bearing 5 is installed outside the above-mentioned adapter shaft 6. The bearing therein can simultaneously bear the radial and axial loads at the output end of the adapter shaft 6 and the drive mechanism 2, thereby simplifying the supporting structure and reducing the weight of the operating tool itself; at the same time, the bearing has small friction damping and flexible starting, which can reduce the energy loss of the drive mechanism 2 and thus reduce the user's use cost.

[0041] In order to prevent the bearing 5 from sliding in the axial direction of the adapter shaft 6, Figure 5 As shown, the outer surface of the adapter shaft 6 has a protruding bearing abutment portion 6-1, and the bearing 5 is installed outside the adapter shaft 6 and abuts against the bearing abutment portion 6-1. In order to ensure the service life of the bearing 5, a bearing seat 15 is provided outside the bearing 5.

[0042] like Figure 6As shown, the tool fixing base 1 in this embodiment includes a connecting portion 1-1 connected to the robot arm, a diagonal bracing portion 1-2, a drive mechanism mounting portion 1-3 and a camera mounting portion 1-4, and the connecting portion 1-1 and the diagonal bracing portion 1-2, the diagonal bracing portion 1-2 and the drive mechanism mounting portion 1-3, and the drive mechanism mounting portion 1-3 and the camera mounting portion 1-4 are all arranged at an angle and with rounded corners. The servo is installed at the drive mechanism mounting portion 1-3, and its output end extends out through a through hole provided on the drive mechanism mounting portion 1-3 so as to be connected to the adapter shaft 6. In order to reduce the weight of the tool fixing base 1, and thus reduce the weight of the robot arm operation, the connecting portion 1-1 and the diagonal bracing portion 1-2 are both provided with a through groove 1-5.

[0043] In order to ensure the stability of the depth camera 4 during installation and use, the depth camera 4 is installed on the camera holder 3. In order to make the shooting angle of the depth camera 4 wide enough, the camera holder 3 is set obliquely upward, that is, the depth camera 4 is installed at the highest point of the operating tool, and the bottom of the camera holder 3 is fixed to the tool fixing base 1 by means of locking bolts, etc. In order to reduce the weight of the camera holder 3 and thus reduce the weight of the robot arm operation, the camera holder 3 is provided with a camera holder slot 3-1. Similarly, the camera holder slot 3-1 is a through slot, which minimizes the weight of the camera holder 3 while ensuring that the structural strength is met.

[0044] like Fig.10 As shown, in order to facilitate the installation of the driving handle 11, the driving handle 11 in this embodiment has a driving handle fixing portion 11-1 and a square handle portion 11-2 fixedly connected to one end of the sliding sleeve 10. The cross-section of the square handle portion 11-2 is arranged in a square structure, which can ensure the screwing force of the operating tool during the screwing process, ensure that it is screwed into place, and improve the operating efficiency.

[0045] A gap is left between the sliding sleeve 10 and the spring sleeve 9 in this embodiment to adapt the driving handle 11 to have a certain deflection angle, and under the elastic force of the low-rigidity spring 13, the driving handle 11 will automatically center the sliding sleeve 10 when it rebounds. The combination with the coupling 7 can compensate for the eccentricity and deflection angle during the operation of the robot arm, further ensuring the use effect of the above-mentioned operating tool.

[0046] In the present embodiment, a robot arm end operating tool that integrates pressing and screwing is connected to the operating end of the robot arm. By setting a pressing and screwing mechanism, emergency opening and closing operations can be performed on the substation switch cabinet that needs to be pressed or screwed, thereby compensating for the singleness of the structure of the robot robot arm itself, expanding the scope of use of the robot while ensuring safety during use and improving operational efficiency. By integrating a depth camera into the robot arm end operating tool, the image algorithm error caused by installing the camera on the robot in the prior art can be reduced, thereby ensuring the accuracy of the operation results.

[0047] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention; therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0048] Although this article uses more reference numerals in the figures: 1, tool fixing base; 1-1, connecting part; 1-2, diagonal support part; 1-3, drive mechanism mounting part; 1-4, camera mounting part; 1-5, through groove; 2, drive mechanism; 3, camera fixing seat; 3-1, camera fixing seat groove; 4, depth camera; 5, bearing; 6, adapter shaft; 6-1, bearing abutment part; 7, coupling; 8, slide cover; 8-1, slide cover abutment part; 9 , spring sheath; 9-1, sheath fixing end; 9-2, slide cover abutment part; 9-3, sleeve anti-slip end; 10, slide sleeve; 11, drive handle; 11-1, drive handle fixing part; 11-2, square handle part; 12, high rigidity spring; 13, low rigidity spring; 14, guide shaft; 14-1, fixing part; 14-2, shaft connection part; 14-3, handle connection part; 15, bearing seat and other terms, but does not exclude the possibility of using other terms. The use of these terms is only for more convenient description and explanation of the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A mechanical arm end operating tool integrating pressing and screwing, characterized in that: The invention relates to a tool fixing base (1) connected to a robot arm, wherein a driving mechanism (2) and a depth camera (4) are installed on the tool fixing base (1); and a pressing and screwing mechanism is also provided, by which an emergency opening and closing operation can be performed on a substation switch cabinet that needs to be pressed or screwed; the pressing and screwing mechanism comprises a switching shaft (6), a guide shaft (14), a sliding sleeve (10), a low-rigidity spring (13) and a driving handle (11); the switching shaft (6) is installed at the output end of the driving mechanism (2); the guide shaft (14) is connected to the switching shaft (6); the guide shaft (14) has a fixing portion (14-1); the low-rigidity spring (13) is sleeved outside the guide shaft (14) and is located between the fixing portion (14-1) and the sliding sleeve (10); the sliding sleeve (10) is slidably installed outside the guide shaft (14); one end of the driving handle (11) is connected to the sliding sleeve (10) and the other end is connected to the sliding sleeve (10). The pressing and twisting mechanism further comprises a high-rigidity spring (12) and a sliding cover (8), wherein the sliding cover (8) is slidably mounted outside the guide shaft (14), the high-rigidity spring (12) is sleeved outside the guide shaft (14) and is located between the fixing portion (14-1) and the sliding cover (8), and a spring sheath (9) is provided outside the high-rigidity spring (12), and the spring sheath (9) has a sheath fixing end (9- 1), a sliding cover abutment portion (9-2) and a sliding sleeve anti-slip end (9-3), the sleeve fixed end (9-1) is fixedly connected to the fixed portion (14-1) on the guide shaft (14), the sliding cover (8) is installed between the sliding cover abutment portion (9-2) and the sleeve fixed end (9-1), the other end of the spring sleeve (9) is opened to be slidably connected to the sliding sleeve (10) and a sliding sleeve anti-slip end (9-3) is provided at the opening.

2. The robot arm end operating tool integrating pressing and screwing according to claim 1, characterized in that: The sliding cover (8) is a hollow structure with an open end.

3. The robot arm end operating tool integrating pressing and screwing according to claim 1, characterized in that: The guide shaft (14) also has a shaft connection portion (14-2) and a handle connection portion (14-3); the fixing portion (14-1) is in a flat cylindrical shape and is located between the shaft connection portion (14-2) and the handle connection portion (14-3).

4. The robot end-of-arm operating tool integrating pressing and screwing according to claim 3, characterized in that: The shaft connection portion (14-2) and the transfer shaft (6) are connected via a coupling (7).

5. The robot arm end operating tool integrating pressing and screwing according to claim 4, characterized in that: A bearing (5) is installed outside the adapter shaft (6); the outer surface of the adapter shaft (6) has a protruding bearing abutment portion (6-1); the bearing (5) is installed outside the adapter shaft (6) and abuts against the bearing abutment portion (6-1); and a bearing seat (15) is provided outside the bearing (5).

6. A robot arm end operating tool integrating pressing and screwing according to claim 1 or 5, characterized in that: The tool fixing base (1) comprises a connecting portion (1-1) connected to the robot arm, a diagonal support portion (1-2), a drive mechanism mounting portion (1-3) and a camera mounting portion (1-4); the connecting portion (1-1) and the diagonal support portion (1-2), the diagonal support portion (1-2) and the drive mechanism mounting portion (1-3), and the drive mechanism mounting portion (1-3) and the camera mounting portion (1-4) are all arranged at an angle.

7. The robot arm end operating tool integrating pressing and screwing according to claim 6, characterized in that: The connecting portion (1-1) and the diagonal supporting portion (1-2) are both provided with through grooves (1-5).

8. The robot end-operating tool integrating pressing and screwing according to claim 7, characterized in that: The depth camera (4) is mounted on a camera fixing seat (3), and the camera fixing seat (3) is arranged obliquely upward and fixed to the tool fixing base (1).

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