Screw fastening equipment and screw fastening system

Abstract

This application relates to the field of screw fastening equipment technology, and provides a screw fastening device and a screw fastening system. The screw fastening device is used to fasten screws into threaded holes on an object to be fastened. The screw fastening device includes a fastening assembly, which includes: a fastening support member that can move within a set range; a screw storage tray disposed on the fastening support member, the screw storage tray having multiple storage slots for storing screws; and a fastening section disposed on the fastening support member, the fastening section having a fastening end capable of pulling out screws from the storage slots and fastening the screws into the threaded holes of the object to be fastened. When fastening screws using the screw fastening device of this application, the fastening end of the fastening section can directly grab the screw from the storage slots and fasten the screw into the threaded holes of the object to be fastened, greatly improving fastening efficiency.

Description

Technical Field

[0001] This application belongs to the field of screw fastening equipment technology, and more specifically, relates to a screw fastening device and screw fastening system. Background Technology

[0002] Screws are typically used for assembly when assembling equipment. To meet production demands and improve efficiency, an increasing number of industries are adopting screw fastening equipment to perform screw fastening operations.

[0003] Existing screw fastening equipment uses a robotic arm to pick up screws from a feeder located at a fixed position and fasten the screws to the designated position. This fastening method requires the robotic arm to first pick up the screws from the feeder and then move to the designated position to perform the screw fastening operation, resulting in low fastening efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a screw fastening device and a screw fastening system, which aims to solve the technical problem of low fastening efficiency of existing screw fastening devices.

[0005] To achieve the above objectives, according to one aspect of this application, a screw fastening device is provided. The screw fastening device is used to fasten screws into threaded holes on an object to be fastened. The screw fastening device includes a fastening assembly, which includes: a fastening support member movable within a set range; a screw storage tray disposed on the fastening support member, the screw storage tray having a plurality of storage slots for storing screws; and a fastening part disposed on the fastening support member, the fastening part having a fastening end capable of pulling out screws from the storage slots and fastening the screws into threaded holes on the object to be fastened.

[0006] Optionally, the screw storage tray can rotate around its own axis, and the axial direction of the screw storage tray is formed in a first preset direction. Multiple storage slots are arranged on the screw storage tray around the first preset direction. The locking part can move along the first preset direction. A locking mounting hole is provided between two adjacent storage slots. The locking end of the locking part can attract or release screws, carry screws through the locking mounting hole, and lock screws into the screw holes on the object to be locked.

[0007] Optionally, the locking part includes a sleeve, and an adsorption chamber is provided on the end face of the first end of the sleeve. The opening of the adsorption chamber can at least partially cover the opening of the storage tank. The locking assembly also includes a pressure regulating component, which is connected to the adsorption chamber and can change the air pressure inside the adsorption chamber when it is in the state of covering the opening of the storage tank, so as to adsorb or release the screw in the adsorption chamber.

[0008] Optionally, the extension direction of the adsorption chamber is parallel to the first preset direction, the end face of the first end of the sleeve can abut against the surface of the object to be locked, and the opening of the adsorption chamber can at least partially cover the screw hole on the object to be locked; the locking part also includes an electric screwdriver, the end of the first end of the electric screwdriver passes through the end of the sleeve away from the screw storage tray into the adsorption chamber, and can drive the screw in the adsorption chamber to rotate around the axis of the electric screwdriver, and can move in the adsorption chamber along the first preset direction to lock the screw into the screw hole on the object to be locked.

[0009] Optionally, the locking assembly further includes a mounting part and a moving drive part. The mounting part can move along a first preset direction, and the electric screwdriver and the socket are both mounted on the mounting part. The moving drive part is disposed on the locking support member and has an output end. The output end of the moving drive part can slide along the first preset direction on the locking support member and is connected to the mounting part to drive the mounting part to move along the first preset direction.

[0010] Optionally, the mobile drive unit includes: a conveyor belt, the running direction of which is parallel to a first preset direction; a drive wheel, which is rotatably mounted on the locking support member about its own axis, the conveyor belt being disposed on the outer periphery of the drive wheel and drivenly connected to the drive wheel; a driven wheel, which is rotatably mounted on the locking support member about its own axis and disposed on the side of the screw storage tray near or away from the drive wheel, the conveyor belt being disposed on the outer periphery of the driven wheel and drivenly connected to the driven wheel; and a connecting member, which is slidably mounted on the locking support member along the first preset direction and fixedly connected to the conveyor belt and the mounting part, so as to drive the mounting part to move along the first preset direction, the connecting member forming the output end of the mobile drive unit.

[0011] Optionally, the mounting part includes: a mounting body fixedly connected to a connector; a first mounting member mounted on the mounting body and connected to the end of the second end of the electric screwdriver; a second mounting member disposed on the side of the first mounting member near the screw storage tray and mounted on the mounting body, and connected to the end of the second end of the sleeve; and a reset member disposed between the first mounting member and the second mounting member, and switchable between a compressed state and a free state; the first mounting member can be slidably mounted on the mounting body along a first preset direction, and the second mounting member can be slidably mounted on the mounting body along the first preset direction, so that the reset member can switch between a compressed state and a free state.

[0012] Optionally, the screw fastening device further includes a feeding assembly, which is located on one side of the fastening assembly. The feeding assembly includes: a feeding support member, which is fixedly installed at a set position; a screw feeding tray, which is located on the feeding support member and has multiple feeding slots for storing screws; and a transferring part, which is located on the feeding support member and has a transferring end. The screw storage tray has a feeding position. When the screw storage tray is in the feeding position, the transferring end of the transferring part can pull the screw out of the feeding slot and store the screw in the storage slot.

[0013] Optionally, the screw feeding tray can rotate around its own axis, and the axial direction of the screw feeding tray is formed in a second preset direction. Multiple feeding slots are arranged on the screw feeding tray around the second preset direction. The transferring end of the transferring part can move along the second preset direction and can attract or release screws. When the screw storage tray is in the feeding position, the second preset direction is parallel to the first preset direction, so that the transferring end of the transferring part can carry the screws attracted from the feeding slots to the storage slots.

[0014] Optionally, the material transfer unit includes a lifting component and an adsorption component. The lifting component is installed on the feeding carrier and has a telescopic end. The telescopic end of the lifting component can move along a second preset direction. The adsorption component is installed on the telescopic end of the lifting component and can adsorb or release screws stored in the feeding trough. The adsorption component forms the material transfer end of the material transfer unit.

[0015] Optionally, the feeding assembly further includes a feeding section, which is located on the feeding support and on one side of the screw feeding tray. The feeding section includes a feeding track with a feeding guide groove for accommodating screws. The extending direction of the feeding guide groove intersects with the second preset direction. The feeding guide groove has a discharge port, and each feeding tray has an inlet port that communicates with the discharge port. The feeding track can drive the screws in the feeding guide groove to move toward the discharge port, so as to sequentially transport the screws in the feeding guide groove to each feeding tray.

[0016] Optionally, the feeding unit also includes a vibrating element, which is mounted on the feeding support and the feeding track is mounted on the output end of the vibrating element. The output end of the vibrating element can cause the feeding track to vibrate so that the feeding track can drive the screw in the feeding guide groove to move toward the discharge groove.

[0017] Optionally, the feeding unit further includes: a hopper, which has a receiving cavity for accommodating screws, and a through hole on the hopper, through which the end of the feeding track away from the screw feeding tray passes into the receiving cavity; and a feeding member, which is rotatably disposed in the receiving cavity about the extension direction of the feeding guide groove, and is capable of moving the screws in the receiving cavity into the feeding guide groove.

[0018] According to another aspect of this application, a screw fastening system is provided for fastening screws to an object to be fastened. The screw fastening system includes a mounting frame, a robotic arm, and the aforementioned screw fastening device. The robotic arm is mounted on the mounting frame, and a fastening support is mounted on the output end of the robotic arm.

[0019] Optionally, the screw fastening system also includes a control unit and a vision inspection unit. The vision inspection unit is mounted on the upper end of the mounting frame and is used to detect the position of the object to be fastened. The vision inspection unit is electrically connected to the control unit, the control unit is electrically connected to the robotic arm, and is electrically connected to the screw fastening equipment.

[0020] Optionally, the locking assembly further includes an identification and positioning unit, which is disposed on the locking support and used to identify and position the position of the screw hole on the object to be locked, and is electrically connected to the control unit.

[0021] The beneficial effects of the screw fastening device provided in this application are as follows: Compared with the prior art, when fastening screws using the screw fastening device of this application, the fastening end of the fastening unit first pulls the screw out of the storage tank, and then fastens the screw into the screw hole on the object to be fastened to complete the fastening operation. Since the screw fastening device of this application has a built-in screw storage tray, when fastening screws using the screw fastening device of this application, the fastening end of the fastening unit can directly grab the screw from the storage tank and fasten the screw into the screw hole on the object to be fastened, without having to first grab the screw from the feeder fixed at a set position and then carry the screw to the designated position for the screw fastening operation, which greatly improves the fastening efficiency. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the screw fastening system provided in the embodiments of this application;

[0024] Figure 2 This is a schematic diagram of the screw fastening system provided in an embodiment of this application, showing the structure after the control unit is hidden.

[0025] Figure 3 This is a schematic diagram of the locking component provided in an embodiment of this application from a first-view perspective;

[0026] Figure 4 for Figure 3 Enlarged diagram of A in the middle;

[0027] Figure 5 This is a schematic diagram of the locking component provided in an embodiment of this application from a second perspective;

[0028] Figure 6 A schematic diagram of the assembled structure of the locking part, mounting part, moving drive part, second drive member and locking support member provided in the embodiments of this application;

[0029] Figure 7 A schematic diagram of the assembled structure of the locking part, mounting part, moving drive part, and locking support member provided in the embodiments of this application;

[0030] Figure 8 This is a schematic diagram of the feeding assembly provided in an embodiment of this application from a third-person perspective;

[0031] Figure 9 This is a schematic diagram of the feeding assembly provided in an embodiment of this application from a fourth perspective.

[0032] Figure 10 for Figure 9 Enlarged view of point B in the middle;

[0033] Figure 11 This is a partial structural schematic diagram of the feeding section provided in an embodiment of this application;

[0034] The details of the reference numerals used in the above figures are as follows:

[0035] 100. Locking assembly; 110. Locking support member; 120. Screw storage tray; 121. Storage trough; 122. Locking mounting hole; 130. Locking part; 131. Sleeve; 132. Electric screwdriver; 141. First drive member; 142. Second drive member; 150. Vacuum indicator; 160. Filter; 170. Mounting part; 171. Mounting body; 172. First mounting member; 173. Second mounting member; 174. Reset member; 180. Movement drive unit; 181. Conveyor belt; 182. 183 Drive wheel; 184 Driven wheel; 185 Connector; 186 Third drive component; 190 Identification and positioning unit; 200 Feeding assembly; 210 Feeding support component; 220 Screw feeding tray; 221 Feeding trough; 230 Transfer unit; 231 Lifting component; 232 Adsorption component; 240 Feeding unit; 241 Feeding track; 2411 Feeding guide chute; 242 Vibrating component; 243 Hopper; 300 Mounting frame; 400 Robotic arm; 500 Control unit; 600 Screw. Detailed Implementation

[0036] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0037] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] As described in the background section, screws are currently commonly used for assembly during equipment assembly. To meet production demands and improve efficiency, an increasing number of industries are adopting screw fastening equipment to perform screw fastening operations. Existing screw fastening equipment utilizes a robotic arm to pick up screws from a feeder located at a fixed position and fasten them to the designated location. This fastening method requires the robotic arm to first pick up the screw from the feeder and then move to the designated position to perform the screw fastening operation, resulting in low fastening efficiency.

[0041] Reference Figures 1 to 5To address the aforementioned problems, according to one aspect of this application, an embodiment of this application provides a screw fastening device for fastening screws 600 into screw holes on an object to be fastened. The screw fastening device includes a fastening assembly 100, which includes a fastening support member 110, a screw storage tray 120, and a fastening part 130. The fastening support member 110 is movable within a set range. The screw storage tray 120 is disposed on the fastening support member 110 and has a plurality of storage slots 121 for storing screws 600. The fastening part 130 is disposed on the fastening support member 110 and has a fastening end. The fastening end of the fastening part 130 can pull out the screws 600 from the storage slots 121 and fasten the screws 600 into screw holes on the object to be fastened.

[0042] In this embodiment, the object to be fastened is the equipment to be assembled. The screw 600 can be inserted into the screw hole on the equipment to be assembled and engage with the threaded screw hole. The fastening support 110 is a fastening support frame, which can be fixedly installed on the output end of the robot or robotic arm 400 and can move within the range of movement of the output end of the robot or robotic arm 400. The set range is the range of movement of the robot or robotic arm 400. The screw 600 includes a screw rod and a nut fixedly installed on the screw rod. The diameter of the storage tank 121 is smaller than the radius of the nut and greater than or equal to the radius of the screw rod. At the same time, the extension direction of the storage tank 121 can be parallel to the vertical direction so that the screw 600 can be stored in the storage tank 121. The fastening part 130 can be a robot. The output end of the robot can carry an electric screwdriver 132. The output end of the robot can first pull the screw 600 out of the storage tank 121 and then use the electric screwdriver 132 to fasten the screw 600 into the screw hole on the object to be fastened.

[0043] When fastening screws 600 using the screw fastening device of this application, the fastening end of the fastening unit 130 first pulls the screw 600 out of the storage tank 121, and then fastens the screw 600 into the screw hole on the object to be fastened to complete the fastening operation. Since the screw fastening device of this application has a built-in screw storage tray 120, when fastening screws 600 using the screw fastening device of this application, the fastening end of the fastening unit 130 can directly grab the screw 600 from the storage tank 121 and fasten the screw 600 into the screw hole on the object to be fastened. It is not necessary to first grab the screw 600 from the feeder fixed at a set position and then carry the screw 600 to the designated position for the screw fastening operation, which greatly improves the fastening efficiency.

[0044] Reference Figures 3 to 5As an optional embodiment of this application, the screw storage tray 120 can rotate around its own axis, and the axial direction of the screw storage tray 120 is formed in a first preset direction. Multiple storage slots 121 are arranged on the screw storage tray 120 around the first preset direction. The locking part 130 can move along the first preset direction. A locking mounting hole 122 is provided between two adjacent storage slots 121. The locking end of the locking part 130 can attract or release the screw 600, and can carry the screw 600 through the locking mounting hole 122, and can lock the screw 600 into the screw hole on the object to be locked.

[0045] In this optional embodiment, the screw storage tray 120 is disc-shaped. Of course, in other embodiments, the screw storage tray 120 can also have other shapes. The locking assembly 100 further includes a locking drive unit, which includes a first drive member 141. The first drive member 141 is mounted on the locking support member 110. The output shaft of the first drive member 141 is coaxial with and fixedly connected to the screw storage tray 120, thereby driving the screw storage tray 120 to rotate around its own axis. The first preset direction can be vertically set. The screw storage tray 121 can be installed at an angle or at an angle, with its extension direction parallel to the first preset direction. To ensure fastening efficiency, multiple storage trays 121 are evenly distributed around the screw storage tray 120. To ensure that the fastening end of the fastening part 130 can pass through the fastening mounting hole 122, the fastening mounting hole 122 is a through hole. To ensure the normal operation of the fastening operation, the object to be fastened is usually placed below the screw storage tray 120. The fastening part 130 may include an electric screwdriver 132 capable of fastening screws 600.

[0046] When fastening screws 600 using the screw fastening device of this application, firstly, the fastening end of the fastening part 130 attracts the screws 600 in the storage tank 121, and then moves the screws 600 away from the storage tank 121. After the screws 600 are disengaged from the corresponding storage tank 121, the screw storage tray 120 rotates until the fastening mounting hole 122 corresponds to the screws 600 attracted by the fastening end of the fastening part 130. Then, the fastening end of the fastening part 130 moves the screws 600 through the fastening mounting hole 122 and fastens the screws 600 into the screw holes on the object to be fastened, thus completing the fastening operation.

[0047] Reference Figures 3 to 7 As an optional embodiment of this application, the locking part 130 includes a sleeve 131, and an adsorption cavity is provided on the end face of the first end of the sleeve 131. The opening of the adsorption cavity can at least partially cover the opening of the storage tank 121. The locking assembly 100 also includes a pressure regulating component, which is connected to the adsorption cavity and can change the air pressure inside the adsorption cavity when it is in the state of covering the opening of the storage tank 121, so that the adsorption cavity adsorbs or releases the screw 600.

[0048] In this optional configuration, the length direction of the sleeve 131 is parallel to the first preset direction, the extension direction of the adsorption chamber is parallel to the first preset direction, the opening of the adsorption chamber is located on the end face of the first end of the sleeve 131, and can completely cover the opening of the storage tank 121; the pressure regulating component can be a vacuum generator, which is installed on the locking support component 110. The vacuum generator's pumping end is connected to the adsorption chamber, and can extract the gas in the adsorption chamber when the opening of the adsorption chamber covers the opening of the storage tank 121, so that the gas pressure in the adsorption chamber is lower than the atmospheric pressure, thereby adsorbing the screw 600 in the storage tank 121 into the adsorption chamber; when the opening of the adsorption chamber covers the opening of the storage tank 121, and the screw 600 passes through the locking mounting hole 122 and corresponds to the screw hole on the object to be locked, the pumping end of the vacuum generator stops pumping. When the gas pressure in the adsorption chamber is restored to the same or similar to the atmospheric pressure, the adsorption chamber will release the screw 600 adsorbed in the adsorption chamber. In addition, to facilitate the determination of the air pressure inside the adsorption chamber, the locking assembly 100 also includes a vacuum display 150. The vacuum display 150 is mounted on the locking support 110 and is connected to the adsorption chamber to display the air pressure inside the adsorption chamber. To filter impurities in the air entering the vacuum display 150, a filter 160 is provided between the vacuum display 150 and the adsorption chamber. The filter 160 is mounted on the vacuum display 150 and is connected to both the vacuum display 150 and the adsorption chamber to filter impurities in the air entering the vacuum display 150.

[0049] Reference Figures 3 to 7 As an optional embodiment of this application, the extension direction of the adsorption cavity is parallel to the first preset direction, the end face of the first end of the sleeve 131 can abut against the surface of the object to be locked, and the cavity opening of the adsorption cavity can at least partially cover the screw hole on the object to be locked; the locking part 130 also includes an electric screwdriver 132, the end of the first end of the electric screwdriver 132 passes through the end of the sleeve 131 away from the screw storage tray 120 into the adsorption cavity, and can drive the screw 600 in the adsorption cavity to rotate around the axis of the electric screwdriver 132, and can move in the adsorption cavity along the first preset direction to lock the screw 600 into the screw hole on the object to be locked.

[0050] In this optional method, the opening of the adsorption chamber can completely cover the screw hole on the object to be fastened; the electric screwdriver 132 is also called an electric screwdriver, the axis of the electric screwdriver 132 is parallel to the first preset direction, and the end of the first end of the electric screwdriver 132 is the screwdriver tip end of the screw 600 that can be fastened; the fastening drive unit also includes a second drive member 142, the second drive member 142 is disposed on the fastening support member 110, the output shaft of the second drive member 142 is coaxial with the electric screwdriver 132 and is fixedly connected to the electric screwdriver 132 to drive the electric screwdriver 132 to rotate around its own axis. After the screw 600 is attracted into the adsorption chamber, the end of the first end of the electric screwdriver 132 contacts the screw 600. Then, the sleeve 131 and the electric screwdriver 132 carry the screw 600 through the fastening mounting hole 122. Once the end face of the first end of the sleeve 131 is pressed against the surface of the object to be fastened, and the opening of the adsorption chamber covers the screw hole on the object to be fastened, the end of the first end of the electric screwdriver 132 drives the screw 600 to rotate around the axis of the electric screwdriver 132 within the screw hole. During this process, the end of the first end of the electric screwdriver 132 also pushes the screw 600 further into the screw hole until the torque applied to the screw 600 by the electric screwdriver 132 reaches a set value, at which point the electric screwdriver 132 stops rotating and moving, thus completing the fastening operation. The end of the first end of the electric screwdriver 132 and the opening of the adsorption chamber together constitute the fastening end of the fastening part 130.

[0051] Reference Figure 3 , Figures 5 to 7 As an optional embodiment of this application, the locking assembly 100 further includes a mounting portion 170 and a moving drive portion 180. The mounting portion 170 is movable along a first preset direction, and the electric screwdriver 132 and the sleeve 131 are both mounted on the mounting portion 170. The moving drive portion 180 is disposed on the locking support member 110 and has an output end. The output end of the moving drive portion 180 can slide along the first preset direction on the locking support member 110 and is connected to the mounting portion 170 to drive the mounting portion 170 to move along the first preset direction. In this optional embodiment, the moving drive portion 180 can be a belt assembly or a lead screw assembly. The output end of the moving drive portion 180 is fixedly connected to the mounting portion 170 to drive the mounting portion 170 and the sleeve 131 and the electric screwdriver 132 disposed on the mounting portion 170 to move together along the first preset direction.

[0052] Reference Figure 3 , Figures 5 to 7As an optional embodiment of this application, the mobile drive unit 180 includes a conveyor belt 181, a drive wheel 182, a driven wheel 183, and a connecting member 184. The running direction of the conveyor belt 181 is parallel to a first preset direction. The drive wheel 182 is rotatably mounted on the locking support member 110 around its own axis. The conveyor belt 181 is located on the outer periphery of the drive wheel 182 and is drivenly connected to the drive wheel 182. The driven wheel 183 is rotatably mounted on the locking support member 110 around its own axis and is located on the side of the screw storage tray 120 near or away from the drive wheel 182. The conveyor belt 181 is located on the outer periphery of the driven wheel 183 and is drivenly connected to the driven wheel 183. The connecting member 184 is slidably mounted on the locking support member 110 along the first preset direction and is fixedly connected to the conveyor belt 181 and the mounting part 170 to drive the mounting part 170 to move along the first preset direction. The connecting member 184 forms the output end of the mobile drive unit 180.

[0053] In this optional embodiment, the conveyor belt 181 can be a synchronous belt, and can be arranged vertically or at an angle. Of course, in other embodiments, the conveyor belt 181 can also be a chain or a belt. The drive wheel 182 meshes with the conveyor belt 181, and its axis is perpendicular to the first preset direction. The driven wheel 183 is located on the side of the drive wheel 182 near the screw storage tray 120, and meshes with the conveyor belt 181. Its axis is also perpendicular to the first preset direction. Of course, in other embodiments, the driven wheel 183 can also be located on the side of the drive wheel 182 away from the screw storage tray 120. The moving drive unit 180 also includes a third drive member 185, which is mounted on the locking support member 110. The output shaft of the third driving member 185 is coaxial with the driving wheel 182 and is fixedly connected to the driving wheel 182 to drive the driving wheel 182 to rotate around its own axis; the connecting member 184 is a connecting block, and a slide rail arranged along the first preset direction is fixedly installed on the locking support member 110. The connecting member 184 is provided with a slide groove extending along the first preset direction and tightly cooperating with the slide rail. The connecting member 184 is slidably installed on the locking support member 110 through the cooperation of the slide rail and the slide groove. The connecting member 184 is provided with a through hole for the conveyor belt 181 to pass through. The conveyor belt 181 passes through the through hole and is fixedly connected to the connecting block. The connecting member 184 can be fixedly connected to the mounting part 170 by connecting screws.

[0054] Reference Figure 3 , Figures 5 to 7In this embodiment, the mounting part 170 includes a mounting body 171, a first mounting member 172, a second mounting member 173, and a reset member 174. The mounting body 171 is fixedly connected to the connector 184. The first mounting member 172 is mounted on the mounting body 171 and connected to the end of the second end of the electric screwdriver 132. The second mounting member 173 is disposed on the side of the first mounting member 172 near the screw storage tray 120 and is mounted on the mounting body 171, and connected to the end of the second end of the sleeve 131. The reset member 174 is disposed between the first mounting member 172 and the second mounting member 173 and can switch between a compressed state and a free state. The first mounting member 172 can be slidably mounted on the mounting body 171 along a first preset direction, and the second mounting member 173 can be slidably mounted on the mounting body 171 along the first preset direction, so that the reset member 174 can switch between a compressed state and a free state.

[0055] In this optional embodiment, the mounting body 171 is a mounting plate, the first mounting member 172 is a first mounting bracket and is fixedly connected to the end of the second end of the electric screwdriver 132; the second mounting member 173 is a second mounting bracket and is fixedly connected to the end of the second end of the sleeve 131; the reset member 174 is a reset spring, and the two ends of the reset spring are hooked to the first mounting member 172 and the second mounting member 173 respectively. Of course, in other embodiments, the two ends of the reset spring can also be connected to the first mounting member 172 and the second mounting member 173 respectively using other connection methods.

[0056] When fastening the screw 600 into the screw hole on the object to be fastened, firstly, the mounting body 171 moves together with the electric screwdriver 132 and the sleeve 131 towards the screw storage tray 120 so that the opening of the adsorption chamber covers the storage tank 121; then, under the pressure adjustment action of the pressure regulating component, the screw 600 is adsorbed into the adsorption chamber; immediately, the mounting body 171 moves together with the sleeve 131 and the electric screwdriver 132 away from the screw storage tray 120 to pull the screw 600 out of the storage tank 121; when the screw 600... After detaching from the corresponding storage tank 121, the screw storage tray 120 rotates so that the locking mounting hole 122 aligns with the attracted screw 600. Then, the mounting body 171 drives the electric screwdriver 132, the sleeve 131, and the attracted screw 600 to move together toward the screw hole on the object to be locked. During this process, the screw 600 will pass through the locking mounting hole 122. When the end face of the first end of the sleeve 131 is pressed against the surface of the object to be locked, the movement stops after the opening of the adsorption chamber covers the screw hole on the object to be locked. Next, the suction chamber releases the screw 600 adsorbed within it. Under gravity, the screw 600 falls into the screw hole. The first end of the electric screwdriver 132 then rotates the screw 600 around its axis within the screw hole. During this process, the mounting body 171 also drives the electric screwdriver 132 to push the screw 600 further into the screw hole. Since both the first mounting member 172 and the second mounting member 173 can be slidably mounted on the mounting body 171 along a first preset direction, and the end face of the first end of the sleeve 131 is pressed against the surface of the object to be fastened, the first mounting member 172 and the second mounting member 173 will move closer to each other as the mounting body 171 moves. As the screw 600 is moved in a certain direction, the reset member 174 will be compressed. When the torque applied to the screw 600 by the electric screwdriver 132 reaches the set value, the mounting body 171 drives the electric screwdriver 132 and the socket 131 to move away from the screw hole on the object to be fastened. During this process, the reset member 174 will gradually switch from the compressed state to the free state and will simultaneously apply a thrust to the first mounting member 172 and the second mounting member 173. The first mounting member 172 and the second mounting member 173 will move away from each other under the thrust applied by the reset member 174. After the reset member 174 returns to the free state, the first mounting member 172 and the second mounting member 173 will no longer move relative to each other.

[0057] Reference Figure 1 , Figure 2 as well as Figures 8 to 11The screw fastening device in this embodiment also includes a feeding assembly 200, which is located on one side of the fastening assembly 100. The feeding assembly 200 includes a feeding support 210, a screw feeding tray 220, and a transfer part 230. The feeding support 210 is fixedly installed at a set position. The screw feeding tray 220 is located on the feeding support 210 and has multiple feeding slots 221 for storing screws 600. The transfer part 230 is located on the feeding support 210 and has a transfer end. The screw storage tray 120 has a feeding position. When the screw storage tray 120 is in the feeding position, the transfer end of the transfer part 230 can pull the screws 600 out of the feeding slots 221 and store the screws 600 in the storage slots 121.

[0058] In this embodiment, the feeding support 210 is a feeding support frame; the diameter of the feeding groove 221 is smaller than the radius of the nut and greater than or equal to the radius of the screw, and the extension direction of the feeding groove 221 can be parallel to the vertical direction so that the screw 600 can be stored in the feeding groove 221; the transferring part 230 can be a robot, and the output end of the robot can first pull the screw 600 out of the feeding groove 221, and then store the screw 600 in the storage groove 121. By using the feeding component 200 in this application, screws 600 can be put into the storage groove 121 on the screw storage tray 120, so that the storage groove 121 contains screws 600, thereby ensuring the normal operation of the fastening operation. In addition, to ensure fastening efficiency, the screw storage tray 120 usually works with the feeding component 200 to complete the feeding operation after the fastening component 100 has completed the fastening operation for one object to be fastened, and before another object to be fastened has moved to the time corresponding to the fastening component 100.

[0059] Reference Figures 8 to 11 As an optional embodiment of this application, the screw feeding tray 220 can rotate around its own axis, and the axial direction of the screw feeding tray 220 is formed in a second preset direction. Multiple feeding grooves 221 are arranged on the screw feeding tray 220 around the second preset direction. The feeding end of the transferring part 230 can move along the second preset direction and can adsorb or release the screw 600. When the screw storage tray 120 is in the feeding position, the second preset direction is parallel to the first preset direction, so that the feeding end of the transferring part 230 can carry the screw 600 adsorbed from the feeding groove 221 to the storage groove 121.

[0060] In this optional embodiment, the screw feeding tray 220 is disc-shaped. Of course, in other embodiments, the screw feeding tray 220 can also have other shapes. The feeding assembly 200 also includes a fourth driving member, which is mounted on the feeding support member 210. The output shaft of the fourth driving member is coaxial with and fixedly connected to the screw feeding tray 220 to drive the screw feeding tray 220 to rotate around its own axis. The second preset direction can be vertically or inclined, and the extension direction of the feeding groove 221 is parallel to the second preset direction. To ensure feeding efficiency, multiple feeding grooves 221 are evenly distributed on the screw feeding tray 220 along its circumference. The material transfer unit 230 can be a combination of a cylinder and a suction nozzle, or a robotic arm with a suction nozzle.

[0061] When the screw storage tray 120 is in the feeding position, it is located above the screw feeding tray 220. The transfer end of the transfer part 230 moves to the lower part of the screw storage tray 120 through the locking mounting hole 122 and attracts the screw 600 in the feeding groove 221. Then, it carries the screw 600 through the locking mounting hole 122 to the upper part of the screw storage tray 120. The screw storage tray 120 then rotates. After the storage groove 121 on the screw storage tray 120 corresponds to the screw 600, the transfer end of the transfer part 230 releases the screw 600. The screw 600 falls into the storage groove 121 under its own weight. Of course, in other embodiments, when the screw storage tray 120 is in the feeding position, it can also be located below the screw feeding tray 220. In this case, a through hole should be provided between two adjacent feeding grooves 221 for the transfer end of the transfer part 230 to pass through. In addition, to reduce the difficulty of feeding, when the screw storage tray 120 is in the feeding position, the screw storage tray 120 and the screw feeding tray 220 are coaxial.

[0062] Reference Figure 8 and Figure 9 As an optional embodiment of this application, the material transfer section 230 includes a lifting member 231 and an adsorption member 232. The lifting member 231 is installed on the feeding support member 210 and has a telescopic end. The telescopic end of the lifting member 231 can move along a second preset direction. The adsorption member 232 is installed on the telescopic end of the lifting member 231 and can adsorb or release screws 600 stored in the feeding groove 221. The adsorption member 232 is formed as the material transfer end of the material transfer section 230.

[0063] In this optional configuration, the lifting component 231 is a cylinder and is positioned along a second preset direction; the suction component 232 is a suction nozzle, which can suction or release screws 600 stored in the feeding trough 221. The suction nozzle is fixedly mounted on the piston end of the cylinder, and the piston end of the cylinder forms the telescopic end of the lifting component 231. To accelerate the feeding speed, multiple transfer units 230 are provided, and the multiple transfer units 230 are arranged at intervals around the screw feeding tray 220 in a circumferential manner.

[0064] Reference Figures 8 to 11 As an optional embodiment of this application, the feeding assembly 200 further includes a feeding section 240, which is disposed on the feeding support member 210 and on one side of the screw feeding tray 220. The feeding section 240 includes a feeding track 241, which is provided with a feeding guide groove 2411 for accommodating screws 600. The extending direction of the feeding guide groove 2411 intersects with the second preset direction. The feeding guide groove 2411 has a discharge slot. Each feeding tray 221 has a feeding slot that communicates with the discharge slot. The feeding track 241 can drive the screws 600 in the feeding guide groove 2411 to move toward the discharge slot, so as to sequentially transport the screws 600 in the feeding guide groove 2411 to each feeding tray 221.

[0065] In this optional embodiment, the upper surface of the feeding carrier 210 is provided with a mounting groove, the screw feeding tray 220 is embedded in the mounting groove, the outer peripheral surface of the screw feeding tray 220 is adapted to the groove wall of the mounting groove, and the feeding groove 221 is provided on the outer peripheral surface of the screw feeding tray 220; the feeding track 241 can be a conveyor belt or a vibrating linear guide. When the feeding track 241 is a vibrating linear guide, the extension direction of the feeding guide groove 2411 is perpendicular to the second preset direction, and the length direction of the feeding track 241 is perpendicular to the second preset direction; by using the feeding part 240 of this application, screws 600 can be conveyed into the feeding groove 221, thereby facilitating the normal operation of subsequent feeding.

[0066] Reference Figure 8 , Figure 9 as well as Figure 11 As an optional embodiment of this application, the feeding unit 240 further includes a vibrating element 242, which is mounted on the feeding support 210. The feeding track 241 is mounted on the output end of the vibrating element 242. The output end of the vibrating element 242 can cause the feeding track 241 to vibrate, so that the feeding track 241 can drive the screw 600 in the feeding guide groove 2411 to move towards the discharge groove. In this optional embodiment, the vibrating element 242 is a linear vibration motor, which is fixedly mounted on the feeding support 210. The output end of the linear vibration motor is fixedly connected to the feeding track 241 to drive the feeding track 241 to vibrate.

[0067] Reference Figure 8 , Figure 9 as well as Figure 11 As an optional embodiment of this application, the feeding unit 240 further includes a hopper 243 and a feeding component. The hopper 243 is provided with a receiving cavity for accommodating the screw 600. The hopper 243 is provided with a through hole. The end of the feeding track 241 away from the screw feeding tray 220 passes through the through hole into the receiving cavity. The feeding component is rotatably disposed in the receiving cavity around the extension direction of the feeding guide groove 2411 and can move the screw 600 in the receiving cavity into the feeding guide groove 2411.

[0068] In this optional embodiment, the hopper 243 is located on one side of the screw feeding tray 220 and is fixedly installed on the feeding support 210. The feeding track 241 is partially inserted into the receiving cavity. The feeding component includes a feeding body whose axis is collinear with the extension direction of the feeding guide groove 2411 and a plurality of feeding plates fixedly installed on the feeding body and distributed around the extension direction of the feeding guide groove 2411. The feeding body can rotate around the axial direction of the feeding guide groove 2411, and the plurality of feeding plates can rotate in the receiving cavity with the rotation of the feeding body, and can push the screw 600 in the receiving cavity into the feeding guide groove 2411. Specifically, the feeding drive unit includes a fifth drive component, the output shaft of which is collinear with and fixedly connected to the axis of the feeding body; to improve feeding efficiency, a sweeping plate is provided above the feeding guide 2411, the sweeping plate can rotate in the receiving cavity in a direction parallel to and opposite to the extension direction of the feeding guide 2411, and the end of the sweeping plate near the feeding guide 2411 can sweep the screw 600 located above the feeding guide 2411 into the feeding guide 2411; to facilitate the addition of screw 600 into the receiving cavity, the upper end face of the hopper 243 is provided with a feed port communicating with the receiving cavity.

[0069] Reference Figures 1 to 11 According to another aspect of this application, embodiments of this application also provide a screw fastening system for fastening screws 600 to an object to be fastened. The screw fastening system includes a mounting frame 300, a robotic arm 400, and the aforementioned screw fastening equipment. The robotic arm 400 is mounted on the mounting frame 300, and the fastening support 110 is mounted on the output end of the robotic arm 400.

[0070] In this embodiment, the robotic arm 400 is preferably a six-axis robotic arm. Of course, in other embodiments, the robotic arm 400 can also be a five-axis robotic arm or a four-axis robotic arm. The starting end of the robotic arm 400 can be fixedly mounted on the mounting frame 300 using a flange. The end of the robotic arm 400 can move freely within a set range. The fastening support can be fixedly mounted on the end of the robotic arm using a flange. The end of the robotic arm forms the output end of the robotic arm 400. The feeding support 210 is fixedly mounted on the mounting frame 300. To improve fastening efficiency, multiple screw fastening devices are provided. The multiple screw fastening devices are arranged at intervals along the length direction of the conveyor line used to convey the object to be fastened. At the same time, the number of robotic arms 400 is the same as the number of screw fastening devices, and they correspond one-to-one.

[0071] Reference Figure 1 The screw fastening system in this embodiment also includes a control unit 500 and a vision detection unit. The vision detection unit is installed on the upper end of the mounting bracket 300 and is used to detect the position of the object to be fastened. The vision detection unit is electrically connected to the control unit 500, the control unit 500 is electrically connected to the screw fastening device, and is electrically connected to the robotic arm 400.

[0072] In this embodiment, the control unit 500 is a controller, which can be located on one side of the mounting bracket 300. The control unit 500 is electrically connected to the locking drive unit, the pressure regulating component, the third drive component 185, the fourth drive component, the material transfer unit 230, the vibration component 242, the feeding component, and the scanning plate. The vision inspection unit is a vision inspection camera, which is fixedly mounted on the mounting bracket 300 and located above the object to be locked. The visual inspection unit feeds back the detected information to the control unit 500. The control unit 500 analyzes the detection information and issues corresponding commands to the locking drive unit, the pressure regulating component, the third drive component 185, the fourth drive component, the material transfer unit 230, the vibration component 242, the feeding component, the scanning plate, and the robotic arm 400, thereby ensuring the normal operation of the locking and feeding operations. By using the control unit 500 and the visual inspection unit in this application, the locking and feeding operations can be linked, thereby improving both locking efficiency and feeding efficiency.

[0073] Reference Figure 1 and Figure 3 In this embodiment, the locking assembly 100 also includes an identification and positioning part 190, which is disposed on the locking support member 110 and is used to identify and position the position of the screw hole on the object to be locked, and is electrically connected to the control part 500.

[0074] In this embodiment, the identification and positioning unit 190 is an identification and positioning camera, which is fixedly installed on the locking support frame. The identification and positioning camera can identify the position of the screw holes on the object to be locked and form identification and positioning information. It can also feed back the identification and positioning information to the control unit 500. The control unit 500 can analyze the identification and positioning information and issue corresponding commands to the locking drive unit, the pressure regulating unit, the third drive unit 185, the fourth drive unit, the material transfer unit 230, the vibration unit 242, and the robotic arm 400.

[0075] In addition, to facilitate the movement of the mounting bracket 300, multiple casters are fixedly installed at the bottom of the mounting bracket 300; at the same time, to facilitate the adjustment of the height and stability of the mounting bracket 300, mounting feet are fixedly installed at the bottom of the mounting bracket 300.

[0076] In summary, implementing the screw fastening device and screw fastening system provided in this embodiment has at least the following beneficial technical effects: When fastening the screw 600 using the screw fastening device of this application, the fastening end of the fastening part 130 first pulls the screw 600 out of the storage tank 121, and then fastens the screw 600 into the screw hole on the object to be fastened to complete the fastening operation. Since the screw fastening device of this application has a built-in screw storage tray 120, when fastening the screw 600 using the screw fastening device of this application, the fastening end of the fastening part 130 can directly grab the screw 600 from the storage tank 121 and fasten the screw 600 into the screw hole on the object to be fastened. It is not necessary to first grab the screw 600 from the feeder fixed at a set position, and then carry the screw 600 to the designated position for the screw fastening operation, which greatly improves the fastening efficiency.

[0077] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A screw fastening device, characterized in that, The screw fastening device is used to fasten screws (600) into screw holes on the object to be fastened. The screw fastening device includes a fastening assembly (100), which includes a fastening support member (110) that can move within a set range. A screw storage tray (120) is provided on the locking support member (110), and the screw storage tray (120) is provided with a plurality of storage slots (121) capable of storing the screws (600). And a locking part (130), the locking part (130) is provided on the locking support member (110), the locking part (130) has a locking end, the locking end of the locking part (130) can pull out the screw (600) in the storage tank (121) and lock the screw (600) into the screw hole on the object to be locked; The screw storage tray (120) can rotate around its own axis, and the axial direction of the screw storage tray (120) is formed in a first preset direction. A plurality of storage slots (121) are arranged on the screw storage tray (120) around the first preset direction. The locking part (130) can move along the first preset direction. A locking mounting hole (122) is provided between two adjacent storage tanks (121). The locking end of the locking part (130) can absorb or release the screw (600), and can carry the screw (600) through the locking mounting hole (122), and can lock the screw (600) into the screw hole on the object to be locked. The screw fastening device further includes a feeding assembly (200), which is located on one side of the fastening assembly (100); the feeding assembly (200) includes a feeding support member (210), which is fixedly installed at a set position; A screw feeding tray (220) is provided on the feeding support (210), and the screw feeding tray (220) is provided with a plurality of feeding slots (221) capable of storing the screws (600). The material transfer part (230) is provided on the feeding support (210). The material transfer part (230) has a material transfer end. The screw storage tray (120) has a feeding position. When the screw storage tray (120) is in the feeding position, the material transfer end of the material transfer part (230) can pull the screw (600) in the feeding groove (221) outward and store the screw (600) in the storage groove (121). The screw feeding tray (220) can rotate around its own axis, and the axial direction of the screw feeding tray (220) is formed in a second preset direction. A plurality of feeding slots (221) are arranged on the screw feeding tray (220) around the second preset direction. The transfer end of the transfer section (230) can move along the second preset direction and can adsorb or release the screw (600); when the screw storage tray (120) is in the loading position, the second preset direction is parallel to the first preset direction, so that the transfer end of the transfer section (230) can carry the screw (600) adsorbed from the loading groove (221) to the storage groove (121); When the screw storage tray (120) is in the feeding position, the screw storage tray (120) is located above the screw feeding tray (220). The feeding end of the transfer part (230) moves to the lower part of the screw storage tray (120) through the locking mounting hole (122) and adsorbs the screw (600) in the feeding groove (221). Then, it carries the screw (600) through the locking mounting hole (122) to the upper part of the screw storage tray (120).

2. The screw fastening device according to claim 1, characterized in that, The locking part (130) includes a sleeve (131), and an adsorption cavity is provided on the end face of the first end of the sleeve (131). The opening of the adsorption cavity can at least partially cover the opening of the storage tank (121). The locking assembly (100) also includes a pressure regulating component, which is connected to the adsorption chamber and can change the air pressure inside the adsorption chamber when it is covered by the opening of the storage tank (121) so that the adsorption chamber adsorbs or releases the screw (600).

3. The screw fastening device according to claim 2, characterized in that, The extension direction of the adsorption cavity is parallel to the first preset direction, the end face of the first end of the sleeve (131) can abut against the surface of the object to be locked, and the opening of the adsorption cavity can at least partially cover the screw hole on the object to be locked. The fastening part (130) also includes an electric screwdriver (132). The end of the first end of the electric screwdriver (132) passes through the sleeve (131) away from the screw storage tray (120) and into the adsorption cavity. It can drive the screw (600) in the adsorption cavity to rotate around the axis of the electric screwdriver (132) and can move in the adsorption cavity along the first preset direction to fasten the screw (600) into the screw hole on the object to be fastened.

4. The screw fastening device according to claim 3, characterized in that, The locking assembly (100) further includes a mounting part (170) and a moving drive part (180). The mounting part (170) can move along the first preset direction. The electric screwdriver (132) and the sleeve (131) are both mounted on the mounting part (170). The moving drive part (180) is disposed on the locking support member (110). The moving drive part (180) has an output end. The output end of the moving drive part (180) can slide along the first preset direction on the locking support member (110) and connect with the mounting part (170) to drive the mounting part (170) to move along the first preset direction.

5. The screw fastening device according to claim 4, characterized in that, The mobile drive unit (180) includes: Conveyor belt (181), the running direction of the conveyor belt (181) is parallel to the first preset direction; A drive wheel (182) is rotatably mounted on the locking support member (110) about its own axis. The conveyor belt (181) is located on the outer periphery of the drive wheel (182) and is drivenly connected to the drive wheel (182). Driven wheel (183), which is rotatably mounted on the locking support member (110) about its own axis, and is located on the side of the screw storage tray (120) near or away from the drive wheel (182). The conveyor belt (181) is located on the outer periphery of the driven wheel (183) and is drivenly connected to the driven wheel (183). And a connector (184), which can be slidably mounted on the locking support member (110) along the first preset direction and is fixedly connected to the conveyor belt (181) and the mounting part (170) to drive the mounting part (170) to move along the first preset direction. The connector (184) is formed as the output end of the moving drive part (180).

6. The screw fastening device according to claim 5, characterized in that, The mounting part (170) includes: Mounting body (171), which is fixedly connected to the connector (184); The first mounting component (172) is mounted on the mounting body (171) and connected to the end of the second end of the electric screwdriver (132); The second mounting part (173) is located on the side of the first mounting part (172) near the screw storage tray (120) and is mounted on the mounting body (171), and is connected to the end of the second end of the sleeve (131); And a reset member (174), which is disposed between the first mounting member (172) and the second mounting member (173) and can switch between a compressed state and a free state; the first mounting member (172) can be slidably mounted on the mounting body (171) along the first preset direction, and the second mounting member (173) can be slidably mounted on the mounting body (171) along the first preset direction, so that the reset member (174) can switch between the compressed state and the free state.

7. The screw fastening device according to claim 1, characterized in that, The material transfer section (230) includes a lifting member (231) and an adsorption member (232). The lifting member (231) is installed on the feeding carrier (210). The lifting member (231) has a telescopic end, and the telescopic end of the lifting member (231) can move along the second preset direction. The adsorption member (232) is installed on the telescopic end of the lifting member (231) and can adsorb or release the screw (600) stored in the feeding groove (221). The adsorption member (232) is formed as the material transfer end of the material transfer section (230).

8. The screw fastening device according to claim 1, characterized in that, The feeding assembly (200) also includes a feeding section (240), which is disposed on the feeding support (210) and on one side of the screw feeding tray (220); The feeding unit (240) includes a feeding track (241), on which a feeding guide groove (2411) for accommodating the screw (600) is provided. The extending direction of the feeding guide groove (2411) intersects with the second preset direction. The feeding guide groove (2411) has a discharge port. Each of the feeding troughs (221) has a feed port that communicates with the discharge port. The feeding track (241) can drive the screw (600) in the feeding guide groove (2411) to move toward the discharge port, so as to sequentially transport the screw (600) in the feeding guide groove (2411) to each of the feeding troughs (221).

9. The screw fastening device according to claim 8, characterized in that, The feeding unit (240) also includes a vibrating element (242), which is installed on the feeding support (210). The feeding track (241) is installed on the output end of the vibrating element (242). The output end of the vibrating element (242) can cause the feeding track (241) to vibrate, so that the feeding track (241) can drive the screw (600) in the feeding guide groove (2411) to move toward the discharge groove.

10. The screw fastening device according to claim 8, characterized in that, The feeding unit (240) further includes: a hopper (243), the hopper (243) having a receiving cavity for accommodating the screw (600), the hopper (243) having a through hole, and the end of the feeding track (241) away from the screw feeding tray (220) passing through the through hole into the receiving cavity; And a feeding component, which is rotatably disposed in the receiving cavity about the extension direction of the feeding guide groove (2411) and is capable of moving the screw (600) in the receiving cavity into the feeding guide groove (2411).

11. A screw fastening system, characterized in that, The screw fastening system is used to fasten screws (600) to an object to be fastened. The screw fastening system includes a mounting frame (300), a robotic arm (400), and a screw fastening device according to any one of claims 1 to 10. The robotic arm (400) is mounted on the mounting frame (300), and the fastening support (110) is mounted on the output end of the robotic arm (400).

12. The screw fastening system according to claim 11, characterized in that, The screw fastening system also includes a control unit (500) and a vision detection unit. The vision detection unit is installed on the upper end of the mounting bracket (300) and is used to detect the position of the object to be fastened. The vision detection unit is electrically connected to the control unit (500), the control unit (500) is electrically connected to the robotic arm (400), and is electrically connected to the screw fastening device.

13. The screw fastening system according to claim 12, characterized in that, The locking assembly (100) further includes an identification and positioning part (190), which is disposed on the locking support (110) and is used to identify and position the position of the screw hole on the object to be locked, and is electrically connected to the control part (500).

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