Self-adaptive fastener assembly robot

Abstract

The invention discloses a self-adaptive fastener assembly robot which comprises a rotary table and a mechanical arm, the rotary table is used for limiting a countersunk bolt, the mechanical arm is used for matching a hexagonal nut with the countersunk bolt, and the rotary table comprises a first disc body, a second disc body, a third disc body and a fourth disc body; and the second disc body is arranged at the lower end of the first disc body and used for limiting the countersunk bolt, and the mechanical arm comprises a control arm which can horizontally and obliquely move and is used for toppling the hexagonal nut. The expansion pipe is clamped in the C-shaped clamp to achieve rotation, meanwhile, the control arm is changed from inclination to horizontal, the hexagon nut is matched with the countersunk bolt, machining is completed, the control arm is extruded out by the baffle subsequently, the control arm is controlled from inclination to horizontal and then to one second after inclination, the rotating disc rotates, and the position sensor detects the situation; and the control arm moves for one cycle again, so that the hexagon nut is continuously matched with the countersunk bolt.

Description

Technical Field

[0001] The invention relates to the technical field of fastener assembly, in particular to an adaptive fastener assembly robot. Background Art

[0002] The main function of fasteners is to connect and fix the parts and devices needed to assemble the entire machine or equipment into a complete device. They connect different parts tightly together through threads, snaps or other means to ensure that the machine or equipment will not loosen or other failures during use. This connection and fixation is crucial to the stability and reliability of mechanical devices. Among them, there are quite a lot of types of fasteners, and expansion bolts are one of them. Expansion bolts are a special threaded connector, mainly used to fix pipeline supports / hangers / brackets or equipment on walls, floors, and columns. It consists of multiple parts, including countersunk bolts, expansion tubes, flat washers, spring washers, and hexagonal nuts.

[0003] Since the expansion bolt has relatively many parts during use, and each part is used in a matching manner, it is necessary to match the countersunk bolt and the hexagonal nut, and limit the expansion tube, flat washer and spring washer on the countersunk bolt. In production, the expansion bolt needs to be assembled, and the assembly is often done manually. The countersunk bolt and the hexagonal nut need to be held separately, and then rotated relative to each other to make them match. The countersunk bolt is exposed to the expansion tube in a limited range, so the position of holding is limited. When the hexagonal nut is not threadedly connected with the countersunk bolt, it is hard to turn, even if it is matched, it will damage the thread of the countersunk bolt or the hexagonal nut. In addition, even if the hexagonal nut and the countersunk bolt are matched, the two need to be rotated a relatively large number of times to avoid separation. When the hexagonal nut has resistance to rotation, it needs to be manually rotated in circles, which further affects the efficiency. Summary of the invention

[0004] The object of the present invention is to provide an adaptive fastener assembly robot to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an adaptive fastener assembly robot, comprising a turntable and a mechanical arm, wherein the turntable is used to limit the countersunk bolt, and the mechanical arm is used to match the hexagonal nut with the countersunk bolt, and the turntable comprises:

[0006] The first disc body has a clamping opening on the outer side for clamping the expansion tube;

[0007] The second disc body is arranged at the lower end of the first disc body to limit the countersunk bolt. The mechanical arm includes:

[0008] A control arm capable of horizontal and tilting movements for tipping the hexagonal nut;

[0009] A cylinder body, fixed to the upper end of the control arm, used to limit the plurality of hexagonal nuts;

[0010] The air nozzle is inserted into the control arm to generate a blowing force on the poured-out hexagonal nut, thereby controlling the hexagonal nut to cooperate with the countersunk bolt.

[0011] Furthermore, a support shaft is fixed between the disc body 1 and the disc body 2, and an elastic C-shaped clamp is fixed in the clamping opening of the disc body 1, and the C-shaped clamp is used to clamp the expansion tube.

[0012] Furthermore, a collar coaxial with the clamping opening is fixed at the upper end of the second disk body, and a recessed clamping opening is provided on the inner wall of the collar. A V-shaped clamp is rotatably provided in the clamping opening, and torsion springs for resetting are provided on both sides of the V-shaped clamp. When the V-shaped clamp is in the reset state, one of the two branches is vertically arranged.

[0013] Further, a support plate is provided at the lower end of the turntable and the mechanical arm, the mechanical arm is fixed on the support plate, the turntable is rotatably arranged on the support plate, and a control unit is provided at the lower end of the turntable, and the control unit includes:

[0014] A controller is arranged at the lower end of the support plate;

[0015] A position sensor, disposed at the lower end of the control arm and electrically connected to the controller, for detecting whether the turntable is rotating;

[0016] A hydraulic pump, located outside the control arm, used to control the angle adjustment of the control arm, wherein the hydraulic pump is electrically connected to the controller;

[0017] The servo motor is fixed at the lower end of the support plate, and its output end is fixed to the turntable. The servo motor is electrically connected to the controller.

[0018] Furthermore, a baffle is provided between the first disc body and the second disc body, the position of the baffle remains stationary, and the baffle is used to squeeze the expansion tube out of the C-shaped clip.

[0019] Furthermore, the control arm is provided with a sliding opening from top to bottom, and the control arm is fixed with limiting plates on both upper and lower sides, the limiting plates limit the hexagonal nut in the sliding opening, and the inner walls on both sides of the sliding opening are in contact with the side edges of the hexagonal nut, and the cylinder body overlaps with the end of the sliding opening;

[0020] The control arm is provided with a circular opening from top to bottom, the circular opening coincides with the sliding opening, and a rotatable inner rotating frame is provided in the circular opening, the air nozzle is inserted into the sliding opening, and its end is tilted toward the inner rotating frame, and when the control arm is tilted, the bolt in the cylinder enters into the inner rotating frame;

[0021] The lower end of the control arm is also provided with a level sensor, which is electrically connected to the controller. The outer end of the air nozzle is connected to an air pump, which is also electrically connected to the controller. Whether the control arm is horizontal controls whether the air pump blows air.

[0022] Furthermore, an inner reinforcing shaft is integrally provided on the inner wall of the circular opening, the inner rotating frame includes a circular frame, a longitudinal piece and a rubber edge, the circular frame is arranged in the circular opening, a fan-shaped longitudinal piece is fixed to the upper end of the circular frame, an outer opening matching the inner reinforcing shaft is opened on the outer side of the longitudinal piece, a hexagonal opening is penetrated through the circular frame, and the hexagonal opening is the same shape as the hexagonal nut, and the rubber edge is fixed on the inner wall of the hexagonal opening.

[0023] Furthermore, the outermost longitudinal piece is magnetically arranged, and the relative position of the inner wall of the circular opening is also magnetically arranged.

[0024] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention realizes rotation by clamping the expansion tube in the C-shaped clamp, and at the same time, the control arm changes from tilting to horizontal, and the hexagonal nut is matched with the countersunk bolt to complete the processing, and is subsequently squeezed out by the baffle. The control arm changes from tilting to horizontal and then tilting. One second later, the turntable rotates, so that the position sensor detects that the control arm performs a cycle of movement again, and the hexagonal nut is matched with the countersunk bolt continuously;

[0025] Clamp the expansion tube in the C-shaped clamp, push the expansion tube downward to the lowest end, so that the lower end and side of the countersunk bolt abut against the V-shaped clamp to prevent rotation. The lateral force pushes the expansion tube and the C-shaped clamp to separate, and the countersunk bolt can be directly taken out, which is convenient for operation;

[0026] When the control arm tilts, the cylinder causes the hexagonal nut at the bottom to move along the slide to the circular frame. The wind blows the longitudinal piece to rotate, causing the hexagonal nut to rotate, thereby achieving coordination between the two, making the assembly robot highly automated and further shortening the assembly time. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the turntable of the present invention;

[0030] Figure 3 The present invention Figure 2 A is a schematic diagram of the partially enlarged structure of the middle part;

[0031] Figure 4 It is a schematic diagram of the structure of the turntable clamping expansion bolts of the present invention;

[0032] Figure 5 is a schematic diagram of the control arm structure of the present invention;

[0033] Figure 6 is a schematic diagram of the control arm tilt change structure of the present invention;

[0034] Figure 7 It is a schematic diagram of the structure of the inner rotating frame of the present invention;

[0035] Figure 8 It is a schematic diagram of the logic block structure of the present invention.

[0036] In the figure: 1. turntable; 11. disk body 1; 12. disk body 2; 121. abutment ring; 122. bayonet; 123. V-shaped clamp; 13. support shaft; 14. clamping mouth; 15. C-shaped clamp; 16. baffle; 2. mechanical arm; 21. control arm; 211. sliding mouth; 212. limiting plate; 213. circular mouth; 214. inner reinforcing shaft; 22. cylinder; 23. inner rotating frame; 231. circular frame; 232. longitudinal plate; 233. outer mouth; 234. hexagonal mouth; 235. rubber edge; 24. air nozzle; 3. support plate; 31. position sensor; 32. controller; 33. servo motor; 34. air pump; 35. level sensor. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-8 The present invention provides a technical solution: an adaptive fastener assembly robot, comprising a turntable 1 and a mechanical arm 2, wherein the turntable 1 is used to limit the countersunk bolt, and the mechanical arm 2 is used to match the hexagonal nut with the countersunk bolt. The turntable 1 comprises:

[0039] A disc body 11, the outer side of which has a clamping opening 14 for clamping the expansion tube;

[0040] The second disk body 12 is arranged at the lower end of the first disk body 11 to limit the countersunk bolt. The mechanical arm 2 includes:

[0041] A control arm 21, which can move horizontally and tilted, and is used to tip the hexagonal nut;

[0042] The cylinder 22 is fixed to the upper end of the control arm 21 and is used to limit the multiple hexagonal nuts;

[0043] The air nozzle 24 is inserted into the control arm 21 to generate a blowing force on the poured hexagonal nut to control the hexagonal nut to cooperate with the countersunk bolt.

[0044] A support shaft 13 is fixed between the disk body 11 and the disk body 2 12, and an elastic C-shaped clamp 15 is fixed in the clamping mouth 14 of the disk body 11. The C-shaped clamp 15 is used to clamp the expansion tube, and the lateral force can push the expansion tube out. For example, the baffle 16 keeps the position of the baffle 16 unchanged under the rotation of the turntable 1, and has the effect of pushing the expansion tube. The baffle 16 is fixed on the support plate 3, and can quickly separate the expansion bolts that have been matched.

[0045] A collar 121 coaxial with the clamping opening 14 is fixed to the upper end of the second disk body 12, and a recessed bayonet 122 is provided on the inner wall of the collar 121. A V-shaped clamp 123 is rotatably provided in the bayonet 122, and torsion springs for resetting are provided on both sides of the V-shaped clamp 123. When the V-shaped clamp 123 is in the resetting state, one of the two branches is vertically arranged, pushing the expansion tube clamped by the C-shaped clamp 15 to the lowermost end, so that the countersunk bolt and the V-shaped clamp 123 cooperate and clamp, and can maintain stability. However, under a lateral external force, the countersunk bolt and the expansion tube can be separated from the V-shaped clamp 123 and the C-shaped clamp 15.

[0046] A support plate 3 is provided at the lower end of the turntable 1 and the mechanical arm 2, the mechanical arm 2 is fixed on the support plate 3, the turntable 1 is rotatably arranged on the support plate 3, and a control unit is provided at the lower end of the turntable 1, and the control unit includes:

[0047] A controller 32 is provided at the lower end of the support plate 3;

[0048] A position sensor 31 is disposed at the lower end of the control arm 21 and is electrically connected to the controller 32, and is used to detect whether the turntable 1 is rotating;

[0049] The hydraulic pump is located outside the control arm 21 and is used to control the angle adjustment of the control arm 21. The hydraulic pump is electrically connected to the controller 32, and adjusts the angle of the control arm 21 and makes the control arm 21 tilt from horizontal to tilt again as one movement cycle. The tilting of the control arm 21 is controlled by the position sensor 31. The position sensor 31 detects the movement of the turntable 1 and makes the control arm 21 move. Therefore, as long as the servo motor 33 is working, the countersunk bolt and the hexagonal nut can be continuously matched.

[0050] The servo motor 33 is fixed to the lower end of the support plate 3, and its output end is fixed to the turntable 1. The servo motor 33 is electrically connected to the controller 32, and the intermittent rotation and the rotation angle are the same to achieve a stable effect.

[0051] A baffle 16 is also provided between the first disk body 11 and the second disk body 12. The baffle 16 remains in a fixed position and is used to squeeze the expansion tube out of the C-shaped clip 15. The baffle 16 is installed on the support plate 3 to squeeze out the installed expansion bolt.

[0052] like Figure 5 As shown, the control arm 21 is penetrated from top to bottom with a sliding opening 211, and the upper and lower sides of the control arm 21 are fixed with limiting pieces 212, the limiting pieces 212 limit the hexagonal nut in the sliding opening 211, and the inner walls on both sides of the sliding opening 211 are in contact with the side edges of the hexagonal nut, the cylinder 22 overlaps with the end of the sliding opening 211, the hexagonal nut in the cylinder 22 can slide along the sliding opening 211, the hexagonal nuts stacked in the cylinder 22 can slide, and the limiting pieces 212 limit the hexagonal nut so that the hexagonal nut will not fall out downwards;

[0053] In addition, the hexagonal nut is limited on both the upper and lower sides by the limiting piece 212, and the position remains unchanged. At the same time, the inner walls on both sides of the sliding opening 211 are in contact with the side edges of the hexagonal nut, so that the hexagonal nut does not rotate, and the limiting is achieved to ensure stable sliding into the inner rotating frame 23;

[0054] The control arm 21 is provided with a circular opening 213 from top to bottom, the circular opening 213 coincides with the sliding opening 211, and a rotatable inner rotating frame 23 is provided in the circular opening 213, the air nozzle 24 is inserted into the sliding opening 211, and its end is tilted toward the inner rotating frame 23, when the control arm 21 is tilted, the bolt in the cylinder 22 enters into the inner rotating frame 23, so that the hexagonal nut enters into the corresponding position, so that the hexagonal nut can be rotated to achieve cooperation with the countersunk bolt;

[0055] A level sensor 35 is also provided at the lower end of the control arm 21, and the level sensor 35 is electrically connected to the controller 32. The outer end of the air nozzle 24 is connected to an air pump 34, and the air pump 34 is also electrically connected to the controller 32. Whether the control arm 21 is horizontal controls whether the air pump 34 blows air. The level sensor 35 can only make the air pump 34 blow air when it detects that it is horizontal, thereby pushing the hexagonal nut to rotate.

[0056] like Figure 5 and 7As shown, an inner reinforcing shaft 214 is integrally provided on the inner wall of the circular opening 213, and the inner rotating frame 23 includes a circular frame 231, a longitudinal piece 232 and a rubber edge 235. The circular frame 231 is arranged in the circular opening 213, and a fan-shaped longitudinal piece 232 is fixed on the upper end of the circular frame 231. An outer opening 233 cooperating with the inner reinforcing shaft 214 is opened on the outer side of the longitudinal piece 232. A hexagonal opening 234 is penetrated through the circular frame 231, and the hexagonal opening 234 has the same shape as the hexagonal nut. The rubber edge 235 is fixed on the inner wall of the hexagonal mouth 234. The hexagonal mouth 234 cooperates with the hexagonal nut, so that the hexagonal nut can fall downward and be separated from the inner rotating frame 23. The rubber edge 235 provided in addition is used to support the hexagonal nut to prevent the hexagonal nut from falling downward, but can make the hexagonal nut move downward when there is a downward force. When the hexagonal nut cooperates with the countersunk bolt, the degree of socketing between the two gradually increases, and there is a downward force, so that the hexagonal nut moves downward.

[0057] The outermost longitudinal piece 232 is magnetically arranged, and the relative position of the inner wall of the circular opening 213 is also magnetically arranged. It should be noted that the magnetic arrangement allows the magnetic positions of the two to attract each other after the air nozzle stops blowing, so that the opening position of the inner rotating frame 23 faces the cylinder 22 after rotation, and the hexagonal bolts in the cylinder 22 can smoothly enter the inner rotating frame 23 to maintain sustainable movement.

[0058] The working principle of the present invention is as follows: the countersunk bolt, the expansion tube, the flat washer and the spring washer are sleeved together, and then the expansion tube is clamped in the C-shaped clamp 15. The servo motor 33 at the lower end controls the turntable 1 to rotate at intervals, so that the position of the C-shaped clamp 15 rotates to the position of the next C-shaped clamp 15. The positions of the C-shaped clamp 15 before and after the rotation are overlapped, so that the position of the C-shaped clamp 15 remains unchanged. In addition, stacked hexagonal nuts are placed in the cylinder 22. After the C-shaped clamp 15 rotates, the position sensor 31 detects the rotation of the turntable 1, and the controller 32 controls the output of the hydraulic pump to adjust the control of the hydraulic pump. The degree of tilt of the arm 21 makes the control arm 21 in a horizontal state. In addition, the hexagonal nut at the bottom of the cylinder 22 in the tilted state will slide into the inner rotating frame 23. At the same time, the control arm 21 is in a horizontal state. After the horizontal sensor 35 detects it, the controller 32 controls the air pump 34 to deliver gas to the air nozzle 24, and the gas 24 drives the inner rotating frame 23 to rotate. It should be noted that the rotation of the inner rotating frame 23 causes the hexagonal nut to rotate as well, and the control arm 21 in the horizontal state makes the hexagonal nut in the inner rotating frame 23 abut against the upper end of the countersunk bolt, and the hexagonal nut is rotated to achieve the coordination between the two. The control arm 21 in the subsequent horizontal state is reset to a tilted state, and the hexagonal nut also slides from the cylinder 22 to the inner rotating frame 23, and the servo motor 33 rotates again, realizing the above-mentioned movement of the control arm 21 from tilting to horizontal and then to tilting again;

[0059] It should be noted that when the control arm 21 is tilted, the air pump 34 does not supply gas to the air nozzle 24. It should also be noted that the control arm 21 is tilted from horizontal to tilted in a cycle of three seconds, and the turntable 1 is controlled by the servo motor 33. The servo motor 33 is controlled by the controller 32 to rotate one second after the control arm 21 is tilted. The rotation cycle of the servo motor 33 can be adjusted to one rotation every four seconds, and the rotation is stable. The servo motor 33 actively rotates, and the control arm 21 is tilted from horizontal to tilting. In addition, the air pump 34 supplies air to the air nozzle 24 when it is horizontal.

[0060] The expansion tube is clamped in the C-shaped clamp 15 to achieve rotation. At the same time, the control arm 21 changes from tilting to horizontal, and the hexagonal nut is matched with the countersunk bolt to complete the processing, and is subsequently squeezed out by the baffle 16. It should be noted that the control arm 21 changes from tilting to horizontal and then to tilting. One second later, the turntable 1 rotates, so that the position sensor 31 detects that the control arm 21 performs a cycle of movement again, and the hexagonal nut is continuously matched with the countersunk bolt. In addition, the air nozzle 24 only blows air when the control arm 21 is used to rotate the hexagonal nut.

[0061] Secondly, the expansion tube is clamped in the C-shaped clamp 15, and the internal countersunk bolt can still move up and down. The expansion tube is manually pushed downward to the lowest end, so that the lower end and side of the countersunk bolt are against the V-shaped clamp 123. The V-shaped clamp 123 limits the countersunk bolt to prevent rotation. The lateral force pushes the expansion tube to separate from the C-shaped clamp 15, and the countersunk bolt can be directly taken out, which is convenient for operation.

[0062] In addition, when the control arm 21 tilts and changes, the cylinder 22 on the control arm 21 causes the hexagonal nut at the lower end to move along the sliding mouth 211 to the circular frame 231 and be clamped in the hexagonal mouth 234. The wind blows the longitudinal piece 232 to rotate, which causes the hexagonal nut to rotate. At the same time, due to the resistance against the countersunk bolt, the two are matched. After the two are matched, the threaded connection part gradually increases, so that the hexagonal nut has a downward force, which squeezes the rubber edge 235 and moves the hexagonal nut downward out of the hexagonal mouth 234, so that the control arm 21 can continue to move the hexagonal nut to the circular frame 231 when it tilts, so that the assembly robot has a high degree of automation and further shortens the assembly time.

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0064] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive fastener assembly robot, characterized in that: The invention comprises a rotating disk (1) and a mechanical arm (2), wherein the rotating disk (1) is used to limit the position of the countersunk bolt, and the mechanical arm (2) is used to match the hexagonal nut with the countersunk bolt. The rotating disk (1) comprises: A disc body (11) having a clamping opening (14) on its outer side for clamping the expansion tube; The second disk body (12) is arranged at the lower end of the first disk body (11) to limit the countersunk bolt. The mechanical arm (2) comprises: A control arm (21) capable of horizontal and tilting movement for tipping the hexagonal nut; A cylinder (22) is fixed to the upper end of the control arm (21) and is used to limit the position of a plurality of hexagonal nuts; The air nozzle (24) is inserted into the control arm (21) to generate a blowing force on the poured hexagonal nut to control the hexagonal nut to cooperate with the countersunk bolt.

2. The adaptive fastener assembly robot according to claim 1, characterized in that: A support shaft (13) is fixed between the first disk body (11) and the second disk body (12), and an elastic C-shaped clamp (15) is fixed in the clamping opening (14) of the first disk body (11), and the C-shaped clamp (15) is used to clamp the expansion tube.

3. The adaptive fastener assembly robot according to claim 1, characterized in that: A collar (121) coaxial with the clamping opening (14) is fixed at the upper end of the second disc body (12); a recessed clamping opening (122) is provided on the inner wall of the collar (121); a V-shaped clamp (123) is rotatably provided in the clamping opening (122); torsion springs for resetting are provided on both sides of the V-shaped clamp (123); when the V-shaped clamp (123) is in the resetting state, one of the two branches is vertically arranged.

4. The adaptive fastener assembly robot according to claim 3, characterized in that: A support plate (3) is provided at the lower end of the turntable (1) and the mechanical arm (2), the mechanical arm (2) is fixed on the support plate (3), the turntable (1) is rotatably arranged on the support plate (3), and a control unit is provided at the lower end of the turntable (1), the control unit comprising: A controller (32) is arranged at the lower end of the support plate (3); A position sensor (31), arranged at the lower end of the control arm (21) and electrically connected to the controller (32), for detecting whether the turntable (1) is rotating; A hydraulic pump, located outside the control arm (21), used for controlling the angle adjustment of the control arm (21), wherein the hydraulic pump is electrically connected to the controller (32); The servo motor (33) is fixed at the lower end of the support plate (3), and its output end is fixed to the turntable (1). The servo motor (33) is electrically connected to the controller (32).

5. The adaptive fastener assembly robot according to claim 3, characterized in that: A baffle (16) is also provided between the first disk body (11) and the second disk body (12). The baffle (16) is kept in a fixed position and is used to squeeze the expansion tube out of the C-shaped clamp (15).

6. The adaptive fastener assembly robot according to claim 4, characterized in that: The control arm (21) is provided with a sliding opening (211) from top to bottom, and the control arm (21) is fixed with limiting plates (212) on both upper and lower sides, and the limiting plates (212) limit the hexagonal nut in the sliding opening (211), and the inner walls on both sides of the sliding opening (211) are in contact with the side edges of the hexagonal nut, and the cylinder (22) and the end of the sliding opening (211) overlap; The control arm (21) is provided with a circular opening (213) from top to bottom, the circular opening (213) coincides with the sliding opening (211), and a rotatable inner rotating frame (23) is provided in the circular opening (213), the air nozzle (24) is inserted into the sliding opening (211), and its end is tilted toward the inner rotating frame (23), when the control arm (21) is tilted, the bolt in the cylinder (22) enters into the inner rotating frame (23); The lower end of the control arm (21) is also provided with a level sensor (35), and the level sensor (35) is electrically connected to the controller (32). The outer end of the air nozzle (24) is connected to an air pump (34), and the air pump (34) is also electrically connected to the controller (32). Whether the control arm (21) is horizontal controls whether the air pump (34) blows air.

7. The adaptive fastener assembly robot according to claim 6, characterized in that: An inner reinforcing shaft (214) is integrally provided on the inner wall of the circular opening (213); the inner rotating frame (23) comprises a circular frame (231), a longitudinal piece (232) and a rubber edge (235); the circular frame (231) is arranged in the circular opening (213); a fan-shaped longitudinal piece (232) is fixed on the upper end of the circular frame (231); an outer opening (233) cooperating with the inner reinforcing shaft (214) is opened on the outer side of the longitudinal piece (232); a hexagonal opening (234) is penetrated through the circular frame (231); the hexagonal opening (234) is the same shape as the hexagonal nut; and the rubber edge (235) is fixed on the inner wall of the hexagonal opening (234).

8. The adaptive fastener assembly robot according to claim 7, characterized in that: The longitudinal piece (232) at the outermost edge is magnetically arranged, and the relative position of the inner wall of the circular opening (213) is also magnetically arranged.

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