Screw locking mechanism of screw locking robot

Abstract

The invention relates to the technical field of screw locking equipment, in particular to a screw locking mechanism of a screw locking robot, which comprises a mechanical arm, an L-shaped support frame is mounted at the end of the mechanical arm, a protective sleeve is fixedly mounted at the lower end of the L-shaped support frame, and a connecting seat is fixedly mounted at the lower end of the protective sleeve. A cylindrical cavity is formed in the upper end of the connecting base from top to bottom in a penetrating mode, a feeding cavity used for supplying a screw body is formed in the side face of the connecting base, the lower end of the feeding cavity communicates with the cylindrical cavity, and the lower end of the connecting base is fixedly connected with a butt joint base. The screw body is clamped into the limiting mechanism along the feeding pipe, the feeding cavity, the cylindrical cavity and the butt joint base in sequence, and the screw body is preliminarily positioned through the limiting mechanism; the adsorption mechanism moves downwards, so that the lower end of the adsorption pipe is connected to the upper end of the head of the screw body in a sleeving mode.

Description

Technical Field

[0001] The present invention relates to the technical field of screw locking equipment, in particular to a screw locking mechanism of a screw locking robot. Background Art

[0002] In industrial production, screws are often used to secure connections between components. The traditional method of screw locking involves manually grabbing screws or rivets and tightening them with an electric screwdriver. However, with the rapid increase in mechanized and automated production and assembly lines, traditional manual screw tightening is no longer able to meet demand. Therefore, some industrial production uses arm-type robots to complete screw tightening. The main feature of the screw locking robot is that it has a screw supply device that blows the screw into the clamping nozzle below the screwdriver head. A pneumatic or electric mechanism first moves the clamping nozzle and the screw together to a position close to the screw hole mouth, and then another pneumatic or electric mechanism drives the screwdriver head downward to push the screw out of the clamping nozzle, locking the screw or rivet into the screw hole.

[0003] Existing screw-locking robots have certain defects during use. After the screw feeding device feeds the screw into the clamping nozzle, it cannot ensure the verticality and stability of the screw. When the robot arm moves close to the screw hole, the screw will shake, causing the screw to tilt or even directly cause the screw to fall, affecting the subsequent accurate tightening of the screw. Existing screw-locking robots also cannot monitor the position of the screw. If a screw falls, or the screw feeding device fails to feed the screw into the clamping nozzle in time, the subsequent electric screwdriver will continue to work according to the normal steps, resulting in idle locking, which affects the quality of the workpiece or equipment assembly. Summary of the Invention

[0004] The object of the present invention is to provide a screw locking mechanism for a screw locking robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a screw locking mechanism of a screw locking robot, comprising a robotic arm, an L-shaped support frame is installed at the end of the robotic arm, a protective sleeve is fixedly installed at the lower end of the L-shaped support frame, a connecting seat is fixedly installed at the lower end of the protective sleeve, the upper end of the connecting seat is provided with a cylindrical cavity running through from top to bottom, a feeding cavity for supplying a screw body is provided on the side of the connecting seat, the lower end of the feeding cavity is communicated with the cylindrical cavity, the lower end of the connecting seat is fixedly connected to a docking seat, the lower end of the docking seat is provided with a limiting mechanism for positioning the screw body, the upper end of the feed cavity is fixedly provided with a docking head, and the upper end of the docking head is fixedly provided with a feeding pipe; An adsorption mechanism is installed on the inner side of the protective sleeve for sliding up and down. The lower end of the L-shaped support frame is installed with an exhaust mechanism for exhausting the inner cavity of the adsorption mechanism. The upper end of the exhaust mechanism is installed with a detection mechanism for detecting the position of the screw body. The upper end of the L-shaped support frame is installed with a locking mechanism for tightening the screw body.

[0006] As a further solution of the present invention, the limiting mechanism includes limiting clamps symmetrically installed on the left and right sides below the docking seat, and the two limiting clamps are each provided with a semi-cylindrical clamping groove on the side close to the rear, and the upper ends of the two semi-cylindrical clamping grooves are both inclined outward to provide an oblique groove, and a rotating frame is fixedly installed symmetrically on the outside of the docking seat, and an L-shaped rotating seat is installed in the two rotating frames through a rotating shaft, the lower ends of the two L-shaped rotating seats are respectively fixedly connected to the adjacent limiting clamps, and the upper ends of the L-shaped rotating seats are symmetrically installed with torsion springs.

[0007] As a further solution of the present invention, the adsorption mechanism includes an adsorption tube that is slidably installed on the inner side of the protective sleeve. A ventilation groove is provided on the side of the adsorption tube. A sealing sleeve is fixedly installed on the upper end of the inner cavity of the adsorption tube, and a sealing gasket is fixedly installed on the lower end of the inner cavity of the adsorption tube. A connecting frame is solidly installed on the upper end of the adsorption tube, and a first cylinder is fixedly installed on the lower end of the L-shaped support frame. The upper end of the inner rod of the first cylinder is fixedly connected to the lower end of the connecting frame.

[0008] As a further solution of the present invention, the air extraction mechanism includes an air cylinder fixedly mounted at the lower end of an L-shaped support frame, an air guide tube fixedly mounted at the lower end of the air cylinder, the lower end of the air guide tube passes through the side of the protective sleeve and extends into the interior thereof, the lower end of the air guide tube is plugged into the ventilation groove, a plug rod is plugged into the lower end of the L-shaped support frame for sliding up and down, the lower end of the plug rod extends downward to the inner cavity of the air cylinder, the lower end of the plug rod is fixedly connected to a piston, and the piston is in sliding contact with the inner side wall of the inner cavity of the air cylinder up and down.

[0009] As a further solution of the present invention, the detection mechanism includes a transmission plate fixedly mounted on the upper end of the plug rod, the upper end of the transmission plate is fixedly connected to a trigger rod, an early warning assembly is installed above the trigger rod, a concave frame is installed at one end of the transmission plate, a limit rod is fixedly mounted on the inner side of the concave frame, the transmission plate is sleeved on the limit rod, the lower end of the limit rod is sleeved with a trigger spring, a second cylinder is fixedly mounted on the lower end of the L-shaped support frame, and the upper end of the inner rod of the second cylinder is connected to the concave frame through a bracket.

[0010] As a further solution of the present invention, one end of the transmission plate is in sliding contact with the inner side wall of the concave frame, the transmission plate is in sliding connection with the limit rod, and the two ends of the trigger spring are respectively in contact with the concave frame and the transmission plate.

[0011] As a further solution of the present invention, the early warning component includes a fixed plate arranged above the trigger rod, one end of the fixed plate is fixedly connected to the L-shaped support frame, a button switch is fixedly installed on the lower end of the fixed plate, the button part of the button switch is arranged directly above the trigger rod, and an alarm is fixedly installed on the upper end of the fixed plate.

[0012] As a further solution of the present invention, the locking mechanism includes a concave mounting plate fixedly mounted on the upper end of the L-shaped support frame, a screw is rotatably mounted on the inner side of the concave mounting plate, a T-shaped lifting seat is sleeved on the screw, an electric screwdriver body is fixedly mounted on the side of the T-shaped lifting seat, an extended screwdriver head is mounted on the lower end of the electric screwdriver body, the extended screwdriver head is inserted into the inner cavity of the adsorption tube, and the extended screwdriver head does not contact the inner wall of the adsorption tube, and the extended screwdriver head is inserted through the inner side of the sealing sleeve.

[0013] As a further solution of the present invention, the screw is threadedly connected to the T-shaped lifting seat, and one side of the T-shaped lifting seat is in vertical sliding contact with the inner side wall of the concave mounting plate.

[0014] The beneficial effects of the present invention are: 1. The screw body is fed into the inner cavity of the feed pipe through the screw feeding device, and the screw body is sequentially inserted into the limiting mechanism along the feed pipe, feed cavity, cylindrical cavity, and docking seat, and the screw body is preliminarily positioned by the limiting mechanism; the adsorption mechanism moves downward so that the lower end of the adsorption tube is sleeved on the upper end of the head of the screw body, and at the same time, the sealing gasket is in sealing contact with the upper end of the head of the screw body, and then the inner rod of the second cylinder is extended upward, so that the detection mechanism drives the plug rod of the exhaust mechanism to move upward, and the exhaust mechanism extracts the gas in the adsorption tube, so that the inner cavity of the adsorption tube forms a negative pressure, and then completes the adsorption and fixation of the screw body to prevent the screw body from shaking during the movement of the screw locking robot, causing the screw body to tilt or fall.

[0015] 2. The screw locking robot drives the screw body to move above the screw hole mouth, and at the same time, the locking mechanism makes the lower end of the extended bit dock with the head of the screw body; then the detection mechanism and the air extraction mechanism are reset, so that the adsorption mechanism releases the adsorption fixation of the screw body. At this time, the motor shaft of the servo motor continues to drive the screw to rotate, so that the T-shaped lifting seat continues to drive the electric screwdriver body and the extended bit to move downward, and the extended bit pushes the screw body downward. The screw body pushes the two limit jaws to open, so that the screw body accurately enters the screw hole, and then the electric screwdriver body drives the extended bit to rotate to complete the locking of the screw body.

[0016] 3. When the adsorption mechanism is adsorbing and fixing the screw body, if the screw body is not in place, the trigger rod will press the button of the push button switch during the upward movement of the detection mechanism, thereby activating the alarm and sounding the alarm, thereby reminding the staff that the screw body at the lower end of the adsorption tube is not in place, thereby preventing the electric screwdriver from idling and locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional diagram of the screw locking mechanism of the screw locking robot of the present invention; Figure 2 This is a cross-sectional view of the screw locking mechanism structure of the screw locking robot of the present invention; Figure 3 for Figure 2 A schematic diagram of the structure at center A; Figure 4 for Figure 2 A magnified schematic diagram of the structure at point B in the middle; Figure 5 It is a side sectional view of the protective sleeve and the connecting seat structure of the present invention; Figure 6 This is a schematic diagram of the state when the adsorption mechanism and the extended bit of the present invention move upward to the uppermost position; Figure 7 This is an exploded view of the L-shaped support frame, limiting mechanism, adsorption mechanism and exhaust mechanism of the present invention; Figure 8 This is an exploded view of the exhaust mechanism, detection mechanism and early warning component structure of the present invention.

[0018] Figure: 1, robotic arm; 11, L-shaped support frame; 12, protective sleeve; 13, connecting seat; 14, cylindrical cavity; 15, feeding cavity; 16, feeding pipe; 17, docking seat; 2, screw body; 21, limit clamping nozzle; 22, semi-cylindrical clamping groove; 23, inclined groove; 24, rotating frame; 25, L-shaped rotating seat; 26, torsion spring; 3, adsorption tube; 31, ventilation groove; 32, sealing sleeve; 33, sealing gasket; 3 4. Connecting frame; 35. First air cylinder; 4. Air cylinder; 41. Air guide tube; 42. Plug rod; 43. Piston; 5. Second air cylinder; 51. Concave frame; 52. Limit rod; 53. Trigger spring; 54. Transmission plate; 55. Trigger rod; 6. Fixing plate; 61. Push button switch; 62. Alarm; 7. Concave mounting plate; 71. Screw rod; 72. T-shaped lifting seat; 73. Electric screwdriver body; 74. Extended bit. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0020] See also Figures 1 to 8 The present invention provides a technical solution: a screw locking mechanism of a screw locking robot, comprising a robotic arm 1, an L-shaped support frame 11 being installed at the end of the robotic arm 1, a protective sleeve 12 being fixedly installed at the lower end of the L-shaped support frame 11, the protective sleeve 12 passing through the lower end of the L-shaped support frame 11, a connecting seat 13 being fixedly installed at the lower end of the protective sleeve 12, the upper end of the connecting seat 13 being penetrated from top to bottom by a cylindrical cavity 14, a feeding cavity 15 for feeding the screw body 2 being provided on the side of the connecting seat 13, the feeding cavity 15 being inclined downward, the lower end of the feeding cavity 15 being communicated with the cylindrical cavity 14, the lower end of the connecting seat 13 being fixedly connected with a docking seat 17, the inner sides of the protective sleeve 12 and the docking seat 17 being provided with circular Cavity, the diameter of the circular cavity is the same as the diameter of the cylindrical cavity 14, the lower end of the docking seat 17 is equipped with a limiting mechanism for positioning the screw body 2, the upper end of the feed cavity 15 is fixedly equipped with a docking head, the upper end of the docking head is fixedly equipped with a feed pipe 16, one end of the feed pipe 16 is connected to the discharge end of the screw feeding device, the screw body 2 is fed into the inner cavity of the feed pipe 16 through the screw feeding device, the screw body 2 slides down along the inner cavity of the feed pipe 16 into the feed cavity 15, and finally the screw body 2 slides down along the feed cavity 15 into the cylindrical cavity 14, the screw body 2 passes downward along the cylindrical cavity 14 through the docking seat 17 and is stuck in the limiting mechanism, and the screw body 2 is preliminarily positioned by the limiting mechanism; An adsorption mechanism is installed on the inner side of the protective sleeve 12 for sliding up and down. The adsorption mechanism can slide up and down along the circular cavity and the cylindrical cavity 14. The lower end of the L-shaped support frame 11 is installed with an exhaust mechanism for exhausting the inner cavity of the adsorption mechanism. The upper end of the exhaust mechanism is installed with a detection mechanism for detecting the position of the screw body 2. The upper end of the L-shaped support frame 11 is installed with a locking mechanism for tightening the screw body 2.

[0021] See also Figure 2 、 Figure 3 and Figure 7The limiting mechanism includes a limiting clamping nozzle 21 symmetrically installed below the docking seat 17. A semi-cylindrical clamping groove 22 is provided on the side of the two limiting clamping nozzles 21 that is close to the rear. The upper ends of the two semi-cylindrical clamping grooves 22 are inclined outward to provide an oblique groove 23. A rotating frame 24 is fixedly installed symmetrically on the outside of the docking seat 17. An L-shaped rotating seat 25 is installed in the two rotating frames 24 through a rotating shaft. The lower ends of the two L-shaped rotating seats 25 are respectively fixedly connected to the adjacent limiting clamping nozzles 21, and a torsion spring 26 is symmetrically installed on the upper end of the L-shaped rotating seat 25. The torsion spring 26 is sleeved on the rotating shaft, one end of the torsion spring 26 is fixedly connected to the L-shaped rotating seat 25, and the other end of the torsion spring 26 is fixedly connected to the rotating frame 24.

[0022] When the screw body 2 is stuck in the limiting mechanism, the threaded part of the screw body 2 is stuck in the two semi-cylindrical clamping grooves 22, and the head of the screw body 2 is stuck in the two oblique grooves 23. The two limiting clamping nozzles 21 cooperate to clamp and position the screw body 2 so that the screw body 2 can be vertically downward.

[0023] When the screw body 2 moves downward, the screw body 2 pushes the two limiting clamping nozzles 21 away from each other and open, and the limiting clamping nozzles 21 drive the L-shaped rotating seat 25 to rotate along the rotating frame 24. At the same time, the L-shaped rotating seat 25 drives one end of the torsion spring 26 to rotate, so that the torsion spring 26 generates torque or rotational force; When the screw body 2 is separated from the limiting clamping nozzle 21 , the L-shaped rotating seat 25 rotates back under the action of the torque or rotational force of the torsion spring 26 , and the L-shaped rotating seat 25 drives the limiting clamping nozzle 21 to reset.

[0024] See also Figure 2 、 Figure 3 、 Figures 5 to 7 The adsorption mechanism includes an adsorption tube 3 that is slidably installed on the inner side of the protective sleeve 12 up and down. A ventilation groove 31 is provided on the side of the adsorption tube 3. A sealing sleeve 32 is fixedly installed on the upper end of the inner cavity of the adsorption tube 3. A sealing gasket 33 is fixedly installed on the lower end of the inner cavity of the adsorption tube 3. The upper end of the adsorption tube 3 is above the protective sleeve 12. A connecting frame 34 is solidly installed on the upper end of the adsorption tube 3. The connecting frame 34 is sleeved on the upper end of the adsorption tube 3. A first cylinder 35 is fixedly installed on the lower end of the L-shaped support frame 11. The first cylinder 35 is installed through the lower end of the L-shaped support frame 11, and the upper end of the inner rod of the first cylinder 35 is fixedly connected to the lower end of the connecting frame 34.

[0025] The inner rod of the first cylinder 35 is extended and retracted to drive the connecting frame 34 to move up and down, and the connecting frame 34 drives the adsorption tube 3 to slide up and down along the inner side of the protective sleeve 12; When the connecting frame 34 is at the lowest end, the adsorption tube 3 is inserted downward into the protective sleeve 12, the connecting seat 13 and the docking seat 17 in sequence, and the lower end of the feed cavity 15 is blocked and sealed by the adsorption tube 3 to prevent other screw bodies 2 from entering the cylindrical cavity 14 and the docking seat 17 and causing blockage, thereby ensuring the stable operation of the device. At the same time, the lower end of the adsorption tube 3 is sleeved on the head of the screw body 2. At this time, the sealing gasket 33 is tightly fitted with the upper end of the head of the screw body 2, so that the lower end of the adsorption tube 3 is sealed and connected to the head of the screw body 2, thereby positioning the screw body 2.

[0026] When the connecting frame 34 is at the uppermost end, the adsorption tube 3 moves upward and does not contact the docking seat 17. At the same time, the lower end of the adsorption tube 3 is at the upper end of the cylindrical cavity 14, and the adsorption tube 3 does not contact the lower end of the feed cavity 15. At this time, it will not hinder the screw body 2 from falling downward along the feed cavity 15 into the cylindrical cavity 14, so that the screw body 2 can be fed stably.

[0027] See also Figure 1 、 Figure 2 、 Figure 7 and Figure 8 The air extraction mechanism includes an air cylinder 4 fixedly mounted at the lower end of the L-shaped support frame 11, and an air guide tube 41 is fixedly mounted at the lower end of the air cylinder 4. The lower end of the air guide tube 41 passes through the side of the protective sleeve 12 and extends into the interior thereof. The lower end of the air guide tube 41 is plugged into the ventilation groove 31, and in the process of the adsorption tube 3 moving up and down, the ventilation groove 31 and the lower end of the air guide tube 41 slide up and down in contact. A plug rod 42 is slidably inserted into the lower end of the L-shaped support frame 11, and the lower end of the plug rod 42 extends downward to the inner cavity of the air cylinder 4. The lower end of the plug rod 42 is fixedly connected to a piston 43, and the piston 43 slides up and down in contact with the inner side wall of the inner cavity of the air cylinder 4.

[0028] When the screw body 2 is adsorbed and fixed, the lower end of the adsorption tube 3 is first sleeved on the head of the screw body 2 so that the sealing gasket 33 is in close contact with the head of the screw body 2. At this time, the plug rod 42 is moved upward, and the plug rod 42 drives the piston 43 to move upward along the inner wall of the air cylinder 4. The inner cavity of the air cylinder 4 is negatively pressurized upward through the piston 43, so that the gas in the adsorption tube 3 enters the inner cavity of the air cylinder 4 along the air guide tube 41. At this time, the inner cavity of the adsorption tube 3 forms a negative pressure, thereby adsorbing and fixing the head of the screw body 2, and then firmly locking the screw body 2 by cooperating with the limit mechanism to prevent the screw locking robot from causing the screw body 2 to shake, tilt or fall during movement.

[0029] When it is necessary to loosen the adsorption fixation on the screw body 2, the air extraction mechanism is reset, and the plug rod 42 is moved downward. The plug rod 42 drives the piston 43 to move downward along the inner cavity of the gas cylinder 4, and the gas in the inner cavity of the gas cylinder 4 is pushed out by the piston 43, so that the gas enters the inner cavity of the adsorption tube 3 along the air guide tube 41, so that the air pressure in the inner cavity of the adsorption tube 3 is the same as or higher than that of the outside, even if the adsorption tube 3 loosens the adsorption fixation on the screw body 2.

[0030] See also Figure 1 、 Figure 2 、 Figure 4 and Figure 8 The detection mechanism includes a transmission plate 54 fixedly mounted on the upper end of the plug rod 42, the upper end of the transmission plate 54 is fixedly connected to a trigger rod 55, and an early warning component is installed above the trigger rod 55. A concave frame 51 is installed at one end of the transmission plate 54, and a limit rod 52 is fixedly mounted on the inner side of the concave frame 51. The two ends of the limit rod 52 are respectively fixedly connected to the upper and lower inner side walls of the concave frame 51, and the transmission plate 54 is sleeved on the limit rod 52. The lower end of the limit rod 52 is sleeved with a trigger spring 53. The lower end of the L-shaped support frame 11 is fixedly mounted with a second cylinder 5, and the second cylinder 5 is installed through the lower end of the L-shaped support frame 11. The upper end of the inner rod of the second cylinder 5 is connected to the concave frame 51 through a bracket.

[0031] One end of the transmission plate 54 slides up and down against the inner wall of the concave frame 51 , and the transmission plate 54 is slidably connected to the limit rod 52 . The two ends of the trigger spring 53 abut against the concave frame 51 and the transmission plate 54 respectively, and the trigger spring 53 applies an upward elastic force to the transmission plate 54 .

[0032] When the screw body 2 is adsorbed and fixed, the inner rod of the second cylinder 5 extends upward to drive the concave frame 51 to move upward, and the concave frame 51 drives the limiting rod 52 and the trigger spring 53 to move upward, so that the transmission plate 54 drives the plug rod 42 to move upward. If the lower end of the adsorption tube 3 is sealed with the screw body 2, the air extraction mechanism will extract the gas in the adsorption tube 3, so that a negative pressure is formed inside the adsorption tube 3. The more the plug rod 42 and the piston 43 move upward, the greater the pulling resistance they encounter, causing the limiting rod 52 to slide relative to the transmission plate 54. At this time, the concave frame 51 and the transmission plate 54 cooperate to squeeze the trigger spring 53. When the trigger spring 53 is compressed to a certain extent, the transmission plate 54 slowly moves upward, and the transmission plate 54 drives the plug rod 42 to slide upward along the L-shaped support frame 11, so that the air extraction mechanism exhausts the inner cavity of the adsorption tube 3, so that the adsorption mechanism adsorbs and fixes the screw body 2; At this time, the upper end of the transmission plate 54 does not contact the upper end of the concave frame 51. When the concave frame 51 moves upward to the uppermost position, the trigger rod 55 does not contact the warning assembly.

[0033] When the screw locking robot drives the screw body 2 to move to a suitable position, the inner rod of the second cylinder 5 is contracted, the detection mechanism is reset, and the adsorption mechanism releases the adsorption fixation of the screw body 2.

[0034] If the screw body 2 is not in place, that is, the lower end of the adsorption tube 3 is not sealed with the screw body 2, the vacuum mechanism will not cause negative pressure to form in the adsorption tube 3, that is, the plug rod 42 and the piston 43 will not encounter resistance when moving upward. At this time, when the concave frame 51 moves upward, it will drive the transmission plate 54 to move upward synchronously, and the transmission plate 54 drives the trigger rod 55 to move upward synchronously. When the transmission plate 54 moves upward to the top, the trigger rod 55 will trigger the early warning component, causing the early warning component to issue an early warning.

[0035] The early warning component includes a fixed plate 6 arranged above the trigger rod 55. One end of the fixed plate 6 is fixedly connected to the L-shaped support frame 11. A button switch 61 is fixedly installed at the lower end of the fixed plate 6. The button switch 61 is a normally open button. The button part of the button switch 61 is arranged directly above the trigger rod 55. An alarm 62 is fixedly installed at the upper end of the fixed plate 6.

[0036] The two electrode ends of the button switch 61 are electrically connected to one electrode end of the power supply and one electrode end of the alarm 62 through wires, and the other electrode end of the power supply is electrically connected to the other electrode end of the alarm 62 through wires; When the screw body 2 is not in place, the trigger rod 55 moves upward for a certain distance, and then the trigger rod 55 presses the button of the button switch 61, thereby causing the warning component to issue a warning; When the button of the push button switch 61 is pressed, the circuit of the alarm 62 is closed and energized, and the alarm 62 is activated, causing the alarm 62 to sound an alarm. The alarm 62 can be a flash alarm device, a buzzer alarm device or an audible and visual alarm device, thereby reminding the staff that the screw body 2 at the lower end of the adsorption tube 3 is not in place; at this time, the lower end of the adsorption tube 3 is not in a sealed state, that is, the screw body 2 is tilted or there is no screw body 2 in the limit mechanism, thereby preventing the electric screwdriver from idling and locking.

[0037] See also Figure 1 and Figure 2The locking mechanism includes a concave mounting plate 7 fixedly mounted on the upper end of the L-shaped support frame 11, a screw 71 is rotatably mounted on the inner side of the concave mounting plate 7, the screw 71 is driven by the motor shaft of the servo motor fixedly mounted on the upper end of the concave mounting plate 7, the motor shaft is connected to the screw 71 through a coupling, a T-shaped lifting seat 72 is sleeved on the screw 71, an electric screwdriver body 73 is fixedly mounted on the side of the T-shaped lifting seat 72, an extended screwdriver head 74 is mounted on the lower end of the electric screwdriver body 73, the extended screwdriver head 74 is inserted into the inner cavity of the adsorption tube 3, and the extended screwdriver head 74 does not interact with the adsorption tube 3. The inner wall of the tube 3 is in contact with the extended bit 74, and the extended bit 74 is inserted into the inner side of the sealing sleeve 32, that is, the sealing sleeve 32 is sleeved on the outer side of the extended bit 74. The extended bit 74 is in sealing contact with the sealing sleeve 32, and the extended bit 74 can slide up and down along the sealing sleeve 32. At the same time, the extended bit 74 can rotate along the inner side of the sealing sleeve 32. The upper end of the head of the screw body 2 is provided with an unlocking groove that matches the lower end of the extended bit 74. The unlocking groove can be a cross slot, a slotted slot, a hexagonal socket, a plum blossom slot, etc. The extended bit 74 and the head of the screw body 2 are connected by magnetic attraction.

[0038] The screw rod 71 is threadedly connected to the T-shaped lifting seat 72 , and one side of the T-shaped lifting seat 72 is in vertical sliding contact with the inner side wall of the concave mounting plate 7 .

[0039] At the initial position, the T-shaped lifting seat 72 is at the uppermost end of the screw rod 71. At this time, loading is carried out first to move the screw body 2 to the inner side of the limiting mechanism. At this time, the lower end of the adsorption mechanism is sleeved on the upper end of the head of the screw body 2, and then the detection mechanism and the exhaust mechanism are cooperated to form a negative pressure in the adsorption tube 3, thereby adsorbing and fixing the screw body 2. At this time, the screw locking robot drives the screw body 2 to move above the screw hole mouth, and at the same time, the motor shaft of the servo motor drives the screw rod 71 to rotate, and the screw 71 drives the T-shaped lifting seat 72 to move downward a distance. The T-shaped lifting seat 72 drives the electric screwdriver body 73 and the extended screw head 74 to move downward a distance, so that the lower end of the extended screw head 74 is docked with the head of the screw body 2, and the servo motor is stopped at this time.

[0040] Then, by resetting the detection mechanism, the air extraction mechanism pushes out the gas in the air cylinder 4, so that the adsorption mechanism loosens the adsorption fixation on the head of the screw body 2; at this time, the motor shaft of the servo motor continues to drive the screw rod 71 to rotate, so that the T-shaped lifting seat 72 continues to drive the electric screwdriver body 73 and the extended bit 74 to move downward, and the extended bit 74 pushes the screw body 2 downward, and the screw body 2 pushes the two limit clamping nozzles 21 to open, so that the screw body 2 accurately enters the screw hole, and then the electric screwdriver body 73 drives the extended bit 74 to rotate, completing the locking of the screw body 2.

[0041] Working principle: During operation, the connecting frame 34 is at the uppermost end, the adsorption mechanism does not contact the lower end of the feed chamber 15, the concave frame 51 is at the lowermost end, and the screw body 2 is fed into the inner cavity of the feed pipe 16 through the screw feeding device. The screw body 2 slides down along the inner cavity of the feed pipe 16 into the feed chamber 15, and then slides down along the feed chamber 15 into the cylindrical chamber 14, and then passes through the docking seat 17 downward along the cylindrical chamber 14 and is stuck in the limiting mechanism. The screw body 2 is preliminarily positioned by the limiting mechanism. At this time, the adsorption mechanism moves downward, so that the lower end of the adsorption tube 3 is sleeved on the upper end of the head of the screw body 2. At the same time, the sealing gasket 33 is in sealing contact with the upper end of the head of the screw body 2. Then, the inner rod of the second cylinder 5 is extended upward, so that the detection mechanism drives the plug rod 42 of the exhaust mechanism to move upward, so that the exhaust mechanism extracts the gas in the adsorption tube 3, so that the inner cavity of the adsorption tube 3 forms a negative pressure, and then completes the adsorption and fixation of the screw body 2.

[0042] The screw locking robot drives the screw body 2 to move above the screw hole. At the same time, the motor shaft of the servo motor drives the screw rod 71 to rotate, so that the T-shaped lifting seat 72 drives the electric screwdriver body 73 and the extended bit 74 to move downward for a distance, so that the lower end of the extended bit 74 docks with the head of the screw body 2. At this time, the servo motor is stopped. Then the detection mechanism and the exhaust mechanism are reset to release the adsorption fixation of the screw body 2. At this time, the motor shaft of the servo motor continues to drive the screw rod 71 to rotate, so that the T-shaped lifting seat 72 continues to drive the electric screwdriver body 73 and the extended bit 74 to move downward. The extended bit 74 pushes the screw body 2 to move downward, and the screw body 2 pushes the two limit clamping nozzles 21 to open, so that the screw body 2 accurately enters the screw hole. The extended bit 74 is then driven to rotate by the electric screwdriver body 73 to complete the locking of the screw body 2.

[0043] After the screw body 2 is locked, the locking mechanism is reset, and the adsorption mechanism is reset at the same time, and then the screw body 2 is loaded, and the above steps are repeated to lock the screw body 2 again.

[0044] When the adsorption mechanism adsorbs and fixes the screw body 2, if the screw body 2 is not in place, during the upward movement of the detection mechanism, when the transmission plate 54 moves upward to the top, the trigger rod 55 will press the button of the button switch 61, thereby activating the alarm 62, causing the alarm 62 to sound an alarm, thereby reminding the staff that the screw body 2 at the lower end of the adsorption tube 3 is not in place; at this time, the lower end of the adsorption tube 3 is not in a sealed state, that is, the screw body 2 is tilted or there is no screw body 2 in the limit mechanism, thereby preventing the electric screwdriver from idling and locking.

[0045] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A screw locking mechanism of a screw locking robot, comprising a robotic arm (1), characterized in that: An L-shaped support frame (11) is installed at the end of the mechanical arm (1), a protective sleeve (12) is fixedly installed at the lower end of the L-shaped support frame (11), a connecting seat (13) is fixedly installed at the lower end of the protective sleeve (12), a cylindrical cavity (14) is opened from the upper end of the connecting seat (13) from the top to the bottom, a feeding cavity (15) for feeding the screw body (2) is opened on the side of the connecting seat (13), the lower end of the feeding cavity (15) is communicated with the cylindrical cavity (14), the lower end of the connecting seat (13) is fixedly connected to the docking seat (17), the lower end of the docking seat (17) is installed with a limiting mechanism for positioning the screw body (2), the upper end of the feeding cavity (15) is fixedly installed with a docking joint, and the upper end of the docking joint is fixedly installed with a feeding pipe (16); An adsorption mechanism is installed on the inner side of the protective sleeve (12) so as to slide up and down. An exhaust mechanism for exhausting air from the inner cavity of the adsorption mechanism is installed at the lower end of the L-shaped support frame (11). A detection mechanism for detecting the position of the screw body (2) is installed at the upper end of the exhaust mechanism. A locking mechanism for tightening the screw body (2) is installed at the upper end of the L-shaped support frame (11).

2. The screw locking mechanism of a screw locking robot according to claim 1, characterized in that: The limiting mechanism includes a limiting clamping nozzle (21) symmetrically installed below the docking seat (17), and a semi-cylindrical clamping groove (22) is provided on the side of the two limiting clamping nozzles (21) approaching the rear, and the upper ends of the two semi-cylindrical clamping grooves (22) are inclined outward to provide an inclined groove (23), and a rotating frame (24) is fixedly installed on the outside of the docking seat (17) symmetrically, and an L-shaped rotating seat (25) is rotatably installed in the two rotating frames (24) through a rotating shaft, and the lower ends of the two L-shaped rotating seats (25) are respectively fixedly connected to the adjacent limiting clamping nozzles (21), and the upper ends of the L-shaped rotating seats (25) are symmetrically installed with torsion springs (26).

3. The screw locking mechanism of a screw locking robot according to claim 1, characterized in that: The adsorption mechanism includes an adsorption tube (3) slidably mounted on the inner side of a protective sleeve (12) up and down, a ventilation groove (31) is provided on the side of the adsorption tube (3), a sealing sleeve (32) is fixedly mounted on the upper end of the inner cavity of the adsorption tube (3), a sealing gasket (33) is fixedly mounted on the lower end of the inner cavity of the adsorption tube (3), a connecting frame (34) is solidly mounted on the upper end of the adsorption tube (3), a first cylinder (35) is fixedly mounted on the lower end of the L-shaped support frame (11), and the upper end of the inner rod of the first cylinder (35) is fixedly connected to the lower end of the connecting frame (34).

4. The screw locking mechanism of a screw locking robot according to claim 3, characterized in that: The air extraction mechanism includes an air cylinder (4) fixedly mounted on the lower end of an L-shaped support frame (11), an air guide tube (41) fixedly mounted on the lower end of the air cylinder (4), the lower end of the air guide tube (41) passing through the side of the protective sleeve (12) and extending into the interior thereof, the lower end of the air guide tube (41) plugged into the ventilation groove (31), a plug rod (42) slidably plugged into the lower end of the L-shaped support frame (11), the lower end of the plug rod (42) extending downwardly to the inner cavity of the air cylinder (4), the lower end of the plug rod (42) fixedly connected to a piston (43), and the piston (43) slidingly contacts the inner side wall of the inner cavity of the air cylinder (4) up and down.

5. The screw locking mechanism of a screw locking robot according to claim 4, characterized in that: The detection mechanism comprises a transmission plate (54) fixedly mounted on the upper end of the plug rod (42); a trigger rod (55) is fixedly connected to the upper end of the transmission plate (54); an early warning assembly is mounted above the trigger rod (55); a concave frame (51) is mounted on one end of the transmission plate (54); a limit rod (52) is fixedly mounted on the inner side of the concave frame (51); the transmission plate (54) is sleeved on the limit rod (52); a trigger spring (53) is sleeved on the lower end of the limit rod (52); a second cylinder (5) is fixedly mounted on the lower end of the L-shaped support frame (11); and the upper end of the inner rod of the second cylinder (5) is connected to the concave frame (51) through a bracket.

6. The screw locking mechanism of a screw locking robot according to claim 5, characterized in that: One end of the transmission plate (54) is in sliding contact with the inner side wall of the concave frame (51) up and down, the transmission plate (54) is in sliding connection with the limit rod (52) up and down, and the two ends of the trigger spring (53) are respectively in contact with the concave frame (51) and the transmission plate (54).

7. The screw locking mechanism of a screw locking robot according to claim 5, characterized in that: The warning assembly includes a fixing plate (6) arranged above the trigger rod (55), one end of the fixing plate (6) is fixedly connected to the L-shaped support frame (11), a button switch (61) is fixedly installed at the lower end of the fixing plate (6), a button portion of the button switch (61) is arranged directly above the trigger rod (55), and an alarm (62) is fixedly installed at the upper end of the fixing plate (6).

8. The screw locking mechanism of a screw locking robot according to claim 1, characterized in that: The locking mechanism includes a concave mounting plate (7) fixedly mounted on the upper end of the L-shaped support frame (11), a screw (71) is rotatably mounted on the inner side of the concave mounting plate (7), a T-shaped lifting seat (72) is sleeved on the screw (71), an electric screwdriver body (73) is fixedly mounted on the side of the T-shaped lifting seat (72), an extended screwdriver head (74) is mounted on the lower end of the electric screwdriver body (73), the extended screwdriver head (74) is inserted into the inner cavity of the adsorption tube (3), and the extended screwdriver head (74) does not contact the inner side wall of the adsorption tube (3), and the extended screwdriver head (74) is inserted through the inner side of the sealing sleeve (32).

9. The screw locking mechanism of a screw locking robot according to claim 8, characterized in that: The screw rod (71) is threadedly connected to the T-shaped lifting seat (72), and one side of the T-shaped lifting seat (72) is in vertical sliding contact with the inner side wall of the concave mounting plate (7).

Images