A screw locking mechanism of a screw robot

Abstract

The application discloses to the technical field of screw locking equipment, and particularly relates to a screw locking mechanism of a screw locking robot, which comprises a mechanical arm, the end of the mechanical arm is provided with an L-shaped support frame, the lower end of the L-shaped support frame is fixedly provided with a protective sleeve, the lower end of the protective sleeve is fixedly provided with a connecting seat, a cylindrical cavity is vertically formed in the upper end of the connecting seat, a feeding cavity for feeding screw bodies is formed in the side surface of the connecting seat, the lower end of the feeding cavity is communicated with the cylindrical cavity, and the lower end of the connecting seat is fixedly connected with a butt joint seat. The screw locking mechanism has the beneficial effects that the screw body is sent into the inner cavity of the feeding pipe through the screw feeding device, the screw body is sequentially clamped into the limiting mechanism along the feeding pipe, the feeding cavity, the cylindrical cavity and the butt joint seat, and the screw body is preliminarily positioned through the limiting mechanism; and the lower end of the adsorption pipe is sleeved with the upper end of the head of the screw body through the adsorption mechanism moving downward.

Description

Technical Field

[0001] This invention relates to the field of screw-locking equipment technology, specifically to a screw-locking mechanism for a screw-locking robot. Background Technology

[0002] In industrial production, screws are often used to fasten connections between components. Traditionally, screws are tightened manually by grasping the screw or rivet, or by using an electric screwdriver. However, with the increasing mechanization and automation of production and assembly lines, manual screw tightening is no longer sufficient. Therefore, some industrial processes utilize robotic arms to perform screw tightening. The main feature of a screw-tightening robot is a screw supply device that blows the screw into a clamping nozzle below the screwdriver bit. A pneumatic or electric mechanism first moves the clamping nozzle and screw together to a position close to the screw hole opening. Then, another pneumatic or electric mechanism drives the screwdriver bit downwards, pushing the screw out of the clamping nozzle and locking the screw or rivet into the screw hole.

[0003] Existing screw-fastening robots have certain shortcomings in operation. After the screw supply device feeds the screw into the chuck, it cannot guarantee the screw's verticality and stability. As the robotic arm moves near the screw hole, the screw may wobble, tilt, or even fall off, affecting subsequent accurate tightening. Furthermore, existing screw-fastening robots cannot monitor the screw's position. If a screw falls off, or the screw supply device fails to feed it into the chuck in time, and the electric screwdriver continues operating normally, it will spin without tightening, thus affecting the quality of workpiece or equipment assembly. Summary of the Invention

[0004] The purpose of this invention is to provide a screw-locking mechanism for a screw-locking robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a screw-locking mechanism for a screw-locking robot, comprising a robotic arm, an L-shaped support frame installed at the end of the robotic arm, a protective sleeve fixedly installed at the lower end of the L-shaped support frame, a connecting seat fixedly installed at the lower end of the protective sleeve, a cylindrical cavity extending from top to bottom through the upper end of the connecting seat, a feeding chamber for feeding the screw body opened on the side of the connecting seat, the lower end of the feeding chamber communicating with the cylindrical cavity, a mating seat fixedly connected to the lower end of the connecting seat, a limiting mechanism for positioning the screw body installed at the lower end of the mating seat, a connecting joint fixedly installed at the upper end of the feeding chamber, and a feeding pipe fixedly installed at the upper end of the connecting joint; An adsorption mechanism is slidably installed on the inner side of the protective sleeve. An air extraction mechanism for evacuating the inner cavity of the adsorption mechanism is installed at the lower end of the L-shaped support frame. A detection mechanism for detecting the position of the screw body is installed at the upper end of the air extraction mechanism. A locking mechanism for tightening the screw body is installed at the upper end of the L-shaped support frame.

[0006] As a further embodiment of the present invention, the limiting mechanism includes limiting jaws symmetrically installed below the docking seat. Each of the two limiting jaws has a semi-cylindrical clamping groove on the side facing backward. The upper end of each of the two semi-cylindrical clamping grooves is inclined outward with a slanted groove. Rotating frames are symmetrically fixedly installed on the outside of the docking seat. Each of the two rotating frames has an L-shaped rotating seat rotatably installed inside it via a rotating shaft. The lower ends of the two L-shaped rotating seats are respectively fixedly connected to the adjacent limiting jaws. Torsion springs are symmetrically installed on the upper ends of the L-shaped rotating seats.

[0007] As a further embodiment of the present invention, the adsorption mechanism includes an adsorption tube that is slidably mounted inside a protective sleeve. A ventilation groove is provided on the side of the adsorption tube. A sealing sleeve is fixedly installed at the upper end of the inner cavity of the adsorption tube, and a sealing gasket is fixedly installed at the lower end of the inner cavity of the adsorption tube. A connecting frame is fixedly mounted at the upper end of the adsorption tube, and a first cylinder is fixedly installed at 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 embodiment of the present invention, the air extraction mechanism includes an air cylinder fixedly installed at the lower end of an L-shaped support frame. An air guide pipe is fixedly installed at the lower end of the air cylinder. The lower end of the air guide pipe passes through the side of the protective sleeve and extends into its interior. The lower end of the air guide pipe is inserted into a ventilation groove. A stopper rod is slidably inserted into the lower end of the L-shaped support frame. The lower end of the stopper rod extends downward into the inner cavity of the air cylinder. A piston is fixedly connected to the lower end of the stopper rod. The piston slides in contact with the inner wall of the inner cavity of the air cylinder.

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

[0010] As a further embodiment of the present invention, one end of the transmission plate slides in contact with the inner sidewall of the concave frame, the transmission plate slides in connection with the limiting rod, and the two ends of the trigger spring abut against the concave frame and the transmission plate respectively.

[0011] As a further embodiment of the present invention, the warning component includes a fixed plate disposed above the trigger rod, one end of the fixed plate being fixedly connected to an L-shaped support frame, a button switch being fixedly installed at the lower end of the fixed plate, the button portion of the button switch being disposed directly above the trigger rod, and an alarm being fixedly installed at the upper end of the fixed plate.

[0012] As a further embodiment of the present invention, the locking mechanism includes a concave mounting plate fixedly installed on the upper end of an 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 bit is installed at the lower end of the electric screwdriver body. The extended bit is inserted into the inner cavity of the adsorption tube and does not contact the inner wall of the adsorption tube. The extended bit is inserted through the inner side of the sealing sleeve.

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

[0014] The beneficial effects of this invention are: 1. The screw body is fed into the inner cavity of the feed tube by the screw supply device. The screw body sequentially moves along the feed tube, feed cavity, cylindrical cavity, and docking seat into the limiting mechanism, which initially positions the screw body. The suction mechanism moves downward so that the lower end of the suction tube is sleeved on the upper end of the screw body head. At the same time, the sealing gasket makes sealing contact with the upper end of the screw body head. Then, the inner rod of the second cylinder extends upward, causing the detection mechanism to drive the plug rod of the suction mechanism to move upward, so that the suction mechanism extracts the gas in the suction tube, creating a negative pressure in the inner cavity of the suction tube. This completes the suction and fixation of the screw body, preventing the screw body from shaking during the movement of the screw-locking robot, which could cause the screw body to tilt or fall off.

[0015] 2. The screw-locking robot moves the screw body to above the screw hole, and the locking mechanism aligns the lower end of the extended bit with the head of the screw body. Then, the detection mechanism and the air extraction mechanism reset, and the suction mechanism releases its grip on the screw body. At this time, the servo motor shaft continues to drive the screw to rotate, causing the T-shaped lifting seat to continue moving the electric screwdriver body and the extended bit downward. The extended bit pushes the screw body downward, and the screw body pushes the two limit clamps to open, allowing the screw body to accurately enter the screw hole. The electric screwdriver body then drives the extended bit to rotate, completing 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 switch during the upward movement of the detection mechanism, thereby activating the alarm and alerting the staff that the screw body at the lower end of the adsorption tube is not in place, thus preventing the electric screwdriver from spinning and locking without load. Attached Figure Description

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

[0018] In the diagram: 1. Robotic arm; 11. L-shaped support frame; 12. Protective sleeve; 13. Connecting seat; 14. Cylindrical cavity; 15. Feeding chamber; 16. Feeding pipe; 17. Docking seat; 2. Screw body; 21. Limiting clamp; 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 cylinder; 4. Air cylinder; 41. Air guide pipe; 42. Plug rod; 43. Piston; 5. Second 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; 72. T-shaped lifting seat; 73. Electric screwdriver body; 74. Extended bit. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1 to 8 This invention provides a technical solution: a screw-locking mechanism for a screw-locking robot, comprising a robotic arm 1, an L-shaped support frame 11 mounted at the end of the robotic arm 1, a protective sleeve 12 fixedly mounted at the lower end of the L-shaped support frame 11, the protective sleeve 12 penetrating the lower end of the L-shaped support frame 11, a connecting seat 13 fixedly mounted at the lower end of the protective sleeve 12, a cylindrical cavity 14 extending downwards from the upper end of the connecting seat 13, a feeding cavity 15 for feeding a screw body 2 opened on the side of the connecting seat 13, the feeding cavity 15 tilting downwards, the lower end of the feeding cavity 15 communicating with the cylindrical cavity 14, a docking seat 17 fixedly connected to the lower end of the connecting seat 13, and circular... The cavity has the same diameter as 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 feeding cavity 15 is fixedly equipped with a connector, and the upper end of the connector is fixedly equipped with a feeding pipe 16. One end of the feeding pipe 16 is connected to the discharge end of the screw supply device. The screw body 2 is fed into the inner cavity of the feeding pipe 16 through the screw supply device. The screw body 2 slides down along the inner cavity of the feeding pipe 16 into the feeding cavity 15. Finally, the screw body 2 slides down along the feeding cavity 15 into the cylindrical cavity 14. The screw body 2 passes down through the docking seat 17 along the cylindrical cavity 14 and is inserted into the limiting mechanism. The limiting mechanism performs preliminary positioning of the screw body 2. An adsorption mechanism is slidably installed on the inner side of the protective sleeve 12. The adsorption mechanism can slide up and down along the circular cavity and the cylindrical cavity 14. An air extraction mechanism for evacuating 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 air extraction mechanism. A locking mechanism for tightening the screw body 2 is installed at the upper end of the L-shaped support frame 11.

[0021] Please see Figure 2 , Figure 3 and Figure 7The limiting mechanism includes limiting clamps 21 symmetrically installed below the docking seat 17. Each of the two limiting clamps 21 has a semi-cylindrical clamping groove 22 on the side facing backward. The upper end of each of the two semi-cylindrical clamping grooves 22 is inclined outward with a groove 23. Rotating frames 24 are symmetrically fixedly installed on the outside of the docking seat 17. Each of the two rotating frames 24 has an L-shaped rotating seat 25 rotatably installed inside it via a rotating shaft. The lower end of each of the two L-shaped rotating seats 25 is fixedly connected to the adjacent limiting clamps 21. Torsion springs 26 are symmetrically installed on the upper end of the L-shaped rotating seats 25. The torsion springs 26 are 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 locked in the limiting mechanism, the threaded part of the screw body 2 is locked in the two semi-cylindrical clamping grooves 22, and the head of the screw body 2 is locked in the two inclined grooves 23. The screw body 2 is clamped and positioned by the cooperation of the two limiting clamps 21, 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 jaws 21 to move away from each other and open up. The limiting jaws 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 separates from the limiting clamp 21, the L-shaped rotating seat 25 rotates back under the torque or rotational force of the torsion spring 26, and the L-shaped rotating seat 25 drives the limiting clamp 21 to reset.

[0024] Please see Figure 2 , Figure 3 , Figures 5 to 7 The adsorption mechanism includes an adsorption tube 3 that slides up and down inside the protective sleeve 12. A ventilation groove 31 is provided on the side of the adsorption tube 3. A sealing sleeve 32 is fixedly installed at the upper end of the inner cavity of the adsorption tube 3. A sealing gasket 33 is fixedly installed at 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 fixedly installed at 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 at 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. 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 extension and retraction of the inner rod of the first cylinder 35 drives 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 its lowest position, the adsorption tube 3 is inserted downwards into the protective sleeve 12, the connecting seat 13, and the docking seat 17 in sequence. The adsorption tube 3 blocks and seals the lower end of the feed chamber 15, preventing other screw bodies 2 from entering the cylindrical cavity 14 and the docking seat 17 and causing blockage, thus 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, thereby sealing the lower end of the adsorption tube 3 with the head of the screw body 2, and thus positioning the screw body 2.

[0026] When the connecting frame 34 is at the top, 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 feeding cavity 15. At this time, it will not prevent the screw body 2 from falling down into the cylindrical cavity 14 along the feeding cavity 15, so that the screw body 2 can be fed stably.

[0027] Please see Figure 1 , Figure 2 , Figure 7 and Figure 8 The air extraction mechanism includes an air cylinder 4 fixedly installed at the lower end of an L-shaped support frame 11. An air guide pipe 41 is fixedly installed at the lower end of the air cylinder 4. The lower end of the air guide pipe 41 passes through the side of the protective sleeve 12 and extends into its interior. The lower end of the air guide pipe 41 is inserted into the ventilation groove 31. During the up-and-down movement of the adsorption tube 3, the ventilation groove 31 and the lower end of the air guide pipe 41 slide in contact up and down. A stopper rod 42 is slidably inserted at the lower end of the L-shaped support frame 11. The lower end of the stopper rod 42 extends downward into the inner cavity of the air cylinder 4. A piston 43 is fixedly connected to the lower end of the stopper rod 42. The piston 43 slides in contact up and down with the inner wall of the inner cavity of the air cylinder 4.

[0028] When adsorbing and fixing the screw body 2, first, the lower end of the adsorption tube 3 is 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 stopper rod 42 is moved upward, and the stopper rod 42 drives the piston 43 to move upward along the inner wall of the air cylinder 4. The piston 43 creates an upward negative pressure in the inner cavity of the air cylinder 4, 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, a negative pressure is formed in the inner cavity of the adsorption tube 3, thereby adsorbing and fixing the head of the screw body 2. Then, the screw body 2 is firmly locked by cooperating with the limiting mechanism to prevent the screw body 2 from shaking, tilting or falling during the movement of the screw-locking robot.

[0029] When it is necessary to loosen the suction fixation on the screw body 2, the suction mechanism is reset. By moving the stopper rod 42 downward, the stopper rod 42 drives the piston 43 to move downward along the inner cavity of the air cylinder 4. The piston 43 pushes out the gas in the inner cavity of the air cylinder 4, so that the gas enters the inner cavity of the suction tube 3 along the air guide tube 41, so that the air pressure in the inner cavity of the suction tube 3 is the same as or higher than that in the outside, thus loosening the suction fixation on the screw body 2 by the suction tube 3.

[0030] Please see Figure 1 , Figure 2 , Figure 4 and Figure 8 The detection mechanism includes a transmission plate 54 fixedly installed on the upper end of the piston rod 42. A trigger rod 55 is fixedly connected to the upper end of the transmission plate 54. A warning component is installed above the trigger rod 55. A concave frame 51 is installed at one end of the transmission plate 54. A limit rod 52 is fixedly installed on the inner side of the concave frame 51. The two ends of the limit rod 52 are fixedly connected to the upper and lower inner side walls of the concave frame 51, respectively. 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 installed at the lower end of the L-shaped support frame 11. 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 in contact with the inner side wall of the concave frame 51, and the transmission plate 54 slides in connection with the limiting 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, driving the concave frame 51 to move upward. The concave frame 51 drives the limiting rod 52 and the trigger spring 53 to move upward, thereby causing the transmission plate 54 to drive the plug rod 42 to move upward. If the lower end of the adsorption tube 3 is sealed and connected to the screw body 2, the suction mechanism will evacuate the gas in the adsorption tube 3, creating a negative pressure inside the adsorption tube 3. The greater the pulling resistance of the plug rod 42 and piston 43 as they move upward, the greater the resistance will be, 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 moves upward slowly. The transmission plate 54 drives the plug rod 42 to slide upward along the L-shaped support frame 11, thereby causing the suction mechanism to evacuate the inner cavity of the adsorption tube 3, and thus adsorbing and fixing 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 top, the trigger rod 55 does not contact the warning component.

[0033] When the screw-locking robot moves the screw body 2 to the appropriate position, the inner rod of the second cylinder 5 retracts, the detection mechanism resets, and the adsorption mechanism releases its adsorption fixation on the screw body 2.

[0034] If the screw body 2 is not in place, that is, the lower end of the suction tube 3 is not sealed to the screw body 2, the suction mechanism will not create a negative pressure in the suction tube 3. That is, the piston rod 42 and piston 43 will not be resisted when they move upward. When the concave frame 51 moves upward, it will drive the transmission plate 54 to move upward synchronously. 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 warning component, causing the warning component to issue a warning.

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

[0036] The two terminals of the push-button switch 61 are electrically connected to one terminal of the power supply and one terminal of the alarm 62 via wires, respectively. The other terminal of the power supply is electrically connected to the other terminal of the alarm 62 via wires. When the screw body 2 is not in place, the trigger rod 55 moves upward a certain distance and then 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 flashing 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 suction tube 3 is not in place; at this time, the lower end of the suction 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 limiting mechanism, thereby preventing the electric screwdriver from spinning freely and locking.

[0037] Please see Figure 1 and Figure 2The locking mechanism includes a concave mounting plate 7 fixedly installed on the upper end of an 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 a servo motor fixedly installed on the upper end of the concave mounting plate 7. The motor shaft is connected to the screw 71 via a coupling. A T-shaped lifting seat 72 is sleeved on the screw 71. An electric screwdriver body 73 is fixedly installed on the side of the T-shaped lifting seat 72. An extended bit 74 is installed at the lower end of the electric screwdriver body 73. The extended bit 74 is inserted into the inner cavity of the adsorption tube 3, and the extended bit 74 does not interact with the adsorption tube. The inner wall of tube 3 is in contact with the extended bit 74, which is inserted through the inner side of the sealing sleeve 32. That is, the sealing sleeve 32 is fitted onto the outer side of the extended bit 74, and the extended bit 74 is in sealed contact with the sealing sleeve 32. The extended bit 74 can slide up and down along the sealing sleeve 32, and 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 groove, a slotted groove, an internal hexagonal groove, a Torx groove, etc. The extended bit 74 and the head of the screw body 2 are connected by magnetic attraction.

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

[0039] In the initial position, the T-shaped lifting seat 72 is at the top of the screw 71. First, the screw is fed in, moving the screw body 2 to the inside of the limiting mechanism. Then, the lower end of the adsorption mechanism is placed over the upper end of the screw body 2's head. The detection mechanism and the suction mechanism work together to create a negative pressure inside the adsorption tube 3, thus adsorbing and fixing the screw body 2. Next, the screw-locking robot moves the screw body 2 above the screw hole. Simultaneously, the servo motor shaft drives the screw 71 to rotate, causing the T-shaped lifting seat 72 to move downwards a certain distance. The T-shaped lifting seat 72 then moves the electric screwdriver body 73 and the extended bit 74 downwards a certain distance, so that the lower end of the extended bit 74 aligns with the head of the screw body 2. At this point, the servo motor stops.

[0040] Then, by resetting the detection mechanism, the air extraction mechanism pushes out the gas in the air cylinder 4, causing the adsorption mechanism to loosen its adsorption and fixation on the head of the screw body 2. At this time, the motor shaft of the servo motor continues to drive the screw 71 to rotate, causing the T-shaped lifting seat 72 to continue 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 clamps 21 to open, so that the screw body 2 accurately enters the screw hole. 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 top, the adsorption mechanism does not contact the lower end of the feeding chamber 15, and the concave frame 51 is at the bottom. The screw body 2 is fed into the inner cavity of the feeding pipe 16 through the screw supply device. The screw body 2 slides down along the inner cavity of the feeding pipe 16 into the feeding chamber 15. The screw body 2 slides down along the feeding chamber 15 into the cylindrical cavity 14, and then passes down along the cylindrical cavity 14 through the docking seat 17 and is locked into the limiting mechanism. The limiting mechanism performs preliminary positioning of the screw body 2. 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 extends upward, so that the detection mechanism drives the plug rod 42 of the suction mechanism to move upward, so that the suction mechanism extracts the gas in the adsorption tube 3, so that the inner cavity of the adsorption tube 3 forms a negative pressure, thereby completing the adsorption and fixation of the screw body 2.

[0042] The screw-locking robot moves the screw body 2 above the screw hole, while the motor shaft of the servo motor drives the screw rod 71 to rotate, causing the T-shaped lifting seat 72 to move the electric screwdriver body 73 and the extended bit 74 downward a certain distance, so that the lower end of the extended bit 74 aligns with the head of the screw body 2. At this point, the servo motor stops. Then, the detection mechanism and the air extraction mechanism are reset, and the adsorption mechanism releases its adsorption and fixation on the screw body 2. At this time, the motor shaft of the servo motor continues to drive the screw 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 clamps 21 to open, so that the screw body 2 accurately enters the screw hole. Then, the electric screwdriver body 73 drives the extended bit 74 to rotate, completing the locking of the screw body 2.

[0043] After the screw body 2 is fastened, the fastening mechanism is reset, and the adsorption mechanism is also reset. Then the screw body 2 is fed again, and the above steps are repeated to fasten 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 to the top, the trigger rod 55 will press the button of the button switch 61, thereby activating the alarm 62 and alerting 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 limiting mechanism, thereby preventing the electric screwdriver from spinning and locking.

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

Claims

1. A screw-locking mechanism for a screw-locking robot, comprising a robotic arm (1), characterized in that: The end of the robotic arm (1) is equipped with an L-shaped support frame (11). 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 through the upper end of the connecting seat (13) from top to bottom. A feeding cavity (15) for supplying the screw body (2) is opened on the side of the connecting seat (13). The lower end of the feeding cavity (15) is connected to the cylindrical cavity (14). A docking seat (17) is fixedly connected to the lower end of the connecting seat (13). A limiting mechanism for positioning the screw body (2) is installed at the lower end of the docking seat (17). A connecting joint is fixedly installed at the upper end of the feeding cavity (15). A feeding pipe (16) is fixedly installed at the upper end of the connecting joint. The protective sleeve (12) is equipped with an adsorption mechanism that slides up and down on the inner side. The lower end of the L-shaped support frame (11) is equipped with an air extraction mechanism for extracting air from the inner cavity of the adsorption mechanism. The upper end of the air extraction mechanism is equipped with a detection mechanism for detecting the position of the screw body (2). The upper end of the L-shaped support frame (11) is equipped with a locking mechanism for tightening the screw body (2). The adsorption mechanism includes an adsorption tube (3) that is slidably installed inside the protective sleeve (12). The side of the adsorption tube (3) is provided with a ventilation groove (31). A sealing sleeve (32) is fixedly installed at the upper end of the inner cavity of the adsorption tube (3). A sealing gasket (33) is fixedly installed at the lower end of the inner cavity of the adsorption tube (3). A connecting frame (34) is solidly installed at the upper end of the adsorption tube (3). A first cylinder (35) is fixedly installed at the lower end of the L-shaped support frame (11). The upper end of the inner rod of the first cylinder (35) is fixedly connected to the lower end of the connecting frame (34). The air extraction mechanism includes an air cylinder (4) fixedly installed at the lower end of an L-shaped support frame (11). An air guide pipe (41) is fixedly installed at the lower end of the air cylinder (4). The lower end of the air guide pipe (41) passes through the side of the protective sleeve (12) and extends into its interior. The lower end of the air guide pipe (41) is inserted into the ventilation groove (31). A stopper rod (42) is slidably inserted into the lower end of the L-shaped support frame (11). The lower end of the stopper rod (42) extends downward into the inner cavity of the air cylinder (4). A piston (43) is fixedly connected to the lower end of the stopper rod (42). The piston (43) slides in contact with the inner wall of the inner cavity of the air cylinder (4). The detection mechanism includes a transmission plate (54) fixedly installed on the upper end of the piston rod (42). A trigger rod (55) is fixedly connected to the upper end of the transmission plate (54). 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). A limit rod (52) is fixedly installed 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 at the lower end of the limit rod (52). A second cylinder (5) is fixedly installed at 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. One end of the transmission plate (54) slides in contact with the inner side wall of the concave frame (51) and slides in contact with the limiting rod (52). The two ends of the trigger spring (53) abut against the concave frame (51) and the transmission plate (54) respectively. The warning component includes a fixed plate (6) set 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 part of the button switch (61) is set directly above the trigger rod (55). An alarm (62) is fixedly installed at the upper end of the fixed plate (6).

2. The screw tightening mechanism of a screw-locking robot according to claim 1, characterized in that: The limiting mechanism includes limiting clamps (21) symmetrically installed on the left and right sides below the docking seat (17). Each of the two limiting clamps (21) has a semi-cylindrical clamping groove (22) on the side that moves backward. The upper end of each of the two semi-cylindrical clamping grooves (22) is inclined outward with a groove (23). Rotating frames (24) are fixedly installed symmetrically on the outside of the docking seat (17). Each of the two rotating frames (24) has an L-shaped rotating seat (25) rotatably installed inside it via a rotating shaft. The lower ends of the two L-shaped rotating seats (25) are fixedly connected to the adjacent limiting clamps (21). Torsion springs (26) are symmetrically installed on the upper end of the L-shaped rotating seats (25).

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

4. The screw tightening mechanism of a screw-locking robot according to claim 3, characterized in that: The screw (71) is threadedly connected to the T-shaped lifting seat (72), and one side of the T-shaped lifting seat (72) slides in contact with the inner wall of the concave mounting plate (7).

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