A screw-locking robot

Abstract

This invention relates to the field of screw-locking robot technology, specifically a screw-locking robot comprising a six-axis robotic arm. The output axis of the six-axis robotic arm is fixedly connected to a mounting plate. A CCD camera for thread detection is mounted on the lower end of the mounting plate. A ring-shaped searchlight is mounted on the front end of the CCD camera. A maintenance mechanism for calibrating screw threads is mounted on the front end of the mounting plate. A mechanical gripper is mounted on the front end of the mounting plate. A servo motor is installed on the upper end of the mechanical gripper. A cleaning mechanism for cleaning the vision inspection system is mounted on the lower end of the mechanical gripper. Through the adaptive clamping of the arc-shaped pressure plate of the grinding component and the dynamic correction mechanism of the die, combined with the helical feed structure of the displacement axis of the chamfering component, fully automatic high-precision calibration of screw thread deviation and assembly hole burrs is achieved. Through the linkage design of the CCD camera and the cleaning mechanism, the detection process is automated and self-maintained.

Description

Technical Field

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

[0002] In the field of industrial automation production, screw fastening is a common and critical process, widely used in precision manufacturing industries such as electronic equipment, automotive parts, and aerospace. Especially in the assembly of microelectronic components and high-strength structural parts, extremely high requirements are placed on the screw thread accuracy, assembly hole quality, and degree of automation.

[0003] For micro screws with a diameter ≤3mm, the thread profile height is only 0.1-0.3mm. Existing robot detection systems have difficulty accurately identifying thread misalignment, and an angle deviation ≥0.5° may lead to stripping. For high-strength alloy steel screws, traditional thread straightening tools are prone to wear and cannot guarantee straightening accuracy. In deep or blind hole environments, existing robots cannot effectively handle burrs or debris residue at the bottom of the hole, resulting in abnormal fluctuations in screw insertion torque, affecting connection strength and reliability. Existing robots require manual adjustment of the clamping mechanism and detection parameters, which is time-consuming and cannot meet the needs of flexible manufacturing. At the same time, for special screws with head shapes such as Torx heads and irregular heads, there is a lack of effective positioning and anti-slip measures. Therefore, we propose a screw-locking robot. Summary of the Invention

[0004] To overcome the shortcomings of the prior art and solve at least one of the technical problems mentioned in the background art, the present invention proposes a screw-locking robot.

[0005] The technical solution adopted by this invention to solve its technical problem is: a screw-locking robot, including a six-axis robotic arm, the output shaft of the six-axis robotic arm is fixedly connected to a mounting plate, a CCD camera for detecting threads is mounted at the lower end of the mounting plate, a ring spotlight is mounted at the front end of the CCD camera, a maintenance mechanism for calibrating screw threads is mounted at the front end of the mounting plate, a mechanical gripper is mounted at the front end of the mounting plate, a servo motor is provided at the upper end of the mechanical gripper, and a cleaning mechanism for cleaning the vision inspection system is mounted at the lower end of the mechanical gripper.

[0006] Preferably, the maintenance mechanism includes a grinding assembly for treating misaligned threads, and the maintenance mechanism further includes a chamfering assembly for treating burrs on the mounting holes.

[0007] Preferably, the grinding assembly includes two sets of symmetrical cylinders. The upper ends of both sets of cylinders are fixedly connected to a mounting plate. The output shaft of each cylinder is fixedly connected to a mounting block. A first electric telescopic rod is mounted on the inner side of the mounting block. An L-shaped connecting rod is fixedly connected to the output shaft of the first electric telescopic rod. A limit strip is fixedly connected to the outer side of the L-shaped connecting rod. A limit sleeve is slidably connected to the outer side of the L-shaped connecting rod. An arc-shaped pressure plate is fixedly connected to the outer side of the limit sleeve. A first spring is provided on the outer side of the arc-shaped pressure plate. One end of the first spring is fixedly connected to the limit sleeve, and the other end of the first spring is fixedly connected to the first electric telescopic rod.

[0008] Preferably, a limiting plate is fixedly connected to the upper end of the L-shaped connecting rod, a first toothed ring is fixedly connected to the upper end of the limiting plate, a first spur gear is meshed with the outer side of the first toothed ring, the first spur gear is rotatably connected to a first bracket via a rotating shaft, a roller is rotatably connected to the inner side of the first bracket via a rotating shaft, the outer side of the roller is slidably connected to the limiting plate, a first motor is installed at the lower end of the first bracket, and the output shaft of the first motor is fixedly connected to the first spur gear.

[0009] Preferably, a lubricating oil tank is fixedly connected to the upper end of the first bracket, a stirring rod is rotatably connected to the inner side of the lubricating oil tank, the lower end of the stirring rod is fixedly connected to the first spur gear, a feeding sleeve is fixedly connected to the inner side of the lubricating oil tank, a feeding hole is opened on the outer side of the feeding sleeve, and a feeding pipe of a solenoid valve spray pipe is slidably connected to the inner side of the feeding sleeve, the feeding pipe of the solenoid valve spray pipe passes through the lubricating oil tank.

[0010] Preferably, a second electric telescopic rod is installed on one side of the first bracket. The output shaft of the second electric telescopic rod is slidably connected to one of two sets of teeth. T-shaped grooves are opened on the outer side of both sets of teeth. A connecting plate is fixedly connected to the outer side of the output shaft of the second electric telescopic rod. The upper end of the connecting plate is fixedly connected to the solenoid valve spray pipe. A second toothed ring is fixedly connected to the close end of both sets of teeth.

[0011] Preferably, the chamfering assembly includes a second bracket fixedly connected to the connecting plate. A first bevel gear is rotatably connected to the inner side of the second bracket. A second motor is mounted on one side of the second bracket. The output shaft of the second motor is fixedly connected to the first bevel gear. Two sets of symmetrical second bevel gears are meshed with the outer side of the first bevel gear. A second spur gear is fixedly connected to the far end of each of the two sets of second bevel gears. The far end of each of the two sets of second spur gears is rotatably connected to the second bracket via a rotating shaft. The outer side of the second bevel gear meshes with a second gear ring.

[0012] Preferably, two sets of T-shaped sliders are fixedly connected to the other side of the second bracket, and the two sets of T-shaped sliders are slidably connected to the inner side of the T-shaped grooves of the two sets of dies.

[0013] Preferably, a fixed sleeve is fixedly connected to the lower end of the second bracket, and a displacement shaft is slidably connected to the inner side of the fixed sleeve. The upper end of the displacement shaft is fixedly connected to one of the two sets of second bevel gears via a rotating shaft. An inclined groove is formed around the outer wall of the displacement shaft, and a slide rod is slidably connected to the inner side of the inclined groove of the displacement shaft. The other end of the slide rod is fixedly connected to the fixed sleeve. A connecting shaft is fixedly connected to the lower end of the displacement shaft, and the outer side of the connecting shaft passes through the fixed sleeve. A chamfered shaft is fixedly connected to the lower end of the connecting shaft. A second spring is provided on the inner side of the fixed sleeve. One end of the second spring is fixedly connected to the displacement shaft, and the other end of the second spring is slidably connected to the fixed sleeve.

[0014] Preferably, the cleaning mechanism includes a third spur gear fixedly connected to the output shaft of the mechanical gripper, a timing belt rotatably connected to the outer side of the third spur gear, a fourth spur gear rotatably connected to the inner side of the timing belt, the upper end of the fourth spur gear being rotatably connected to the mounting plate via a rotating shaft, a third bevel gear fixedly connected to the lower end of the fourth spur gear, a fourth bevel gear meshing with the outer side of the third bevel gear, the inner wall of the fourth bevel gear being rotatably connected to a ring-shaped searchlight, a cleaning rod fixedly connected to the front end of the fourth bevel gear, and a soft brush provided at the rear end of the cleaning rod.

[0015] Compared with the prior art, the present invention provides a screw-locking robot, which has the following beneficial effects:

[0016] 1. By using the arc-shaped pressure plate adaptive clamping and the dynamic correction mechanism of the die in the grinding component, combined with the displacement axis spiral feed structure of the chamfering component, fully automatic high-precision calibration of screw thread deviation and assembly hole burrs is achieved. Two sets of cylinders drive the arc-shaped pressure plate to clamp the plate through the adaptive elastic force of the first spring. The first motor drives the first bracket to move along the circumference of the first toothed ring, so that the die dynamically corrects the deviation of the thread. This solves the problems of low efficiency and poor accuracy of traditional manual thread deviation detection. The second bevel gear drives the inclined slide groove of the displacement axis to cooperate with the slide rod, so that the chamfering axis moves up and down synchronously during revolution. Combined with the reset elastic force of the second spring, the burrs of the assembly hole are accurately removed and a chamfer is formed, which significantly improves the fitting accuracy of the screw and the assembly hole and avoids screw jamming or assembly deviation caused by burrs.

[0017] 2. Through the linkage design of the CCD camera and the cleaning mechanism, the detection process is automated and self-maintained. The CCD camera, together with the ring spotlight, detects screw thread misalignment in real time. The maintenance mechanism can be triggered without manual intervention, improving detection efficiency and consistency. The cleaning rod is driven to rotate by the third spur gear, synchronous belt and bevel gear set, which automatically cleans the debris on the CCD camera lens and the surface of the ring spotlight, avoiding impurities from affecting detection accuracy, reducing the frequency of manual cleaning, and adapting to industrial environments with high dust and high debris.

[0018] 3. The combination of the arc-shaped pressure plate and the first spring can automatically adjust the clamping force according to the surface tolerance of the plate, avoiding clamping instability caused by errors in the curvature or flatness of the plate, ensuring the plate position is fixed during the threading process, and reducing the risk of screw misalignment. The stirring rod in the lubricating oil tank rotates with the first spur gear to automatically stir the lubricating oil and prevent sedimentation. The sliding cooperation between the solenoid valve spray pipe and the feed sleeve achieves precise supply of lubricating fluid. When the die is correcting the thread, the lubricating oil is automatically sprayed to reduce mechanical wear, extend the service life of the die and screw, and improve the smoothness and accuracy of thread correction. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a cross-sectional view of the overall structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the overall structure of the maintenance mechanism of the present invention;

[0022] Figure 4 This is a cross-sectional view of part of the maintenance mechanism of the present invention. Figure 1 ;

[0023] Figure 5 This is a cross-sectional view of part of the maintenance mechanism of the present invention. Figure 2 ;

[0024] Figure 6 This is a schematic diagram of the overall structure of the chamfering component of the present invention;

[0025] Figure 7 This is a cross-sectional view of a portion of the chamfering component of the present invention;

[0026] Figure 8 This is a schematic diagram of the overall structure of the cleaning mechanism of the present invention;

[0027] Figure 9 This is a cross-sectional schematic diagram of the overall structure of the cleaning mechanism of the present invention.

[0028] In the diagram: 1. Six-axis robotic arm; 2. Mounting plate; 3. CCD camera; 4. Maintenance mechanism; 41. Grinding assembly; 411. Cylinder; 412. Mounting block; 413. First electric telescopic rod; 414. L-shaped connecting rod; 415. Limiting sleeve; 416. Arc-shaped pressure plate; 417. First spring; 418. First bracket; 419. First spur gear; 4110. First motor; 4111. Roller; 4112. First gear ring; 4113. Limiting plate; 4114. Lubricating oil tank; 4115. Stirring rod; 4116. Feeding sleeve; 4117. Solenoid valve spray pipe; 4118. Connecting plate; 4 119. Second electric telescopic rod; 4120. Die; 4121. Second gear ring; 42. Chamfering assembly; 421. Second bracket; 422. Second motor; 423. First bevel gear; 424. Second bevel gear; 425. Second spur gear; 426. T-shaped slider; 427. Fixed sleeve; 428. Connecting shaft; 429. Displacement shaft; 4210. Slide rod; 4211. Chamfering shaft; 4212. Second spring; 5. Mechanical gripper; 6. Cleaning mechanism; 61. Third spur gear; 62. Synchronous belt; 63. Fourth spur gear; 64. Third bevel gear; 65. Fourth bevel gear; 66. Cleaning rod. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] The following electrical components are all electrically connected via an external PLC controller.

[0031] Please see Figures 1-9 A screw-locking robot has a six-axis robotic arm 1 whose output shaft is fixedly connected to a mounting plate 2. A CCD camera 3 for detecting threads is mounted on the lower end of the mounting plate 2. A ring spotlight is mounted on the front end of the CCD camera 3. A maintenance mechanism 4 for calibrating screw threads is mounted on the front end of the mounting plate 2. A mechanical gripper 5 is mounted on the front end of the mounting plate 2. A servo motor is installed on the upper end of the mechanical gripper 5. A cleaning mechanism 6 for cleaning the vision inspection system is mounted on the lower end of the mechanical gripper 5.

[0032] In this embodiment, the maintenance mechanism 4 includes a grinding component 41 for processing the skewed thread, and the maintenance mechanism 4 also includes a chamfering component 42 for processing the burrs of the assembly hole.

[0033] Specifically, the maintenance mechanism 4 is used to calibrate screw threads, wherein the grinding component 41 can handle skewed threads and the chamfering component 42 can handle burrs in the mounting holes.

[0034] In this embodiment, the grinding assembly 41 includes two sets of symmetrical cylinders 411. The upper ends of both sets of cylinders 411 are fixedly connected to the mounting plate 2. The output shaft of the cylinder 411 is fixedly connected to the mounting block 412. A first electric telescopic rod 413 is installed on the inner side of the mounting block 412. An L-shaped connecting rod 414 is fixedly connected to the output shaft of the first electric telescopic rod 413. A limit strip is fixedly connected to the outer side of the L-shaped connecting rod 414. A limit sleeve 415 is slidably connected to the outer side of the L-shaped connecting rod 414. An arc-shaped pressure plate 416 is fixedly connected to the outer side of the limit sleeve 415. A first spring 417 is provided on the outer side of the arc-shaped pressure plate 416. One end of the first spring 417 is fixedly connected to the limit sleeve 415, and the other end of the first spring 417 is fixedly connected to the first electric telescopic rod 413.

[0035] Specifically, the two sets of cylinders 411 drive the mounting block 412, the first electric telescopic rod 413 and the L-shaped connecting rod 414 to move through the output shaft, so that the limiting sleeve 415 and the arc-shaped pressure plate 416 clamp the arc-shaped plate. The first spring 417 adapts to the surface tolerance of the plate through its elasticity, stabilizes the position of the plate to avoid screw deflection, and limits the rotational freedom of the limiting sleeve 415 through the limiting strip.

[0036] In this embodiment, a limiting plate 4113 is fixedly connected to the upper end of the L-shaped connecting rod 414. A first toothed ring 4112 is fixedly connected to the upper end of the limiting plate 4113. A first spur gear 419 is meshed with the outer side of the first toothed ring 4112. A first bracket 418 is rotatably connected to the first spur gear 419 via a rotating shaft. A roller 4111 is rotatably connected to the inner side of the first bracket 418 via a rotating shaft. The outer side of the roller 4111 is slidably connected to the limiting plate 4113. A first motor 4110 is installed at the lower end of the first bracket 418. The output shaft of the first motor 4110 is fixedly connected to the first spur gear 419.

[0037] Specifically, the limiting plate 4113 at the upper end of the L-shaped connecting rod 414 and the first toothed ring 4112 are aligned to form a circular surrounding screw. The first motor 4110 drives the first spur gear 419 to mesh with the first toothed ring 4112, so that the first bracket 418 moves along the circumference of the toothed ring. The roller 4111 slides in contact with the limiting plate 4113 to reduce friction.

[0038] In this embodiment, a lubricating oil tank 4114 is fixedly connected to the upper end of the first bracket 418, a stirring rod 4115 is rotatably connected to the inner side of the lubricating oil tank 4114, the lower end of the stirring rod 4115 is fixedly connected to the first spur gear 419, a feeding sleeve 4116 is fixedly connected to the inner side of the lubricating oil tank 4114, a feeding hole is opened on the outer side of the feeding sleeve 4116, and a feeding pipe of a solenoid valve spray pipe 4117 is slidably connected to the inner side of the feeding sleeve 4116, and the feeding pipe of the solenoid valve spray pipe 4117 passes through the lubricating oil tank 4114.

[0039] Specifically, the first spur gear 419 drives the stirring rod 4115 to stir the lubricating oil in the lubricating oil tank 4114 to prevent sedimentation. The second electric telescopic rod 4119 drives the solenoid valve spray pipe 4117 to move through the connecting plate 4118, so that the feed sleeve 4116 is aligned with the feed hole of the spray pipe, so as to realize the output lubricating oil to the die 4120.

[0040] In this embodiment, a second electric telescopic rod 4119 is installed on one side of the first bracket 418. The output shaft of the second electric telescopic rod 4119 is slidably connected to one of the two sets of dies 4120. T-shaped grooves are provided on the outer sides of both sets of dies 4120. A connecting plate 4118 is fixedly connected to the outer side of the output shaft of the second electric telescopic rod 4119. The upper end of the connecting plate 4118 is fixedly connected to the solenoid valve spray pipe 4117. A second toothed ring 4121 is fixedly connected to the close ends of the two sets of dies 4120.

[0041] Specifically, the output shaft of the second electric telescopic rod 4119 pushes the die 4120 closer to the screw, and the connecting plate 4118 is linked to the solenoid valve spray pipe 4117. The two sets of dies 4120 move in opposite directions through the cooperation of the second toothed ring 4121 and the transmission component to correct the screw thread. The die 4120 is made of PCD composite material and is suitable for correcting high-strength screws with a hardness ≥ HRC45. The spray particle size of the solenoid valve spray pipe 4117 is ≤ 50 μm. The spray volume is 0.01 ml / time for micro screws (≤ M2.5) and 0.5 ml / time for high-strength screws.

[0042] In this embodiment, the chamfering assembly 42 includes a second bracket 421 fixedly connected to the connecting plate 4118. A first bevel gear 423 is rotatably connected to the inner side of the second bracket 421. A second motor 422 is installed on one side of the second bracket 421. The output shaft of the second motor 422 is fixedly connected to the first bevel gear 423. Two sets of symmetrical second bevel gears 424 are meshed on the outer side of the first bevel gear 423. A second spur gear 425 is fixedly connected to the ends of the two sets of second bevel gears 424 that are far apart. The ends of the two sets of second spur gears 425 that are far apart are rotatably connected to the second bracket 421 through a rotating shaft. The outer side of the second bevel gear 424 meshes with the second gear ring 4121.

[0043] Specifically, the second motor 422 drives two sets of second bevel gears 424 to rotate in opposite directions through the first bevel gear 423. The second bevel gears 424 drive the second spur gear 425 and the second gear ring 4121 to realize the transmission control of the die 4120, and at the same time, the chamfering assembly 42 works in conjunction.

[0044] In this embodiment, two sets of T-shaped sliders 426 are fixedly connected to the other side of the second bracket 421, and the two sets of T-shaped sliders 426 are slidably connected to the inner side of the T-shaped grooves of the two sets of dies 4120 respectively.

[0045] Specifically, two sets of T-shaped sliders 426 are slidably connected to the T-shaped grooves of the die 4120 to limit the range and direction of movement of the die 4120 and ensure the accuracy of its opposite movement.

[0046] In this embodiment, a fixed sleeve 427 is fixedly connected to the lower end of the second bracket 421. A displacement shaft 429 is slidably connected to the inner side of the fixed sleeve 427. The upper end of the displacement shaft 429 is fixedly connected to one of the two sets of second bevel gears 424 via a rotating shaft. A sloping groove is provided around the outer wall of the displacement shaft 429. A slide rod 4210 is slidably connected to the inner side of the sloping groove of the displacement shaft 429. The other end of the slide rod 4210 is fixedly connected to the fixed sleeve 427. A connecting shaft 428 is fixedly connected to the lower end of the displacement shaft 429. The outer side of the connecting shaft 428 passes through the fixed sleeve 427. A chamfered shaft 4211 is fixedly connected to the lower end of the connecting shaft 428. A second spring 4212 is provided on the inner side of the fixed sleeve 427. One end of the second spring 4212 is fixedly connected to the displacement shaft 429, and the other end of the second spring 4212 is slidably connected to the fixed sleeve 427.

[0047] Specifically, the second bevel gear 424 drives the displacement shaft 429 to rotate. The inclined slide groove of the displacement shaft 429 cooperates with the slide rod 4210 to achieve vertical displacement. The second spring 4212 assists in resetting. The chamfering shaft 4211 is driven by the connecting shaft 428 to chamfer the periphery of the assembly hole. The helix angle of the inclined slide groove is 20° to ensure that the feed speed matches the revolution speed.

[0048] In this embodiment, the cleaning mechanism 6 includes a third spur gear 61 fixedly connected to the output shaft of the mechanical gripper 5. A timing belt 62 is rotatably connected to the outer side of the third spur gear 61, and a fourth spur gear 63 is rotatably connected to the inner side of the timing belt 62. The upper end of the fourth spur gear 63 is rotatably connected to the mounting plate 2 via a rotating shaft. A third bevel gear 64 is fixedly connected to the lower end of the fourth spur gear 63. A fourth bevel gear 65 is meshed with the outer side of the third bevel gear 64. The inner wall of the fourth bevel gear 65 is rotatably connected to the ring-shaped searchlight. A cleaning rod 66 is fixedly connected to the front end of the fourth bevel gear 65, and a soft brush is provided at the rear end of the cleaning rod 66.

[0049] Specifically, the output shaft of the mechanical gripper 5 drives the third spur gear 61 to rotate, which in turn drives the fourth spur gear 63, the third bevel gear 64, and the fourth bevel gear 65 via the synchronous belt 62, causing the cleaning rod 66 to rotate. The cleaning rod uses a soft brush to clean the debris on the CCD camera lens 3 and the ring spotlight, thus maintaining the detection effect.

[0050] Working principle: In use, the six-axis robotic arm 1 is first started, driving the mounting plate 2 to move the robotic gripper 5 to grasp the screw. The adaptive elastic gripper 5 has a built-in pressure sensor that can automatically adjust the clamping force according to the shape of the screw head, ensuring stable gripping of screws with special heads. Then, the servo motor above the robotic gripper 5 is started to drive the screw to rotate. At this time, the CCD camera 3 starts working to detect the screw thread and determine whether there is a misalignment problem. When the screw thread misalignment is detected, the maintenance mechanism 4 is triggered to start. First, the cylinder 411 is started, and its output shaft moves downward, driving the mounting block 412 to move downward in sync. The mounting block 412 then drives the first electric telescopic rod 413 to move. The output shaft of the first electric telescopic rod 413 extends and pushes the L-shaped connecting rod 414 forward. The L-shaped connecting rod 414 drives the arc-shaped pressure plate 416 to approach the arc-shaped plate that needs to be screwed through the outer limiting sleeve 415. When the arc-shaped pressure plate 416 comes into contact with the surface of the plate, it will slide on the L-shaped connecting rod 414 through the limiting sleeve 415 and press the first spring 417 according to the surface tolerance of the plate. The elastic force of the first spring 417 will make the arc-shaped pressure plate 416 fit tightly and stabilize the position of the plate, so as to prevent the plate from deflecting during the subsequent screwing process.

[0051] As the L-shaped connecting rod 414 moves, the two sets of first toothed rings 4112 and the limiting plate 4113 at its upper end align and fit together to form a circular structure that surrounds the screw. At this time, the first motor 4110 is started, and its output shaft drives the first spur gear 419 to rotate. The first spur gear 419 meshes with the first toothed ring 4112, driving the first bracket 418 to move circumferentially along the first toothed ring 4112. At the same time, the roller 4111 slides in contact with the limiting plate 4113, effectively reducing the friction during movement. While the first spur gear 419 rotates, it drives the stirring rod 4115 to stir the lubricating oil in the lubricating oil tank 4114 to prevent lubricating oil from settling. Then, the second electric telescopic rod 4119 is activated, and its output shaft pushes a set of dies 4120 closer to the screw. At the same time, it drives the solenoid valve spray pipe 4117 to move through the connecting plate 4118, so that the feed pipe of the solenoid valve spray pipe 4117 slides in the feed sleeve 4116. When the feed hole of the feed sleeve 4116 is aligned with the feed hole of the solenoid valve spray pipe 4117, the lubricating oil in the lubricating oil tank 4114 is output through the solenoid valve spray pipe 4117 to lubricate the dies 4120. At the same time, the second motor 422 is activated, and its output shaft drives the first bevel gear 423 to rotate. The first bevel gear 423 meshes with two sets of second bevel gears 424, driving the two sets of second bevel gears 424 to rotate in opposite directions. The second bevel gear 424 drives the second spur gear 425 to rotate. The second spur gear 425 meshes with the second toothed ring 4121. Since the T-shaped grooves on the outer side of the two sets of teeth 4120 are slidably connected to the T-shaped slider 426 of the second bracket 421, under the limiting action of the T-shaped slider 426, the second toothed ring 4121 drives the teeth 4120 to move in opposite directions, so that the two sets of first toothed rings 4112 form a ring to surround and wrap around the screw. Through the revolution of the first bracket 418, the teeth 4120 correct the threads of the screw.

[0052] When the second bevel gear 424 rotates, the displacement shaft 429, which is fixedly connected to it, rotates synchronously. The inclined groove on the outer wall of the displacement shaft 429 slides in cooperation with the slide rod 4210 fixed on the fixed sleeve 427. Utilizing the height difference of the inclined groove, the displacement shaft 429 moves up and down while revolving. During the displacement process, the second spring 4212 provides elastic force to assist in resetting. The displacement shaft 429 drives the chamfering shaft 4211 through the connecting shaft 428 to chamfer the periphery of the screw assembly hole, improving the assembly accuracy of the screw. The helix angle of the inclined groove of the displacement shaft 429 is 20°. When the second bevel gear 424 rotates at 5 r / min, the axial feed speed of the chamfering shaft 4211 is 1 mm / s. Combined with the 10 N pressure of the second spring 4212, a standard chamfer of 30°±2° is formed.

[0053] When the mechanical gripper 5 drives the screw to rotate via the servo motor, its output shaft drives the third spur gear 61 to rotate. The third spur gear 61 drives the fourth spur gear 63 to rotate via the synchronous belt 62. The fourth spur gear 63, through the meshing of the third bevel gear 64 and the fourth bevel gear 65, drives the fourth bevel gear 65 to rotate. The cleaning rod 66 at the front end of the fourth bevel gear 65 rotates accordingly, using the soft brush at the rear end to clean the lens of the CCD camera 3 and the ring spotlight. The antistatic nylon fiber can prevent the adsorption of debris, avoiding debris affecting the detection accuracy.

[0054] 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 robot comprising a six-axis robot arm, characterized in that: The output shaft of the six-axis mechanical arm is fixedly connected with a mounting plate, the lower end of the mounting plate is provided with a CCD camera for detecting threads, the front end of the CCD camera is provided with a ring-shaped searchlight, the front end of the mounting plate is provided with a maintenance mechanism for calibrating screw threads, the front end of the mounting plate is provided with a mechanical gripper, the inner side of the mechanical gripper is provided with a pressure sensor, the upper end of the mechanical gripper is provided with a servo motor, the lower end of the mechanical gripper is provided with a cleaning mechanism for cleaning the visual detection system, the maintenance mechanism comprises a polishing assembly for processing skewed threads, the polishing assembly comprises two groups of symmetrical air cylinders, the upper ends of the two groups of air cylinders are fixedly connected with the mounting plate, the output shaft of the air cylinder is fixedly connected with a mounting block, the inner side of the mounting block is provided with a first electric telescopic rod, the output shaft of the first electric telescopic rod is fixedly connected with an L-shaped connecting rod, the outer side of the L-shaped connecting rod is fixedly connected with a limiting strip, the outer side of the L-shaped connecting rod is slidably connected with a limiting sleeve, the outer side of the limiting sleeve is fixedly connected with an arc-shaped pressing plate, the outer side of the arc-shaped pressing plate is provided with a first spring, one end of the first spring is fixedly connected with the limiting sleeve, the other end of the first spring is fixedly connected with the first electric telescopic rod, the upper end of the L-shaped connecting rod is fixedly connected with a limiting plate, the upper end of the limiting plate is fixedly connected with a first gear ring, the outer side of the first gear ring is meshingly connected with a first spur gear, the first spur gear is rotatably connected with a first support through a rotating shaft, the inner side of the first support is rotatably connected with a roller through a rotating shaft, the outer side of the roller is slidably connected with the limiting plate, the lower end of the first support is provided with a first motor, the output shaft of the first motor is fixedly connected with the first spur gear, one side of the first support is provided with a second electric telescopic rod, the output shaft of the second electric telescopic rod is slidably connected with one group of teeth plates of the two groups of teeth plates, the outer sides of the two groups of teeth plates are both provided with T-shaped sliding grooves, the output shaft of the second electric telescopic rod is fixedly connected with a connecting plate, the upper end of the connecting plate is fixedly connected with a solenoid valve spray pipe, the end close to the other group of teeth plates of the two groups of teeth plates is fixedly connected with a second gear ring, and the teeth plates are made of PCD composite materials.

2. The screwing robot according to claim 1, characterized in that: The maintenance mechanism further comprises a chamfering assembly for processing the burrs of the assembly holes.

3. The screwing robot according to claim 1, characterized in that: The upper end of the first support is fixedly connected with a lubricating oil tank, the inner side of the lubricating oil tank is rotatably connected with a stirring rod, the lower end of the stirring rod is fixedly connected with the first spur gear, the inner side of the lubricating oil tank is fixedly connected with a feeding sleeve, the outer side of the feeding sleeve is provided with a feeding hole, the inner side of the feeding sleeve is slidably connected with a feeding pipe of the solenoid valve spray pipe, and the feeding pipe of the solenoid valve spray pipe penetrates through the lubricating oil tank.

4. The screwing robot according to claim 2, characterized in that: The chamfer assembly includes a second support fixedly connected with the connecting plate, the inner side of the second support is rotationally connected with a first bevel gear, one side of the second support is provided with a second motor, the output shaft of the second motor is fixedly connected with the first bevel gear, the outer side of the first bevel gear is meshingly connected with two groups of symmetrical second bevel gears, the distal ends of the two groups of second bevel gears are fixedly connected with second spur gears, the distal ends of the two groups of second spur gears are rotationally connected with the second support through shafts, and the outer side of the second bevel gear is meshed with a second gear ring.

5. A screw locking robot according to claim 4, characterized in that: The other side of the second support is fixedly connected with two groups of T-shaped sliding blocks, and the two groups of T-shaped sliding blocks are slidingly connected to the inner sides of the T-shaped sliding grooves of the two groups of plate teeth.

6. The screwing robot according to claim 4, characterized in that: The lower end of the second support is fixedly connected with a fixing sleeve, the inner side of the fixing sleeve is slidingly connected with a displacement shaft, the upper end of the displacement shaft is fixedly connected with one group of second bevel gears of the two groups of second bevel gears through a shaft, a bevel sliding groove is formed in the outer wall of the displacement shaft, a sliding rod is slidingly connected to the inner side of the bevel sliding groove of the displacement shaft, the other end of the sliding rod is fixedly connected with the fixing sleeve, the lower end of the displacement shaft is fixedly connected with a connecting shaft, the outer side of the connecting shaft penetrates through the fixing sleeve, the lower end of the connecting shaft is fixedly connected with a chamfer shaft, the inner side of the fixing sleeve is provided with a second spring, one end of the second spring is fixedly connected with the displacement shaft, and the other end of the second spring is slidingly connected with the fixing sleeve.

7. The screwing robot according to claim 1, characterized in that: The cleaning mechanism includes a third spur gear fixedly connected with the output shaft of the mechanical gripper, the outer side of the third spur gear is rotationally connected with a synchronous belt, the inner side of the synchronous belt is rotationally connected with a fourth spur gear, the upper end of the fourth spur gear is rotationally connected with the mounting plate through a shaft, the lower end of the fourth spur gear is fixedly connected with a third bevel gear, the outer side of the third bevel gear is meshingly connected with a fourth bevel gear, the inner wall of the fourth bevel gear is rotationally connected with a ring searchlight, the front end of the fourth bevel gear is fixedly connected with a cleaning rod, the rear end of the cleaning rod is provided with a soft brush, and the soft brush is made of antistatic nylon fiber.

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