Screw locking robot based on ai visual recognition and locking control

Abstract

This invention relates to the field of screw fastening equipment and discloses a screw fastening robot based on AI visual recognition and tightening control. The robot includes a base, a rotating robot body rotatably connected to the top of the base, a camera-equipped robot head mounted on the top of the rotating robot body, rotating arms symmetrically mounted on both sides of the rotating robot body, and screw fastening assemblies mounted at the ends of the rotating arms. The rotating arms are used to adjust the working position and direction of the screw fastening assemblies. The screw fastening assembly includes a connecting cylinder fixedly mounted to one end of the rotating arm, a rotating block rotatably mounted inside the connecting cylinder, a central square groove coaxially formed inside the rotating block, and a bottom groove extending through to the bottom of the rotating block. This invention, by using different shaped embedded blocks at the bottom of the four screw fastening units' inserts, facilitates compatibility with screws of different head slot types, thus simplifying screw fastening.

Description

Technical Field

[0001] This invention belongs to the field of screw-locking equipment, specifically a screw-locking robot based on AI visual recognition and tightening control. Background Technology

[0002] To completely eliminate the various practical drawbacks of manual screw fastening operations and adapt to the flexible, quick-change, and high-precision intelligent manufacturing assembly needs of the entire industry, various automated screw fastening tooling equipment, fixed multi-axis screw fastening units, and conventional integrated screw fastening robotic arms have gradually replaced manual labor and are widely deployed in various intelligent manufacturing assembly stations, becoming the mainstream standard equipment for screw fastening operations. Conventional automated screw fastening equipment relies on a basic structural design based on preset program closed-loop control, fixed-stroke mechanical transmission linkage, and fixed-distance tooling positioning and limiting. It can stably replicate standardized tightening and turning actions, and can operate continuously for long periods without interruption. It effectively avoids individual operational deviations and fatigue errors caused by manual operation, significantly improves the efficiency of basic screw fastening operations, initially unifies the tightening process benchmark at the workstation, reduces the basic assembly defect rate, reduces the cost of on-site fixed-position manual supervision, and is suitable for batch and routine screw fastening operations of single-category, same-specification screws, meeting the basic implementation needs of current basic standardized intelligent manufacturing assembly. However, the following shortcomings still exist: In complex intelligent manufacturing scenarios involving mass production of multiple product categories and assembly of screws of various specifications on the same line, different assembly points of the complete product need to be matched with fastening screws of different specifications and head slot structures. These include various screw head slots such as slotted, cross, hexagonal, and Torx. However, existing conventional screw-locking robots and their matching screw-locking tooling have a fixed structural design. The screw-locking arm has a rigidly integrated screw-locking insert block of a fixed specification at its end. This can only be matched with screws of the corresponding slot type to complete the entire process of alignment, locking, pressing, and locking. It cannot be adjusted according to the differences in the head slot characteristics of the screws arriving on site in real time. Summary of the Invention

[0003] In view of the above situation and to overcome the shortcomings of the prior art, the present invention provides a screw-locking robot based on AI visual recognition and locking control, which effectively solves the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a screw-locking robot based on AI visual recognition and locking control, comprising a base, a rotating robot body rotatably connected to the top of the base, a camera robot brain mounted on the top of the rotating robot body, rotating arms symmetrically mounted on both sides of the rotating robot body, and screw-locking assemblies mounted at the ends of the rotating arms, the rotating arms being used to adjust the working position and working direction of the screw-locking assemblies; The screw-locking assembly includes a connecting cylinder fixedly installed at one end of the rotating arm. A rotating block is rotatably installed inside the connecting cylinder. A central square groove is coaxially opened inside the rotating block. A bottom groove is opened at the bottom end of the central square groove. The bottom groove extends through to the bottom of the rotating block. An identification pusher is provided in the upper half of the central square groove. A selection workpiece is provided in the circumferential direction in the lower half of the central square groove. The selected workpiece includes side grooves that are equally angled and opened on all four sides of the central square groove. The cross-sectional area of ​​the side grooves is the same as that of the central square groove. The side grooves are equipped with screw-locking units. The four screw-locking units are selected and used according to the head groove shape of different screws. A moving pusher is installed on the side of the screw-locking unit away from the central square groove. A negative pressure fixing member is installed at the bottom of the rotating block.

[0005] Preferably, the top end of the rotating block is coaxially connected to the output shaft of the first motor, and the first motor is mounted on the top end of the connecting cylinder.

[0006] Preferably, the screw-locking unit includes a square block disposed inside the side groove. A rod groove is coaxially formed inside the square block, with both ends of the rod groove extending to the upper and lower sides of the square block respectively. Second guide grooves are symmetrically formed on both sides of the rod groove. A pin is movably installed inside the rod groove. An embedded block is installed at the bottom end of the pin. Guide plates are symmetrically installed on both sides of the pin. The guide plates are slidably installed in the second guide groove. A second spring is fixedly installed at the bottom end of the guide plate. The bottom end of the second spring is fixedly connected to the inner bottom wall of the second guide groove.

[0007] Preferably, the embedded block is provided in the form of a straight line, a cross, an internal hexagon, or a stylized plum blossom.

[0008] Preferably, the identification pusher includes first guide grooves symmetrically opened on both sides of the central square groove. The first guide grooves are located above the side grooves. A sliding push plate is movably installed inside the central square groove. The sliding push plate is slidably connected to the first guide groove. A push rod is fixedly installed at the bottom end of the sliding push plate. The push rod is located above the bottom groove. An installation groove is opened at the bottom end of the push rod. A miniature camera is installed inside the installation groove.

[0009] Preferably, a first spring is symmetrically installed at the bottom end of the sliding push plate, the bottom end of the first spring is fixedly connected to the inner bottom wall of the first guide groove, a magnetic block is installed at the top end of the sliding push plate, and an electromagnet is fixedly installed on the inner top wall of the square groove in the middle.

[0010] Preferably, the moving pusher includes a side box that is installed at an equal angle to the circumference of the rotating block. The side box corresponds one-to-one with the side slot. A push plate is slidably installed inside the side box. The push plate is fixedly connected to the square block. A horizontal toothed plate is fixedly installed on the push plate. A first gear is meshed above the horizontal toothed plate. A rotating shaft is coaxially installed on the first gear. Both ends of the rotating shaft are rotatably connected to the side box and pass through to both sides of the side box respectively. A second gear is coaxially installed at the end of the rotating shaft.

[0011] Preferably, a longitudinal toothed plate is meshed with one side of the second gear, and a movable block is fixedly installed at the top of the two longitudinal toothed plates. The movable block is slidably installed inside the fixed box, and the fixed box is fixedly installed at an equal angle to the circumference of the rotating block. A screw is rotatably installed inside the fixed box, and the screw is threadedly connected to the movable block. The top of the screw is fixedly connected to the output shaft of the second motor, and the second motor is fixedly installed on the top of the fixed box.

[0012] Preferably, the negative pressure fixing component includes an inner cylinder and an outer cylinder fixedly installed at the bottom end of the rotating block. The bottom groove, the inner cylinder and the outer cylinder are coaxially arranged from the inside to the outside. A sealing gasket is provided at the bottom end of the inner cylinder and the bottom end of the outer cylinder. An annular negative pressure cavity is formed between the inner cylinder and the outer cylinder. Side air boxes are installed at equal angles in the circumferential direction of the outer cylinder. The side air boxes correspond one-to-one with the side grooves.

[0013] Preferably, the side air box has a first air chamber and two second air chambers inside. The first air chamber and the two second air chambers are symmetrically arranged on both sides of the first air chamber. A connecting groove is formed between the ends of the first air chamber and the second air chambers away from the outer cylinder. Exhaust holes are evenly formed at the end of the second air chambers near the outer cylinder. A piston is movably installed inside the second air chamber. The piston is located on the side of the connecting groove near the outer cylinder. A push rod is fixedly installed on the side of the piston away from the outer cylinder. One end of the push rod extends to the outside of the side air box. An end plate is fixedly installed at the end of the push rod. A pull rod is fixedly installed on the side of the end plate near the rotating block. One end of the pull rod extends into the side groove and is fixedly connected to the square block.

[0014] Compared with the prior art, the beneficial effects of the present invention are: (1) In this invention, the four screw-locking units have different shapes of the insert blocks at the bottom of the insert post, which makes it easy to adapt to screws with different head slots. The four screw-locking units are set at equal angles on the four sides of the central square slot. After pushing the corresponding screw-locking unit to move into the central square slot, the insert post moves downward from the bottom slot, so that the insert block is inserted into the head slot of the screw, which makes it easy to lock the screw. (2) In this invention, a push rod is provided in the square groove in the middle. The miniature camera at the bottom of the push rod can pass through the bottom groove to take pictures of the screw head for AI visual recognition, and make centering determination with the screw head below, and determine the groove type of the head groove on the screw head below, so as to facilitate screwing screws with different head groove types. (3) In this invention, when the square block moves to the inside of the central square groove, the insert moves to the bottom of the push rod, so that the electromagnet can generate a repulsive force on the magnetic block and push the insert downward, so that the embedded block is inserted into the head groove of the screw head, which is convenient for screw locking. (4) In this invention, when one of the square blocks enters the middle square groove, it simultaneously drives the piston to move away from the connecting groove, so that negative pressure is generated in the annular negative pressure cavity between the inner cylinder and the outer cylinder, so that the rotating block and the screw head are fixed by negative pressure, thereby further improving the fixing strength between the rotating block and the screw and improving the stability of the screw. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0016] In the attached diagram: Figure 1 This is a schematic diagram of the screw-locking robot structure based on AI visual recognition and locking control according to the present invention; Figure 2 This is a schematic diagram of the screw-locking assembly structure of the present invention; Figure 3 This is a schematic diagram of the connection structure between the connecting cylinder and the rotating block of the present invention; Figure 4 This is a schematic diagram of the internal structure of the rotating block of the present invention; Figure 5 This is a schematic diagram of the structure of the pusher component of the present invention; Figure 6 This is a schematic diagram of the side groove structure of the present invention; Figure 7 This is a schematic diagram of the internal structure of the square block of the present invention; Figure 8 This is a schematic diagram of the external structure of the square block of the present invention; Figure 9 For the present invention Figure 4 Enlarged view of point A in the middle; Figure 10 This is a schematic diagram of the negative pressure fixing component structure of the present invention; Figure 11 This is a schematic diagram of the internal structure of the side air box of the present invention; In the diagram: 1. Base; 2. Rotating robot body; 3. Camera robot brain; 4. Rotating arm; 5. Screw-locking assembly; 51. Connecting cylinder; 52. Rotating block; 53. First motor; 54. Central square slot; 55. Bottom slot; 56. Recognition pusher; 561. First guide slot; 562. Electromagnet; 563. Sliding push plate; 564. Magnetic block; 565. First spring; 566. Push rod; 567. Mounting slot; 568. Miniature camera; 57. Selecting workpiece; 571. Side slot; 572. Screw-locking unit; 5721. Square block; 5722. Rod slot; 5723. Second guide slot; 5724. 5725. Insert post; 5726. Guide plate; 5727. Second spring; 5728. Embedded block; 573. Side box; 574. Push plate; 575. Horizontal toothed plate; 576. First gear; 577. Second gear; 578. Longitudinal toothed plate; 579. Movable block; 5710. Fixed box; 5711. Screw; 5712. Second motor; 58. Negative pressure fixing component; 581. Inner cylinder; 582. Outer cylinder; 583. Side air box; 584. First air chamber; 585. Second air chamber; 586. Connecting groove; 587. Exhaust hole; 588. Piston; 589. Push rod; 5810. End plate; 5811. Pull rod. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Example 1, by Figures 1-2 The present invention relates to a screw-locking robot based on AI visual recognition and locking control, comprising a base 1, a rotating robot body 2 rotatably connected to the top of the base 1, a camera robot brain 3 mounted on the top of the rotating robot body 2, rotating arms 4 symmetrically mounted on both sides of the rotating robot body 2, and screw-locking assemblies 5 mounted at the ends of the rotating arms 4. The rotating arms 4 are used to adjust the working position and working direction of the screw-locking assemblies 5.

[0019] Depend on Figures 3-4The screw-locking assembly 5 includes a connecting cylinder 51 fixedly installed at one end of the rotating arm 4. A rotating block 52 is rotatably installed inside the connecting cylinder 51. The top end of the rotating block 52 is coaxially connected to the output shaft of the first motor 53. The first motor 53 is installed at the top end of the connecting cylinder 51. A central square groove 54 is coaxially opened inside the rotating block 52. A bottom groove 55 is opened at the bottom end of the central square groove 54. The bottom groove 55 extends to the bottom of the rotating block 52. An identification pusher 56 is provided in the upper half of the interior of the central square groove 54. A selection workpiece 57 is provided circumferentially in the lower half of the central square groove 54.

[0020] Depend on Figure 6 The selected workpiece 57 includes side grooves 571 that are equally angled and opened on all four sides of the central square groove 54. The cross-sectional area of ​​the side grooves 571 is the same as that of the central square groove 54. The side grooves 571 are provided with screw-locking units 572. The four screw-locking units 572 are selected and used according to the head groove shape of different screws. A moving pusher is installed on the side of the screw-locking unit 572 away from the central square groove 54. A negative pressure fixing member 58 is installed at the bottom of the rotating block 52. Depend on Figure 7 The screw-locking unit 572 includes a square block 5721 disposed inside a side groove 571. A rod groove 5722 is coaxially formed inside the square block 5721, with both ends of the rod groove 5722 extending to the upper and lower sides of the square block 5721 respectively. Second guide grooves 5723 are symmetrically formed on both sides of the rod groove 5722. A pin 5724 is movably installed inside the rod groove 5722. An insert block 5727 is installed at the bottom end of the pin 5724. Guide plates 5725 are symmetrically installed on both sides of the pin 5724. The guide plates 5725 are slidably installed within the second guide grooves 5723. A second spring 57 is fixedly installed at the bottom end of the guide plate 5725. 26. The bottom end of the second spring 5726 is fixedly connected to the inner bottom wall of the second guide groove 5723. The embedded block 5727 is provided with a slotted, cross-shaped, hexagonal, and Torx-shaped design. The embedded blocks 5727 at the bottom of the post 5724 on the four screw-locking units 572 have different shapes to facilitate matching with screws with different head slot types. The four screw-locking units 572 are equally angled on the four sides of the central square groove 54. After pushing the corresponding screw-locking unit 572 to move into the central square groove 54, the post 5724 can be moved downward from the bottom groove 55, so that the embedded block 5727 can be inserted into the head slot of the screw, which facilitates screw locking. Depend on Figures 8-9The movable pusher includes a side box 573 mounted at equal angles to the circumference of the rotating block 52. The side box 573 corresponds one-to-one with the side slot 571. A push plate 574 is slidably installed inside the side box 573. The push plate 574 is fixedly connected to the square block 5721. A horizontal toothed plate 575 is fixedly installed on the push plate 574. A first gear 576 is meshed above the horizontal toothed plate 575. A rotating shaft is coaxially mounted on the first gear 576. Both ends of the rotating shaft are rotatably connected to the side box 573 and pass through both sides of the side box 573 respectively. A second gear is coaxially mounted at the end of the rotating shaft. Two gears 577 have a longitudinal toothed plate 578 meshing with one side of them. Movable blocks 579 are fixedly installed on the top of the two longitudinal toothed plates 578. Movable blocks 579 are slidably installed inside a fixed box 5710. The fixed box 5710 is fixedly installed at equal angles on the circumferential direction of the rotating block 52. A screw 5711 is rotatably installed inside the fixed box 5710. The screw 5711 is threadedly connected to the movable block 579. The top of the screw 5711 is fixedly connected to the output shaft of a second motor 5712. The second motor 5712 is fixedly installed on the top of the fixed box 5710.

[0021] Depend on Figures 4-5 The identification pusher 56 includes first guide grooves 561 symmetrically opened on both sides of the central square groove 54. The first guide grooves 561 are located above the side grooves 571. A sliding push plate 563 is movably installed inside the central square groove 54. The sliding push plate 563 is slidably connected to the first guide grooves 561. A push rod 566 is fixedly installed at the bottom end of the sliding push plate 563. The push rod 566 is located above the bottom groove 55. A mounting groove 567 is opened at the bottom end of the push rod 566. A miniature camera 568 is installed inside the mounting groove 567. The push rod 566 is set in the central square groove 54. The miniature camera 568 at the bottom of the push rod 566 can pass through the bottom groove 55 to take pictures of the screw head for AI visual recognition and compare them with the screw head below. The centering is determined, and the groove shape of the head slot on the lower screw head is determined to facilitate screw locking for screws with different head slot shapes. The bottom end of the sliding push plate 563 is symmetrically equipped with a first spring 565, and the bottom end of the first spring 565 is fixedly connected to the inner bottom wall of the first guide groove 561. The top end of the sliding push plate 563 is equipped with a magnetic block 564, and an electromagnet 562 is fixedly installed on the inner top wall of the central square groove 54. When the square block 5721 moves into the central square groove 54, the insert 5724 moves to below the push rod 566, so that the electromagnet 562 can generate a repulsive force on the magnetic block 564, pushing the insert 5724 downward, so that the embedded block 5727 is inserted into the head slot of the screw head, which facilitates screw locking.

[0022] Depend on Figures 10-11The negative pressure fixing component 58 includes an inner cylinder 581 and an outer cylinder 582 fixedly installed at the bottom of the rotating block 52. The bottom groove 55, the inner cylinder 581, and the outer cylinder 582 are coaxially arranged from the inside to the outside. Sealing gaskets are provided at the bottom ends of the inner cylinder 581 and the outer cylinder 582. An annular negative pressure cavity is formed between the inner cylinder 581 and the outer cylinder 582. Side air boxes 583 are installed at equal angles on the circumference of the outer cylinder 582. The side air boxes 583 correspond one-to-one with the side grooves 571. The side air boxes 583 have a first air chamber 584 and two second air chambers 585 inside. The first air chamber 584 and the two second air chambers 585 are symmetrically arranged on both sides of the first air chamber 584. A connecting groove 586 is provided between the first air chamber 584 and the second air chamber 585 away from the outer cylinder 582. The second air chamber 585 has exhaust holes 587 evenly distributed at the end near the outer cylinder 582. A piston is movably installed inside the second air chamber 585. 588, piston 588 is located on the side of connecting groove 586 near outer cylinder 582. A push rod 589 is fixedly installed on the side of piston 588 away from outer cylinder 582. One end of push rod 589 extends through to the outside of side air box 583. An end plate 5810 is fixedly installed on the end of push rod 589. A pull rod 5811 is fixedly installed on the side of end plate 5810 near rotating block 52. One end of pull rod 5811 extends through to the inside of side square groove 571 and is fixedly connected to square block 5721. When one of the square blocks 5721 enters the inside of the central square groove 54, it simultaneously drives piston 588 to move away from connecting groove 586, so that negative pressure is generated in the annular negative pressure chamber between inner cylinder 581 and outer cylinder 582, so that rotating block 52 and screw head are fixed by negative pressure, further improving the fixing strength between rotating block 52 and screw and improving screw locking stability.

[0023] Working principle: During use, the camera robot brain 3 performs visual guidance and recognition to make the bottom of the rotating block 52 correspond to the screw head, so that the bottom sealing gasket of the inner cylinder 581 and the bottom sealing gasket of the outer cylinder 582 are in close contact with the screw head, and the bottom groove 55 is coaxially set with the screw head. After being attached, since the miniature camera 568 is located above the bottom groove 55, the miniature camera 568 can take pictures and observe the head groove on the screw head through the bottom groove 55. The pictures taken by the miniature camera 568 are used for AI visual recognition, and the centering is determined with the screw head below, and the groove shape of the head groove on the screw head below is determined. Then, based on the head groove shape on the screw head, a screw locking unit 572 with a corresponding shape embedded block 5727 is selected, and the corresponding second motor 5712 is controlled to open, driving the screw 5711 to rotate. Since the screw 5711 is threadedly connected to the movable block 579, the movable block 579 and the longitudinal toothed plate 578 are driven to move downward. The longitudinal toothed plate 578 is meshed with the second gear 577, thereby driving the first gear 576 to rotate. The first gear 576 is meshed with the horizontal toothed plate 575, thereby driving the push plate 574 to move towards the side of the connecting cylinder 51, thereby pushing the square block 5721 into the interior of the central square groove 54 and located below the push rod 566. Then, the electromagnet 562 is energized to generate a repulsive force on the magnetic block 564, which pushes the push rod 566 to move downward, thereby pushing the insert 5724 in the lower square block 5721 to move downward, so that the bottom insert block 5727 is inserted into the head slot of the screw head. Then, the first motor 53 is turned on to drive the rotating block 52 to rotate, thereby driving the screw to rotate and realizing the screw-locking action. When the square block 5721 moves toward the interior of the central square groove 54, the piston 588 is pulled toward the outer cylinder 582 by the pull rod 5811. As the outer cylinder 582 moves toward the side away from the connecting groove 586, a negative pressure is generated inside the first air chamber 584, which in turn generates a negative pressure in the annular negative pressure chamber between the inner cylinder 581 and the outer cylinder 582. This causes the bottom of the rotating block 52 to be fixed to the screw head under negative pressure, further improving the fixing strength between the rotating block 52 and the screw and improving the stability of the screw.

[0024] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0025] 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 based on AI visual recognition and locking control, comprising a base (1), characterized in that: The top of the base (1) is rotatably connected to the rotating robot body (2), the top of the rotating robot body (2) is equipped with a camera robot brain (3), the two sides of the rotating robot body (2) are symmetrically equipped with rotating arms (4), the ends of the rotating arms (4) are equipped with screw fastening assemblies (5), and the rotating arms (4) are used to adjust the working position and working direction of the screw fastening assemblies (5). The screw-locking assembly (5) includes a connecting cylinder (51) fixedly installed at one end of the rotating arm (4). A rotating block (52) is rotatably installed inside the connecting cylinder (51). A central square groove (54) is coaxially opened inside the rotating block (52). A bottom groove (55) is opened at the bottom end of the central square groove (54). The bottom groove (55) extends through to the bottom of the rotating block (52). An identification pusher (56) is provided in the upper half of the central square groove (54). A selection workpiece (57) is provided in the circumferential direction in the lower half of the central square groove (54). The selected workpiece (57) includes side grooves (571) that are equally angled and opened on the four sides of the central square groove (54). The cross-sectional area of ​​the side grooves (571) is the same as that of the central square groove (54). The side grooves (571) are equipped with screw-locking units (572). The four screw-locking units (572) are selected and used according to the head groove type of different screws. A moving pusher is installed on the side of the screw-locking unit (572) away from the central square groove (54). A negative pressure fixing member (58) is installed at the bottom of the rotating block (52).

2. The screw-locking robot based on AI visual recognition and locking control according to claim 1, characterized in that: The top of the rotating block (52) is coaxially connected to the output shaft of the first motor (53), which is mounted on the top of the connecting cylinder (51).

3. The screw-locking robot based on AI visual recognition and locking control according to claim 1, characterized in that: The screw unit (572) includes a square block (5721) disposed inside the side groove (571). A rod groove (5722) is coaxially opened inside the square block (5721). The two ends of the rod groove (5722) pass through the upper and lower sides of the square block (5721) respectively. A second guide groove (5723) is symmetrically opened on both sides of the rod groove (5722). A plug (5724) is movably installed inside the rod groove (5722). An embedded block (5727) is installed at the bottom end of the plug (5724). Guide plates (5725) are symmetrically installed on both sides of the plug (5724). The guide plates (5725) are slidably installed in the second guide groove (5723). A second spring (5726) is fixedly installed at the bottom end of the guide plate (5725). The bottom end of the second spring (5726) is fixedly connected to the inner bottom wall of the second guide groove (5723).

4. The screw-locking robot based on AI visual recognition and locking control according to claim 3, characterized in that: The embedded block (5727) is provided with a straight line, a cross, an internal hexagon, and a plum blossom-shaped shape.

5. The screw-locking robot based on AI visual recognition and locking control according to claim 1, characterized in that: The identification pusher (56) includes a first guide groove (561) symmetrically opened on both sides of the central square groove (54). The first guide groove (561) is located above the side groove (571). A sliding push plate (563) is movably installed inside the central square groove (54). The sliding push plate (563) is slidably connected to the first guide groove (561). A push rod (566) is fixedly installed at the bottom end of the sliding push plate (563). The push rod (566) is located above the bottom groove (55). An installation groove (567) is opened at the bottom end of the push rod (566). A miniature camera (568) is installed inside the installation groove (567).

6. The screw-locking robot based on AI visual recognition and locking control according to claim 5, characterized in that: The bottom end of the sliding push plate (563) is symmetrically equipped with a first spring (565), the bottom end of the first spring (565) is fixedly connected to the inner bottom wall of the first guide groove (561), the top end of the sliding push plate (563) is equipped with a magnetic block (564), and an electromagnet (562) is fixedly installed on the inner top wall of the square groove (54) in the middle.

7. The screw-locking robot based on AI visual recognition and locking control according to claim 1, characterized in that: The moving pusher includes a side box (573) that is installed at equal angles on the circumference of the rotating block (52). The side box (573) corresponds one-to-one with the side groove (571). A push plate (574) is slidably installed inside the side box (573). The push plate (574) is fixedly connected to the square block (5721). A horizontal toothed plate (575) is fixedly installed on the push plate (574). A first gear (576) is meshed above the horizontal toothed plate (575). A rotating shaft is coaxially installed on the first gear (576). The two ends of the rotating shaft are rotatably connected to the side box (573) and pass through both sides of the side box (573). A second gear (577) is coaxially installed at the end of the rotating shaft.

8. The screw-locking robot based on AI visual recognition and locking control according to claim 7, characterized in that: The second gear (577) is meshed with a longitudinal toothed plate (578) on one side. The top of the two longitudinal toothed plates (578) is fixedly installed with a movable block (579). The movable block (579) is slidably installed inside the fixed box (5710). The fixed box (5710) is fixedly installed at an equal angle on the circumference of the rotating block (52). The fixed box (5710) is rotatably installed inside the fixed box (5710). The screw (5711) is threadedly connected to the movable block (579). The top of the screw (5711) is fixedly connected to the output shaft of the second motor (5712). The second motor (5712) is fixedly installed on the top of the fixed box (5710).

9. The screw-locking robot based on AI visual recognition and locking control according to claim 1, characterized in that: The negative pressure fixing component (58) includes an inner cylinder (581) and an outer cylinder (582) fixedly installed at the bottom of the rotating block (52). The bottom groove (55), the inner cylinder (581) and the outer cylinder (582) are coaxially arranged from the inside to the outside. Sealing gaskets are provided at the bottom of the inner cylinder (581) and the bottom of the outer cylinder (582). An annular negative pressure cavity is formed between the inner cylinder (581) and the outer cylinder (582). Side air boxes (583) are installed at equal angles on the circumference of the outer cylinder (582). The side air boxes (583) correspond one-to-one with the side grooves (571).

10. The screw-locking robot based on AI visual recognition and locking control according to claim 9, characterized in that: The side air box (583) has a first air chamber (584) and two second air chambers (585) inside. The first air chamber (584) and the two second air chambers (585) are symmetrically arranged on both sides of the first air chamber (584). A connecting groove (586) is provided between the ends of the first air chamber (584) and the second air chambers (585) away from the outer cylinder (582). Exhaust holes (587) are evenly provided at the end of the second air chamber (585) near the outer cylinder (582). A piston (588) is movably installed inside the second air chamber (585). The piston (588) is located in the connecting groove. On the side of the groove (586) near the outer cylinder (582), a push rod (589) is fixedly installed on the side of the piston (588) away from the outer cylinder (582). One end of the push rod (589) extends through to the outside of the side air box (583). An end plate (5810) is fixedly installed on the end of the push rod (589). A pull rod (5811) is fixedly installed on the side of the end plate (5810) near the rotating block (52). One end of the pull rod (5811) extends through to the inside of the side groove (571), and one end of the pull rod (5811) is fixedly connected to the square block (5721).

Images