Screw locking manipulator

Abstract

The utility model discloses a screw locking manipulator which comprises a first driving mechanism, a second driving mechanism, a pressing plate, a magnetic suction plate and an electric screwdriver, the first driving mechanism and the second driving mechanism are arranged on a rack, the pressing plate and the magnetic suction plate are connected to the output end of the first driving mechanism, the electric screwdriver is connected to the output end of the second driving mechanism, and the end of the pressing plate is provided with a penetrating hole corresponding to a screw in shape. The magnetic suction end of the magnetic suction plate can cover the penetrating hole in an avoiding mode, and the pressing plate and the magnetic suction plate are driven by the first driving mechanism to synchronously move or / and rotate, so that the magnetic suction end of the magnetic suction plate penetrates through the penetrating hole to suck the screw, and the sucked screw is transferred into a threaded hole of a workpiece. The magnetic suction plate is further driven by the first driving mechanism to move or rotate relative to the pressing plate so as to be away from the penetrating hole, and the electric screwdriver is driven by the second driving mechanism to move or / and rotate to the position opposite to the threaded hole and penetrates through the penetrating hole to turn the screw in place. The screw locking manipulator is simple in structure, wide in application range and high in assembly precision.

Description

Technical Field

[0001] The utility model relates to assembly equipment for electronic products, in particular to a screw locking manipulator which can take and deliver screws and turn knobs when screws are assembled. Background Art

[0002] With the rapid development of science and technology and the continuous improvement of people's consumption level, the requirements for the quality of electronic products such as mobile phones, tablets, headphones, etc. are getting higher and higher. While requiring high quality, people also pursue a design-oriented appearance. Therefore, more and more electronic products are designed to be smaller, lighter, and often have a certain curvature. Therefore, electronic products are also developing towards high-density integration and ultra-precision. Correspondingly, the requirements for assembly equipment for electronic products are also getting higher and higher.

[0003] Among them, when assembling the parts of electronic products, they often need to be connected by fasteners such as screws, which involves the removal and delivery of screws and the turning of knobs. Since the screws used in the above-mentioned electronic products are relatively small and the positions of the threaded holes used for assembly are relatively compact, the assembly accuracy cannot be effectively guaranteed during manual alignment and the assembly efficiency is low, especially when the threaded holes are not set straight but have a certain inclination, the difficulty of manual assembly is even greater.

[0004] Therefore, a screw locking robot with a simple structure, a wide range of applications and high assembly accuracy is needed to solve the above problems. Utility Model Content

[0005] The utility model aims to provide a screw locking manipulator with simple structure, wide application range and high assembly precision.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a screw locking robot, comprising a frame, a first driving mechanism and a second driving mechanism installed on the left and right opposite sides of the frame, a pressure plate and a magnetic suction plate connected to the output end of the first driving mechanism, and an electric screwdriver connected to the output end of the second driving mechanism, the end of the pressure plate has a through hole corresponding to the shape of the outer contour of the screw, the magnetic suction end of the magnetic suction plate can cover the through hole in an evasive manner, the pressure plate and the magnetic suction plate are driven by the first driving mechanism. Move or / and rotate synchronously, so that the magnetic suction end of the magnetic suction plate absorbs the screw through the through hole, and transfers the absorbed screw to a threaded hole arranged horizontally or obliquely on the workpiece, the magnetic suction plate also moves or rotates relative to the pressure plate under the drive of the first driving mechanism to move away from the through hole, the electric screwdriver moves or / and rotates to a position opposite to the threaded hole under the drive of the second driving mechanism, and passes through the through hole to turn the screw knob into place.

[0007] Preferably, the pressing plate, the magnetic plate and the electric screwdriver are arranged in one-to-one correspondence, or the number of the electric screwdriver is at least one, and the number of the pressing plate and the magnetic plate is at least two.

[0008] Preferably, the first driving mechanism includes a moving module mounted on the frame and a magnetic module connected to the output end of the moving module, the pressing plate is connected to the output end of the moving module and is located next to the magnetic module, the magnetic plate is connected to the output end of the magnetic module, the moving module is used to drive the pressing plate and the magnetic plate to move synchronously along the X-axis, Y-axis and Z-axis directions, the magnetic module is used to provide magnetic attraction for the magnetic plate, and is also used to drive the magnetic plate to move or rotate away from the pressing plate; the first driving mechanism also includes a first rotating module, the first rotating module is mounted on the moving module or connected between the moving module and the magnetic module, and is used to drive the pressing plate and the magnetic plate to rotate synchronously.

[0009] Preferably, the movable module includes a translation motor installed on the frame along the X-axis direction, a lifting motor connected to the output end of the translation motor along the Z-axis direction, a slide cylinder connected to the output end of the lifting motor along the Z-axis direction, a push cylinder connected to the output end of the slide cylinder along the Y-axis direction, and a mounting base connected to the output end of the push cylinder; the magnetic suction module includes a yielding cylinder installed on the mounting base along the Y-axis direction and an electromagnet connected to the output end of the yielding cylinder; the magnetic suction plate is connected to the electromagnet; and the pressure plate is installed on the mounting base and is located next to the yielding cylinder.

[0010] Preferably, the first rotating module includes a rotating motor connected between the lifting motor and the slide cylinder, and a sensor is also installed beside the rotating motor for sensing the rotation angle of the rotating motor.

[0011] Preferably, the first driving mechanism also includes a buffer assembly, which includes an adapter plate connected to the output end of the push cylinder and a positioning block installed on the opposite top side end of the adapter plate, the adapter plate is provided with a linear guide rail arranged along the Z-axis direction, the mounting seat is slidably disposed on the linear guide rail, and an elastic member is also provided between the mounting seat and the positioning block and is telescopically arranged along the Z-axis direction.

[0012] Preferably, the second driving mechanism includes an X-axis module mounted on the frame, a Z-axis module connected to the output end of the X-axis module, and a knob assembly connected to the output end of the Z-axis module, the electric screwdriver is connected to the output end of the knob assembly, so as to move linearly along the X-axis direction and the Z-axis direction under the drive of the X-axis module and the Z-axis module, and to turn the screw knob into place under the drive of the knob assembly; a second rotating module is also connected between the Z-axis module and the knob assembly, for driving the knob assembly to drive the electric screwdriver to rotate a certain angle, so as to achieve alignment adjustment with the screw hole.

[0013] Preferably, the frame is provided with at least two of the first driving mechanisms and at least one of the second driving mechanisms arranged at intervals, and at least two of the first driving mechanisms move alternately or synchronously to drive the pressure plates and the magnetic suction plates connected to them to move alternately or synchronously, and the first driving mechanisms are arranged with adjustable spacing.

[0014] Preferably, the end of the pressure plate has a platform extending along the X-axis and Y-axis directions and protruding from its main body, the through hole is arranged on the platform and penetrates the platform along the Z-axis direction, the magnetic plate is located next to the pressure plate, and the magnetic end of the magnetic plate is overlapped on the platform.

[0015] Preferably, the pressing plate is in a stepped shape, and the magnetic attraction plate is in a Z-shape.

[0016] Compared with the prior art, in the screw locking manipulator provided by the utility model, the first driving mechanism drives the pressure plate and the magnetic plate connected thereto to move or rotate synchronously, so that the two can move synchronously back and forth between the screw feeding device and the workpiece to be locked, and the end of the pressure plate has a through hole corresponding to the shape of the outer contour of the screw and the magnetic end of the magnetic plate can cover the through hole in a circumferential manner, so that the magnetic end of the magnetic plate can absorb the screw through the through hole of the pressure plate and transfer the absorbed screw to the workpiece, wherein, no matter whether the threaded holes on the workpiece are arranged straightly or obliquely, the pressure plate and the magnetic plate can be driven to rotate synchronously by the first driving mechanism, thereby Adjusting the two to an angle corresponding to the arrangement direction of the threaded hole facilitates the accurate placement of the screw, effectively improves the subsequent knob accuracy, and effectively improves the scope of application. In addition, since the magnetic plate can also move or rotate relative to the pressure plate under the drive of the first driving mechanism, thereby moving away from the through hole, so that the through hole is exposed, and the pressure plate always maintains the pressure positioning on the screw, when the electric screwdriver moves or / and rotates to a position relative to the threaded hole under the drive of the second driving mechanism, it passes through the through hole and under its guiding action, the screw is accurately turned into place, effectively ensuring the accuracy of the assembly. The screw locking manipulator provided by the utility model has a simple structure, a wide range of applications and high assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional diagram of the screw locking robot of the utility model from one angle.

[0018] Figure 2 This is a three-dimensional diagram of the screw locking robot of the utility model from another angle.

[0019] Figure 3 It is a plan view of the screw locking robot of the utility model.

[0020] Figure 4 It is a three-dimensional diagram of the first driving mechanism of the utility model from one angle.

[0021] Figure 5 It is a three-dimensional diagram of the first driving mechanism of the utility model from another angle.

[0022] Figure 6 It is a side view of the first driving mechanism of the utility model.

[0023] Figure 7 It is a three-dimensional diagram of the pressing plate and the magnetic attraction plate of the utility model.

[0024] Figure 8 It is a three-dimensional diagram of the second driving mechanism of the utility model. DETAILED DESCRIPTION

[0025] In order to explain the technical content, structural features, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the implementation modes and the accompanying drawings.

[0026] See also Figures 1 to 3 The utility model provides a screw locking robot 100, which is used for taking and delivering screws 200, and tightening the screws 200 into the threaded holes of the workpiece to achieve a fastened connection between the parts to be assembled, and is particularly suitable for the assembly of parts of electronic products such as mobile phones, tablet computers, headphones and smart watches that require high assembly accuracy. For example, the screws 200 obtained from the screw feeder are transferred and screwed into the threaded holes provided on the back cover of the mobile phone to fix the mobile phone charging port assembly preliminarily assembled on the back cover of the mobile phone on the back cover of the mobile phone. It should be noted that the screw locking robot 100 of the utility model can not only realize the locking operation of the screws 200 in the threaded holes arranged relatively straight on the workpiece, but also realize the locking operation of the screws 200 in the threaded holes arranged obliquely on the workpiece.

[0027] like Figures 1 to 3As shown, in general, the screw locking robot 100 provided in the preferred embodiment of the utility model includes a frame 10, a first driving mechanism 20 and a second driving mechanism 50 installed on the left and right opposite sides of the frame 10, a pressing plate 30 and a magnetic plate 40 connected to the output end of the first driving mechanism 20, and an electric screwdriver 60 connected to the output end of the second driving mechanism 50. The end of the pressing plate 30 has a through hole 30a corresponding to the shape of the outer contour of the screw 200 (see Figure 7 ), the magnetic end 41 of the magnetic plate 40 can cover the through hole 30a in an evasive manner. The pressing plate 30 and the magnetic plate 40 can be synchronously moved or / and rotated under the drive of the first driving mechanism 20, so that the magnetic end 41 of the magnetic plate 40 can absorb the screw 200 through the through hole 30a, and transfer the absorbed screw 200 to the threaded hole arranged vertically or obliquely on the workpiece. The magnetic plate 40 can also move or rotate relative to the pressing plate 30 under the drive of the first driving mechanism 20, so as to move away from the through hole 30a, so that the through hole 30a can be exposed, and then the electric screwdriver 60 can be driven by the second driving mechanism 50 to move or / and rotate to a position opposite to the threaded hole, that is, consistent with the arrangement direction of the threaded hole, and pass through the through hole 30a to turn the screw 200 into place. Among them, the frame 10 adopts a gantry frame with a simple structure, which is convenient for the installation of the first driving mechanism 20 and the second driving mechanism 50. It should be noted that, for ease of understanding, the X-axis direction, Y-axis direction and Z-axis direction involved in the present application are based on the frame 10 as a reference, the X-axis direction corresponds to the longitudinal direction of the frame 10, the Y-axis direction corresponds to the width direction of the frame 10, and the Z-axis direction corresponds to the height direction of the frame 10. Figure 1 The direction indicated by the arrow.

[0028] Combination Figures 1 to 7Specifically, the first driving mechanism 20 includes a moving module 21 mounted on the frame 10 and a magnetic module 22 connected to the output end of the moving module 21. The pressing plate 30 is also connected to the output end of the moving module 21 and is located beside the magnetic module 22. The magnetic plate 40 is connected to the output end of the magnetic module 22. The moving module 21 is used to drive the pressing plate 30 and the magnetic plate 40 to move synchronously along the X-axis, Y-axis and Z-axis directions, so that the pressing plate 30 and the magnetic plate 40 can move back and forth between the screw feeder and the workpiece through linear movement to achieve the delivery operation of the screw 200. The magnetic module 22 is used to provide magnetic attraction for the magnetic plate 40, so as to absorb the screw 200 through the magnetic attraction. The magnetic module 22 is also used to drive the magnetic plate 40 to move or rotate away from the pressing plate 30, so as to make way so that the through hole 30a is exposed because it is not blocked. Of course, the first driving mechanism 20 also includes a first rotating module 23, which is installed on the moving module 21 or connected between the moving module 21 and the magnetic module 22, and is used to drive the pressure plate 30 and the magnetic plate 40 to rotate synchronously, so as to realize the picking and delivery operation of the screw 200 by rotating back and forth between the screw feeder and the workpiece, and the synchronous rotation of the pressure plate 30 and the magnetic plate 40 can also realize the alignment adjustment between the threaded hole of the workpiece.

[0029] In actual operation, when the threaded holes are arranged vertically, the direct-entry picking and placing operation of the screws 200 can be performed by only moving or rotating the moving module 21 or the first rotating module 23; and when the threaded holes are arranged obliquely, after the moving module 21 or the first rotating module 23 makes a reciprocating motion, the first rotating module 23 drives the pressure plate 30 and the magnetic attraction plate 40 to continue to rotate a certain angle to achieve positioning adjustment, thereby facilitating the oblique-entry picking and placing operation of the screws 200.

[0030] Specifically, the moving module 21 includes a translation motor 211 installed on the frame 10 along the X-axis direction, a lifting motor 212 connected to the output end of the translation motor 211 along the Z-axis direction, a slide cylinder 213 connected to the output end of the lifting motor 212 along the Z-axis direction, a push cylinder 214 connected to the output end of the slide cylinder 213 along the Y-axis direction, and a mounting seat 215 connected to the output end of the push cylinder 214. The translation motor 211 and the push cylinder 214 drive the pressing plate 30 and the magnetic plate 40 to move synchronously along the X-axis direction and the Y-axis direction respectively, and the lifting motor 212 and the slide cylinder 213 drive the pressing plate 30 and the magnetic plate 40 to move synchronously along the Z-axis direction respectively, so that the pressing plate 30 and the magnetic plate 40 can move back and forth between the screw feeder and the workpiece, so as to realize the operation of taking and placing the screws 200.

[0031] See also Figures 4 to 6Specifically, the magnetic module 22 includes a displacement cylinder 221 installed on the mounting seat 215 along the Y-axis direction and an electromagnet 222 connected to the output end of the displacement cylinder 221. The magnetic plate 40 is connected to the electromagnet 222, and the screw 200 is adsorbed by the magnetic attraction provided by the electromagnet 222 when it is powered on, and the adsorption of the screw 200 is released by the electromagnet 222 when it is powered off. The pressing plate 30 is specifically installed on the mounting seat 215 and is located next to the displacement cylinder 221. When the magnetic plate 40 puts the screw 200 into the threaded hole and releases the adsorption of the screw 200, the displacement cylinder 221 drives the electromagnet 222 to move linearly along the Y-axis direction to drive the magnetic plate 40 away from the pressing plate 30 and give way. At this time, the displacement cylinder 221 can be a linear cylinder, and the pressing plate 30 will not move with it during the movement of the magnetic plate 40 to give way, and always maintains the pressure positioning on the screw 200.

[0032] Of course, in some embodiments, the yielding cylinder 221 can also drive the electromagnet 222 to drive the magnetic attraction plate 40 to rotate relative to the pressure plate 30, and the yielding action can also be realized. At this time, the yielding cylinder 221 can directly use a rotary cylinder to drive the magnetic attraction plate 40 to rotate, or, the yielding cylinder 221 still uses a linear cylinder, and the electromagnet 222 is set to be pivotally connected to the mounting seat 215, so that the yielding cylinder 221 drives the electromagnet 222 to drive the magnetic attraction plate 40 to rotate relative to the mounting seat 215, and the rotational yielding action can also be realized.

[0033] Furthermore, in some embodiments, the magnetic module 22 also includes a slide cylinder 223 installed between the mounting base 215 and the give-way cylinder 221. The slide cylinder 223 is used to drive the give-way cylinder 221 to move linearly along the Z-axis direction, so as to drive the electromagnet 222 and the magnetic plate 40 to move up first, and then move linearly or rotate along the Y-axis direction to give way, thereby effectively reducing the friction between the pressure plate 30, making the give-way efficiency higher, and effectively improving the service life of the pressure plate 30 and the magnetic plate 40, thereby reducing the manufacturing cost.

[0034] See also Figure 2 and Figure 5 Specifically, the first rotating module 23 includes a rotating motor 231 connected between the lifting motor 212 and the slide cylinder 213. The rotating motor 231 is used to drive the slide cylinder 213 to rotate, thereby driving the pressing plate 30 and the magnetic plate 40 to rotate synchronously. In addition, a sensor 232 is also set up beside the rotating motor 213 to sense the rotation angle of the rotating motor 231, so as to accurately control the rotation angle of the pressing plate 30 and the magnetic plate 40.

[0035] See 2. Figure 4 and Figure 5Specifically, in some embodiments, the first driving mechanism 20 further includes a buffer assembly 24, which includes an adapter plate 241 connected to the output end of the push cylinder 214 and a positioning block 242 installed on the top side of the adapter plate 241. The adapter plate 241 is provided with a linear guide rail 243 arranged along the Z-axis direction, and the mounting seat 215 is slidably arranged on the linear guide rail 243. An elastic member 244 is also provided between the mounting seat 215 and the positioning block 242 and is telescopically arranged along the Z-axis direction. When the downward force of the pressing plate 30 and the magnetic plate 40 driven by the lifting motor 212 and the slide cylinder 213 is too large, the mounting seat 215 can be reversely slid on the linear guide rail 243 to achieve buffering, thereby achieving flexible movement and effectively preventing collision damage. Furthermore, a pressure sensor 245 is installed between the elastic member 244 and the positioning block 242, so as to effectively control the downward force by sensing the compression force of the elastic member 244, thereby further improving the safety of use. The elastic member 244 is specifically a compression spring.

[0036] See 4 to Figure 7 Specifically, the overall shape of the pressing plate 30 is stepped, and the shape of the magnetic plate 40 is Z-shaped. The end of the pressing plate 30 has a platform 31 extending along the X-axis direction and the Y-axis direction and protruding from its main body. The through hole 30a is arranged on the platform 31 and penetrates the platform 31 along the Z-axis direction. The magnetic plate 40 is located next to the pressing plate 30, and its magnetic end 41 is overlapped on the platform 31.

[0037] Combination Figures 1 to 3 and Figure 8 The second driving mechanism 50 includes an X-axis module 51 mounted on the frame 10, a Z-axis module 52 connected to the output end of the X-axis module 51, and a knob assembly 53 connected to the output end of the Z-axis module 52. The electric screwdriver 60 is connected to the output end of the knob assembly 53, so as to move linearly along the X-axis direction and the Z-axis direction under the drive of the X-axis module 51 and the Z-axis module 52, and rotate under the drive of the knob assembly 53 to turn the screw 200 into place. The second driving mechanism 50 also includes a second rotating module 54 connected between the Z-axis module 52 and the knob assembly 53, which is used to drive the knob assembly 53 to drive the electric screwdriver 60 to rotate a certain angle to achieve alignment adjustment with the screw hole and improve the knob accuracy of the screw 200. Specifically, the X-axis module 51 and the Z-axis module 52 drive the electric screwdriver 60 to move linearly along the X-axis direction and the Z-axis direction respectively through the translation motor 511 and the lifting motor 521, the knob assembly 53 drives the electric screwdriver 60 to rotate through the rotating motor 531 and the synchronous belt wound around the output shaft of the rotating motor 531 and the electric screwdriver 60, and the second rotating module 54 drives the rotating motor 531 to drive the electric screwdriver 60 to rotate through the rotating motor 541 connected between the lifting motor 521 and the rotating motor 531.

[0038] See also Figure 8 Specifically, in some embodiments, the second driving mechanism 50 further includes a buffer assembly 55, and the buffer assembly 55 includes a vertical plate 551, a sliding seat 552, an elastic member 553 and a positioning block 554. The rotating motor 541 is connected to the output end of the lifting motor 521 through the connecting plate 542, and the rotating motor 541 is specifically arranged on the opposite back side of the connecting plate 542. The vertical plate 551 is pivoted to the opposite front side of the connecting plate 542 and is connected to the output shaft of the rotating motor 541 passing through the connecting plate 542. The sliding seat 552 is slidably arranged on the Z-direction linear guide 555 on the vertical plate 551, and the rotating motor 531 is arranged on the sliding seat 552, so that when the vertical plate 551 rotates relative to the connecting plate 542 under the drive of the rotating motor 541, it can drive the electric screwdriver 60 to rotate relative to the connecting plate 542 to achieve alignment adjustment. The positioning block 554 is installed at the upper side of the vertical plate 551, and the elastic member 553 is retractably connected between the sliding seat 552 and the positioning block 554. When the downward force of the electric screwdriver 60 driven by the lifting motor 521 is too large, the sliding seat 552 can slide in the reverse direction on the Z-direction linear guide 555 to achieve buffering, thereby achieving flexible movement and effectively preventing collision damage. Furthermore, a pressure sensor 556 is also installed between the elastic member 553 and the positioning block 554, so that the downward force can be effectively controlled by sensing the compression force of the elastic member 553, further improving the safety of use. The elastic member 553 is specifically a compression spring.

[0039] Review Figures 1 to 3 In some embodiments, the pressing plate 30, the magnetic plate 40 and the electric screwdriver 60 are arranged in a one-to-one correspondence, while in other embodiments, the number of the electric screwdriver 60 is at least one, and the number of the pressing plate 30 and the magnetic plate 40 is at least two. Correspondingly, the frame 10 is provided with at least one second driving mechanism 50 and at least two first driving mechanisms 20 arranged at intervals, and the at least two first driving mechanisms 20 can act alternately or synchronously to drive the pressing plate 30 and the magnetic plate 40 connected to each other to act alternately or synchronously, and the at least one second driving mechanism 50 cooperates with the at least two first driving mechanisms 20 to adaptively realize the picking, delivery and screwing operations of multiple screws 200. In addition, the spacing between each first driving mechanism 20 is adjustable, so as to adapt to the synchronous assembly of screws 200 with different spacings, effectively improving efficiency.

[0040] Specifically, when the number of the pressing plates 30 and the number of the magnetic plates 40 are two, respectively, and the number of the electric screwdriver 60 is one, the two pressing plates 30 and the two magnetic plates 40 can be symmetrically connected to the output ends of the two first driving mechanisms 20. At this time, the structure can be further simplified, and the two first driving mechanisms 20 can share the same translation motor 211 installed on the frame 10, and the two lifting motors 212 of the two first driving mechanisms 20 are spaced apart and connected to the output end of the translation motor 211, and the rest of the structure remains unchanged. At this time, the spacing between the two lifting motors 212 can be changed by the bidirectional screw connected to the output end of the translation motor 211, so as to adjust the distance between the two pressing plates 30; of course, a lifting motor 216 can be added, and the lifting motor 216 is connected to the output end of the translation motor 211, and the spacing between the two lifting motors 212 is adjustable. Connected to the output end of the lifting motor 216, the two first driving mechanisms 20 can realize the overall lifting action through the lifting motor 216, and can be lifted and lowered separately, thereby further improving the assembly accuracy.

[0041] The following combination Figures 1 to 8 , the working principle of the screw locking robot 100 provided by the utility model is described:

[0042] During operation, driven by the first driving mechanism 20, the pressing plate 30 and the magnetic plate 40 move linearly or rotate along the X-axis, Y-axis and Z-axis directions, so that the magnetic plate 40 absorbs the screw 200 at the screw supplier through the through hole 30a of the pressing plate 30 at the top side end of the through hole 30a, that is, the screw 300 is adsorbed and fixed at the through hole 30a through the pressing plate 30, and the absorbed screw 200 is transferred to the threaded hole of the workpiece; and when the magnetic plate 40 continues to move or rotate under the drive of the first driving mechanism 20 Rotate to insert the screw 200 relatively straight or obliquely into the threaded hole, then the magnetic plate 40 releases the adsorption of the screw 200, and moves upward and backward or rotates to make way. During this picking and placing process, the pressing plate 30 always keeps in contact with the screw 200; finally, the second driving mechanism 50 drives the electric screwdriver 60 to move above the pressing plate 30, and according to needs, adaptively adjusts the angle, and then moves down to pass through the through hole 30a, and turns the screw 200 in the threaded hole into place to achieve the locking operation.

[0043] Compared with the prior art, in the screw locking robot 100 provided by the utility model, the first driving mechanism 20 drives the pressure plate 30 and the magnetic suction plate 40 connected thereto to move or rotate synchronously, so that the two can synchronously move back and forth between the feeding device of the screw 200 and the workpiece to be locked. In combination with the end of the pressure plate 30 having a through hole 30a corresponding to the shape of the outer contour of the screw 200 and the magnetic suction end 41 of the magnetic suction plate 40 can cover the through hole 30a in a circumferential manner, so that the magnetic suction end 41 of the magnetic suction plate 40 can absorb the screw 200 through the through hole 30a of the pressure plate 30, and transfer the absorbed screw 200 to the workpiece, wherein, no matter whether the threaded holes on the workpiece are arranged straightly or obliquely, the first driving mechanism 20 can drive the pressure plate 30 and the magnetic suction plate 40 to rotate synchronously, so that the two can be adjusted to an angle corresponding to the arrangement direction of the threaded holes, thereby realizing accurate placement of the screw 200, effectively improving the subsequent knob accuracy, and effectively improving the scope of application. Furthermore, since the magnetic plate 40 can also move or rotate relative to the pressure plate 30 under the drive of the first driving mechanism 20, thereby moving away from the through hole 30a, so that the through hole 30a is exposed, and the pressure plate 30 always maintains pressure on the screw 200, when the electric screwdriver 60 moves or / and rotates to a position relative to the threaded hole under the drive of the second driving mechanism 50, it passes through the through hole 30a and under its guiding action, the screw 200 is accurately turned into place, effectively ensuring the accuracy of the assembly. The screw locking robot 100 provided by the utility model has a simple structure, a wide range of applications and high assembly accuracy.

[0044] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A screw locking robot, characterized in that: The invention comprises a frame, a first driving mechanism and a second driving mechanism arranged on opposite left and right sides of the frame, a pressing plate and a magnetic plate connected to the output end of the first driving mechanism, and an electric screwdriver connected to the output end of the second driving mechanism, wherein the end of the pressing plate has a through hole corresponding to the shape of the screw, and the magnetic end of the magnetic plate can cover the through hole in an evasive manner, and the pressing plate and the magnetic plate move or / and rotate synchronously under the drive of the first driving mechanism, so that the magnetic end of the magnetic plate absorbs the screw through the through hole, and transfers the absorbed screw to a threaded hole of the workpiece which is arranged vertically or obliquely, and the magnetic plate also moves or rotates relative to the pressing plate under the drive of the first driving mechanism to move away from the through hole, and the electric screwdriver moves or / and rotates to a position opposite to the threaded hole under the drive of the second driving mechanism, and turns the screw knob into place through the through hole.

2. The screw locking robot according to claim 1, characterized in that: The pressing plate, the magnetic plate and the electric screwdriver are arranged in one-to-one correspondence, or the number of the electric screwdriver is at least one, and the number of the pressing plate and the magnetic plate is at least two.

3. The screw locking robot according to claim 1, characterized in that: The first driving mechanism includes a moving module installed on the frame and a magnetic module connected to the output end of the moving module, the pressing plate is connected to the output end of the moving module and is located next to the magnetic module, the magnetic plate is connected to the output end of the magnetic module, the moving module is used to drive the pressing plate and the magnetic plate to move synchronously along the X-axis, Y-axis and Z-axis directions, the magnetic module is used to provide magnetic attraction for the magnetic plate, and is also used to drive the magnetic plate to move or rotate away from the pressing plate; the first driving mechanism also includes a first rotating module, which is installed on the moving module or connected between the moving module and the magnetic module, and is used to drive the pressing plate and the magnetic plate to rotate synchronously.

4. The screw locking robot according to claim 3, characterized in that: The movable module includes a translation motor installed on the frame along the X-axis direction, a lifting motor connected to the output end of the translation motor along the Z-axis direction, a slide cylinder connected to the output end of the lifting motor along the Z-axis direction, a push cylinder connected to the output end of the slide cylinder along the Y-axis direction, and a mounting base connected to the output end of the push cylinder. The magnetic suction module includes a yielding cylinder installed on the mounting base along the Y-axis direction and an electromagnet connected to the output end of the yielding cylinder. The magnetic suction plate is connected to the electromagnet. The pressure plate is installed on the mounting base and is located next to the yielding cylinder.

5. The screw locking robot according to claim 4, characterized in that: The first rotating module includes a rotating motor connected between the lifting motor and the slide cylinder, and a sensor is also installed beside the rotating motor for sensing the rotation angle of the rotating motor.

6. The screw locking robot according to claim 4, characterized in that: The first driving mechanism also includes a buffer assembly, which includes an adapter plate connected to the output end of the push cylinder and a positioning block installed on the opposite top side end of the adapter plate. The adapter plate is provided with a linear guide rail arranged along the Z-axis direction, the mounting seat is slidably arranged on the linear guide rail, and an elastic member is also provided between the mounting seat and the positioning block and is telescopically arranged along the Z-axis direction.

7. The screw locking robot according to claim 1, characterized in that: The second driving mechanism includes an X-axis module installed on the frame, a Z-axis module connected to the output end of the X-axis module, and a knob assembly connected to the output end of the Z-axis module. The electric screwdriver is connected to the output end of the knob assembly to move linearly along the X-axis direction and the Z-axis direction under the drive of the X-axis module and the Z-axis module, and the screw knob is turned into place under the drive of the knob assembly; a second rotating module is also connected between the Z-axis module and the knob assembly, which is used to drive the knob assembly to drive the electric screwdriver to rotate a certain angle to achieve alignment adjustment with the screw hole.

8. The screw locking robot according to claim 1, characterized in that: The frame is provided with at least two first driving mechanisms and at least one second driving mechanism arranged at intervals, and the at least two first driving mechanisms act alternately or synchronously to drive the respectively connected pressing plates and the magnetic attraction plates to act alternately or synchronously, and the first driving mechanisms are arranged with adjustable spacing.

9. The screw locking robot according to claim 1, characterized in that: The end of the pressing plate has a platform extending along the X-axis and Y-axis directions and protruding from its main body. The through hole is arranged on the platform and penetrates the platform along the Z-axis direction. The magnetic plate is located next to the pressing plate, and the magnetic end of the magnetic plate is overlapped on the platform.

10. The screw locking robot according to claim 1, characterized in that: The pressing plate is in a stepped shape, and the magnetic attraction plate is in a Z-shape.

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