Intelligent screw locking equipment

Abstract

The utility model discloses an intelligent screw locking device which comprises a screw locking module and further comprises a mechanical arm. The first end of the first rotating arm is rotatably arranged on the fixed seat; the first end of the second rotating arm is rotatably arranged at the second end of the first rotating arm; the telescopic rotating shaft assembly is arranged at the second end of the second rotating arm, the telescopic rotating shaft assembly comprises a telescopic rotating shaft, and the telescopic rotating shaft can move up and down and rotate relative to the second rotating arm; the connecting frame comprises a back plate and a base plate which are connected with each other, the screw locking module is arranged on the side, back to the base plate, of the back plate, one side of the base plate is connected with the back plate, the other side of the base plate extends in the direction away from the back plate, and the telescopic rotating shaft is connected with the base plate. The screw locking module is wide in operation range and flexible in operation.

Description

Technical Field

[0001] The utility model relates to the technical field of screw locking, in particular to an intelligent screw locking device. Background Art

[0002] In the prior art, the screw locking module is usually driven by three axes. Figure 1 , attached Figure 1 The top view of the three-axis drive platform is shown. The screw locking module can move in the Y, X, and Z directions (perpendicular to the paper) under three-axis drive to lock screws into the screw holes of the workpiece. In the Z direction, the screw locking module can slide up and down on the guide rail. The locking head of the screw locking module usually faces downward, so the guide rail needs to extend downward relative to the Y and X axes. Because the screw locking module cannot cross the Y axis, its movement in the X axis is limited to one side of the Y axis. This reduces the operating range of the screw locking module and reduces operational flexibility.

[0003] Therefore, expanding the operating range of the screw locking module and improving the operational flexibility are key issues that need to be urgently addressed by those skilled in the art. Utility Model Content

[0004] In view of this, the utility model provides an intelligent screw locking device to expand the operating range of the screw locking module and improve the flexibility of the operation.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] An intelligent screw locking device includes a screw locking module and a manipulator, wherein the manipulator includes: a fixed base; a first rotating arm, wherein a first end of the first rotating arm is rotatably disposed on the fixed base; a second rotating arm, wherein a first end of the second rotating arm is rotatably disposed on a second end of the first rotating arm; a telescopic rotating shaft assembly, wherein the telescopic rotating shaft assembly is disposed at the second end of the second rotating arm, the telescopic rotating shaft assembly includes a telescopic rotating shaft, and the telescopic rotating shaft can move up and down and rotate relative to the second rotating arm;

[0007] It also includes a connecting frame, which includes a back plate and a base plate connected to each other, the screw locking module is arranged on the side of the back plate facing away from the base plate, one side of the base plate is connected to the back plate, and the other side extends away from the back plate, and the telescopic rotating shaft is connected to the base plate.

[0008] Preferably, the telescopic rotary shaft assembly further comprises a spline nut, a first rotary motor and a telescopic drive device;

[0009] The telescopic rotating shaft includes a spline shaft and a ball. The spline shaft is provided with a first keyway extending along the axial direction of the spline shaft. The spline nut is sleeved on the spline shaft. The spline nut has a second keyway corresponding to the first keyway. The ball fits into the corresponding first keyway and second keyway. The first rotating motor drives the spline nut to rotate to drive the spline shaft to rotate; the telescopic driving device drives the spline shaft to move up and down.

[0010] Preferably, the base plate is connected to the telescopic rotating shaft via a hoop member, the hoop member includes a base, the base is provided with a first bolt hole connected to the base plate, the hoop member further includes a hoop sleeve, the bottom end of the hoop sleeve is fixedly connected to the base, and the hoop sleeve is used to tighten the telescopic rotating shaft;

[0011] The hoop is divided into a first part and a second part by a first fracture extending along its axial direction, a first movable part is formed on the first part, the bottom end of the first movable part is separated from the base by a first notch, the first notch is communicated with the first fracture, a second horizontally arranged bolt hole is provided on the first movable part, and a third bolt hole used in conjunction with the second bolt hole is provided on the second part.

[0012] Preferably, a second movable portion is formed on the second part, the bottom end of the second movable portion is separated from the base through a second notch, the second notch is communicated with the first break, and the third bolt hole is provided on the second movable portion.

[0013] Preferably, the screw locking module includes:

[0014] a second rotating motor, wherein the motor shaft of the second rotating motor faces downward;

[0015] An electric screwdriver, the electric screwdriver being connected to the motor shaft of the second rotary motor, with the screwdriver head facing downward;

[0016] A sleeve, the sleeve being arranged below the electric screwdriver, the sleeve having an inner cavity, the inner cavity penetrating the sleeve in an up-down direction, the screwdriver bit being movable up and down in the inner cavity, and the screwdriver bit being rotatable in the inner cavity;

[0017] A vacuum generator, wherein the sleeve is provided with an air suction hole, and the vacuum generator is connected with the inner cavity of the sleeve through the air suction hole, so that the inner cavity of the sleeve generates negative pressure to adsorb the screw;

[0018] A telescopic cylinder includes a cylinder seat and a piston, wherein the cylinder seat is connected to the back plate, the piston is connected to the motor seat of the second rotary motor, and the sleeve is connected to the cylinder seat.

[0019] Preferably, the piston is connected to the motor base of the second rotary motor through a first support plate, the first support plate is arranged horizontally, and the end of the motor base of the second rotary motor through which the motor shaft passes is provided with a connecting ear plate, and the connecting ear plate extends outward in the horizontal direction, and the connecting ear plate is connected to the first support plate through bolts, and the first support plate is also provided with an avoidance hole, and the avoidance hole is for the electric screw to pass through.

[0020] Preferably, a second support plate is provided below the first support plate, the second support plate is connected to the cylinder base, and a clamp hole for clamping the sleeve is provided on the second support plate. The wall portion surrounding the clamp hole is divided into two parts by a second fracture, and the two parts respectively expand outward at the second fracture to form two corresponding bolt seats, and a fourth bolt hole and a fifth bolt hole are respectively provided on the two bolt seats, and the fourth bolt hole is used in conjunction with the fifth bolt hole.

[0021] Preferably, it also includes a negative pressure gauge and a controller, the negative pressure gauge is arranged on the cylinder base, the air vent of the negative pressure gauge is connected to the air pipe connecting the suction hole and the vacuum generator, the negative pressure gauge is used to detect the negative pressure value in the inner cavity of the sleeve, and the controller is used to control the vacuum generator to close after detecting that the value of the negative pressure gauge reaches a preset negative pressure threshold.

[0022] Preferably, a screw-out machine is also included, and the screw-out machine includes:

[0023] Fixed table;

[0024] A screw outlet channel is provided on the fixing platform, wherein a row of screws are arranged in the screw outlet channel, and the bottom surface of the screw outlet channel is gradually inclined toward the direction of the outlet of the screw outlet channel;

[0025] An elastic pressing plate, the elastic pressing plate being arranged above the screw outlet channel and having downward elastic pressure to compress the row of screws;

[0026] A screw slot, wherein the screw slot has an inlet, and when the screw slot is located at a first preset position, the inlet of the screw slot is communicated with the outlet of the screw outlet channel, and an inclined slide is provided between the outlet of the screw outlet channel and the inlet of the screw slot;

[0027] An oscillator is arranged in the fixing table to cause the fixing table to oscillate, so that the row of screws slides, so that the screw in the row of screws closest to the exit of the screw outlet channel slides into the screw slot located at the first preset position through the inclined slide, and the sleeve can absorb the screw from the screw slot.

[0028] Preferably, the screw-feeding machine further comprises a turntable, which is rotatably disposed on the fixed platform, the screw slots being disposed on the turntable, and being an even number of the screw slots uniformly disposed around the center of the turntable, when one of the screw slots is in the first preset position, the other screw slot is in a second preset position, the first preset position and the second preset position being symmetrical about the center of the turntable, and the sleeve removing the screw from the screw slot in the second preset position;

[0029] A sensor is provided on the fixing table, and the sensor is used to trigger the turntable to rotate when it detects that there is no screw in the screw slot at the second preset position, and to trigger the turntable to stop when it detects that there is a screw in the screw slot at the second preset position.

[0030] Preferably, the sensor is a through-beam photoelectric sensor.

[0031] As can be seen from the above technical solution, in the present invention, the first rotating arm can rotate about its first end, and the second rotating arm can rotate about its second end. Therefore, the second end of the second rotating arm, or the telescopic rotating shaft, can be moved to any position within a circular area centered on the first end of the first rotating arm and with the sum of the arm lengths of the first and second rotating arms as its radius. The screw locking module is positioned at the outermost end of the manipulator. As the manipulator moves with the screw locking module, it does not interfere with the first and second rotating arms and can be carried by the manipulator to any position within the reach of the telescopic rotating shaft. This means that the screw locking module can lock screw holes anywhere within the circular area. Furthermore, because the telescopic rotating shaft can rotate, its rotation can cause the screw locking module to rotate, allowing screws to be locked in screw holes and workpieces at different locations. Clearly, the screw locking module in the present invention has a wide operating range and offers greater flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0033] Figure 1 This is a schematic diagram of the overall structure of the intelligent screw locking device disclosed in a specific embodiment of the present utility model;

[0034] Figure 2This is a structural diagram of the connecting frame disclosed in a specific embodiment of the utility model;

[0035] Figure 3 This is a schematic structural diagram of a clamping member disclosed in a specific embodiment of the present utility model;

[0036] Figure 4 This is a structural diagram of a screw locking module disclosed in a specific embodiment of the present utility model;

[0037] Figure 5 This is a schematic structural diagram of the sleeve and the second support plate disclosed in a specific embodiment of the present utility model;

[0038] Figure 6 The figure is a structural diagram of a screw-feeding machine disclosed in a specific embodiment of the utility model.

[0039] The names of the components are as follows:

[0040] 1-manipulator, 11-first rotating arm, 12-second rotating arm, 13-telescopic rotating axis, 14-fixed seat, 2-screw locking module, 201-second rotating motor, 202-electric screwdriver, 203-sleeve, 204-intake hole, 205-cylinder seat, 206-piston, 207-first support plate, 208-connecting ear plate, 209-avoidance hole, 210-second support plate, 211-second fracture, 212-bolt seat, 3-screw machine, 301-fixed table, 302-screw channel, 303-elastic pressure plate, 304-screw slot, 305-turntable, 306-through-beam photoelectric sensor, 4-connecting frame, 41-back plate, 42-base plate, 5-hoop, 51-base, 510-first bolt hole, 52-hoop, 520-first movable part, 521-first fracture, 522-second bolt hole, 523-third bolt hole, 524-first notch, 6-negative pressure gauge, A-first preset position, B-second preset position. DETAILED DESCRIPTION

[0041] In view of this, the core of the present invention is to design an intelligent screw locking device to expand the operating range of the screw locking module and improve the flexibility of the operation.

[0042] In order to enable those skilled in the art to better understand the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods.

[0043] Please refer to the attached Figure 1 -Attached Figure 6The present invention discloses an intelligent screw locking device, which includes a screw locking module 2 that can lock a screw into a designated screw hole. The intelligent screw locking device also includes a manipulator 1, which includes a fixed base 14, a first rotating arm 11, a second rotating arm 12, and a telescopic rotating shaft 13.

[0044] The first rotating arm 11 and the second rotating arm 12 are both arranged horizontally. The telescopic rotating shaft assembly includes a telescopic rotating shaft 13, which is arranged vertically. The first end of the first rotating arm 11 is rotatably mounted on the fixed base 14, while the first end of the second rotating arm 12 is rotatably mounted on the second end of the first rotating arm 11. The telescopic rotating shaft 13 assembly is mounted on the second end of the second rotating arm 12 and is movable up and down and rotatable.

[0045] In addition to the screw locking module 2 and the manipulator 1, the intelligent screw locking device in the present invention also includes a connecting frame 4. The connecting frame 4 specifically includes a back plate 41 and a base plate 42 that are connected to each other. The back plate 41 is arranged vertically, and the base plate 42 is arranged horizontally. The screw locking module 2 is arranged on the side of the back plate 41 facing away from the base plate 42. One side of the base plate 42 is connected to the back plate 41, and the other side extends in a direction away from the back plate 41, and the telescopic rotating shaft 13 is connected to the base plate 42. In this arrangement, the screw locking module 2 and the telescopic rotating shaft 13 are separated by the back plate 41, and the screw locking module 2 and the telescopic rotating shaft 13 do not interfere with each other. In addition, a triangle plate can be provided between the base plate 42 and the back plate 41 to strengthen the firmness of the connection between the base plate 42 and the back plate 41.

[0046] In the present invention, the first rotating arm 11 can rotate about its first end, and the second rotating arm 12 can rotate about its second end. Therefore, the second end of the second rotating arm 12, or the telescopic rotating shaft 13, can be moved to any position within a circular area centered on the first end of the first rotating arm 11 and with the sum of the arm lengths of the first and second rotating arms 11, 12 as the radius. The screw locking module 2 is positioned at the outermost end of the manipulator 1. As the manipulator 1 moves, the screw locking module 2 does not interfere with the first and second rotating arms 11, 12. The manipulator 1 can carry the screw locking module 2 to any position within the reach of the telescopic rotating shaft 13. This means that the screw locking module 2 can lock screw holes anywhere within the circular area. Furthermore, since the telescopic rotating shaft 13 can rotate, its rotation can cause the screw locking module 2 to rotate, allowing screws to be locked in screw holes and workpieces at different locations. Obviously, the screw locking module 2 in the present invention has a wider operating range and is more flexible in operation.

[0047] The telescopic rotating shaft assembly can be composed of a telescopic assembly and a rotating assembly. Specifically, the shaft body of the telescopic rotating shaft 13 is connected to the rotating assembly, and the rotating assembly is connected to the telescopic assembly as a whole. The rotating assembly drives the shaft body to rotate, and the telescopic assembly drives the rotating assembly and the shaft body as a whole to extend and retract.

[0048] In a specific embodiment of the present invention, the telescopic rotating shaft assembly includes, in addition to the telescopic rotating shaft 13, a spline nut, a first rotating motor, and a telescopic driving device. The telescopic rotating shaft 13 specifically includes a spline shaft and a roller. The telescopic rotating shaft 13 is provided with a first keyway extending along the axial direction of the spline shaft, and the first keyway is arranged in a plurality around the axis of the spline shaft. The spline nut is sleeved on the spline shaft, and a second keyway corresponding to the first keyway is provided on the inner wall of the spline nut. The balls fit into the corresponding first and second keyways. The first rotating motor drives the spline nut to rotate, and the spline nut generates torque on the spline shaft through the balls to carry the spline shaft to rotate synchronously. The first rotating motor can drive the spline nut to rotate through a transmission belt.

[0049] The telescopic drive device drives the spline shaft to move up and down. When the spline shaft moves up and down, the spline nut remains stationary, and the ball rolls in the first keyway and the second keyway to ensure that the spline shaft moves up and down smoothly relative to the spline nut. The telescopic drive device can specifically be a screw nut device. When the screw in the screw nut device moves up and down, it will carry the telescopic rotating shaft 13 up and down. The telescopic rotating shaft 13 can move up and down, can rotate, and can rotate while moving up and down. In this embodiment, the output power of the telescopic drive device and the first rotating motor only acts on the telescopic rotating shaft 13, and there is no need to form a driving relationship between the telescopic drive device and the first rotating motor, thereby reducing energy consumption, reducing the working space, and simplifying the structural layout.

[0050] As can be seen from the above description, the base plate 42 is connected to the telescopic rotating shaft 13. In a specific embodiment of the present invention, the base plate 42 is connected to the telescopic rotating shaft 13 via a clamping member 5. The clamping member 5 specifically includes a base 51 and a clamping sleeve 52. The base 51 is provided with first bolt holes 510 connected to the base plate 42. The first bolt holes 510 are arranged around the central axis of the base 51, and a first bolt is screwed into each first bolt hole 510. The bottom end of the clamping sleeve 52 is fixedly connected to the base 51, and the clamping sleeve 52 is used to tighten the telescopic rotating shaft 13.

[0051] The hoop 52 is divided into a first part and a second part by a first fracture 521 extending in the axial direction. The first part is formed with a first movable portion 520. The bottom end of the first movable portion 520 is separated from the base 51 by a first notch 524. The first notch 524 is connected to the first fracture 521. Figure 3 , in the attached Figure 3The bottom end surface of the middle hoop 52, excluding the portion of the first movable portion 520, is fixedly connected to the base 51. The first movable portion 520 is provided with a second bolt hole 522 arranged in a horizontal direction, and the second portion is provided with a third bolt hole 523 for use with the second bolt hole 522. A second bolt is screwed into the second bolt hole 522 and the third bolt hole 523. The second bolt locks the first movable portion 520 and the second portion, thereby tightening the telescopic rotating shaft 13 in the hoop 52. Furthermore, a plurality of second bolt holes 522 and third bolt holes 523 are arranged along the axial direction of the hoop 52, thereby ensuring the tightening force of the hoop 52.

[0052] Furthermore, a second movable portion is provided on the second portion. The bottom end of the second movable portion is separated from the base 51 by a second notch, which communicates with the first break 521. A third bolt hole 523 is provided on the second movable portion. In this embodiment, the first movable portion 520 and the second movable portion are formed on the hoop 52. The provision of two movable portions can further enhance the clamping force and facilitate matching of telescopic rotating shafts 13 with different diameters.

[0053] The hoop member 5 in this embodiment is a single piece, eliminating the need to assemble the base 51 and hoop sleeve 52, thereby improving assembly efficiency. Furthermore, when connecting the base plate 42 and the telescopic shaft 13 via the hoop member 5, the structure of the telescopic shaft 13 does not need to be modified, ensuring the integrity and versatility of the telescopic shaft 13. Furthermore, since the hoop member 5 is connected to both the base plate 42 and the telescopic shaft 13 via bolts, it facilitates disassembly and replacement.

[0054] The screw locking module 2 of the present invention includes: a second rotary motor 201 , an electric screwdriver 202 (electric screwdriver), a sleeve 203 , a vacuum generator and a telescopic cylinder.

[0055] The motor shaft of the second rotating motor 201 faces downward. The base of the electric screwdriver 202 is connected to the motor shaft of the second rotating motor 201, and the screwdriver bit of the electric screwdriver 202 faces downward. The sleeve 203 is disposed below the electric screwdriver 202. The sleeve 203 is connected to the cylinder base 205 of the telescopic cylinder. The sleeve 203 has an inner cavity that extends through the sleeve 203 in the vertical direction. The screwdriver bit extends into the inner cavity of the sleeve 203 and can move up and down within the inner cavity of the sleeve 203, and the screwdriver bit can also rotate within the inner cavity of the sleeve 203. The vacuum generator is disposed on the cylinder base 205 of the telescopic cylinder. The sleeve 203 is provided with an air intake hole 204 that leads to the inner cavity of the sleeve 203. The vacuum generator is connected to the air intake hole 204 via an air pipe, and is in communication with the inner cavity of the sleeve 203. When the vacuum generator is in operation, air is evacuated from the inner cavity of the sleeve 203 to form a negative pressure in the inner cavity of the sleeve 203 , so that the bottom port of the inner cavity of the sleeve 203 can absorb the screw.

[0056] The telescopic cylinder's base 205 is attached to the back plate 41. This flat plate has vertically extending slide rails mounted on its surface. The telescopic cylinder's piston 206 slidably engages the slide rails. The piston 206 is connected to the motor base of the second rotary motor 201, effectively driving the second rotary cylinder and the electric screwdriver 202 in vertical motion.

[0057] The intelligent screw-locking device in this embodiment not only locks screws but also automatically removes them. The specific process for screw removal and locking is as follows: First, the piston 206 of the telescopic cylinder, carrying the second rotary motor 201 and the electric screwdriver 202, moves to the top stop position. At this point, the screwdriver bit remains within the inner cavity of the sleeve 203, but is positioned above the suction port 204. Thus, the bottom end surface of the screwdriver bit and the inner wall of the sleeve 203 form a relatively closed cavity. The vacuum generator is then activated, evacuating the inner cavity of the sleeve 203, creating a negative pressure within the inner cavity of the sleeve 203, and the bottom end of the inner cavity of the sleeve 203 captures the screw. Then, driven by the robot 1, the screw-locking module 2 moves with the screw to the upper portion of the screw hole in the workpiece and, driven by the telescopic rotary shaft 13, places the captured screw into the screw hole. The piston 206 of the telescopic cylinder then moves downward, carrying the electric screwdriver 202, with the screwdriver bit resting against the screw. The second rotary motor 201 then drives the electric screwdriver 202 to rotate, completing the screw tightening. Once the screw is tightened, the second rotary motor 201 stops rotating. The piston 206 of the telescopic cylinder carries the electric screwdriver 202 upward, disengaging the screw and moving it back up to the top stop position.

[0058] The intelligent screw locking device in the specific embodiment of the present invention also includes a negative pressure gauge 6 and a controller. The negative pressure gauge 6 is set on the cylinder base 205. As can be seen from the above description, the vacuum generator is connected to the air intake of the sleeve 203 through an air pipe. The air vent of the negative pressure gauge 6 is connected to the air pipe, that is, the air vent of the negative pressure gauge 6, the air intake hole 204 of the sleeve 203 and the vacuum generator are interconnected. When the vacuum generator is operating, since the negative pressure gauge 6 is connected to the inner cavity of the sleeve 203, the negative pressure gauge 6 can reflect the negative pressure value of the inner cavity of the sleeve 203. The negative pressure gauge 6 is connected to the controller. When the controller determines that the value of the negative pressure gauge 6 reaches the preset negative pressure threshold within a preset time, it means that the sleeve 203 has adsorbed the column screw, and then the controller turns off the vacuum generator. If the value of the negative pressure gauge 6 does not reach the preset negative pressure threshold within the preset time, it means that there is a leak and the screw has not been adsorbed.

[0059] To ensure a secure connection between the telescopic cylinder's piston 206 and the second rotary motor 201, a specific embodiment of the present invention includes a first support plate 207. The first support plate 207 is arranged horizontally, with one side of the first support plate 207 connected to the telescopic cylinder's piston 206. The second rotary motor 201 is inverted, and the motor base of the second rotary motor 201, where the motor shaft extends, has a connecting lug 208 extending horizontally outward. The connecting lug 208 is connected to the first support plate 207 via a third bolt. Furthermore, a clearance hole 209 is provided in the first support plate 207, through which the power supply 202 passes.

[0060] A second support plate 210 is provided below the first support plate 207 and is connected to the cylinder base 205. The second support plate 210 is provided with a clamping hole for tightening the sleeve 203. The wall surrounding the clamping hole is divided into two parts by a second fracture 211. These two parts expand outward at the second fracture 211 to form two corresponding bolt seats 212. The two bolt seats 212 are provided with a fourth bolt hole and a fifth bolt hole, respectively, into which the fourth bolt is screwed. Tightening the sleeve 203 with the fourth bolt not only adjusts the fit between the sleeve 203 and the bit, but also facilitates sleeve 203 replacement.

[0061] In order to facilitate the sleeve 203 to absorb the screw, the specific embodiment of the utility model is further provided with a screw-out machine 3, which specifically includes: a fixing platform 301, a screw-out channel 302, an elastic pressure plate 303, a screw slot 304 and an oscillator.

[0062] The screw outlet channel 302 is provided on the fixed platform 301. A row of screws are arranged in the screw outlet channel 302. The bottom surface of the screw outlet channel 302 is an inclined surface, and toward the outlet direction of the screw outlet channel 302, the bottom surface of the screw outlet channel 302 gradually tilts downward in the direction of the outlet. The elastic pressure plate 303 is provided above the screw outlet channel 302, and the elastic pressure plate 303 has a downward elastic pressure to compress the row of screws in the screw outlet channel 302. Specifically, the elastic pressure plate 303 may include a pressure plate and a torsion spring, one end of the torsion spring is fixedly provided, and the other end is connected to the pressure plate to form a downward elastic pressure on the pressure plate.

[0063] The screw slot 304 has an inlet. When the screw slot 304 is at the first preset position A, the inlet of the screw slot 304 communicates with the outlet of the screw channel 302. An inclined slideway is provided between the outlet of the screw channel 302 and the inlet of the screw slot 304. An oscillator is disposed within the fixed platform 301, causing the fixed platform 301 to oscillate, thereby breaking the pressure of the elastic pressure plate 303, causing a row of screws within the screw channel 302 to slide along the inclined bottom surface. This causes the screw closest to the outlet of the screw channel 302 in the row to slide into the screw slot 304 at the first preset position A via the inclined slideway. With each oscillation of the oscillator, one screw slides into the screw slot 304, and the remaining screws in the screw channel 302 are sequentially moved one screw position toward the outlet. In other words, the screw ejector 3 ejects one screw with each oscillation. The sleeve 203 removes the screws from the screw slot 304.

[0064] The screw-extracting machine 3 also includes a turntable 305 rotatably mounted on the fixed platform 301. Screw slots 304 are provided on the turntable 305, and an even number of screw slots 304 are evenly spaced around the center of the turntable 305. When one screw slot 304 is in a first preset position A, another screw slot 304 is in a second preset position B. The first and second preset positions A and B are symmetrical about the center of the turntable 305. The sleeve 203 removes the screw from the screw slot 304 in the second preset position B. This prevents interference between the screw locking module 2 and the screw-extracting channel 302.

[0065] The screw slots 304 at the first preset position A receive screws from the screw outlet channel 302. The screws in the screw slots 304 at the second preset position B are attracted by the sleeve 203. Along one direction of the turntable 305, there are screws in the screw slots 304 between the first preset position A and the second preset position B, while there are no screws in the screw slots 304 from the second preset position B to the first preset position A. This creates a buffer for the screws.

[0066] A sensor is provided on the fixing platform 301, which is used to trigger the turntable 305 to rotate when it detects that there is no screw in the screw slot 304 at the second preset position B, and to trigger the turntable 305 to stop rotating when it detects that there is a screw in the screw slot 304 at the second preset position B.

[0067] After the sleeve 203 removes the screw from the screw slot 304 at the second preset position B, the turntable 305 rotates, and the screw slot 304 holding the screw rotates to the second preset position B. After the sensor detects that there is a screw in the screw slot 304 at the second preset position B, the turntable 305 stops rotating. Simultaneously, as the loaded screw slot 304 rotates to the second preset position B, an empty screw slot 304 rotates to the first preset position A. The screw in the screw channel 302 slides along the inclined slideway into the empty screw slot 304 under the action of the oscillator.

[0068] In a specific embodiment of the present invention, the sensor is preferably a through-beam photoelectric sensor 306. The transmitting end and receiving end of the through-beam photoelectric sensor 306 are located at opposite ends of the second preset position B. If a screw is contained in the screw slot 304 at the second preset position B, the receiving end cannot receive the signal transmitted by the transmitting end. If no screw is contained in the screw slot 304 at the second preset position B, the receiving end can receive the signal transmitted by the transmitting end.

[0069] In the description of this utility model, it should be noted that the terms "upper," "lower," "bottom," "horizontal," "center," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of this application and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0070] Unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0071] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent screw locking device, comprising a screw locking module (2), characterized in that: The invention also includes a manipulator (1), wherein the manipulator (1) includes: a fixed seat (14); a first rotating arm (11), wherein the first end of the first rotating arm (11) is rotatably arranged on the fixed seat (14); a second rotating arm (12), wherein the first end of the second rotating arm (12) is rotatably arranged on the second end of the first rotating arm (11); a telescopic rotating shaft assembly, wherein the telescopic rotating shaft assembly is arranged at the second end of the second rotating arm (12), and the telescopic rotating shaft assembly includes a telescopic rotating shaft (13), wherein the telescopic rotating shaft (13) can move up and down and rotate relative to the second rotating arm (12); The invention also includes a connecting frame (4), wherein the connecting frame (4) includes a back plate (41) and a base plate (42) connected to each other, the screw locking module (2) is arranged on a side of the back plate (41) facing away from the base plate (42), one side of the base plate (42) is connected to the back plate (41), and the other side extends in a direction away from the back plate (41), and the telescopic rotating shaft (13) is connected to the base plate (42).

2. The intelligent screw locking device according to claim 1, characterized in that: The telescopic rotary shaft assembly further includes a spline nut, a first rotary motor and a telescopic drive device; The telescopic rotating shaft (13) comprises a spline shaft and a ball bearing, wherein the spline shaft is provided with a first keyway extending along the axial direction of the spline shaft, the spline nut is sleeved on the spline shaft, the spline nut has a second keyway corresponding to the first keyway, the ball bearing fits into the corresponding first keyway and second keyway, the first rotating motor drives the spline nut to rotate to drive the spline shaft to rotate; and the telescopic driving device drives the spline shaft to move up and down relative to the spline nut.

3. The intelligent screw locking device according to claim 1, characterized in that: The base plate (42) is connected to the telescopic rotating shaft (13) via a hoop member (5), the hoop member (5) comprising a base (51), the base (51) being provided with a first bolt hole (510) connected to the base plate (42), the hoop member (5) further comprising a hoop sleeve (52), the bottom end of the hoop sleeve (52) being fixedly connected to the base (51), the hoop sleeve (52) being used to clamp the telescopic rotating shaft (13); The hoop (52) is divided into a first part and a second part by a first fracture (521) extending along its axial direction, wherein a first movable part (520) is formed on the first part, and the bottom end of the first movable part (520) is separated from the base (51) through a first notch (524), and the first notch (524) is communicated with the first fracture (521), and a second bolt hole (522) arranged horizontally is provided on the first movable part (520), and a third bolt hole (523) used in conjunction with the second bolt hole (522) is provided on the second part.

4. The intelligent screw locking device according to claim 3, characterized in that: A second movable portion is formed on the second part, the bottom end of the second movable portion is separated from the base (51) via a second notch, the second notch is communicated with the first break (521), and the third bolt hole (523) is provided on the second movable portion.

5. The intelligent screw locking device according to claim 1, characterized in that: The screw locking module (2) comprises: a second rotating motor (201), wherein the motor shaft of the second rotating motor (201) faces downward; An electric screwdriver (202), the electric screwdriver (202) being connected to the motor shaft of the second rotating motor (201), with the screwdriver head of the electric screwdriver (202) facing downward; A sleeve (203), the sleeve (203) being arranged below the electric screwdriver (202), the sleeve (203) having an inner cavity, the inner cavity penetrating the sleeve (203) in an up-down direction, the screwdriver bit being movable up and down in the inner cavity, and the screwdriver bit being also rotatable in the inner cavity; A vacuum generator, wherein the sleeve (203) is provided with an air suction hole (204), and the vacuum generator is connected to the inner cavity of the sleeve (203) through the air suction hole (204), so that the inner cavity of the sleeve (203) generates negative pressure to adsorb the screw; A telescopic cylinder comprising a cylinder seat (205) and a piston (206), wherein the cylinder seat (205) is connected to the back plate (41), the piston (206) is connected to the motor seat of the second rotary motor (201), and the sleeve (203) is connected to the cylinder seat (205).

6. The intelligent screw locking device according to claim 5, characterized in that: The piston (206) is connected to the motor base of the second rotary motor (201) through a first support plate (207). The first support plate (207) is arranged horizontally. The end of the motor base of the second rotary motor (201) through which the motor shaft passes is provided with a connecting ear plate (208). The connecting ear plate (208) extends outward in a horizontal direction. The connecting ear plate (208) is connected to the first support plate (207) through bolts. The first support plate (207) is also provided with an avoidance hole (209), and the avoidance hole (209) is for the electric screwdriver (202) to pass through.

7. The intelligent screw locking device according to claim 6, characterized in that: A second support plate (210) is provided below the first support plate (207), the second support plate (210) being connected to the cylinder base (205), the second support plate (210) being provided with a clamp hole for clamping the sleeve (203), the wall surrounding the clamp hole being divided into two parts by a second fracture (211), the two parts respectively expanding outwards at the second fracture (211) to form two corresponding bolt seats (212), the two bolt seats (212) being respectively provided with a fourth bolt hole and a fifth bolt hole, the fourth bolt hole being used in conjunction with the fifth bolt hole.

8. The intelligent screw locking device according to claim 5, characterized in that: The invention also includes a negative pressure gauge (6) and a controller, wherein the negative pressure gauge (6) is arranged on the cylinder seat (205), and the air vent of the negative pressure gauge (6) is connected to the air pipe connecting the air suction hole (204) and the vacuum generator. The negative pressure gauge (6) is used to detect the negative pressure value in the inner cavity of the sleeve (203), and the controller is used to control the vacuum generator to close after detecting that the value of the negative pressure gauge (6) reaches a preset negative pressure threshold.

9. The intelligent screw locking device according to claim 8, characterized in that: It also includes a screw-out machine (3), which includes: Fixed table (301); A screw outlet channel (302) is provided on the fixing platform (301), wherein a row of screws are arranged in the screw outlet channel (302), and the bottom surface of the screw outlet channel (302) is gradually inclined toward the direction of the outlet of the screw outlet channel (302); an elastic pressing plate (303), the elastic pressing plate (303) being arranged above the screw outlet channel (302), the elastic pressing plate (303) having downward elastic pressure to compress the row of screws; A screw slot (304), the screw slot (304) having an inlet, and when the screw slot (304) is located at a first preset position, the inlet of the screw slot (304) is communicated with the outlet of the screw outlet channel (302), and an inclined slide is provided between the outlet of the screw outlet channel (302) and the inlet of the screw slot (304); An oscillator is arranged in the fixing platform (301) to cause the fixing platform (301) to oscillate, so as to cause the row of screws to slide, thereby causing the screw in the row of screws closest to the exit of the screw outlet channel (302) to slide into the screw retaining groove (304) located at the first preset position through the inclined slideway, and the sleeve (203) can absorb the screw from the screw retaining groove (304).

10. The intelligent screw locking device according to claim 9, characterized in that: The screw-extracting machine (3) further comprises a turntable (305), the turntable (305) being rotatably arranged on the fixed platform (301), the screw slots (304) being arranged on the turntable (305), and the screw slots (304) being an even number evenly arranged around the center of the turntable (305), when one of the screw slots (304) is in the first preset position, the other screw slot (304) is in the second preset position, the first preset position and the second preset position being symmetrical about the center of the turntable (305), and the sleeve (203) removing the screw from the screw slot (304) in the second preset position; A sensor is provided on the fixing platform (301), and the sensor is used to trigger the rotation of the turntable (305) when detecting that there is no screw in the screw slot (304) at the second preset position, and to trigger the stop of the turntable (305) when detecting that there is a screw in the screw slot (304) at the second preset position.

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