Screw tightening robot
By designing a screw tightening robot, which expands the range of motion using a walking mechanism and a robotic arm, and combining a torque sensor and an image acquisition device, the problem that robotic arms cannot tighten screws at arbitrary positions in existing technologies has been solved, achieving automated and efficient tightening.
Patent Information
- Application Number
- CN202423282737.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-12-30
- Estimated Expiration
- 2034-12-30
AI Technical Summary
Existing screw-driving machines cannot tighten screws at any location, resulting in a limited range of motion for the robotic arm.
Design a screw tightening robot, which includes a walking mechanism, a robotic arm, and a tightener. The walking mechanism drives the robotic arm to move, expanding the range of motion of the robotic arm and enabling the tightener to reach any target screw position. The tightening accuracy is improved by using a torque sensor and an image acquisition device.
It enables the automated tightening of screws at any position by the end effector of the robotic arm, reducing the labor intensity of workers and improving tightening efficiency and accuracy.
Smart Images
Figure CN223734324U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of screw tightening robots, in particular to a screw tightening robot. BACKGROUND
[0002] In industrial production, many parts are fixed to each other by screws. The traditional way is to manually tighten the screws by workers. This way is slow and inefficient, and workers are prone to miss screws and fatigue.
[0003] In related technologies, a screw tightening machine is used to tighten screws. The screw tightening machine includes a mechanical arm and a screw gun arranged at the end of the mechanical arm. The mechanical arm is responsible for transporting the screw gun to the target screw position, and the screw gun is used to tighten the target screw. However, due to the limited range of movement of the mechanical arm, the screw tightening machine cannot tighten screws at any position. CONTENT OF THE UTILITY MODEL
[0004] Therefore, it is necessary to provide a screw tightening robot to solve the problem that the screw tightening machine cannot tighten screws at any position.
[0005] A screw tightening robot includes:
[0006] a walking mechanism;
[0007] a mechanical arm arranged on the walking mechanism, the walking mechanism being used to drive the mechanical arm to move towards a target screw;
[0008] a tightening device arranged at the end of the mechanical arm, the tightening device being used to tighten the target screw.
[0009] In one embodiment, a torque sensor is arranged on the tightening device, and the torque sensor is configured to detect the tightening torque of the tightening device.
[0010] In one embodiment, the screw tightening robot includes a first controller arranged on the walking mechanism, and the tightening device and the torque sensor are in communication connection with the first controller.
[0011] In one embodiment, the mechanical arm includes:
[0012] a plurality of joint arms connected in sequence, the joint arm at the first end being connected with the walking mechanism, and the tightening device being arranged on the joint arm at the end;
[0013] an image collector;
[0014] A plurality of rotary joints, the plurality of rotary joints are arranged one-to-one corresponding to the plurality of joint arms, each of the rotary joints is configured to drive the corresponding joint arm to rotate;
[0015] The image collector is arranged on the joint arm at the end, and the image collector is in communication connection with each of the rotary joints.
[0016] In one of the embodiments, the screw tightening robot comprises a second controller, the second controller is arranged on the walking mechanism, and the image collector and each of the rotary joints are in communication connection with the second controller.
[0017] In one of the embodiments, the walking mechanism comprises a moving platform, a walking assembly, and a camera, the walking assembly is arranged on the moving platform, and the walking assembly is used to drive the moving platform to move towards the target screw;
[0018] The camera is arranged on the moving platform and in communication connection with the walking assembly, the camera is configured to shoot image information on the moving path of the moving platform, the mechanical arm is arranged on one side of the moving platform along a first direction, and the first direction is arranged intersecting with the moving direction of the moving platform.
[0019] In one of the embodiments, the walking mechanism comprises a radar assembly, the radar assembly is arranged on the moving platform, the radar assembly is used to detect obstacles around the moving platform, and the radar assembly is in communication connection with the walking assembly.
[0020] In one of the embodiments, the radar assembly and the mechanical arm are arranged on the same side of the moving platform along the first direction.
[0021] The walking mechanism comprises a plurality of obstacle detectors, part of the obstacle detectors in the plurality of obstacle detectors are arranged on one side of the moving platform along a second direction, another part of the obstacle detectors in the plurality of obstacle detectors are arranged on the other side of the moving platform along the second direction, and the moving direction of the moving platform and the first direction are both arranged intersecting with the second direction.
[0022] In one of the embodiments, the walking assembly comprises two walking pieces, the two walking pieces are correspondingly arranged on opposite sides of the moving platform along the moving direction thereof;
[0023] Each of the walking pieces comprises two movable legs arranged spaced apart along the second direction, and the movable legs are configured to drive the moving platform to move towards the target screw.
[0024] In one of the embodiments, the movable leg comprises a first moving arm and a second moving arm, the first moving arm and the second moving arm are rotationally connected, and are configured to rotate around an axis parallel to the second direction;
[0025] The walking mechanism further comprises a driving assembly corresponding to the movable leg, the driving assembly is arranged on the moving platform, the driving assembly comprises a first driving member, a fixed end of the first driving member is rotationally connected to the moving platform around an axis parallel to the moving direction of the moving platform, and a movable end of the first driving member is connected with the second moving arm and is configured to drive the second moving arm to rotate around an axis parallel to the second direction.
[0026] The screw tightening robot in the embodiment drives the mechanical arm to move towards the target screw through the walking mechanism, expands the reachable area of the end of the mechanical arm, increases the moving range of the mechanical arm, and enables the tightening device at the end of the mechanical arm to move to any target screw position, thereby facilitating the tightening device to tighten any target screw. In summary, the screw tightening robot in the embodiment drives the mechanical arm to move towards the target screw through the walking mechanism, and enables the tightening device to tighten the screw at any position. BRIEF DESCRIPTION OF DRAWINGS
[0027] In order to more clearly illustrate the technical solutions in the embodiments or the example embodiments of the present application, the drawings needed to be used in the description of the embodiments or the example embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.
[0028] Figure 1 It is a front view of the screw tightening robot in an embodiment of the present application.
[0029] Figure 2 It is a front view of the screw tightening robot in an embodiment of the present application. Figure 1 It is a front view of the screw tightening robot in an embodiment of the present application.
[0030] Reference signs:
[0031] Screw tightening robot 100;
[0032] Walking mechanism 1000, moving platform 1100, walking assembly 1200, walking member 1210, movable leg 1211, first moving arm 1211-1, second moving arm 1211-2, connecting arm 1211-3, camera 1300, radar assembly 1400, obstacle detector 1500, driving assembly 1600, first driving member 1610, second driving member 1620, third driving member 1630;
[0033] Mechanical arm 2000, joint arm 2100, image collector 2200, rotating joint 2300;
[0034] Tightener 3000;
[0035] First controller 4000;
[0036] Second controller 5000. DETAILED DESCRIPTION
[0037] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described and it is to be understood that the present application is not limited in this regard. In other instances, well-known methods have not been described in detail in order to avoid unnecessarily obscuring the present application.
[0038] In the description of the present application, it should be understood that, if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.
[0039] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.
[0040] In the present application, unless otherwise specifically defined and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0041] In the present application, unless specifically stated and limited otherwise, if there is a description of a first feature "on" or "under" a second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "over", "above" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only means that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only means that the first feature is lower in horizontal height than the second feature.
[0042] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for illustrative purposes and do not represent the only implementation.
[0043] Please refer to Figure 1 , Figure 1 The structure of the screw tightening robot in an embodiment of the present application is shown. An embodiment of the present application provides a screw tightening robot 100, comprising a walking mechanism 1000, a mechanical arm 2000 and a tightening device 3000. The mechanical arm 2000 is arranged on the walking mechanism 1000, and the walking mechanism 1000 is used to drive the mechanical arm 2000 to move towards a target screw (not shown). The tightening device 3000 is arranged at the end of the mechanical arm 2000, and the tightening device 3000 is used to tighten the target screw.
[0044] The screw tightening robot 100 in the embodiment drives the mechanical arm 2000 to move towards the target screw through the walking mechanism 1000, expands the area that can be reached by the end of the mechanical arm 2000, increases the activity range of the mechanical arm 2000, so that the tightening device 3000 at the end of the mechanical arm 2000 can move to any target screw position, facilitating the tightening device 3000 to tighten any target screw. In summary, the screw tightening robot 100 in the embodiment drives the mechanical arm 2000 to move towards the target screw through the walking mechanism 1000, so that the tightening device 3000 can tighten the screw at any position.
[0045] It should be noted that the entire process of tightening the target screw by the screw tightening robot 100 described above is fully automated, which not only reduces the labor intensity of the workers, but also improves the efficiency of tightening the screw.
[0046] Please refer to Figure 1 In some embodiments, the torque sensor (not shown) is arranged on the tightening device 3000, and the torque sensor is configured to detect the tightening torque of the tightening device 3000.
[0047] In this embodiment, when the tightening device 3000 tightens the target screw, the torque sensor detects the actual tightening torque of the tightening device 3000 on the target screw, and according to the detection result of the torque sensor, the tightening device 3000 increases or decreases the tightening torque so that the actual tightening torque of the tightening device 3000 on the target screw reaches the target tightening torque.
[0048] It should be noted that after the torque sensor is arranged on the tightening device 3000, the same function as the existing digital torque wrench can be achieved. It can be understood that in other embodiments, the digital torque wrench is used to replace the tightening device 3000 provided with the torque sensor, and the specific model of the digital torque wrench is not limited herein.
[0049] Please refer to Figure 1 In some embodiments, the screw tightening robot 100 comprises a first controller 4000 arranged on the walking mechanism 1000, and the tightening device 3000 and the torque sensor are in communication connection with the first controller 4000.
[0050] In this embodiment, when the tightening device 3000 tightens the target screw, the torque sensor detects the actual tightening torque of the tightening device 3000 on the target screw, and transmits the detection result to the first controller 4000. The first controller 4000 increases or decreases the tightening power of the tightening device 3000 according to the detection result of the torque sensor until the actual tightening torque of the tightening device 3000 on the target screw reaches the target tightening torque.
[0051] Please refer to Figure 1 With Figure 2 In some embodiments, the mechanical arm 2000 comprises a plurality of joint arms 2100, an image collector 2200, and a plurality of rotating joints 2300. The plurality of joint arms 2100 are connected in sequence, the joint arm 2100 at the first end is connected with the walking mechanism 1000, the tightening device 3000 is arranged on the joint arm 2100 at the last end, the plurality of rotating joints 2300 are arranged one by one corresponding to the plurality of joint arms 2100, each rotating joint 2300 is configured to drive the corresponding joint arm 2100 to rotate, the image collector 2200 is arranged on the joint arm 2100 at the last end, and the image collector 2200 is in communication connection with each rotating joint 2300.
[0052] In this embodiment, the walking mechanism 1000 drives the mechanical arm 2000 to move towards the target screw, and when the mechanical arm 2000 moves to a specified position away from the target screw, the walking mechanism 1000 stops moving, the image collector 2200 arranged on the joint arm 2100 at the end is used to take a picture of the target screw to detect the direction and distance of the target screw relative to the walking mechanism 1000, and the image collector 2200 transmits the shooting result to each rotating joint 2300. Each rotating joint 2300 drives the corresponding joint arm 2100 to rotate according to the image taken by the image collector 2200, so that the tightening device 3000 arranged on the joint arm 2100 at the end can accurately approach the target screw, and then the tightening device 3000 can accurately tighten the target screw. The positioning accuracy of the whole process on the target screw is high, the tightening efficiency is high, and the failure rate is low.
[0053] It should be noted that, since the mechanical arm 2000 includes a plurality of joint arms 2100, the plurality of joint arms 2100 are connected in sequence, and the plurality of rotating joints 2300 are arranged in one-to-one correspondence with the plurality of joint arms 2100, and each rotating joint 2300 is configured to drive the corresponding joint arm 2100 to rotate. Therefore, the mechanical arm 2000 in this embodiment has more degrees of freedom, and the tightening device 3000 arranged on the joint arm 2100 at the end can perform more complex movements in the three-dimensional space under the driving of the joint arms 2100 in the mechanical arm 2000, and then more accurately approach the target screw.
[0054] In some embodiments, the mechanical arm 2000 includes six joint arms 2100, an image collector 2200, and six rotating joints 2300. The six joint arms 2100 are connected in sequence, the joint arm 2100 at the first end is connected with the walking mechanism 1000, the tightening device 3000 is arranged on the joint arm 2100 at the end, the six rotating joints 2300 are arranged in one-to-one correspondence with the six joint arms 2100, each rotating joint 2300 is configured to drive the corresponding joint arm 2100 to rotate, the image collector 2200 is arranged on the joint arm 2100 at the end, and the image collector 2200 is in communication connection with each rotating joint 2300.
[0055] Please refer to Figure 1 In some embodiments, the screw tightening robot 100 includes a second controller 5000 arranged on the walking mechanism 1000, and the image collector 2200 and each rotating joint 2300 are in communication connection with the second controller 5000.
[0056] In this embodiment, the walking mechanism 1000 drives the mechanical arm 2000 to move towards the target screw, and when the mechanical arm 2000 moves to a specified position away from the target screw, the walking mechanism 1000 stops moving, the image collector 2200 arranged on the joint arm 2100 at the end shoots the target screw to detect the direction and distance of the target screw relative to the walking mechanism 1000, and the image collector 2200 transmits the shooting result to the second controller 5000. The second controller 5000 controls the rotation joints 2300 to drive the corresponding joint arms 2100 to rotate according to the shooting result of the image collector 2200, so that the tightening device 3000 arranged on the joint arm 2100 at the end accurately approaches the target screw.
[0057] Referring to Figure 1 In some embodiments, the walking mechanism 1000 includes a moving platform 1100, a walking assembly 1200, and a camera 1300. The walking assembly 1200 is arranged on the moving platform 1100 and is used to drive the moving platform 1100 to move towards the target screw. The camera 1300 is arranged on the moving platform 1100 and is in communication connection with the walking assembly 1200. The camera 1300 is configured to shoot image information on the movement path of the moving platform 1100. The mechanical arm 2000 is arranged on one side of the moving platform 1100 along a first direction, and the first direction intersects with the movement direction of the moving platform 1100.
[0058] In this embodiment, the walking assembly 1200 drives the moving platform 1100 to move towards the target screw, and the moving platform 1100 drives the mechanical arm 2000 to move towards the target screw. In this process, the camera 1300 on the moving platform 1100 shoots obstacles on the movement path of the moving platform 1100 and transmits the shooting result to the walking assembly 1200. When there are obstacles on the movement path of the moving platform 1100, the walking assembly 1200 drives the moving platform 1100 to avoid the obstacles according to the shooting result of the camera 1300.
[0059] In some embodiments, the walking mechanism 1000 includes two cameras 1300. One of the two cameras 1300 is arranged on the moving platform 1100 and is configured to shoot image information in front of the movement path of the moving platform 1100. The other of the two cameras 1300 is arranged on the moving platform 1100 and is configured to shoot image information behind the movement path of the moving platform 1100.
[0060] In some embodiments, the camera 1300 can be a depth camera.
[0061] Referring to Figure 1In some embodiments, the walking mechanism 1000 comprises a radar assembly 1400 arranged on the movement platform 1100, the radar assembly 1400 is configured to detect obstacles around the movement platform 1100, and the radar assembly 1400 is in communication connection with the walking assembly 1200.
[0062] In this embodiment, the walking assembly 1200 drives the movement platform 1100 to move towards the target screw, and the movement platform 1100 drives the mechanical arm 2000 to move towards the target screw. During this process, the radar assembly 1400 on the movement platform 1100 detects obstacles around the movement platform 1100, and transmits the detection results to the walking assembly 1200. The walking assembly 1200 drives the movement platform 1100 to avoid obstacles according to the detection results of the radar assembly 1400 and the shooting results of the camera 1300.
[0063] It should be noted that the detection range of the radar assembly 1400 is large, and the radar assembly 1400 can detect obstacles in the blind area of the camera 1300, thereby improving the obstacle avoidance capability of the walking mechanism 1000.
[0064] In some embodiments, the radar assembly 1400 can adopt a laser radar.
[0065] Please refer to Figure 1 In some embodiments, the radar assembly 1400 and the mechanical arm 2000 are arranged on the same side of the movement platform 1100 along the first direction, the walking mechanism 1000 comprises a plurality of obstacle detectors 1500, a part of the plurality of obstacle detectors 1500 are arranged on one side of the movement platform 1100 along the second direction, another part of the plurality of obstacle detectors 1500 are arranged on the other side of the movement platform 1100 along the second direction, and the movement direction of the movement platform 1100 and the first direction are both arranged to intersect with the second direction.
[0066] In this embodiment, the walking assembly 1200 drives the movement platform 1100 to move towards the target screw, and the movement platform 1100 drives the mechanical arm 2000 to move towards the target screw. During this process, the obstacle detectors 1500 on the movement platform 1100 detect obstacles located on the opposite sides of the movement platform 1100 along the second direction, and transmit the detection results to the walking assembly 1200. The walking assembly 1200 drives the movement platform 1100 to avoid obstacles according to the detection results of the obstacle detectors 1500, the detection results of the radar assembly 1400, and the shooting results of the camera 1300.
[0067] It should be noted that the obstacle detectors 1500 can detect obstacles in the blind area of the radar assembly 1400 and the blind area of the camera 1300, thereby improving the obstacle avoidance capability of the walking mechanism 1000.
[0068] In some embodiments, the obstacle detector 1500 can employ ultrasonic radar.
[0069] Referring to Figure 1 With Figure 2 In some embodiments, the walking assembly 1200 includes two walking pieces 1210, which are respectively arranged on opposite sides of the motion platform 1100 along the motion direction of the motion platform 1100, and each walking piece 1210 includes two movable legs 1211 arranged in the second direction, which are configured to drive the motion platform 1100 to move towards the target screw.
[0070] In this embodiment, the walking mechanism 1000 employs four movable legs 1211 to drive the motion platform 1100 to move towards the target screw, thereby driving the robot arm 2000 on the motion platform 1100 to approach the target screw.
[0071] Referring to Figure 1 With Figure 2 In some embodiments, the movable leg 1211 includes a first motion arm 1211-1 and a second motion arm 1211-2, which are rotationally connected and configured to rotate around an axis parallel to the second direction, and the walking mechanism 1000 further includes a driving assembly 1600 corresponding to the movable leg 1211, which is arranged on the motion platform 1100, and includes a first driving piece 1610, the fixed end of which is rotationally connected to the motion platform 1100 around an axis parallel to the motion direction of the motion platform 1100, and the movable end of which is connected to the second motion arm 1211-2 and configured to drive the second motion arm 1211-2 to rotate around the axis parallel to the second direction.
[0072] In this embodiment, when the movable leg 1211 drives the motion platform 1100 to move towards the target screw, the first motion arm 1211-1 rotates relative to the second motion arm 1211-2 around the axis parallel to the second direction, the first driving piece 1610 drives the second motion arm 1211-2 to rotate around the axis parallel to the second direction, and the first driving piece 1610 itself rotates relative to the motion platform 1100 around the axis parallel to the motion direction of the motion platform 1100.
[0073] In some embodiments, the driving assembly 1600 includes a second driving piece 1620, the fixed end of which is rotationally connected to the motion platform 1100 around an axis parallel to the motion direction of the motion platform 1100, and the driving end of which is connected to the fixed end of the first driving piece 1610, and the second driving piece 1620 is configured to drive the first driving piece 1610 to rotate around the axis parallel to the motion direction of the motion platform 1100.
[0074] In some embodiments, the driving assembly 1600 comprises a third driving member 1630, a fixed end of the third driving member 1630 is connected with the driving end of the second driving member 1620, and a driving end of the third driving member 1630 is connected with the first moving arm 1211-1, the third driving member 1630 is configured to drive the first moving arm 1211-1 to rotate relative to the second moving arm 1211-2 around an axis parallel to the second direction, and the second driving member 1620 is configured to drive the third driving member 1630 to rotate around an axis parallel to the moving direction of the moving platform 1100.
[0075] In some embodiments, the movable leg 1211 comprises a connecting arm 1211-3, one end of the connecting arm 1211-3 is connected with the first moving arm 1211-1, and the other end is connected with the driving end of the third driving member 1630, the third driving member 1630 is configured to drive the connecting arm 1211-3 to exert a force on the first moving arm 1211-1, so that the connecting arm 1211-3 drives the first moving arm 1211-1 to rotate relative to the second moving arm 1211-2 around an axis parallel to the second direction.
[0076] In the embodiment, each movable leg 1211 is driven by three driving members, the four movable legs 1211 are driven by twelve driving members, and each movable leg 1211 has fewer components and a simple structure.
[0077] Any combination of the technical features in the above-described embodiments can be made, and to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered that it is within the scope of the present application.
[0078] The above-described embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.
Claims
1. A screw tightening robot characterized by, The screw tightening robot comprises: a walking mechanism; a mechanical arm arranged on the walking mechanism, the walking mechanism being configured to drive the mechanical arm to move towards a target screw; a tightening device arranged at the end of the mechanical arm, the tightening device being configured to tighten the target screw.
2. The screw tightening robot according to claim 1, characterized in that, The tightening device is provided with a torque sensor, the torque sensor being configured to detect the tightening torque of the tightening device.
3. The screw tightening robot according to claim 2, characterized in that, The screw tightening robot comprises a first controller arranged on the walking mechanism, the tightening device and the torque sensor being in communication connection with the first controller.
4. The screw tightening robot according to claim 1 or 2, characterized in that, The mechanical arm comprises: a plurality of joint arms connected in sequence, the joint arm at the first end being connected with the walking mechanism, and the tightening device being arranged on the joint arm at the end; an image collector; a plurality of rotating joints, the plurality of rotating joints being arranged in one-to-one correspondence with the plurality of joint arms, each rotating joint being configured to drive the corresponding joint arm to rotate; the image collector is arranged on the joint arm at the end, and the image collector is in communication connection with each rotating joint.
5. The screw tightening robot according to claim 4, characterized in that, The screw tightening robot comprises a second controller arranged on the walking mechanism, the image collector and each rotating joint being in communication connection with the second controller.
6. The screw tightening robot according to claim 1, characterized by, The walking mechanism comprises a moving platform, a walking assembly and a camera, the walking assembly being arranged on the moving platform, and the walking assembly being configured to drive the moving platform to move towards the target screw; the camera is arranged on the moving platform and is in communication connection with the walking assembly, the camera being configured to capture image information on the movement path of the moving platform, the mechanical arm being arranged on one side of the moving platform along a first direction, the first direction intersecting the movement direction of the moving platform.
7. The screw tightening robot according to claim 6, characterized in that, The walking mechanism comprises a radar assembly arranged on the moving platform, the radar assembly being configured to detect obstacles around the moving platform, and the radar assembly being in communication connection with the walking assembly.
8. The screw tightening robot according to claim 7, characterized in that, The radar assembly and the mechanical arm are arranged on the same side of the moving platform along the first direction. The walking mechanism comprises a plurality of obstacle detectors, a part of the obstacle detectors being arranged on one side of the moving platform along a second direction, another part of the obstacle detectors being arranged on the other side of the moving platform along the second direction, and the movement direction of the moving platform and the first direction both intersecting the second direction.
9. The screwdriving robot according to claim 8, characterized in that The walking assembly comprises two walking members arranged on opposite sides of the moving platform along the movement direction of the moving platform respectively; each walking member comprises two movable legs arranged at intervals along the second direction, the movable legs being configured to drive the moving platform to move towards the target screw.
10. The screw tightening robot according to claim 9, characterized in that, The movable leg comprises a first movement arm and a second movement arm, the first movement arm and the second movement arm being rotationally connected and being configured to rotate around an axis parallel to the second direction; The walking mechanism further comprises a driving assembly corresponding to the movable leg, the driving assembly is arranged on the moving platform, the driving assembly comprises a first driving member, a fixed end of the first driving member is rotationally connected to the moving platform about an axis parallel to a moving direction of the moving platform, a movable end of the first driving member is connected with the second moving arm and is configured to drive the second moving arm to rotate about an axis parallel to the second direction.