CN111843466A

CN111843466A - Screw locking device and screw locking robot applying same

Info

Publication number: CN111843466A
Application number: CN202010940187.9A
Authority: CN
Inventors: 杨志舜; 许良兴; 詹植敏; 张灿隆
Original assignee: Guangdong Sanyang Robot Co ltd
Current assignee: Guangdong Sanyang Robot Co ltd
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2020-10-30

Abstract

The invention belongs to the technical field of screw locking equipment, in particular to a screw locking device and a screw locking robot using the same, which comprises a shell, a piston driving part, a driving component and a screwdriver head, wherein the shell is provided with a first air hole and a second air hole, the piston driving part is arranged in the shell and can be controlled to move up and down relative to the shell and comprises an upper connecting part, a lower connecting part and a piston main body, the upper connecting part is in sliding sealing fit with the shell above the first air hole, the piston main body is in sliding sealing fit with the shell between the first air hole and the second air hole, the lower connecting part is in sliding sealing fit with the shell below the second air hole, the driving component comprises a motor and a driving shaft, the upper connecting part is in sliding connection with the driving shaft, the screwdriver head can be arranged at the lower side of the lower connecting part in a vertically floating way, the motor drives the driving shaft to rotate so as to drive the screwdriver head to rotate, and the screw locking, the structure is simple and compact, the sealing performance is better, and the reaction is rapid.

Description

Screw locking device and screw locking robot applying same

Technical Field

The invention belongs to the technical field of screw locking equipment, and particularly relates to a screw locking device and a screw locking robot using the same.

Background

On products in various fields, parts are generally connected and fixed by screws, while the traditional screw locking mode is realized manually, the mode not only has low production efficiency, but also has high fatigue strength of workers, is not beneficial to production and manufacture, along with the development of science and technology, the traditional manual screw locking mode is gradually replaced by the screw locking machine, the existing screw locking machine usually adopts a mode of integrating a screw locking device on an output arm of a SCARA robot, but the existing screw locking device is as in Chinese patent CN209503452U, the screwdriver is driven to move up and down by the driving screwdriver arranged on the lifting seat and the lifting cylinder so as to drive the screwdriver head to rotate and move up and down, the screw locking device is formed by simply combining two mechanisms, has large volume and non-compact structure, and is very necessary to develop an integrated screw locking device which has compact structure and integrates lifting and rotating functions.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a screw locking device integrating rotation and lifting.

In order to solve the technical problems, the invention adopts the following technical scheme:

a screw locking device comprises a shell, a piston driving piece, a driving component and a screwdriver head, wherein the shell is longitudinally provided with a first air hole and a second air hole which are communicated with an inner cavity of the shell, the piston driving piece is arranged in the shell and can move up and down relative to the shell in an operation and control manner, it includes connecting portion, lower connecting portion and the piston main part of connecting portion and lower connecting portion, go up connecting portion and shell sliding seal cooperation on first gas pocket, piston main part and shell sliding seal cooperation between first gas pocket and second gas pocket, lower connecting portion and shell sliding seal cooperation under the second gas pocket, drive assembly includes the motor and the drive shaft of being connected with motor drive, the upside of connecting portion is located to the drive shaft, go up connecting portion and drive shaft sliding connection, but connect in the downside of lower connecting portion with floating from top to bottom to criticizing the head, the motor drive shaft is rotatory, thereby it is rotatory to drive criticize the head through the piston driving piece.

Compared with the prior art, the screw locking device provided by the invention integrates a structure for driving the screwdriver head to lift and rotate in the shell to form an integral structure, so that the screw locking device has a simple and compact structure, better sealing performance and rapid response, during operation, the first air hole and the second air hole are connected with a pneumatic device, such as an air pump, and the piston driving piece is selectively driven to move upwards or downwards by controlling the air inlet and the air outlet of the first air hole and the second air hole, when the screw is locked, the first air hole is used for air inlet and the second air hole is used for air outlet, so that the piston driving piece moves downwards, the screw is pre-pressed in the screw hole by using the screwdriver head which is arranged in a floating manner, the driving shaft is controlled by the motor to rotate, so that the screwdriver head is driven by the piston driving piece to screw the screw into the screw hole, the height of the floating screwdriver head is also adaptively adjusted in the screw screwing process until the screw is, the second air hole is used for air inlet to drive the batch head to move upwards for resetting. The upper connecting part and the lower connecting part form a cavity used for controlling the piston driving part to move up and down with the piston main body respectively, the piston driving part can be correspondingly driven to move by controlling the air inlet and outlet states of the first air hole and the second air hole corresponding to the cavity, and the structure is quick and quick in driving.

Further, the upper end of going up connecting portion is equipped with the spread groove, goes up the spread groove in-connection and has first sleeve, the drive shaft penetrate first sleeve and with first sleeve sliding connection, through setting up first sleeve, simplify the structure of going up connecting portion, can directly set up the hole of first sleeve into can drive the piston driving piece rotation with the non-round hole of drive shaft shape looks adaptation, and need not directly process the hole of specific shape on last connecting portion to reduce the design degree of difficulty of drive shaft.

Further, the lower extreme of lower connecting portion is equipped with down the spread groove, and lower spread groove in-connection has the second sleeve, criticizes first activity insert the second sleeve and with second sleeve sliding connection, criticize between the roof of head and spread groove down the butt elastic connector, elastic connector is preferably the spring for realize criticizing the effect of floating from top to bottom of head, through setting up the second sleeve, simplify the structure of lower connecting portion, can directly set up the hole of second sleeve into can drive criticize first rotation with the non-round hole of criticizing first link shape looks adaptation, and need not directly process the hole of specific shape on lower connecting portion, thereby reduce the design degree of difficulty of drive shaft.

Furthermore, criticize the head and be equipped with the spacing step that is used for the butt at second sleeve upside, through setting up second sleeve and spacing step, can realize spacingly to criticizing the head, make the assembly of criticizing the head more firm reliable, simultaneously, through setting up the second sleeve, also can be convenient for criticize the assembly of head, its assembling process is swiftly convenient.

Furthermore, the motor is a servo motor, the motor is connected with the driving shaft through the speed reducing mechanism, the torsion output by the servo motor can be detected, whether the screw is screwed down or not or whether undesirable phenomena such as wire sliding occur can be judged, meanwhile, the connection with the control system is more facilitated, high-precision torsion output and torsion feedback closed-loop control are formed, and the torsion precision reaches +/-5%. Compared with the existing mode of detecting whether the screw is screwed up or not by arranging the height sensor, the invention is more accurate and reliable.

Further, the periphery cover of piston main part is equipped with first rotary seal circle, and be located the guide ring of first rotary seal circle upper and lower both sides, the sealed cooperation of inside wall of first rotary seal circle and shell, the inside wall sliding contact of guide ring and shell, through setting up first rotary seal circle and guide ring, make the piston main part rotatory with reciprocating relatively the shell in, also can ensure sealing performance, in addition, the guide ring can also play when the piston main part reciprocates and leads positive effect.

Furthermore, a second rotary sealing ring is arranged on the inner side of the upper end of the shell, a third rotary sealing ring is arranged on the inner side of the lower end of the shell, the upper connecting portion is in sliding sealing fit with the shell through the second rotary sealing ring, the lower connecting portion is in sliding sealing fit with the shell through the third rotary sealing ring, and the second rotary sealing ring and the third rotary sealing ring can ensure that the piston driving piece cannot leak air when rotating and moving up and down.

Furthermore, the shell comprises a first shell, a second shell and a fixed seat, the first shell is connected to the upper end of the second shell, and the driving assembly is arranged on the first shell; the upper end of the second shell is provided with a through hole, the lower end of the second shell is open, the first air hole and the second air hole are formed in the side portion of the second shell, a limiting shaft shoulder extending outwards is arranged on one side, close to the piston main body, of the upper connecting portion, the upper connecting portion penetrates through the through hole and extends into the first shell to be connected with the driving shaft, and the upper connecting portion is in sliding sealing fit with the through hole; the fixing base closing cap the downside of second casing, it is equipped with the axle sleeve that stretches into in the second casing, lower connecting portion pass through the axle sleeve runs through the fixing base, and with axle sleeve sliding seal cooperation, above-mentioned shell and piston driving piece's cooperation mode compact structure, the wholeness is strong, and the leakproofness is good.

Further, still include the pay-off subassembly, the pay-off subassembly has two kinds of setting modes.

As a first setting mode of the feeding assembly, the feeding assembly comprises a batch nozzle, a support and a material nozzle, the batch nozzle is installed at the lower end of the shell, the batch head is movably inserted into the batch nozzle, the material nozzle is fixedly arranged below the batch nozzle through the support, the material nozzle is provided with an assembly channel for movably inserting the lower end of the batch head and a material channel connected with the lower part of the assembly channel, and the material channel is used for conveying screws to the bottom of the assembly channel. The feeding assembly is high in screw locking speed in the arrangement mode, and the screw feeding and locking can be completed simultaneously only by moving the screw locking device to the position above the screw hole.

As a second setting mode of the feeding assembly, the feeding assembly comprises a batch nozzle, a support and an adsorption pipeline, the batch nozzle is installed at the lower end of the shell, the batch head is movably inserted into the batch nozzle, the adsorption pipeline is fixedly arranged below the batch nozzle through the support, the lower end of the batch head is movably inserted into the adsorption pipeline, and the adsorption pipeline is used for being connected with a negative pressure generating device to enable a negative pressure adsorption screw to be generated in a pipe cavity of the adsorption pipeline. The feeding assembly is simple in arrangement mode and structure and low in cost, and during operation, the screw locking device moves to the position of the feeding table to adsorb screws and then moves to the screw holes to lock the screws.

The invention also provides a screw locking robot, which comprises a base, a first rotating arm hinged with the base, a second rotating arm hinged with the first rotating arm, a lifting mechanism arranged on the second rotating arm, a visual component arranged on the free end of the second rotating arm and the screw locking device, wherein the lifting mechanism comprises a screw rod arranged on the upper side of the second rotating arm, a nut seat in threaded connection with the screw rod and a driving device for driving the screw rod to rotate, the shell is fixedly connected with the nut seat, the screw locking device can be controlled by the lifting mechanism to move up and down relative to the second rotating arm, the free end of the second rotating arm is provided with a hollow part for a screwdriver bit to pass through, the visual component is fixedly arranged at the outer end of the hollow part, and the visual component comprises a camera module for positioning the position of a screw hole. The screw locking robot provided by the invention adopts the screw locking device integrated with the lifting and rotating structure, is simple in connection with the lifting mechanism, is convenient and quick to assemble, and is beneficial to daily replacement and use.

Drawings

FIG. 1 is a perspective view of a locking screw device;

FIG. 2 is a front view of the locking screw apparatus;

FIG. 3 is a cross-sectional view of the locking screw device;

FIG. 4 is a schematic view of a first arrangement of the feed assembly;

FIG. 5 is a schematic view of a second arrangement of feed assemblies;

FIG. 6 is a schematic structural view of the screw locking robot;

fig. 7 is a schematic structural diagram of the screw locking robot.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings. In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The first embodiment is as follows:

referring to fig. 1 to 3, the present embodiment provides a screw locking device, including a housing 1, a piston driving member 2, a driving assembly 3, a batch head 4 and a feeding assembly 5, wherein the piston driving member 2 is movably disposed in the housing 1 up and down, and includes an upper connecting portion 21, a lower connecting portion 23 and a piston main body 22 connecting the upper connecting portion 21 and the lower connecting portion 23, the housing 1 includes a first housing 11, a second housing 12 and a fixing seat 13, the first housing 11 is connected to an upper end of the second housing 12, the driving assembly 3 is disposed on the first housing 11 and includes a servo motor 31, a reducer 32 and a driving shaft 33, and the driving shaft 33 is rotatably disposed in the first housing 11 and is in transmission connection with the servo motor 31 through the reducer 32.

Referring to fig. 1 and 3, the second housing 12 has a through hole 123 at the upper end thereof and an open lower end, the second housing 12 has a first air hole 121 and a second air hole 122 at the side thereof for communicating the inner cavity thereof, the piston main body 22 is in sliding sealing fit with the second housing 12 between the first air hole 121 and the second air hole 122, and as a specific embodiment, the outer periphery of the piston main body 22 is sleeved with a first rotary sealing ring 221, and guide rings 222 disposed at upper and lower sides of the first rotary sealing ring 221, wherein the first rotary sealing ring 221 is in sealing fit with the inner sidewall of the second housing 12, the guide rings 222 are in sliding contact with the inner sidewall of the second housing 12, by providing the first rotary seal ring 221 and the guide ring 222, the piston main body 22 is rotated and reciprocated up and down with respect to the housing 1, sealing performance is ensured, and the guide ring 222 also functions as a guide when the piston main body 22 moves up and down.

Referring to fig. 3, the upper connecting portion 21 is provided with a limiting shoulder 211 extending outward on a side close to the piston main body 22, the limiting shoulder 211 abuts against a top wall of the second housing 12 when the piston driving member 2 moves up to a preset position, so as to limit the piston driving member 2, the upper connecting portion 21 passes through the through hole 123, extends into the first housing 11, is connected with the driving shaft 33, and is in sliding sealing fit with the through hole 123, as a specific implementation manner, the through hole 123 is provided with a second rotary sealing ring 124, and the upper connecting portion 21 is in sliding sealing fit with the second housing 12 through the second rotary sealing ring 124.

Referring to fig. 3, the fixing base 13 covers the lower side of the second housing 12, and is provided with a shaft sleeve 131 extending into the second housing 12, the lower connecting portion 23 downwardly penetrates through the fixing base 13 through the shaft sleeve 131 and is in sliding sealing fit with the shaft sleeve 131, as a specific embodiment, a third rotary sealing ring 132 is provided inside the shaft sleeve 131, and the lower connecting portion 23 is in sliding sealing fit with the fixing base 13 through the third rotary sealing ring 132.

In a specific embodiment, the first to third rotary sealing rings (221, 124, 132) are respectively composed of a wear-resistant ring and an O-ring rubber sealing ring sleeved on the outer periphery of the wear-resistant pocket, wherein the rubber sealing ring provides a pre-tightening force to compensate for the wear of the wear-resistant ring, the wear-resistant ring is preferably made of PTFE, has a small friction coefficient and a similar dynamic and static friction coefficient, and is suitable for sealing under relative rotation and relative reciprocation, and the first to third rotary sealing rings 132 can ensure that the piston driving member 2 does not leak air during rotation and up-down movement.

Referring to fig. 3, the upper end of the upper connecting portion 21 is provided with an upper connecting groove 212, the upper connecting groove 212 is internally threaded with a first sleeve 213, the driving shaft 33 penetrates the first sleeve 213 and is slidably connected with the first sleeve 213, by arranging the first sleeve 213, the structure of the upper connecting portion 21 is simplified, the inner hole of the first sleeve 213 can be directly set as a non-circular hole matched with the shape of the driving shaft 33, so that the piston driving member 2 can be driven to rotate, the hole with a specific shape is not required to be directly processed on the upper connecting portion 21, and therefore the design difficulty of the driving shaft 33 is reduced. Preferably, the drive shaft 33 is a polygonal shaft.

Referring to the figure, the lower extreme of lower connecting portion 23 is equipped with down the connecting groove 231, is connected with second sleeve 232 in the lower connecting groove 231, criticizes the activity of head 4 and inserts second sleeve 232 and with second sleeve 232 sliding connection, criticize the flexible connecting piece 233 of butt between the roof of head 4 and lower connecting groove 231, flexible connecting piece 233 is preferred to be the spring for realize criticizing the effect of floating from top to bottom of head 4, through setting up second sleeve 232, simplify the structure of lower connecting portion 23, can directly set up the hole of second sleeve 232 into can drive criticize head 4 rotatory with the non-round hole of criticizing head 4 link shape looks adaptation, and need not directly process the hole of specific shape on lower connecting portion 23, thereby reduce the design degree of difficulty of drive shaft 33. Preferably, the connection end of the batch head 4 and the driving shaft 33 is provided in a polygonal structure.

Referring to fig. 3, criticize first 4 and be the stock structure, it can be integrative structure, also can form by a plurality of section structural grouping connects, criticize first 4 upper end and be equipped with the spacing step 41 that is used for the butt at second sleeve 232 upside, through setting up second sleeve 232 and spacing step 41, can realize spacingly to criticizing first 4, make the assembly of criticizing first 4 more firm reliable, simultaneously, through setting up second sleeve 232, also can be convenient for criticize first 4's assembly, its assembling process is swift convenient.

The screw locking device provided by the invention integrates a structure for driving the screwdriver bit 4 to lift and rotate into the shell 1 to form an integral structure, so that the screw locking device has simple and compact structure, better sealing performance and quick response, when in operation, the first air hole 121 and the second air hole 122 are connected with a pneumatic device, such as an air pump, the piston driving part 2 is selectively driven to move upwards or downwards by controlling the air inlet and outlet of the first air hole 121 and the second air hole 122, when the screw is locked, the first air hole 121 is used for air inlet, the second air hole 122 is used for air outlet, the piston driving part 2 is driven to move downwards, the screw is pre-pressed in the screw hole by the screwdriver bit 4 which is arranged in a floating way, the servo motor 31 controls the driving shaft 33 to rotate, so that the screwdriver bit 4 is driven by the piston driving part 2 to rotate and screw the screw, the screw is screwed into the screw hole, and the height of the floating screwdriver bit 4 is also, after the screw is tightened, the first air hole 121 is exhausted, and the second air hole 122 is exhausted, so that the batch head 4 is driven to move upwards to reset.

According to the invention, the motor 31 is set as the servo motor 31, so that whether the screw is screwed down or whether the poor phenomena such as screw sliding and the like occur can be judged by detecting the torque force output by the servo motor 31, meanwhile, the connection with a control system is facilitated, the high-precision torque force output and the closed-loop control of torque force feedback are formed, and the torque force precision reaches +/-5%. Compared with the existing mode of detecting whether the screw is screwed up or not by arranging the height sensor, the invention is more accurate and reliable.

The feeding assembly 5 has two setting modes.

Referring to fig. 1 to 4, as a first arrangement of the feeding assembly 5, the feeding assembly 5 includes a batch nozzle 51, a bracket 52 and a material nozzle 53, the batch nozzle 51 is installed at the lower end of the fixing seat 13, the batch head 4 is movably inserted into the batch nozzle 51, the material nozzle 53 is fixedly arranged below the batch nozzle 51 through the bracket 52, the material nozzle 53 is provided with an assembly channel 531 for movably inserting the lower end of the batch head 4, and a material channel 532 connected to the lower part of the assembly channel 531, and the material channel 532 is used for conveying screws to the bottom of the assembly channel 531 for screwing the batch head 4. The feeding assembly 5 is high in screw locking speed in the arrangement mode, and the feeding and the locking can be completed simultaneously only by moving the screw locking device to the position above the screw hole during operation.

Referring to fig. 3 and 5, as a second arrangement manner of the feeding assembly 5, the feeding assembly 5 includes a batch nozzle 51, a bracket 52 and an adsorption pipe 54, the batch nozzle 51 is installed at the lower end of the housing 1, the batch head 4 is movably inserted into the batch nozzle 51, the adsorption pipe 54 is fixedly arranged below the batch nozzle 51 through the bracket 52, the lower end of the batch head 4 is movably inserted into the adsorption pipe 54, and the adsorption pipe 54 is used for connecting a negative pressure generating device, so that a negative pressure adsorption screw is generated in a tube cavity of the adsorption pipe 54 to screw the batch head 4. The feeding assembly 5 is simple in arrangement mode and structure and low in cost, and during operation, the screw locking device moves to the feeding table to adsorb screws to be installed and then moves to the screw holes to lock the screws.

Example two:

referring to fig. 1 to 7, the present embodiment provides a screw locking robot applying a screw locking device 9 according to the first embodiment, which includes a base 63, a first rotating arm 61 hinged to the base 63, a second rotating arm 62 hinged to the first rotating arm 61, a lifting mechanism 7 mounted on the second rotating arm 62, a visual component 8 mounted on a free end of the second rotating arm 62, and the screw locking device 9, wherein the lifting mechanism 7 includes a screw rod 71 disposed on an upper side of the second rotating arm 62, a nut seat 72 threadedly connected to the screw rod 71, and a driving device 73 driving the screw rod 71 to rotate, the housing 1 is fixedly connected to the nut seat 72, the screw locking device 9 is controllably moved up and down relative to the second rotating arm 62 by the lifting mechanism 7, a hollow 621 for allowing a batch head 4 to pass through is disposed at the free end of the second rotating arm 62, the visual component 8 is fixedly disposed at an outer end of the hollow 621, it is including the module of making a video recording that is used for the location screw position, after the screw is fixed a position to vision subassembly 8, elevating system 7 drive lock screw device 9 moves down to suitable height, is afterwards by locking screw device 9 with screw in screw. In order to improve the integrity of the robot, the second rotating arm 62 is provided with a casing 10 covering the locking screw device 9.

The screw locking robot provided by the invention adopts the screw locking device 9 integrated with the lifting and rotating structure, is simple in connection with the lifting mechanism 7, is convenient and quick to assemble, and is beneficial to daily replacement and use.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. Locking screw device, its characterized in that includes:

the shell is longitudinally provided with a first air hole and a second air hole which are communicated with the inner cavity of the shell;

the piston driving piece is arranged in the shell and can be controlled to move up and down relative to the shell, the piston driving piece comprises an upper connecting part, a lower connecting part and a piston main body which is connected with the upper connecting part and the lower connecting part, the upper connecting part is in sliding sealing fit with the shell above the first air hole, the piston main body is in sliding sealing fit with the shell between the first air hole and the second air hole, and the lower connecting part is in sliding sealing fit with the shell below the second air hole;

the driving assembly comprises a motor and a driving shaft in transmission connection with the motor, the driving shaft is arranged on the upper side of the upper connecting part, and the upper connecting part is in sliding connection with the driving shaft so as to drive the piston driving part to rotate through the driving shaft;

and the batch head is connected to the lower side of the lower connecting part in a vertically floating manner.

2. The lock screw device according to claim 1, wherein an upper connecting groove is provided at an upper end of the upper connecting portion, a first sleeve is connected to the upper connecting groove, and the driving shaft penetrates the first sleeve and is slidably connected to the first sleeve.

3. The screw locking device of claim 1, wherein the lower end of the lower connecting portion is provided with a lower connecting groove, a second sleeve is connected in the lower connecting groove, the bit is movably inserted into the second sleeve and slidably connected with the second sleeve, and an elastic connecting member is abutted between the bit and the top wall of the lower connecting groove.

4. The lock screw device according to claim 3, wherein the bit is provided with a stop step for abutting against an upper side of the second sleeve.

5. The lock screw device according to claim 1, wherein said motor is a servo motor, said motor being connected to said drive shaft through a speed reduction mechanism.

6. The screw locking device according to claim 1, wherein the piston body is provided at an outer circumference thereof with a first rotary seal ring and guide rings disposed at upper and lower sides of the first rotary seal ring, the first rotary seal ring is in sealing engagement with an inner side wall of the housing, and the guide rings are in sliding contact with the inner side wall of the housing.

7. The screw locking device of claim 1 wherein said housing is provided with a second rotary seal ring on an inner side of an upper end thereof and a third rotary seal ring on an inner side of a lower end thereof, said upper connecting portion being in sliding sealing engagement with said housing through said second rotary seal ring, said lower connecting portion being in sliding sealing engagement with said housing through said third rotary seal ring.

8. The screw locking device of claim 1 wherein the housing comprises a first housing, a second housing and a fixed seat, the first housing being connected to an upper end of the second housing, the drive assembly being disposed on the first housing;

the upper end of the second shell is provided with a through hole, the lower end of the second shell is open, the first air hole and the second air hole are formed in the side portion of the second shell, a limiting shaft shoulder extending outwards is arranged on one side, close to the piston main body, of the upper connecting portion, the upper connecting portion penetrates through the through hole and extends into the first shell to be connected with the driving shaft, and the upper connecting portion is in sliding sealing fit with the through hole;

the fixing seat covers the lower side of the second shell and is provided with a shaft sleeve extending into the second shell, and the lower connecting portion penetrates through the fixing seat through the shaft sleeve and is in sliding sealing fit with the shaft sleeve.

9. The screw locking device according to claim 1, further comprising a feeding assembly, wherein the feeding assembly comprises a batch nozzle, a support and a material nozzle, the batch nozzle is mounted at the lower end of the shell, the batch head is movably inserted into the batch nozzle, the material nozzle is fixedly arranged below the batch nozzle through the support, the material nozzle is provided with an assembly channel for movably inserting the lower end of the batch head, and a material channel connected with the lower part of the assembly channel, and the material channel is used for conveying screws to the bottom of the assembly channel;

or, the feeding assembly comprises a batch nozzle, a support and an adsorption pipeline, the batch nozzle is installed at the lower end of the shell, the batch head is movably inserted into the batch nozzle, the adsorption pipeline is fixedly arranged below the batch nozzle through the support, the lower end of the batch head is movably inserted into the adsorption pipeline, and the adsorption pipeline is used for being connected with a negative pressure generating device to enable a negative pressure adsorption screw to be generated in a pipe cavity of the adsorption pipeline.

10. The screw locking robot is characterized by comprising a base, a first rotating arm hinged with the base, a second rotating arm hinged with the first rotating arm, a lifting mechanism arranged on the second rotating arm, a visual component arranged on the free end of the second rotating arm and the screw locking device as claimed in any one of claims 1 to 9, wherein the lifting mechanism comprises a lead screw arranged on the upper side of the second rotating arm, a nut seat in threaded connection with the lead screw and a driving device for driving the lead screw to rotate, the shell is fixedly connected with the nut seat, the screw locking device can be controlled by the lifting mechanism to move up and down relative to the second rotating arm, the free end of the second rotating arm is provided with a hollow part for a screwdriver bit to pass through, the visual component is fixedly arranged at the outer end of the hollow part and comprises a camera module for positioning the position of a screw hole.