CN117733536A - Screw locking device and screw locking system - Google Patents

Abstract

The application is applicable to the technical field of locking equipment and provides screw locking equipment and a screw locking system. The screw locking device is used for locking the screw into the screw hole on the object to be locked, and comprises a locking assembly, wherein the locking assembly comprises: the locking bearing piece can move in a set range; the screw storage disc is arranged on the locking bearing piece and is provided with a plurality of storage tanks capable of storing screws; the locking part is arranged on the locking bearing piece and is provided with a locking end, and the locking end of the locking part can outwards withdraw a screw in the storage tank and lock the screw into a screw hole of an object to be locked. When the screw is locked by the screw locking device, the locking end of the locking part can directly grasp the screw from the storage tank and lock the screw into the screw hole of the object to be locked, so that the locking efficiency is greatly improved.

Description

Screw locking device and screw locking system

Technical Field

The application belongs to the technical field of locking equipment, and particularly relates to screw locking equipment and a screw locking system.

Background

In assembling the apparatus, screws are typically used for assembly. In order to meet the production requirements and production efficiency, more and more industries begin to adopt screw locking equipment to complete screw locking operation.

The existing screw locking equipment utilizes a mechanical arm to grasp screws from a feeder arranged at a fixed position and lock the screws to a designated position, and the locking mode requires the mechanical arm to grasp the screws from the feeder first and then move to the designated position to carry out screw locking operation, so that the locking efficiency is low.

Disclosure of Invention

An aim of the embodiment of the application is to provide a screw locking device and a screw locking system, which aim to solve the technical problem of low locking efficiency of the screw locking device in the prior art.

To achieve the above object, according to one aspect of the present application, there is provided a screw locking apparatus for locking a screw into a screw hole on an object to be locked, the screw locking apparatus including a locking assembly including: the locking bearing piece can move in a set range; the screw storage disc is arranged on the locking bearing piece and is provided with a plurality of storage tanks capable of storing screws; the locking part is arranged on the locking bearing piece and is provided with a locking end, and the locking end of the locking part can draw out a screw in the storage tank outwards and lock the screw into a screw hole on an object to be locked.

Optionally, the screw storage disc can rotate around the axis of the screw storage disc, the axial direction of the screw storage disc is formed into a first preset direction, and the plurality of storage tanks are arranged on the screw storage disc around the first preset direction; the locking part can move along a first preset direction, a locking mounting hole is formed between two adjacent storage tanks, the locking end of the locking part can adsorb or release a screw, the screw can be carried through the locking mounting hole, and the screw can be locked into a screw hole on an object to be locked.

Optionally, the locking part comprises a sleeve, an adsorption cavity is arranged on the end face of the first end of the sleeve, and a cavity opening of the adsorption cavity can at least partially cover a notch of the storage tank; the locking assembly further comprises a pressure regulating piece which is communicated with the adsorption cavity and can change the air pressure in the adsorption cavity in a state of being covered on the notch of the storage tank so as to enable the adsorption cavity to adsorb or release the screw.

Optionally, the extending direction of the adsorption cavity is parallel to the first preset direction, the end face of the first end of the sleeve can be abutted against the surface of the object to be locked, and the cavity opening of the adsorption cavity can at least partially cover the screw hole on the object to be locked; the locking part further comprises an electric screwdriver, the end part of the first end of the electric screwdriver penetrates into the adsorption cavity from one end, far away from the screw storage disc, of the sleeve, the screw in the adsorption cavity can be driven to rotate around the axis of the electric screwdriver, and the screw can move in the adsorption cavity along the first preset direction so as to be locked into the screw hole on the object to be locked.

Optionally, the locking assembly further comprises a mounting part and a moving driving part, wherein the mounting part can move along a first preset direction, and the electric screwdriver and the sleeve are both mounted on the mounting part; the movable driving part is arranged on the locking bearing piece, and is provided with an output end, and the output end of the movable driving part can slide on the locking bearing piece along a first preset direction and is connected with the mounting part so as to drive the mounting part to move along the first preset direction.

Optionally, the movement driving part includes: the running direction of the conveyor belt is parallel to the first preset direction; the driving wheel is rotatably arranged on the locking bearing piece around the axis of the driving wheel, and the conveying belt is arranged on the periphery of the driving wheel and is in driving connection with the driving wheel; the driven wheel is rotatably arranged on the locking bearing piece around the axis of the driven wheel, is arranged on one side of the screw storage disc, which is close to or far from the driving wheel, and the conveying belt is arranged on the periphery of the driven wheel and is in driving connection with the driven wheel; and the connecting piece can be slidably arranged on the locking bearing piece along the first preset direction, is fixedly connected with the conveying belt and is fixedly connected with the mounting part so as to drive the mounting part to move along the first preset direction, and the connecting piece is formed into an output end of the moving driving part.

Optionally, the mounting portion includes: the mounting body is fixedly connected with the connecting piece; the first mounting piece is mounted on the mounting body and is connected with the end part of the second end of the electric batch; the second mounting piece is arranged on one side, close to the screw storage disc, of the first mounting piece, is mounted on the mounting body and is connected with the end part of the second end of the sleeve; the resetting piece is arranged between the first mounting piece and the second mounting piece and can be switched between a compressed state and a free state; the first mounting piece can be slidably mounted on the mounting body along a first preset direction, and the second mounting piece can be slidably mounted on the mounting body along the first preset direction, so that the resetting piece can be switched between a compressed state and a free state.

Optionally, the screw locking device further comprises a feeding component, and the feeding component is arranged on one side of the locking component; the material loading subassembly includes: the feeding bearing piece is fixedly arranged at a set position; the screw feeding disc is arranged on the feeding bearing piece and is provided with a plurality of feeding grooves capable of storing screws; and the material moving part is arranged on the feeding bearing piece, the material moving part is provided with a material moving end, the screw storage tray is provided with a feeding position, and the material moving end of the material moving part can outwards withdraw the screw in the feeding groove and store the screw in the storage groove under the condition that the screw storage tray is positioned at the feeding position.

Optionally, the screw feeding disc can rotate around the axis of the screw feeding disc, the axial direction of the screw feeding disc is formed into a second preset direction, and the plurality of feeding grooves are arranged on the screw feeding disc around the second preset direction; the material moving end of the material moving part can move along a second preset direction and can adsorb or release the screw; under the condition that the screw storage disc is at the feeding position, the second preset direction is parallel to the first preset direction, so that the material moving end of the material moving part can carry the screws adsorbed in the feeding groove to move into the storage groove.

Optionally, the material moving part comprises a lifting piece and an absorbing piece, the lifting piece is arranged on the material loading bearing piece, the lifting piece is provided with a telescopic end, and the telescopic end of the lifting piece can move along a second preset direction; the adsorption piece is installed on the flexible end of lifting piece to can adsorb the screw of depositing in last silo or release screw, the adsorption piece forms the material end that moves of moving the material portion.

Optionally, the feeding assembly further comprises a feeding part, wherein the feeding part is arranged on the feeding bearing piece and is arranged on one side of the screw feeding disc; the feeding portion comprises a feeding track, a feeding guide groove for accommodating the screw is arranged on the feeding track, the extending direction of the feeding guide groove is intersected with the second preset direction, the feeding guide groove is provided with a discharging notch, each feeding groove is provided with a feeding notch communicated with the discharging notch, and the feeding track can drive the screw in the feeding guide groove to move towards the direction of the discharging notch so as to sequentially convey the screw in the feeding guide groove into each feeding groove.

Optionally, the feeding portion further includes a vibration member, the vibration member is mounted on the feeding carrier, the feeding rail is mounted on an output end of the vibration member, and the output end of the vibration member can vibrate the feeding rail, so that the feeding rail can drive a screw in the feeding guide groove to move towards a direction of the discharge slot.

Optionally, the feeding portion further includes: the hopper is internally provided with a containing cavity for containing the screw, the hopper is provided with a penetrating hole, and the end part of the feeding track, which is far away from the screw feeding disc, is penetrated into the containing cavity through the penetrating hole; and the feeding piece is rotatably arranged in the accommodating cavity around the extending direction of the feeding guide groove and can move the screw in the accommodating cavity into the feeding guide groove.

According to another aspect of the present application, there is provided a screw locking system for locking a screw to an object to be locked, the screw locking system including a mounting frame, a mechanical arm, and the screw locking device described above, the mechanical arm being mounted on the mounting frame, and a locking carrier being mounted on an output end of the mechanical arm.

Optionally, the screw locking system further comprises a control part and a visual detection part, wherein the visual detection part is installed at the upper end of the installation frame and is used for detecting the position of an object to be locked, the visual detection part is electrically connected with the control part, and the control part is electrically connected with the mechanical arm and is electrically connected with the screw locking device.

Optionally, the locking assembly further includes an identifying and positioning portion, where the identifying and positioning portion is disposed on the locking carrier and is used for identifying and positioning a position of a screw hole on the object to be locked, and is electrically connected with the control portion.

The beneficial effect of the screw locking equipment that this application provided lies in: compared with the prior art, when the screw is locked by the screw locking device, the locking end of the locking part firstly withdraws the screw in the storage tank outwards, and then the screw is locked into the screw hole on the object to be locked, so that the locking operation can be completed. Because the screw locking equipment in this application is from taking screw storage disc, consequently adopt the screw locking equipment lock in this application to pay the screw, the end is paid to the lock of lock portion can directly follow in the storage tank snatch the screw after to lock the screw to wait to pay in the screw on the lock object, need not to snatch the screw earlier in the feeder of fixing in setting for the position department, then carry the screw to remove to appointed position department and carry out the screw locking operation, improved lock and paid efficiency greatly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a screw locking system according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a screw locking system with a hidden control part according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a lock assembly according to an embodiment of the present disclosure at a first view angle;

FIG. 4 is an enlarged schematic view of FIG. 3A;

fig. 5 is a schematic structural diagram of a lock assembly according to an embodiment of the present disclosure in a second view angle;

fig. 6 is a schematic structural diagram of the assembled locking portion, the assembled mounting portion, the moving driving portion, the second driving member and the locking carrier according to the embodiment of the present application;

fig. 7 is a schematic structural diagram of the assembled locking portion, mounting portion, moving driving portion and locking carrier according to the embodiment of the present application;

fig. 8 is a schematic structural diagram of a feeding assembly according to an embodiment of the present disclosure under a third view angle;

fig. 9 is a schematic structural diagram of a feeding assembly provided in an embodiment of the present application under a fourth view angle;

FIG. 10 is an enlarged schematic view at B in FIG. 9;

fig. 11 is a schematic view of a part of the structure of a feeding portion according to an embodiment of the present disclosure;

reference numerals related to the above figures are as follows:

100. a locking assembly; 110. a lock bearing; 120. a screw storage tray; 121. a storage tank; 122. a locking mounting hole; 130. a locking part; 131. a sleeve; 132. electric batch; 141. a first driving member; 142. a second driving member; 150. a vacuum display; 160. a filter; 170. a mounting part; 171. a mounting body; 172. a first mounting member; 173. a second mounting member; 174. a reset member; 180. a movement driving part; 181. a conveyor belt; 182. a driving wheel; 183. driven wheel; 184. a connecting piece; 185. a third driving member; 190. identifying a positioning part; 200. a feeding assembly; 210. a loading bearing piece; 220. a screw feeding disc; 221. feeding a trough; 230. a material moving part; 231. a lifting member; 232. an absorbing member; 240. a feeding section; 241. a feed rail; 2411. a feed guide slot; 242. a vibrating member; 243. a hopper; 300. a mounting frame; 400. a mechanical arm; 500. a control unit; 600. and (5) a screw.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. Embodiments and features of embodiments in this application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

As described in the background art, at present, screws are generally used for assembling the device. In order to meet the production requirements and production efficiency, more and more industries begin to adopt screw locking equipment to complete screw locking operation. The existing screw locking equipment utilizes a mechanical arm to grasp screws from a feeder arranged at a fixed position and lock the screws to a designated position, and the locking mode requires the mechanical arm to grasp the screws from the feeder first and then move to the designated position to carry out screw locking operation, so that the locking efficiency is low.

Referring to fig. 1 to 5, in order to solve the above-mentioned problems, according to an aspect of the present application, an embodiment of the present application provides a screw locking apparatus for locking a screw 600 into a screw hole on an object to be locked, the screw locking apparatus including a locking assembly 100, the locking assembly 100 including a locking carrier 110, a screw storage tray 120, and a locking part 130, wherein the locking carrier 110 is movable within a set range; the screw storage tray 120 is arranged on the lock bearing piece 110, and a plurality of storage tanks 121 capable of storing screws 600 are arranged on the screw storage tray 120; the locking part 130 is disposed on the locking carrier 110, the locking part 130 has a locking end, and the locking end of the locking part 130 can draw out the screw 600 in the storage tank 121 and lock the screw 600 into a screw hole on an object to be locked.

In the embodiment of the application, the object to be locked is equipment to be assembled, and the screw 600 can be embedded into a screw hole on the equipment to be assembled and is in threaded fit with the screw hole; the lock bearing member 110 is a lock bearing frame, and the lock bearing frame can be fixedly installed on the output end of the manipulator or the mechanical arm 400 and can move within the movement range of the output end of the manipulator or the mechanical arm 400, and the set range is the movement range of the manipulator or the mechanical arm 400; the screw 600 comprises a screw rod and a screw cap fixedly arranged on the screw rod, the groove diameter of the storage groove 121 is smaller than the radius of the screw cap and is larger than or equal to the radius of the screw rod, and meanwhile, the extending direction of the storage groove 121 can be parallel to the vertical direction, so that the screw 600 can be stored in the storage groove 121; the locking part 130 may be a manipulator, the output end of the manipulator may carry an electric screwdriver 132, the output end of the manipulator may first withdraw the screw 600 in the storage tank 121 outwards, and then lock the screw 600 into a screw hole on the object to be locked by using the electric screwdriver 132.

When the screw locking device is used for locking the screw 600, firstly, the locking end of the locking part 130 withdraws the screw 600 in the storage tank 121 outwards, and then the screw 600 is locked into the screw hole on the object to be locked, so that the locking operation can be completed. Because the screw locking device in this application is from taking screw storage disc 120, therefore when adopting the screw locking device lock in this application to pay screw 600, the lock end of lock portion 130 can directly snatch in the screw hole on the object that waits to lock with screw 600 after grabbing screw 600 in storage tank 121, need not to snatch screw 600 in the feeder of fixing in the settlement position department earlier, then carry screw 600 to remove to appointed position department and carry out screw 600 locking operation, has improved locking efficiency greatly.

Referring to fig. 3 to 5, as an alternative in the embodiment of the present application, the screw storage tray 120 may rotate around its own axis, the axial direction of the screw storage tray 120 is formed in a first preset direction, and a plurality of storage tanks 121 are provided on the screw storage tray 120 around the first preset direction; the locking portion 130 can move along a first preset direction, a locking mounting hole 122 is formed between two adjacent storage tanks 121, the locking end of the locking portion 130 can adsorb or release the screw 600, the screw 600 can be carried to pass through the locking mounting hole 122, and the screw 600 can be locked into a screw hole on an object to be locked.

In this alternative, the screw storage tray 120 has a disc shape, although in other embodiments, the screw storage tray 120 may have other shapes; the locking assembly 100 further comprises a locking driving part, the locking driving part comprises a first driving piece 141, the first driving piece 141 is arranged on the locking bearing piece 110, and an output shaft of the first driving piece 141 is coaxial with the screw storage disc 120 and fixedly connected with the screw storage disc 120 so as to drive the screw storage disc 120 to rotate around the axis of the screw storage disc 120; the first preset direction may be vertically or obliquely arranged, and the extending direction of the storage tank 121 is parallel to the first preset direction; in order to ensure the locking efficiency, a plurality of storage tanks 121 are uniformly distributed on the screw storage tray 120 along the circumferential direction of the screw storage tray 120; to ensure that the locking end of the locking portion 130 can pass through the locking mounting hole 122, the locking mounting hole 122 is a through hole; to ensure proper development of the locking operation, the object to be locked is usually placed under the screw storage tray 120; the locking portion 130 may include an electrical connector 132 that enables the locking of the screw 600.

When the screw locking device is used for locking the screw 600, firstly the locking end of the locking part 130 adsorbs the screw 600 in the storage tank 121, then the screw 600 is driven to move in a direction away from the storage tank 121, after the screw 600 is separated from the corresponding storage tank 121, the screw storage tray 120 is rotated until the locking mounting hole 122 corresponds to the screw 600 adsorbed by the locking end of the locking part 130, and then the locking end of the locking part 130 drives the screw 600 to pass through the locking mounting hole 122, and the screw 600 is locked into a screw hole on an object to be locked, so that locking operation can be completed.

Referring to fig. 3 to 7, as an alternative manner in the embodiment of the present application, the locking portion 130 includes a sleeve 131, an adsorption cavity is disposed on an end surface of a first end of the sleeve 131, and a cavity opening of the adsorption cavity can at least partially cover a notch of the storage tank 121; the lock assembly 100 further includes a pressure regulating member which communicates with the adsorption chamber and is capable of changing the air pressure inside the adsorption chamber in a state of being covered on the notch of the storage tank 121 so that the adsorption chamber adsorbs or releases the screw 600.

In this alternative manner, the length direction of the sleeve 131 is parallel to the first preset direction, the extension direction of the adsorption cavity is parallel to the first preset direction, and the cavity opening of the adsorption cavity is arranged on the end surface of the first end of the sleeve 131 and can completely cover the notch of the storage tank 121; the pressure regulating member may be a vacuum generator, which is mounted on the lock bearing member 110, and the air extraction end of the vacuum generator is communicated with the adsorption cavity, and can extract the air in the adsorption cavity under the condition that the cavity opening of the adsorption cavity covers the Chu Liaocao notch, so that the air pressure in the adsorption cavity is lower than the atmospheric pressure, and the screw 600 in the storage tank 121 is adsorbed into the adsorption cavity; under the condition that the cavity opening of the adsorption cavity covers the Chu Liaocao 121 notch, the screw 600 passes through the locking mounting hole 122 and corresponds to the screw hole on the object to be locked, the air suction end of the vacuum generator stops air suction, and when the air pressure in the cavity to be adsorbed is restored to be the same as or similar to the atmospheric pressure, the screw 600 adsorbed in the adsorption cavity is released by the adsorption cavity. In addition, in order to facilitate knowing the air pressure inside the adsorption cavity, the lock assembly 100 further includes a vacuum display 150, the vacuum display 150 is mounted on the lock bearing 110, and the vacuum display 150 is in communication with the adsorption cavity to display the air pressure inside the adsorption cavity; to filter the impurities in the air to be introduced into the vacuum display 150, a filter 160 is provided between the vacuum display 150 and the adsorption chamber, the filter 160 is mounted on the vacuum display 150, and the filter 160 communicates with the vacuum display 150 and with the adsorption chamber to filter the impurities in the air to be introduced into the vacuum display 150.

Referring to fig. 3 to 7, as an alternative manner in the embodiment of the present application, an extending direction of the adsorption cavity is parallel to a first preset direction, an end surface of a first end of the sleeve 131 can be abutted against a surface of an object to be locked, and a cavity opening of the adsorption cavity can at least partially cover a screw hole on the object to be locked; the locking part 130 further comprises an electric screwdriver 132, wherein the end part of the first end of the electric screwdriver 132 penetrates into the adsorption cavity from the end, far away from the screw storage disc 120, of the sleeve 131, can drive the screw 600 in the adsorption cavity to rotate around the axis of the electric screwdriver 132, and can move in the adsorption cavity along the first preset direction so as to lock the screw 600 into the screw hole on the object to be locked.

In the alternative mode, the cavity opening of the adsorption cavity can completely cover the screw hole on the object to be locked; the electric screwdriver 132 is also called an electric screwdriver, the axial direction of the electric screwdriver 132 is parallel to a first preset direction, and the end part of the first end of the electric screwdriver 132 is the end part of a screwdriver head of the lockable screw 600; the lock driving part further comprises a second driving piece 142, the second driving piece 142 is arranged on the lock bearing piece 110, and an output shaft of the second driving piece 142 is coaxial with the electric batch 132 and fixedly connected with the electric batch 132 so as to drive the electric batch 132 to rotate around the axis thereof. When the screw 600 is absorbed to the absorption cavity, the end of the first end of the electric screwdriver 132 is contacted with the screw 600, then the sleeve 131 and the electric screwdriver 132 carry the screw 600 through the locking mounting hole 122, after the end face of the first end of the sleeve 131 is tightly propped against the surface of the object to be locked, the cavity mouth of the absorption cavity covers the screw hole on the object to be locked, the end of the first end of the electric screwdriver 132 drives the screw 600 to rotate around the axis of the electric screwdriver 132 in the screw hole, in the process, the end of the first end of the electric screwdriver 132 also pushes the screw 600 to move towards the inside of the screw hole until the torque applied to the screw 600 by the electric screwdriver 132 reaches a set value, so that the electric screwdriver 132 stops rotating and moving, and the locking operation can be completed. The end of the first end of the electric batch 132 and the cavity mouth of the adsorption cavity are formed into the locking end of the locking part 130.

Referring to fig. 3 and 5 to 7, as an alternative to the embodiment of the present application, the lock assembly 100 further includes a mounting portion 170 and a movement driving portion 180, the mounting portion 170 being movable in a first preset direction, and the electric batch 132 and the sleeve 131 being mounted on the mounting portion 170; the moving driving part 180 is disposed on the lock bearing 110, the moving driving part 180 has an output end, and the output end of the moving driving part 180 can slide on the lock bearing 110 along a first preset direction and is connected with the mounting part 170 to drive the mounting part 170 to move along the first preset direction. In this alternative manner, the moving driving portion 180 may be a belt assembly or a screw assembly, and an output end of the moving driving portion 180 is fixedly connected with the mounting portion 170, so as to drive the mounting portion 170, and the sleeve 131 and the electric batch 132 disposed on the mounting portion 170 to move together along the first preset direction.

Referring to fig. 3, 5 to 7, as an alternative way in the embodiment of the present application, the movement driving part 180 includes a conveyor belt 181, a driving wheel 182, a driven wheel 183, and a connection member 184, wherein the running direction of the conveyor belt 181 is parallel to a first preset direction; the driving wheel 182 is rotatably arranged on the lock bearing member 110 around the axis thereof, and the conveyor belt 181 is arranged on the periphery of the driving wheel 182 and is in driving connection with the driving wheel 182; the driven wheel 183 is rotatably arranged on the lock bearing member 110 around the axis thereof and arranged on one side of the screw storage disc 120, which is close to or far from the driving wheel 182, and the conveyor belt 181 is arranged on the periphery of the driven wheel 183 and is in driving connection with the driven wheel 183; the connecting piece 184 is slidably mounted on the lock bearing 110 along a first preset direction, and is fixedly connected with the conveyor belt 181, and is fixedly connected with the mounting portion 170, so as to drive the mounting portion 170 to move along the first preset direction, and the connecting piece 184 is formed as an output end of the movement driving portion 180.

In this alternative, the conveyor belt 181 may be a synchronous belt, and may be vertically disposed or obliquely disposed, although in other embodiments, the conveyor belt 181 may be a chain or a belt; the driving wheel 182 is meshed with the conveyor belt 181, the axis of the driving wheel 183 is perpendicular to the first preset direction, the driven wheel 183 is arranged on one side of the driving wheel 182, which is close to the screw storage tray 120, and is meshed with the conveyor belt 181, the axis of the driven wheel 183 is perpendicular to the first preset direction, and in other embodiments, the driven wheel 183 can be arranged on one side of the driving wheel 182, which is far away from the screw storage tray 120; the moving driving part 180 further includes a third driving member 185, where the third driving member 185 is mounted on the lock bearing member 110, and an output shaft of the third driving member 185 is coaxial with the driving wheel 182 and fixedly connected with the driving wheel 182 to drive the driving wheel 182 to rotate around its own axis; the connecting piece 184 is a connecting block, a sliding rail arranged along a first preset direction is fixedly installed on the lock bearing piece 110, a sliding groove which extends along the first preset direction and is tightly matched with the sliding rail is arranged on the connecting piece 184, the connecting piece 184 is slidably installed on the lock bearing piece 110 through the matching of the sliding rail and the sliding groove, a penetrating through hole for the conveying belt 181 to penetrate is formed in the connecting piece 184, the conveying belt 181 penetrates through the penetrating through hole and is fixedly connected with the connecting block, and the connecting piece 184 can be fixedly connected with the installation part 170 through a connecting screw.

Referring to fig. 3 and 5 to 7, the mounting portion 170 in the present embodiment includes a mounting body 171, a first mounting member 172, a second mounting member 173, and a restoring member 174, wherein the mounting body 171 is fixedly connected to a connecting member 184; the first mounting member 172 is mounted on the mounting body 171 and is connected to an end of the second end of the electric batch 132; the second mounting member 173 is disposed on a side of the first mounting member 172 adjacent to the screw storage tray 120, and is mounted on the mounting body 171 and connected to an end of the second end of the sleeve 131; the reset member 174 is disposed between the first and second mounting members 172, 173 and is switchable between a compressed state and a free state; the first mounting member 172 is slidably mounted on the mounting body 171 in a first predetermined direction, and the second mounting member 173 is slidably mounted on the mounting body 171 in the first predetermined direction such that the reset member 174 is switchable between a compressed state and a free state.

In this alternative, the mounting body 171 is a mounting plate, and the first mounting member 172 is a first mounting frame and is fixedly connected to an end portion of the second end of the electric batch 132; the second mounting member 173 is a second mounting frame and is fixedly connected to the end of the second end of the sleeve 131; the return member 174 is a return spring, and two ends of the return spring are hooked with the first mounting member 172 and the second mounting member 173, respectively, although in other embodiments, two ends of the return spring may be connected with the first mounting member 172 and the second mounting member 173 by other connection methods, respectively.

When the screw 600 is locked into the screw hole on the object to be locked, the mounting body 171 drives the electric screwdriver 132 and the sleeve 131 to move together in the direction approaching the screw storage tray 120, so that the cavity opening of the adsorption cavity covers Chu Liaocao 121; then the screw 600 is adsorbed into the adsorption cavity under the pressure regulating action of the pressure regulating piece; the mounting body 171 then drives the sleeve 131 and the electric screwdriver 132 to move together in a direction away from the screw storage tray 120 so as to withdraw the screw 600 from the storage tank 121; after the screw 600 is separated from the corresponding storage groove 121, the screw storage tray 120 is rotated so that the locking mounting hole 122 corresponds to the adsorbed screw 600; the mounting body 171 then drives the electric motor 132, the sleeve 131 and the attracted screw 600 to move together in a direction approaching the screw hole on the object to be locked, and in this process, the screw 600 passes through the locking mounting hole 122, and when the end face of the first end of the sleeve 131 abuts against the surface of the object to be locked, the movement can be stopped after the cavity opening of the adsorbing cavity covers the screw hole on the object to be locked. Then the adsorption cavity releases the screw 600 adsorbed in the adsorption cavity, after the screw 600 falls into the screw hole under the action of gravity, the end part of the first end of the electric batch 132 drives the screw 600 to rotate around the axis of the electric batch 132 in the screw hole, in the process, the mounting body 171 also drives the electric batch 132 to push the screw 600 to move towards the inside of the screw hole, because the first mounting piece 172 and the second mounting piece 173 can be slidably mounted on the mounting body 171 along the first preset direction, and the end surface of the first end of the sleeve 131 is abutted against the surface of an object to be locked, the first mounting piece 172 and the second mounting piece 173 move towards the direction approaching each other along with the movement of the mounting body 171, and the resetting piece 174 is compressed; when the torque applied to the screw 600 by the electric screwdriver 132 reaches the set value, the mounting body 171 drives the electric screwdriver 132 and the sleeve 131 to move in a direction away from the screw hole on the object to be locked, in this process, the reset member 174 is gradually switched from the compressed state to the free state, and simultaneously thrust is applied to the first mounting member 172 and the second mounting member 173, the first mounting member 172 and the second mounting member 173 move in a direction away from each other under the action of the thrust applied by the reset member 174, and after the reset member 174 is restored to the free state, the first mounting member 172 and the second mounting member 173 do not move relatively.

Referring to fig. 1, 2 and 8 to 11, the screw locking apparatus in the present embodiment further includes a feeding assembly 200, where the feeding assembly 200 is disposed at one side of the locking assembly 100; the feeding assembly 200 comprises a feeding carrier 210, a screw feeding tray 220 and a material moving part 230, wherein the feeding carrier 210 is fixedly installed at a set position; the screw feeding tray 220 is arranged on the feeding bearing piece 210, and a plurality of feeding grooves 221 capable of storing screws 600 are formed in the screw feeding tray 220; the material moving part 230 is arranged on the material loading carrier 210, the material moving part 230 is provided with a material moving end, the screw storage tray 120 is provided with a material loading position, and the material moving end of the material moving part 230 can draw out the screw 600 in the material loading groove 221 outwards and store the screw 600 in the material storage groove 121 under the condition that the screw storage tray 120 is positioned at the material loading position.

In the embodiment of the present application, the loading carrier 210 is a loading carrier; the diameter of the feeding groove 221 is smaller than the radius of the screw cap and larger than or equal to the radius of the screw rod, and meanwhile, the extending direction of the feeding groove 221 can be parallel to the vertical direction, so that the screw 600 can be stored in the feeding groove 221; the material moving part 230 may be a manipulator, and the output end of the manipulator may withdraw the screw 600 in the feeding slot 221 outwards, and then store the screw 600 in the storage slot 121. Through adopting the material loading subassembly 200 in this application can put in screw 600 to the storage tank 121 on the screw storage tray 120 to make the storage tank 121 in store screw 600, thereby guarantee the normal development of locking operation. In addition, to ensure the locking efficiency, the screw storage tray 120 is usually configured to complete the loading operation together with the loading assembly 200 after the locking assembly 100 completes the locking operation for one object to be locked, and the other object to be locked has not moved to the time period corresponding to the locking assembly 100.

Referring to fig. 8 to 11, as an alternative in the embodiment of the present application, the screw feeding tray 220 may rotate around its own axis, the axial direction of the screw feeding tray 220 is formed in a second preset direction, and a plurality of feeding slots 221 are provided on the screw feeding tray 220 around the second preset direction; the material moving end of the material moving part 230 can move along a second preset direction and can adsorb or release the screw 600; under the condition that the screw storage tray 120 is at the feeding position, the second preset direction is parallel to the first preset direction, so that the material moving end of the material moving portion 230 can carry the screw 600 absorbed from the feeding groove 221 to move into the storage groove 121.

In this alternative, the screw feeding tray 220 has a disc shape, although in other embodiments, the screw feeding tray 220 may have other shapes; the feeding assembly 200 further comprises a fourth driving piece, wherein the fourth driving piece is installed on the feeding bearing piece 210, and an output shaft of the fourth driving piece is coaxial with the screw feeding disc 220 and fixedly connected with the screw feeding disc 220 so as to drive the screw feeding disc 220 to rotate around the axis of the screw feeding disc 220; the second preset direction can be vertically arranged or can be obliquely arranged, and the extending direction of the feeding groove 221 is parallel to the second preset direction; to ensure the feeding efficiency, a plurality of feeding grooves 221 are uniformly distributed on the screw feeding tray 220 along the circumferential direction of the screw feeding tray 220. The material transferring part 230 may be a combination of an air cylinder and a suction nozzle, or may be a manipulator with a suction nozzle.

Under the condition that the screw storage tray 120 is positioned at the feeding position, the screw storage tray 120 is positioned above the screw feeding tray 220, the material moving end of the material moving part 230 moves to the lower side of the screw storage tray 120 through the locking mounting hole 122 and adsorbs the screw 600 in the feeding groove 221, then the screw 600 is carried to the upper side of the screw storage tray 120 through the locking mounting hole 122, then the screw storage tray 120 rotates, after the storage groove 121 on the screw storage tray 120 corresponds to the screw 600, the material moving end of the material moving part 230 releases the screw 600, and the screw 600 falls into the storage groove 121 under the action of self gravity; of course, in other embodiments, the screw storage tray 120 may be located below the screw feeding tray 220 when the screw storage tray 120 is located at the feeding position, and in this case, a through hole for passing the feeding end of the feeding portion 230 should be provided between two adjacent feeding slots 221. In addition, to reduce the loading difficulty, the screw storage tray 120 is coaxial with the screw loading tray 220 in the case that the screw storage tray 120 is at the loading position.

Referring to fig. 8 and 9, as an alternative way in the embodiment of the present application, the material moving part 230 includes a lifting member 231 and an adsorption member 232, the lifting member 231 is mounted on the material loading carrier 210, the lifting member 231 has a telescopic end, and the telescopic end of the lifting member 231 can move along a second preset direction; the suction member 232 is installed on the telescopic end of the elevating member 231 and is capable of sucking the screw 600 stored in the upper tank 221 or releasing the screw 600, and the suction member 232 is formed as the material moving end of the material moving part 230.

In this alternative, the lifting member 231 is an air cylinder and is disposed along a second preset direction; the suction member 232 is a suction nozzle which can suck the screw 600 stored in the feeding groove 221 or release the screw 600, and is fixedly installed on a piston end of the cylinder, which is formed as a telescopic end of the elevating member 231. In order to increase the feeding speed, the plurality of material moving parts 230 are provided, and the plurality of material moving parts 230 are arranged around the circumference of the screw feeding tray 220 at intervals.

Referring to fig. 8 to 11, as an alternative to the embodiment of the present application, the feeding assembly 200 further includes a feeding part 240, and the feeding part 240 is disposed on the feeding carrier 210 and on one side of the screw feeding tray 220; the feeding portion 240 includes a feeding track 241, a feeding guide groove 2411 for accommodating the screw 600 is disposed on the feeding track 241, the extending direction of the feeding guide groove 2411 intersects with the second preset direction, the feeding guide groove 2411 has a discharging slot, each feeding slot 221 has a feeding slot communicated with the discharging slot, and the feeding track 241 can drive the screw 600 in the feeding guide groove 2411 to move towards the direction of the discharging slot, so as to sequentially convey the screw 600 in the feeding guide groove 2411 into each feeding slot 221.

In this alternative manner, an installation groove is formed on the upper surface of the loading carrier 210, the screw loading tray 220 is embedded in the installation groove, the outer circumferential surface of the screw loading tray 220 is matched with the groove wall of the installation groove, and the loading groove 221 is formed on the outer circumferential surface of the screw loading tray 220; the feeding rail 241 may be a conveyor belt or a linear guide rail capable of vibrating, and in the case that the feeding rail 241 is a linear guide rail capable of vibrating, the extending direction of the feeding guide groove 2411 is perpendicular to the second preset direction, and the length direction of the feeding rail 241 is perpendicular to the second preset direction; by adopting the feeding part 240 in the application, the screw 600 can be conveyed into the feeding groove 221, so that the normal development of the subsequent feeding operation is facilitated.

Referring to fig. 8, 9 and 11, as an alternative manner in the embodiment of the present application, the feeding portion 240 further includes a vibration member 242, the vibration member 242 is mounted on the feeding carrier 210, the feeding rail 241 is mounted on an output end of the vibration member 242, and the output end of the vibration member 242 can vibrate the feeding rail 241, so that the feeding rail 241 can drive the screw 600 in the feeding guide groove 2411 to move toward the direction of the discharge slot. In this alternative, the vibration member 242 is a direct vibration motor, and the direct vibration motor is fixedly mounted on the loading carrier 210, and an output end of the direct vibration motor is fixedly connected with the feeding track 241 so as to drive the feeding track 241 to vibrate.

Referring to fig. 8, 9 and 11, as an alternative manner in the embodiment of the present application, the feeding portion 240 further includes a hopper 243 and a feeding member, where a receiving cavity for receiving the screw 600 is provided in the hopper 243, a through hole is provided in the hopper 243, and an end portion of the feeding rail 241 away from the screw feeding tray 220 is penetrated into the receiving cavity through the through hole; the feed member is rotatably provided in the accommodating chamber around the extending direction of the feed guide groove 2411, and is capable of moving the screw 600 in the accommodating chamber into the feed guide groove 2411.

In this alternative, the hopper 243 is disposed at one side of the screw feeding tray 220 and is fixedly mounted on the feeding carrier 210, and the feeding rail 241 is partially penetrated in the accommodating cavity; the feeding member comprises a feeding body with an axis collinear with the extending direction of the feeding guide groove 2411 and a plurality of feeding plates fixedly installed on the feeding body and distributed around the extending direction of the feeding guide groove 2411, the feeding body can rotate around the axial direction of the feeding guide groove 2411, the plurality of feeding plates can rotate in the accommodating cavity along with the rotation of the feeding body, and the screws 600 in the accommodating cavity can be pulled into the feeding guide groove 2411; specifically, the feeding driving part comprises a fifth driving piece, and an output shaft of the fifth driving piece is collinear with and fixedly connected with the axis of the feeding body; in order to improve the feeding efficiency, a sweeping plate is arranged above the feeding guide groove 2411, the sweeping plate can be rotatably arranged in the accommodating cavity around a direction parallel to and different from the extending direction of the feeding guide groove 2411, and the end part of the sweeping plate, which is close to the feeding guide groove 2411, can sweep the screw 600 above the feeding guide groove 2411 into the feeding guide groove 2411; in order to facilitate the addition of the screw 600 into the receiving chamber, a feed inlet communicating with the receiving chamber is provided on the upper end surface of the hopper 243.

Referring to fig. 1 to 11, according to another aspect of the present application, there is further provided a screw locking system for locking a screw 600 to an object to be locked, the screw locking system including a mounting frame 300, a robot arm 400, and the screw locking apparatus described above, the robot arm 400 being mounted on the mounting frame 300, and a locking carrier 110 being mounted on an output end of the robot arm 400.

In the embodiment of the present application, the mechanical arm 400 is preferably a six-axis mechanical arm, and of course, in other embodiments, the mechanical arm 400 may also be a five-axis mechanical arm or a four-axis mechanical arm; the starting end of the mechanical arm 400 can be fixedly arranged on the mounting frame 300 by using a flange, the tail end of the mechanical arm 400 can move randomly within a set range, the locking bearing piece can be fixedly arranged on the tail end of the mechanical arm by using the flange, and the tail end of the mechanical arm is formed into an output end of the mechanical arm 400; the loading bearing 210 is fixedly installed on the installation frame 300; in order to improve the locking efficiency, the screw locking devices are provided with a plurality of screw locking devices, the plurality of screw locking devices are arranged at intervals along the length direction of the conveying line for conveying the objects to be locked, and meanwhile, the number of the mechanical arms 400 is the same as that of the screw locking devices and corresponds to that of the screw locking devices one by one.

Referring to fig. 1, the screw locking system in this embodiment further includes a control part 500 and a visual detection part, the visual detection part is installed at the upper end of the mounting frame 300 and is used for detecting the position of an object to be locked, the visual detection part is electrically connected with the control part 500, and the control part 500 is electrically connected with the screw locking device and is electrically connected with the mechanical arm 400.

In the embodiment of the present application, the control part 500 is a controller, and the control part 500 may be disposed on one side of the mounting frame 300, where the control part 500 is electrically connected to the lock driving part, the pressure adjusting part, the third driving part 185, the fourth driving part, the material moving part 230, the vibration part 242, the feeding part and the sweeping plate; the visual detection part is a visual detection camera which is fixedly arranged on the mounting frame 300 and is positioned above the object to be locked. The vision detection part feeds back the detected detection information to the control part 500, the control part 500 analyzes the detection information and sends a corresponding instruction to the locking driving part according to the analysis information, sends a corresponding instruction to the pressure regulating part, sends a corresponding instruction to the third driving part 185, sends a corresponding instruction to the fourth driving part, sends a corresponding instruction to the material moving part 230, sends a corresponding instruction to the vibration part 242, sends a corresponding instruction to the material feeding part, sends a corresponding instruction to the sweeping plate and sends a corresponding instruction to the mechanical arm 400, so that the normal development of locking operation and feeding operation is ensured; the control part 500 and the visual detection part in the application can enable the locking operation and the feeding operation to realize linkage, so that the locking efficiency is improved, and the feeding efficiency is improved.

Referring to fig. 1 and 3, the lock assembly 100 in the present embodiment further includes an identification positioning portion 190, where the identification positioning portion 190 is disposed on the lock bearing 110, and is used for identifying and positioning a position of a screw hole on an object to be locked, and is electrically connected to the control portion 500.

In this embodiment of the present application, the identification positioning portion 190 is an identification positioning camera, the identification positioning camera is fixedly installed on the locking bearing frame, the identification positioning camera can identify the position of the screw hole on the object to be locked, and form identification positioning information, and can feed back the identification positioning information to the control portion 500, the control portion 500 can analyze the identification positioning information, and issue a corresponding instruction to the locking driving portion, issue a corresponding instruction to the pressure regulating member 185, issue a corresponding instruction to the third driving portion 185, issue a corresponding instruction to the fourth driving portion, issue a corresponding instruction to the moving portion 230, issue a corresponding instruction to the vibration member 242, and issue a corresponding instruction to the mechanical arm 400.

In addition, in order to facilitate the movement of the mounting frame 300, a plurality of universal wheels are fixedly installed at the bottom end of the mounting frame 300; meanwhile, in order to facilitate the adjustment of the height and stability of the mounting frame 300, the bottom end of the mounting frame 300 is fixedly provided with a mounting foot cup.

In summary, the screw locking device and the screw locking system provided by the embodiment have at least the following beneficial technical effects: when the screw locking device is used for locking the screw 600, firstly, the locking end of the locking part 130 withdraws the screw 600 in the storage tank 121 outwards, and then the screw 600 is locked into the screw hole on the object to be locked, so that the locking operation can be completed. Because the screw locking device in this application is from taking screw storage disc 120, therefore when adopting the screw locking device lock in this application to pay screw 600, the lock end of lock portion 130 can directly snatch in the screw hole on the object that waits to lock with screw 600 after grabbing screw 600 in storage tank 121, need not to snatch screw 600 in the feeder of fixing in the settlement position department earlier, then carry screw 600 to remove to appointed position department and carry out screw 600 locking operation, has improved locking efficiency greatly.

The foregoing description of the preferred embodiment of the present invention is not intended to limit the invention to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims (16)

1. A screw locking device for locking a screw (600) into a screw hole in an object to be locked, the screw locking device comprising a locking assembly (100), the locking assembly (100) comprising: a lock bearing (110), the lock bearing (110) being movable within a set range;

The screw storage disc (120), the screw storage disc (120) is arranged on the locking bearing piece (110), and a plurality of storage tanks (121) capable of storing the screws (600) are arranged on the screw storage disc (120);

and a locking part (130), wherein the locking part (130) is arranged on the locking bearing piece (110), the locking part (130) is provided with a locking end, the locking end of the locking part (130) can draw out the screw (600) in the storage tank (121) outwards, and the screw (600) can be locked into a screw hole on the object to be locked.

2. The screw locking device according to claim 1, wherein the screw storage tray (120) is rotatable about its own axis, the screw storage tray (120) being axially formed in a first preset direction, a plurality of the storage tanks (121) being provided on the screw storage tray (120) about the first preset direction;

the locking part (130) can move along the first preset direction, a locking mounting hole (122) is formed between two adjacent storage tanks (121), the locking end of the locking part (130) can adsorb or release the screw (600), the screw (600) can be carried to pass through the locking mounting hole (122), and the screw (600) can be locked into a screw hole on an object to be locked.

3. The screw locking device according to claim 2, characterized in that the locking portion (130) comprises a sleeve (131), an adsorption cavity is arranged on the end face of the first end of the sleeve (131), and the cavity mouth of the adsorption cavity can at least partially cover the notch of the storage groove (121);

the lock assembly (100) further includes a pressure regulating member which communicates with the suction chamber and is capable of changing the air pressure inside the suction chamber in a state of being covered on the notch of the Chu Liaocao (121) so that the suction chamber sucks or releases the screw (600).

4. A screw locking device according to claim 3, wherein the extension direction of the suction cavity is parallel to the first preset direction, the end face of the first end of the sleeve (131) can be abutted against the surface of the object to be locked, and the cavity opening of the suction cavity can at least partially cover the screw hole on the object to be locked;

the locking part (130) further comprises an electric screwdriver (132), the end part of the first end of the electric screwdriver (132) is far away from one end of the screw storage disc (120) from the sleeve (131) and penetrates into the adsorption cavity, the screw (600) in the adsorption cavity can be driven to rotate around the axis of the electric screwdriver (132), and the screw can move in the adsorption cavity along the first preset direction so as to lock the screw (600) into a screw hole on an object to be locked.

5. The screw locking device according to claim 4, wherein the locking assembly (100) further comprises a mounting portion (170) and a movement driving portion (180), the mounting portion (170) being movable in the first preset direction, the electric batch (132) and the sleeve (131) being mounted on the mounting portion (170); the movable driving part (180) is arranged on the lock bearing piece (110), the movable driving part (180) is provided with an output end, and the output end of the movable driving part (180) can slide on the lock bearing piece (110) along the first preset direction and is connected with the mounting part (170) so as to drive the mounting part (170) to move along the first preset direction.

6. The screw locking apparatus according to claim 5, wherein the movement driving part (180) includes:

a conveyor belt (181), the running direction of the conveyor belt (181) is parallel to the first preset direction;

the driving wheel (182), the said driving wheel (182) is set up on said lock pair carrier (110) rotatably around the self axis, the said conveyer belt (181) is set up in the periphery of the said driving wheel (182), and connect with driving wheel (182) driving;

the driven wheel (183) is rotatably arranged on the locking bearing piece (110) around the axis of the driven wheel (183), and is arranged on one side of the screw storage disc (120) close to or far from the driving wheel (182), and the conveying belt (181) is arranged on the periphery of the driven wheel (183) and is in driving connection with the driven wheel (183);

And the connecting piece (184), the connecting piece (184) can be installed on the lock pair bearing piece (110) in a sliding way along the first preset direction, and is fixedly connected with the conveyor belt (181) and is fixedly connected with the installation part (170), so as to drive the installation part (170) to move along the first preset direction, and the connecting piece (184) is formed into an output end of the movement driving part (180).

7. The screw locking apparatus as set forth in claim 6, wherein the mounting portion (170) includes:

the mounting body (171), the said mounting body (171) is fixedly connected with said connecting piece (184);

a first mounting member (172), the first mounting member (172) being mounted on the mounting body (171) and being connected to an end of the second end of the electric batch (132);

the second mounting piece (173) is arranged on one side, close to the screw storage disc (120), of the first mounting piece (172), is mounted on the mounting body (171), and is connected with the end part of the second end of the sleeve (131);

and a return member (174), the return member (174) being provided between the first mounting member (172) and the second mounting member (173) and being switchable between a compressed state and a free state; the first mounting piece (172) can be slidably mounted on the mounting body (171) along the first preset direction, and the second mounting piece (173) can be slidably mounted on the mounting body (171) along the first preset direction, so that the reset piece (174) can be switched between the compressed state and the free state.

8. The screw locking device according to any one of claims 2 to 7, characterized in that it further comprises a feeding assembly (200), said feeding assembly (200) being provided on one side of said locking assembly (100); the feeding assembly (200) comprises: the feeding bearing piece (210), wherein the feeding bearing piece (210) is fixedly arranged at a set position;

the screw feeding tray (220) is arranged on the feeding bearing piece (210), and a plurality of feeding grooves (221) capable of storing the screws (600) are formed in the screw feeding tray (220);

and a material moving part (230), the material moving part (230) is arranged on the material loading bearing piece (210), the material moving part (230) is provided with a material moving end, the screw storage disc (120) is provided with a material loading position, and the material moving end of the material moving part (230) can outwards withdraw the screw (600) in the material loading groove (221) and store the screw (600) in the material storage groove (121) under the condition that the screw storage disc (120) is positioned at the material loading position.

9. The screw locking device according to claim 8, wherein the screw feeding tray (220) is rotatable about its own axis, the axial direction of the screw feeding tray (220) is formed in a second preset direction, and a plurality of the feeding slots (221) are provided on the screw feeding tray (220) about the second preset direction;

The material moving end of the material moving part (230) can move along the second preset direction and can adsorb or release the screw (600); under the condition that the screw storage disc (120) is positioned at the feeding position, the second preset direction is parallel to the first preset direction, so that the material moving end of the material moving part (230) can carry the screws (600) adsorbed in the feeding groove (221) to move into the storage groove (121).

10. The screw locking device according to claim 9, wherein the material moving part (230) comprises a lifting member (231) and an adsorption member (232), the lifting member (231) is mounted on the loading carrier (210), the lifting member (231) has a telescopic end, and the telescopic end of the lifting member (231) is movable along the second preset direction; the adsorption piece (232) is installed on the telescopic end of the lifting piece (231) and can adsorb the screw (600) stored in the feeding groove (221) or release the screw (600), and the adsorption piece (232) is formed into the material moving end of the material moving part (230).

11. The screw locking device according to claim 9, wherein the feeding assembly (200) further comprises a feeding portion (240), the feeding portion (240) being provided on the feeding carrier (210) and on one side of the screw feeding tray (220);

The feeding portion (240) comprises a feeding track (241), a feeding guide groove (2411) for accommodating the screw (600) is formed in the feeding track (241), the extending direction of the feeding guide groove (2411) is intersected with the second preset direction, the feeding guide groove (2411) is provided with a discharging slot, each feeding groove (221) is provided with a feeding slot communicated with the discharging slot, and the feeding track (241) can drive the screw (600) in the feeding guide groove (2411) to move towards the direction of the discharging slot so as to sequentially convey the screw (600) in the feeding guide groove (2411) into each feeding groove (221).

12. The screw locking device according to claim 11, wherein the feeding portion (240) further comprises a vibration member (242), the vibration member (242) is mounted on the feeding carrier (210), the feeding rail (241) is mounted on an output end of the vibration member (242), and the output end of the vibration member (242) can vibrate the feeding rail (241) so that the feeding rail (241) can drive the screw (600) in the feeding guide groove (2411) to move towards the direction of the discharge slot.

13. The screw lock apparatus according to claim 11, wherein said supply portion (240) further comprises: the screw feeding device comprises a hopper (243), wherein a containing cavity for containing the screw (600) is formed in the hopper (243), a penetrating hole is formed in the hopper (243), and the end part, far away from the screw feeding disc (220), of the feeding track (241) penetrates into the containing cavity through the penetrating hole;

And a feeding member rotatably provided in the accommodating chamber around an extending direction of the feeding guide groove (2411) and capable of moving the screw (600) in the accommodating chamber into the feeding guide groove (2411).

14. A screw locking system for locking a screw (600) to an object to be locked, comprising a mounting frame (300), a robot arm (400) and the screw locking device of any one of claims 1 to 13, the robot arm (400) being mounted on the mounting frame (300), the locking carrier (110) being mounted on an output end of the robot arm (400).

15. The screw locking system according to claim 14, further comprising a control part (500) and a visual detection part, wherein the visual detection part is mounted at an upper end of the mounting frame (300) and is used for detecting a position of the object to be locked, the visual detection part is electrically connected with the control part (500), and the control part (500) is electrically connected with the mechanical arm (400) and is electrically connected with the screw locking device.

16. The screw lock system according to claim 15, wherein the lock assembly (100) further comprises an identification positioning portion (190), the identification positioning portion (190) being provided on the lock carrier (110) and being adapted to identify and position a screw hole in the object to be locked and being electrically connected to the control portion (500).