CN212020761U - Robot - Google Patents

Abstract

The utility model provides a robot, including robot main part, tongs mechanism, hold-down mechanism and screw up the mechanism, the robot main part is equipped with the manipulator installation department that can remove in three-dimensional space. The integrated tongs mechanism that sets up in the manipulator installation department of robot main part, hold-down mechanism and tightening mechanism, and then through the cooperation of tongs mechanism robot main part snatch the battery module and shift the battery module transport to the battery package, then hold-down mechanism's servo press promotes the pressure strip and compresses tightly the battery module in the battery package, it fixes the battery module to the battery package through the screw to screw up the mechanism at last, realize the full automatic installation work of battery module in the battery package, the problem that current single battery module's volume and quality increase no longer are fit for artifical transport and shift is solved, and full automatic installation has avoided artifical installation to receive tired, the inconsistent problem that influences such as attention caused, the great problem of occupation space that has avoided many equipment to work jointly.

Description

Robot

Technical Field

The utility model relates to an automation equipment technical field, in particular to robot.

Background

With the popularization of electric vehicles, the demand of power battery packs is getting larger, and the quality of the battery modules as the parts in the packs and important parts thereof is also getting more important. In order to improve the capacity of the battery pack at the present stage, the volume and the quality of a single battery module are increased, manual carrying is unrealistic, and the consistency of manual production is poor.

If adopt robot automatic handling battery module, then establish other equipment in addition and compress tightly and screw up it, then equipment quantity is more, and the space place that occupies is great.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an integration can shift the battery module transport to the battery package, compress tightly and be fixed in the robot in the battery package through the screw to the battery module in the battery package.

In order to solve the technical problem, the utility model discloses a technical scheme is: a robot comprises a robot main body, a gripper mechanism, a pressing mechanism and a screwing mechanism; the robot main body is provided with a manipulator mounting part which can move in a three-dimensional space; the gripper mechanism comprises an installation plate, a first gripper, a second gripper and a gripper driving assembly; the first gripper and the second gripper are movably arranged on the mounting plate, the gripper driving assembly is fixed on the mounting plate, and the gripper driving assembly can drive the first gripper and the second gripper to approach each other to grip an object or to move away from each other to release the object; the mounting plate is fixed on the manipulator mounting part and moves to the bearing body along with the manipulator mounting part; the pressing mechanism comprises a servo press and a pressing plate; the servo press is fixed on the manipulator mounting part, and the pressing plate is connected with a push rod of the servo press; when a push rod of the servo press extends out, the pressing plate can be driven to move towards the bearing body so as to press the object on the bearing body; the tightening mechanism is fixed to the manipulator mounting portion and is used for screwing screws into the object and the bearing member so as to fix the object to the bearing member.

Further, still include the mount pad, the mount pad is towards compressing tightly the direction of article extends certain length and forms accommodation space at its inside, the top of mount pad is fixed in the manipulator installation department, the mounting panel is fixed in the bottom of mount pad just sets up the confession the through-hole that the push rod of servo press passed, servo press is fixed in mounting panel and its cylinder body part are located in the accommodation space, the pressure strip is located one side that the cylinder body of servo press was kept away from to the mounting panel.

Further, the tightening mechanism comprises a driving motor, a tightening shaft and a telescopic and transmission part; the telescopic and transmission part is fixed on the mounting seat to be in transmission connection with the driving motor and the tightening shaft so as to drive the tightening shaft to telescopically move and rotate; the driving motor is located above the mounting seat, the tightening shaft is located below the mounting seat, and the tightening shaft can rotate to screw the screw into the object and the bearing piece.

Furthermore, the pressing mechanism further comprises an end pressing assembly, the end pressing assembly comprises a pressing block, a guide sleeve, a guide pillar, a tension spring and a connecting block, the guide sleeve is fixed on the pressing plate, the axis of the guide sleeve is parallel to the telescopic direction of a push rod of the servo press, the guide pillar is arranged in the guide sleeve in a penetrating mode in a matching mode, the pressing block is fixed at one end, away from the servo press, of the guide pillar, the connecting block is fixed at one end, close to the servo press, of the guide pillar, one end of the tension spring is connected with the connecting block, and the other end of the tension spring is connected with the.

Further, the robot further comprises a positioning pin, wherein the positioning pin is fixed on the pressing block, and the axis of the positioning pin is parallel to the telescopic direction of the push rod of the servo press.

Furthermore, the number of the end pressing assemblies is four, two of the end pressing assemblies are arranged at one end of the pressing plate, and the other two end pressing assemblies are arranged at the other end of the pressing plate.

Furthermore, the gripper mechanism also comprises two guide rails, two sliding blocks and two gripper fixing seats; the two guide rails are respectively fixed at the bottom of the mounting plate close to the two ends, the first gripper and the second gripper are respectively fixed on the two sliding blocks, and the two sliding blocks can be respectively arranged on the two guide rails close to or far away from each other; the gripper driving assembly comprises two air cylinders, and the two air cylinders are fixed on the mounting plate and are respectively used for pushing the first gripper and the second gripper to be close to or far away from each other.

Further, tongs mechanism still includes two spacing subassemblies, every spacing subassembly all includes hydraulic buffer, buffer fixed block and cushion, the cushion is fixed in tongs fixing base, the buffer fixed block is fixed in the tip of mounting panel, hydraulic buffer is fixed in the buffer fixed block and rely on the head of its piston rod with the cushion contact and right tongs fixing base buffering and spacing.

Furthermore, hold-down mechanism still includes floating coupling assembling and direction subassembly, the push rod of servo press passes through floating coupling assembling to be connected the pressure strip, the pressure strip passes through direction subassembly liftable locate the mounting panel is kept away from one side of the cylinder body of servo press.

Furthermore, the guide assembly comprises four guide pillar and guide sleeve components, and the four guide pillar and guide sleeve components are arranged around the floating connection assembly.

According to the above technical scheme, the utility model discloses following advantage and positive effect have at least:

the utility model provides a robot, the manipulator installation department integration of a robot main part sets up tongs mechanism, hold-down mechanism and screws up the mechanism, and then snatchs the article and shifts the supporting body with the article transport through tongs mechanism cooperation robot main part on. Specifically, in the application of installing the battery module into the battery pack, the object is the battery module, and the carrier is the battery pack. Then, hold-down mechanism's servo press promotes the pressure strip and compresses tightly the battery module in the battery package, screw up the mechanism at last and fix the battery module to the battery package through the screw, realize the full automatic installation work of battery module in the battery package, the problem that current volume and the quality increase of single battery module are no longer fit for artifical transport and shift has been solved, and the inconsistent problem that manual installation received fatigue, influence such as attention caused has been avoided in full automatic installation, the great problem of occupation space that many equipment worked jointly and cause has been avoided.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of a robot in an embodiment of the present invention.

Fig. 2 is a schematic perspective view of an embodiment of the present invention, in which the gripper mechanism is mounted on the mounting base.

Fig. 3 is a schematic perspective view illustrating a three-dimensional structure of the gripper mechanism and the pressing mechanism mounted on the mounting base according to an embodiment of the present invention.

Fig. 4 is a partially enlarged view of fig. 3.

Fig. 5 is a schematic view of a three-dimensional structure of the robot in an embodiment of the present invention, except for the robot body.

The reference numerals are explained below: 1. a robot main body; 11. a manipulator mounting section; 2. a mounting seat; 3. a gripper mechanism; 31. mounting a plate; 32. a first gripper; 33. a second gripper; 34. a gripper driving assembly; 35. a guide rail; 36. a slider; 37. a gripper fixing seat; 38. a limiting component; 381. a hydraulic buffer; 382. a buffer fixing block; 383. a cushion pad; 4. a hold-down mechanism; 41. a servo press; 42. a compression plate; 43. a floating connection assembly; 44. a guide assembly; 45. an end press assembly; 451. briquetting; 452. a guide sleeve; 453. a guide post; 454. a tension spring; 455. connecting blocks; 5. a tightening mechanism; 51. a drive motor; 52. screwing a shaft; 53. a telescopic and transmission part; 54. a nail feeding assembly; 6. positioning pins; 7. a mistake proofing pin; 8. a battery module is provided.

Detailed Description

Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It is to be understood that the invention is capable of other and different embodiments and its several details are capable of modification without departing from the scope of the invention, and that the description and drawings are to be regarded as illustrative in nature and not as restrictive.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1, an embodiment of the present invention provides a robot, which can be used to transfer an object into a supporting body and complete the work of compressing, installing and fixing. Wherein the object is especially a battery module, and the carrier is especially a battery pack. The robot mainly comprises a robot main body 1, a mounting seat 2, a gripper mechanism 3, a pressing mechanism 4 and a screwing mechanism 5.

The robot main body 1 is a multi-joint robot, and mainly comprises a seat body and a plurality of joint arms which are sequentially hinged, wherein the tail ends of the joint arms are provided with manipulator mounting parts 11. The mounting seat 2 is fixed on the manipulator mounting part 11 of the robot main body 1, and the gripper mechanism 3, the pressing mechanism 4 and the screwing mechanism 5 are mounted on the mounting seat 2. The robot main body 1 can drive the mounting seat 2, the gripper mechanism 3, the pressing mechanism 4 and the tightening mechanism 5 which are arranged on the manipulator mounting part 11 to move and rotate in a three-dimensional space. Therefore, the robot can grab the battery module through the grabbing mechanism 3, the grabbed battery module can be transferred into the battery pack under the driving of the robot main body 1, the battery module is pressed at the correct position in the battery pack through the pressing mechanism 4, and then the battery module is fixed in the battery pack through the screwing mechanism 5 by using screws.

The mounting seat 2 is of a square tubular structure, an accommodating space is formed inside the mounting seat, and the length direction of the mounting seat is consistent with the direction of the compressed object. The top of the mounting seat 2 is fixedly connected with a manipulator mounting part 11 of the robot body through a connecting flange. The mounting seat 2 is in a square tubular structure, the periphery of the mounting seat is not limited to be sealed, the mounting seat can also be partially hollowed out for reducing weight, and the mounting seat 2 is even in a frame structure with an accommodating space on the inner side.

Referring to fig. 2, the gripper mechanism 3 includes a mounting plate 31, a first gripper 32, a second gripper 33, a gripper driving assembly 34, two guide rails 35, two sliders 36, two gripper fixing seats 37, and two limiting assemblies 38. The mounting plate 31 is fixed to the bottom of the mounting base 2. The two guide rails 35 are respectively fixed at the bottom of the mounting plate 31 near the left end and the right end, and the guide tracks of the two guide rails 35 are on the same straight line. The two sliding blocks 36 are respectively arranged on the two guide rails 35 in a manner of moving close to or away from each other, and the two sliding blocks 36 respectively fix the first hand grip 32 and the second hand grip 33 through the fixing blocks. The first hand grip 32 and the second hand grip 33 may be designed to have a shape adapted to the shape of the corresponding portions of both ends of the battery module, thereby clamping the battery module more firmly and reliably.

Wherein, the two guide rails 35 and the two sliders 36 can also be replaced by other guide components such as guide rod guide sleeves and the like. The first gripper 32 and the second gripper 33 can be directly and fixedly mounted on the corresponding two gripper fixing seats 37, and no fixing block is arranged.

The gripper driving assembly 34 includes two cylinders, both of which are fixed to the mounting plate 31, and the extending and retracting directions of the piston rods of the two cylinders are parallel to the moving directions of the two sliders 36 along the two guide rails 35. The heads of the piston rods of the two cylinders can be respectively connected to the two sliding blocks 36 through floating joints or directly fixed on the two sliding blocks 36, and then the piston rods of the two cylinders stretch to drive the two sliding blocks 36 to approach or separate from each other. The two sliding blocks 36 approach or move away from each other to drive the first hand grip 32 and the second hand grip 33 respectively fixed on the two sliding blocks 36 to approach or move away from each other. The first grip 32 and the second grip 33 are close to each other to grip the battery module, and the first grip 32 and the second grip 33 are far from each other to release the battery module.

The gripper driving assembly 34 may also be a bidirectional screw mechanism driven by a power device such as a motor, and two nuts of the bidirectional screw mechanism drive the two sliding blocks 36 to approach or separate from each other, so as to realize grasping and releasing actions of the first gripper 32 and the second gripper 33.

The gripper driving assembly 34 may also be a rack and pinion mechanism driven by a power device such as a motor, and two racks are driven to approach or separate from each other through a gear. The two racks are respectively fixed on the two sliding blocks 36, and then the two racks are driven to approach or separate from each other through the relative movement of the two racks, so that the grasping and releasing actions of the first gripper 32 and the second gripper 33 can be realized.

Two limiting assemblies 38 are respectively disposed at two ends of the mounting plate 31 corresponding to the first grip 32 and the second grip 33.

Each stop assembly 38 includes a hydraulic buffer 381, a buffer fixing block 382, and a buffer pad 383. The buffer 383 is fixed on the handle fixing seat 37, the buffer fixing block 382 is fixed on the end part of the mounting plate 31, the hydraulic buffer 381 is fixed on the buffer fixing block 382, the axial direction of the piston rod of the hydraulic buffer 381 is parallel to the moving direction of the handle fixing seat 37 along with the slide block 36, and the head of the piston rod of the hydraulic buffer 381 points to the buffer 383. The head of the piston rod of the hand grip fixing seat is contacted with the buffer pad 383 to buffer and limit the hand grip fixing seat 37, so that the hand grip fixing seat can avoid exceeding the moving limit to damage machinery.

Referring to fig. 3, the pressing mechanism 4 includes a servo press 41, a pressing plate 42, a floating connection assembly 43, a guide assembly 44, and four end pressing assemblies 45, the servo press 41 being fixed to the mounting plate 31 with its cylinder portion being located in the inner receiving space of the mounting base 2 of the cylindrical structure. The servo press 41 has built-in pressure and displacement monitoring.

The pressing plate 42 is located on one side of the mounting plate 31 away from the cylinder of the servo press 41, and the mounting plate 31 is provided with a through hole for a push rod of the servo press 41 to pass through. The pusher head of the servo press 41 passes through the through hole and is connected to the hold-down plate 42 by a floating connection assembly 43. Further, when the servo press 41 pushes the pressing plate 42 to perform a pressing operation by the piston rod thereof, the connecting portion is not damaged even if the pressing plate 42 slightly rotates or deflects with respect to the piston rod.

Depending on the actual design, in the retracted state of the ram of the servo press 41, the ram of the servo press 41 may be entirely above the mounting plate 31, and the floating attachment assembly 43 passes through the through hole in the mounting plate 31. Wherein the floating connection assembly 43 may be a floating connector.

The guide assembly 44 includes four guide post and guide bush components disposed around the floating connection assembly 43. The pressing plate 42 is arranged on the side of the mounting plate 31 far away from the cylinder of the servo press 41 in a lifting manner under the guiding action of the guiding assembly 44.

In other embodiments, the servo press 41 may be directly fixed to the robot mounting portion 11.

Through the arrangement, the push rod of the servo press 41 extends out to push the pressing plate 42 to move towards the battery module and the battery pack, so that the battery module is pressed at the corresponding position in the battery pack.

Each end-pressing assembly 45 includes a pressing block 451, a guide sleeve 452, a guide post 453, a tension spring 454 and a connecting block 455. The guide sleeve 452 is fixed on the pressing plate 42, and the axis of the guide sleeve 452 is parallel to the telescopic direction of the push rod of the servo press 41. The guide post 453 is inserted into the guide sleeve 452, so that the guide is performed by the engagement of the guide post 453 and the guide sleeve 452. The pressing block 451 is fixed at one end of the guide post 453 far away from the servo press 41, the connecting block 455 is fixed at one end of the guide post 453 near the servo press 41, one end of the tension spring 454 is connected with the connecting block 455, and the other end of the tension spring 454 is connected with the pressing plate 42. In one end pressing assembly 45, two guide sleeves 452 and two guide pillars 453 may be correspondingly arranged, and the connecting block 455 and the pressing block 451 are respectively fixed to the upper and lower ends of the two guide pillars 453.

Under the condition that the battery module is not pressed, the pressing block 451 does not contact with the battery module, and under the pulling force of the tension spring 454, the connecting block 455 approaches the pressing plate 42 downwards, so that the connecting block 455 pushes the pressing block 451 to extend downwards through the guide post 453.

Under the condition of pressing the battery module, the pressing block 451 is in contact with the battery module, the pressing plate 42 continues to move downwards to enable the pressing plate 42 and the connecting block 455 to be separated by a distance, and then the pressing block 451 is pressed downwards on the surface of the battery module by the aid of tension of the spring, or the pressing plate 42 directly presses the pressing block 451 from the upper side to enable the pressing block 451 to be pressed on the surface of the battery module, and then the battery module is pressed in a battery pack.

Wherein two end pressure components 45 are arranged at one end of the pressure plate 42, the other two end pressure components 45 are arranged at the other end of the pressure plate 42, and the four end pressure components 45 are respectively positioned at four rectangular corners. Thus, the battery modules are compressed in the battery pack by respectively applying pressure to both ends of the battery modules.

In other embodiments, the end pressing member 45 may not be provided, and the battery module may be directly pressed by the pressing plate 42.

Referring to fig. 4, a positioning pin 6 protruding toward the pressing direction is further fixed to the pressing block 451, that is, an axis of the positioning pin 6 is parallel to the extending and retracting direction of the push rod of the servo press 41. The battery module is provided with a positioning hole corresponding to the positioning pin 6, and the relative battery modules such as the tightening mechanism 5 of the robot can have accurate working positions through the positioning action of the positioning pin 6.

Of the four end pressing assemblies 45, positioning pins 6 may be provided on the pressing blocks 451 of two end pressing assemblies 45 at opposite corners, and error-proofing pins 7 may be provided on the pressing blocks 451 of the other two end pressing assemblies 45 at opposite corners. All be equipped with the sensor on locating pin 6 and the mistake proofing round pin 7, feedback signal when can't insert the hole that corresponds on the battery module, and then judge whether module product is wrong or module position error through feedback signal.

Referring to fig. 5, the tightening mechanism 5 includes a driving motor 51, a tightening shaft 52, a telescopic and transmission portion 53, and a nail feeding assembly 54. The tightening shaft 52 is a hollow shaft with a hole pattern on the inside of its end that fits the head of the screw, with angle and torque monitoring. The tightening shaft 52 is rotated to screw the screws into the through-holes of the battery module 8 and the screw holes of the battery pack, thereby fixing the battery module 8 in the battery pack. The screw feeding unit 54 is disposed at a side above the tightening shaft 52, and screws are fed to the tightening shaft 52 through the screw feeding unit 54.

The telescopic and transmission part 53 comprises a telescopic cylinder and a transmission shaft, the telescopic cylinder can drive the tightening shaft 52 to stretch, and the transmission shaft is in transmission connection with the driving motor 51 and the tightening shaft 52 so as to drive the tightening shaft 52 to rotate. The telescopic and power transmission portion 53 is fixed to the side of the mount 2 in the telescopic direction of the push rod of the servo press 41 such that the driving motor 51 is located above the mount 2 and the tightening shaft 52 is located below the mount 2.

Other structures and working principles of the tightening mechanism 5 which are not described in detail can be referred to the related art, and are not described in detail.

Through the setting, the utility model discloses the working process of robot as follows:

with continued reference to fig. 1 to 5, the robot main body 1 drives the robot mounting part 11 and the gripper mechanism 3, the pressing mechanism 4, and the tightening mechanism 5 mounted on the robot mounting part 11 to move to the battery module 8 to be transferred and mounted by its articulated robot arms. The hand grip driving assembly 34 drives the first hand grip 32 and the second hand grip 33 to approach each other to grip the battery module 8, and then transfers the battery module 8 to a correct mounting position in the battery pack by the driving of the robot main body 1.

The gripper driving unit 34 drives the first gripper 32 and the second gripper 33 away from each other to release the battery module 8, and the servo press 41 pushes the pressing plate 42 and the four end pressing units 45 provided on the pressing plate 42 to press down. In the process of pressing down the four end pressing assemblies 45, the two positioning pins 6 and the two error-proofing pins 7 respectively fixed on the four pressing blocks 451 are firstly inserted into the corresponding holes on the battery module 8.

If any of the two positioning pins 6 cannot be inserted, it means that the battery module 8 is incorrectly positioned and needs to be adjusted.

If any error-proofing pin 7 of the two error-proofing pins 7 cannot be inserted, it represents that the battery module 8 may be caught incorrectly.

Sensors mounted on the alignment pins 6 and the error-proofing pins 7 feed back error information to the control system of the robot. The control system controls the gripper mechanism 3 to adjust the position of the battery module 8 or replace the battery module 8 according to the feedback condition.

If the two positioning pins 6 and the two error-proof pins 7 can be inserted into corresponding holes on the battery module 8 normally, which means that the battery module 8 is correct and the position is correct, the pressing mechanism 4 can press the battery module 8 at the correct position in the battery pack through the four end pressing assemblies 45.

The screw feeding assembly 54 of the tightening mechanism 5 feeds screws to the tightening shaft 52, and the telescopic and transmission portion 53 of the tightening mechanism 5 pushes the tightening shaft 52 to be extended and rotated to screw the screws into the through-holes of the battery modules 8 and the screw holes of the battery packs, thereby fixing the battery modules 8 in the battery packs.

While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (10)

1. A robot, comprising:

a robot main body provided with a manipulator mounting part that can move in a three-dimensional space;

the gripper mechanism comprises a mounting plate, a first gripper, a second gripper and a gripper driving assembly; the first gripper and the second gripper are movably arranged on the mounting plate, the gripper driving assembly is fixed on the mounting plate, and the gripper driving assembly can drive the first gripper and the second gripper to approach each other to grip an object or to move away from each other to release the object; the mounting plate is fixed on the manipulator mounting part and moves along with the manipulator mounting part, so that the first gripper and the second gripper are matched to transfer the object to the bearing body;

the pressing mechanism comprises a servo press and a pressing plate; the servo press is fixed on the manipulator mounting part, and the pressing plate is connected with a push rod of the servo press; when a push rod of the servo press extends out, the pressing plate can be driven to move towards the bearing body, and the object is pressed on the bearing body;

and the tightening mechanism is fixed on the manipulator mounting part and is used for screwing a screw into the object and the bearing body so as to fix the object on the bearing body.

2. The robot of claim 1, further comprising a mounting seat extending in a direction of pressing the object and forming an accommodating space therein, wherein a top of the mounting seat is fixed to the manipulator mounting portion, the mounting plate is fixed to a bottom of the mounting seat and is provided with a through hole for a push rod of the servo press to pass through, the servo press is fixed to the mounting plate, a cylinder portion of the servo press is located in the accommodating space, and the pressing plate is located on a side of the mounting plate away from a cylinder of the servo press.

3. The robot of claim 2, wherein the tightening mechanism includes a drive motor, a tightening shaft, and a telescoping and transmission section; the telescopic and transmission part is fixed on the mounting seat to be in transmission connection with the driving motor and the tightening shaft so as to drive the tightening shaft to telescopically move and rotate; the driving motor is positioned above the mounting seat, the tightening shaft is positioned below the mounting seat, and the tightening shaft extends out and rotates to screw the screw into the object and the bearing body.

4. The robot of claim 1, wherein the pressing mechanism further comprises an end pressing assembly, the end pressing assembly comprises a pressing block, a guide sleeve, a guide pillar, a tension spring and a connecting block, the guide sleeve is fixed on the pressing plate, the axis of the guide sleeve is parallel to the stretching direction of a push rod of the servo press, the guide pillar is arranged in the guide sleeve in a matching mode, the pressing block is fixed at one end, away from the servo press, of the guide pillar, the connecting block is fixed at one end, close to the servo press, of the guide pillar, one end of the tension spring is connected with the connecting block, and the other end of the tension spring is connected with the pressing plate.

5. The robot of claim 4, further comprising a positioning pin fixed to the press block and having an axis parallel to a telescoping direction of a push rod of the servo press.

6. The robot of claim 4, wherein there are four end press assemblies, two of which are disposed at one end of the compacting plate and two of which are disposed at the other end of the compacting plate.

7. The robot of claim 1, wherein the gripper mechanism further comprises two guide rails, two sliders, and two gripper holders; the two guide rails are respectively fixed at the bottom of the mounting plate close to the two ends, the first gripper and the second gripper are respectively fixed on the two sliding blocks, and the two sliding blocks can be respectively arranged on the two guide rails close to or far away from each other; the gripper driving assembly comprises two air cylinders, and the two air cylinders are fixed on the mounting plate and are respectively used for pushing the first gripper and the second gripper to be close to or far away from each other.

8. The robot of claim 7, wherein the gripper mechanism further comprises two limiting assemblies, each limiting assembly comprises a hydraulic buffer, a buffer fixing block and a buffer pad, the buffer pad is fixed on the gripper fixing seat, the buffer fixing block is fixed on the end portion of the mounting plate, and the hydraulic buffer is fixed on the buffer fixing block and buffers and limits the gripper fixing seat by means of the contact between the head portion of the piston rod of the hydraulic buffer and the buffer pad.

9. The robot of claim 2, wherein the pressing mechanism further comprises a floating connection assembly and a guide assembly, the push rod of the servo press is connected with the pressing plate through the floating connection assembly, and the pressing plate is arranged on one side of the mounting plate away from the cylinder of the servo press in a lifting manner through the guide assembly.

10. The robot of claim 9, wherein said guide assembly includes four guide post and guide bushing components, four of said guide post and guide bushing components being disposed about said floating coupling assembly.

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