CN213258066U - Screw locking device and screw locking robot applying same - Google Patents

Abstract

The utility model belongs to the technical field of lock screw equipment, specifically be lock screw device and use its lock screw robot, including shell, piston drive spare, drive assembly and criticize the head, the shell vertically is equipped with first gas pocket and the second gas pocket of intercommunication its inner chamber, first gas pocket and second gas pocket are used for connecting pneumatic means, and the piston drive spare is located in the shell and by first gas pocket and second gas pocket common control its relative shell activity from top to bottom, and drive assembly includes the motor and the drive shaft of being connected with motor drive, and the upside of piston drive spare is rotatably located to the drive shaft, and the upper portion and the drive shaft sliding connection of piston drive spare are criticized the head and are connected in the downside of piston drive spare with floating from top to bottom, and the motor drive shaft is rotatory to it is rotatory to drive criticize the head through the piston. The utility model discloses a lock screw device will drive the structure integration of criticizing first lift and rotation and form a body structure in the shell, its simple structure is compact, and sealing performance is better, and the reaction is rapid.

Description

Screw locking device and screw locking robot applying same

Technical Field

The utility model belongs to the technical field of lock screw equipment, specifically be a lock screw device and use its lock screw robot.

Background

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

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's not enough, provide a lock screw device that collects rotation and lift as an organic whole.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a lock screw device, includes shell, piston driving piece, drive assembly and criticizes the head, and the shell vertically is equipped with first gas pocket and the second gas pocket of intercommunication its inner chamber, first gas pocket and second gas pocket are used for connecting pneumatic means, and the piston driving piece is located in the shell and is controlled its relative shell activity from top to bottom by first gas pocket and second gas pocket jointly, for example, when first gas pocket is admitted air, the second gas pocket is given vent to anger, orders about the piston driving piece and moves down, on the contrary, when first gas pocket is given vent to anger, the second gas pocket is admitted air, orders about the piston driving piece and shifts up.

The drive assembly comprises a motor and a drive shaft connected with the motor in a transmission manner, the drive shaft is rotatably arranged on the upper side of the piston drive part, the upper part of the piston drive part is connected with the drive shaft in a sliding manner, the batch head can be connected to the lower side of the piston drive part in an up-and-down floating manner, and the motor drives the drive shaft to rotate, so that the batch head is driven to rotate through the piston drive part.

Compared with the prior art, the screw locking device provided by the utility model integrates the structure for driving the screwdriver head to lift and rotate in the shell to form an integral structure, so that the screw locking device has simple and compact structure, better sealing performance and rapid reaction, during operation, the first air hole and the second air hole are connected with the pneumatic device, such as an air pump, the piston driving piece is selectively driven to move upwards or downwards by controlling the air inlet and outlet of the first air hole and the second air hole, when the screw is locked, the first air hole is used for air inlet, the second air hole is used for air outlet, the piston driving piece is driven to move downwards, the screw is pre-pressed in the screw hole by using the screwdriver head which is arranged in a floating way, the driving shaft is controlled by the motor to rotate, the screwdriver head is driven by the piston driving piece to screw, the screw is screwed in the screw hole, the height of the floating screwdriver head is also adaptively adjusted in the process of screwing in, the first air hole is used for discharging air, and the second air hole is used for feeding air to drive the batch head to move upwards for resetting.

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

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

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

Furthermore, the motor is a servo motor, the motor is connected with the driving shaft through the speed reducing mechanism, the torsion output by the servo motor can be detected, whether the screw is screwed down or not or whether undesirable phenomena such as wire sliding occur can be judged, meanwhile, the connection with the control system is more facilitated, high-precision torsion output and torsion feedback closed-loop control are formed, and the torsion precision reaches +/-5%. Compare with current through the mode that sets up whether height sensor detects the screw and screws up, the utility model discloses it is more accurate reliable.

Further, the piston driving part comprises an upper connecting part, a lower connecting part and a piston main body, wherein the piston main body is connected with the upper connecting part and the lower connecting part, the upper connecting part is in sliding sealing fit with the shell on the first air hole, the piston main body is in sliding sealing fit with the shell between the first air hole and the second air hole, and the lower connecting part is in sliding sealing fit with the shell under the second air hole. The upper connecting part and the lower connecting part form a cavity used for controlling the piston driving part to move up and down with the piston main body respectively, the piston driving part can be correspondingly driven to move by controlling the air inlet and outlet states of the first air hole and the second air hole corresponding to the cavity, and the structure is quick and quick in driving.

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

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

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

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

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

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

The utility model also provides a lock screw robot, it includes the base, with base articulated first rocking arm, with first rocking arm articulated second rocking arm, install elevating system on the second rocking arm, install the vision subassembly on second rocking arm free end and foretell lock screw device, elevating system is including locating the lead screw of second rocking arm upside, with the nut seat of lead screw threaded connection, the rotatory drive arrangement of drive lead screw, shell and nut seat fixed connection, lock screw device passes through elevating system can be controlled the relative second rocking arm of ground and reciprocate, the free end of second rocking arm is equipped with the fretwork portion that supplies the batch head to pass through, the outer end of fretwork portion is fixed to the vision subassembly, and it is including the camera module group that is used for fixing a position the screw position. The utility model provides a lock screw robot has adopted to integrate and has gone up and down and revolution mechanic lock screw device as an organic whole, and is simple with elevating system's being connected, and convenient assembling is swift, is favorable to daily change to use.

Drawings

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

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

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

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

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

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

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

Detailed Description

The following describes embodiments of the present invention with reference to the drawings. In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", 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 simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

The first embodiment is as follows:

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

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

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

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

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

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

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

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

The utility model provides a lock screw device, the structure that drives the batch head 4 to go up and down and rotate is integrated into an organic whole structure in the shell 1, make the lock screw device simple structure compact, sealing performance is better, the reaction is rapid, during operation, first gas pocket 121 and second gas pocket 122 are connected with pneumatic means, such as an air pump, through controlling the business turn over gas of first gas pocket 121 and second gas pocket 122, thereby selectively drive the piston driving piece 2 to move up or down, during the lock screw, first gas pocket 121 admits air, second gas pocket 122 gives vent to anger, make the piston driving piece 2 move down, utilize the batch head 4 of floating setting to precompress the screw in the screw, servo motor 31 controls drive shaft 33 to rotate immediately, thereby drive batch head 4 to rotate the screw through piston driving piece 2, make the screw in, in the screw in-in process of screw in the screw, the batch head 4 of floating adjusts its height correspondingly, after the screw is tightened, the first air hole 121 is exhausted, and the second air hole 122 is exhausted, so that the batch head 4 is driven to move upwards to reset.

The utility model discloses set up motor 31 as the torsion that servo motor 31 accessible detected servo motor 31 output, alright judge whether screw is screwed up or bad phenomena such as smooth silk appear, more be favorable to being connected with control system simultaneously, form the closed-loop control of high accurate torsion output and torsion feedback for the torsion precision reaches 5%. Compare with current through the mode that sets up whether height sensor detects the screw and screws up, the utility model discloses it is more accurate reliable.

The feeding assembly 5 has two setting modes.

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

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

Example two:

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

The utility model provides a lock screw robot has adopted to integrate and has gone up and down and revolution mechanic lock screw device 9 as an organic whole, and is simple with elevating system 7's being connected, and convenient assembling is swift, is favorable to daily change to use.

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

Claims (10)

1. A lock screw device, comprising:

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

the piston driving piece is arranged in the shell and is controlled to move up and down relative to the shell by the first air hole and the second air hole together;

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

and the bit is connected to the lower side of the piston driving part in a vertically floating manner.

2. The lock screw device according to claim 1, wherein the piston driving member is provided at an upper end thereof with an upper coupling groove, a first sleeve is coupled to the upper coupling groove, and the driving shaft is inserted into the first sleeve and slidably coupled to the first sleeve.

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

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

5. The lock screw device of claim 1, wherein the motor is a servo motor.

6. The lock screw device according to any one of claims 1 to 5, wherein the piston driver comprises an upper connecting portion, a lower connecting portion and a piston body connecting the upper connecting portion and the lower connecting portion, the upper connecting portion being in sliding sealing engagement with the housing over the first air bore, the piston body being in sliding sealing engagement with the housing between the first air bore and the second air bore, the lower connecting portion being in sliding sealing engagement with the housing under the second air bore.

7. The screw locking device according to claim 6, wherein the outer periphery of the piston main body is sleeved with a first rotary sealing ring and guide rings positioned at the upper side and the lower side of the first rotary sealing ring, the first rotary sealing ring is in sealing fit with the inner side wall of the housing, and the guide rings are in sliding contact with the inner side wall of the housing;

the upper end inboard of shell is equipped with the rotatory sealing washer of second, and its lower extreme inboard is equipped with the rotatory sealing washer of third, go up connecting portion and pass through the rotatory sealing washer of second with shell sliding seal cooperation, lower connecting portion pass through the rotatory sealing washer of third with shell sliding seal cooperation.

8. The lock screw device according to claim 6, wherein the housing comprises a first housing, a second housing and a fixing seat, the first housing is connected to an upper end of the second housing, and the driving assembly is provided on the first housing;

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

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

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

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

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

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