CN216912864U

CN216912864U - Automatic screw dismounting device

Info

Publication number: CN216912864U
Application number: CN202123305349.0U
Authority: CN
Inventors: 朱小东
Original assignee: Shenzhen Kangci Electronic Co ltd
Current assignee: Shenzhen Kangci Electronic Co ltd
Priority date: 2021-12-25
Filing date: 2021-12-25
Publication date: 2022-07-08
Anticipated expiration: 2031-12-25

Abstract

The embodiment of the application discloses an automatic screw disassembling device, which comprises a rack, a mechanical arm, a first conveying mechanism and a third conveying mechanism, wherein the first conveying mechanism is arranged in the rack and comprises a conveying part, the conveying part is connected with the mechanical arm, the first conveying mechanism is used for driving the mechanical arm to move along a first direction, the mechanical arm comprises a second conveying mechanism and an acting screw module, the second conveying mechanism is connected with the acting screw module, and the second conveying mechanism is used for driving the acting screw module to move along a second direction so as to disassemble a target screw from a jig and clamp the screw to a specified position; the third conveying mechanism is positioned below the rack and is used for placing the jig and driving the jig to move along a third direction; wherein the first direction, the second direction, and the third direction are perpendicular to each other. Thereby, realize dismantling the screw automation.

Description

Automatic screw dismounting device

Technical Field

The utility model relates to the field of mechanical automation, in particular to an automatic screw dismounting device.

Background

In industrial production, the jigs are mostly connected in a screw connection mode. When the jig with a certain function is not used any more and needs to be recycled, the screws on the jig need to be detached, and all parts of the jig including the screws need to be recycled. Alternatively, there are also screws that are fixed to the product and that need to be removed. Therefore, there are many practical use scenarios that require screw removal, which is mainly done manually at present. The manual dismantling efficiency is low, and the fingers of operators are easily abraded.

SUMMERY OF THE UTILITY MODEL

In view of the above, an embodiment of the utility model provides an automatic screw removing device, which can safely and efficiently remove and collect screws on a jig to solve the above problems.

The utility model provides an automatic screw removing device, which comprises: the screw clamping device comprises a rack, a mechanical arm, a first conveying mechanism and a third conveying mechanism, wherein the first conveying mechanism is arranged in the rack and comprises a conveying part, the conveying part is connected with the mechanical arm, the first conveying mechanism is used for driving the mechanical arm to move along a first direction, the mechanical arm comprises a second conveying mechanism and an action screw module, the second conveying mechanism is connected with the action screw module, and the second conveying mechanism is used for driving the action screw module to move along a second direction so as to detach a target screw from a jig and clamp the screw to a specified position; the third conveying mechanism is positioned below the rack and is used for placing the jig and driving the jig to move along a third direction; wherein the first direction, the second direction and the third direction are perpendicular to each other.

Therefore, in the application, power is provided through the motor, the action screw module and the jig are conveyed to the target position to detach the screw on the jig, the detached screw is clamped to the designated position, an operator only needs to place the jig on the third conveying mechanism, screw detachment automation and safety are achieved, and screw detachment efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of an automatic screw removing device according to some embodiments of the present invention;

FIG. 2 is an exploded view of a portion of an automatic screw removal device according to some embodiments of the present invention;

FIG. 3 is a schematic view of a first conveyance mechanism in some embodiments of the utility model;

FIG. 4 is a schematic diagram of the first and second conveying mechanisms according to some embodiments of the present invention;

FIG. 5 is a schematic diagram of a function screw module according to some embodiments of the present invention;

FIG. 6 is a schematic diagram of an automatic screw removal device with a base according to some embodiments of the present invention;

FIG. 7 is a schematic view of a third conveyor mechanism according to some embodiments of the utility model;

fig. 8 is a front view of a jig carrier according to some embodiments of the utility model.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention, and it is obvious that some embodiments of the present invention are described below, and for those skilled in the art, other embodiments can be obtained according to these embodiments without creative efforts.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprises" or "comprising," and the like, mean that the element or item presented before the term covers the element or item listed after the term and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

Referring to fig. 1 to 3, fig. 1 is a schematic view of an overall structure of an automatic screw removing device according to some embodiments of the present invention;

FIG. 2 is an exploded view of a portion of an automatic screw removal device according to some embodiments of the present invention; FIG. 3 is a schematic view of a first conveyance mechanism in some embodiments of the utility model.

As shown in fig. 1, 2 and 3, in some embodiments, the automatic screw removing device 1 includes: a frame 10, a robot arm 20, a first conveyance mechanism 30, and a third conveyance mechanism 40. The first conveying mechanism 30 is disposed in the frame 10. The first conveying mechanism 30 includes a conveying member 31. The transfer member 31 is connected to the robot arm 20. The first conveying mechanism 30 is configured to drive the mechanical arm 20 to move along a first direction X. The robot arm 20 includes a second conveyance mechanism 21 and an action screw module 22. The second conveying mechanism 21 is connected to the action screw module 22. The second conveying mechanism 21 is configured to drive the action screw module 22 to move along a second direction Y so as to detach the target screw from the fixture and clamp the screw to a designated position. The third conveying mechanism 40 is located below the frame 10. The third conveying mechanism 40 is used for placing the jig and driving the jig to move along a third direction Z. Wherein the first direction X, the second direction Y and the third direction Z cross each other.

Therefore, in the application, the action screw module 22 moves to the target position in the first direction X and the second direction Y, the third conveying mechanism 40 conveys the jig to the target position in the third direction Z, and the operator only needs to place the jig in the third conveying mechanism 40, so that the automation and the safety of screw dismounting are realized, and the screw dismounting efficiency is improved.

Referring to fig. 4 and 5, fig. 4 is a schematic structural diagram of a first conveying mechanism and a second conveying mechanism according to some embodiments of the present disclosure; FIG. 5 is a schematic diagram of an action screw module according to some embodiments of the present invention.

As shown in fig. 4, in some embodiments, the first conveying mechanism 30 includes a conveying member 31, and further includes: a first motor 32, a first pulley 33, said first pulley 33 comprising a first main pulley 33a and a first secondary pulley 33 b. The shafts of the first motor 32 and the first driven pulley 33b are fixed in the rack 10, the output shaft of the first motor 32 is connected with the first main pulley 33a, the conveying member 31 is sleeved between the first main pulley 33a and the first driven pulley 33b, and the rotation of the output shaft of the first motor 32 is transmitted to the robot arm 20 through the first main pulley 33a, the transmission of the conveying member 31 and the transmission of the first driven pulley 33b, so as to drive the robot arm 20 to move along the first direction.

In this embodiment, the first conveying mechanism 30 adopts a belt conveying manner, and the belt has elasticity, so that impact and vibration load can be alleviated, the operation is stable, no noise is generated, the manufacturing cost is low, lubrication is not required, the maintenance is easy, and especially in the process of conveying the screw to be detached by the mechanical arm 20 to a designated position by the first conveying mechanism 30, the stable conveying can avoid the situation that the screw clamped by the mechanical arm 20 falls off due to shaking. In other embodiments, the first conveying mechanism 30 may also move the mechanical arm 20 along the first direction through a gear transmission, a screw transmission, a hydraulic transmission, or the like.

In this embodiment, the first motor 32 may be a servo motor, and the controller sends a rated pulse number to control the number of rotation turns of the servo motor, so that the mechanical arm 20 moves to a target position by a corresponding distance, and the mechanical arm 20 can move to the target position more accurately by driving the servo motor. It is understood that in other embodiments, the first motor 32 may be other types of motors, and is not limited thereto.

As shown in fig. 4 and 5, in some embodiments, the frame 10 includes a first linear guide 11, the second conveying mechanism 21 is disposed on the first linear guide 11 and is fixedly connected to the conveying member 31, and the first pulley 33 is disposed on an inner wall of the first linear guide 11; the second conveying mechanism 21 moves with the transmission of the conveying member 31 to move the action screw module 22 in the first direction.

In this embodiment, the first linear guide rail 11 in the form of a straight rail has a simple and stable structure and good guidance, and is beneficial to the smooth operation of the mechanical arm 20, and in addition, the second conveying mechanism 21 is supported by the first linear guide rail 11, so that the second conveying mechanism 21 is prevented from generating pressure on the conveying member 31, and the conveying member 31 is conveyed in a bent state, so that the service life of the conveying member 31 is shortened.

As shown in fig. 4 and 5, in some embodiments, the second conveying mechanism 21 includes a supporting housing 210 and a second direction moving component 211, and the second direction moving component 211 is fixedly connected to the supporting housing 210; the support shell 210 comprises a first sliding clip 2100, the first sliding clip 2100 is used for slidably clamping on the first linear guide rail 11 and fixedly connecting with the conveying piece 31, and the first sliding clip 2100 moves along with the transmission of the conveying piece 31 so as to move the second conveying mechanism 21 along the first direction; the second direction moving assembly 211 is used for moving the action screw module 22 along a second direction; the action screw module 22 is disposed on the second direction moving assembly 211.

The first sliding clip 2100 is two L-shaped sliders, one end of each L-shaped slider is disposed on the support housing 210, and the other end of each L-shaped slider is fixedly connected to the conveying member 31, so that the first sliding clip 2100 has a simple structure.

In this embodiment, the first sliding clip 2100 is configured and connected to the first linear guide 11 and fixedly connected to the transmission member 31, so that the first sliding clip 2100 can smoothly run.

As shown in fig. 4 and 5, in some embodiments, the second direction moving assembly 211 includes: a second motor 2110, a second conveyor belt 2111, a second linear guide 2112, a second pulley 2113, and a second slide clamp 2114; the second pulley 2113 comprises a second primary pulley 2113a and a second secondary pulley 2113 b; the second linear guide 2112 is disposed on the support housing 210, the second pulley 2113b is disposed on the inner side of the second linear guide 2112, the shaft of the second motor 2110 and the second slave pulley 2113b is fixed on the inner side of the second linear guide 2112, the output shaft of the second motor 2110 is connected to the second master pulley 2113a, the second transmission belt 2111 is fitted between the second master pulley 2113a and the second slave pulley 2113b, the second motor 2110 drives the second master pulley 2113a to rotate, so that the second transmission belt 2111 is transmitted, the second slide clip 2114 is slidably engaged with the second linear guide 2112 and fixedly connected with the second transmission belt 2111, the screw module 22 is fixedly connected with the second slide clip 2114, and the second slide clip 2114 slides on the second linear guide 2112 in accordance with the transmission of the second transmission belt 2111, thereby moving the action screw module 22 in the second direction.

In this embodiment, the second motor 2110 may be a servo motor, and the controller sends out a rated pulse number to control the number of rotation turns of the servo motor, so that the action screw module 22 moves to a target position by a corresponding distance, and the action screw module 22 can move to the target position more accurately by driving the action screw module with the servo motor. It is understood that in other embodiments, the second motor 2110 can be other types of motors, and is not limited herein.

In this embodiment, the second direction moving assembly 211 is a belt transmission manner, and because the belt has elasticity, it can alleviate impact and vibration load, and has stable operation, no noise, low manufacturing cost, no need of lubrication, and easy maintenance, especially in the screw removing process of the action screw module 22, the unstable operation easily causes the action screw module 22 to be separated from the cross-shaped groove of the screw during screw removing, so that the removal fails.

In other embodiments, the second direction moving assembly 211 can also move the action screw module 22 in the second direction through a gear transmission, a screw transmission, or the like.

The second slide clip 2114 includes a clip portion 2114a and a clip setting plate portion 2114b, the clip portion 2114a is two L-shaped sliders, one end of each of the L-shaped sliders is disposed on the clip setting plate portion 2114b, and the other end of each of the L-shaped sliders is fixedly connected to the second conveyor belt 2111.

The second slide clamp 2114 slidably clamps the structure that is clamped to the second linear guide 2112 and fixedly connected to the second conveyor 2111, so that the second slide clamp 2114 slides smoothly.

As shown in FIG. 5, in some embodiments, the action screw module 22 includes a screw removal assembly 221 and a screw clamping assembly 222; the screw detaching assembly 221 is connected to the second conveying mechanism 21, and the screw detaching assembly 221 is connected to the screw clamping assembly 222.

Therefore, through the matching of the screw detaching assembly 221 and the screw clamping assembly 222, the detached screws are clamped and transferred to a specified position, and the automation of screw detaching and screw clamping is realized.

As shown in fig. 5, in some embodiments, the screw detaching assembly 221 includes: a third motor 2210, a screwdriver head 2211, a universal joint 2212 and a third motor fixing part 2213; the third motor fixing 2213 is connected to the second conveying mechanism 21, a first through hole a is formed in the third motor fixing 2213, and the third motor 2210 is disposed on the first through hole a; one end of the universal joint 2212 passes through the first through hole a to be connected with the third motor 2210, the other end of the universal joint 2212 is connected with the screwdriver head 2211, and the universal joint 2212 is used for transmitting torque generated by the third motor 2210 to drive the screwdriver head 2211 to rotate so as to detach a target screw from a jig.

The universal joint 2212 can transmit power generated by the third motor 2210 in a variable angle, and the universal joint 2212 is connected with the screwdriver head 2211, so that the screwdriver head 2211 can disassemble screws in a flexible angle.

As shown in fig. 5, in some embodiments, the screw detaching assembly 221 further includes: an electric screwdriver head stabilizer 2214 and an electric screwdriver head stabilizer plate 2215; one side of the electric screwdriver head stabilizing plate 2215 is arranged on the second conveying mechanism 21 and is arranged along the third direction; the electric screwdriver head stabilizing plate 2215 is provided with a second through hole B, the electric screwdriver head stabilizer 2214 penetrates through the second through hole B and is fixed on the electric screwdriver head stabilizing plate 2215, the electric screwdriver head 2211 penetrates through the electric screwdriver head stabilizer 2214, and the electric screwdriver head stabilizer 2214 is used for stabilizing the electric screwdriver head 2211.

In this embodiment, the electric bit 2211 is stabilized by the electric bit stabilizer 2214 fixed to the electric bit stabilizing plate 2215, so that the shaking generated when the third motor 2210 generates power does not affect the operation of the electric bit 2211, and the situation that the electric bit 2211 is separated from the cross-shaped groove of the screw during the operation process is avoided.

As shown in fig. 5, in some embodiments, the second direction moving assembly 211 includes a second slide clip 2114; the third motor fixing part 2213 is fixedly connected with the second sliding clamp 2114, and the electric screwdriver bit stabilizing plate 2215 is fixedly connected with the second sliding clamp 2114.

The third motor fixing part 2213 is fixedly connected with the second sliding clamp 2114, and the electric screwdriver head stabilizing plate 2215 is fixedly connected with the second sliding clamp 2114, so that the working stability of the electric screwdriver head 2211 is improved.

As shown in fig. 5, in some embodiments, the clamping screw assembly 222 is coupled to the socket head stabilizing plate 2215.

The screw clamping assembly 222 is connected with the screwdriver head stabilizing plate 2215, so that the working stability of the screw clamping assembly 222 is improved.

As shown in fig. 5, in some embodiments, the screwdriver assembly 221 further comprises a screwdriver head stabilizing plate 2215, and the screw clamping assembly 222 comprises: a clamp 2221, a cylinder 2222, a cylinder fixing plate 2223 and a spring 2224; the cylinder fixing plate 2223 includes a first cylinder fixing plate 2223a and a second cylinder fixing plate 2223 b; the first cylinder fixing plate 2223a is fixed to one side of the electric batch head stabilizing plate 2215, the second cylinder fixing plate 2223b is connected to the first cylinder fixing plate 2223a through the spring 2224, and the second cylinder fixing plate 2223b is located at the other side of the electric batch head stabilizing plate 2215; the cylinder 2222 is fixed on the second cylinder fixing plate 2223 b; the clamp 2221 is disposed on the cylinder 2222, and the electric screwdriver head 2211 can pass through the middle of the clamp 2221; the cylinder 2222 is used to drive the clamp 2221 to clamp the screw of the detached jig.

In this embodiment, the spring 2224 has a buffering function, so that the fixture 2221 can still be tightly attached to the fixture to clamp the screw when the fixture is deformed.

Wherein, the process of dismantling the screw does: after the screw applying module 22 reaches the target position, the screwdriver head 2211 is pre-pressed on the screw to be removed by applying a force, the third motor 2210 drives the screwdriver head 2211 to rotate reversely for one turn, so that the cross of the screwdriver head 2211 is aligned with the cross dent of the screw, after a preset reverse rotation time, the screwdriver head 2211 starts to remove the screw and ascend at the same time, and after a preset removal time, the air cylinder 2222 drives the clamp 2221 to clamp the screw.

The preset disassembly time is obtained according to the following calculation mode: assuming that the ascending speed of the mechanical arm is V, the ascending speed of the mechanical arm and the ascending speed of the screw are V, the length of the screw is L, and the pre-pressing depth of the screwdriver head 2211 is S, when the screwdriver head 2211 is completely separated, the screwdriver head 2211 is magnetized after long-time operation, and when the screw is separated from the jig, the screwdriver head 2211 moves upwards by the magnetic force for a distance S1, so the preset disassembling time is: t ═ S + L + S1)/V.

Referring to fig. 6 to 8, fig. 6 is a schematic structural view of an automatic screw removing device with a base according to some embodiments of the present invention; FIG. 7 is a schematic view of a third conveyor mechanism according to some embodiments of the utility model; fig. 8 is a front view of a jig carrier according to some embodiments of the utility model.

As shown in fig. 6, in some embodiments, the automatic screw removing device further includes a base 50, the third conveying mechanism 40 is disposed on the base 50, and the rack 10 is disposed on the base 50; as shown in fig. 7, the third conveying mechanism 40 includes a base guide rail 41, a jig bracket 42, a fourth motor 43, and a base conveying member 44; the base guide rail 41 is arranged on the base 50 along the third direction, and the jig bracket 42 is positioned on the base guide rail 41 and used for placing a jig; one end of the base conveying piece 44 is connected with the fourth motor 43, the other end of the base conveying piece is connected with the jig bracket 42, and the fourth motor 43 drives the base conveying piece 44 to transmit so as to convey the jig to a target position.

The base conveying member 44 may be conveyed by a belt, a screw, a gear, or the like.

As shown in fig. 8, in some embodiments, the jig bracket 42 includes a cylinder 421 and a jig clamp 422; the cylinder 421 is used to drive the jig clamp 422 to open and close for taking and placing the jig.

As shown in fig. 6, in some embodiments, the automatic screw removing device further includes a screw storage box 60; the screw storage box 60 is arranged on the base 50, and the screw storage box 60 is used for storing screws clamped by the screw clamping components.

As shown in fig. 6, in some embodiments, a sensor 61 is provided in the screw storage box 60 for determining whether a screw enters the screw storage box 60.

In the process of detaching the screw, because of the reasons of the technology, the height positions of the screw may not be uniform, and some positions are too deep, the screw may not be detached, so that the automatic screw detaching device executes a re-detaching mechanism, and the operation process of the automatic screw detaching device is as follows:

through first conveying mechanism with second conveying mechanism will the effect screw module removes to the target location, and passes through after third conveying mechanism removes the tool to the target location, third motor drive the screw is dismantled out to the electricity batch head, anchor clamps are cliied the screw that dismantles out, through first conveying mechanism with second conveying mechanism will anchor clamps remove to screw receiver department, anchor clamps open to put into the screw in the screw receiver, the sensor senses the screw gets into the screw receiver, the next screw just can be dismantled to the automatic screw device of tearing open.

When the sensor does not sense that the screws enter the screw storage box, the controller controls the first conveying mechanism and the second conveying mechanism to move the acting screw module to the position of the screws which are not dismounted again, and in addition, the controller controls the second motor in the second conveying mechanism to rotate for more turns by increasing the number of sent pulses, so that the acting screw module is closer to the screws, and the screws are dismounted and clamped into the screw storage box; if the preset re-detaching times are reached, the sensor still does not sense that the screw enters the screw storage box, and then the alarm device is started to give an alarm.

Through the automatic screw dismounting device for executing the re-dismounting mechanism, the screw dismounting rate on the jig is improved.

While the utility model has been described with reference to specific embodiments, the utility model is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the utility model. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An automatic screw removing device is characterized by comprising a rack, a mechanical arm, a first conveying mechanism and a third conveying mechanism, wherein the first conveying mechanism is arranged in the rack and comprises a conveying part, the conveying part is connected with the mechanical arm and is used for driving the mechanical arm to move along a first direction, the mechanical arm comprises a second conveying mechanism and an acting screw module, the second conveying mechanism is connected with the acting screw module and is used for driving the acting screw module to move along a second direction so as to remove a target screw from a jig and clamp the screw to a specified position; the third conveying mechanism is positioned below the rack and is used for placing the jig and driving the jig to move along a third direction; wherein the first direction, the second direction, and the third direction cross each other.

2. The automatic screw-removing device according to claim 1, wherein the first conveying mechanism includes the conveying member, and further includes a first motor and a first pulley; the first pulley comprises a first main pulley and a first driven pulley; the shaft of the first motor and the shaft of the first driven belt pulley are fixed in the rack, the output shaft of the first motor is connected with the first main belt pulley, the conveying piece is sleeved between the first main belt pulley and the first driven belt pulley, and the rotation of the output shaft of the first motor is transmitted to the mechanical arm through the first main belt pulley, the transmission of the conveying piece and the transmission of the first driven belt pulley so as to drive the mechanical arm to move along the first direction.

3. The automatic screw removing device according to claim 2, wherein the frame comprises a first linear guide rail arranged along the first direction, the second conveying mechanism is arranged on the first linear guide rail and fixedly connected with the conveying member, and the first main belt pulley and the first driven belt pulley are arranged on the inner wall of the first linear guide rail; the second conveying mechanism moves along with the transmission of the conveying piece so as to enable the action screw module to move along the first direction.

4. The automatic screw removing device according to claim 3, wherein the second conveying mechanism comprises a supporting shell and a second direction moving component, and the second direction moving component is fixedly connected with the supporting shell; the supporting shell comprises a first sliding clamp which is clamped on the first linear guide rail in a sliding mode and fixedly connected with the conveying piece, and the first sliding clamp moves along with the transmission of the conveying piece so as to enable the second conveying mechanism to move in a first direction; the second direction moving assembly is used for enabling the action screw module to move along a second direction; the action screw module is arranged on the second direction moving assembly.

5. The automatic screw-removing device according to claim 4, wherein the second direction moving assembly comprises: the second motor, the second conveyor belt, the second linear guide rail, the second belt pulley and the second sliding clamp; the second belt pulley comprises a second main belt pulley and a second auxiliary belt pulley; the second linear guide rail extends along the second direction and is arranged on the support shell, the second belt pulley is arranged on the inner side of the second linear guide rail, the shafts of the second motor and the second driven belt pulley are fixed on the inner side of the second linear guide rail, the output shaft of the second motor is connected with the second main belt pulley, the second conveyor belt is sleeved between the second main belt pulley and the second driven belt pulley, the second sliding clamp is slidably clamped on the second linear guide rail and is fixedly connected with the second conveyor belt, the acting screw module is fixedly connected with the second sliding clamp, and the rotation of the output shaft of the second motor is transmitted to the second sliding clamp through the second main belt pulley, the second conveyor belt and the second driven belt pulley so as to drive the second sliding clamp to slide on the second linear guide rail, the sliding of the second sliding clamp drives the action screw module to move along the second direction.

6. The automatic screw-removing device of claim 1, wherein the action screw module comprises a screw-removing assembly and a screw-clamping assembly; the screw disassembling assembly is connected with the second conveying mechanism, and the screw disassembling assembly is connected with the screw clamping assembly.

7. The automatic screw-removing device of claim 6, wherein the screw-removing assembly comprises: the third motor, the electric screwdriver head, the universal joint and the third motor fixing piece; the third motor fixing part is connected with the second conveying mechanism, a first through hole is formed in the third motor fixing part, and the third motor is arranged on the first through hole; one end of the universal joint penetrates through the first through hole to be connected with the third motor, the other end of the universal joint is connected with the screwdriver head, and the universal joint is used for transmitting torque generated by the third motor to drive the screwdriver head to rotate so as to detach the target screw from the jig.

8. The automatic screw-removing device of claim 7, wherein the screw-removing assembly further comprises: the electric screwdriver head stabilizer and the electric screwdriver head stabilizing plate; one side of the electric screwdriver head stabilizing plate is arranged on the second conveying mechanism and is arranged along the third direction; the electric screwdriver head stabilizing plate is provided with a second through hole, the electric screwdriver head stabilizer penetrates through the second through hole and is fixed on the electric screwdriver head stabilizing plate, the electric screwdriver head penetrates through the electric screwdriver head stabilizer, and the electric screwdriver head stabilizer is used for stabilizing the electric screwdriver head.

9. The automatic screw removal device of claim 8, wherein the second directional movement assembly comprises a second sliding clip; the third motor fixing part is fixedly connected with the second sliding clamp, and the electric screwdriver head stabilizing plate is fixedly connected with the second sliding clamp.

10. The automatic screw-removing device of claim 8, wherein the screw-clamping assembly is connected to the screwdriver head stabilizing plate.

11. The automatic screw-removing device of claim 6, wherein the screw-removing assembly further comprises a screwdriver head stabilizing plate, and the screw-clamping assembly comprises: the fixture, the cylinder fixing plate and the spring are arranged on the cylinder; the cylinder fixing plate comprises a first cylinder fixing plate and a second cylinder fixing plate; the first air cylinder fixing plate is fixed on one side of the electric screwdriver head stabilizing plate, the second air cylinder fixing plate is connected with the first air cylinder fixing plate through the spring, and the second air cylinder fixing plate is located on the other side of the electric screwdriver head stabilizing plate; the cylinder is fixed on the second cylinder fixing plate; the clamp is arranged on the air cylinder, and the electric screwdriver head can penetrate through the middle of the clamp; the cylinder is used for driving the clamp to clamp the screw of the detached jig.

12. The automatic screw removing device according to claim 1, further comprising a base, wherein the third conveying mechanism is arranged on the base, and the rack is arranged on the base and spans the third conveying mechanism; the third conveying mechanism comprises a base guide rail, a jig bracket, a fourth motor and a base conveying piece; the base guide rail is arranged on the base along the third direction, and the jig bracket is positioned on the base guide rail and used for placing a jig; one end of the base conveying piece is connected with the fourth motor, the other end of the base conveying piece is connected with the jig bracket, and the fourth motor drives the base conveying piece to transmit so as to transport the jig to a target position.

13. The automatic screw removing device according to claim 12, wherein the jig bracket comprises a cylinder and a jig clamp; the cylinder is used for driving the jig clamp to open and close so as to take and place the jig.

14. The automatic screw removing device according to claim 11 or 12, further comprising a screw storage box, a screw clamping assembly and a base; the screw receiver sets up on the base, the screw receiver is used for accomodating the screw of pressing from both sides screw subassembly centre gripping.

15. The automatic screw removing device according to claim 14, wherein a sensor is provided in the screw receiving box for determining whether a screw is inserted into the receiving box.