Screw supplying module and robot manipulator employing same

A robot manipulator, comprising:

• an articulated arm comprising a connecting device;
• an automatic screw tightening module detachably coupled to the connecting device of the articulated arm, comprising:
• a plate assembly comprising a base plate;
• an input module comprising an input terminal;
• a screwdriver module comprising a screwdriver and a screwdriver sleeve, wherein the screwdriver is coupled with the screwdriver sleeve;
• a transmission module connected with the input terminal and the screwdriver sleeve for allowing the input terminal, the transmission module and the screwdriver sleeve to be rotated synchronously;
• a movable module movably disposed on the base plate, wherein the movable module comprises a bearing, the screwdriver sleeve is partially accommodated in the bearing, and the screwdriver module and the movable module are coupled with each other and are allowed to move relative to the base plate;
• an elastic element disposed on the base plate and connected with the movable module;
• and
• a position sensor disposed on the base plate for sensing a displacement of the movable module;
• and
• a screw supplying module detachably coupled to the connecting device of the articulated arm, comprising:
• a main body comprising a first portion, a second portion, a third portion and a hollow part;
• a feeding body comprising a feeding portion, a connecting portion and a feeding channel, wherein the connecting portion is assembled to the third portion, and the feeding channel and the hollow part are in communication with each other;
• and
• a holding module, comprising:
• a screw chamber comprising an input portion, an output portion, an outer ring wall and an inner space, wherein the input portion is assembled to the second portion, the inner space is in communication with the hollow part, the outer ring wall has a plurality of holes, and the plurality of holes are in communication with the inner space respectively;
• a plurality of clamping pieces inserted into the plurality of holes respectively, wherein the plurality of clamping pieces are partially located in the inner space and are partially exposed from the holes of the screw chamber;
• an elastic piece sleeved on the outer ring wall, wherein the elastic piece abuts against parts of the plurality of clamping pieces exposed from the holes;
• and
• a fixing piece sleeved on the outer ring wall and configured to fix the elastic piece, wherein the elastic piece is located between the clamping pieces and the fixing piece,
• wherein the connecting device comprises a connecting element, one end of the connecting element is connected with the screwdriver sleeve of the automatic screw tightening module, the other end of the connecting element is connected with the first portion of the main body of the screw supplying module, the connecting element comprises a hollow passage in communication with the hollow part of the main body, and the hollow passage is configured for the screwdriver to insert therein;
• wherein a screw is fed into the feeding portion, the screw is moved to the inner space via the feeding channel and the hollow part by an external force, and the screw is clamped in the inner space by the plurality of clamping pieces, the screwdriver penetrates through the hollow passage and the hollow part to contact the screw in the inner space, and the screw is tightened by the screwdriver.