Active pressure working claw

Abstract

The utility model discloses an active pressure working claw which comprises a fixing disc, a lead screw motor is arranged on one end face of the fixing disc, a fixing sleeve is coaxially arranged on the other end face of the fixing disc, a high-speed motor is arranged at the end of the fixing sleeve, the high-speed motor is connected with a working disc, and at least three push rods are evenly hinged to the edge of the fixing disc. A sucker is hinged to the end of the push rod; an output shaft of the lead screw motor is connected with a lead screw extending into the fixing sleeve, the outer wall of the fixing sleeve is movably sleeved with a sliding ring, the sliding ring is connected with the push rod through a connecting rod, the lead screw is connected with the sliding ring through a lead screw nut base, and the lead screw motor drives the lead screw to rotate and drives the lead screw nut base to ascend and descend. The lead screw nut seat drives the three push rods to swing synchronously through the sliding rings and the connecting rods. The working disc positioning device can adapt to different working scenes, high-precision positioning of the working disc is achieved, pressure needed during construction can be actively provided for a working face, and rust removal, grinding, drilling and other operations can be completed.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to an active pressure working claw. Background Art

[0002] In modern industrial production, the application of robotic arms can replace manual labor to complete tasks efficiently. In the field of machining, for example, a drive motor is installed on the robotic arm to realize operations such as rust removal, grinding, and drilling. However, to realize these functions on existing robotic arms, high-precision positioning and large loads of the robotic arm motors are usually required. However, high-precision positioning and large loads also mean high costs. At the same time, large-load motors will also cause bloated structural design of the robotic arm. During operations such as rust removal, grinding, and drilling, the robotic arm also needs to provide a certain feed pressure to the power head, which requires an additional feed mechanism, which also increases the cost and bloated structural design of the robotic arm. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the existing defects and provide an active pressure working claw that can adapt to different working scenes, realize high-precision positioning of the working disc, and actively provide the pressure required for construction to the working surface, complete rust removal, grinding, drilling and other operations, and can effectively solve the problems in the background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an active pressure working claw, comprising a fixed disk, a screw motor is provided on one end face of the fixed disk, a fixed sleeve is coaxially provided on the other end face of the fixed disk, a high-speed motor is provided on the end of the fixed sleeve, the high-speed motor is connected to the working disk, at least three push rods are evenly hinged on the edge of the fixed disk, and a suction cup is hinged on the end of the push rod; the output shaft of the screw motor is connected to a screw extending into the fixed sleeve, a slip ring is movably sleeved on the outer wall of the fixed sleeve, the slip ring is connected to the push rod through a connecting rod, the screw is connected to the slip ring through a screw nut seat, the screw motor drives the screw to rotate and drives the screw nut seat to rise and fall, and the screw nut seat drives the three push rods to swing synchronously through the slip ring and the connecting rod.

[0005] Preferably, the screw nut seat is adapted to the screw, the outer wall of the fixing sleeve is provided with at least one sliding groove, the outer wall of the screw nut seat is provided with a connecting plate, and the connecting plate passes through the sliding groove and is connected to the inner wall of the slip ring.

[0006] Preferably, a connecting flange is fixed to the end surface of the fixed disk via a plurality of connecting columns, and the connecting flange is on the same side as the lead screw motor with a gap therebetween.

[0007] Preferably, the end of the push rod is connected to the suction cup through a universal joint, and the suction cup is an electro-permanent magnetic suction cup or a negative pressure vacuum suction cup.

[0008] Preferably, the high-speed motor is mounted in a fixed sleeve.

[0009] Preferably, the push rod is a pneumatic push rod or a hydraulic push rod.

[0010] Compared with the prior art, the beneficial effects of the utility model are: the screw motor drives the screw to rotate, and the screw drives the slip ring to rise and fall, so that the slip ring adjusts the opening angle of the push rod through the connecting rod, that is, the coverage area of ​​the three push rods is determined by the opening angle of the push rod and the telescopic length of the push rod, which can adapt to different working scenes. The suction cup contacts the working surface and adsorbs and fixes it, and at the same time the push rod contracts, then the fixed plate and the fixed sleeve drive the high-speed motor at the bottom thereof to move downward, so that the working plate can move vertically downward, and by strong adsorption to the working surface, high-precision positioning of the working plate can be achieved, and the pressure required for construction can be actively provided to the working surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the utility model;

[0012] Figure 2 It is a schematic diagram of the local structure of the utility model.

[0013] In the figure: 1 connecting flange, 2 screw motor, 3 slip ring, 4 connecting rod, 5 push rod, 6 universal joint, 7 suction cup, 8 high-speed motor, 9 working disk, 10 fixing sleeve, 11 slide groove, 12 fixing disk, 13 connecting column, 14 screw, 15 screw nut seat. DETAILED DESCRIPTION

[0014] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", etc. indicating directions or positional relationships, they only correspond to the drawings of the present application for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction.

[0015] See also Figure 1-2The utility model provides a technical solution: an active pressure working claw, including a fixed disk 12, a screw motor 2 is provided on one end surface of the fixed disk 12, a fixed sleeve 10 is coaxially provided on the other end surface of the fixed disk 12, a high-speed motor 8 is provided at the end of the fixed sleeve 10, and the high-speed motor 8 is connected to the working disk 9. At least three push rods 5 are evenly hinged on the edge of the fixed disk 12, and a suction cup 7 is hinged on the end of the push rod 5; the output shaft of the screw motor 2 is connected to a screw 14 extending into the fixed sleeve 10, and the outer wall of the fixed sleeve 10 is movably sleeved with a slip ring 3, the slip ring 3 is connected to the push rod 5 through a connecting rod 4, and the screw 14 is connected to the slip ring 3 through a screw nut seat 15. The screw motor 2 drives the screw 14 to rotate and drives the screw nut seat 15 to rise and fall, and the screw nut seat 15 drives the three push rods 5 to swing synchronously through the slip ring 3 and the connecting rod 4;

[0016] It can be understood that the active pressure working claw is installed at the end of the robot arm. When working, the telescopic amount and the opening angle of the three push rods 5 are adjusted according to the actual situation (the distance between the robot arm and the workpiece and the space requirement). There are at least three push rods 5, and the three push rods 5 are stable. The screw motor 2 drives the screw 14 to rotate, and the screw 14 drives the screw nut seat 15 to move. The screw nut seat 15 drives the slip ring 3 to move along the fixed sleeve 10, and the slip ring 3 drives the push rod 5 to swing around the fixed disk 12 through the connecting rod 4, and the angles of the three push rods 5 can be adjusted synchronously, and the push rod 5 can be extended and retracted, so that the working area covered by the three push rods 5 can be adjusted to meet different usage conditions. Then the robot arm moves downward to make the suction cup 7 contact the working surface and adsorb. After fixing, the three push rods 5 are controlled to shrink synchronously, and the fixed disk 12 and the fixed sleeve 10 drive the high-speed motor 8 at the bottom thereof to move downward, so as to realize the vertical downward movement of the working disk, actively provide the pressure required for construction to the working surface, and complete the rust removal, grinding, drilling and other operations of the working disk on the workpiece;

[0017] It needs to be ensured that the lower surface of the suction cup 7 should be slightly lower than the lower surface of the working disc 9 driven by the high-speed motor 8;

[0018] Furthermore, the screw nut seat 15 is adapted to the screw 14, and at least one slide groove 11 is provided on the outer wall of the fixed sleeve 10. A connecting plate is provided on the outer wall of the screw nut seat 15, and the connecting plate passes through the slide groove 11 and is connected to the inner wall of the slip ring 3. When the screw nut seat 15 moves on the screw 14, the screw nut seat 15 drives the connecting plate to move in the slide groove 11, so that the connecting plate drives the slip ring 3 to move on the fixed sleeve 10;

[0019] Furthermore, the end surface of the fixed disk 12 is also fixed with a connecting flange 1 through a plurality of connecting columns 13. The connecting flange 1 is used to connect to the robot arm. The connecting flange 1 and the screw motor 2 are on the same side with a gap between them to avoid direct connection between the screw motor 2 and the fixed disk 12.

[0020] Specifically, the end of the push rod 5 is connected to the suction cup 7 through a universal joint 6. The suction cup 7 is an electric permanent magnetic suction cup or a negative pressure vacuum suction cup; the push rod 5 is a pneumatic push rod or a hydraulic push rod.

[0021] In addition, the high-speed motor 8 is mounted in the fixed sleeve 10, and the working disc 9 can be a grinding wheel, a drill bit or a grinding disc. A variety of working heads can be replaced to achieve applications in different scenarios.

[0022] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended to include all changes that fall within the meaning and scope of equivalent elements in the content of the present invention.

Claims

1. An active pressure working claw, comprising a fixed plate (12), characterized in that: A screw motor (2) is provided on one end surface of the fixed disk (12), a fixed sleeve (10) is coaxially provided on the other end surface of the fixed disk (12), a high-speed motor (8) is provided at the end of the fixed sleeve (10), the high-speed motor (8) is connected to a working disk (9), at least three push rods (5) are evenly hinged on the edge of the fixed disk (12), and a suction cup (7) is hinged on the end of the push rod (5); the output shaft of the screw motor (2) is connected to a screw rod (14) extending into the fixed sleeve (10), a slip ring (3) is movably sleeved on the outer wall of the fixed sleeve (10), the slip ring (3) is connected to the push rod (5) through a connecting rod (4), the screw rod (14) is connected to the slip ring (3) through a screw nut seat (15), the screw motor (2) drives the screw rod (14) to rotate and drives the screw nut seat (15) to rise and fall, and the screw nut seat (15) drives the three push rods (5) to swing synchronously through the slip ring (3) and the connecting rod (4).

2. An active pressure working claw according to claim 1, characterized in that: The screw nut seat (15) is adapted to the screw (14); the outer wall of the fixing sleeve (10) is provided with at least one sliding groove (11); the outer wall of the screw nut seat (15) is provided with a connecting plate; the connecting plate passes through the sliding groove (11) and is connected to the inner wall of the slip ring (3).

3. The active pressure working claw according to claim 1, characterized in that: A connecting flange (1) is also fixed to the end surface of the fixed disk (12) via a plurality of connecting columns (13); the connecting flange (1) is on the same side as the screw motor (2) and there is a gap between the two.

4. The active pressure working claw according to claim 1, characterized in that: The end of the push rod (5) is connected to the suction cup (7) via a universal joint (6); the suction cup (7) is an electric permanent magnetic suction cup or a negative pressure vacuum suction cup.

5. The active pressure working claw according to claim 1, characterized in that: The high-speed motor (8) is sleeved in the fixed sleeve (10).

6. The active pressure working claw according to claim 1, characterized in that: The push rod (5) is a pneumatic push rod or a hydraulic push rod.

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