In-hand operation robot based on roller fingertips

Abstract

The invention discloses an in-hand operation robot based on roller fingertips, which comprises a clamping component, a robot body and a flange base arranged on the robot body, the paw part comprises a palm assembly, a finger assembly and a cleaning assembly; the palm assembly is located between the flange base and the finger assembly, the finger assembly is located at the end of the robot body, and the cleaning assembly is located on the finger assembly. Repositioning and in-hand fine tuning operation can be carried out on the drainage wire under the condition that the posture of the robot does not need to be greatly changed in a complex space such as a transformer substation, and the problem that repositioning and in-hand fine tuning operation are difficult to realize after the hot-line work robot grabs the drainage wire or other hot-line work tools in a narrow space is solved. The working efficiency is improved, and the probability of safety accidents of the hot-line work robot in a complex transformer substation environment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an in-hand operation robot based on a roller fingertip. Background Art

[0002] In the power grid, a substation is an important node for power transmission, and robots are widely used in the operation and maintenance of substations. Inside a substation, a robot needs to be able to operate various devices, such as circuit breakers, disconnectors, current transformers, etc.

[0003] With the rapid development of the national economy, the electricity demand in China is increasing continuously. Relying on the current manual operation for the disconnection and connection of bypass conductors is not only labor-intensive and very dangerous, but also prone to accident hazards. Moreover, with the requirements for the quantity and quality of live working, manual live maintenance operations are increasingly unable to meet the growing economic needs. Using industrial robots to replace or assist manual live maintenance operations is one of the practical methods to solve this contradictory problem. However, due to the complex substation environment, the live maintenance operations of substation equipment with a voltage level of 110 kV and above by robots are restricted by the compact working space.

[0004] Traditional grippers can usually only operate objects of a single shape, with strong pertinence. For objects of different shapes, the gripper needs to be replaced or the position of the robot needs to be adjusted. Moreover, during the gripping process, the object cannot be reoriented without changing the posture of the robot. At the same time, during use, manual operation is required and in-hand operation cannot be achieved. Summary of the Invention

[0005] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title. However, such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the problems of poor versatility, inability to reorient objects, and complex operation existing in the use of the above-mentioned traditional grippers, an in-hand operation robot based on a roller fingertip is proposed.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a clamping component, including a robot body and a flange base disposed on the robot body;

[0008] A hand claw component, including a palm assembly, a finger assembly, and a cleaning component;

[0009] The palm assembly is located between the flange base and the finger assembly, the finger assembly is located at the end of the robot body, and the cleaning component is located on the finger assembly.

[0010] As a preferred embodiment of the in-hand operation robot based on drum fingertips according to the present invention, wherein: the palm assembly includes a fixed disk disposed on the flange base, and a first base disposed on the fixed disk;

[0011] The fixed disk is located on the flange chassis, and the first base is located on the fixed disk.

[0012] As a preferred embodiment of the in-hand operation robot based on drum fingertips according to the present invention, wherein: the finger assembly further includes a fingertip member and a finger root member;

[0013] The fingertip member is installed in the finger root member, the finger root member is installed on the flange base, the fingertip member and the finger root member are partially connected by two hinges, and the fingertip member can be horizontally or vertically arranged around the hinge axis.

[0014] As a preferred embodiment of the in-hand operation robot based on drum fingertips according to the present invention, wherein: the fingertip member includes a proximal end cap, a proximal bearing, a coupling, and a micro motor;

[0015] The proximal bearing is installed on the coupling of the motor, the micro motor is placed in the torsion-resistant bracket, and the micro motor is connected to the coupling.

[0016] As a preferred embodiment of the in-hand operation robot based on drum fingertips according to the present invention, wherein: the fingertip member further includes a torsion-resistant bracket, a motor shaft hub, a fingertip drum, a distal bearing, and a distal end cap;

[0017] The motor shaft hub is installed in the fingertip drum, and the micro motor drives the fingertip drum to rotate.

[0018] As a preferred embodiment of the in-hand operation robot based on drum fingertips according to the present invention, wherein: the finger root member includes a quadrilateral link, a driven rod, an intermediate servo motor, and a driving rod;

[0019] The quadrilateral link is connected to the driven rod and the driving rod by hinges, the driving rod is connected to the intermediate servo motor, the driven rod is connected to the support rod by a pin, and the driven rod can rotate around the pin.

[0020] As a preferred embodiment of the in-hand operation robot based on drum fingertips according to the present invention, wherein: the finger root member further includes a bottom servo motor, a bottom motor bracket, a rotating seat, and a support rod;

[0021] The support rod is connected to the rotating seat by bolts, and the lower end of the rotating seat is connected to the bottom servo motor.

[0022] As a preferred embodiment of the in-hand operation robot based on a drum fingertip according to the present invention, wherein: the cleaning assembly includes a cleaning cavity provided on the finger root member, a dust scraping member provided on the cleaning cavity, an adsorption member provided on the cleaning cavity, and an ash removing member provided on the cleaning cavity;

[0023] The cleaning cavity is located on the finger root member.

[0024] As a preferred embodiment of the in-hand operation robot based on a drum fingertip according to the present invention, wherein: the dust scraping member includes a dust scraping receiving tube provided on the cleaning cavity, a dust scraping groove hole opened on the dust scraping receiving tube, a dust inlet plate provided on one side of the dust scraping groove hole, and a dust scraping blade provided on the dust inlet plate;

[0025] The dust scraping receiving tube is located inside the cleaning cavity, the dust scraping receiving tube is rotatably connected to the cleaning cavity, and a torsion spring is provided between the dust scraping receiving tube and the cleaning cavity. The dust scraping groove hole is located on the inner wall of the dust scraping receiving tube, the dust inlet plate is located in the dust scraping groove hole, and the dust scraping blade is located at the end of the dust inlet plate.

[0026] As a preferred embodiment of the in-hand operation robot based on a drum fingertip according to the present invention, wherein: the adsorption member includes an energy storage rod provided in the dust scraping receiving tube, connecting wires provided at both ends of the energy storage rod, and a friction plate provided on the inner wall of the dust scraping receiving tube;

[0027] The energy storage rod is located inside the dust scraping receiving tube, and the connecting wires are located between the friction plate and the energy storage rod;

[0028] The ash removing member includes a first connecting plate provided on the cleaning cavity, and a dust scraping plate provided on the first connecting plate;

[0029] The dust scraping plate is in mutual contact with the energy storage rod.

[0030] The beneficial effects of the present invention are as follows: By rotating the fingertip drum to transmit motion to the grasping, the present invention can reposition the drainage wire and perform in-hand fine-tuning operations without significant changes in the robot's posture in complex spaces such as substations, solving the problem that it is difficult to reposition and perform in-hand fine-tuning operations after the live working robot grasps the drainage wire or other live working tools in a narrow space, improving work efficiency, and reducing the probability of safety accidents of the live working robot in a complex substation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0032] Figure 1 It is a schematic diagram of the overall structure of the robotic arm and the robotic claw in the present invention.

[0033] Figure 2 It is a schematic diagram of the working state of the robotic claw in a vertical configuration in the present invention.

[0034] Figure 3 It is a schematic diagram of the overall structure of the hand claw component in the present invention.

[0035] Figure 4 It is a partially enlarged view of the finger assembly in the present invention.

[0036] Figure 5 It is an exploded view of the fingertip roller in the present invention.

[0037] Figure 6 It is a three-dimensional structure diagram of the cleaning component and the quadrilateral link in the present invention.

[0038] Figure 7 It is a schematic diagram of the overall structure of the cleaning component in the present invention;

[0039] Figure 8 It is an internal cross-sectional view of the cleaning component in the present invention. Description of the drawings:

[0041] 100, clamping component; 101, robot body; 102, flange base;

[0042] 200, hand claw component; 201, palm assembly; 202, finger assembly; 203, cleaning component;

[0043] 201a, fixed disk; 201b, first base;

[0044] 202a, fingertip part; 202b, finger root part;

[0045] 202a-1, proximal end cap; 202a-2, proximal bearing; 202a-3, coupling; 202a-4, micro motor; 202a-5, torsion-resistant bracket; 202a-6, motor shaft hub; 202a-7, fingertip roller; 202a-8, distal bearing; 202a-9, distal end cap;

[0046] 202b-1, Quadrilateral connecting rod; 202b-2, Driven rod; 202b-3, Intermediate servo motor; 202b-4, Driving rod; 202b-5, Bottom servo; 202b-6, Bottom motor bracket; 202b-7, Rotating seat; 202b-8, Support rod;

[0047] 203a, Cleaning cavity; 203b, Ash scraping part; 203c, Adsorbing part; 203d, Ash removing part;

[0048] 203b-1, Ash scraping pipe; 203b-2, Ash scraping slot; 203b-3, Ash inlet plate; 203b-4, Ash scraping blade;

[0049] 203c-1, Energy storage rod; 203c-2, Connecting wire; 203c-3, Friction plate;

[0050] 203d-1, First connecting plate; 203d-2, Ash scraping plate. Detailed implementation mode

[0051] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation modes of the present invention will be given in conjunction with the accompanying drawings of the specification.

[0052] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0053] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation mode of the present invention. The phrase "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is separate from or selectively exclusive of other embodiments.

[0054] Furthermore, the present invention will be described in detail with reference to the schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally out of the general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width and depth should be included.

[0055] Embodiment 1

[0056] Refer to Figures 1 to 4, which is the first embodiment of the present invention. This embodiment provides an in-hand operation robot based on drum fingertips, including a clamping component 100, which includes a robot body 101 and a flange base 102 arranged on the robot body 101; a hand claw component 200, which includes a palm component 201, a finger component 202, and a cleaning component 203; the palm component 201 is located between the flange base 102 and the finger component 202, the finger component 202 is located at the end of the robot body 101, and the cleaning component 203 is located on the finger component 202; the palm component 201 includes a fixed disk 201a arranged on the flange base 102 and a first base 201b arranged on the fixed disk 201a; the fixed disk 201a is located on the flange chassis, and the first base 201b is located on the fixed disk 201a.

[0057] Among them, the uniqueness of this device lies in that the hand claw component 200 is composed of three finger components 202 with similar movements, and each finger component 202 is composed of three degrees of freedom. The bottom degree of freedom is a rotary joint directly driven by a bottom servo 202b-5. The middle degree of freedom is orthogonal to the bottom degree of freedom. The grasping function of the hand claw component 200 is ensured by the bottom servo 202b-5. The entire hand claw component 200 is connected to the end of the robot body 101 through the flange base 102, and the flange base 102 can drive the whole hand claw component 200 to rotate to adapt to different grasping tasks.

[0058] The finger component 202 further includes a fingertip part 202a and a finger root part 202b; the fingertip part 202a is installed in the finger root part 202b, the finger root part 202b is installed on the flange base 102, and the fingertip part 202a and the finger root part 202b are partially connected by two hinges. The fingertip part 202a can be horizontally or vertically arranged around the hinge axis.

[0059] The fingertip part 202a includes a proximal end cap 202a-1, a proximal bearing 202a-2, a coupling 202a-3, and a micro motor 202a-4; the proximal bearing 202a-2 is installed on the coupling 202a-3 of the motor, the micro motor 202a-4 is placed in a torsion-resistant bracket 202a-5, and the micro motor 202a-4 is connected to the coupling 202a-3; the fingertip part 202a further includes a torsion-resistant bracket 202a-5, a motor hub 202a-6, a fingertip drum 202a-7, a distal bearing 202a-8, and a distal end cap 202a-9; the motor hub 202a-6 is installed in the fingertip drum 202a-7, and the micro motor 202a-4 drives the fingertip drum 202a-7 to rotate.

[0060] Among them, the proximal bearing 202a-2 is installed on the motor coupling rod, the micro motor 202a-4 is placed inside the torsion-resistant bracket 202a-5 and is connected to the coupling 202a-3. The motor hub is installed on the fingertip roller 202a-7. The micro motor 202a-4 can drive the fingertip roller 202a-7 to rotate. A small hole is reserved on both the proximal end cap 202a-1 and the distal end cap for hinge connection with the quadrilateral link 202b-1. Through the deformation of the quadrilateral link 202b-1, the horizontal or vertical arrangement of the fingertip roller 202a-7 can be achieved.

[0061] The finger root part 202b includes a quadrilateral link 202b-1, a driven rod 202b-2, an intermediate servo motor 202b-3, and a driving rod 202b-4. The quadrilateral link 202b-1 is hinged to the driven rod 202b-2 and the driving rod 202b-4. The driving rod 202b-4 is connected to the intermediate servo motor 202b-3. The driven rod 202b-2 is connected to the support rod 202b-8 by a pin, and the driven rod 202b-2 can rotate around the pin. The finger root part 202b further includes a bottom servo motor 202b-5, a bottom motor bracket 202b-6, a rotating seat 202b-7, and a support rod 202b-8. The support rod 202b-8 is connected to the rotating seat 202b-7 by a bolt, and the lower end of the rotating seat 202b-7 is connected to the bottom servo motor 202b-5.

[0062] Specifically, the quadrilateral link 202b-1 is a parallelogram composed of four mutually hinged links. This design takes advantage of the characteristics of the parallelogram to facilitate the deformation of the quadrilateral link 202b-1, enabling the finger assembly 202 to be reconstructed. Based on the quadrilateral link 202b-1, the driving rod 202b-4, and the driven rod 202b-2 being anchored on the center line of the quadrilateral link 202b-1 mechanism, the intermediate degree of freedom controls the arrangement direction of the fingertip roller 202a-7. Driven by the intermediate servo motor 202b-3 and the fingertip roller 202a-7 driven by the micro motor 202a-4 can rotate continuously. Therefore, it is universal for objects with different shapes. The fingertip roller 202a-7 changes from one configuration to another by driving the intermediate servo motor 202b-3 to drive the movement of the quadrilateral link 202b-1.

[0063] Further, the quadrilateral connecting rod 202b-1 is hinged to the driven rod 202b-2 and the driving rod 202b-4. A small hole is formed in the middle of the driving rod 202b-4 for connecting the middle servo motor 202b-3. The driven rod 202b-2 is connected to the support rod 202b-8 by a pin. The driven rod 202b-2 can rotate around the pin. A U-shaped groove is formed in the middle of the support rod 202b-8 for placing the output shaft of the middle servo motor 202b-3. There are four bolt holes at the bottom of the support rod 202b-8, and it is connected to the rotating base 202b-7 by four bolts. The rotating base 202b-7 is connected to the bottom servo motor 202b-5. Therefore, the bottom servo motor 202b-5 can drive the rotating base 202b-7 to swing.

[0064] Operation process: When using the drainage wire clamp for alignment, first, control the bottom servo motor 202b-5 to make the three finger assemblies 202 clamp the drainage wire. Then, adjust the position of the drainage wire clamp by deforming the quadrilateral connecting rod 202b-1 to assist in aligning the wire clamp. Under the combined action of the movement of the robot body 101 and the in-hand operation movement of the gripper component 200, the alignment of the wire clamp holes is achieved. When there is a slight offset between the holes during the alignment of the wire clamp holes, the corresponding movement can be transmitted to the drainage wire by rotating the fingertip roller 202a-7 for fine adjustment.

[0065] Embodiment 2

[0066] Refer to Figures 5 to 8 , which is the second embodiment of the present invention. This embodiment is based on the previous embodiment. The difference is that the cleaning component 203 includes a cleaning cavity 203a provided on the finger root part 202b, a dust scraping part 203b provided on the cleaning cavity 203a, a suction part 203c provided on the cleaning cavity 203a, and a dust removing part 203d provided on the cleaning cavity 203a; the cleaning cavity 203a is located on the finger root part 202b.

[0067] The rest of the structure is the same as that of Embodiment 1.

[0068] Among them, the cleaning cavity 203a is located on the quadrilateral link 202b-1. The quantity and position of the cleaning cavity 203a correspond to the quantity and position of the fingertip rollers 202a-7. The cleaning cavity 203a is fixedly connected to the quadrilateral link 202b-1. The cleaning cavity 203a is used for storing dust and impurities. The ash scraping member 203b is located at the opening of the cleaning cavity 203a. The ash scraping member 203b is used for cleaning the dust and impurities attached to the fingertip rollers 202a-7. The adsorbing member 203c is located inside the cleaning cavity 203a and is used for adsorbing the sundries scraped by the ash scraping member 203b into the cleaning cavity 203a, avoiding the problem that the scraped impurities fly everywhere and the cleaning effect is poor. The ash removing member 203d is located on the adsorbing member 203c and is used for cleaning the adsorbing member 203c, avoiding the problem that a large amount of dust adheres to the adsorbing member 203c and the adsorption effect is poor.

[0069] The ash scraping member 203b includes an ash scraping tube 203b-1 arranged on the cleaning cavity 203a, an ash scraping slot 203b-2 opened on the ash scraping tube 203b-1, an ash inlet plate 203b-3 arranged on one side of the ash scraping slot 203b-2, and an ash scraping blade 203b-4 arranged on the ash inlet plate 203b-3. The ash scraping tube 203b-1 is located inside the cleaning cavity 203a. The ash scraping tube 203b-1 is rotatably connected to the cleaning cavity 203a, and a torsion spring is arranged between the ash scraping tube 203b-1 and the cleaning cavity 203a. The ash scraping slot 203b-2 is located on the inner wall of the ash scraping tube 203b-1. The ash inlet plate 203b-3 is located inside the ash scraping slot 203b-2. The ash scraping blade 203b-4 is located at the end of the ash inlet plate 203b-3.

[0070] Among them, the ash scraping pipe 203b-1 is located inside the cleaning cavity 203a. There is a rotational connection between the cleaning cavity 203a and the ash scraping pipe 203b-1. The cross-section of the ash scraping pipe 203b-1 is in the shape of a water droplet, and the surface of the ash scraping pipe 203b-1 in contact with the fingertip roller 202a-7 is concave. This design can make the ash scraping pipe 203b-1 fit more closely to the side surface of the fingertip roller 202a-7, thus facilitating cleaning. The ash scraping slot 203b-2 is located on the concave side of the ash scraping pipe 203b-1. The ash inlet plate 203b-3 is located on the side wall of the ash scraping slot 203b-2, and a number of slots are provided on the ash inlet plate 203b-3. The ash scraping blade 203b-4 is located at the end of the ash inlet plate 203b-3. There is a fixed connection between the ash inlet plate 203b-3 and the ash scraping blade 203b-4. The ash scraping blade 203b-4 is located at the end of the ash inlet plate 203b-3, and the cross-section of the ash scraping blade 203b-4 is designed with a pointed top and a wide bottom. The side of the ash scraping blade 203b-4 in contact with the fingertip roller 202a-7 is concave, and its degree of concavity is greater than that of the ash scraping pipe 203b-1. This design can increase the gap between the ash scraping blade 203b-4 and the fingertip roller 202a-7, enabling the impurities cleaned off to smoothly enter the ash scraping pipe 203b-1.

[0071] Operation process: When the finger root part 202b is used up, through the deformation of the quadrilateral connecting rod 202b-1, the fingertip roller 202a-7 is moved closer to the cleaning cavity 203a until the fingertip roller 202a-7 approaches the ash scraping pipe 203b-1 and squeezes the ash scraping pipe 203b-1, making the inner wall of the ash scraping pipe 203b-1 fit with the outer surface of the fingertip roller 202a-7. At the same time, the outer surface of the fingertip roller 202a-7 abuts against the ash inlet plate 203b-3. Due to the limitation of the cross-section of the ash inlet plate 203b-3, there is a certain gap between the outer surface of the fingertip roller 202a-7 and the ash inlet plate 203b-3. The outer surface of the fingertip roller 202a-7 fits with the ash scraping blade 203b-4. At this time, the fingertip roller 202a-7 is driven to rotate. During the rotation process, the ash scraping blade 203b-4 contacts the outer surface of the fingertip roller 202a-7, and the dust and impurities on the surface of the fingertip roller 202a-7 can be cleaned off and then flow into the ash scraping pipe 203b-1 along the gap between the ash inlet plate 203b-3 and the fingertip roller 202a-7, realizing the cleaning of the fingertip roller 202a-7.

[0072] Embodiment 3

[0073] Refer to Figures 1 to 8, which is the third embodiment of the present invention. The difference between this embodiment and the second embodiment is as follows: The adsorbing member 203c includes an energy storage rod 203c-1 disposed in the ash scraping container tube 203b-1, connecting wires 203c-2 disposed at both ends of the energy storage rod 203c-1, and a friction plate 203c-3 disposed on the inner wall of the ash scraping container tube 203b-1; the energy storage rod 203c-1 is located in the ash scraping container tube 203b-1, and the connecting wires 203c-2 are located between the friction plate 203c-3 and the energy storage rod 203c-1.

[0074] The remaining structures are the same as those in Embodiment 2.

[0075] Specifically, the energy storage rod 203c-1 is made of a metal material with conductive effect. The connecting wires 203c-2 are located at both ends of the energy storage plate, and the connecting wires 203c-2 are used to transmit static electricity. The friction plate 203c-3 is disposed on the inner wall of the ash scraping container tube 203b-1, and the friction plate 203c-3 is in contact with the surface of the fingertip roller 202a-7. Static electricity is generated by the contact friction between the friction plate 203c-3 and the fingertip roller 202a-7, and the static electricity is transmitted to the energy storage rod 203c-1 along the connecting wires 203c-2. The static electricity adsorbed on the energy storage rod 203c-1 generates a certain suction force, which can adsorb the dust and impurities cleaned by the ash scraping blade 203b-4 into the ash scraping container tube 203b-1, preventing the splashing of the impurities after cleaning and causing pollution.

[0076] The ash removing member 203d includes a first connecting plate 203d-1 disposed on the cleaning cavity 203a, and an ash scraping plate 203d-2 disposed on the first connecting plate 203d-1; the ash scraping plate 203d-2 is in mutual fit with the energy storage rod 203c-1.

[0077] Among them, the first connecting plate 203d-1 is located on the inner wall of the cleaning cavity 203a, and the first connecting plate 203d-1 penetrates through the ash scraping container tube 203b-1. The first connecting plate 203d-1 is slidably connected to the ash scraping container tube 203b-1. The end of the first connecting plate 203d-1 is provided with an ash scraping plate 203d-2, and the ash scraping plate 203d-2 is fixedly connected to the end of the first connecting plate 203d-1. The cross section of the ash scraping plate 203d-2 is in a semi-circular arc shape, and the ash scraping plate 203d-2 is in mutual fit with the outer surface of the energy storage plate.

[0078] Operation process: After the cleaning of the fingertip roller 202a-7 by the ash scraping blade 203b-4 is completed, the fingertip roller 202a-7 is driven by the quadrilateral connecting rod 202b-1 to separate from the cleaning cavity 203a. After separation, the ash scraping tube 203b-1 is pulled by the torsion spring to reset, so that the first connecting plate 203d-1 drives the ash scraping blade 203d-2 to slide on the ash scraping tube 203b-1. At this time, the ash scraping blade 203d-2 contacts and slides with the energy storage rod 203c-1 to clean the impurities on the surface of the energy storage rod 203c-1, so that the impurities enter the ash scraping tube 203b-1 along the ash scraping blade 203d-2.

[0079] It should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are only illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without substantially departing from the novel teachings and advantages of the subject matter described in this application (for example, the dimensions, scales, structures, shapes and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, color, orientation changes, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover the structure that performs the recited function herein, and not only structural equivalents but also equivalent structures. Other substitutions, improvements, changes and omissions may be made in the design, operating conditions and arrangements of the exemplary embodiments without departing from the scope of the present invention. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0080] In addition, in order to provide a concise description of the exemplary embodiments, not all features of the actual embodiments may be described (i.e., those features that are not relevant to the currently considered best mode of implementing the present invention or those features that are not relevant to the implementation of the present invention).

[0081] It should be understood that in the development of any actual implementation, a large number of specific implementation decisions may be made in any engineering or design project. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, without excessive experimentation, such development efforts will be a routine work of design, manufacturing and production.

[0082] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. The in-hand operating robot based on a drum fingertip, characterized in that: including a clamping component (100), including a robot body (101) and a flange base (102) provided on the robot body (101); a gripper component (200), including a palm assembly (201), a finger assembly (202) and a cleaning component (203); the palm assembly (201) is located between the flange base (102) and the finger assembly (202), the finger assembly (202) is located at the end of the robot body (101), and the cleaning component (203) is located on the finger assembly (202).

2. The in-hand operation robot based on a drum fingertip according to claim 1, wherein: The palm assembly (201) includes a fixed disk (201a) provided on the flange base (102) and a first base (201b) provided on the fixed disk (201a); the fixed disk (201a) is located on the flange chassis, and the first base (201b) is located on the fixed disk (201a).

3. The in-hand manipulation robot based on drum fingertips according to claim 1 or 2, characterized in that: The finger assembly (202) further includes a fingertip member (202a) and a finger root member (202b); the fingertip member (202a) is installed inside the finger root member (202b), the finger root member (202b) is installed on the flange base (102), and the fingertip member (202a) and the finger root member (202b) are partially connected by two hinges, and the fingertip member (202a) can be horizontally or vertically arranged around the hinge axis.

4. The in-hand operation robot based on a drum fingertip according to claim 3, wherein: The fingertip member (202a) includes a proximal end cap (202a-1), a proximal bearing (202a-2), a coupling (202a-3), and a micro motor (202a-4); the proximal bearing (202a-2) is installed on the coupling (202a-3) of the motor, the micro motor (202a-4) is placed inside a torsion-resistant bracket (202a-5), and the micro motor (202a-4) is connected to the coupling (202a-3).

5. The in-hand operation robot based on a drum fingertip according to claim 4, wherein: The fingertip member (202a) further includes a torsion-resistant bracket (202a-5), a motor shaft hub (202a-6), a fingertip roller (202a-7), a distal bearing (202a-8), and a distal end cap (202a-9); the motor shaft hub (202a-6) is installed inside the fingertip roller (202a-7), and the micro motor (202a-4) drives the fingertip roller (202a-7) to rotate.

6. The in-hand operation robot based on drum fingertips according to claim 3, wherein: The finger root member (202b) includes a quadrilateral link (202b-1), a driven rod (202b-2), an intermediate servo motor (202b-3), and a driving rod (202b-4); the quadrilateral link (202b-1) is connected to the driven rod (202b-2) and the driving rod (202b-4) by hinges, the driving rod (202b-4) is connected to the intermediate servo motor (202b-3), and the driven rod (202b-2) is connected to a support rod (202b-8) by a pin, and the driven rod (202b-2) can rotate around the pin.

7. The in-hand operation robot based on drum fingertips according to claim 3, wherein: The finger root part (202b) further includes a bottom steering gear (202b-5), a bottom motor bracket (202b-6), a rotating seat (202b-7), and a support rod (202b-8). The support rod (202b-8) is connected to the rotating seat (202b-7) by bolts, and the lower end of the rotating seat (202b-7) is connected to the bottom steering gear (202b-5).

8. The in-hand operation robot based on a drum fingertip according to claim 3, wherein: The cleaning component (203) includes a cleaning cavity (203a) provided on the finger root part (202b), a dust scraping member (203b) provided on the cleaning cavity (203a), a suction member (203c) provided on the cleaning cavity (203a), and a dust removing member (203d) provided on the cleaning cavity (203a). The cleaning cavity (203a) is located on the finger root part (202b).

9. The in-hand operation robot based on a drum fingertip according to claim 8, wherein: The dust scraping member (203b) includes a dust scraping cavity tube (203b-1) provided on the cleaning cavity (203a), a dust scraping groove hole (203b-2) opened on the dust scraping cavity tube (203b-1), a dust inlet plate (203b-3) provided on one side of the dust scraping groove hole (203b-2), and a dust scraping blade (203b-4) provided on the dust inlet plate (203b-3). The dust scraping cavity tube (203b-1) is located in the cleaning cavity (203a), and the dust scraping cavity tube (203b-1) is rotatably connected to the cleaning cavity (203a). A torsion spring is provided between the dust scraping cavity tube (203b-1) and the cleaning cavity (203a). The dust scraping groove hole (203b-2) is located on the inner wall of the dust scraping cavity tube (203b-1). The dust inlet plate (203b-3) is located in the dust scraping groove hole (203b-2), and the dust scraping blade (203b-4) is located at the end of the dust inlet plate (203b-3).

10. The in-hand operation robot based on drum fingertips as claimed in claim 9, wherein: The suction member (203c) includes an energy storage rod (203c-1) provided in the dust scraping cavity tube (203b-1), connecting wires (203c-2) provided at both ends of the energy storage rod (203c-1), and a friction plate (203c-3) provided on the inner wall of the dust scraping cavity tube (203b-1). The energy storage rod (203c-1) is located in the dust scraping cavity tube (203b-1), and the connecting wire (203c-2) is located between the friction plate (203c-3) and the energy storage rod (203c-1). The dust removing member (203d) includes a first connecting plate (203d-1) provided on the cleaning cavity (203a), and a dust scraping plate (203d-2) provided on the first connecting plate (203d-1). The dust scraping plate (203d-2) is in close contact with the energy storage rod (203c-1).

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