Self-adapting gripper for pushing material, robot and method of gripping and pushing

Abstract

The application provides a self-adaptive gripper for pushing material, a robot and a clamping and pushing method. The self-adaptive gripper for pushing material comprises a transmission device and a gripper body; the gripper body comprises sliding telescopic structures and a frame structure, and the sliding telescopic structures are slidably connected with the frame structure; the different sliding telescopic structures have clamping spaces, and the material is clamped in the clamping spaces; the gripper body comprises a clamping state and a pushing state; when being in the pushing state, the sliding telescopic structures are retracted relative to the frame structure and a target component. Different from the rigid collision between the gripper and the target component in the prior art when the material is pushed, the sliding telescopic structures are adapted to be retracted relative to the target component when the gripper contacts the target component, that is, the rigid collision between the gripper and the target component is avoided, and the possibility of damage of the gripper and the target component due to the rigid collision is reduced.

Description

Technical Field

[0001] This invention relates to the field of mechanics, and more specifically, to an adaptive gripper finger, robot, and gripping and pushing method for pushing materials. Background Technology

[0002] In automated production processes in industrial fields such as assembly, industrial robots use gripper actuators with a gripper structure to grasp, hold, transport, and transfer workpieces. Grabbing an object and inserting it into the corresponding receiving space of the target component (such as an assembly space formed by a hole or slot) is a common task. Examples include inserting male terminals into female sockets, installing hard drive modules into server chassis slots, and placing batteries into equipment chambers.

[0003] Typically, these inserted materials must be flush with the edge of the hole or deeply inserted into it. This is to facilitate subsequent operations, such as closing the hole's cap or locking the object in place.

[0004] The current gripper structures used for material picking and insertion, and their working process, are as follows: Figure 1-5 As shown, the first step is to refer to... Figure 1 Grasp the object using your finger gripping structure, and then in the second step, refer to... Figure 2 The robotic arm is used to adjust the position of the gripping structure, inserting a portion of the object into the target hole until the end of the gripping structure abuts against the target component, causing collision and interference. The third step then refers to... Figure 3 and Figure 4 Release the material with your fingers and reposition it. Finally, in the fourth step, refer to... Figure 5 The gripper structure pushes the material forward a second time to complete the task. The far end of the robotic arm is connected to the proximal end of the gripper structure.

[0005] In the second step above, since the finger clamping structure is a rigid structure and the ends of the finger clamping structure will collide and interfere with the target component, it is possible that the target component or the finger clamping structure will be damaged due to the collision.

[0006] Therefore, minimizing the potential damage to target components or gripper structures during material propulsion is a pressing technical problem that needs to be solved. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide an adaptive gripper finger, robot, and gripping and propulsion method for pushing materials.

[0008] According to the present invention, an adaptive gripper for pushing in materials includes a transmission device and a gripper body, wherein the number of gripper bodies is greater than or equal to two.

[0009] The finger clamping body includes a sliding telescopic structure and a frame structure.

[0010] The frame structure is mounted on the transmission device; the drive device drives different gripping finger bodies to move closer and further apart through the transmission device, thereby realizing the gripping and release of materials respectively;

[0011] The sliding telescopic structure is slidably connected to the frame structure;

[0012] There is a clamping space between the different sliding telescopic structures, and the material is clamped in the clamping space;

[0013] The finger clamping body includes a clamping state and a pushing state;

[0014] When in the advancing state, the sliding telescopic structure retracts relative to the frame structure and the target component;

[0015] First, the material is held by different gripping fingers. Then, after a portion of the material is placed into the receiving space, the gripping finger structure continues to move towards the receiving space. The originally extended sliding telescopic structure will retract relative to the frame structure and the target component due to the obstruction of the target component.

[0016] Preferably, at least one of the finger-clamping bodies includes a propulsion structure; the propulsion structure is securely mounted on the frame structure;

[0017] The propulsion structure is used to push material into the receiving space during the propulsion state;

[0018] When in the clamping state, the propulsion structure is located outside the clamping space; when in the propulsion state, the sliding telescopic structure retracts relative to the frame structure and the target component, and the propulsion structure advances relative to the sliding telescopic structure, thereby extending into the clamping space to push the material; the propulsion state continues until the end of the propulsion structure is flush with, exceeds or does not reach the end of the sliding telescopic structure.

[0019] The finger clamp body also includes a locking structure;

[0020] The locking structure is used to lock and unlock the sliding telescopic structure and the frame structure.

[0021] Preferably, a slider is fastened to the frame structure;

[0022] The sliding telescopic structure includes a clamping surface, a first intermediate block, a second intermediate block, and a slide rail;

[0023] The clamping surface is connected to the first intermediate block, the second intermediate block is connected to the slide rail, and the slide rail and the slider are matched with each other.

[0024] The first intermediate block and the second intermediate block are connected by an elastic element; a screw structure is also provided between the first intermediate block and the second intermediate block, the screw structure including a threaded part, a smooth part and a head, the threaded part being connected to the head through the smooth part;

[0025] The threaded portion is located inside the first intermediate block or the second intermediate block, the head is located inside the second intermediate block or the first intermediate block, and the elastic element is fitted onto the smooth rod portion;

[0026] The sliding telescopic structure has both a compressed state and a gap state;

[0027] When the main body of the finger clamp is in the clamping state, the sliding telescopic structure is in the compressed state. At this time, the first intermediate block and the second intermediate block are in contact, and the locking structure locks the sliding telescopic structure and the frame structure, so that the sliding telescopic structure and the frame structure cannot move relative to each other.

[0028] When the main body of the finger clamp is in the advancing state, the sliding telescopic structure is in the gap state. At this time, there is a gap between the first intermediate block and the second intermediate block, and the locking structure does not lock the sliding telescopic structure and the frame structure. The sliding telescopic structure and the frame structure can move relative to each other.

[0029] When the main body of the gripper is in a gripping state, the gripping surface clamps the material.

[0030] When the main body of the gripper is in the advancing state, the gripping surface is in contact with the material. At this time, the frame structure moves forward under the guidance of the sliding telescopic structure, so that the advancing direction of the advancing structure is parallel to the guiding direction formed by the extension direction of the sliding telescopic structure; or when the main body of the gripper is in the advancing state, the gripping surface 31 is not in contact with the material.

[0031] Preferably, the locking structure includes a first limiting protrusion and a second limiting protrusion, wherein the first limiting protrusion is mounted on the frame structure and the second limiting protrusion is mounted on the first intermediate block;

[0032] When the sliding telescopic structure is in a compressed state, the first limiting protrusion abuts against the second limiting protrusion, and the first limiting protrusion can prevent the sliding telescopic structure from retracting relative to the frame structure.

[0033] When the sliding telescopic structure is in a gap state, the first limiting protrusion and the second limiting protrusion are not on the same straight line, and the first limiting protrusion cannot prevent the sliding telescopic structure from retracting relative to the frame structure.

[0034] Preferably, the finger clamp body also includes a constant force spring;

[0035] One end of the constant force spring is connected to the frame structure; the other end is connected to the sliding telescopic structure.

[0036] Preferably, the clamping surface is fastened to the first intermediate block by shoulder screws, and the second intermediate block is fastened to the slide rail by shoulder screws.

[0037] Preferably, the clamping surface is made of rubber material;

[0038] The propulsion structure is a fixed block structure, and the fixed block has a protrusion, the height of which is higher than the height of the frame structure.

[0039] Preferably, it also includes a push-in depth adjustment component, through which the user can adjust the push-in depth of the material;

[0040] The insertion depth adjustment assembly includes an adjustment screw and multiple adjustment screw holes; the adjustment screw holes are arranged on the second intermediate block;

[0041] The adjusting screw can be matched with any adjusting screw hole, and the adjusting screw is located above the frame structure; when the sliding telescopic structure retracts a preset distance relative to the frame structure, the adjusting screw can abut against the frame structure to prevent the sliding telescopic structure from retracting further.

[0042] A robot according to the present invention is characterized by employing an adaptive gripper finger for pushing in materials as described in any one of claims 1-8.

[0043] According to a clamping and propulsion method provided by the present invention, the robot described above is used.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. Unlike the rigid collision between the gripper fingers and the target component when pushing materials in the prior art, the present invention will adaptively retract relative to the target component when the gripper fingers come into contact with the target component, thereby avoiding rigid collision between the gripper fingers and the target component and reducing the possibility of damage to the gripper fingers and the target component due to rigid collision.

[0046] 2. The present invention can effectively and directly insert materials into the receiving space of the target component, eliminating the necessary repositioning process in existing material gripping and material insertion equipment, and significantly improving the operational efficiency of fully inserting the object into the receiving space.

[0047] 3. The clamping surface and the propulsion structure of this invention can be replaced according to the shape and size of different materials, which enables the clamping fingers to adapt to materials of different sizes and dimensions, thus improving the versatility of the clamping fingers.

[0048] 4. This invention adopts a modular and adaptable design. The main body of the finger clamp can be built as an independent module and is compatible with different types of transmission devices through appropriate adapters, which enhances the practicality and application range of the design. Attached Figure Description

[0049] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0050] Figure 1 A schematic diagram of the first step when the existing finger clamping structure is in operation;

[0051] Figure 2 A schematic diagram of the second step when the finger clamping structure in the prior art is working;

[0052] Figure 3 A schematic diagram of the third step when the finger clamping structure is in operation in the prior art;

[0053] Figure 4 A schematic diagram of the fourth step when the finger clamping structure is in operation in the prior art;

[0054] Figure 5 A schematic diagram of the fifth step when the existing finger clamping structure is in operation;

[0055] Figure 6 This is a schematic diagram of the present invention when clamping materials;

[0056] Figure 7 This is a schematic diagram illustrating the material propulsion process of the present invention;

[0057] Figure 8 This is a schematic diagram of the material being pushed into place according to the present invention;

[0058] Figure 9 This is a three-dimensional structural diagram of the present invention;

[0059] Figure 10 This is a schematic diagram of the sliding telescopic structure of the present invention when it extends relative to the frame structure;

[0060] Figure 11a This is a schematic diagram of the sliding telescopic structure of the present invention when it retracts relative to the frame structure.

[0061] Figure 11b This is a schematic diagram of the sliding telescopic structure of the present invention retracting to its limit position relative to the frame structure;

[0062] Figure 11c for Figure 11b A three-dimensional schematic diagram;

[0063] Figure 11d for Figure 11c A schematic diagram of a partial cross-section;

[0064] Figure 12 This is a schematic diagram of the sliding telescopic structure of the present invention in a gap state;

[0065] Figure 13a for Figure 12 The main view;

[0066] Figure 13b for Figure 13a A schematic diagram of the right-side sectional view of the gap;

[0067] Figure 13c for Figure 13a A schematic diagram of a partial sectional view;

[0068] Figure 14 This is a schematic diagram of the sliding telescopic structure of the present invention in a compressed state;

[0069] Figure 15a for Figure 14 The main view;

[0070] Figure 15b for Figure 15a A schematic diagram showing the cross-sectional view of the connection between the second intermediate block and the slide rail; Figure 15c for Figure 15a A schematic diagram of a partial sectional view;

[0071] Figure 16 This is a schematic diagram of the working process of the present invention;

[0072] Figure 17 This is a comparative schematic diagram showing the present invention equipped with a 12mm wide clamping surface and a 24mm wide clamping surface;

[0073] Figure 18 This is a schematic diagram illustrating the clamping space of the present invention;

[0074] Figure 19 This is a schematic diagram of the present invention having an insertion depth adjustment component;

[0075] Figure 20 This is a schematic diagram of the present invention when the push-in depth adjustment component is in operation.

[0076] The diagram shows:

[0077] Detailed Implementation

[0078] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0079] This invention provides an adaptive gripper finger for pushing in materials, such as Figure 6-18 As shown, the device includes a transmission device 1 and gripper bodies 2; the number of gripper bodies 2 is greater than or equal to two; the gripper bodies 2 are mounted on the transmission device 1; a driving device drives the different gripper bodies 2 to move closer or further apart from each other through the transmission device 1, thereby achieving the gripping or release of materials. In a preferred embodiment, the gripper bodies 2 are mounted on the transmission device 1 via an adapter 8. The gripping includes gripping formed by different gripper bodies 2 applying pressure to the material, and also includes adsorption gripping generated by different gripper bodies applying adsorption force to the material.

[0080] The finger-clamping body 2 includes a sliding telescopic structure 7, a frame structure 3, and a locking structure 5; at least one of the finger-clamping bodies 2 includes a pushing structure 6; the frame structure 3 is mounted on the transmission device 1, and the pushing structure 6 is fastened to the frame structure 3. In a preferred embodiment, such as... Figure 9 , Figure 10 and Figures 13a-13c As shown, the propulsion structure 6 is a fixed block structure, and the fixed block has a protrusion whose height is higher than that of the frame structure 3. The sliding telescopic structure 7 is slidably connected to the frame structure 3; the locking structure 5 is used to lock and unlock the sliding telescopic structure 7 and the frame structure 3.

[0081] like Figure 18 As shown, there is a clamping space 200 between the different sliding telescopic structures 7, and the material is clamped within the clamping space 200; the clamping finger body 2 includes a clamping state and a pushing state; as Figure 16 As shown, when in the clamping state, the pushing structure 6 is located outside the clamping space 200; when in the pushing state, the frame structure 3 moves toward the target component 100, the sliding telescopic structure 7 is blocked by the target component 100 and retracts relative to the frame structure 3, the pushing structure 6 advances relative to the sliding telescopic structure 7, and then extends into the clamping space 200, thereby pushing the material into the receiving space 101 until the end of the pushing structure 6 is flush with, exceeds, or does not reach the end of the sliding telescopic structure 7 (preferably flush). The receiving space 101 is an assembly space formed by a hole or a groove.

[0082] like Figures 11a-11d As shown, a slider 39 is fastened to the frame structure 3; as Figure 10 As shown, the sliding telescopic structure 7 includes a clamping surface 31, a first intermediate block 32, a second intermediate block 33, and a slide rail 34; the clamping surface 31 and the first intermediate block 32 are fastened together by shoulder screws 37, and the second intermediate block 33 and the slide rail 34 are also fastened together by shoulder screws 37, and the slide rail 34 and the slider 39 are matched with each other; the first intermediate block 32 and the second intermediate block 33 are elastically connected.

[0083] The sliding telescopic structure 7 has a compressed state and a gap state. When the finger clamping body 2 is in the clamping state, the sliding telescopic structure 7 is in the compressed state. At this time, the first intermediate block 32 and the second intermediate block 33 are in contact, and the locking structure 5 locks the sliding telescopic structure 7 and the frame structure 3. The sliding telescopic structure 7 and the frame structure 3 cannot move relative to each other, that is, the sliding telescopic structure 7 cannot retract relative to the frame structure 3. When the finger clamping body 2 is in the advancing state, the sliding telescopic structure 7 is in the gap state. At this time, there is a gap between the first intermediate block 32 and the second intermediate block 33, and the locking structure 5 does not lock the sliding telescopic structure 7 and the frame structure 3. The sliding telescopic structure 7 and the frame structure 3 can move relative to each other, that is, the sliding telescopic structure 7 can retract relative to the frame structure 3.

[0084] When the gripper body 2 is in the gripping state, the gripping surface 31 clamps the material. When the gripper body 2 is in the pushing state, the gripping surface 31 contacts the material (not clamping, but only slightly, so that the pushing structure 6 can smoothly push the material; or, the clamping force remains unchanged, i.e., still clamping, but the pushing force of the pushing structure 6 is greater than the static friction between the material and the gripping surface 31). At this time, the frame structure 3 moves forward under the guidance of the sliding telescopic structure 7, so that the forward direction of the pushing structure 6 is parallel to the guiding direction formed by the extension direction of the sliding telescopic structure 7. That is to say, the gripping surface can play a pushing and guiding role for the material's forward movement; that is, the gripping surface plays a clamping role when the gripper body 2 is in the gripping state and a guiding role when it is in the pushing state. In a variation, when the gripper body 2 is in the pushing state, the gripping surface 31 is completely released, i.e., the gripping surface 31 is not in contact with the material at all.

[0085] First, the different gripper bodies 2 hold the material, and then a portion of the material is placed into the receiving space 101. The gripper continues to move towards the receiving space 101. The originally extended sliding telescopic structure 7 will retract relative to the frame structure 3 due to the obstruction of the target component 100. At the same time, the pushing structure 6 pushes the material completely into the receiving space 101.

[0086] like Figure 10 As shown, the first intermediate block 32 and the second intermediate block 33 are connected by an elastic element 36. In a preferred embodiment, the elastic element 36 is a spring. A screw structure 38 is also provided between the first intermediate block 32 and the second intermediate block 33. The screw structure 38 includes a threaded portion, a smooth portion, and a head. The threaded portion is connected to the head through the smooth portion. The threaded portion is located inside the first intermediate block 32 or the second intermediate block 33, and the head is located inside the second intermediate block 33 or the first intermediate block 32. The elastic element 36 is fitted onto the smooth portion.

[0087] refer to Figures 12-15cAs shown, the locking structure 5 includes a first limiting protrusion 51 and a second limiting protrusion 52. The first limiting protrusion 51 is mounted on the frame structure 3, and the second limiting protrusion 52 is mounted on the first intermediate block 32. When the sliding telescopic structure 7 is in a compressed state, the first limiting protrusion 51 and the second limiting protrusion 52 abut against each other, and the first limiting protrusion 51 can prevent the sliding telescopic structure 7 from retracting relative to the frame structure 3. When the sliding telescopic structure 7 is in a gap state, the first limiting protrusion 51 and the second limiting protrusion 52 are not on the same straight line, and the first limiting protrusion 51 cannot prevent the sliding telescopic structure 7 from retracting relative to the frame structure 3.

[0088] Specifically, when the gripper fingers grasp the material, the sliding telescopic structure 7 will be compressed due to the force exerted by the material (see reference). Figure 14 and Figures 15a-15c This reduces the gap between the first intermediate block 32 and the second intermediate block 33, and adjusts the second limiting protrusion 52 to match the first limiting protrusion 51. Even if the locking structure 5 switches from the unlocked state to the locked state, the second limiting protrusion 52 abuts against the first limiting protrusion 51 to prevent the sliding telescopic structure 7 from retracting, and the sliding telescopic structure 7 is completely locked in the appropriate position.

[0089] The finger clamp body 2 also includes a constant force spring 4; one end of the constant force spring 4 is connected to the frame structure 3; the other end is connected to the sliding telescopic structure 7; the constant force spring 4 is used to provide a force to keep the sliding telescopic structure 7 extended.

[0090] In a preferred example, such as Figure 10 and Figure 11d As shown, the finger clamping body 2 also includes an extension limiting structure 41 and a retraction limiting structure 42. The extension limiting structure 41 and the retraction limiting structure 42 are used to limit the maximum extension range of the sliding telescopic structure 7. Specifically, the extension limiting structure 41 and the retraction limiting structure 42 are both limiting block structures. The inner side of the frame structure 3 is provided with a sliding groove that matches the extension limiting structure 41 and the retraction limiting structure 42. When the limiting block moves to the end of the limiting sliding groove, the limiting block is blocked by the end of the sliding groove, thus limiting the maximum extension range of the sliding telescopic structure 7.

[0091] The transmission device 1 can be a linkage structure or a gear and rack structure, etc., and the drive device can be a servo motor or a cylinder structure. Both the transmission device 1 and the drive device are specific structures that can be implemented by those skilled in the art using existing technology, and will not be described in detail here. In a preferred embodiment, the transmission device 1 can also be used as a replaceable module, employing a suitable adapter 8 and different structures to suit different usage environments.

[0092] In a preferred embodiment, both the clamping surface 31 and the propulsion structure 6 can be replaced according to the shape and size of different materials to adapt to various applications without redesigning the entire finger module. For example, the surface shape of the clamping surface 31 can match the surface shape of the object being clamped; the surface shape of the clamping surface 31 can be a flat surface or a surface with an elongated U-shaped groove, which can accommodate cylindrical or spherical materials. As another example... Figure 17 The diagram shows a comparison between a 12mm wide clamping surface and a 24mm wide clamping surface; the 24mm width allows for a larger gripping area. The clamping surface 31 is made of a rigid material (such as metal) or an elastic material (such as rubber).

[0093] The working process of this invention is as follows:

[0094] refer to Figures 6-8 , Figures 13a-13c as well as Figure 16 As shown, the sliding telescopic structure 7 first extends relative to the frame structure 3, and the material is clamped by the two clamping surfaces 31 of the clamping fingers. At this time, due to the clamping action, the sliding telescopic structure 7 is compressed to a compressed state, that is, the first limiting protrusion 51 and the second limiting protrusion 52 abut against each other. Therefore, the sliding telescopic structure 7 cannot retract relative to the frame structure 3. During this process, the clamping fingers firmly hold the material. Therefore, the function of the sliding telescopic structure 7 being unable to retract is crucial.

[0095] Then, the gripper fingers place a portion of the material into the receiving space 101. Subsequently, the gripper fingers reduce their gripping strength. At this time, due to the reduced gripping strength, the sliding telescopic structure 7, under the action of the elastic element 36, springs back to the gap state, as shown. Figures 13a-13c As shown, the first limiting protrusion 51 and the second limiting protrusion 52 are not on the same straight line, so the first limiting protrusion 51 cannot prevent the sliding telescopic structure 7 from retracting relative to the frame structure 3.

[0096] Then refer to Figure 16 As shown, the clamping finger moves toward the accommodating space 101. At this time, the frame structure 3 and the propulsion structure 6 move forward toward the accommodating space 101. The originally extended sliding telescopic structure 7 will retract relative to the frame structure 3 due to the obstruction of the target component 100. At the same time, the propulsion structure 6 pushes the material completely into the accommodating space 101.

[0097] Finally, when the clamping finger leaves the frame structure 3, the sliding telescopic structure 7 extends relative to the frame structure 3 under the action of the constant force spring 4.

[0098] Specifically, such as Figure 16 As shown, when an object is partially inserted, it is similar to... Figures 1-5Unlike the operation shown, the gripper finger does not need to be repositioned before further insertion. That is, the gripper finger can continue to move forward and complete the full insertion directly, without needing to reverse the movement and reposition itself to push the material.

[0099] More specifically, after partial insertion, when a firm grip is no longer needed, the gripper fingers can slightly open to reduce the grip strength, thus transitioning to a looser grip on the object. During this process, the elastic element 36 pushes the first intermediate block 32 away from the second intermediate block 33, switching the sliding telescopic structure 7 from a compressed state to a gapped state. After switching to the gapped state, the sliding telescopic structure 7 is allowed to retract. During retraction, the loosely gripped object is then fully inserted into the receiving space by the push-in structure 6.

[0100] Based on the friction and thrust between the gripper fingers and the material, this invention requires the gripper fingers to reduce their grip strength to create a loose grip before pushing the object using the propulsion structure 6 (to unlock the first limiting protrusion 51 and the second limiting protrusion 52). Although this operation may require additional time, it is clear that... Figures 1-5 Compared to the repositioning operation shown, the present invention takes much less time to transition from clamping to loosening.

[0101] The sliding telescopic structure 7 of the present invention can slide relative to the frame structure 3 and the propulsion structure 6, and the sliding telescopic structure 7 is tensioned by a constant force spring 4 on its side to ensure that it remains extended under normal conditions to effectively clamp the object. The propulsion structure 6, mounted on the frame structure 3, facilitates the propulsion of the object when the sliding telescopic structure 7 begins to retract.

[0102] This invention features flexibility; the sliding telescopic structure 7 retracts inward when blocked by the target component 100, allowing the propulsion structure 6 to continuously push the object outward until it is fully inserted into the receiving space 101 within the target component 100. This invention eliminates the need for repositioning, thereby improving the efficiency of the finger clamp in completing the insertion task.

[0103] The adaptive gripper fingers used for pushing material improve the efficiency of gripping and pushing material into the target position of the target component. This invention enables the effective and direct insertion of objects into the receiving space of the target component. The invention is simple to operate; the gripper fingers achieve complete insertion through a forward pushing operation, effectively eliminating the need for additional repositioning and readjustment operations caused by interference between the gripper fingers and the edge of the receiving space, as required in the prior art.

[0104] This invention improves operational efficiency. Its innovative structural design allows materials to be continuously pushed into the receiving space. This function eliminates the essential repositioning process required in existing material gripping and insertion devices, significantly improving the operational efficiency of fully inserting objects into the receiving space.

[0105] This invention employs a modular and adaptable design, allowing the finger clamp body 2 to be constructed as an independent module, compatible with different transmission devices 1 via appropriate adapters 8. This versatility enhances the design's practicality and application range.

[0106] Both the clamping surface 31 and the propulsion structure 6 of this invention can be replaced according to the shape and size of different materials. Through the replaceable design, the front dimensions of the clamping fingers and the geometry of the propulsion structure can be modified. This adaptability enables it to handle a wider range of applications and adapt to different object sizes, geometries, and insertion requirements.

[0107] In a variation example, such as Figure 19 and Figure 20 As shown, the present invention also has a material insertion depth adjustment function. In this case, the gripper finger further includes an insertion depth adjustment component, allowing the user to adjust the material insertion depth using this component. The insertion depth adjustment component includes an adjustment screw 81 and multiple adjustment screw holes 82. The adjustment screw holes 82 are evenly arranged on the second intermediate block 33 along its length. When adjusting the material insertion depth, the user first tightens the adjustment screw 81 into a matching adjustment screw hole 82 as needed. Then, during use, when the sliding telescopic structure 7 retracts relative to the frame structure 3, causing the propulsion structure 6 to push the material forward a specified distance, such as... Figure 20 As shown, the adjusting screw 81 will abut against the frame structure 3, preventing the sliding telescopic structure 7 from continuing to retract. At this time, the pushing process stops, thus realizing the function of pushing the material into the specified depth.

[0108] The present invention also provides a robot employing the aforementioned adaptive gripper fingers for pushing in materials.

[0109] The present invention also provides a clamping and pushing method, which uses the adaptive clamping fingers described above for pushing in materials to perform clamping and pushing actions.

[0110] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0111] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An adaptive gripper finger for pushing in material, characterized in that, It includes a transmission device (1) and a finger clamping body (2), wherein the number of finger clamping bodies (2) is greater than or equal to 2; The finger clamp body (2) includes a sliding telescopic structure (7) and a frame structure (3). The frame structure (3) is installed on the transmission device (1); the drive device drives different gripper bodies (2) to move closer and further away from each other through the transmission device (1) to respectively realize the gripping and release of materials; The sliding telescopic structure (7) is slidably connected to the frame structure (3); There is a clamping space (200) between different sliding telescopic structures (7), and the material is clamped in the clamping space (200); The finger clamping body (2) includes a clamping state and a pushing state; When in the advancing state, the sliding telescopic structure (7) retracts relative to the frame structure (3) and the target component (100); First, the material is held by different gripper bodies (2), and then a part of the material is placed into the receiving space (101). The gripper bodies (2) continue to move towards the receiving space (101). The originally extended sliding telescopic structure (7) will retract relative to the frame structure (3) and the target component (100) due to the obstruction of the target component (100). At least one of the said finger clamping bodies (2) includes a propulsion structure (6); the propulsion structure (6) is fastened to the frame structure (3); The propulsion structure (6) is used to push the material into the receiving space (101) in the propulsion state; When in the clamping state, the propulsion structure (6) is located outside the clamping space (200); when in the propulsion state, the sliding telescopic structure (7) retracts relative to the frame structure (3) and the target component (100), and the propulsion structure (6) advances relative to the sliding telescopic structure (7), thereby extending into the clamping space (200) to push the material; the propulsion state continues until the end (61) of the propulsion structure (6) is flush with, exceeds or does not reach the end (71) of the sliding telescopic structure (7); The finger clamp body (2) also includes a locking structure (5); The locking structure (5) is used to lock and unlock the sliding telescopic structure (7) and the frame structure (3); It also includes a push-in depth adjustment component, which allows users to adjust the push-in depth of the material. The sliding telescopic structure (7) includes a second intermediate block (33), and the push-in depth adjustment assembly includes an adjustment screw (81) and a plurality of adjustment screw holes (82); the adjustment screw holes (82) are arranged on the second intermediate block (33); The adjusting screw (81) can be matched with any adjusting screw hole (82), and the adjusting screw (81) is located above the frame structure (3); when the sliding telescopic structure (7) retracts a preset distance relative to the frame structure (3), the adjusting screw (81) can abut against the frame structure (3) to prevent the sliding telescopic structure (7) from continuing to retract.

2. The adaptive gripper finger for pushing material according to claim 1, characterized in that, A slider (39) is fastened to the frame structure (3); The sliding telescopic structure (7) includes a clamping surface (31), a first intermediate block (32), and a slide rail (34); The clamping surface (31) is connected to the first intermediate block (32), the second intermediate block (33) is connected to the slide rail (34), and the slide rail (34) and the slider (39) are matched with each other; The first intermediate block (32) and the second intermediate block (33) are connected by an elastic element (36); a screw structure (38) is also provided between the first intermediate block (32) and the second intermediate block (33), the screw structure (38) includes a threaded part, a smooth part and a head, the threaded part is connected to the head through the smooth part; The threaded portion is located inside the first intermediate block (32) or the second intermediate block (33), the head is located inside the second intermediate block (33) or the first intermediate block (32), and the elastic element (36) is fitted onto the smooth rod portion; The sliding telescopic structure (7) has a compressed state and a gap state; When the finger clamping body (2) is in the clamping state, the sliding telescopic structure (7) is in the compressed state. At this time, the first intermediate block (32) and the second intermediate block (33) are in contact, and the locking structure (5) locks the sliding telescopic structure (7) and the frame structure (3), so that the sliding telescopic structure (7) and the frame structure (3) cannot move relative to each other. When the finger clamping body (2) is in the pushing state, the sliding telescopic structure (7) is in the gap state. At this time, there is a gap between the first intermediate block (32) and the second intermediate block (33), and the locking structure (5) does not lock the sliding telescopic structure (7) and the frame structure (3). The sliding telescopic structure (7) and the frame structure (3) can move relative to each other. When the gripper body (2) is in a gripping state, the gripping surface (31) clamps the material; When the finger clamping body (2) is in the advancing state, the clamping surface (31) is in contact with the material. At this time, the frame structure (3) moves forward under the guidance of the sliding telescopic structure (7), so that the advancing direction of the advancing structure (6) is parallel to the guiding direction formed by the extension direction of the sliding telescopic structure (7); or when the finger clamping body (2) is in the advancing state, the clamping surface (31) is not in contact with the material.

3. The adaptive gripper finger for pushing material according to claim 2, characterized in that, The locking structure (5) includes a first limiting protrusion (51) and a second limiting protrusion (52). The first limiting protrusion (51) is installed on the frame structure (3), and the second limiting protrusion (52) is installed on the first intermediate block (32). When the sliding telescopic structure (7) is in a compressed state, the first limiting protrusion (51) abuts against the second limiting protrusion (52), and the first limiting protrusion (51) can prevent the sliding telescopic structure (7) from retracting relative to the frame structure (3). When the sliding telescopic structure (7) is in a gap state, the first limiting protrusion (51) and the second limiting protrusion (52) are not on the same straight line, and the first limiting protrusion (51) cannot prevent the sliding telescopic structure (7) from retracting relative to the frame structure (3).

4. The adaptive gripper finger for pushing material according to claim 1, characterized in that, The finger clamp body (2) also includes a constant force spring (4); One end of the constant force spring (4) is connected to the frame structure (3); the other end is connected to the sliding telescopic structure (7).

5. The adaptive gripper finger for pushing in material according to claim 2, characterized in that, The clamping surface (31) is fastened to the first intermediate block (32) by a shoulder screw (37), and the second intermediate block (33) is fastened to the slide rail (34) by a shoulder screw (37).

6. The adaptive gripper finger for pushing material according to claim 1, characterized in that, The clamping surface (31) is made of rubber material; The propulsion structure (6) is a fixed block structure, the fixed block has a protrusion, and the height of the protrusion is higher than the height of the frame structure (3).

7. A robot, characterized in that, The adaptive gripper finger for pushing in material is adopted as described in any one of claims 1-6.

8. A clamping and propulsion method, employing the robot described in claim 7.

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