Gripping finger, robot and gripping and pushing method integrated with gripping and pushing

Abstract

The present invention provides a clamping finger, a robot and a clamping and pushing method with integrated clamping and pushing. The clamping finger with integrated clamping and pushing comprises a clamping finger body; the number of the clamping finger bodies is greater than or equal to 2; the clamping finger body comprises a sliding telescopic structure, a frame structure, a locking structure and a pushing structure; the pushing structure is fastened to the frame structure, and the sliding telescopic structure is slidably connected to the frame structure; the locking structure is used to realize locking and unlocking between the sliding telescopic structure and the frame structure. The present invention integrates the sliding telescopic structure for realizing the clamping function and the pushing structure for realizing the pushing function into the clamping finger body, thereby improving the overall integration of the equipment, and the present invention can effectively and directly insert the material into the accommodating space of the target component, eliminating the necessary repositioning process and secondary insertion in the existing material clamping and material insertion equipment, thereby improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of machinery, and in particular to a clamping finger integrated with clamping and propulsion, a robot and a clamping and propulsion method. Background Art

[0002] Grasping an object and inserting it into the corresponding receiving space of the target component (such as the assembly space formed by a hole or slot) is a common task in industrial assembly and handling. Common examples include inserting a male terminal into a female socket, installing a hard disk module into a server chassis slot, and placing a battery into a device cavity.

[0003] Typically, these inserts must fit flush with the edge of the hole or be placed deep into the hole. The purpose is to facilitate subsequent operations, such as closing a cover on the hole or locking an object in place.

[0004] The current finger structures used for material gripping and material insertion and their working processes are as follows: Figure 1-5 As shown, first refer to Figure 1 , the object is grasped by the gripper finger structure, and then reference Figure 2 , use the robot arm to adjust the position of the finger structure, insert part of the object into the target hole until the end of the finger structure abuts against the frame and causes interference. Figure 3 and Figure 4 , the gripper fingers release the material and reposition it. Figure 5 The finger structure pushes the material forward for a second time to complete the task. The distal end of the robot arm is connected to the proximal end of the finger structure.

[0005] During this process, since the clamping finger structure needs to be repositioned before pushing the material, and the clamping fingers need to be moved again during the positioning process, and various sensors, cameras and other equipment need to cooperate with each other, the overall working process is relatively complicated and the work efficiency is low.

[0006] In addition, there is also a solution that uses a two-set clamping finger structure to achieve material clamping and pushing, that is, the two sets of clamping fingers are used to clamp materials and push materials in separately. However, the two sets of clamping fingers in this solution are independent of each other and work separately, so the equipment of this solution is relatively redundant and the integration is low. Summary of the invention

[0007] In view of the defects in the prior art, an object of the present invention is to provide a clamping finger, a robot and a clamping and pushing method integrating clamping and pushing.

[0008] A clamping and pushing integrated clamping finger provided according to the present invention comprises a clamping finger body, the number of the clamping finger bodies being greater than or equal to 2;

[0009] The clamp finger body comprises a sliding telescopic structure and a frame structure, and at least one of the clamp finger bodies comprises a propulsion structure;

[0010] The propulsion structure is fixedly mounted on the frame structure, and the sliding telescopic structure is slidably connected to the frame structure.

[0011] Preferably, there is a clamping space between different sliding and telescopic structures, and the material is clamped in the clamping space;

[0012] The clamping finger body includes a clamping state and a pushing state;

[0013] When in the clamping state, the propulsion structure is located outside the clamping space;

[0014] When in the advancing state, the sliding telescopic structure retracts relative to the frame structure, and the advancing structure advances relative to the sliding telescopic structure toward the clamping space, and then extends into the clamping space, thereby pushing the material.

[0015] Until the end of the propulsion structure is flush with, exceeds or fails to be flush with the end of the sliding and telescopic structure.

[0016] Preferably, it also includes a transmission device, and the frame structure is installed on the transmission device; the driving device drives different clamping finger bodies to move closer to and away from each other through the transmission device, thereby respectively clamping and releasing the material;

[0017] The finger clamp body also includes a locking structure;

[0018] The locking structure is used to achieve locking and unlocking between the sliding telescopic structure and the frame structure.

[0019] Preferably, a sliding block is fastened and mounted on the frame structure;

[0020] The sliding telescopic structure comprises a clamping surface, a first middle block, a second middle block and a slide rail;

[0021] The clamping surface is connected to the first middle block, the second middle block is connected to the slide rail, and the slide rail and the slider match each other;

[0022] The first middle block and the second middle block are connected by an elastic member; a screw structure is also provided between the first middle block and the second middle block, the screw structure comprises a threaded portion, a smooth rod portion and a head portion, the threaded portion is connected to the head portion through the smooth rod portion;

[0023] The threaded portion is located in the first middle block or the second middle block, the head portion is located in the second middle block or the first middle block, and the elastic member is sleeved on the smooth rod portion;

[0024] The sliding telescopic structure has a compression state and a clearance state;

[0025] When the clamping finger body is in a clamping state, the sliding telescopic structure is in a compressed state, at which time the first middle block contacts the second middle block, 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;

[0026] When the finger clamp body is in the advancing state, the sliding telescopic structure is in the gap state, at this time there is a gap between the first middle block and the second middle block, and the locking structure does not lock the sliding telescopic structure and the frame structure, and the sliding telescopic structure and the frame structure can move relative to each other;

[0027] When the main body of the clamping finger is in the clamping state, the clamping surface clamps the material;

[0028] When the clamping finger body is in the advancing state, the clamping surface contacts the material. At this time, the frame structure is pushed toward the clamping space under the guidance of the sliding telescopic structure, so that the advancing direction of the pushing structure is parallel to the guiding direction formed by the extension direction of the sliding telescopic structure; or when the clamping finger body is in the advancing state, the clamping surface 31 does not contact the material.

[0029] Preferably, the locking structure comprises a first limiting protrusion and a second limiting protrusion, the first limiting protrusion is mounted on the frame structure, and the second limiting protrusion is mounted on the first intermediate block;

[0030] 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;

[0031] When the sliding telescopic structure is in a gap state, the first limiting protrusion and the second limiting protrusion are not in the same straight line, and the first limiting protrusion cannot prevent the sliding telescopic structure from retracting relative to the frame structure.

[0032] Preferably, the finger clamp body further comprises a constant force spring;

[0033] One end of the constant force spring is connected to the frame structure; the other end is connected to the sliding telescopic structure.

[0034] Preferably, the clamping surface is fastened to the first middle block via shoulder screws, and the second middle block is fastened to the slide rail via shoulder screws;

[0035] The clamping surface is made of rubber material;

[0036] The propulsion structure 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.

[0037] A robot provided according to the present invention adopts the above-mentioned gripping and propulsion integrated gripper finger.

[0038] According to a clamping and pushing method provided by the present invention, the clamping and pushing actions are performed using the clamping fingers integrated with the clamping and pushing.

[0039] According to a clamping and pushing method provided by the present invention, the robot is used, and the robot performs the following steps:

[0040] S1, the clamping finger body clamps the material and moves to the opening of the accommodation space in the target component;

[0041] S2, the clamping finger body is pushed toward the clamping space, the sliding telescopic structure in the clamping finger body is retracted due to the obstruction of the target component, and the pushing structure pushes the material into the containing space;

[0042] S3. After the clamping finger body leaves the target component, the sliding telescopic structure extends again and resets.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. The present invention integrates the sliding telescopic structure for realizing the clamping function and the propulsion structure for realizing the propulsion function into the clamping finger body, thereby improving the overall integration of the equipment. In addition, the propulsion structure is designed to be able to move forward relative to the sliding telescopic structure, so that in the process of pushing the material, there is no need to set up a separate propulsion clamping finger, and the material can be pushed by using the originally required mechanical arm.

[0045] 2. The clamping surface of the present invention not only plays a clamping role when the clamping finger body is in the clamping state, but also plays a guiding role in the advancing state.

[0046] 3. The present invention can effectively and directly insert materials into the accommodation space of the target component, eliminating the necessary repositioning and secondary propulsion processes in existing material clamping and material insertion equipment, and significantly improving the operational efficiency of fully inserting objects into the accommodation space.

[0047] 4. The clamping surface and the propulsion structure of the present invention can be replaced according to the shape and size of different materials, so that the clamping fingers can adapt to materials of different sizes and dimensions, thereby improving the versatility of the clamping fingers.

[0048] 5. The present invention adopts a modular and adaptable design. The finger clamp body can be constructed as an independent module and is compatible with different types of transmission devices through appropriate adapters, thereby enhancing the practicality and application range of the design. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0050] Figure 1 It is a schematic diagram of the first step when the finger clamping structure in the prior art works;

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

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

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

[0054] Figure 5 It is a schematic diagram of the fifth step when the finger clamping structure in the prior art works;

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

[0056] Figure 7 It is a schematic diagram of the present invention when advancing materials;

[0057] Figure 8 It is a schematic diagram of the present invention when pushing the material into place;

[0058] Fig. 9 It is a schematic diagram of the three-dimensional structure of the present invention;

[0059] Fig.10 It is a structural schematic diagram of the sliding telescopic structure of the present invention when it is extended relative to the frame structure;

[0060] Fig.11a It is a structural schematic diagram of the sliding telescopic structure of the present invention when it is retracted relative to the frame structure;

[0061] Fig.11b It is a structural schematic diagram of the sliding telescopic structure of the present invention retracting to the limit position relative to the frame structure;

[0062] Fig.11c for Fig.11b A three-dimensional schematic diagram of

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

[0064] Fig.12 It is a structural schematic diagram of the sliding telescopic structure of the present invention in a gap state;

[0065] Fig.13a for Fig.12 The main view of

[0066] Fig.13b for Fig.13a Schematic diagram of the right side cross-section of the gap;

[0067] Fig.13c for Fig.13a A schematic diagram of a partial cross-sectional view of;

[0068] Fig.14 It is a structural schematic diagram of the sliding telescopic structure of the present invention when it is in a compressed state;

[0069] Fig.15a for Fig.14 The main view;

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

[0071] Fig.16 It is a schematic diagram of the working process of the present invention;

[0072] Fig.17 A schematic diagram showing a comparison of a clamping surface with a width of 12 mm and a clamping surface with a width of 24 mm provided by the present invention;

[0073] Fig.18 It is a schematic diagram of the clamping space embodied in the present invention;

[0074] Fig.19 It is a schematic diagram of the present invention having a push-in depth adjustment component;

[0075] Fig. 20 It is a schematic diagram of the present invention when it has the function of pushing in the depth adjustment component.

[0076] The figure shows:

[0077] DETAILED DESCRIPTION

[0078] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0079] The present invention provides a clamping finger integrated with clamping and pushing, such as Figure 6-18As shown, it includes a transmission device 1 and a clamping finger body 2; the number of the clamping finger bodies 2 is greater than or equal to 2; the clamping finger bodies 2 are installed on the transmission device 1; the driving device drives different clamping finger bodies 2 to move closer to or away from each other through the transmission device 1 to achieve clamping or release of the material. In a preferred example, the clamping finger body 2 is installed on the transmission device 1 through an adapter 8. The clamping includes clamping formed by different clamping finger bodies 2 applying pressure to the material, and also includes adsorption clamping generated by different clamping fingers applying adsorption force to the material.

[0080] The clamp finger body 2 includes a sliding telescopic structure 7, a frame structure 3, and a locking structure 5; at least one of the clamp finger bodies 2 includes a propulsion structure 6; the frame structure 3 is mounted on the transmission device 1, and the propulsion structure 6 is fastened to the frame structure 3. In a preferred example, Fig. 9 , Fig.10 and Figure 13a-Figure 13c As shown, the propulsion structure 6 is a fixed block structure, and the fixed block has a protrusion, and the height of the protrusion is higher than the height 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 realize the locking and unlocking between the sliding telescopic structure 7 and the frame structure 3.

[0081] like Fig.18 As shown, there is a clamping space 200 between different sliding and telescopic structures 7, and the material is clamped in the clamping space 200; the clamping finger body 2 includes a clamping state and a pushing state; Fig.16 As shown, when in the clamping state, the propulsion structure 6 is located outside the clamping space 200; when in the propulsion 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, and the propulsion structure 6 is pushed toward the clamping space 200 relative to the sliding telescopic structure 7, and then extends into the clamping space 200, thereby pushing the material into the accommodating space 101, until the end of the propulsion structure 6 is flush with, exceeds or does not reach the flush (preferably flush) with the end of the sliding telescopic structure 7. The accommodating space 101 is an assembly space formed by a hole or a groove.

[0082] like Figure 11a-Figure 11d As shown, a slider 39 is fixedly mounted on the frame structure 3; Fig.10 As shown, the sliding telescopic structure 7 includes a clamping surface 31, a first middle block 32, a second middle block 33 and a slide rail 34; the clamping surface 31 and the first middle block 32 are fastened together by a shoulder screw 37, and the second middle block 33 and the slide rail 34 are also fastened together by a shoulder screw 37, and the slide rail 34 and the slider 39 match each other; the first middle block 32 and the second middle block 33 are elastically connected.

[0083] The sliding telescopic structure 7 has a compression state and a gap state; when the clamping finger body 2 is in the clamping state, the sliding telescopic structure 7 is in the compression state, at this time the first middle block 32 is in contact with the second middle block 33, 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 be retracted relative to the frame structure 3; when the clamping finger 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 middle block 32 and the second middle 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 be retracted relative to the frame structure 3;

[0084] When the clamping finger body 2 is in the clamping state, the clamping surface 31 clamps the material; when the clamping finger body 2 is in the pushing state, the clamping surface 31 contacts the material (not clamping, but only slightly contacting, so that the pushing structure 6 can smoothly push the material; or, the clamping force remains unchanged, that is, it is still clamping, but the thrust of the pushing structure 6 is greater than the static friction between the material and the clamping surface 31). At this time, the frame structure 3 is pushed toward the clamping space 200 under the guidance of the sliding telescopic structure 7, so that the advancing direction of the pushing structure 6 is parallel to the guiding direction formed by the extension direction of the sliding telescopic structure 7. In other words, the clamping surface can play a role in promoting and guiding the advancement of the material; that is, the clamping surface plays a clamping role when the clamping finger body 2 is in the clamping state, and plays a guiding role in the pushing state. In a variation, when the clamping finger body 2 is in the pushing state, the clamping surface 31 is completely loosened, that is, the clamping surface 31 is completely out of contact with the material.

[0085] like Fig.10 As shown, the first middle block 32 and the second middle block 33 are connected by an elastic member 36. In a preferred example, the elastic member 36 is a spring. A screw structure 38 is also provided between the first middle block 32 and the second middle block 33. The screw structure 38 includes a threaded portion, a smooth rod portion, and a head portion. The threaded portion is connected to the head portion through the smooth rod portion. The threaded portion is located in the first middle block 32 or the second middle block 33, the head portion is located in the second middle block 33 or the first middle block 32, and the elastic member 36 is sleeved on the smooth rod portion.

[0086] refer to Figure 12-15cAs shown, the locking structure 5 includes a first limiting protrusion 51 and a second limiting protrusion 52, wherein 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 in 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;

[0087] Specifically, when the clamping fingers grasp the material, the sliding telescopic structure 7 will be compressed due to the force of the material (refer to Fig.14 and Figure 15a-Figure 15c ), thereby reducing the gap between the first middle block 32 and the second middle block 33, adjusting the second limiting protrusion 52 to match the first limiting protrusion 51, even if the locking structure 5 is switched from the unlocked state to the locked state, at this time 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.

[0088] The clamping finger 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 for the sliding telescopic structure 7 to keep extending.

[0089] In a preferred embodiment, Fig.10 and Fig.11d As shown, the finger clamp body 2 also includes an extension limit structure 41 and a retraction limit structure 42, and the extension limit structure 41 and the retraction limit structure 42 are used to limit the maximum extension range of the sliding telescopic structure 7. Specifically, the extension limit structure 41 and the retraction limit structure 42 are both limit block structures, and the inner side of the frame structure 3 is provided with a slide groove that matches the extension limit structure 41 and the retraction limit structure 42. When the limit block moves to the end of the limit slide groove, the limit block is blocked by the end of the slide groove, thereby realizing the limitation of the maximum extension range of the sliding telescopic structure 7.

[0090] The transmission device 1 can be a connecting rod structure or a gear rack structure, etc., and the driving device is a servo motor or a cylinder structure. The transmission device 1 and the driving device are specific structures that can be implemented by those skilled in the art in combination with the prior art, and are not described in detail here. In a preferred example, the transmission device 1 can also be used as a replaceable module, using a suitable adapter 8 and adopting different structures to be suitable for different use environments.

[0091] In a preferred embodiment, 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 clamped object. The surface shape of the clamping surface 31 can be a flat surface or a surface with a long U-shaped groove, and the long U-shaped groove can adapt to cylindrical or spherical materials. For another example, Fig.17 The schematic diagram of the comparison between the clamping surface with 12 mm width and the clamping surface with 24 mm width is shown, and the 24 mm size can complete the task of a larger gripping area. The clamping surface 31 is made of a rigid material (such as a metal material) or an elastic material (such as rubber).

[0092] The working process of the present invention is as follows:

[0093] refer to Figure 6-Figure 8 , Figure 13a-Figure 13c as well as Fig.16 As shown, first, the sliding telescopic structure 7 is extended 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 effect, the sliding telescopic structure 7 is compressed to a compressed state, that is, the first limit protrusion 51 and the second limit protrusion 52 are against each other, so the sliding telescopic structure 7 cannot be retracted relative to the frame structure 3; in this process, the clamping fingers firmly hold the material, so the function that the sliding telescopic structure 7 cannot be retracted is crucial.

[0094] Then, the clamping fingers put part of the material into the receiving space 101. Then, the clamping fingers reduce the clamping strength. At this time, due to the reduction of the clamping strength, the sliding telescopic structure 7 rebounds to the gap state under the action of the elastic member 36, such as Figure 13a-Figure 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.

[0095] Then refer to Fig.16 As shown, the clamping finger moves as a whole 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.

[0096] Finally, when the clamping fingers leave the frame structure 3 , the sliding telescopic structure 7 is extended relative to the frame structure 3 under the action of the constant force spring 4 .

[0097] Specifically, Fig.16 As shown, when the object is partially inserted, Figure 1-Figure 5Unlike the operation shown, the gripper fingers do not need to be repositioned for further insertion. That is, the gripper fingers can continue to move forward and directly complete full insertion without the need for reverse movement and repositioning in order to push the material.

[0098] More specifically, after partial insertion, when a firm grip is no longer needed, the gripping fingers can be slightly opened to reduce the gripping strength, thereby transitioning to a looser grip of the object; during this process, the elastic member 36 pushes the first middle block 32 away from the second middle block 33, switching the sliding telescopic structure 7 from a compressed state to a gap state. After switching to the gap state, the sliding telescopic structure 7 is allowed to retract. During the retraction process, the loosely gripped object is then fully inserted into the accommodating space by the pushing structure 6.

[0099] According to the friction between the clamping fingers and the material and the magnitude of the thrust, the clamping fingers need to reduce the clamping strength to form a loose clamping (to unlock the first limiting protrusion 51 and the second limiting protrusion 52) before the object is pushed by the propulsion structure 6. Although this operation may take extra time, it is obviously more convenient than Figure 1-Figure 5 Compared to the repositioning operation shown, the time-consuming transition from tight clamping to loose clamping of the present invention is much less.

[0100] 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 the constant force spring 4 on the side to ensure that it remains extended under normal conditions to effectively clamp the object. The propulsion structure 6 installed on the frame structure 3 facilitates the propulsion of the object when the sliding telescopic structure 7 begins to retract.

[0101] The present invention is flexible, that is, the sliding telescopic structure 7 will slide 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 in the target component 100. The present invention does not require repositioning, thereby improving the efficiency of the clamping finger in completing the insertion task.

[0102] The gripping and pushing integrated gripping fingers can improve the efficiency of gripping and pushing materials into the target position of the target component. The present invention can effectively and directly insert the object into the receiving space of the target component. The present invention is simple to operate, and the gripping fingers can be fully inserted by a forward push operation, effectively eliminating the need for additional repositioning and readjustment operations caused by interference between the gripping fingers and the edge of the receiving space in the prior art.

[0103] The invention improves the operation efficiency. The innovative structural design of the invention enables the material to be continuously pushed into the receiving space. This function eliminates the necessary repositioning process in the existing material clamping and material insertion equipment, and significantly improves the operation efficiency of fully inserting the object into the receiving space.

[0104] The present invention adopts a modular and adaptable design, and the clamp finger body 2 can be constructed as an independent module and is compatible with different transmission devices 1 through appropriate adapters 8. This versatility enhances the practicality and application range of the design.

[0105] The clamping surface 31 and the pushing structure 6 of the present invention can be replaced according to the shape and size of different materials. Through the replaceable design, the clamping fingers can modify their front dimensions and the geometry of the pushing structure. This adaptability enables it to handle a wider range of applications and adapt to different object sizes, geometries and insertion requirements.

[0106] In one variation, if Fig.19 and Fig. 20 As shown, the present invention also has a material pushing depth adjustment function. At this time, the clamping finger also includes a pushing depth adjustment component, and the user can adjust the pushing depth of the material through the pushing depth adjustment component; the pushing depth adjustment component includes an adjusting screw 81 and a plurality of adjusting screw holes 82; the adjusting screw holes 82 are evenly arranged on the second middle block 33 along the length direction of the second middle block 33. When the material pushing depth needs to be adjusted, the user first tightens the adjusting screw 81 into a matching adjusting screw hole 82 according to the needs, and then when in use, when the sliding telescopic structure 7 is retracted relative to the frame structure 3, so that the propulsion structure 6 pushes the material forward a specified distance, as shown in FIG. Fig. 20 As shown, the adjusting screw 81 will abut against the frame structure 3 to prevent the sliding telescopic structure 7 from continuing to retract. At this time, the pushing process stops, thus achieving the function of pushing the material into a specified depth.

[0107] The present invention also provides a robot which adopts the clamping finger integrated with clamping and propulsion.

[0108] The present invention also provides a clamping and pushing method, which uses the clamping and pushing integrated clamping fingers to perform clamping and pushing actions.

[0109] The present invention also provides a clamping and pushing method, using the robot, the robot performs the following steps:

[0110] S1, the clamping finger body 2 clamps the material and moves to the opening of the accommodation space 101 in the target component 100;

[0111] S2, the clamping finger body 2 is pushed toward the clamping space, the sliding telescopic structure 7 in the clamping finger body 2 is retracted due to the obstruction of the target component 100, and the pushing structure 6 pushes the material into the containing space 101;

[0112] S3. After the clamping finger body 2 leaves the target component 100, the sliding telescopic structure 7 is extended again and reset.

[0113] Specifically, in the step S1, the clamping finger body 2 is in a clamping state; and in the step S2, the clamping finger body 2 is in a propelling state. In a preferred example, there is no force control system in the clamping and propelling method, and in step S2, before the clamping finger body 2 is propelled forward, the clamping finger body 2 needs to be slightly stretched outward to loosen the material, and the stretching amplitude is manually set in advance according to the material and the assembly object. In another preferred example, there is a force control system in the clamping and propelling method, and in step S2, before the clamping finger body 2 is propelled forward, the force control system automatically and accurately controls the slight opening amplitude of the clamping finger body 2, and there is no need to manually set the opening amplitude in advance.

[0114] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0115] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A clamping finger integrated with clamping and pushing, characterized in that: It comprises a clamping finger body (2), the number of the clamping finger bodies (2) being greater than or equal to 2; The clamping finger body (2) comprises a sliding telescopic structure (7) and a frame structure (3), and at least one of the clamping finger bodies (2) comprises a propulsion structure (6); The propulsion structure (6) is fixedly mounted on the frame structure (3), and the sliding telescopic structure (7) is slidably connected to the frame structure (3).

2. The clamping and pushing integrated clamping finger according to claim 1, characterized in that: There is a clamping space (200) between the different sliding and telescopic structures (7), and the material is clamped in the clamping space (200); The clamping finger body (2) includes a clamping state and a pushing state; When in the clamping state, the propulsion structure (6) is located outside the clamping space (200); When in the advancing state, the sliding telescopic structure (7) retracts relative to the frame structure (3), and the advancing structure (6) advances relative to the sliding telescopic structure (7) toward the clamping space (200), and then extends into the clamping space (200), thereby pushing the material; Until the end (61) of the propulsion structure (6) is flush with, exceeds or does not reach flush with the end (71) of the sliding and telescopic structure (7).

3. The clamping and pushing integrated clamping finger according to claim 2, characterized in that: It also includes a transmission device (1), and the frame structure (3) is installed on the transmission device (1); the driving device drives different clamping finger bodies (2) to move closer to or farther from each other through the transmission device (1), thereby respectively clamping and releasing the material; The finger clamp body (2) also includes a locking structure (5); The locking structure (5) is used to achieve locking and unlocking between the sliding telescopic structure (7) and the frame structure (3).

4. The clamping and pushing integrated clamping finger according to claim 3, characterized in that: A sliding block (39) is fixedly mounted on the frame structure (3); The sliding telescopic structure (7) comprises a clamping surface (31), a first middle block (32), a second middle block (33) and a slide rail (34); The clamping surface (31) is connected to the first middle block (32), the second middle block (33) is connected to the slide rail (34), and the slide rail (34) and the slider (39) match each other; The first middle block (32) and the second middle block (33) are connected via an elastic member (36); a screw structure (38) is also provided between the first middle block (32) and the second middle block (33), the screw structure (38) comprising a threaded portion, a smooth rod portion and a head portion, the threaded portion being connected to the head portion via the smooth rod portion; The threaded portion is located in the first middle block (32) or the second middle block (33), the head portion is located in the second middle block (33) or the first middle block (32), and the elastic member (36) is sleeved on the smooth rod portion; The sliding telescopic structure (7) has a compression state and a clearance state; When the clamping finger body (2) is in a clamping state, the sliding telescopic structure (7) is in a compressed state, at which time the first middle block (32) and the second middle 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 clamp body (2) is in a pushed state, the sliding telescopic structure (7) is in a gap state, at which point there is a gap between the first middle block (32) and the second middle block (33), and the locking structure (5) does not lock the sliding telescopic structure (7) and the frame structure (3), so the sliding telescopic structure (7) and the frame structure (3) can move relative to each other; When the clamping finger body (2) is in a clamping state, the clamping surface (31) clamps the material; When the clamping finger body (2) is in a propelling state, the clamping surface (31) contacts the material, and at this time the frame structure (3) is propelled toward the clamping space (200) under the guidance of the sliding telescopic structure (7), so that the advancing direction of the propelling structure (6) is parallel to the guiding direction formed by the extending direction of the sliding telescopic structure (7); Or when the clamping finger body (2) is in the advancing state, the clamping surface (31) is not in contact with the material.

5. The clamping and pushing integrated clamping finger according to claim 4, characterized in that: The locking structure (5) comprises a first limiting protrusion (51) and a second limiting protrusion (52), wherein 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) 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 in 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).

6. The clamping and pushing integrated clamping finger 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).

7. The clamping and pushing integrated clamping finger according to claim 4, characterized in that: The clamping surface (31) is fastened to the first middle block (32) via a shoulder screw (37), and the second middle block (33) is fastened to the slide rail (34) via a shoulder screw (37); 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).

8. A robot, characterized in that: A clamping finger integrated with clamping and pushing as described in any one of claims 1 to 7 is used.

9. A clamping and pushing method, using the clamping and pushing integrated clamping finger according to any one of claims 1 to 7 to perform clamping and pushing actions.

10. A gripping and pushing method, using the robot of claim 8, wherein the robot performs the following steps: S1, the clamping finger body (2) clamps the material and moves to the opening of the receiving space (101) in the target component (100); S2, the clamping finger body (2) is pushed toward the clamping space, the sliding telescopic structure (7) in the clamping finger body (2) is retracted due to the obstruction of the target component (100), and the pushing structure (6) pushes the material into the containing space (101); S3. After the clamping finger body (2) leaves the target component (100), the sliding telescopic structure (7) is extended again and reset.

Images