Pinch fingers for pushing material, robot and method of gripping and pushing

Abstract

The application provides a kind of for pushing into material's pinch finger, robot and clamping and propelling method.The pinch finger for pushing into material includes transmission device, pinch finger body and front pushing device;The number of the pinch finger body is greater than or equal to 2;Drive device drives different pinch finger bodies to approach each other or move away through transmission device, respectively realizes the clamping, release of material;After the pinch finger body inserts part of material into accommodating space, the pinch finger body is separated or not separated from the material, and the front pushing device can propel the material.The application provides a direct and efficient pinch finger, which can accurately and directly insert the material into the accommodating space of the target component.By eliminating the necessary repositioning process in the existing material clamping and inserting equipment, the operation efficiency of completely inserting the object into the accommodating space is significantly improved.

Description

Technical Field

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

[0002] In industrial assembly and handling tasks, inserting one part into another is a common task; that is, 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). Common examples include inserting a male terminal block into a female socket, installing a hard drive module into a server chassis slot, and placing a battery into a device chamber.

[0003] The current gripper structures used for material picking and insertion, and their working process, are as follows: Figure 1-5 As shown, first refer to Figure 1 Grasp the object using the finger gripping structure, and then refer to... Figure 2 The robotic arm is used to adjust the position of the gripping finger structure, inserting a portion of the object into the target hole until the end of the gripping finger structure abuts against the target component, causing interference. Then, refer to... Figure 3 and Figure 4 Release the material with your fingers and reposition it. (Finally, 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.

[0004] During this process, the gripper structure needs to detach from the material and reposition itself before pushing it into the receiving space, and this repositioning takes a lot of time, resulting in a complicated, time-consuming, and inefficient overall process.

[0005] Therefore, how to design a finger clip that does not require repositioning and can shorten working time has become an urgent problem to be solved. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a gripper, robot, and gripping and pushing method for pushing materials.

[0007] According to the present invention, a gripper for pushing in materials includes a transmission device, a gripper body, and a forward pushing device; the number of the gripper bodies is greater than or equal to two.

[0008] The drive unit drives different gripper fingers to move closer and further apart through the transmission device, thereby achieving the gripping and release of materials respectively;

[0009] After the clamping finger body inserts part of the material into the receiving space, the material can be pushed forward by the forward pushing device, whether the clamping finger body is detached from the material or not.

[0010] Preferably, the pushing device is a telescopic rod structure. After the clamping finger body inserts the material part into the receiving space, the telescopic rod structure extends to push the material into the receiving space.

[0011] The telescopic rod structure is mounted on the transmission device.

[0012] Preferably, the forward pushing device is a fixed rod structure; the finger clamping body includes a sliding telescopic structure and a frame structure;

[0013] The fixed rod structure is mounted on the transmission device.

[0014] The finger clamp body includes a sliding telescopic structure and a frame structure; the sliding telescopic structure is slidably connected to the frame structure.

[0015] Preferably, the forward thrusting device is a propulsion structure;

[0016] The finger clamping body includes a sliding telescopic structure and a frame structure, and at least one of the finger clamping bodies includes a propulsion structure;

[0017] The propulsion structure is securely installed on the frame structure, and the sliding telescopic structure is slidably connected to the frame structure.

[0018] 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.

[0019] Preferably, there is a clamping space between the different sliding telescopic structures, and the material is clamped in the clamping space;

[0020] The finger clamping body includes a clamping state and a pushing state;

[0021] When in the clamping state, the pushing device is located outside the clamping space;

[0022] When in the advancing state, the sliding telescopic structure retracts relative to the frame structure, and the forward pushing device moves forward relative to the sliding telescopic structure, thereby extending into the clamping space and pushing the material.

[0023] Until the end of the forward-pushing device is flush with, exceeds or does not reach the end of the sliding telescopic structure.

[0024] Preferably, a slider is fastened to the frame structure;

[0025] The sliding telescopic structure includes a clamping surface, a first intermediate block, a second intermediate block, and a slide rail;

[0026] 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.

[0027] 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;

[0028] 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;

[0029] The sliding telescopic structure has both a compressed state and a gap state;

[0030] 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.

[0031] 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.

[0032] When the main body of the gripper is in a gripping state, the gripping surface clamps the material.

[0033] When the main body of the gripper is in the advancing state, the gripping surface may or may not be in contact with the material. At this time, the forward direction of the pushing device is parallel to the guiding direction formed by the extension direction of the sliding telescopic structure.

[0034] Preferably, the finger clamp body also includes a locking structure;

[0035] The locking structure is used to lock and unlock the sliding telescopic structure and the frame structure;

[0036] The locking structure includes a first limiting protrusion and a second limiting protrusion. The first limiting protrusion is installed on the frame structure, and the second limiting protrusion is installed on the first intermediate block.

[0037] 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.

[0038] 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.

[0039] Preferably, the finger clamp body also includes a constant force spring;

[0040] One end of the constant force spring is connected to the frame structure; the other end is connected to the sliding telescopic structure.

[0041] 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.

[0042] The clamping surface is made of rubber.

[0043] According to the present invention, a robot employs the aforementioned gripper fingers for pushing in materials.

[0044] According to a clamping and propulsion method provided by the present invention, the robot described above is used, and the robot performs the following steps:

[0045] S1, the clamping body holds the material and moves it to the opening of the receiving space in the target component;

[0046] S2. The gripper body moves towards the gripping space, and the forward pushing device pushes the material into the receiving space;

[0047] S3. After the main body of the clamping finger leaves the target component, the sliding telescopic structure extends and resets.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. This invention provides a direct and efficient gripper that can accurately and directly insert materials into the receiving space of a target component. By eliminating the repositioning process required in existing material gripping and insertion devices, it significantly improves the operational efficiency of fully inserting objects into the receiving space.

[0050] 2. 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.

[0051] 3. This invention adopts a modular and adaptable design. The finger clamp body 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

[0052] 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:

[0053] Figure 1 A schematic diagram of the first step when the existing finger clamping structure is in operation;

[0054] Figure 2 A schematic diagram of the second step when the finger clamping structure in the prior art is working;

[0055] Figure 3 A schematic diagram of the third step when the finger clamping structure is in operation in the prior art;

[0056] Figure 4 A schematic diagram of the fourth step when the finger clamping structure is in operation in the prior art;

[0057] Figure 5 A schematic diagram of the fifth step when the existing finger clamping structure is in operation;

[0058] Figure 6 This is a schematic diagram of the present invention when clamping materials;

[0059] Figure 7 This is a schematic diagram illustrating the material propulsion process of the present invention;

[0060] Figure 8 This is a schematic diagram of the material being pushed into place according to the present invention;

[0061] Figure 9 This is a three-dimensional structural diagram of the present invention;

[0062] Figure 10 This is a schematic diagram of the sliding telescopic structure of the present invention when it extends relative to the frame structure;

[0063] Figure 11a This is a schematic diagram of the sliding telescopic structure of the present invention when it retracts relative to the frame structure.

[0064] 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;

[0065] Figure 11c for Figure 11b A three-dimensional schematic diagram;

[0066] Figure 11d for Figure 11c A schematic diagram of a partial cross-section;

[0067] Figure 12 This is a schematic diagram of the sliding telescopic structure of the present invention in a gap state;

[0068] Figure 13a for Figure 12 The main view;

[0069] Figure 13b for Figure 13a A schematic diagram of the right-side sectional view of the gap;

[0070] Figure 13c for Figure 13a A schematic diagram of a partial sectional view;

[0071] Figure 14This is a schematic diagram of the sliding telescopic structure of the present invention in a compressed state;

[0072] Figure 15a for Figure 14 The main view;

[0073] 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;

[0074] Figure 15c for Figure 15a A schematic diagram of a partial sectional view;

[0075] Figure 16 This is a schematic diagram of the working process of the present invention;

[0076] 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;

[0077] Figure 18 This is a schematic diagram illustrating the clamping space of the present invention;

[0078] Figure 19 This is a schematic diagram of the present invention having an insertion depth adjustment component;

[0079] Figure 20 This is a schematic diagram of the present invention when the push-in depth adjustment component is in operation.

[0080] Figure 21 This is a schematic diagram of a variation of the fixed rod structure used in this invention;

[0081] Figure 22 This is a schematic diagram of a variation of the telescopic rod structure used in this invention.

[0082] Figure 23 This is a schematic diagram of another variation of the fixed rod structure used in this invention;

[0083] The diagram shows:

[0084]

[0085] Detailed Implementation

[0086] 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.

[0087] This invention provides a gripper for pushing in materials, including a transmission device 1, a gripper body 2, and a pushing device; the number of gripper bodies 2 is greater than or equal to 2; the driving device drives different gripper bodies 2 to move closer and further away from each other through the transmission device 1, so as to realize the gripping and releasing of materials respectively; after the gripper body 2 inserts part of the material into the receiving space, whether the gripper body 2 is detached from the material or not, the pushing device can push the material into the receiving space 101.

[0088] In a preferred embodiment, the forward thrusting device is a propulsion structure 6; such as Figure 6-18 As shown, the gripper body 2 is directly mounted on the transmission device 1 or 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 formed by different gripper fingers applying adsorption force to the material.

[0089] The finger-gripping body 2 includes a sliding telescopic structure 7, a frame structure 3, and a locking structure 5; at least one of the finger-gripping bodies 2 includes a pushing structure 6; the frame structure 3 is mounted on the transmission device 1, and the pushing structure 6 is securely mounted on the frame structure 3. 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.

[0090] 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, and the pushing structure 6 pushes relative to the sliding telescopic structure 7 toward the clamping space, 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.

[0091] like Figures 11a-11d As shown, a slider 39 is fastened to the frame structure 3; as Figure 10As 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.

[0092] 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.

[0093] 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 is pushed towards the gripping space under the guidance of the sliding telescopic structure 7, so that the pushing 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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).

[0101] The working process of this invention is as follows:

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] The gripping 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 gripping fingers achieve complete insertion through a forward pushing 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, as required in the prior art.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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 via 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.

[0116] In one variation, the gripper finger used for pushing in the material, such as Figure 21 and Figure 23 As shown, the forward-pushing device is not a propulsion structure 6, but a fixed rod structure 400; the fixed rod structure 400 is mounted on the transmission device 1. In this variation, the remaining parts of the finger clamp, their interconnections, and the working principle are the same as in the preferred example where the forward-pushing device is a propulsion structure 6. Specifically, the transmission device 1 can have different forms, such as... Figure 21 As shown, the transmission device 1, when driving different gripper bodies 2 to move closer and further apart, has a linkage structure that not only moves left and right but also forward and backward. It can also be like... Figure 23 As shown, this is a sliding structure that only moves left and right when driving different gripper fingers 2 to move closer and further apart. The sliding structure can use a slider 500 to achieve left and right sliding. In this embodiment, it is not necessary to change the height of the fixed rod structure 400 to achieve the propulsion of materials of different sizes. In another variation, the gripper fingers used to push the material are as follows... Figure 22As shown, the pushing device is a telescopic rod structure 300. After the material is partially inserted into the receiving space by the gripper body 2, the telescopic rod structure 300 extends to push the material into the receiving space. The telescopic rod structure 300 is mounted on the transmission device 1. In this variation, the gripper body 2 can be a gripper from the prior art (its specific structure will not be described here), or it can be the same as the gripper body 2 in the previous variation. The present invention also provides a robot that uses the aforementioned gripper for pushing in materials.

[0117] The present invention also provides a clamping and propulsion method, using the aforementioned robot, wherein the robot performs the following steps:

[0118] S1, the gripper body 2 grips the material and moves it to the opening of the receiving space 101 in the target component 100;

[0119] S2. The forward pushing device pushes the material into the receiving space 101.

[0120] 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.

[0121] 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. A gripper finger for pushing in materials, characterized in that, include The device includes a transmission device (1), a finger clamping body (2), and a forward pushing device; the number of the finger clamping bodies (2) is greater than or equal to 2. The drive device drives different gripper bodies (2) to move closer and further apart through the transmission device (1) to clamp and release the material respectively; After the material is partially inserted into the receiving space by the gripper body (2), the gripper body (2) may or may not detach from the material, and the forward pushing device can push the material forward. The finger clamp body (2) includes a sliding telescopic structure (7) and a frame structure (3), wherein the sliding telescopic structure (7) and the frame structure (3) are slidably connected; 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), a second intermediate block (33), 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 gripper body (2) is in the advancing state, the gripping surface (31) is in contact with the material or not in contact with the material. At this time, the forward direction of the pushing device is parallel to the guiding direction formed by the extension direction of the sliding telescopic structure (7).

2. The clamping finger for pushing material according to claim 1, characterized in that, The forward pushing device is a telescopic rod structure (300). After the material part is inserted into the receiving space by the finger clamping body (2), the telescopic rod structure (300) extends and pushes the material into the receiving space. The telescopic rod structure (300) is mounted on the transmission device (1).

3. The clamping finger for pushing material according to claim 1, characterized in that, The forward pushing device is a fixed rod structure (400); the finger clamping body (2) includes a sliding telescopic structure (7) and a frame structure (3); The fixed rod structure (400) is installed on the transmission device (1).

4. The clamping finger for pushing material according to claim 1, characterized in that, The forward thrusting device is a propulsion structure (6). The finger clamping body (2) includes a sliding telescopic structure (7) and a frame structure (3), and at least one of the finger clamping bodies (2) includes a propulsion structure (6); The propulsion structure (6) is fastened to the frame structure (3), and the sliding telescopic structure (7) is slidably connected to the frame structure (3); 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).

5. The gripper finger for pushing in material according to claim 3 or 4, characterized in that, 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 clamping state, the pusher 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 forward pushing device moves forward relative to the sliding telescopic structure (7), thereby extending into the clamping space (200) to push the material. Until the end (61) of the forward pusher is flush with, exceeds or does not reach the end (71) of the sliding telescopic structure (7).

6. The clamping finger for pushing material according to claim 1, characterized in that, 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); 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).

7. The clamping 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); 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); The clamping surface (31) is made of rubber material.

8. A robot, characterized in that, The clamping fingers used for pushing in material are adopted as described in any one of claims 1-7.

9. A clamping and propulsion method, employing the robot of claim 8, wherein the robot performs the following steps: S1, the gripper body (2) grips the material and moves it to the opening of the receiving space (101) in the target component (100); S2, the gripper body (2) moves towards the gripping space, and the forward pushing device pushes the material into the accommodating space (101); S3. After the main body (2) of the finger clamp leaves the target component (100), the sliding telescopic structure (7) extends and resets.

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