Finger Robot

Abstract

The present application relates to the field of elevator maintenance equipment, and discloses a finger robot, including: a mobile base, which is provided with tracks inside to control the movement of the entire device; a fixing mechanism, which is arranged on both sides of the mobile base, and is used to fix the position of the robot after the position is determined; a lifting mechanism, which is arranged on the top of the mobile base, and is used to lift and lower the height of the object; an extended clamping mechanism, which is arranged on both sides of the lifting mechanism, and is used to force the elevator door to open when the elevator door switch is abnormal; a simulation manipulator, which is arranged on the top of the lifting mechanism, and is used to simulate human fingers interacting with elevator buttons. Through the coordinated cooperation of the fixing mechanism and the shock absorbing mechanism, the equipment can also have shock absorbing protection capabilities when it is suspended and fixed. It ensures the stability of the equipment in a high-vibration environment. Compared with the single fixing method in the prior art, it reduces the impact of external shocks on the equipment, and effectively improves the applicability and reliability of the equipment.

Description

Technical Field

[0001] The invention relates to the technical field of elevator maintenance equipment, in particular to a finger robot. Background Art

[0002] In recent years, with the continuous development of elevator maintenance technology, intelligent equipment has gradually been applied to elevator maintenance operations, among which finger robots have gradually entered this field with their sophisticated structure and flexible operation. Existing finger robots are mostly used for tasks such as button operation, door opening and closing assistance, and parts handling in some maintenance processes. Some equipment uses pneumatic or electric drive to achieve multi-directional movement of the manipulator, and combines cameras or sensors for precise positioning. These technologies have improved the automation level of maintenance to a certain extent, while reducing the danger of manual participation, providing better support for elevator maintenance operations. However, these technical solutions focus more on the realization of a single function, and their designs usually tend to be targeted at specific maintenance tasks, lacking comprehensiveness and versatility.

[0003] Although the existing technology has played an important role in the field of elevator maintenance, there is still some obvious room for improvement. First, the existing finger robots often need to rely on independent driving of multiple modules when performing multiple tasks, resulting in a complex overall structure and bulky size, which is not conducive to flexible application in narrow elevator shafts. Secondly, since the functional modules operate independently, these devices are usually unable to achieve multi-functional collaborative work. When faced with high-rise elevators or special fault scenarios, it is difficult to quickly adapt to a variety of operational needs. In addition, the equipment lacks systematic shock absorption and stability design during use, and is prone to positioning deviations or poor adsorption in complex or high-vibration environments, affecting the safety and efficiency of operations. Therefore, there is an urgent need for a finger robot with a compact structure, diverse functions, strong collaborative capabilities and higher adaptability to solve the deficiencies in the existing technology and improve the intelligence level and practicality of elevator maintenance operations. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a finger robot, which solves the problem that the existing finger robots cannot efficiently perform multi-scenario operations in elevator maintenance due to their large size, single function and poor adaptability.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a finger robot, comprising:

[0006] A mobile base, with tracks arranged inside, for controlling the movement of the whole device;

[0007] A fixing mechanism, which is arranged on both sides of the mobile base and is used to fix the position of the robot after the position is determined;

[0008] A lifting mechanism, which is arranged on the top of the mobile base and is used to lift and lower the height of the object;

[0009] An extended clamping mechanism is arranged on both sides of the lifting mechanism and is used to force the elevator door to open when the door is abnormally opened;

[0010] A simulated manipulator, which is set on the top of the lifting mechanism and is used to simulate human fingers interacting with elevator buttons;

[0011] A shock absorbing mechanism, which is arranged inside the fixing mechanism and is used to reduce the shock of the robot after it is fixed in position;

[0012] A PLC module is arranged inside the mobile base and is used to receive remote operation instructions from the elevator maintenance personnel to perform operations;

[0013] The fixing mechanism includes a protective shell, which is arranged on both sides of the mobile base. A gas tank is installed inside the protective shell, and the gas tank has an air pump inside. An output pipe is fixedly connected to the output end of the air pump inside the gas tank. There are multiple output pipes. A cylinder is arranged at the top end of the output pipe away from the gas tank, and the cylinder is arranged inside the protective shell. A support column is arranged at the bottom end of the output pipe away from the gas tank.

[0014] Preferably, a vacuum suction cup is fixed to the bottom of the support column, a top plate is fixed to the output end of the cylinder, a bottom plate is fixed to the top of the support column, and the top plate is displaced synchronously with the top plate through a shock absorbing mechanism.

[0015] Preferably, the shock absorbing mechanism includes a docking plate, which is symmetrically distributed up and down, with the top docking plate fixed to the bottom of the top plate and the bottom docking plate fixed to the top of the bottom plate. Docking columns are fixed on one side of the docking plate, a fixing frame is provided between the docking columns, and a damper is provided between the docking columns for the first shock absorption.

[0016] Preferably, the docking plate is provided with a docking column, one side of which is connected to a connecting rod three through a rotating shaft, a slider rotates between the connecting rods three, a fixed frame two is fixed on both sides of the fixed frame one, the slider slides inside the fixed frame two, and a damper two is provided on one side of the slider for secondary shock absorption.

[0017] Preferably, the lifting mechanism includes a driving base, which is arranged on the top of the mobile base, the driving base output source is fixedly connected to a rotating column, a connecting rod 1 is fixed to the outer wall of the rotating column, and an anti-collision base is arranged at the bottom of the connecting rod 1, which is used to prevent the connecting rod 1 from rotating too far and causing mechanical damage.

[0018] Preferably, the first end of the connecting rod is rotatably provided with a second connecting rod, the second end of the connecting rod is rotatably provided with a connecting seat away from the first end of the connecting rod, a support plate is arranged on the top of the connecting seat, and the support plate is arranged at the bottom of the simulated manipulator.

[0019] Preferably, the extension clamping mechanism comprises a threaded column fixed at both ends of the rotating column, and the outer wall of the threaded column is threadedly connected to a connecting frame, which is used to provide physical support for the elevator door.

[0020] Preferably, the extension clamping mechanism further comprises an electric push rod, the electric push rod is arranged inside the rotating column, an extension column is fixed to the output end of the electric push rod, and a clamping column is fixed inside the extension column.

[0021] Preferably, a spring is sleeved on the outer wall of the clamping column, one end of the spring is fixed inside the extension column, and a clamping block is fixed on the other end of the spring, and the clamping block is slidably connected inside the extension column.

[0022] Preferably, the PLC module comprises:

[0023] The CPU unit is used to execute control programs, process logical operations, data calculations, and task scheduling;

[0024] An input unit, which is used to receive signals from external devices and transmit them to the CPU;

[0025] An output unit, which is used to control the device body to perform actions;

[0026] A power supply unit, which is used to supply power to the PLC and its modules;

[0027] A storage unit for storing control programs, operating data and log records;

[0028] The communication unit is used to realize data exchange between the PLC and remote devices or other systems.

[0029] The present invention provides a finger robot having the following beneficial effects:

[0030] 1. The present invention uses the coordination of the fixing mechanism and the shock absorbing mechanism to enable the device to have shock absorbing protection capabilities when it is suspended and fixed. This design ensures the stability of the device in a high-vibration environment. Compared with the single fixing method in the prior art, it reduces the impact of external shocks on the device and effectively improves the applicability and reliability of the device.

[0031] 2. The present invention realizes the adaptation of the equipment to the high-floor elevator buttons in the hidden lifting state through the linkage design of the lifting mechanism and the extended clamping mechanism. At the same time, in abnormal circumstances, the elevator door can be forcibly opened by the physical force of mechanical clamping. Compared with the design of the prior art for a single operation scene, this solution expands the operation capacity of the equipment, solves the limitation of the prior art that it cannot meet both routine and abnormal maintenance needs at the same time, and improves the functional diversity of the equipment.

[0032] 3. The present invention adopts a single air source drive solution for the fixed mechanism, and a shared drive source design for the lifting mechanism and the extension clamping mechanism, which successfully reduces the number of drive components. Compared with the existing technology where each module is driven independently, resulting in a complex equipment structure and a large volume, this solution optimizes the internal space while controlling the overall volume, avoiding the equipment from appearing bloated, and thus more conveniently adapting to the narrow environment in the elevator maintenance scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A perspective view of the present invention;

[0034] Figure 2 It is a cross-sectional view of the lifting mechanism of the present invention;

[0035] Figure 3 An exploded view of the internal structure of the mobile base of the present invention;

[0036] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0037] Figure 5 It is a structural distribution diagram of the connection between the lifting mechanism and the extension clamping mechanism of the present invention;

[0038] Figure 6 It is a schematic diagram of the fixing mechanism of the present invention;

[0039] Figure 7 It is a schematic diagram of the shock absorbing mechanism of the present invention;

[0040] Figure 8 It is a schematic diagram of the PLC module of the present invention.

[0041] Among them, 1. Mobile base; 2. Fixing mechanism; 3. Lifting mechanism; 4. Extension clamping mechanism; 5. Simulation manipulator; 6. Shock absorption mechanism; 21. Protective shell; 22. Gas tank; 23. Output pipe; 24. Support column; 25. Vacuum suction cup; 26. Cylinder; 27. Top plate; 28. Bottom plate; 31. Driving base; 32. Connecting rod one; 33. Connecting rod two; 34. Connecting seat; 35. Support plate; 36. Anti-collision base; 37. Rotating column; 41. Threaded column; 42. Electric push rod; 43. Card column; 44. Spring; 45. Card block; 46. Connecting frame; 47. Extension column; 61. Docking plate; 62. Docking column; 63. Connecting rod three; 64. Fixed frame one; 65. Fixed frame two; 66. Slider; 67. Damper one; 68. Damper two. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Please see attached Figure 1 and attached Figure 6 , an embodiment of the present invention provides a finger robot, comprising:

[0044] A mobile base 1, which is provided with tracks inside to control the movement of the entire device;

[0045] The fixing mechanism 2 is arranged on both sides of the mobile base 1 and is used to fix the position of the robot after the position is determined;

[0046] A lifting mechanism 3, which is arranged on the top of the mobile base 1 and is used to lift the height of the object;

[0047] An extended clamping mechanism 4 is arranged on both sides of the lifting mechanism 3 and is used to force the elevator door to open when the door is abnormally opened;

[0048] A simulation manipulator 5, which is arranged on the top of the lifting mechanism 3 and is used to simulate human fingers interacting with elevator buttons;

[0049] A shock absorbing mechanism 6, which is arranged inside the fixing mechanism 2 and is used to reduce the shock of the robot after it is in a fixed position;

[0050] A PLC module, which is arranged inside the mobile base 1 and is used to receive remote operation instructions from the elevator maintenance personnel to perform operations;

[0051] The fixing mechanism 2 includes a protective shell 21, which is arranged on both sides of the mobile base 1. A gas tank 22 is installed inside the protective shell 21. The gas tank 22 has an air pump inside. The output end of the air pump inside the gas tank 22 is fixedly connected to an output pipe 23. There are multiple output pipes 23. A cylinder 26 is arranged at the end of the top output pipe 23 away from the gas tank 22. The cylinder 26 is arranged inside the protective shell 21. A support column 24 is arranged at the end of the bottom output pipe 23 away from the gas tank 22. A vacuum suction cup 25 is fixed at the bottom of the support column 24. A top plate 27 is fixed at the output end of the cylinder 26. A bottom plate 28 is fixed on the top of the support column 24. The top plate 27 moves synchronously with the top plate 27 through the shock absorbing mechanism 6.

[0052] Specifically, after the air pump inside the driving air tank 22 is started, the air tank 22 and the output pipe 23 begin to be linked, thereby precisely controlling the airflow and driving the air cylinder 26 to start working. The operation of the air cylinder 26 ensures the normal push and pull operation of the top plate 27. During the push and pull process of the top plate 27, due to the linkage design of its structure with the bottom plate 28, the bottom plate 28 will also be displaced synchronously with the assistance of the shock absorbing mechanism 6. The stability and reliability of the operation of the equipment are further improved.

[0053] And with the synchronous displacement of the bottom plate 28, the support column 24 is squeezed and begins to slide. At this stage, the sliding of the support column 24 drives the fitting process of the vacuum suction cup 25 and the elevator floor. Because the vacuum suction cup 25 is made of flexible material, a sealed space will be generated when it fits with the ground. In this way, the gas tank 22 drives the air pump to extract gas from the output pipe 23 of the other port, and a negative pressure environment can be formed inside the sealed space where the vacuum suction cup 25 fits with the ground. Through this negative pressure process, the vacuum suction cup 25 and the elevator floor are close to a completely vacuum state. The formation of this vacuum state enables the vacuum suction cup 25 to firmly adsorb the equipment at a fixed position on the elevator floor.

[0054] Please see attached Figure 7 The shock absorbing mechanism 6 includes a docking plate 61, which is symmetrically distributed up and down. The top docking plate 61 is fixed to the bottom of the top plate 27, and the bottom docking plate 61 is fixed to the top of the bottom plate 28. A docking column 62 is fixed on one side of the docking plate 61, a fixing frame 64 is arranged between the docking columns 62, and a damper 67 is arranged between the docking columns 62, which is used for the first shock absorption. The docking plate 61 is provided with a docking column 62. One side is connected to a connecting rod 3 63 through a rotating shaft, and a slider 66 is rotated between the connecting rod 3 63. A fixing frame 2 65 is fixed on both sides of the fixing frame 1 64. The slider 66 slides inside the fixing frame 2 65, and a damper 2 68 is arranged on one side of the slider 66, which is used for the second shock absorption.

[0055] Specifically, during the elevator test, if an abnormal problem or emergency occurs, such as an impact force generated by the equipment, the shock wave will first pass through the position of the bottom plate 28 and quickly transfer the force to the position of the docking plate 61. Due to the effect of the shock wave, the distance between the docking plates 61 on both sides will be reduced to a certain extent. In this process, the damper 67 will first receive the compression force from the docking plate 61 and start working. The impact force will be decomposed and buffered for the first time through its internal shock-absorbing structure to ensure that the effect of the force is effectively weakened and reduce the severe vibration of the equipment caused by the impact. At the same time, this shock-absorbing process can significantly reduce the excessive instantaneous load on the bottom plate 28 and other structural components, thereby protecting the mechanical stability of the entire equipment.

[0056] When the docking plate 61 is further compressed and the spacing between the docking columns 62 continues to decrease, the connecting rod three 63 will also produce a certain degree of angular deviation due to the linkage of the connecting mechanism. This change in angle will gradually apply force to the slider 66 through mechanical transmission. Under the action of the bearing force, the slider 66 will further effectively transfer the force to the damper two 68. At this time, the damper two 68 begins to enter the working state and performs a second shock absorption on the impact force. Through this level of force decomposition and absorption, the impact force on the equipment is not only further weakened, but also through the multi-level buffering design of the damper two 68, the strength of the force when it is transmitted to the key components of the equipment is reduced, thereby effectively ensuring the safety of the equipment and the stability of the test.

[0057] Please see attached Figure 2 and attached Figure 4 The lifting mechanism 3 includes a driving base 31, which is arranged on the top of the mobile base 1. The output source of the driving base 31 is fixedly connected to a rotating column 37. A connecting rod 1 32 is fixed to the outer wall of the rotating column 37. An anti-collision base 36 is arranged at the bottom of the connecting rod 1 32, which is used to prevent the connecting rod 1 32 from rotating too far and causing mechanical damage. A connecting rod 2 33 is rotated at one end of the connecting rod 1 32, and a connecting seat 34 is rotated at one end of the connecting rod 2 33 away from the connecting rod 1 32. A support plate 35 is arranged on the top of the connecting seat 34, and the support plate 35 is arranged at the bottom of the simulation manipulator 5;

[0058] Specifically, due to the environmental factors of the elevator, the simulation manipulator 5 must be compact and adaptable, so as not to occupy too much volume and affect the normal operation of other equipment. However, when facing a high-rise elevator with a large number of floors, the extension distance of the manipulator may be limited, making it difficult to meet the adaptation requirements, such as the situation of being unable to reach. To solve this problem, when it is necessary to increase the working range of the simulation manipulator 5, we can drive the base 31 to drive the rotating column 37 to start rotating. As the rotating column 37 rotates, the connecting rod 1 32 rotates synchronously with the rotating column 37 as the center, forming a surrounding smooth motion trajectory.

[0059] During the continuous rotation of the rotating column 37, the connecting rod 1 32 further drives the inclination angle of the connecting rod 2 33 to change due to its linkage structure. The inclination adjustment of the connecting rod 2 33 directly pushes the connecting seat 34 through the transmission of force. The connecting seat 34 then applies a force to the support plate 35, causing it to rise or fall accordingly, thereby achieving precise adjustment of the overall height of the simulated manipulator 5. Through this height adjustment mechanism, the simulated manipulator 5 can adapt to the working environment of elevators with different numbers of floors, ensuring that it can also efficiently perform operating tasks in high-rise elevators. Especially when high-rise elevators require a larger extension range, this adjustment function can respond flexibly, thereby expanding the scope of application of the equipment.

[0060] Please see attached Figure 2 , Attachment Figure 3 and attached Figure 5 The extension clamping mechanism 4 includes a threaded column 41, which is fixed at both ends of the rotating column 37. The outer wall of the threaded column 41 is threadedly connected with a connecting frame 46, which is used to physically support the elevator door. The extension clamping mechanism 4 also includes an electric push rod 42, which is arranged inside the rotating column 37. An extension column 47 is fixed to the output end of the electric push rod 42, and a clamping column 43 is fixed inside the extension column 47. A spring 44 is sleeved on the outer wall of the clamping column 43, one end of the spring 44 is fixed inside the extension column 47, and a clamping block 45 is fixed at the other end of the spring 44. The clamping block 45 is slidably connected inside the extension column 47;

[0061] Specifically, the extension clamping mechanism 4 can switch into two different working states through the state of the card block 45 to adapt to the operation requirements of the elevator door under abnormal conditions. When the elevator is abnormal, for example, the elevator door button cannot be operated, we can push the electric push rod 42 to make the extension column 47 slide. In this process, the card block 45 is forced to be pressed into the extension column 47 under the action of the thrust by virtue of its inclined surface design. At the same time, the card block 45 causes the spring 44 to begin to accumulate elastic potential energy due to the extrusion. At this time, the card block 45 can smoothly detach from the innermost annular groove, and the further sliding of the extension column 47 drives the card block 45 to move to the single-hole groove ring position on the outer edge. Due to the continuous pushing and rotation of the extension column 47, the card block 45 can eventually be stuck in the single-hole groove at a certain appropriate position to complete precise positioning.

[0062] At this time, the spring 44 releases the elastic potential energy previously accumulated, and quickly pushes the block 45 to complete the engagement action, thereby locking the linkage relationship between the extension column 47 and the threaded column 41. In this state, the rotating column 37 drives the electric push rod 42 to rotate synchronously, and through the linkage action of the extension column 47, the block 45 and the threaded column 41 form a reliable synchronous transmission connection. The rotation of the threaded column 41 further drives the connecting frame 46 to expand to both sides along its threaded structure. In this process, the lateral expansion of the connecting frame 46 can stably support the elevator door, providing a safe and spacious operating environment for elevator maintenance personnel.

[0063] When the maintenance is completed and the elevator door does not need to be supported anymore, the extension column 47 can be further pushed by the electric push rod 42. The block 45 is squeezed into the interior of the extension column 47 again due to the inclined surface design, and as the extension column 47 slides in the opposite direction, the block 45 is guided to the annular groove position. At this stage, the spring 44 provides auxiliary force again to ensure that the block 45 can be smoothly reset and re-engaged in the annular groove to complete the state switching. At this time, the synchronous relationship between the threaded column 41 and the rotating column 37 is cut off, and the connecting frame 46 also returns to its original position, and the entire extension clamping mechanism 4 enters the non-working state.

[0064] Please see attached Figure 8 , PLC modules include:

[0065] The CPU unit is used to execute control programs, process logical operations, data calculations, and task scheduling;

[0066] An input unit, which is used to receive signals from external devices and transmit them to the CPU;

[0067] An output unit, which is used to control the device body to perform actions;

[0068] A power supply unit, which is used to supply power to the PLC and its modules;

[0069] A storage unit for storing control programs, operating data and log records;

[0070] The communication unit is used to realize data exchange between the PLC and remote devices or other systems.

[0071] Specifically, when the elevator maintenance worker sends a remote command, the communication unit receives the command and passes it to the CPU, which operates according to the logic program instructions. The input unit collects sensor signals and feeds them back to the CPU. After calculation, the CPU controls the robot arm to accurately touch the target button through the output unit. The power supply unit ensures the stability of the power supply of the entire system, and the storage unit records the operation process and program to ensure the reliability of the system. In this way, the various units of the PLC module work together to enable the robot to quickly and accurately complete the elevator button touching task, while realizing remote control, real-time monitoring and stable operation, meeting the complex application requirements of elevator maintenance.

[0072] Working principle: After the elevator staff reprograms the elevator system, the mobile base 1 is started. The movement of the mobile base 1 allows the robot to enter the elevator as a whole. At this time, the PLC module intervenes to enable it to receive instructions, and then starts to operate the simulated manipulator 5 to simulate a person pressing the elevator floor normally to test whether the elevator is running normally. After the mobile base 1 drives the entire device into the elevator, the device is controlled to a position where it can touch the elevator button. At this time, due to the instability of the elevator test, the device may deviate due to its own mobility problems. At this time, the air pump in the gas tank 22 can be driven, so that the gas tank 22 and the output pipe 23 can work together, and then drive the cylinder 26, so that it can push and pull the top plate 27 normally. The top plate 27 is During the pushing and pulling process, the corresponding bottom plate 28 will also be displaced synchronously due to the existence of the shock absorbing mechanism 6, thereby squeezing the support column 24 to slide, so that the corresponding vacuum suction cup 25 will fit tightly with the elevator floor. At this time, the gas tank 22 drives the air pump to evacuate the output pipe 23 of the other port, so that the output pipe 23 extracts gas from the support column 24, thereby making the vacuum suction cup 25 and the elevator floor in a vacuum state, so that the vacuum suction cup 25 firmly adsorbs the equipment in a fixed position. At the same time, the corresponding mobile base 1 will also be pushed by the telescopic support column 24 and the vacuum suction cup 25. At this time, the mobile base 1 is in a suspended state as a whole. If the elevator encounters any problems during the test, the shock wave will first pass through the position of the bottom plate 28. The force is transmitted to the position of the docking plate 61. At this time, the distance between the docking plates 61 on both sides will be reduced to a certain extent. The damper 1 67 will be stressed at this time, and then the first shock absorption will be performed. When the docking plate 61 is stressed to reduce the distance between the docking columns 62, the corresponding connecting rod 3 63 will have different degrees of angular deviation, so that the slider 66 can generate a force on the damper 2 68, so that the damper 2 68 can get a second shock absorption and buffering opportunity for the impact force received by the equipment. When the elevator simulates manual pressing of the elevator, due to the environmental factors of the elevator, it is inconvenient for the simulation manipulator 5 to occupy too much volume. When facing some high-rise elevators with many floors, the extension distance may not be very suitable. At this time, the base 31 can be driven The support plate 35 is pushed by the connecting seat 34 to adjust the overall height of the simulated manipulator 5 so that it can adapt to some high-rise elevators, and when it is not needed, it is normally hidden inside, which will not make the overall device appear bloated. When the rotating column 37 rotates, the extended clamping mechanism 4 can enter two states through the state of the card block 45. When the elevator is abnormal and the elevator door button cannot be controlled, the extended column 47 can be pushed by the electric push rod 42 to slide.At this time, the block 45 can be forced to sink into the extension column 47 due to the push due to its inclined surface setting. At this time, the block 45 is squeezed and accumulates elastic potential energy. At this time, the block 45 is separated from the innermost annular groove. When the block 45 is pushed to the single-hole groove on the outer edge, it can be stuck in a certain position due to the continuous rotation. At this time, the spring 44 releases the elastic potential energy, so that the block 45 can be smoothly engaged. At the same time, when the rotating column 37 drives the electric push rod 42 to rotate synchronously, the electric push rod 42 can also pass through the extension column 47 to make the block The engagement of 45 can smoothly drive the threaded column 41 to rotate synchronously. At the same time, due to the relationship between the threads, the connecting frame 46 can be driven to extend to both sides, so that the connecting frame 46 can keep the elevator door in an open state. When the elevator door is not needed to be supported, it only needs to be pushed deeper by the electric push rod 42, so that the block 45 is squeezed into the extension column 47 again through the inclined surface setting, and then the extension column 47 is pulled to drive the block 45 to align with the annular groove position, so that the threaded column 41 does not rotate synchronously with the rotating column 37.

[0073] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A finger robot, characterized in that: include: A mobile base (1) having tracks disposed therein for controlling the movement of the entire device; A fixing mechanism (2) is arranged on both sides of the mobile base (1) and is used to fix the position of the robot after the position is determined; A lifting mechanism (3) is arranged on the top of the mobile base (1) and is used to lift or lower an object; An extended clamping mechanism (4) is arranged on both sides of the lifting mechanism (3) and is used to force the elevator door to open when the door is abnormally opened; A simulated manipulator (5) is arranged on the top of the lifting mechanism (3) and is used to simulate human fingers interacting with elevator buttons; A shock absorbing mechanism (6), which is arranged inside the fixing mechanism (2) and is used to reduce shock to the robot after it is in a fixed position; A PLC module is arranged inside the mobile base (1) and is used to receive remote operation instructions from an elevator maintenance worker to perform operations; The fixing mechanism (2) comprises a protective shell (21), the protective shell (21) being arranged on both sides of the mobile base (1), a gas tank (22) being installed inside the protective shell (21), the gas tank (22) having an air pump inside, an output pipe (23) being fixedly connected to the output end of the air pump inside the gas tank (22), a plurality of output pipes (23) being arranged, a cylinder (26) being arranged at one end of the top output pipe (23) away from the gas tank (22), the cylinder (26) being arranged inside the protective shell (21), and a support column (24) being arranged at one end of the bottom output pipe (23) away from the gas tank (22).

2. The finger robot according to claim 1, characterized in that: A vacuum suction cup (25) is fixed to the bottom of the support column (24), a top plate (27) is fixed to the output end of the cylinder (26), a bottom plate (28) is fixed to the top of the support column (24), and the top plate (27) is displaced synchronously with the top plate (27) via a shock absorbing mechanism (6).

3. The finger robot according to claim 2, characterized in that: The shock absorbing mechanism (6) comprises a docking plate (61), wherein the docking plates (61) are symmetrically distributed up and down, the top docking plate (61) is fixed to the bottom of the top plate (27), and the bottom docking plate (61) is fixed to the top of the bottom plate (28), one side of each of the docking plates (61) is fixed with a docking column (62), a fixing frame (64) is arranged between the docking columns (62), and a damper (67) is arranged between the docking columns (62) for performing a first shock absorption.

4. The finger robot according to claim 3, characterized in that: The docking plate (61) is provided with a docking column (62) connected to a third connecting rod (63) on one side via a rotating shaft, a slider (66) is rotatably provided between the third connecting rod (63), a second fixing frame (65) is fixed on both sides of the first fixing frame (64), the slider (66) slides inside the second fixing frame (65), and a second damper (68) is provided on one side of the slider (66) for performing a second shock absorption.

5. The finger robot according to claim 1, characterized in that: The lifting mechanism (3) comprises a driving base (31) which is arranged on the top of the moving base (1); an output source of the driving base (31) is fixedly connected to a rotating column (37); a connecting rod (32) is fixed to the outer wall of the rotating column (37); an anti-collision base (36) is arranged at the bottom of the connecting rod (32) to prevent the connecting rod (32) from rotating too far and causing mechanical damage.

6. The finger robot according to claim 5, characterized in that: One end of the connecting rod one (32) is rotatably connected to a connecting rod two (33), and one end of the connecting rod two (33) is rotatably connected to a connecting seat (34) away from the end of the connecting rod one (32). A support plate (35) is arranged on the top of the connecting seat (34), and the support plate (35) is arranged at the bottom of the simulated manipulator (5).

7. The finger robot according to claim 1, characterized in that: The extension clamping mechanism (4) comprises a threaded column (41) fixed at both ends of a rotating column (37); the outer wall of the threaded column (41) is threadedly connected to a connecting frame (46) for physically supporting the elevator door.

8. The finger robot according to claim 1, characterized in that: The extension clamping mechanism (4) further comprises an electric push rod (42), wherein the electric push rod (42) is arranged inside the rotating column (37), an extension column (47) is fixed to the output end of the electric push rod (42), and a clamping column (43) is fixed inside the extension column (47).

9. The finger robot according to claim 8, characterized in that: A spring (44) is sleeved on the outer wall of the clamping column (43), one end of the spring (44) is fixed inside the extension column (47), and a clamping block (45) is fixed at the other end of the spring (44), and the clamping block (45) is slidably connected inside the extension column (47).

10. The finger robot according to claim 1, characterized in that: The PLC module comprises: The CPU unit is used to execute control programs, process logical operations, data calculations, and task scheduling; An input unit, which is used to receive signals from external devices and transmit them to the CPU; An output unit, which is used to control the device body to perform actions; A power supply unit, which is used to supply power to the PLC and its modules; A storage unit for storing control programs, operating data and log records; The communication unit is used to realize data exchange between the PLC and remote devices or other systems.

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