Manipulator finger

Abstract

The mechanical arm finger comprises a camera, a camera fixing support and a mechanical arm finger shell, the camera is integrally installed on the camera fixing support, and the camera and the camera fixing support are installed on the inner side of the front end of the mechanical arm finger shell together. The visual positioning module is used for collecting external real-time pictures or videos from the front end of the manipulator finger for visual positioning.

Description

Technical Field

[0001] The present invention generally relates to the field of mechanics, and more particularly to a manipulator finger. Background Art

[0002] Currently, there are many types of robotic arms on the market, most commonly used in fixed-path, high-repeatability applications. These lack cameras on the arms and fingers, preventing real-time images from being transmitted to the manipulator or its fingers. Instead, they rely on live images from cameras in other locations to determine the current position of the manipulator's fingers. In autonomous elevator riding scenarios, current robotic arms cannot be used independently and require cameras or sensors in other locations to determine the current position of the manipulator's fingers. Summary of the Invention

[0003] According to an embodiment of the present invention, the robotic finger includes a camera, a camera fixing bracket, and a robotic finger housing, wherein: the camera is installed as a whole on the camera fixing bracket and is installed on the inner side of the front end of the robotic finger housing together with the camera fixing bracket, and is used to collect external real-time pictures or videos from the front end of the robotic finger for visual positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The present invention can be better understood from the following description of specific embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0005] Figure 1 A schematic structural diagram of a manipulator finger according to an embodiment of the present invention is shown.

[0006] Figure 2 An example exploded view of a manipulator finger according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0007] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed in order to provide a comprehensive understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is by no means limited to any specific configuration and algorithm proposed below, but covers any modification, replacement and improvement of elements, components and algorithms without departing from the spirit of the present invention. In the accompanying drawings and the following description, well-known structures and technologies are not shown in order to avoid unnecessary ambiguity in the present invention. In addition, it should be noted that the term "A is connected to B" used herein can mean "A is directly connected to B" or "A is indirectly connected to B via one or more other elements."

[0008] Figure 1 FIG. 1 shows a schematic diagram of the structure of a manipulator finger according to an embodiment of the present invention. Figure 1 As shown, the manipulator finger 100 includes a camera 102, a camera fixing bracket 104, and a manipulator finger housing 106 (not shown in the figure), wherein: the camera 102 is integrally mounted on the camera fixing bracket 104 and is installed together with the camera fixing bracket 104 on the inner side of the front end of the manipulator finger housing 106, and is used to collect external real-time pictures or videos from the front end of the manipulator finger 100 for visual positioning.

[0009] In some embodiments, the robotic finger 100 further includes an elastic buffer pad 108 (eg, a rubber buffer pad) for providing a buffer when the robotic finger 100 presses an object.

[0010] In some embodiments, the camera 102 is a miniature camera, and the elastic buffer pad 108 is hollow T-shaped. The camera 102 can collect external real-time pictures or videos through the hollow hole in the middle of the elastic buffer pad 108.

[0011] In some embodiments, when the elastic buffer pad 108 is in a hollow T-shape, the elastic buffer pad 108 is mounted on the front end of the manipulator finger housing 106. For example, the rear end of the elastic buffer pad 108 is mounted on the inner side of the manipulator finger housing 106, and the front end of the elastic buffer pad 108 is exposed from the manipulator finger housing 106 and wraps it. This can prevent the manipulator finger 100 from hard contact with an object (e.g., an elevator button) and provide a buffering effect.

[0012] In some embodiments, the manipulator finger 100 further includes a pressure switch 110 mounted between the elastic cushion 108 and the manipulator finger housing 106. When the manipulator finger 100 presses an object (e.g., an elevator button), the pressure switch 110 senses pressure to determine whether the manipulator finger 100 has pressed the object, thereby confirming whether the pressing action of the manipulator finger 100 is successful.

[0013] In some embodiments, the manipulator finger housing 106 adopts an upper and lower shell structure (i.e., including a manipulator finger upper shell 1062 and a manipulator finger lower shell 1064). In this case, the camera mounting bracket 104 with the camera 102 mounted thereon and the elastic buffer pad 108 can be installed on the manipulator finger upper shell 1062, and then the manipulator finger lower shell 1064 and the manipulator finger upper shell 1062 can be docked together and fixed with (for example) screws.

[0014] Figure 2 FIG. 1 shows an example exploded view of a manipulator finger according to an embodiment of the present invention. Figure 2As shown, the production and maintenance of the manipulator finger 100 according to the embodiment of the present invention are very simple. During production, it can be simply divided into two parts, one part is the camera module, and the other part is the manipulator finger shell 106, wherein: the manipulator finger shell 106 is divided into a manipulator finger upper shell 1062 and a manipulator finger lower shell 1064, which are fixed with (for example) screws 112, which is simple and convenient; the camera module is based on the camera 102, and the camera 102 is installed on the camera fixing bracket 104, and the camera fixing bracket 104 is installed in the hollow hole of the hollow T-shaped elastic buffer pad 106; then, the pressure switch 110 is sleeved on the hollow T-shaped elastic buffer pad 106, and the hollow T-shaped elastic buffer pad 106 is installed on the manipulator finger upper shell 1062, close the manipulator finger upper shell 1062 and the manipulator finger lower shell 1064, and fix them with screws to complete the installation of the entire manipulator finger 100. The whole process is very simple, the structure is reliable, maintenance is convenient, and the cost is low.

[0015] Since the manipulator finger according to the embodiment of the present invention includes a camera, it can collect real-time pictures or videos of the front end of the manipulator finger, so that the control mechanism of the manipulator finger can effectively know the exact position of the manipulator finger. It can be used, for example, to accurately press the elevator button when taking the elevator independently and can effectively confirm whether the elevator button is pressed successfully.

[0016] The present invention may be implemented in other specific forms without departing from its spirit and essential characteristics. For example, the algorithms described in the specific embodiments may be modified without departing from the basic spirit of the present invention. Therefore, the present embodiments are to be considered in all respects as illustrative and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description. All modifications that come within the meaning and scope of the claims and equivalents are intended to be included within the scope of the present invention.

Claims

1. A manipulator finger, comprising a camera, a camera fixing bracket, and a manipulator finger housing, wherein: The camera is integrally mounted on the camera mounting bracket and is mounted together with the camera mounting bracket on the front inner side of the manipulator finger housing, and is used to collect external real-time pictures or videos from the front end of the manipulator finger for visual positioning.

2. The manipulator finger according to claim 1, wherein: The camera is a miniature camera.

3. The robotic finger according to claim 1 further comprises an elastic buffer pad for providing a buffer when the robotic finger presses an object.

4. The manipulator finger according to claim 3, wherein: The elastic buffer pad is installed at the front end of the manipulator finger shell.

5. The manipulator finger according to claim 3, wherein: The elastic buffer pad is in a hollow T-shape, and the camera can collect external real-time pictures or videos through the hollow hole in the middle of the elastic buffer pad.

6. The manipulator finger according to claim 5, wherein: The tail of the elastic buffer pad is installed on the inner side of the manipulator finger shell, and the front of the elastic buffer pad is exposed from the manipulator finger shell and wraps it.

7. The manipulator finger of claim 1 , further comprising a pressure switch mounted between the elastic buffer pad and the manipulator finger housing.

8. The manipulator finger according to claim 1, wherein: The manipulator finger shell adopts an upper and lower shell structure.

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