Dexterous hand with telescopic fingers capable of blowing and sucking air

Abstract

The invention relates to the technical field of robots, and discloses a dexterous hand with air blowing and sucking telescopic fingers, which comprises a palm base, at least one air blowing and sucking telescopic finger main body, a driving module and an air blowing and sucking module, the air blowing and sucking telescopic finger main body is connected with the palm base; the air blowing and sucking module and the driving module are arranged in a linkage manner, so that the air blowing and sucking telescopic finger main body can synchronously execute at least one of air blowing and sucking actions and telescopic movement; the driving module is used for driving the air blowing and sucking telescopic finger body to achieve telescopic movement, and the air blowing and sucking module is matched with the air blowing and sucking telescopic finger body to achieve the air blowing and sucking function. Through the integrated design of the air blowing and sucking function, the finger stretching and retracting function and the grabbing function, an independent air blowing or vacuum suction tool does not need to be additionally arranged, the tedious process of frequently replacing tools in traditional operation is avoided, the operation preparation time and the procedure connection period are greatly shortened, tasks such as grabbing, cleaning and sampling can be synchronously propelled, and the overall working efficiency is remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a dexterous hand with retractable fingers that can be blown and inhaled. Background Technology

[0002] As a high-degree-of-freedom robotic end effector that mimics the functions of the human hand, the dexterous hand, with its multi-finger coordinated movement characteristics, has been widely used in various fields such as robotic operations and grasping irregular objects, and is a core component for achieving precise operation and flexible work.

[0003] Current dexterous hands have significant limitations in functionality, with their core capabilities concentrated on grasping and moving. They can only grip and move objects through the coordinated use of multiple finger joints, lacking functional expandability. In complex real-world scenarios such as industrial production, precision testing, and cleaning operations, the single grasping function is insufficient to meet diverse operational needs, specifically presenting the following key issues:

[0004] Limited functionality makes it unsuitable for complex tasks: When grasping precision parts, dust and impurities on the surface of the parts must be removed first to ensure assembly accuracy; in tasks such as environmental testing and sample collection, samples need to be collected after close-range blowing to disturb specific areas, or by suction to collect target gases or microparticle samples. Existing dexterous hands cannot independently complete such complex "grasping + assisted operation" tasks and require additional equipment.

[0005] The separate operation mode is inefficient: For the aforementioned complex tasks, existing solutions require additional independent air blowing devices or vacuum suction tools on top of the dexterous hand gripping function. This separate design leads to cumbersome work processes, requiring frequent tool changes or equipment layout adjustments, which not only significantly extends the work preparation time and process connection cycle, but also increases the operational complexity.

[0006] Poor system integration and high cost: The additional independent equipment will increase the overall system size, weight and manufacturing cost. At the same time, positioning deviations are prone to occur during tool switching, affecting the accuracy of operation. In addition, the collaborative control of multiple devices will increase the difficulty of system debugging and reduce the stability of operation.

[0007] In summary, existing dexterous hands, due to their limited functionality, reliance on external auxiliary equipment, and low work efficiency, cannot meet the integrated operation requirements in complex scenarios. The industry urgently needs a dexterous hand that integrates multiple functions such as blowing and sucking, extension, and grasping, and possesses greater task adaptability to solve problems such as frequent tool changes, cumbersome work processes, and insufficient efficiency and precision in existing technologies. Summary of the Invention

[0008] In view of the shortcomings of the prior art, the present invention provides a dexterous hand with retractable fingers that can be blown and inhaled, so as to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a dexterous hand with a retractable finger that can be blown and inhaled, comprising: a palm base, at least one retractable finger body that can be blown and inhaled, a drive module, and a blown and inhaled module; The retractable finger body for blowing and inhaling is connected to the palm base; The blowing and inhaling module and the drive module are linked, so that the main body of the retractable finger can simultaneously perform at least one of the blowing and inhaling action and the retracting movement. The drive module is used to drive the retractable finger body to achieve retractable movement, and the blowing and sucking module cooperates with the retractable finger body to achieve the blowing and sucking function. The drive module includes a sleeve and a telescopic cylinder. The telescopic cylinder slides axially inside the sleeve, and the top end of the telescopic cylinder is fixed to the bottom base of the blow-and-suction retractable finger body. The blowing and sucking module includes an air guide connector for injecting or sucking air into the sleeve, and the telescopic end of the telescopic cylinder is fixedly connected to the air guide nozzle installed at the telescopic end of the telescopic cylinder through a telescopic hose.

[0010] Preferably, the sleeve is fixed to the palm base, and the bottom end of the telescopic cylinder slides axially with the inside of the sleeve through the piston plate; The drive module includes a fixing unit and a filtering unit disposed inside the sleeve; the fixing unit is used to fix the telescopic cylinder after axial telescopic movement; the filtering unit is used to filter the gas.

[0011] Preferably, the bottom of the telescopic cylinder extends to below the piston plate, and the bottom of the telescopic cylinder is open, so that the pressure of the air inlet or outlet is applied directly to the air inlet through the telescopic cylinder and the telescopic hose. The blowing and sucking module includes a balancing unit installed inside the telescopic cylinder, which prioritizes the telescopic cylinder to extend and retract when the air guide joint injects or evacuates air into the sleeve.

[0012] Preferably, the balancing unit includes an annular block, a blocking block, and two balancing springs; The annular block and the two balance springs are both fixed inside the telescopic cylinder, and the pressing ends of the two balance springs are both fixed to the blocking block, so that the blocking block is located inside the annular block to form a blockage; When the retractable finger body is extended and retracted, the inside of the telescopic cylinder is blocked by the combination of the blocking block and the ring block, so that the pressure of the air inlet to the sleeve is directly applied to the piston plate, thus forming the extension and retraction motion of the retractable finger body. When the air blowing and inhaling action of the retractable finger body is performed, the telescopic cylinder is fixed by the fixing unit, so that the pressure of air injection or air extraction into the sleeve through the air guide gradually increases. When the pressure is greater than the pressure of the two balance springs, the blocking block will move up or down and lose its blocking effect on the telescopic cylinder. With the continuous air injection or air extraction through the air guide, the air blowing and inhaling action of the retractable finger body can be formed. When performing the extension and retraction movement of the retractable finger body and the blowing and inhaling action, the extension and retraction movement of the retractable finger body and the blowing and inhaling action can be formed by fixing the extension and retraction cylinder to a specified length through the fixing unit and the continuous injection or extraction of air through the air guide connector.

[0013] Preferably, the filtration unit includes a filter cylinder fixed inside the telescopic cylinder; the port of the telescopic hose is equipped with an electric control valve; The top of the filter cartridge is provided with a processing chamber Q1; The sleeve is fixedly connected to a slag discharge pipe, which is used to discharge the waste collected through the processing chamber Q1 by airflow. The top and bottom of the processing chamber Q1 are both configured as expansion sections Q2; the lower expansion section Q2 is used to increase the dispersion of waste during backflushing of the filter cartridge; the upper expansion section Q2 is used to enhance the discharge pressure of the slag discharge pipe.

[0014] Preferably, one end of the slag discharge pipe is fixedly connected to a sleeve, and the sleeve is axially slidably fitted onto the outer surface of the telescopic cylinder, and the interior of the processing cavity Q1 is provided with a through hole communicating with the interior of the slag discharge pipe. A gravity sealing block is axially slidably connected to the outer surface of the telescopic cylinder. When the telescopic cylinder is lifted, the gravity sealing block blocks the through hole to prevent gas leakage.

[0015] Preferably, a plurality of positioning elements are installed at the bottom of the sleeve; the positioning elements include a positioning rod fixed to the bottom of the sleeve and a positioning hole opened at the bottom of the piston plate; When the telescopic cylinder is fully retracted, the positioning rod is inserted into the positioning hole to position the piston plate after it is fully retracted, so that the through hole coincides with the inside of the slag discharge pipe.

[0016] Preferably, the number of the inflatable retractable finger body is one, and the inflatable retractable finger body is located at the index finger, middle finger, ring finger or little finger position of the palm base.

[0017] Preferably, it also includes at least three auxiliary grasping fingers and a thumb, the auxiliary grasping fingers being connected to a palm base, and the palm base being provided with a side-swing drive mechanism; the side-swing drive mechanism includes a side-swing motor, a gear set and a side-swing shaft, the side-swing motor driving the side-swing shaft to rotate through the gear set, so as to drive the auxiliary grasping fingers to swing sideways; The main body of the air-blowing and inhaling retractable finger and the three auxiliary grasping fingers are each equipped with an independent underactuated bending mechanism. The underactuated bending mechanism is driven by a drive motor and a linkage mechanism to drive the knuckles of the main body of the air-blowing and inhaling retractable finger or the auxiliary grasping fingers to bend or extend. The thumb is connected to the base of the palm. The thumb is provided with an extension drive mechanism, which includes a linear drive motor, a rack and a gear. The linear drive motor is connected to the rack, the rack meshes with the gear, and the gear is connected to the base of the thumb for driving the thumb to extend or swing.

[0018] Preferably, the air-blowing and air-inhaling retractable finger body selectively retains the bending function; When the bending function is retained, the end knuckles of the retractable finger body can be bent to precisely control the blowing and inhaling position, and also have some grasping ability. When the bending function is not retained, the extension stroke is extended by increasing the axial dimensions of the sleeve and telescopic sleeve.

[0019] Compared with the prior art, the present invention provides a dexterous hand with retractable fingers that can be blown and inhaled, which has the following beneficial effects: This invention integrates the blowing and suction functions with the finger extension and gripping functions, eliminating the need for separate blowing or vacuum suction devices. This avoids the cumbersome process of frequently changing tools in traditional operations, significantly shortens the preparation time and process connection cycle, and allows tasks such as gripping, cleaning, and sampling to be carried out simultaneously, thus significantly improving overall work efficiency.

[0020] This invention, by linking the blowing and suction module with the drive module, enables the single execution or synchronous coordination of telescopic movement and blowing and suction actions, eliminating the need for complex step-by-step control. For example, when grasping an object, surface dust can be blown away simultaneously; during detection and sampling, close-range blowing sampling can be performed immediately after adjusting the distance by telescopic movement, simplifying the operation logic and improving task completion efficiency.

[0021] This invention features a retractable finger body that supports axial extension and selectively retains the bending function of the distal phalanx. Combined with the lateral swing and underactuated bending of the assisting grasping fingers and the extension and swinging of the thumb, it forms a multi-degree-of-freedom coordinated motion system. The extension function adapts to different operational distances, the bending function precisely adjusts the blowing and inhaling position, and the lateral swing and extension movements enhance adaptability to objects of different sizes and shapes, meeting the operational requirements in complex spaces and diverse working conditions. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the dexterous hand with retractable fingers that can be blown and inhaled according to the present invention; Figure 2 This is a rear view of the structure of the dexterous hand with retractable fingers that can be blown and inhaled according to the present invention; Figure 3 This is a schematic diagram showing the connection between the main body and the drive module of the air-blowing and air-inhaling retractable finger of the present invention; Figure 4 This is a cross-sectional front view of the driving module of the present invention; Figure 5 This is a cross-sectional side view of the driving module of the present invention; Figure 6 For the present invention Figure 5 A magnified view of a section at point A in the middle; Figure 7 For the present invention Figure 5 A magnified view of a section at point B in the middle; Figure 8 This is a bottom view of the structure of the fixed unit of the present invention.

[0023] In the diagram: 10. Hand base; 11. Retractable finger body for blowing and inhaling; 12. Finger gripping aid; 13. Thumb; 14. Side-swing drive mechanism; 20. Drive module; 21. Sleeve; 22. Telescopic cylinder; 23. Piston plate; 24. Fixing unit; 25. Filter unit; 251. Filter cylinder; 252. Slag discharge pipe; 253. Enclosure; 254. Gravity sealing block; 30. Air blowing / suction module; 31. Air guide connector; 32. Telescopic hose; 33. Air nozzle; 34. Electric control valve; 35. Balancing unit; 351. Ring block; 352. Blocking block; 353. Balancing spring. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0025] Example 1: See attached document Figures 1 to 8 A dexterous hand with a retractable finger that can be inhaled and exhaled includes: a palm base 10, a main body 11 of at least one retractable finger that can be inhaled and exhaled, a drive module 20, and a blow-and-inhale module 30. The components achieve functional synergy through modular design. The palm base 10 serves as the core mounting carrier, providing stable mechanical support and positioning reference for the other components, ensuring the movement accuracy of each moving part. The retractable finger body 11 for blowing and inhaling is connected to the palm base 10. The retractable finger body 11 for blowing and inhaling is rigidly connected to the palm base 10 to ensure the effective transmission of force and movement. As the end effector, it integrates the dual functions of extension and blowing / inhaling.

[0026] The blowing and inhaling module 30 and the drive module 20 are linked, enabling the retractable finger body 11 to simultaneously perform at least one of the blowing and inhaling actions and the retracting motion. The drive module 20 is used to drive the retractable finger body 11 to achieve the retracting motion. The blowing and inhaling module 30 and the retractable finger body 11 cooperate to achieve the blowing and inhaling function. The blowing and inhaling module 30 and the drive module 20 adopt a linked design. Through the coordinated control of air pressure signals and mechanical structures, the retractable finger body 11 can flexibly achieve a single retracting motion, a single blowing and inhaling action, or both simultaneously, greatly expanding the working scenarios of dexterous hands.

[0027] The drive module 20 includes a sleeve 21 and a telescopic cylinder 22. The telescopic cylinder 22 slides axially inside the sleeve 21, and the top end of the telescopic cylinder 22 is fixed to the bottom base of the blow-and-suck retractable finger body 11. The drive module 20 is the core of realizing the telescopic function. It consists of a sleeve 21 and a telescopic cylinder 22. The sleeve 21 is a fixing part that provides an axial guide channel. The telescopic cylinder 22 achieves axial sliding through a clearance fit with the sleeve 21.

[0028] The air blowing / suction module 30 includes an air guide connector 31 for injecting or evacuating air into the sleeve 21. The air guide connector 31 serves as an air source interface and can be connected to external air source equipment such as an air pump to achieve precise air injection or evacuation into the sleeve 21. The telescopic end of the telescopic cylinder 22 is fixedly connected to an air nozzle 33 installed at the telescopic end of the telescopic cylinder 22 via a telescopic hose 32. The telescopic hose 32 possesses good flexibility and pressure resistance, allowing it to adapt to the axial displacement of the telescopic cylinder 22 or the telescopic movement required for air blowing / suction. The bending and extending of the finger body 11 prevents gas leakage while ensuring the continuity of the airflow channel. The air guide nozzle 33 is embedded in the fingertip of the retractable finger body 11 for blowing and sucking air. This installation method can avoid interference with external objects during operation. The air guide nozzle 33 is designed as a round hole or a flat slit. The round hole air guide nozzle is suitable for concentrated airflow operation scenarios, such as precise blowing cleaning or suction picking up small parts. The flat slit air guide nozzle is suitable for large-area airflow operation, such as large-area dust removal or adsorption of planar objects. The appropriate type can be selected according to the actual operation requirements.

[0029] See attached document Figures 4 to 6 The sleeve 21 is fixed on the palm base 10, and the bottom end of the telescopic cylinder 22 slides axially with the inside of the sleeve 21 through the piston plate 23. The piston plate 23 and the inner wall of the sleeve 21 are fitted with a precision clearance and are equipped with sealing structures such as sealing rings to reduce gas leakage and ensure the efficiency of pneumatic drive. The setting of the piston plate 23 makes the inside of the sleeve 21 form a closed air pressure chamber. When the air guide joint 31 injects or evacuates air, the air pressure inside the air pressure chamber changes, pushing the piston plate 23 to drive the telescopic cylinder 22 to slide axially.

[0030] The drive module 20 includes a fixing unit 24 and a filtering unit 25 disposed inside the sleeve 21. The fixing unit 24 is used to fix the telescopic cylinder 22 after axial telescopic movement. The fixing unit 24 adopts a mechanical locking structure, such as a pawl and ratchet mechanism, electromagnetic lock, etc. When the telescopic cylinder 22 is extended to the target position, the fixing unit 24 can quickly respond and realize the positioning and fixing of the telescopic cylinder 22, preventing it from being displaced due to air pressure fluctuations or external loads during operation, and ensuring the accuracy of operation. The filter unit 25 is used to filter the gas; the filter unit 25 is used to filter the gas entering the airflow channel to remove impurities such as dust and particles, thereby improving the gas sampling effect.

[0031] See attached document Figure 4 and Figure 5 The bottom of the telescopic cylinder 22 extends to below the piston plate 23, and the bottom of the telescopic cylinder 22 is open. This structural design allows the air pressure inside the sleeve 21 to directly act on the internal channel of the telescopic cylinder 22. Through the continuous airflow channel formed by the telescopic cylinder 22 and the telescopic hose 32, the pressure of the air inlet or outlet of the air connector 31 is directly applied to the air outlet 33 through the telescopic cylinder 22 and the telescopic hose 32. The pressure generated by the air inlet or outlet of the air connector 31 is accurately transmitted to the air outlet 33 to realize the blowing and sucking function. This integrated airflow channel design reduces resistance and leakage during airflow transmission, improving air pressure utilization efficiency. The balancing unit 35 in the blowing and sucking module 30 is the core component for realizing the "priority extension and contraction" control logic; it is essentially a pressure feedback control mechanism.

[0032] The blowing and suction module 30 includes a balancing unit 35 disposed inside the telescopic cylinder 22. This unit prioritizes the telescopic cylinder 22's extension and retraction when the air guide joint 31 injects or evacuates air into the sleeve 21. Specifically, when the air guide joint 31 injects or evacuates air into the sleeve 21, the initial air pressure is low. The balancing unit 35, through its structural characteristics, blocks the airflow from being transmitted to the air guide nozzle 33, ensuring that all air pressure acts on the piston plate 23, thus driving the telescopic cylinder 22 to prioritize its extension and retraction. Once the extension and retraction is complete or a preset position is reached, the balancing unit 35 switches its state according to changes in air pressure, opening the airflow channel to achieve the blowing and suction action. This design, through the self-feedback adjustment of the mechanical structure, achieves motion priority control without complex electronic control logic, simplifying the control system and improving the action response speed and reliability.

[0033] See attached document Figure 4 , Figure 5 and Figure 7The balancing unit 35 includes an annular block 351, a blocking block 352, and two balancing springs 353. The annular block 351 and the two balancing springs 353 are all fixed inside the telescopic cylinder 22, and the pressing ends of the two balancing springs 353 are fixed to the blocking block 352, so that the blocking block 352 is located inside the annular block 351 to form a blockage. Its structural design is based on the principle of elastic balance and air pressure feedback. The annular block 351 is fixed inside the telescopic cylinder 22 by interference fit or welding to form a throttling port for the airflow channel. The two balancing springs 353 are symmetrically arranged on both sides of the annular block 351. One end of the springs is fixed to the inner wall of the telescopic cylinder 22 by a bracket, and the other end is rigidly connected to the blocking block 352. When there is no external air pressure, the preload of the balancing springs 353 pushes the blocking block 352 into the interior of the annular block 351 to form a sealed blockage state and block the airflow channel inside the telescopic cylinder 22.

[0034] When the retractable finger body 11 is extended and retracted, the combination of the blocking block 352 and the annular block 351 blocks the inside of the telescopic cylinder 22, so that the pressure of the air inlet 31 injecting or evacuating air into the sleeve 21 is directly applied to the piston plate 23, forming a pressure difference. This pushes the piston plate 23 to drive the telescopic cylinder 22 to slide along the axial direction of the sleeve 21, thereby realizing the extension and retraction of the retractable finger body 11. During this process, the air pressure can be efficiently converted into mechanical extension force. When the retractable finger body 11 performs the blowing and sucking action, the telescopic cylinder 22 is fixed by the fixing unit 24, so that the pressure of the air inlet 31 to inject or suck air into the sleeve 21 gradually increases. When the force generated by the air pressure is greater than the sum of the preload of the two balance springs 353, the blocking block 352 moves upward or downward under the action of air pressure, overcoming the spring force, and disengaging from the sealed engagement with the annular block 351, thus relieving the blockage of the internal channel of the telescopic cylinder 22. At this time, the airflow can reach the air inlet 33 through the internal channel of the telescopic cylinder 22 and the telescopic hose 32. With the continuous air supply from the air inlet 31, a stable blowing and sucking airflow is formed to realize the blowing and sucking function. When it is necessary to perform telescopic movement and blowing / inhaling actions simultaneously, the control logic is to coordinate in steps: First, the air guide joint 31 injects or evacuates air. Under the blocking effect of the balance unit 35, the air pressure pushes the telescopic cylinder 22 to extend or retract to a preset specified length. Then, the fixing unit 24 is activated to lock the telescopic cylinder 22 after extension or retraction. Next, the air guide joint 31 continues to inject or evacuate air to further increase the air pressure, overcome the elasticity of the balance spring 353, and release the blockage. The airflow forms blowing / inhaling actions through the channel, and finally realizes the synchronous coordinated operation of telescopic movement and blowing / inhaling.

[0035] See attached document Figure 5 and Figure 6The filter unit 25 includes a filter cylinder 251 fixed inside the telescopic cylinder 22; an electric control valve 34 is installed at the port of the telescopic hose 32; the filter cylinder 251 is fixed inside the telescopic cylinder 22 by flange connection or welding, and the filter cylinder 251 adopts a porous filter material or filter screen structure, which can effectively intercept solid impurities (such as dust, metal shavings, particulate matter, etc.) in the airflow; the electric control valve 34 installed at the port of the telescopic hose 32 adopts electromagnetic control, which can realize the rapid opening and closing control of the airflow channel, forming a pulse blowing or self-cleaning operation of the filter unit 25 after closing, which is linked with the overall control system to precisely control the start and stop of the blowing and suction action, and at the same time, it can close the channel during the back-blowing and slag discharge process to prevent impurities from flowing back.

[0036] The top of the filter cylinder 251 is provided with a processing chamber Q1. The processing chamber Q1 at the top of the filter cylinder 251 serves as a transition space for impurity collection and slag discharge. Its structural design directly affects the filtration and slag discharge efficiency. A slag discharge pipe 252 is fixedly connected to the sleeve 21, which is used to discharge the garbage collected in the treatment chamber Q1 through airflow. The slag discharge pipe 252 fixedly connected to the sleeve 21 adopts a rigid pipe structure and is welded to the sleeve 21. It is used to discharge the impurities collected in the treatment chamber Q1 through airflow to achieve self-cleaning of the filtration system. The top and bottom of the processing chamber Q1 are both configured as expansion sections Q2; the lower expansion section Q2 is used to increase the dispersion of waste during backflushing of the filter cartridge 251; the upper expansion section Q2 is used to enhance the discharge pressure of the slag discharge pipe 252. The top and bottom of the processing chamber Q1 are both designed as expansion sections Q2. These expansion sections have a funnel-shaped structure and specific hydrodynamic functions: the lower expansion section Q2 increases the diffusion range of the airflow during the backflushing process of the filter cartridge 251, allowing impurities attached to the filter surface of the filter cartridge 251 to be fully dispersed into the processing chamber Q1 under the impact of the airflow, avoiding filter surface blockage caused by impurity accumulation and improving the backflushing cleaning effect; the upper expansion section Q2 accelerates the airflow through changes in cross-sectional area. According to the principles of hydrodynamics, when the airflow enters the upper expansion section Q2 from the filter cartridge 251, the cross-sectional area increases, the airflow velocity decreases, and the static pressure increases, thereby enhancing the discharge pressure at the inlet of the slag discharge pipe 252, ensuring that impurities can be smoothly discharged and avoiding accumulation in the processing chamber Q1.

[0037] See attached document Figure 5 and Figure 6 One end of the slag discharge pipe 252 is fixedly connected to a wrapping sleeve 253, and the wrapping sleeve 253 is axially slidably sleeved on the outer surface of the telescopic cylinder 22, and the interior of the processing chamber Q1 is provided with a through hole communicating with the interior of the slag discharge pipe 252. The sleeve 253 adopts a hollow sleeve structure, and its inner wall is fitted with the outer surface of the telescopic cylinder 22 with a clearance to achieve axial sliding connection. This design can adapt to the axial extension and retraction of the telescopic cylinder 22, ensuring that the airflow channel between the slag discharge pipe 252 and the processing chamber Q1 remains connected, and avoiding the failure of the slag discharge function due to the displacement of the telescopic cylinder 22.

[0038] The processing chamber Q1 has a through hole that communicates with the inside of the slag discharge pipe 252. This through hole serves as a key channel for the discharge of impurities. Its diameter and position must be designed to match the inlet of the slag discharge pipe 252 to ensure that the airflow and impurities can pass through smoothly.

[0039] A gravity sealing block 254 is axially slidably connected to the outer surface of the telescopic cylinder 22. When the telescopic cylinder 22 is lifted, the gravity sealing block 254 blocks the through hole to prevent gas leakage. A switch valve is installed on the slag discharge pipe 252. The gravity sealing block 254 is made of high-density material. It slides with the outer surface of the telescopic cylinder 22 through a guide groove. When there is no external force, the gravity sealing block 254 maintains a specific position under its own weight. When the telescopic cylinder 22 is lifted upward, the gravity sealing block 254 slides downward relative to the telescopic cylinder 22 under the action of gravity and inertia until it blocks the through hole, forming a mechanical seal. This sealing structure can effectively prevent gas from leaking out of the through hole and the slag discharge pipe 252 during normal blowing and suction operations, and ensure stable airflow pressure.

[0040] The switch valve installed on the slag discharge pipe 252 is controlled manually or electrically. During normal filtration operations, it is kept closed to prevent gas leakage. When self-cleaning is required, the switch valve is opened, and the impurities can be quickly discharged in conjunction with the backflushing airflow. After the discharge is completed, the switch valve is closed to ensure the system's sealing.

[0041] See attached document Figure 4 and Figure 5 The bottom of the sleeve 21 is equipped with several positioning components. These components include a positioning rod fixed to the bottom of the sleeve 21 and a positioning hole opened at the bottom of the piston plate 23. The positioning components are arranged in a circumferentially even distribution to ensure balanced force during positioning. The positioning rod is fixed to the bottom of the sleeve 21 by welding or threaded connection. Its body is machined with high precision, and has good straightness and coaxiality. The positioning hole is opened at the bottom of the piston plate 23, and its diameter is transition-fitted with the outer diameter of the positioning rod to ensure that the positioning rod can be smoothly inserted without obvious gap after insertion.

[0042] When the telescopic cylinder 22 is fully retracted, the positioning rod is inserted into the positioning hole to position the fully retracted piston plate 23 so that the through hole coincides with the inside of the slag discharge pipe 252. Specifically, when the telescopic cylinder 22 is in a fully retracted state, the piston plate 23 moves to the bottom of the sleeve 21. At this time, the positioning rod is precisely inserted into the positioning hole, and the radial displacement and circumferential rotation of the piston plate 23 are restricted by mechanical positioning, so as to achieve precise positioning of the fully retracted piston plate 23.

[0043] The core function of this positioning function is to ensure that the through hole on the processing chamber Q1 is precisely aligned with the internal channel of the slag discharge pipe 252, thereby ensuring the smooth flow of air during slag discharge and preventing impurities from being unable to be discharged smoothly or gas leakage due to misalignment between the through hole and the slag discharge pipe 252. This provides structural protection for the self-cleaning function of the filter unit 25.

[0044] At the same time, the positioning component can also disperse the pressure on the piston plate 23 when the telescopic cylinder 22 is fully retracted, avoiding local stress concentration that could lead to component deformation and extending the service life of the equipment.

[0045] Example 2: The difference from Example 1 is that; See attached document Figure 1 and Figure 2 The design employs a single retractable air-blowing finger body 11. Based on the principles of lightweight design and functional focus, this design reduces the overall structural complexity and manufacturing cost of the dexterous hand while meeting the core requirements of air-blowing and retractable operations. The retractable air-blowing finger body 11 is positioned at the index, middle, ring, or little finger position on the palm base 10. The choice of installation position depends on the specific work scenario and operational requirements: when positioned at the index finger, its flexible operation characteristics make it suitable for scenarios requiring precise positioning and flexible operation, such as cleaning precision instruments or picking up small parts; when positioned at the middle finger, its central position makes it suitable for centered operations or scenarios requiring balanced force distribution, such as blowing dust from symmetrical structural components; when positioned at the ring or little finger, it can serve as an auxiliary finger, cooperating with other fingers to complete complex collaborative operations, such as simultaneously blowing air to clean while the main grasping finger grasps a workpiece. During installation, a combination of positioning pins and bolts ensures the connection accuracy between the retractable air-blowing finger body 11 and the palm base 10, guaranteeing the accuracy of motion transmission.

[0046] Example 3: The difference from Example 1 is that; See attached document Figure 1 and Figure 2It also includes at least three auxiliary grasping fingers 12 and a thumb 13. The auxiliary grasping fingers 12 are connected to the palm base 10, and the palm base 10 is provided with a side-swing drive mechanism 14. The side-swing drive mechanism 14 includes a side-swing motor, a gear set and a side-swing shaft. The side-swing motor drives the side-swing shaft to rotate through the gear set, so as to drive the auxiliary grasping fingers 12 to swing to the side. The side-swing motor drives the side-swing shaft to rotate through the gear set, thereby driving the auxiliary grasping fingers 12 to achieve side-swing movement. This side-swing function allows the auxiliary grasping fingers 12 to adapt to workpieces of different sizes and shapes, improving the flexibility and compatibility of grasping.

[0047] The main body 11 of the air-blowing and inhaling retractable finger and the three auxiliary grasping fingers 12 are each equipped with an independent underactuated bending mechanism. The underactuated bending mechanism is driven by a drive motor and a linkage mechanism to drive the knuckles of the main body 11 of the air-blowing and inhaling retractable finger or the auxiliary grasping fingers 12 to bend or extend. The underactuated bending mechanism employs a design that achieves coordinated multi-joint movement with minimal actuators. Through the cooperation of a drive motor and a linkage mechanism, it utilizes the coupling characteristics of the mechanical structure to achieve flexion or extension of the knuckles, resulting in smooth and precise bending. Furthermore, it can adaptively adjust the bending posture according to the shape of the object being grasped, reducing damage to the object. The independent drive design allows for individual control of each finger, enabling complex actions such as coordinated grasping and clamping of multiple fingers. The thumb 13 is connected to the palm base 10. The thumb 13 is equipped with an extension drive mechanism, which includes a linear drive motor, a rack and a gear. The linear drive motor is connected to the rack, the rack meshes with the gear, and the gear is connected to the base of the thumb 13 to drive the thumb 13 to extend or swing. This drive mechanism has a compact structure and high transmission efficiency, and can realize the precise positioning and motion control of the thumb 13. The thumb 13 and the auxiliary grasping finger 12 work together to form a stable grasping force closed loop, which improves the reliability and stability of grasping and is suitable for grasping and handling operations of various workpieces.

[0048] Example 4: The difference from Example 1 is that; See attached document Figure 1 and Figure 2 The main body of the air-blowing and air-inhaling retractable finger 11 selectively retains the bending function, which can be selectively retained according to actual operation needs, so as to achieve an optimized match between function and structure. When the bending function is retained, the distal phalanges of the retractable blow-inhale finger body 11 can be bent to precisely control the blowing and inhale position, and also have partial grasping ability. Its core function is to precisely control the blowing and inhale position: by bending the distal phalanges, the orientation and posture of the air guide nozzle 33 can be adjusted so that the airflow can be precisely applied to the target area, which is suitable for local cleaning of complex structure workpieces, narrow space operations and other scenarios; at the same time, the bending function enables the retractable blow-inhale finger to have partial grasping ability, which can be used in conjunction with the auxiliary grasping finger 12 and thumb 13 to achieve auxiliary grasping or positioning of small and light workpieces, and improve the versatility of the dexterous hand; When the bending function is not retained, the bending drive mechanism of the distal phalanx can be removed, and the telescopic stroke can be extended by increasing the axial dimensions of the sleeve 21 and the telescopic cylinder 22. This design balances bending function and telescopic stroke. The extended telescopic stroke allows the air-blowing and air-suction retractable fingers to reach farther work positions, making it suitable for scenarios such as long-distance air blowing cleaning and remote air suction pickup. At the same time, removing the bending mechanism results in a simpler finger structure, lighter weight, less motion inertia, faster response speed of telescopic movement, and lower manufacturing cost, meeting the needs of applications that do not require bending function but have high requirements for telescopic stroke. This selective design allows the dexterous hand to adapt to different work requirements, improving the product's versatility and market adaptability.

[0049] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A dexterous hand with retractable fingers that can be used for blowing and inhaling, characterized in that, include: The hand base (10), at least one retractable finger body (11) that can be blown and inhaled, a drive module (20) and a blown and inhaled module (30); The inflatable and retractable finger body (11) is connected to the palm base (10); The blowing and inhaling module (30) is linked with the drive module (20) so that the blowing and inhaling retractable finger body (11) can simultaneously perform at least one of the blowing and inhaling action and the retracting movement; The drive module (20) is used to drive the retractable finger body (11) to achieve the retractable movement. The blowing and sucking module (30) cooperates with the retractable finger body (11) to achieve the blowing and sucking function. The drive module (20) includes a sleeve (21) and a telescopic cylinder (22). The telescopic cylinder (22) slides axially inside the sleeve (21), and the top of the telescopic cylinder (22) is fixed to the bottom base of the blow-and-suck retractable finger body (11). The blowing and sucking module (30) includes an air guide connector (31) for injecting or sucking air into the sleeve (21), and the telescopic end of the telescopic cylinder (22) is fixedly connected to the air guide nozzle (33) installed at the telescopic end of the telescopic cylinder (22) through a telescopic hose (32).

2. The dexterous hand with retractable fingers for blowing and sucking air as described in claim 1, characterized in that, The sleeve (21) is fixed on the palm base (10), and the bottom end of the telescopic cylinder (22) slides axially with the inside of the sleeve (21) through the piston plate (23); The drive module (20) includes a fixing unit (24) and a filtering unit (25) disposed inside the sleeve (21); the fixing unit (24) is used to fix the telescopic cylinder (22) after axial telescopic movement; the filtering unit (25) is used to filter the gas.

3. The dexterous hand with retractable fingers for blowing and sucking air, as described in claim 2, is characterized in that... The bottom of the telescopic cylinder (22) extends to the bottom of the piston plate (23), and the bottom of the telescopic cylinder (22) is open, so that the pressure of the air inlet (31) injecting or evacuating air into the sleeve (21) is directly applied to the air inlet (33) through the telescopic cylinder (22) and the telescopic hose (32); The blowing and sucking module (30) includes a balancing unit (35) disposed inside the telescopic cylinder (22), which is used to preferentially cause the telescopic cylinder (22) to extend and retract when the air inlet (31) injects or evacuates air into the sleeve (21).

4. The dexterous hand with retractable fingers for blowing and sucking air, as described in claim 3, is characterized in that... The balancing unit (35) includes an annular block (351), a blocking block (352), and two balancing springs (353). The annular block (351) and the two balance springs (353) are both fixed inside the telescopic cylinder (22), and the pressing ends of the two balance springs (353) are fixed to the blocking block (352), so that the blocking block (352) is located inside the annular block (351) to form a blockage; When the retractable finger body (11) is extended and retracted, the inside of the telescopic cylinder (22) is blocked by the combination of the blocking block (352) and the annular block (351), so that the pressure of the air inlet (31) injecting or evacuating air into the sleeve (21) is directly applied to the piston plate (23), thus forming the extension and retraction movement of the retractable finger body (11). When the blow-inhale retractable finger body (11) performs the blow-inhale action, the telescopic cylinder (22) is fixed by the fixing unit (24), so that the pressure of the air guide connector (31) injecting or evacuating air into the sleeve (21) gradually increases. When the pressure is greater than the pressure of the two balance springs (353), the blocking block (352) will move up or down and lose its blockage of the telescopic cylinder (22). With the continuous injection or evacuation of air by the air guide connector (31), the blow-inhale action of the blow-inhale retractable finger body (11) can be formed. When the retractable finger body (11) performs the blowing and inhaling motion and the blowing and inhaling action, the telescopic tube (22) is extended to a specified length. The telescopic tube (22) is fixed by the fixing unit (24). With the air guide connector (31) continuously injecting or evacuating air, the retractable finger body (11) can perform the blowing and inhaling motion and the blowing and inhaling action.

5. The dexterous hand with retractable fingers for blowing and sucking according to claim 2, characterized in that, The filter unit (25) includes a filter cylinder (251) fixed inside the telescopic cylinder (22); the port of the telescopic hose (32) is equipped with an electric control valve (34). The top of the filter cartridge (251) is provided with a processing chamber Q. 1； The sleeve (21) is fixedly connected to a slag discharge pipe (252), which is used to discharge the garbage collected through the processing chamber Q1 by airflow. The top and bottom of the processing chamber Q1 are both configured as expansion sections Q2; the lower expansion section Q2 is used to increase the dispersion of waste during backflushing of the filter cartridge (251); The upper expansion section Q2 is used to enhance the pressure output of the slag discharge pipe (252).

6. The dexterous hand with retractable fingers for blowing and sucking according to claim 5, characterized in that, One end of the slag discharge pipe (252) is fixedly connected to a sleeve (253), and the sleeve (253) is axially slidably sleeved on the outer surface of the telescopic cylinder (22), and the processing cavity Q1 has a through hole that communicates with the inside of the slag discharge pipe (252). The outer surface of the telescopic cylinder (22) is axially slidably connected to a gravity sealing block (254), which is used to block the through hole when the telescopic cylinder (22) is lifted, so as to prevent gas leakage.

7. The dexterous hand with retractable fingers for blowing and sucking according to claim 6, characterized in that, The bottom of the sleeve (21) is equipped with several positioning components; the positioning components include a positioning rod fixed to the bottom of the sleeve (21) and a positioning hole opened at the bottom of the piston plate (23); When the telescopic cylinder (22) is fully retracted, the positioning rod is inserted into the positioning hole to position the fully retracted piston plate (23) so that the through hole coincides with the inside of the slag discharge pipe (252).

8. The dexterous hand with retractable fingers for blowing and sucking according to claim 1, characterized in that, The number of the blow-and-inhale retractable finger body (11) is one, and the blow-and-inhale retractable finger body (11) is located at the index finger, middle finger, ring finger or little finger position of the palm base (10).

9. The dexterous hand with retractable fingers for blowing and sucking according to claim 1, characterized in that, It also includes at least three auxiliary grasping fingers (12) and a thumb (13), the auxiliary grasping fingers (12) being connected to a palm base (10), and the palm base (10) being provided with a side-swing drive mechanism (14); the side-swing drive mechanism (14) includes a side-swing motor, a gear set and a side-swing shaft, the side-swing motor driving the side-swing shaft to rotate through the gear set, so as to drive the auxiliary grasping fingers (12) to side-swing; The main body (11) of the air-blowing and air-inhaling retractable finger and the three auxiliary grasping fingers (12) are each equipped with an independent under-driven bending mechanism. The under-driven bending mechanism is driven by a drive motor and a linkage mechanism to drive the knuckles of the main body (11) of the air-blowing and air-inhaling retractable finger or the auxiliary grasping fingers (12) to bend or extend. The thumb (13) is connected to the palm base (10). The thumb (13) is provided with an extension drive mechanism, which includes a linear drive motor, a rack and a gear. The linear drive motor is connected to the rack, the rack meshes with the gear, and the gear is connected to the base of the thumb (13) to drive the thumb (13) to extend or swing.

10. The dexterous hand with retractable fingers for blowing and sucking according to any one of claims 1-9, characterized in that, The air-blow-inhale retractable finger body (11) selectively retains the bending function; When the bending function is retained, the distal phalanges of the blow-inhale retractable finger body (11) can be bent to precisely control the blow-inhale position and have partial grasping ability. When the bending function is not retained, the extension stroke is extended by increasing the axial dimensions of the sleeve (21) and the telescopic sleeve (22).

Images