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

Abstract

A gripping and pushing integrated finger, comprising finger bodies (2), wherein the number of finger bodies is greater than or equal to 2, and each finger body comprises a sliding telescopic structure (7), a frame structure (3), a locking structure (5) and a pushing structure (6); the pushing structure is fixedly mounted on the frame structure, and the sliding telescopic structure is slidably connected to the frame structure; and the locking structure is used for locking and unlocking between the sliding telescopic structure and the frame structure. Also disclosed are a robot and a gripping and pushing method. The finger integrates both the sliding telescopic structure for realizing the gripping function and the pushing structure for realizing the pushing function onto the finger body, which improves the overall integration level of a device, and materials are effectively and directly inserted into an accommodating space of a target member, which eliminates the necessary repositioning process and secondary insertion in existing material gripping and insertion devices, thereby improving the working efficiency.

Description

Clamping and pushing integrated finger, robot and clamping and pushing method TECHNICAL FIELD

[0001] The present application relates to the field of machinery, in particular, to a clamping and pushing integrated finger, robot and clamping and pushing method. BACKGROUND

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

[0003] Generally, the inserted object must be flush with the edge of the hole or deeply placed in the hole. The purpose is to facilitate subsequent operations, such as closing the cover of the hole or locking the object in place.

[0004] The current finger structure for material clamping and insertion and its working process are shown in Figures 1-5. First, referring to Figure 1, the object is grasped by the finger structure, and then, referring to Figure 2, the position of the finger structure is adjusted by the robot arm to insert a part of the object into the target hole until the end of the finger structure interferes with the frame. Subsequently, referring to Figures 3 and 4, the finger releases the material and repositions. Finally, referring to Figure 5, the finger structure pushes the material forward a second time to complete the task. The distal end of the robot arm is connected to the proximal end of the finger structure.

[0005] In this process, the finger structure needs to be repositioned before pushing the material, and the positioning process requires the finger to move again and the cooperation of various sensors, cameras and other devices, so the overall working process is relatively complex and the work efficiency is not high.

[0006] In addition, there is a scheme that uses two sets of fingers to achieve material clamping and pushing, i.e., two sets of fingers are used separately for clamping and pushing the material. However, the two sets of fingers are independent of each other and function separately, so the device is relatively redundant and has low integration.

[0007] SUMMARY

[0008] In view of the defects in the prior art, the purpose of the present application is to provide a clamping and pushing integrated finger, robot and clamping and pushing method.

[0009] According to the present application, a clamping and pushing integrated finger is provided, which comprises a plurality of finger bodies, wherein the number of finger bodies is greater than or equal to 2;

[0010] The finger body comprises a sliding telescopic structure and a frame structure, and at least one of the finger bodies comprises a pushing structure.

[0011] The pushing structure is fixedly installed on the frame structure, and the sliding telescopic structure is in sliding connection with the frame structure.

[0012] Preferably, a clamping space is provided between different sliding telescopic structures, and the material is clamped in the clamping space.

[0013] The clamping finger body comprises a clamping state and a pushing state.

[0014] When in the clamping state, the pushing structure is located outside the clamping space.

[0015] When in the pushing state, the sliding telescopic structure is retracted relative to the frame structure, the pushing structure is pushed relative to the sliding telescopic structure towards the clamping space, and then extends into the clamping space, thereby pushing the material.

[0016] Until the end of the pushing structure is flush with, exceeds or does not reach the end of the sliding telescopic structure.

[0017] Preferably, a transmission device is further provided, and the frame structure is installed on the transmission device; the driving device drives different clamping finger bodies to move towards or away from each other through the transmission device, thereby realizing clamping and releasing of the material.

[0018] The clamping finger body further comprises a locking structure.

[0019] The locking structure is used to realize locking and unlocking between the sliding telescopic structure and the frame structure.

[0020] Preferably, a sliding block is fixedly installed on the frame structure.

[0021] The sliding telescopic structure comprises a clamping surface, a first intermediate block, a second intermediate block and a sliding rail.

[0022] The clamping surface is connected with the first intermediate block, the second intermediate block is connected with the sliding rail, and the sliding rail and the sliding block are matched with each other.

[0023] The first intermediate block and the second intermediate block are connected through an elastic member; a screw structure is further provided between the first intermediate block and the second intermediate block, the screw structure comprises a threaded portion, a light rod portion and a head portion, and the threaded portion is connected with the head portion through the light rod portion.

[0024] The threaded portion is located in the first intermediate block or the second intermediate block, the head portion is located in the second intermediate block or the first intermediate block, and the elastic member is sleeved on the light rod portion.

[0025] The sliding telescopic structure has a compression state and a gap state.

[0026] When the clamping finger body is in the clamping state, the sliding telescopic structure is in the compressed state, at this time the first intermediate block is in contact with the second intermediate block, and the locking structure locks the sliding telescopic structure and the frame structure, and the sliding telescopic structure and the frame structure cannot move relative to each other;

[0027] When the clamping finger body is in the advancing state, the sliding telescopic structure is in the gap state, at this time there is a gap between the first intermediate block and the second intermediate block, and the locking structure does not lock the sliding telescopic structure and the frame structure, and the sliding telescopic structure and the frame structure can move relative to each other;

[0028] When the clamping finger body is in the clamping state, the clamping surface clamps the material;

[0029] When the clamping finger body is in the advancing state, the clamping surface is in contact with the material, at this time the frame structure advances to the clamping space direction under the guidance of the sliding telescopic structure, so that the advancing direction of the advancing structure is parallel to the extension direction of the sliding telescopic structure to form a guide direction; or when the clamping finger body is in the advancing state, the clamping surface 31 is not in contact with the material.

[0030] Preferably, the locking structure comprises a first limiting protrusion and a second limiting protrusion, the first limiting protrusion is installed on the frame structure, and the second limiting protrusion is installed on the first intermediate block;

[0031] When the sliding telescopic structure is in the compressed state, the first limiting protrusion and the second limiting protrusion abut, and the first limiting protrusion can block the sliding telescopic structure from retracting relative to the frame structure;

[0032] When the sliding telescopic structure is in the gap state, the first limiting protrusion and the second limiting protrusion are not on the same straight line, and the first limiting protrusion cannot block the sliding telescopic structure from retracting relative to the frame structure.

[0033] Preferably, the clamping finger body further comprises a constant force spring;

[0034] One end of the constant force spring is connected with the frame structure, and the other end is connected with the sliding telescopic structure.

[0035] Preferably, the clamping surface and the first intermediate block are fastened and connected through shoulder screws, and the second intermediate block and the sliding rail are fastened and connected through shoulder screws;

[0036] The clamping surface is made of rubber material;

[0037] The advancing structure is a fixed block structure, the fixed block has a protruding part, and the height of the protruding part is higher than the height of the frame structure.

[0038] According to the robot provided by the application, the clamping and advancing integrated clamping finger is adopted.

[0039] According to the clamping and pushing method provided by the application, the integrated clamping and pushing fingers are used to perform clamping and pushing actions.

[0040] According to the clamping and pushing method provided by the application, the integrated clamping and pushing fingers are used to perform clamping and pushing actions.

[0041] S1, the clamping fingers clamp the material and move to the opening of the accommodating space in the target component;

[0042] S2, the clamping fingers push the material into the accommodating space in the target component.

[0043] S3, after the clamping fingers leave the target component, the sliding telescopic structure is extended again.

[0044] Compared with the prior art, the application has the following beneficial effects:

[0045] 1, the sliding telescopic structure for clamping and the pushing structure for pushing are integrated into the clamping fingers, which improves the integration of the device as a whole, and the pushing structure can advance relative to the sliding telescopic structure, so that the pushing fingers do not need to be additionally arranged, and the pushing of the material can be realized by using the originally required mechanical arm.

[0046] 2, the clamping surface can guide the material in the pushing state in addition to clamping the material when the clamping fingers are in the clamping state.

[0047] 3, the application can effectively and directly insert the material into the accommodating space of the target component, eliminating the repositioning and secondary pushing process of the existing material clamping and material insertion device, and significantly improving the operation efficiency of completely inserting the object into the accommodating space.

[0048] 4, the clamping surface and the pushing structure can be replaced according to the shape and size of different materials, so that the clamping fingers can adapt to different sizes and different sizes of materials, and the versatility of the clamping fingers is improved.

[0049] 5, the application adopts modular and adaptive design, the clamping fingers can be constructed as an independent module, and can be compatible with different types of transmission devices through appropriate adapters, which enhances the practicality and application range of the design. BRIEF DESCRIPTION OF DRAWINGS

[0050] Other features, objects and advantages of the application will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0051] Fig. 1 is a schematic diagram of the first step of the operation of the prior art pinch finger structure;

[0052] Fig. 2 is a schematic diagram of the second step of the operation of the prior art pinch finger structure;

[0053] Fig. 3 is a schematic diagram of the third step of the operation of the prior art pinch finger structure;

[0054] Fig. 4 is a schematic diagram of the fourth step of the operation of the prior art pinch finger structure;

[0055] Fig. 5 is a schematic diagram of the fifth step of the operation of the prior art pinch finger structure;

[0056] Fig. 6 is a schematic diagram of the operation of the present application in gripping material;

[0057] Fig. 7 is a schematic diagram of the operation of the present application in advancing material;

[0058] Fig. 8 is a schematic diagram of the operation of the present application in advancing material to a position;

[0059] Fig. 9 is a schematic diagram of the three-dimensional structure of the present application;

[0060] Fig. 10 is a schematic diagram of the structure of the sliding telescopic structure of the present application extending relative to the frame structure;

[0061] Fig. 11a is a schematic diagram of the structure of the sliding telescopic structure of the present application retracting relative to the frame structure;

[0062] Fig. 11b is a schematic diagram of the structure of the sliding telescopic structure of the present application retracting to the limit position relative to the frame structure;

[0063] Fig. 11c is a schematic diagram of the three-dimensional view of Fig. 11b;

[0064] Fig. 11d is a schematic diagram of the partial cross-sectional view of Fig. 11c;

[0065] Fig. 12 is a schematic diagram of the structure of the sliding telescopic structure of the present application in the gap state;

[0066] Fig. 13a is a front view of Fig. 12;

[0067] Fig. 13b is a schematic diagram of the right side cross-sectional view of Fig. 13a;

[0068] Fig. 13c is a schematic diagram of the partial cross-sectional view of Fig. 13a;

[0069] Fig. 14 is a schematic diagram of the structure of the sliding telescopic structure of the present application in the compressed state;

[0070] Fig. 15a is a front view of Fig. 14;

[0071] Fig. 15b is a schematic diagram of a cross-sectional view of Fig. 15a embodying a second intermediate block and a slide rail connection;

[0072] Fig. 16 is a schematic diagram of the working process of the present application;

[0073] Fig. 17 is a schematic diagram of a comparison between the present application equipped with a 12mm wide clamping surface and a 24mm wide clamping surface;

[0074] Fig. 18 is a schematic diagram of the present application embodying a clamping space;

[0075] Fig. 19 is a schematic diagram of the present application with a push-in depth adjustment assembly;

[0076] Fig. 20 is a schematic diagram of the present application with the push-in depth adjustment assembly in action.

[0077] The figures show: DETAILED DESCRIPTION

[0078] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of protection of the present application.

[0079] The present application provides a clamping and pushing integrated finger, as shown in Figs. 6-18, comprising a transmission device 1 and a finger body 2; the number of said finger body 2 is greater than or equal to 2; the finger body 2 is installed on the transmission device 1; the driving device drives different finger bodies 2 to approach or move away from each other through the transmission device 1, realizing clamping or releasing of the material. In a preferred example, the finger body 2 is installed on the transmission device 1 through an adapter 8. The clamping includes the clamping formed by the different finger bodies 2 exerting pressure on the material, and also includes the adsorptive clamping generated by the different fingers exerting adsorptive force on the material.

[0080] The finger body 2 comprises a sliding telescopic structure 7, a frame structure 3, and a locking structure 5; at least one of the finger bodies 2 comprises a pushing structure 6; the frame structure 3 is installed on the transmission device 1, and the pushing structure 6 is tightly installed on the frame structure 3. In a preferred example, as shown in Figs. 9, 10 and 13a-13c, the pushing structure 6 is a fixed block structure, the fixed block has a protruding part, and the height of the protruding part is higher than the height of the frame structure 3. The sliding telescopic structure 7 is in sliding connection with the frame structure 3; the locking structure 5 is used to realize locking and unlocking between the sliding telescopic structure 7 and the frame structure 3.

[0081] As shown in Fig. 18, the different sliding telescopic structures 7 have clamping spaces 200, and the materials are clamped in the clamping spaces 200; the clamping finger body 2 comprises a clamping state and a pushing state; as shown in Fig. 16, when in the clamping state, the pushing structure 6 is located outside the clamping space 200; when in the pushing state, the frame structure 3 moves towards the target component 100, the sliding telescopic structure 7 is blocked by the target component 100 and retracts relative to the frame structure 3, the pushing structure 6 pushes relative to the sliding telescopic structure 7 towards the clamping space 200, and then extends into the clamping space 200, so as to push the materials into the containing space 101, until the end of the pushing structure 6 is flush with, exceeds or does not reach the end of the sliding telescopic structure 7 (preferably flush). The containing space 101 is a hole, or an assembly space formed by a groove.

[0082] As shown in Figs. 11a-11d, the sliding block 39 is tightly installed on the frame structure 3; as shown in Fig. 10, the sliding telescopic structure 7 comprises a clamping face 31, a first intermediate block 32, a second intermediate block 33 and a sliding rail 34; the clamping face 31 and the first intermediate block 32 are tightly connected by shoulder screws 37, and the second intermediate block 33 and the sliding rail 34 are also tightly connected by shoulder screws 37, the sliding rail 34 and the sliding block 39 match with each other; the first intermediate block 32 and the second intermediate block 33 are elastically connected.

[0083] The sliding telescopic structure 7 has a compression state and a gap state; when the clamping finger body 2 is in the clamping state, the sliding telescopic structure 7 is in the compression state, at this time, the first intermediate block 32 and the second intermediate block 33 are in contact, and the locking structure 5 locks the sliding telescopic structure 7 and the frame structure 3, so that the sliding telescopic structure 7 and the frame structure 3 cannot move relative to each other, that is, the sliding telescopic structure 7 cannot retract relative to the frame structure 3; when the clamping finger body 2 is in the pushing state, the sliding telescopic structure 7 is in the gap state, at this time, there is a gap between the first intermediate block 32 and the second intermediate block 33, and the locking structure 5 does not lock the sliding telescopic structure 7 and the frame structure 3, so that the sliding telescopic structure 7 and the frame structure 3 can move relative to each other, that is, the sliding telescopic structure 7 can retract relative to the frame structure 3;

[0084] When the pinch finger body 2 is in the clamping state, the clamping surface 31 clamps the material; when the pinch finger body 2 is in the advancing state, the clamping surface 31 is in contact with the material (not clamped, only slightly contacted, so that the advancing structure 6 can smoothly advance the material; or, the clamping force is unchanged, that is, it is still clamped, but the pushing force of the advancing structure 6 is greater than the static friction force between the material and the clamping surface 31) at this time, the frame structure 3 is pushed to the clamping space 200 direction under the guidance of the sliding telescopic structure 7, so that the advancing direction of the advancing structure 6 is parallel to the extension direction of the sliding telescopic structure 7 to form a guide direction. That is, the clamping surface can play a guiding role for the advancement of the material; that is, the clamping surface plays a clamping role when the pinch finger body 2 is in the clamping state, and plays a guiding role when it is in the advancing state. In a variant, when the pinch finger body 2 is in the advancing state, the clamping surface 31 is completely released, that is, the clamping surface 31 is completely not in contact with the material.

[0085] As shown in FIG. 10, the first intermediate block 32 and the second intermediate block 33 are connected by an elastic member 36, which is a spring in a preferred example. A screw structure 38 is also provided between the first intermediate block 32 and the second intermediate block 33, which includes a threaded portion, a light rod portion, and a head portion, the threaded portion being connected to the head portion through the light rod portion; the threaded portion is located in the first intermediate block 32 or the second intermediate block 33, the head portion is located in the second intermediate block 33 or the first intermediate block 32, and the elastic member 36 is sleeved on the light rod portion.

[0086] Referring to FIGS. 12-15c, the locking structure 5 includes a first limiting protrusion 51 and a second limiting protrusion 52, the first limiting protrusion 51 being installed on the frame structure 3, and the second limiting protrusion 52 being installed on the first intermediate block 32; when the sliding telescopic structure 7 is in the compressed state, the first limiting protrusion 51 and the second limiting protrusion 52 abut, and the first limiting protrusion 51 can block the sliding telescopic structure 7 from retracting relative to the frame structure 3; when the sliding telescopic structure 7 is in the gap state, the first limiting protrusion 51 and the second limiting protrusion 52 are not on the same straight line, and the first limiting protrusion 51 cannot block the sliding telescopic structure 7 from retracting relative to the frame structure 3;

[0087] Specifically, when the pinch finger holds the material, the sliding telescopic structure 7 will be compressed due to the action force of the material (referring to FIGS. 14 and 15a-15c), thereby reducing the gap between the first intermediate block 32 and the second intermediate block 33, and adjusting the second limiting protrusion 52 to match the first limiting protrusion 51, that is, switching the locking structure 5 from the unlocked state to the locked state, at this time, the second limiting protrusion 52 abuts against the first limiting protrusion 51, preventing the sliding telescopic structure 7 from retracting, and the sliding telescopic structure 7 is completely locked in place.

[0088] The clipper body 2 further comprises a constant force spring 4, one end of the constant force spring 4 is connected with the frame structure 3, the other end is connected with the sliding telescopic structure 7, and the constant force spring 4 is used to provide an action force for the sliding telescopic structure 7 to keep extending out.

[0089] In a preferred example, as shown in FIG. 10 and FIG. 11d, the clipper body 2 further comprises an extending limiting structure 41 and a retracting limiting structure 42, which are used to limit the maximum extension and retraction range of the sliding telescopic structure 7. Specifically, the extending limiting structure 41 and the retracting limiting structure 42 are both limiting block structures, and the inner side of the frame structure 3 is provided with a sliding groove matched with the extending limiting structure 41 and the retracting limiting structure 42. When the limiting block moves to the end of the limiting sliding groove, the limiting block is blocked by the end of the sliding groove, that is, the maximum extension and retraction range of the sliding telescopic structure 7 is limited.

[0090] The transmission device 1 can be a connecting rod structure or a gear and rack structure, and the driving device is a servo motor or a cylinder structure. The transmission device 1 and the driving device are specific structures that can be realized by combining the existing technology by those skilled in the art, and thus will not be described here. In a preferred example, the transmission device 1 can also be a replaceable module, which can be used in different structures by using a suitable adapter 8 to adapt to different use environments.

[0091] In a preferred example, the clamping surface 31 and the advancing structure 6 can be replaced according to the shape and size of different materials to adapt to various applications without the need to redesign the entire finger module. For example, the surface shape of the clamping surface 31 can match the surface shape of the clamped object, and the surface shape of the clamping surface 31 can be a flat surface or a surface provided with a long strip-shaped U-shaped groove, which can adapt to cylindrical or spherical materials. For another example, FIG. 17 shows a comparative diagram showing that a 12mm wide clamping surface and a 24mm wide clamping surface are assembled, and the 24mm size can complete the task of a larger gripping area. The clamping surface 31 is made of rigid materials (such as metal materials) or elastic materials (such as rubber).

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

[0093] Referring to FIGS. 6-8, 13a-13c and 16, first, the sliding telescopic structure 7 extends relative to the frame structure 3, and the material is clamped by the two clamping surfaces 31 of the clipper. At this time, due to the clamping action, the sliding telescopic structure 7 is compressed to a compressed state, that is, the first limiting block 51 and the second limiting block 52 abut, so the sliding telescopic structure 7 cannot be retracted relative to the frame structure 3; in this process, the clipper firmly holds the material, so the function of the sliding telescopic structure 7 cannot be retracted is very important.

[0094] The fingers then release a portion of the object into the receiving space 101. Subsequently, the fingers reduce the gripping strength, at which point the sliding telescopic structure 7, under the action of the elastic member 36, springs back to the clearance state, as shown in Figures 13a-13c, i.e. the first limit protrusion 51 is not in line with the second limit protrusion 52, and thus the first limit protrusion 51 cannot prevent the sliding telescopic structure 7 from retracting relative to the frame structure 3.

[0095] Then, referring to Figure 16, the fingers as a whole move towards the receiving space 101, at which point the frame structure 3 and the pushing structure 6 move forward towards the receiving space 101, and the originally extended sliding telescopic structure 7 retracts relative to the frame structure 3 due to the obstruction of the target member 100, while the pushing structure 6 pushes the object completely into the receiving space 101.

[0096] Finally, when the fingers move away from the frame structure 3, the sliding telescopic structure 7 extends relative to the frame structure 3 under the action of the constant force spring 4.

[0097] Specifically, as shown in Figure 16, when the object is partially inserted, unlike the operation shown in Figures 1-5, the fingers do not need to be repositioned for further insertion. That is, the fingers can continue to move forward to directly complete the complete insertion, without the need for reverse movement and repositioning for pushing the object.

[0098] More specifically, after completing the partial insertion, when firm gripping is no longer needed, the fingers can be slightly opened to reduce the gripping strength, thereby transitioning to a loose grip on the object; in this process, the elastic member 36 pushes the first intermediate block 32 away from the second intermediate block 33, switching the sliding telescopic structure 7 from the compressed state to the clearance state. After switching to the clearance state, the sliding telescopic structure 7 is allowed to retract. In the retraction process, the loosely gripped object is then completely inserted into the receiving space by the pushing structure 6.

[0099] According to the present application, based on the frictional force between the fingers and the object and the size of the pushing force, before the object is pushed by the pushing structure 6, the fingers need to reduce the gripping strength to form a loose grip (to achieve unlocking of the first limit protrusion 51 and the second limit protrusion 52). Although this operation may require additional time, it is clear that, compared with the repositioning operation shown in Figures 1-5, the present application takes much less time to transition from a tight grip to a loose grip.

[0100] The sliding telescopic structure 7 of the present application can slide relative to the frame structure 3 and the pushing structure 6, and the sliding telescopic structure 7 is tensioned by the side constant force spring 4, ensuring that it remains extended under normal conditions to effectively grip the object. The pushing structure 6 mounted on the frame structure 3 facilitates pushing the object when the sliding telescopic structure 7 begins to retract.

[0101] The present application has flexibility, i.e. the sliding telescopic structure 7 will slide inwardly and retract when being blocked by the target member 100, allowing the pushing structure 6 to continuously push the object outwardly until it is fully inserted into the accommodating space 101 in the target member 100. The present application does not need to be repositioned, thereby improving the efficiency of the clamping fingers in completing the insertion task.

[0102] The clamping and pushing integrated clamping fingers can improve the work efficiency of clamping and pushing the material into the target position of the target member. The present application can effectively and directly insert the object into the accommodating space of the target member. The present application is simple in operation, and the clamping fingers can achieve full insertion by using the forward pushing operation, effectively eliminating the need for additional repositioning and readjustment operations due to the interference between the clamping fingers and the edge of the accommodating space in the prior art.

[0103] The present application improves the operation efficiency, and the innovative structural design of the present application can continuously push the material into the accommodating space. This function eliminates the necessary repositioning process in the existing material clamping and material insertion equipment, and significantly improves the operation efficiency of fully inserting the object into the accommodating space.

[0104] The present application adopts a modular and adaptable design, and the clamping finger body 2 can be constructed as an independent module and compatible with different transmission devices 1 through a suitable adapter 8. This multifunctionality enhances the practicality and application range of the design.

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

[0106] In a variant, as shown in FIGS. 19 and 20, the present application also has a material pushing depth adjustment function. At this time, the clamping fingers also include a pushing depth adjustment assembly, and the user can adjust the pushing depth of the material through the pushing depth adjustment assembly. The pushing depth adjustment assembly includes an adjustment screw 81 and a plurality of adjustment screw holes 82. The adjustment screw holes 82 are uniformly arranged on the second intermediate block 33 along the length direction of the second intermediate block 33. When it is necessary to adjust the pushing depth of the material, the user first tightens the adjustment screw 81 in a matching adjustment screw hole 82 according to the requirements, and then when the sliding telescopic structure 7 retracts relative to the frame structure 3 and the pushing structure 6 pushes the material forward by a specified distance, as shown in FIG. 20, the adjustment screw 81 will abut against the frame structure 3, preventing the sliding telescopic structure 7 from continuing to retract, and the pushing process is stopped, thereby achieving the function of pushing the material to a specified depth.

[0107] The present application also provides a robot adopting the clamping and pushing integrated clamping fingers.

[0108] The application also provides a clamping and pushing method, which adopts the integrated clamping and pushing finger to perform clamping and pushing actions.

[0109] The application also provides a clamping and pushing method, which adopts the robot to perform the following steps:

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

[0111] S2, the clamping finger body 2 pushes forward to the clamping space, the sliding telescopic structure 7 in the clamping finger body 2 retracts due to the block of the target component 100, and the pushing structure 6 pushes the material into the containing space 101;

[0112] S3, after the clamping finger body 2 leaves the target component 100, the sliding telescopic structure 7 re-extends and resets.

[0113] Specifically, in the step S1, the clamping finger body 2 is in a clamping state; in the step S2, the clamping finger body 2 is in a pushing state. In a preferred example, there is no force control system in the clamping and pushing method, before the clamping finger body 2 pushes forward in the step S2, the clamping finger body 2 needs to slightly expand to release the material, and the expansion range is artificially set in advance according to the material and the assembly object. In another preferred example, there is a force control system in the clamping and pushing method, before the clamping finger body 2 pushes forward in the step S2, the force control system automatically and accurately controls the slight expansion range of the clamping finger body 2, and the expansion range does not need to be artificially set in advance.

[0114] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0115] The specific embodiments of the application are described above. It should be understood that the application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A finger integrated with a gripper and a pusher, characterized in that, The clamp finger body (2) is greater than or equal to 2 in number; The clamp finger body (2) comprises a sliding telescopic structure (7) and a frame structure (3), and at least one of the clamp finger bodies (2) comprises a pushing structure (6); The pushing structure (6) is fixedly installed on the frame structure (3), and the sliding telescopic structure (7) is in sliding connection with the frame structure (3).

2. The clamp finger integrated with clamping and pushing according to claim 1, wherein a clamping space (200) is formed between different sliding telescopic structures (7), and the material is clamped in the clamping space (200); The clamp finger body (2) comprises a clamping state and a pushing state; When in the clamping state, the pushing structure (6) is located outside the clamping space (200); When in the pushing state, the sliding telescopic structure (7) is retracted relative to the frame structure (3), the pushing structure (6) is pushed relative to the sliding telescopic structure (7) to the clamping space (200), and then extends into the clamping space (200), thereby pushing the material; Until the end (61) of the pushing structure (6) is flush with, exceeds or does not reach the end (71) of the sliding telescopic structure (7).

3. The clamp finger integrated with clamping and pushing according to claim 1, wherein a transmission device (1) is further provided, the frame structure (3) is installed on the transmission device (1), and a driving device drives different clamp finger bodies (2) to move close to or away from each other through the transmission device (1), so as to respectively realize clamping and releasing of the material; The clamp finger body (2) further comprises a locking structure (5); The locking structure (5) is used for locking and unlocking between the sliding telescopic structure (7) and the frame structure (3). A sliding block (39) is fixedly installed on the frame structure (3); The sliding telescopic structure (7) comprises a clamping surface (31), a first intermediate block (32), a second intermediate block (33) and a sliding rail (34); 4. The integrated gripping and pushing finger of claim 1, wherein, The clamping surface (31) is connected with the first intermediate block (32), the second intermediate block (33) is connected with the sliding rail (34), the sliding rail (34) and the sliding block (39) are matched with each other; The first intermediate block (32) and the second intermediate block (33) are connected through an elastic member (36), a screw structure (38) is further arranged between the first intermediate block (32) and the second intermediate block (33), the screw structure (38) comprises a threaded portion, a light rod portion and a head portion, and the threaded portion is connected with the head portion through the light rod portion; The threaded portion is located in the first intermediate block (32) or the second intermediate block (33), the head portion is located in the second intermediate block (33) or the first intermediate block (32), and the elastic member (36) is sleeved on the light rod portion; The sliding telescopic structure (7) has a compression state and a gap state; When the clamp finger body (2) is in the clamping state, the sliding telescopic structure (7) is in the compression state, at this time, the first intermediate block (32) and the second intermediate block (33) are in contact, the locking structure (5) locks the sliding telescopic structure (7) and the frame structure (3), and the sliding telescopic structure (7) and the frame structure (3) cannot move relative to each other. ​ ​ ​ When the clamping finger body (2) is in the advancing state, the sliding telescopic structure (7) is in the gap state, at this time, there is a gap between the first intermediate block (32) and the second intermediate block (33), and the locking structure (5) does not lock the sliding telescopic structure (7) and the frame structure (3), so the sliding telescopic structure (7) and the frame structure (3) can move relative to each other; When the clamping finger body (2) is in the clamping state, the clamping surface (31) clamps the material; When the clamping finger body (2) is in the advancing state, the clamping surface (31) is in contact with the material, at this time, the frame structure (3) advances to the clamping space (200) direction under the guidance of the sliding telescopic structure (7), so that the advancing direction of the advancing structure (6) is parallel to the extension direction of the sliding telescopic structure (7) to form a guide direction; Or when the clamping finger body (2) is in the advancing state, the clamping surface 31 is not in contact with the material.

5. The integrated gripping and pushing finger of claim 3, wherein, The locking structure (5) includes a first limiting protrusion (51) and a second limiting protrusion (52), the first limiting protrusion (51) is installed on the frame structure (3), and the second limiting protrusion (52) is installed on the first intermediate block (32); When the sliding telescopic structure (7) is in the compressed state, the first limiting protrusion (51) and the second limiting protrusion (52) abut against each other, and the first limiting protrusion (51) can block the sliding telescopic structure (7) from retracting relative to the frame structure (3); When the sliding telescopic structure (7) is in the gap state, the first limiting protrusion (51) and the second limiting protrusion (52) are not on the same straight line, and the first limiting protrusion (51) cannot block the sliding telescopic structure (7) from retracting relative to the frame structure (3).

6. The integrated gripping and pusher finger of claim 1, wherein, The clamping finger body (2) further includes a constant force spring (4); One end of the constant force spring (4) is connected with the frame structure (3), and the other end is connected with the sliding telescopic structure (7).

7. The integrated gripping and pushing finger of claim 2, wherein, The clamping surface (31) and the first intermediate block (32) are fastened and connected through shoulder screws (37), and the second intermediate block (33) and the sliding rail (34) are fastened and connected through shoulder screws (37); The clamping surface (31) is made of rubber material; The advancing structure (6) is a fixed block structure, the fixed block has a protruding part, and the height of the protruding part is higher than the height of the frame structure (3).

8. A robot, characterized in that The clamping and advancing integrated clamping finger of any one of claims 1-7 is adopted.

9. A clamping and advancing method, which adopts the clamping and advancing integrated clamping finger of any one of claims 1-7 to perform clamping and advancing actions.

10. A clamping and advancing method, which adopts the robot of claim 8, and the robot performs the following steps: S1, the clamping finger body (2) clamps the material and moves to the opening of the containing space (101) in the target component (100); S2, the clamping finger body (2) advances to the clamping space direction, the sliding telescopic structure (7) in the clamping finger body (2) retracts due to the block of the target component (100), and the advancing structure (6) pushes the material into the containing space (101); S3, after the clamping finger body (2) leaves the target component (100), the sliding telescopic structure (7) extends again to reset.

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