Gripper finger for material insertion, robot, and gripping and pushing method

Abstract

A gripper finger for material insertion, a robot, and a gripping and pushing method. The gripper finger for material insertion comprises a transmission device (1), gripper finger bodies (2) and a forward pushing device; the number of the gripper finger bodies (2) is greater than or equal to two; by means of the transmission device (1), a driving device drives different gripper finger bodies (2) to move toward or away from each other, thus respectively achieving gripping and releasing of a material; when the gripper finger bodies (2) insert the material partially into an accommodation space, the forward pushing device can push the material forward whether the gripper finger bodies (2) disengage from the material or not.

Description

Pinch finger, robot and method for gripping and advancing a material TECHNICAL FIELD

[0001] The present application relates to the field of machinery, in particular, to a pinch finger, robot and method for gripping and advancing a material. BACKGROUND

[0002] In industrial assembly and handling tasks, inserting a part into another part is a common task, i.e. grasping an object and inserting 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.

[0003] The current pinch finger structure for material gripping and material insertion and its working process are shown in Figures 1-5. First, referring to Figure 1, the object is grasped by the pinch finger structure, then referring to Figure 2, the position of the pinch finger structure is adjusted using a robot arm to insert a part of the object into the target hole until the end of the pinch finger structure interferes with the target member. Then referring to Figures 3 and 4, the pinch finger releases the material and repositions. Finally, referring to Figure 5, the pinch 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 pinch finger structure.

[0004] In this process, the pinch finger structure needs to be released from the material and repositioned before pushing the material into the receiving space, which will take a lot of time, resulting in a complex overall working process, long time consumption and low work efficiency.

[0005] Therefore, how to design a pinch finger that does not need to be repositioned to shorten the working time has become a problem to be solved.

[0006] SUMMARY

[0007] In view of the defects in the prior art, the purpose of the present application is to provide a pinch finger, robot and method for gripping and advancing a material.

[0008] According to the present application, a pinch finger for advancing a material is provided, comprising a transmission device, a pinch finger body and a forward pushing device; the number of pinch finger bodies is greater than or equal to 2;

[0009] The driving device drives different pinch finger bodies to approach or move away from each other through the transmission device, respectively achieving gripping and releasing of the material;

[0010] After the pinch finger body inserts the material into the receiving space, the pinch finger body is released or not released from the material, and the forward pushing device can advance the material.

[0011] Preferably, the front pushing device is a telescopic rod structure, and the telescopic rod structure is extended to push the material into the accommodating space after the material part is inserted into the accommodating space by the clamping finger body;

[0012] The telescopic rod structure is installed on the transmission device.

[0013] Preferably, the front pushing device is a fixed rod structure, and the clamping finger body comprises a sliding telescopic structure and a frame structure.

[0014] The fixed rod structure is installed on the transmission device,

[0015] The clamping finger body comprises a sliding telescopic structure and a frame structure, and the sliding telescopic structure is in sliding connection with the frame structure.

[0016] Preferably, the front pushing device is a pushing structure.

[0017] The clamping finger body comprises a sliding telescopic structure and a frame structure, and at least one of the clamping finger bodies comprises a pushing structure.

[0018] The pushing structure is tightly installed on the frame structure, and the sliding telescopic structure is in sliding connection with the frame structure.

[0019] The pushing structure is a fixed block structure, and the fixed block has a protruding part with a height higher than that of the frame structure.

[0020] Preferably, the different sliding telescopic structures have clamping spaces, and the material is clamped in the clamping spaces.

[0021] The clamping finger body comprises a clamping state and a pushing state.

[0022] When in the clamping state, the front pushing device is located outside the clamping space.

[0023] When in the pushing state, the sliding telescopic structure is retracted relative to the frame structure, the front pushing device is advanced relative to the sliding telescopic structure, and then extends into the clamping space, thereby pushing the material.

[0024] Until the end of the front pushing device is flush with, exceeds or does not reach the end of the sliding telescopic structure.

[0025] Preferably, the frame structure is tightly installed with a sliding block.

[0026] The sliding telescopic structure comprises a clamping surface, a first intermediate block, a second intermediate block and a sliding rail.

[0027] 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.

[0028] The first intermediate block and the second intermediate block are connected by an elastic member; a screw structure is further arranged between the first intermediate block and the second intermediate block, the screw structure comprising 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;

[0029] The threaded portion is located in the first intermediate block or the second intermediate block, and 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;

[0030] The sliding telescopic structure has a compression state and a gap state;

[0031] When the clamp finger body is in the clamping state, the sliding telescopic structure is in the compression state, at this time, the first intermediate block and the second intermediate block are in contact, and the locking structure locks the sliding telescopic structure and the frame structure, and the sliding telescopic structure and the frame structure cannot move relative to each other;

[0032] When the clamp 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;

[0033] When the clamp finger body is in the clamping state, the clamping surface clamps the material;

[0034] When the clamp finger body is in the advancing state, the clamping surface is in contact with the material or not in contact with the material, at this time, the advancing direction of the advancing device is parallel to the guide direction formed by the extension direction of the sliding telescopic structure;

[0035] Preferably, the clamp finger body further comprises a locking structure;

[0036] The locking structure is used to realize the locking and unlocking between the sliding telescopic structure and the frame structure;

[0037] The locking structure comprises a first limiting protrusion and a second limiting protrusion, the first limiting protrusion being installed on the frame structure, and the second limiting protrusion being installed on the first intermediate block;

[0038] When the sliding telescopic structure is in the compression state, the first limiting protrusion and the second limiting protrusion abut against each other, and the first limiting protrusion can block the retraction of the sliding telescopic structure relative to the frame structure;

[0039] When the sliding telescopic structure is in the gap state, the first limiting protrusion and the second limiting protrusion are not in the same straight line, and the first limiting protrusion cannot block the retraction of the sliding telescopic structure relative to the frame structure.

[0040] Preferably, the clamp finger body further comprises a constant force spring;

[0041] One end of the constant force spring is connected with the frame structure, and the other end is connected with the sliding telescopic structure.

[0042] 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.

[0043] The clamping surface is made of rubber material.

[0044] According to the robot provided by the application, the finger for pushing the material is adopted.

[0045] According to the clamping and pushing method provided by the application, the robot is adopted, and the robot performs the following steps.

[0046] S1, the finger body clamps the material, and moves to the opening of the containing space in the target component;

[0047] S2, the finger body pushes towards the clamping space, and the front pushing device pushes the material into the containing space;

[0048] S3, after the finger body leaves the target component, the sliding telescopic structure is re-extended and reset.

[0049] Compared with the prior art, the application has the following beneficial effects:

[0050] 1. The application provides a direct and efficient finger, which can accurately and directly insert the material into the containing space of the target component. By eliminating the necessary repositioning process in the existing material clamping and inserting device, the operation efficiency of completely inserting the object into the containing space is significantly improved.

[0051] 2. The clamping surface and the pushing structure of the application can be replaced according to the shape and size of different materials, so that the finger can adapt to different sizes and different sizes of materials, and the versatility of the finger is improved.

[0052] 3. The application adopts modular and adaptive design, the finger body can be constructed as an independent module, and is compatible with different types of transmission devices through appropriate adapters, which enhances the practicality and application range of the design. DETAILED DESCRIPTION

[0053] Other features, objects and advantages of the application will become more apparent after reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0054] Fig. 1 is a first step schematic view of the finger structure in operation in the prior art;

[0055] Fig. 2 is a second step schematic view of the finger structure in operation in the prior art;

[0056] Figure 3 is a schematic diagram of the third step of the operation of the prior art pinch finger structure;

[0057] Figure 4 is a schematic diagram of the fourth step of the operation of the prior art pinch finger structure;

[0058] Figure 5 is a schematic diagram of the fifth step of the operation of the prior art pinch finger structure;

[0059] Figure 6 is a schematic diagram of the operation of the present application;

[0060] Figure 7 is a schematic diagram of the operation of the present application;

[0061] Figure 8 is a schematic diagram of the operation of the present application;

[0062] Figure 9 is a schematic diagram of the three-dimensional structure of the present application;

[0063] Figure 10 is a schematic diagram of the structure of the sliding telescopic structure of the present application in the extended position relative to the frame structure;

[0064] Figure 11a is a schematic diagram of the structure of the sliding telescopic structure of the present application in the retracted position relative to the frame structure;

[0065] Figure 11b is a schematic diagram of the structure of the sliding telescopic structure of the present application in the retracted position relative to the frame structure to the limit position;

[0066] Figure 11c is a schematic diagram of the three-dimensional structure of Figure 11b;

[0067] Figure 11d is a schematic diagram of the partial cross-sectional view of Figure 11c;

[0068] Figure 12 is a schematic diagram of the structure of the sliding telescopic structure of the present application in the gap state;

[0069] Figure 13a is a front view of Figure 12;

[0070] Figure 13b is a schematic diagram of the right side cross-sectional view of Figure 13a;

[0071] Figure 13c is a schematic diagram of the partial cross-sectional view of Figure 13a;

[0072] Figure 14 is a schematic diagram of the structure of the sliding telescopic structure of the present application in the compressed state;

[0073] Figure 15a is a front view of Figure 14;

[0074] Figure 15b is a schematic diagram of the cross-sectional view of the second intermediate block and the sliding rail of Figure 15a;

[0075] Figure 15c is a schematic diagram of the partial cross-sectional view of Figure 15a;

[0076] Figure 16 is a schematic diagram of the operation of the present application;

[0077] Figure 17 is a schematic diagram of the present application with a 12mm wide clamping surface and a 24mm wide clamping surface;

[0078] Figure 18 is a schematic diagram of the present application embodying a clamping space;

[0079] Figure 19 is a schematic diagram of the present application with a push-in depth adjustment assembly;

[0080] Figure 20 is a schematic diagram of the present application with a push-in depth adjustment assembly in action.

[0081] Figure 21 is a schematic diagram of a variation of the present application with a fixed rod structure;

[0082] Figure 22 is a schematic diagram of a variation of the present application with a telescopic rod structure.

[0083] Figure 23 is a schematic diagram of another variation of the present application with a fixed rod structure;

[0084] Figure 24 is a schematic diagram of another variation of the present application with a fixed rod structure; DETAILED DESCRIPTION

[0085] 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 in no way limit the present application. 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 the present application.

[0086] The present application provides a kind of for pushing material clamp finger, including transmission device 1, clamp finger body 2 and front push device;The number of the clamp finger body 2 is greater than or equal to 2;Drive device is driven by transmission device 1 different clamp finger body 2 mutually close, far away, respectively realize the clamping of material, release;The clamp finger body 2 will material part be inserted into containing space, clamp finger body 2 is separated or not separated from material, and front push device can all push material to containing space 101.

[0087] In a preferred example, the front push device is a push structure 6;As shown in Figures 6-18, clamp finger body 2 is directly installed on the transmission device 1 or clamp finger body 2 is installed on the transmission device 1 by adapter 8. The clamping includes the clamping formed by different clamp finger body 2 to material exerting pressure, also includes the adsorption clamping generated by different clamp finger to material exerting adsorption force.

[0088] The clamping finger body 2 comprises a sliding telescopic structure 7, a frame structure 3, and a locking structure 5; at least one of the clamping finger bodies 2 comprises a pushing structure 6; the frame structure 3 is mounted on the transmission device 1, and the pushing structure 6 is tightly mounted on the frame structure 3. As shown in FIG. 9, FIG. 10, and FIG. 13a-13c, the pushing structure 6 is a fixed block structure, and the fixed block has a protruding part with a height higher than that of the frame structure 3. The sliding telescopic structure 7 is in sliding connection with the frame structure 3; and the locking structure 5 is used to realize locking and unlocking between the sliding telescopic structure 7 and the frame structure 3.

[0089] As shown in FIG. 18, the different sliding telescopic structures 7 have a clamping space 200, and the material is clamped in the clamping space 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, and then extends into the clamping space 200, so as to push the material into the accommodating 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 accommodating space 101 is a hole, or an assembly space formed by a groove.

[0090] As shown in FIG. 11a-11d, the frame structure 3 is tightly mounted with a sliding block 39; as shown in FIG. 10, 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; the clamping surface 31 and the first intermediate block 32 are tightly connected by a shoulder screw 37, and the second intermediate block 33 and the sliding rail 34 are also tightly connected by the shoulder screw 37, the sliding rail 34 and the sliding block 39 match with each other; and the first intermediate block 32 and the second intermediate block 33 are elastically connected.

[0091] 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, i.e., 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, i.e., the sliding telescopic structure 7 can retract relative to the frame structure 3;

[0092] 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 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.

[0093] 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 further 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.

[0094] 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;

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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 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.

[0099] 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 the clamping surface is equipped with a 12mm wide clamping surface and a 24mm wide clamping surface, 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).

[0100] The working process of the present application is as follows:

[0101] 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 retract 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 retract is very important.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] According to the present application, 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) before the object is pushed by the pushing structure 6, according to the frictional force and the pushing force between the fingers and the object. Although this operation may require additional time, it is clear that the present application takes much less time to transition from a tight grip to a loose grip compared to the repositioning operation shown in Figures 1-5.

[0108] The sliding telescopic structure 7 of the present application can slide relative to the frame structure 3 and the pushing structure 6, and 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.

[0109] The present application has flexibility, that is, the sliding telescopic structure 7 will slide inward and retract when being blocked by the target component 100, allowing the pushing structure 6 to continuously push the object outward until it is fully inserted into the accommodating space 101 in the target component 100. The present application does not need to be repositioned, thereby improving the efficiency of the clamping fingers in completing the insertion task.

[0110] The clamping fingers for pushing the material can improve the work efficiency of clamping and pushing the material into the target position of the target component. The present application can effectively and directly insert the object into the accommodating space of the target component. The present application is simple in operation, and the clamping fingers can achieve complete 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.

[0111] 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 completely inserting the object into the accommodating space.

[0112] 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.

[0113] 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.

[0114] 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 using, 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, at which time the pushing process stops, thereby achieving the function of pushing the material to a specified depth.

[0115] In one variation, the fingers for pushing the material, as shown in FIGS. 21 and 23, the front pushing device is not the pushing structure 6, but a fixed rod structure 400; the fixed rod structure 400 is installed on the transmission device 1, in this variation, the rest of the parts of the fingers, the connection relationship and the working principle can be the same as the preferred example of "the front pushing device is the pushing structure 6". Specifically, the transmission device 1 can be in different forms, as shown in FIG. 21, the transmission device 1 is a connecting rod structure that drives different finger bodies 2 to move closer to or away from each other, not only left and right movement, but also forward and backward movement. As shown in FIG. 23, it is a sliding structure that drives different finger bodies 2 to move closer to or away from each other, only left and right movement, the sliding structure can realize left and right sliding by using a sliding block 500, in this embodiment, without changing the height of the fixed rod structure 400, the pushing of materials of different sizes can be realized. In another variation, the fingers for pushing the material, as shown in FIG. 22, the front pushing device is a telescopic rod structure 300, after the finger body 2 inserts the material into the accommodation space, the telescopic rod structure 300 extends to push the material into the accommodation space; the telescopic rod structure 300 is installed on the transmission device 1. In this variation, the finger body 2 can be a finger in the prior art (the specific structure is not described here), or it can be the same as the structure of the finger body 2 in the previous variation. The application also provides a robot using the fingers for pushing the material.

[0116] The application also provides a clamping and pushing method using the robot, the robot performs the following steps:

[0117] S1, the finger body 2 clamps the material and moves to the opening of the accommodation space 101 in the target component 100;

[0118] S2, the front pushing device pushes the material into the accommodation space 101.

[0119] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on 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 devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0120] 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 pincher for pushing material, characterized in that The transmission device (1), the pinch finger body (2) and the front pushing device; the number of the pinch finger body (2) is greater than or equal to 2; The driving device drives different pinch finger bodies (2) to approach or move away from each other through the transmission device (1), respectively realizing clamping and releasing of the material; After the pinch finger body (2) inserts the material into the containing space, the pinch finger body (2) is separated from or not separated from the material, and the front pushing device can push the material.

2. The pinch finger for pushing the material according to claim 1, wherein the front pushing device is a telescopic rod structure (300), and after the pinch finger body (2) inserts the material into the containing space, the telescopic rod structure (300) extends to push the material into the containing space. The telescopic rod structure (300) is installed on the transmission device (1).

3. The pinch finger for pushing the material according to claim 1, wherein the front pushing device is a fixed rod structure (400); the pinch finger body (2) comprises a sliding telescopic structure (7) and a frame structure (3); The fixed rod structure (400) is installed on the transmission device (1), The pinch finger body (2) comprises a sliding telescopic structure (7) and a frame structure (3); the sliding telescopic structure (7) is slidably connected with the frame structure (3).

4. The pinch finger for pushing the material according to claim 1, wherein the front pushing device is a pushing structure (6); The pinch finger body (2) comprises a sliding telescopic structure (7) and a frame structure (3), and at least one pinch finger body (2) comprises a pushing structure (6); The pushing structure (6) is tightly installed on the frame structure (3), and the sliding telescopic structure (7) is slidably connected with the frame structure (3); 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).

5. The pinch finger for pushing the material according to claim 3 or 4, wherein there is a clamping space (200) between different sliding telescopic structures (7), and the material is clamped in the clamping space (200); The pinch finger body (2) comprises a clamping state and a pushing state; When in the clamping state, the front pushing device 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 front pushing device is advanced relative to the sliding telescopic structure (7), and then extends into the clamping space (200), thereby pushing the material; Until the end (61) of the front pushing device is flush with, exceeds or does not reach the end (71) of the sliding telescopic structure (7). The frame structure (3) is tightly installed with a sliding block (39); 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); The clamping surface (31) is connected with the first intermediate block (32), the second intermediate block (33) is connected with the sliding rail (34), and the sliding rail (34) and the sliding block (39) are matched with each other. ​ ​ 6. [Amended according to Rule 26 12.08.2024] The push finger for pushing material according to claim 3 or 4, characterized in that, ​ ​ ​ The first intermediate block (32) and the second intermediate block (33) are connected by an elastic member (36); a screw structure (38) is further arranged between the first intermediate block (32) and the second intermediate block (33), and 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 clamping finger body (2) is in a 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; When the clamping finger body (2) is in a 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; When the clamping finger body (2) is in a clamping state, the clamping surface (31) clamps the material; When the clamping finger body (2) is in a pushing state, the clamping surface (31) is in contact with the material or not in contact with the material, at this time, the advancing direction of the advancing device is parallel to the extension direction of the sliding telescopic structure (7) to form a guide direction.

7. A finger for pushing material according to claim 6, characterized in that The clamping 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); The locking structure (5) comprises 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 compression 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).

8. The finger for pushing material according to claim 6, wherein The clamping finger body (2) further comprises 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); The clamping surface (31) and the first intermediate block (32) are fastened and connected through a shoulder screw (37), and the second intermediate block (33) and the sliding rail (34) are fastened and connected through the shoulder screw (37); The clamping surface (31) is made of rubber material.

9. A robot, characterized in that The clamp finger according to any one of claims 1-8 is used for pushing the material.

10. A clamping and pushing method using the robot according to claim 9, wherein the robot performs the following steps: S1, the clamp finger body (2) clamps the material and moves to the opening of the containing space (101) in the target component (100); S2, the clamp finger body (2) is pushed towards the clamping space, and the front pushing device pushes the material into the containing space (101); S3, after the clamp finger body (2) leaves the target component (100), the sliding telescopic structure (7) is re-extended and reset.

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