Adaptive finger gripper for pushing materials, robot and gripping and pushing method

Abstract

An adaptive finger gripper for pushing materials, a robot and a gripping and pushing method. The adaptive finger gripper for pushing materials comprises a transmission device (1) and finger gripper main bodies (2); each finger gripper main body (2) comprises a sliding telescopic structure (7) and a frame structure (3), the sliding telescopic structure (7) being slidably connected to the frame structure (3). A gripping space (200) is provided between the different sliding telescopic structures (7), and materials are gripped within the gripping space (200). Each finger gripper main body (2) comprises a gripping state and a pushing state; when in the pushing state, the sliding telescopic structure (7) retracts relative to the frame structure (3) and a target member (100). Different from a rigid collision between the finger gripper and the target member (100) during material pushing in the prior art, when the finger gripper is in contact with the target member (100), each sliding telescopic structure (7) will adaptively retract relative to the target member (100), so as to avoid the rigid collision between the finger gripper and the target member (100), thus reducing the possibility of damage to the finger gripper and the target member (100) caused by the rigid collision.

Description

Self-adaptive gripper for pushing material, robot and clamping and pushing method TECHNICAL FIELD

[0001] The present application relates to the field of machinery, in particular, to a self-adaptive gripper for pushing material, a robot and a clamping and pushing method. BACKGROUND

[0002] In the automated production process in the industrial field such as assembly, the end of the industrial robot uses the gripper structure of the actuator to realize the clamping, grabbing, carrying and transferring of the workpiece. Grabbing the object and inserting it into the corresponding accommodation space (such as the assembly space formed by the hole or groove) of the target component is a common task. Common examples include inserting male terminals into female sockets, installing hard disk modules into server chassis slots, and placing batteries into device cavities.

[0003] Generally, these inserted materials 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 gripper structure for material clamping and material insertion and its working process are shown in FIGS. 1-5. In the first step, referring to FIG. 1, the object is grabbed by the gripper structure, and then in the second step, referring to FIG. 2, the position of the gripper structure is adjusted by the mechanical arm to insert a part of the object into the target hole until the end of the gripper structure collides with and interferes with the target component. Subsequently, in the third step, referring to FIGS. 3 and 4, the gripper releases the material and repositions. Finally, in the fourth step, referring to FIG. 5, the gripper structure pushes the material forward a second time to complete the task. The distal end of the mechanical arm is connected to the proximal end of the gripper structure.

[0005] In the above-mentioned second step, since the gripper structure is a rigid structure, and the end of the gripper structure will collide with and interfere with the target component, it is possible to cause damage to the target component or the gripper structure due to the collision.

[0006] Therefore, when pushing the material, how to reduce the possibility of damage to the target component or the gripper structure is a technical problem that needs to be solved at present.

[0007] SUMMARY

[0008] In view of the defects in the prior art, the purpose of the present application is to provide a self-adaptive gripper for pushing material, a robot and a clamping and pushing method.

[0009] According to the self-adaptive gripper for pushing material provided by the present application, the number of gripper bodies is greater than or equal to 2.

[0010] The gripper body includes a sliding telescopic structure and a frame structure,

[0011] The frame structure is mounted on the transmission device; the driving device drives different clamping finger bodies to approach or move away from each other through the transmission device, so as to realize clamping and releasing of the material, respectively;

[0012] The sliding telescopic structure is slidably connected with the frame structure;

[0013] The different sliding telescopic structures have a clamping space, and the material is clamped in the clamping space;

[0014] The clamping finger body includes a clamping state and a pushing state;

[0015] When in the pushing state, the sliding telescopic structure is retracted relative to the frame structure and the target component;

[0016] After the material is clamped by the different clamping finger bodies and a part of the material is placed in the containing space, the clamping finger structure continues to move towards the containing space, and the originally extended sliding telescopic structure is retracted relative to the frame structure and the target component due to the blocking of the target component.

[0017] Preferably, at least one of the clamping finger bodies includes a pushing structure; the pushing structure is tightly mounted on the frame structure;

[0018] The pushing structure is used to push the material into the containing space when in the pushing state;

[0019] When in the clamping state, the pushing structure is located outside the clamping space; when in the pushing state, the sliding telescopic structure is retracted relative to the frame structure and the target component, the pushing structure is advanced relative to the sliding telescopic structure, and then extends into the clamping space, so as to push the material; the pushing state continues until the end of the pushing structure is flush with, exceeds or does not reach the end of the sliding telescopic structure;

[0020] The clamping finger body further includes a locking structure;

[0021] The locking structure is used to realize locking and unlocking between the sliding telescopic structure and the frame structure.

[0022] Preferably, a sliding block is tightly mounted on the frame structure;

[0023] The sliding telescopic structure includes a clamping surface, a first intermediate block, a second intermediate block and a sliding rail;

[0024] 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;

[0025] 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;

[0026] 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;

[0027] The sliding telescopic structure has a compression state and a gap state;

[0028] When the clamping 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;

[0029] 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;

[0030] When the clamping finger body is in the clamping state, the clamping surface clamps the material;

[0031] 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 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.

[0032] Preferably, 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;

[0033] 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 sliding telescopic structure from retracting relative to the frame structure;

[0034] 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.

[0035] Preferably, the clamping finger body further comprises a constant force spring;

[0036] One end of the constant force spring is connected to the frame structure, and the other end is connected to the sliding telescopic structure.

[0037] Preferably, the clamping surface is fastened to the first intermediate block by shoulder screws, and the second intermediate block is fastened to the slide rail by shoulder screws.

[0038] Preferably, the clamping surface is made of rubber material.

[0039] 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.

[0040] Preferably, the pushing depth adjusting assembly is further included, and the user can adjust the pushing depth of the material through the pushing depth adjusting assembly.

[0041] The pushing depth adjusting assembly includes an adjusting screw and a plurality of adjusting screw holes; the adjusting screw holes are arranged on the second intermediate block.

[0042] The adjusting screw can be matched with any adjusting screw hole, and the adjusting screw is located above the frame structure; when the sliding telescopic structure is retracted by a preset distance relative to the frame structure, the adjusting screw can abut against the frame structure to prevent the sliding telescopic structure from continuing to retract.

[0043] According to the robot provided by the application, the self-adaptive clamping fingers for pushing the material are adopted.

[0044] According to the clamping and pushing method provided by the application, the robot is adopted.

[0045] Compared with the prior art, the application has the following beneficial effects:

[0046] 1. Different from the rigid collision between the clamping fingers and the target member when the material is pushed in the prior art, the sliding telescopic structure is adapted to retract relative to the target member when the clamping fingers contact the target member, that is, the rigid collision between the clamping fingers and the target member is avoided, and the possibility of damage of the clamping fingers and the target member due to the rigid collision is reduced.

[0047] 2. The application can effectively and directly insert the material into the accommodating space of the target member, eliminates the necessary repositioning process in the prior art material clamping and material insertion equipment, and significantly improves the operation efficiency of completely inserting the object into the accommodating space.

[0048] 3. The clamping surface and the pushing structure of the application can be replaced according to the shapes and sizes 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] 4. The application adopts modular and adaptive design, the clamping finger body can be constructed as an independent module, and is compatible with different types of transmission devices through appropriate adapters, thereby enhancing the practicality and application range of the design. Attached Figure Description

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

[0051] Figure 1 is a schematic diagram of the first step when the finger clamping structure is working in the prior art;

[0052] Figure 2 is a schematic diagram of the second step when the finger clamping structure is working in the prior art;

[0053] Figure 3 is a schematic diagram of the third step when the finger clamping structure is working in the prior art;

[0054] Figure 4 is a schematic diagram of the fourth step when the finger clamping structure is working in the prior art;

[0055] Figure 5 is a schematic diagram of the fifth step when the finger clamping structure is working in the prior art;

[0056] Figure 6 is a schematic diagram of the present invention clamping materials;

[0057] Figure 7 is a schematic diagram of the material propulsion process of the present invention;

[0058] Figure 8 is a schematic diagram of the material being pushed into place according to the present invention;

[0059] Figure 9 is a three-dimensional structural schematic diagram of the present invention;

[0060] Figure 10 is a schematic diagram of the sliding telescopic structure of the present invention when it extends relative to the frame structure;

[0061] Figure 11a is a schematic diagram of the sliding telescopic structure of the present invention when it retracts relative to the frame structure;

[0062] Figure 11b is a schematic diagram of the sliding telescopic structure of the present invention retracting to its limit position relative to the frame structure;

[0063] Figure 11c is a three-dimensional schematic diagram of Figure 11b;

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

[0065] Figure 12 is a schematic diagram of the sliding telescopic structure of the present invention in the gap state;

[0066] Figure 13a is the front view of Figure 12;

[0067] Figure 13b is a schematic diagram of the right-side cross-sectional view of the gap in Figure 13a;

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

[0069] Fig. 14 is a schematic diagram of the sliding telescopic structure of the present application in a 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 the connection of the second intermediate block and the slide rail;

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

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

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

[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 examples. 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 for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These are within the scope of protection of the present application.

[0079] The present application provides a self-adaptive clamp finger for pushing material, as shown in Figs. 6-18, comprising a transmission device 1 and a clamp finger body 2; the number of clamp finger bodies 2 is greater than or equal to 2; the clamp finger body 2 is installed on the transmission device 1; the driving device drives different clamp 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 clamp finger body 2 is installed on the transmission device 1 through an adapter 8. The clamping includes the clamping formed by different clamp finger bodies 2 exerting pressure on the material, and also includes the adsorptive clamping generated by different clamp fingers exerting adsorptive force on the material.

[0080] The clipper body 2 comprises a sliding telescopic structure 7, a frame structure 3, and a locking structure 5; at least one of the clipper bodies 2 comprises a pushing structure 6; the frame structure 3 is mounted on the transmission device 1, and the pushing structure 6 is fixedly mounted on the frame structure 3; in a preferred embodiment, as shown in FIGS. 9, 10, and 13a-13c, the pushing structure 6 is a fixed block structure, and the fixed block has a protruding portion 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 lock and unlock the sliding telescopic structure 7 and the frame structure 3.

[0081] 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 clipper 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 advances relative to the sliding telescopic structure 7, and then extends into the clamping space 200, thereby pushing 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.

[0082] As shown in FIGS. 11a-11d, the frame structure 3 is fixedly 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 fixedly connected by a shoulder screw 37, and the second intermediate block 33 and the sliding rail 34 are also fixedly connected by the shoulder screw 37; the sliding rail 34 and the sliding block 39 are matched with each other; and the first intermediate block 32 and the second intermediate block 33 are elastically connected.

[0083] The sliding telescopic structure 7 has a compressed state and a gap state; when the clipper body 2 is in the clamping state, the sliding telescopic structure 7 is in the compressed 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 clipper 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;

[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 in contact, so that the advancing structure 6 can smoothly advance the material; or, the clamping force remains 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 advances 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 in 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] First, different pinch finger bodies 2 clamp the material, and then a part of the material is placed in the containing space 101, and then the pinch finger continues to move in the direction of the containing space 101. The originally extended sliding telescopic structure 7 will be retracted relative to the frame structure 3 due to the blocking of the target member 100, and at the same time the material will be completely pushed into the containing space 101 by the advancing structure 6.

[0086] 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 embodiment. 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.

[0087] 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 mounted on the frame structure 3, and the second limiting protrusion 52 being mounted on the first intermediate block 32; when the sliding telescopic structure 7 is in the compressed state, the first limiting protrusion 51 abuts against the second limiting protrusion 52, 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;

[0088] Specifically, when the fingers are holding the material, the sliding structure 7 will be compressed by the force of the material (see FIG. 14 and FIG. 15a-15c), thus reducing the gap between the first and second intermediate blocks 32 and 33, and adjusting the second limiting block 52 to match the first limiting block 51, so that the sliding structure 7 is locked in place when the locking structure 5 is switched from the unlocked state to the locked state.

[0089] The finger body 2 further comprises a constant force spring 4, one end of which is connected to the frame structure 3, and the other end is connected to the sliding structure 7. The constant force spring 4 is used to provide a force to keep the sliding structure 7 extended.

[0090] In a preferred embodiment, as shown in FIG. 10 and FIG. 11d, the finger body 2 further comprises an extension limiting structure 41 and a retraction limiting structure 42, which are used to limit the maximum extension and retraction range of the sliding structure 7. Specifically, the extension limiting structure 41 and the retraction limiting structure 42 are both limiting block structures, and the inner side of the frame structure 3 is provided with a sliding groove that matches the extension limiting structure 41 and the retraction 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, i.e. the maximum extension and retraction range of the sliding structure 7 is limited.

[0091] The transmission device 1 can be a connecting rod structure or a rack and pinion structure, and the driving device can be 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 embodiment, the transmission device 1 can also be a replaceable module, which can be used in different structures with a suitable adapter 8 to adapt to different use environments.

[0092] In a preferred embodiment, the gripping surface 31 and the pushing 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 gripping surface 31 can match the surface shape of the object to be gripped. The surface shape of the gripping 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 comparison diagram showing a 12mm wide gripping surface and a 24mm wide gripping surface. The 24mm size can complete the task of a larger gripping area. The gripping surface 31 is made of rigid materials (such as metal materials) or elastic materials (such as rubber).

[0093] The working process of the present application is as follows:

[0094] Referring to Figs. 6-8, 13a-13c and 16, first the sliding telescopic structure 7 is extended relative to the frame structure 3, the material is held by the two holding surfaces 31 of the fingers, at this time, due to the holding, the sliding telescopic structure 7 is compressed to the compressed state, i.e. the first limit block 51 abuts against the second limit block 52, thus the sliding telescopic structure 7 cannot be retracted relative to the frame structure 3; in this process, the fingers firmly hold the material, thus the function of the sliding telescopic structure 7 cannot be retracted is crucial.

[0095] Then the fingers put a part of the material into the receiving space 101. Subsequently, the fingers reduce the holding strength, at this time, due to the reduced holding strength, the sliding telescopic structure 7 is rebounded to the clearance state under the action of the elastic member 36, as shown in Figs. 13a-13c, i.e. the first limit block 51 is not in the same straight line with the second limit block 52, thus the first limit block 51 cannot prevent the sliding telescopic structure 7 from retracting relative to the frame structure 3.

[0096] Then referring to Fig. 16, the fingers as a whole move towards the receiving space 101, at this time, the frame structure 3 and the pushing structure 6 move forward towards the receiving space 101, the originally extended sliding telescopic structure 7 is retracted relative to the frame structure 3 due to the blocking of the target member 100, at the same time, the material is completely pushed into the receiving space 101 by the pushing structure 6.

[0097] Finally, when the fingers are away from the frame structure 3, the sliding telescopic structure 7 is extended relative to the frame structure 3 under the action of the constant force spring 4.

[0098] Specifically, as shown in Fig. 16, when the object is partially inserted, unlike the operation shown in Figs. 1-5, the fingers do not need to be repositioned to be further inserted. 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 material.

[0099] More specifically, after completing the partial insertion, when the firm grip is no longer needed, the fingers can be slightly opened to reduce the holding strength, thus transitioning to a looser 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.

[0100] The present invention according to the frictional force between the fingers and the material and the size of the pushing force, before the object is pushed by the pushing structure 6, the fingers need to reduce the clamping strength to form a loose clamping (to achieve the unlocking of the first limit block 51 and the second limit block 52). Although this operation may require additional time, it is obvious that compared with the repositioning operation shown in Figures 1-5, the present invention takes much less time to transition from tight clamping to loose clamping.

[0101] The sliding telescopic structure 7 of the present invention 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, which ensures that it remains extended under normal conditions to effectively clamp the object. The pushing structure 6 mounted on the frame structure 3 facilitates the pushing of the object when the sliding telescopic structure 7 begins to retract.

[0102] The present invention has flexibility, that is, the sliding telescopic structure 7 slides inwardly and retracts when blocked by the target member 100, allowing the pushing structure 6 to continuously push the object outwardly until it is fully inserted into the accommodation space 101 in the target member 100. The present invention does not need to be repositioned, thereby improving the efficiency of the fingers in completing the insertion task.

[0103] The adaptive fingers for pushing the material can improve the work efficiency of clamping and pushing the material into the target position of the target member. The present invention can effectively and directly insert the object into the accommodation space of the target member. The present invention is simple to work, and the fingers can achieve complete insertion by using the forward pushing operation, effectively eliminating the need for additional repositioning and readjustment operations due to interference between the fingers and the edge of the accommodation space in the prior art.

[0104] The present invention improves the operation efficiency, and the innovative structural design of the present invention can continuously push the material into the accommodation space. This function eliminates the necessary repositioning process of the existing material clamping and material insertion equipment, significantly improving the operation efficiency of completely inserting the object into the accommodation space.

[0105] The present invention adopts a modular and adaptable design, and the fingers body 2 can be constructed as an independent module compatible with different transmission devices 1 through appropriate adapters 8. This versatility enhances the practicality and application range of the design.

[0106] The clamping surface 31 and the pushing structure 6 of the present invention can be replaced according to the shape and size of different materials, and through the replaceable design, the fingers can modify the front surface size and the geometry of the pushing structure. This adaptability enables it to handle a wider range of applications, adapting to different object sizes, geometries, and insertion requirements.

[0107] In a variation, as shown in FIG. 19 and FIG. 20, the present application is also provided with a material pushing depth adjustment function, at this time the 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 adjusting screw 81 and a plurality of adjusting screw holes 82; the adjusting screw holes 82 are evenly arranged on the second intermediate block 33 along the length direction of the second intermediate block 33, when it is needed to adjust the pushing depth of the material, the user first screws the adjusting screw 81 in a matched adjusting screw hole 82 according to the requirement, and then when the sliding telescopic structure 7 is retracted relative to the frame structure 3 and the pushing structure 6 pushes the material to advance a specified distance, as shown in FIG. 20, the adjusting screw 81 will abut against the frame structure 3 and prevent the sliding telescopic structure 7 from continuing to retract, at this time the pushing process is stopped, and the function of pushing the material to a specified depth is realized.

[0108] The present application also provides a robot, which adopts the self-adaptive fingers for pushing material.

[0109] The present application also provides a clamping and pushing method, which adopts the self-adaptive fingers for pushing material to perform clamping and pushing actions.

[0110] 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 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 device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0111] The specific embodiments of the present application have been described above. It should be understood that the present 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 present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that the combinations do not conflict.

Claims

1. An adaptive pinch finger for pushing material, characterized in that, The transmission device (1) and the pinch finger body (2) are included, the number of the pinch finger body (2) is greater than or equal to 2; The pinch finger body (2) includes a sliding telescopic structure (7) and a frame structure (3), The frame structure (3) is installed on the transmission device (1); the driving device drives different pinch finger bodies (2) to move close to or away from each other through the transmission device (1), so as to realize the clamping and releasing of the material respectively; The sliding telescopic structure (7) is slidably connected with the frame structure (3); 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) includes a clamping state and a pushing state; When in the pushing state, the sliding telescopic structure (7) is retracted relative to the frame structure (3) and the target member (100); First, the material is clamped by different pinch finger bodies (2), and then a part of the material is placed in the containing space (101), and then the pinch finger structure continues to move towards the containing space (101), and the originally extended sliding telescopic structure (7) is retracted relative to the frame structure (3) and the target member (100) due to the blocking of the target member (100).

2. The self-adaptive pinch finger for pushing the material according to claim 1, wherein At least one of the pinch finger bodies (2) includes a pushing structure (6); the pushing structure (6) is tightly installed on the frame structure (3); The pushing structure (6) is used to push the material into the containing space (101) when in the 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) and the target member (100), and the pushing structure (6) advances relative to the sliding telescopic structure (7) and extends into the clamping space (200), thereby pushing the material; the pushing state continues 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); The pinch finger body (2) further includes a locking structure (5); The locking structure (5) is used to realize the locking and unlocking between the sliding telescopic structure (7) and the frame structure (3).

3. The self-adapting pinch finger for pushing material of claim 2, wherein, The frame structure (3) is tightly installed with a sliding block (39); The sliding telescopic structure (7) includes 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; 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), and the screw structure (38) includes 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 part is located in the first intermediate block (32) or the second intermediate block (33), the head part is located in the second intermediate block (33) or the first intermediate block (32), and the elastic member (36) is sleeved on the polished rod part; The sliding telescopic structure (7) has a compressed state and a gap state; When the clamp finger body (2) is in the clamping state, the sliding telescopic structure (7) is in the compressed 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 clamp 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 that the sliding telescopic structure (7) and the frame structure (3) can move relative to each other; When the clamp finger body (2) is in the clamping state, the clamping surface (31) clamps the material; When the clamp 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 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 clamp finger body (2) is in the advancing state, the clamping surface (31) is not in contact with the material.

4. The self-adaptive clamp finger for pushing the material according to claim 3, wherein 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 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 retraction of the sliding telescopic structure (7) 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 retraction of the sliding telescopic structure (7) relative to the frame structure (3). The clamp finger body (2) further comprises a constant force spring (4); 5. The self-adapting pinch finger for pushing material of claim 1, wherein, 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 shoulder screws (37), and the second intermediate block (33) and the sliding rail (34) are fastened and connected through shoulder screws (37).

6. The self-adapting pinch finger for pushing material of claim 2, wherein, 7. The self-adaptive clamp finger for pushing the material according to claim 2, wherein 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. The self-adapting pinch finger for pushing material of claim 2, wherein, Further comprising a push-in depth adjusting assembly, by which a user can adjust the push-in depth of the material; The push-in depth adjusting assembly comprises an adjusting screw (81) and a plurality of adjusting screw holes (82); the adjusting screw holes (82) are arranged on the second intermediate block (33); The adjusting screw (81) can match any one of the adjusting screw holes (82), and the adjusting screw (81) is located above the frame structure (3); when the sliding telescopic structure (7) is retracted by a preset distance relative to the frame structure (3), the adjusting screw (81) can abut against the frame structure (3) to prevent the sliding telescopic structure (7) from continuing to retract.

9. A robot, characterized in that An adaptive gripper for pushing in material according to any one of claims 1-8.

10. A method of gripping and advancing using the robot of claim 9.

Images