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CN-122008279-A - Smart hand with blowing and sucking telescopic fingers

CN122008279ACN 122008279 ACN122008279 ACN 122008279ACN-122008279-A

Abstract

The invention relates to the technical field of robots and discloses a smart hand with blowing and sucking telescopic fingers, which comprises a palm base, at least one blowing and sucking telescopic finger body, a driving module and a blowing and sucking module, wherein the blowing and sucking telescopic finger body is connected with the palm base, the blowing and sucking module and the driving module are arranged in a linkage way, so that the blowing and sucking telescopic finger body can synchronously execute at least one of blowing and sucking action and telescopic action, and the driving module is used for driving the blowing and sucking telescopic finger body to realize telescopic action, and the blowing and sucking module is matched with the blowing and sucking telescopic finger body to realize blowing and sucking functions. Through the integrated design of the blowing and sucking function and the finger stretching and grabbing function, no additional independent blowing or vacuum sucking tool is needed, the complicated process of frequently replacing tools in the traditional operation is avoided, the operation preparation time and the process connection period are greatly shortened, tasks such as grabbing, cleaning and sampling can be synchronously propelled, and the overall working efficiency is remarkably improved.

Inventors

  • WANG XINHOU
  • LIU CHANGLIANG

Assignees

  • 东华大学

Dates

Publication Date
20260512
Application Date
20260211

Claims (10)

  1. 1. A smart hand with air-blown retractable fingers, comprising: A palm base (10), at least one blowing and sucking telescopic finger main body (11), a driving module (20) and a blowing and sucking module (30); the blowing and sucking telescopic finger main body (11) is connected with the palm base (10); The blowing and sucking module (30) and the driving module (20) are arranged in a linkage way, so that the blowing and sucking telescopic finger main body (11) can synchronously execute at least one of blowing and sucking action and telescopic movement; The driving module (20) is used for driving the blowing and sucking telescopic finger main body (11) to realize telescopic movement, and the blowing and sucking module (30) is matched with the blowing and sucking telescopic finger main body (11) to realize blowing and sucking functions; the driving module (20) comprises a sleeve (21) and a telescopic cylinder (22), the telescopic cylinder (22) is axially sliding in the sleeve (21), and the top end of the telescopic cylinder (22) is fixed with the bottom base of the blowing and sucking telescopic finger main body (11); The blowing and sucking module (30) comprises an air guide joint (31) for injecting air or exhausting air into the sleeve (21), and the telescopic end of the telescopic cylinder (22) is fixedly communicated with an air guide nozzle (33) arranged at the telescopic end of the telescopic cylinder (22) through a telescopic hose (32).
  2. 2. Smart hand with blowing and sucking retractable fingers according to claim 1, characterized in that the sleeve (21) is fixed on the palm base (10) and the bottom end of the telescopic cylinder (22) is axially slid with the inside of the sleeve (21) by means of the piston plate (23); The driving module (20) comprises a fixing unit (24) and a filtering unit (25) which are arranged in the sleeve (21), wherein the fixing unit (24) is used for fixing the telescopic cylinder (22) after axial telescopic movement, and the filtering unit (25) is used for filtering gas.
  3. 3. Smart hand with retractable fingers for blowing and sucking air according to claim 2, characterized in that the bottom of the telescopic cylinder (22) extends below the piston plate (23), and the bottom of the telescopic cylinder (22) is open, for directly applying the pressure of the air-guide joint (31) for blowing or sucking air into the sleeve (21) into the air-guide mouth (33) through the telescopic cylinder (22) and the telescopic hose (32); the blowing and sucking module (30) comprises a balancing unit (35) arranged inside the telescopic cylinder (22) and is used for preferentially enabling the telescopic cylinder (22) to move in a telescopic mode when the air guide joint (31) injects air or sucks air into the sleeve (21).
  4. 4. A smart hand with blowing and sucking retractable fingers according to claim 3, characterized in that the balancing unit (35) comprises an annular block (351), a blocking block (352) and two balancing springs (353); The annular block (351) and the two balance springs (353) are both fixed in the telescopic cylinder (22), and the extrusion ends of the two balance springs (353) are both fixed with the blocking block (352), so that the blocking block (352) is positioned in the annular block (351) to form blocking; When the telescopic movement of the blowing and sucking telescopic finger main body (11) is executed, the interior of the telescopic cylinder (22) is blocked by the combined state of the blocking block (352) and the annular block (351), so that the pressure of blowing and sucking air from the air guide joint (31) to the interior of the sleeve (21) directly acts on the piston plate (23) to form the telescopic movement of the blowing and sucking telescopic finger main body (11); When the blowing and sucking action of the blowing and sucking telescopic finger main body (11) is executed, the telescopic cylinder (22) is fixed through the fixing unit (24), so that the pressure of the air guide joint (31) for injecting air into the sleeve (21) or sucking air is gradually increased, when the pressure is larger than the pressure of the two balance springs (353), the blocking block (352) moves upwards or downwards, the blocking of the telescopic cylinder (22) is lost, and the blowing and sucking action of the blowing and sucking telescopic finger main body (11) can be formed by matching with the continuous air injection or sucking air of the air guide joint (31); When the telescopic finger body (11) performs telescopic movement and air blowing and sucking action, the telescopic finger body (11) can perform telescopic movement and air blowing and sucking action by continuously injecting or exhausting air through the fixing unit (24) and fixing the telescopic tube (22) through the fixing unit (24).
  5. 5. Smart hand with blowing and sucking retractable fingers according to claim 2, characterized in that said filtering unit (25) comprises a filtering cartridge (251) fixed inside a telescopic cylinder (22), the port of said telescopic hose (32) being fitted with an electric control valve (34); the top of the filter cartridge (251) is provided with a treatment cavity Q 1; A slag discharging pipe (252) is fixedly communicated with the sleeve (21) and used for guiding out garbage collected by the treatment cavity Q 1 in an airflow mode; The top and the bottom of the treatment cavity Q 1 are respectively provided with an expansion part Q 2 , a lower expansion part Q 2 is used for increasing the dispersibility of garbage during back blowing and back flowing of the filter cartridge (251), and an upper expansion part Q 2 is used for enhancing the leading-out pressure of the slag discharging pipe (252).
  6. 6. The smart hand with the blowing and sucking telescopic fingers according to claim 5, wherein one end of the slag discharging pipe (252) is fixedly communicated with a wrapping sleeve (253), the wrapping sleeve (253) is sleeved on the outer surface of the telescopic cylinder (22) in an axial sliding manner, and a through hole communicated with the inside of the slag discharging pipe (252) is formed in the treatment cavity Q 1 ; The outer surface axial sliding connection of flexible section of thick bamboo (22) has gravity sealing block (254) for when promoting through flexible section of thick bamboo (22), gravity sealing block (254) shelter from the through-hole, prevent that gas from leaking.
  7. 7. The smart hand with the blowing and sucking telescopic fingers according to claim 6, wherein a plurality of positioning pieces are arranged at the bottom of the sleeve (21), and each positioning piece comprises a positioning rod fixed at the inner bottom of the sleeve (21) and a positioning hole arranged at the bottom of the piston plate (23); when the telescopic cylinder (22) is in complete shrinkage, the piston plate (23) after complete shrinkage is positioned by inserting the positioning rod into the positioning hole, so that the through hole is overlapped with the inside of the slag discharging pipe (252).
  8. 8. Smart hand with blowing retractable fingers according to claim 1, characterized in that the number of blowing retractable finger bodies (11) is one, the blowing retractable finger bodies (11) being arranged at the index finger, middle finger, ring finger or little finger position of the palm base (10).
  9. 9. The smart hand with the blowing and sucking telescopic fingers according to claim 1, further comprising at least three auxiliary grabbing fingers (12) and a thumb (13), wherein the auxiliary grabbing fingers (12) are connected with a palm base (10), and a side swing driving mechanism (14) is arranged on the palm base (10), and the side swing driving mechanism (14) comprises a side swing motor, a gear set and a side swing shaft, and the side swing motor drives the side swing shaft to rotate through the gear set so as to drive the auxiliary grabbing fingers (12) to swing side; independent underactuated bending mechanisms are arranged on the blowing and sucking telescopic finger main body (11) and the three auxiliary grabbing fingers (12), and are matched with the connecting rod mechanism through driving motors to drive the knuckle of the blowing and sucking telescopic finger main body (11) or the auxiliary grabbing fingers (12) to bend or stretch; The thumb (13) is connected with the palm base (10), the thumb (13) is provided with an extension driving mechanism, the extension driving mechanism comprises a linear driving motor, a rack and a gear, the linear driving motor is connected with the rack, the rack is meshed with the gear, and the gear is connected with the base of the thumb (13) and used for driving the thumb (13) to extend or swing.
  10. 10. Smart hand with blowing-in retractable finger according to any of claims 1-9, characterized in that the blowing-in retractable finger body (11) selectively retains a bending function; When the bending function is reserved, the tail end knuckle of the blowing and sucking telescopic finger main body (11) can be bent to accurately control the blowing and sucking position, and the blowing and sucking telescopic finger main body has partial grabbing capability; When the bending function is not retained, the telescopic travel is prolonged by increasing the axial dimensions of the sleeve (21) and the telescopic cylinder (22).

Description

Smart hand with blowing and sucking telescopic fingers Technical Field The invention belongs to the technical field of robots, and particularly relates to a smart hand with blowing and sucking telescopic fingers. Background The dexterous hand is used as a high-freedom robot end effector simulating the hand function, and is widely applied to a plurality of fields of robot operation, irregular object grabbing and the like by virtue of the characteristic of coordinated movement of multiple knuckles, so that the dexterous hand is a core component for realizing accurate operation and flexible operation. The functions of the existing dexterous hands are obviously limited, the core capacity of the existing dexterous hands is concentrated on grasping and carrying, the object can be clamped and moved only through coordination and cooperation of multiple knuckles, and the function expansibility is lacking. In complex actual scenes such as industrial production, precision detection, cleaning operation and the like, a single gripping function is difficult to meet the requirements of diversified operations, and the following key problems specifically exist: the function is single, complex tasks can not be adapted, dust impurities on the surfaces of the parts need to be removed firstly to ensure the assembly precision when the precise parts are grabbed, and in the tasks of environment detection, sample collection and the like, the specific area needs to be sampled after air blowing disturbance in a short distance, or target gas and tiny particle samples are collected in an air suction mode. The existing smart hand cannot independently complete the composite task of the grasping operation and the auxiliary operation, and needs to rely on other equipment for cooperation. The separated operation mode has low efficiency, and aiming at the composite task, the existing solution needs to be additionally provided with independent air blowing equipment or vacuum suction tool on the basis of the smart hand grasping function. The separated design causes complicated operation flow and frequent tool replacement or equipment layout adjustment, so that the operation preparation time and the procedure connection period are greatly prolonged, and the operation complexity is increased. The system has poor integration and higher cost, the additionally equipped independent equipment can increase the volume, the weight and the manufacturing cost of the whole system, positioning deviation is easy to occur in the tool switching process, the operation precision is influenced, in addition, the system debugging difficulty is increased by the cooperative control of multiple equipment, and the operation stability is reduced. To sum up, the existing dexterous hands cannot meet the integrated operation requirement in complex scenes due to the defects of single function, dependence on external auxiliary equipment, low operation efficiency and the like. The industry is urgent to need a smart hand which can integrate multiple functions such as blowing, sucking, stretching and grabbing and the like, has stronger task adaptability, and solves the problems of frequent tool replacement, complicated operation flow, insufficient efficiency and precision and the like in the prior art. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a smart hand with a blowing and sucking telescopic finger, which solves the problems in the prior art. In order to achieve the aim, the invention provides the technical scheme that the smart hand with the blowing and sucking telescopic fingers comprises a palm base, at least one blowing and sucking telescopic finger main body, a driving module and a blowing and sucking module; The blowing and sucking telescopic finger main body is connected with the palm base; the blowing and sucking module and the driving module are arranged in a linkage way, so that the blowing and sucking telescopic finger main body can synchronously execute at least one of blowing and sucking action and telescopic motion; The driving module is used for driving the blowing and sucking telescopic finger main body to realize telescopic movement, and the blowing and sucking module is matched with the blowing and sucking telescopic finger main body to realize blowing and sucking functions; the driving module comprises a sleeve and a telescopic cylinder, the telescopic cylinder is positioned in the sleeve and axially slides, and the top end of the telescopic cylinder is fixed with the bottom base of the blowing and sucking telescopic finger main body; The blowing and sucking module comprises an air guide joint for injecting air or exhausting air into the sleeve, and the telescopic end of the telescopic cylinder is fixedly communicated with an air guide nozzle arranged at the telescopic end of the telescopic cylinder through a telescopic hose. Preferably, the sleeve is fixed on the palm base, and the bottom end of the telescopic c