109 results about "Finger structure" patented technology

The invention relates to the field of playing digitization, in particular to a hand and key matching method, an intelligent musical instrument, equipment and a storage medium. The method comprises the following steps: acquiring an acquisition position coordinate of an image acquisition module of a playing image, and a first coordinate of each finger structure and a second coordinate of each key in the playing image; determining a finger matching priority under the corresponding position coordinate based on a first relative position relationship between the first coordinate of the finger structure and the collection position coordinate; according to the first coordinates and the second coordinates, matching each finger structure with a key at the position of the finger structure to obtain a plurality of groups of matching relationships between the finger structures and the keys; based on the finger matching priorities, the matching relations between the finger structures and the keys are screened, candidate fingering under the current timestamp is obtained, and the finger structures and the keys in the candidate fingering are in one-to-one matching relations. And the finger structure for actually pressing the key is accurately positioned, so that the matching robustness and accuracy are improved.

The invention provides a dexterous hand which comprises a palm structure, a plurality of first joint modules and a second joint module, each first joint module comprises a first side swing assembly and a first finger structure, and each first finger structure comprises a plurality of first finger shells and a plurality of first knuckle steering engines arranged in the first finger shells; the first knuckle steering engines drive the first finger shells to rotate in a one-to-one correspondence mode, the second joint module comprises a second side swing assembly and a second finger structure, and the second finger structure comprises a plurality of thumb knuckle shells and a plurality of thumb knuckle steering engines arranged in the thumb knuckle shells. The thumb knuckle steering engines drive the thumb knuckle shells to rotate in a one-to-one correspondence mode. The dexterous hand provided by the invention has more active degrees of freedom, can more accurately simulate the movement of a human hand, and is longer in service life and lower in control difficulty. In addition, the first joint module and the second joint module are both independent modules, so that maintenance and replacement are convenient.

The application relates to the technical field of robots, in particular to a finger module, a dexterous hand, a clamping jaw and a robot, and solves the problem that the finger structure of a dexterous hand or a clamping jaw is poor in universality and cannot be adapted to various dexterous hands or clamping jaws. The finger module comprises a first phalanx, a first driving assembly, a second phalanx and a second driving assembly. The first driving assembly is connected with the first phalanx and is configured to drive the first phalanx to rotate around a first axis, the second phalanx is rotatably connected with the first phalanx around a second axis, the second driving assembly is arranged on the first phalanx and is connected with the second phalanx and is configured to drive the second phalanx to rotate around the second axis, that is, the second driving assembly is built-in the first phalanx and does not need to be installed on a palm, the modularity of the finger module is realized, the finger module can be conveniently installed on various dexterous hands or clamping jaws, and the finger module can be flexibly configured and arranged according to different application conditions.

The utility model provides a hand-simulated operation device, and relates to the technical field of manipulators, the hand-simulated operation device comprises a plurality of finger-simulated structures used for grabbing a target object, the finger-simulated structures at least comprise fingertip knuckles, and the tops of the fingertip knuckles are special-shaped curved surfaces; an electronic skin is attached to each fingertip knuckle, the electronic skin is arranged to be of a stretchable and bendable flexible structure, and the electronic skin is configured to be capable of generating interactive perception with the target object when the target object is grabbed; the electronic skin is attached to the fingertip knuckles and at least covers the front faces and the tops of the fingertip knuckles. The defect that in the prior art, when a human hand operation simulating device grabs the target object, perceptual information of the target object is not accurate is overcome.

The invention relates to the technical field of clamping jaws, and particularly discloses a clamping finger structure of a clamping jaw, the structure at least comprises a left clamping finger and a right clamping finger, the left clamping finger comprises at least one clamping module, and the right clamping finger also comprises at least one clamping module; the clamping module comprises a clamping plate, a reset piece, a rotating shaft and a bearing. When an object is clamped, the clamping plates rotate correspondingly, the two faces, making contact with the object, of the clamping plates can be concave inwards to form a V shape or convex outwards to form an inverted V shape, the contact face formed by the two clamping plates has a certain radian as a whole, the radian is consistent with the radian of the clamped object, and for the object with the contact face being a curved face, the clamping plates can be used for clamping the object. The two clamping plates can be better attached to the surface of the object, the contact area is increased, and therefore the friction force is increased, and the object is not prone to falling off when clamped.

The invention relates to the technical field of robots, in particular to a chain transmission dexterous hand finger structure which comprises a connecting base, a pin shaft is rotationally connected to the connecting base and connected with a near knuckle, the near knuckle is connected with a chain wheel through a driving part, the chain wheel is in transmission connection with a second chain wheel through a chain, and the second chain wheel is connected with a middle knuckle through a second pin shaft. The middle knuckle is connected with a third chain wheel through a second driving piece, the third chain wheel is in transmission connection with a fourth chain wheel through a second chain, the fourth chain wheel is connected with the fingertip through a third pin shaft, and the device achieves rotation of the fingers of the dexterous hand in a chain transmission mode, and compared with a tendon rope and connecting rod transmission mode in the prior art, the device is small in size and convenient to transmit torque; the response speed and the working efficiency are high.

The invention relates to the technical field of electronic manufacturing and robot skin, in particular to an intelligent human-shaped finger structure integrating pressure, temperature sensing and heating. The device comprises a finger-shaped appearance structure, a multifunctional film sensor arranged in the finger-shaped appearance structure and a control system, and the multifunctional film sensor comprises an upper substrate, a lower substrate and an electrode circuit arranged between the upper substrate and the lower substrate. The humanoid finger intelligent skin assembly has the advantages that the double-layer film substrate is designed, functional ink such as a printed silver circuit, FSR, PTC and NTC is printed, 3D buzzing forming is carried out, the humanoid finger intelligent skin assembly with the pressure sensing, temperature sensing and heating integrated function is achieved, and the humanoid finger intelligent skin assembly is suitable for application of humanoid robots.

The invention relates to the technical field of industrial robots, in particular to a twenty-two-degree-of-freedom dexterous hand which comprises a palm structure, and the two ends of the palm structure are movably connected with a wrist structure and five finger structures correspondingly; a driving structure is mounted in the wrist structure, the driving structure comprises finger driving mechanisms and a palm driving mechanism which are mounted on the wrist structure, and the five finger driving mechanisms penetrate through the palm structure to be connected with the five finger structures one by one and are used for driving the five finger structures to bend and swing; the palm driving mechanism is connected with the palm structure and used for driving the palm structure to bend and swing. According to the dexterous hand, the five fingers, the palm structure and the wrist structure have bending and swinging capacities respectively, the degree of freedom is high, and the dexterous performance of the dexterous hand is greatly improved; the mode of combining the chain, the sleeve and the tendon rope is adopted, remote more accurate control over the tendon rope is achieved, and the repeated positioning accuracy of the dexterous hand is improved.

The invention provides a dexterous finger module and a dexterous hand, the dexterous finger module comprises a finger structure and a finger root base, the finger structure comprises a plurality of knuckle shells and a plurality of knuckle steering engines arranged in the knuckle shells, the knuckle shells are rotationally connected in sequence, and the knuckle shells are rotationally connected with the knuckle steering engines; each knuckle steering engine drives the corresponding knuckle shell to rotate, one knuckle steering engine is a first steering engine for driving the finger structure to rotate relative to the finger root base, the finger structure further comprises a first connecting piece and a first transmission assembly, and the first steering engine is connected with the first transmission assembly; the motion output end of the first transmission assembly is fixedly connected with the first connecting piece. According to the dexterous finger module and the dexterous hand, more active freedom degrees are achieved, the knuckle shell does not need to be driven to rotate in a rope-driven coupling mode, the service life is long, and the control difficulty is low. In addition, the dexterous finger module is an independent module and is convenient to maintain and replace.

The utility model relates to an FPC golden finger structure for preventing ACF golden ball short circuit. The FPC golden finger structure for preventing ACF golden ball short circuit comprises an FPC board and a pin assembly, the pin assembly comprises a first binding pin and a second binding pin, the first binding pin and the second binding pin are arranged on the FPC board, and the thickness of the first binding pin is smaller than that of the second binding pin. According to the scheme provided by the invention, the ACF gold ball can be prevented from being extruded and broken after the FPC board is bound, so that short circuit is avoided.

The invention provides container taking equipment. The container taking equipment comprises a body, a telescopic device, a control device and a driving device. A warehouse is arranged in the body and provided with a goods inlet. The telescopic device comprises telescopic arms arranged on the two opposite sides of the goods inlet. Each telescopic arm comprises three arms capable of sliding relatively, the three arms can stretch out and draw back in the first direction, and the first direction is the goods inlet and outlet direction of the warehouse. Wherein the first section arm of the three arms is in sliding connection with the body, and the tail end, away from the body, of the tail section arm is provided with a shifting finger structure; the driving device comprises a driving assembly for driving the first section of arm in each telescopic arm to slide relative to the body, and a linkage mechanism for driving the adjacent arms in each telescopic arm to be linked; the control device is used for controlling the shifting finger structure to rotate to the position where the container to be carried can be shifted. According to the technical scheme, the three arms are used for taking the cargo box, so that the cargo can be taken out from a deeper warehouse.

The utility model provides a finger structure and a robot. The finger structure comprises: a frame; the first knuckle is hinged to the rack through a first hinge part; the second knuckles are hinged to the first knuckles through second hinge parts; the third knuckles are hinged to the second knuckles through third hinge parts; the driving assembly is arranged on the rack and used for driving the first knuckles to rotate around the first direction or a second direction opposite to the first direction; the first end of the first tendon rope is connected with the rack, and the second end of the first tendon rope sequentially bypasses the first hinge part and the second hinge part in the first direction and the second direction and then is connected with the second knuckle; the first end of the second tendon rope is connected with the second knuckle, and the second end of the second tendon rope is connected with the third knuckle after bypassing the second hinge part and the third hinge part in the first direction and the second direction in sequence; when the driving assembly drives the first knuckles to rotate in the first direction, the first tendon ropes pull the second knuckles to rotate in the first direction, and the second tendon ropes pull the third knuckles to rotate in the first direction.

According to the FPC finger structure of the LCD narrow jaw, a connecting groove is formed in the bottom of a lower frame, and the connecting groove is connected with the FPC finger structure; the FPC finger structure comprises a connecting shell, the connecting shell is in limiting clamping connection with the connecting groove through a plugging assembly, the plugging assembly comprises a limiting insertion cylinder, a limiting insertion rod is arranged in the connecting shell, a clamping rod is arranged between the limiting insertion rod and the inner wall of the connecting shell, a clamping block is arranged at the top of the clamping rod, and the clamping block is matched with the clamping groove in a plugging mode; the tail part of the connecting shell is fixedly connected with a plugging head, and a moving assembly for driving the clamping rod to move is arranged in the plugging head; through the arrangement of the reinforcing sheet and the plugging assembly, the stability of the gold finger in the plugging process can be improved, the fracture resistance of the gold finger is improved, the fracture probability of the gold finger is reduced, and the service life is prolonged; in addition, through the arrangement of the warning module, the golden fingers are not damaged in the plugging and unplugging process, and the service life of the golden fingers is further prolonged.

This invention discloses a robotic hand and robot. The robotic hand includes a palm, multiple fingers, a drive module, and linkages. The robotic hand of this invention has 16 degrees of freedom, suitable for performing high-precision tasks such as precision assembly and micro-manipulation. It can achieve more complex finger postures and grasping actions, adapting to the grasping needs of objects of different shapes and sizes. It provides stable force transmission, facilitating precise force control, and is suitable for operations requiring precise force feedback. It has high mechanical strength and wear resistance, a relatively simple structure, reduces potential failure points, and is suitable for industrial environments with long-term continuous operation. The drive module can be standardized for easy mass production and maintenance. The finger structure is modular, allowing for flexible configuration according to application requirements, reducing manufacturing costs and maintenance difficulty. It can balance high-precision positioning with high-flexibility operation, meeting the stringent requirements of modern industry for efficient and precise operations, and can be applied to various scenarios such as precision assembly and complex logistics sorting.

The invention provides a humanoid dexterous hand and a humanoid robot. The humanoid dexterous hand comprises a palm skeleton, a thumb driving mechanism and a joint mechanism, the palm skeleton comprises a guide rail fixing seat, a skeleton body, a four-finger structure, a thumb and a driving mounting groove; the thumb driving mechanism comprises a side swing driving assembly and a bending driving assembly. One end of the bending driving assembly is embedded into the driving mounting groove, the other end of the bending driving assembly is connected with the joint mechanism through the guide rail fixing seat, and the bending driving assembly is slidably connected with the guide rail fixing seat; and the side swing driving assembly is embedded into the driving mounting groove, is connected with the joint mechanism through the guide rail fixing seat, and is in sliding connection with the guide rail fixing seat. The joint mechanism is controlled through the side swing driving assembly and the bending driving assembly respectively, then the thumb is controlled to move through the joint mechanism, free movement can be conducted in two direction dimensions, and the flexibility of the thumb is greatly improved.

Disclosed are an ESD protection device to mitigate performance degradation due to operational instability by ensuring protection against ESD events and stress. The ESD protection device includes an N-type buried layer including a first dopant type in a semiconductor substrate, a deep well (DNW) including a first dopant type on the N-type buried layer, a first doped region including a first dopant type on the deep well, a second doped region including a first dopant type and a third doped region including a second dopant type, spaced apart from the first doped region, a base in the first doped region, and a multi-finger structure including emitter fingers in the second doped region and collector fingers in the third doped region, and a base moat comprising a base metal connecting individual ones of the emitter fingers to each other.

The utility model relates to a connector structure. A finger contact prevention structure of a high-voltage interlocking connector comprises a female end insulating shell, a male end insertion hole is formed in the center of the female end insulating shell, a plurality of female end contact prevention pieces are arranged at the end of the female end insulating shell, finger contact prevention holes are formed in the female end contact prevention pieces, and the female end contact prevention pieces are connected with elastic control pieces. The anti-contact finger hole is smaller than the male end insertion hole under the elastic force effect of the elastic control piece, and the end part of the female end insulation shell is also provided with a guide stop structure which guides and limits the female end anti-contact piece. The utility model provides the finger contact prevention structure of the high-voltage interlocking connector, which is simple in structure, convenient to assemble, practical in dynamic protection mechanism and low in cost; the technical problems that in the prior art, an anti-touch finger structure of a high-voltage interlocking connector is complex, the number of manufacturing process steps is large, and cost is high are solved.

The utility model discloses a mechanical finger structure and a manipulator, and belongs to the technical field of perovskite solar cell devices. The mechanical finger structure comprises a U-shaped plate, a supporting plate and a resistance sensor. The supporting plates are arranged on the U-shaped plate in a protruding mode, at least two supporting plates are oppositely arranged on the U-shaped plate at intervals, and perovskite solar cell devices are placed on the supporting plates. One part of the resistance sensor is arranged on the U-shaped plate, the other part of the resistance sensor is arranged on the supporting plates, and when the perovskite solar cell devices are placed on the supporting plates, the resistance sensor is used for abutting against the film surfaces of the perovskite solar cell devices so as to detect the resistance of the film surfaces. According to the mechanical finger structure, the resistance sensor is integrated under the condition that the resistances of the glass surface and the film surface of the perovskite solar cell device are different, that is, the glass surface has no resistance, and the film surface has the resistance, so that the film surface and the glass surface of the perovskite solar cell device can be distinguished by measuring the resistance of the film surface; the distinguishing operation is simple and convenient; and the distinguishing result is high in accuracy.

The embodiment of the utility model provides a golden finger structure and electronic equipment, and relates to the technical field of computer buses. The golden finger structure comprises a plurality of golden fingers arranged on a PCB in parallel, differential signal lines and grounding through holes, at least two golden fingers are connected with a group of differential signal lines, the differential signal lines are routed on the surface layer of the PCB, the included angle between the differential signal lines and the golden fingers in the parallel direction or the vertical direction is 10 degrees, and the grounding through holes are arranged on the surface layer of the PCB. The grounding through holes are arranged above the upper edges of the golden fingers or below the lower edges of the golden fingers, and are arranged between the gaps of the two adjacent golden fingers. Through 10-degree wiring, the position where the differential signal line falls on the base material does not coincide with the warp and the weft of the base material as much as possible, the dielectric constant is more uniform, the signal integrity is further improved, crosstalk caused by signals output by the golden fingers can be reduced through the grounding through holes, and the signal quality is further improved.

The invention discloses a switching power supply module structure which comprises a main circuit board, a planar transformer arranged on the main circuit board, a sub-circuit board and a plastic inner frame arranged between the main circuit board and the sub-circuit board, a module structure in which the outer contours of the inner frame, the sub-circuit board and the main circuit board main body are basically overlapped is formed; the sub-circuit board is provided with pins of a golden finger structure, and the pins and the golden finger pins of the main circuit board are combined to form a double-layer golden finger pin structure. Compared with the prior art, the planar transformer is formed by stacking and combining at least two PCBs at intervals in an insulating mode, and compared with a framework transformer, the planar transformer is thin in size, and the product thickness is reduced; and the inner frame is fixedly connected with the main power circuit board and the control circuit board, so that the whole power supply module forms a whole, and the structural strength and the reliability of the whole switching power supply module are improved.

The invention discloses a finger structure for a vacuum manipulator to grab a wafer, and relates to the technical field of semiconductor manufacturing. The first split ceramic ring and the second split ceramic ring are arranged between the rotating shaft parts of the first split and the second split and are used for providing low-friction rotating support; a limiting structure; the limiting part is arranged among the first main body, the first split body and the second split body and used for limiting the rotation limit angle of the first split body and the second split body; through triple cooperation of the first split body, the second split body, the low-friction ceramic ring and the limiting boss, the self weight of the wafer presses the split bodies to rotate around the rotating shaft, the ceramic ring reduces the friction coefficient, and it is ensured that the split bodies swing smoothly; the limiting boss and the limiting surface are clamped and stopped, the split body is restrained to rotate, finally, the wafer is automatically corrected in the second groove, transmission vibration and fragment risks caused by single-side contact are eliminated, the problem that when an existing vacuum mechanical arm grabs the wafer, the position of the wafer is prone to deviation is solved, and the position of the wafer can be automatically corrected when the vacuum mechanical arm grabs the wafer.

The utility model discloses a finger structure and robot, finger structure includes linear drive assembly, near-end knuckle, middle knuckle, far-end knuckle and flexible rope, linear drive assembly includes motor, worm and worm gear that connect in proper order, near-end knuckle, middle knuckle and far-end knuckle are rotatingly connected in proper order, and the flexible rope is connected in proper order to drive the near-end knuckle, middle knuckle and far-end knuckle. One end of the flexible rope is wound on the worm gear, the other end of the flexible rope is connected to the far-end knuckles, and the motor, the worm and the worm gear sequentially drive the flexible rope to be stretched or loosened so as to drive the far-end knuckles and the middle knuckles to be bent or straightened. By the adoption of the design mode, due to the flexibility characteristic of the flexible rope, the state of the fingers can be adjusted in a self-adaptive mode in the buckling and stretching process, and therefore the flexible self-adaptive grabbing function is achieved, and objects of different shapes and sizes can be flexibly coped with. In addition, due to the fact that the worm gear and the worm have the self-locking characteristic, the finger has the large load capacity.

The utility model provides an intelligent goods shelf goods taking opening anti-pinch structure, and relates to the technical field of anti-pinch structures, the intelligent goods shelf goods taking opening anti-pinch structure comprises a goods shelf box, a first motor is installed in the goods shelf box, a connecting column is fixed to the output end of the first motor, and a door plate is fixed to the outer wall of the connecting column; a clamping frame is arranged on the inner top wall of the goods shelf box and located on one side of the door plate. When the sensor needs to be disassembled and replaced, a user only needs to push a push plate to drive a clamping column to move so that the clamping column can be separated from a clamping groove formed in one end of a clamping frame, at the moment, the clamping frame falls off along with gravity, the user only needs to catch the clamping frame, the sensor installed in the clamping frame can be disassembled, maintained and replaced, disassembly is more convenient, and practicability is higher; and in addition, the device drives a screw rod to rotate through operation of a second motor, so that a moving block transversely moves under limiting of a limiting column, a moving plate connected with a connecting block is driven to move, a brush is driven to continuously wipe the output end of the sensor, and dust is prevented from affecting use of the sensor.

A semiconductor memory device includes: a stacked structure including first layers including conductive layers disposed in a first and a third regions and insulating layers disposed in a second region, first to third insulating members extending in a stacking direction, semiconductor layers disposed in the first and the third regions, and a contact electrode disposed in the second region. The first and the third insulating members extend across the first to third regions and the second insulating member extends across the first and the third regions. The second insulating member contacts the insulating layers. The first layers extend in a direction in the second region from a side of the first insulating member to a side of the third insulating member. The conductive layers in the first and the third regions are mutually connected via conductive layers in the second region.

The application provides a kind of integrated circuit layout detection method, device and storage medium;Method includes: in layout, determine multi-finger structure, wherein multi-finger structure includes: at least one upper continuous source-drain and at least one upper continuous via, upper continuous source-drain is electrically connected with upper layer metal line by upper continuous via;The number of upper continuous source-drain and the number of upper continuous via are calculated;For multi-finger structure, if the number of its upper continuous source-drain is greater than the number of its upper continuous via, then determine that the multi-finger structure is unqualified multi-finger structure.The application can find design defects in time, thereby improving the yield of chip.

This application provides a finger structure, a dexterous hand, and a robot, relating to the field of robotics. The finger structure, applied to a dexterous hand, includes a middle segment, a root segment and a fingertip segment rotatably connected to both ends of the middle segment, and the root segment is also rotatably connected to the palm. The finger structure further includes: a first buffer layer disposed between the fingertip segment and the middle segment; a second buffer layer disposed between the root segment and the middle segment; and a third buffer layer disposed between the root segment and the palm.

The application discloses a high-speed flexible board connecting assembly, which comprises a flexible printed board, a standard SMA connector arranged at one end of the flexible printed board and used for connecting a vector network analyzer, and a gold finger structure arranged at the other end of the flexible printed board and used for being plugged into a standard VPX socket; the gold finger structure comprises a plurality of gold fingers, and the gold fingers are connected with the corresponding standard SMA connectors through the flexible printed board. Compared with the prior art, the high-speed flexible connecting assembly has the advantages of high speed (20 Gbps), low loss, low cost and good quality consistency, and can be flexibly used for building a VPX architecture test link.

The invention discloses a bionic finger structure picking robot for a spindle-shaped fruit tree and a picking method, and belongs to the technical field of intelligent hardware. A moving assembly in the picking robot is used for bearing all assemblies of the picking robot to move in an orchard and move to the periphery of a target fruit tree; the laser radar and the first camera acquire fruit tree planting position information, a park layout image and an obstacle image; the control assembly is used for performing picking path navigation and fruit tree modeling of the moving assembly according to the fruit tree planting position information, the park layout image and the obstacle image; determining position information of a to-be-picked target according to a target fruit tree image acquired by a second camera; a picking path is planned; the control assembly controls the mechanical arm to move to a picking path starting point position and starts a third camera to collect evaluation attitude information; and adjusting the picking posture of an end effector of the picking assembly according to the posture information for picking. According to the scheme provided by the embodiment of the invention, the fruit picking efficiency and precision can be improved.

The invention provides a finger structure. The finger structure comprises a finger root part; the finger part is rotatably connected to the finger root part through a first joint part, and the finger part rotates around a first direction and a second direction relative to the finger root part; the two first tendon ropes extend in the third direction and are symmetrically arranged on the two sides of the finger structure in the first direction, the end, close to the finger root part, of each first tendon rope is connected with a first driving piece, and the end, away from the finger root part, of each first tendon rope is connected to the finger part; one end, in the third direction, of the reset tendon rope is connected to one end, far away from the finger part, of the finger root part, and the other end, in the third direction, of the reset tendon rope is connected to one end, far away from the finger root part, of the finger part; the first tendon rope and the reset tendon rope are arranged on the front face and the back face of the finger structure respectively, and the front face and the back face of the finger structure are oppositely arranged in the second direction. The size of the finger structure is reduced, and the action precision and the use reliability of the finger structure are improved.

The utility model is suitable for the field of electronic components, and provides a micro heat source structure, an insertion finger structure, an atomization core and an electronic device.The micro heat source structure comprises a substrate, and the substrate is provided with a first surface; an impedance body disposed on the first surface; and the heat conduction layer is arranged on the first surface and is connected with the impedance body. The heat conduction layer is connected with the impedance body, so that heat generated by the impedance body can be rapidly conducted to the heat conduction layer and then conducted to a position needing to be heated through the heat conduction layer, the heat conduction efficiency is improved, and the product function is guaranteed.