46 results about "First phalanx" patented technology

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with three active degrees of freedom is large. According to the dexterous hand finger, the first knuckle can have the functions of laterally swinging and rotating towards the palm side or the hand back side through the first linear driving assembly and the second linear driving assembly which are connected in parallel, and the knuckle assembly has the function of rotating towards the palm side or the hand back side through the third linear driving assembly. Due to the fact that the third straight line can be parallel to the palm base plate, on the plane perpendicular to the second axis, the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extending direction of the first axis is gradually reduced in the direction from the third straight line to the first knuckle. The circumferential size of the end, away from the knuckle assembly, of the first knuckle is small, and the space occupied by the three linear driving assemblies in the palm is close to the shape of the palm of a person.

A multi-degree-of-freedom bionic dexterous hand includes a palm structure, a bionic thumb, a multifunctional bionic finger, and a dexterous bionic finger. The bionic thumb includes a first phalanx structure and a rotary disk, the rotary disk is configured to rotate on the palm structure, the first phalanx structure is hinged to the rotary disk, and the rotation axis of the rotary disk is not parallel to the rotation axis of the first phalanx structure. The multifunctional bionic finger includes a second phalanx structure, the second phalanx structure is universally hinged to the palm structure, and the second phalanx structure can perform the flexion-extension movement and the swinging movement. The dexterous bionic finger includes a third phalanx structure, the third phalanx structure is hinged to the palm structure, and the third phalanx structure can perform the flexion-extension movement.

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 invention relates to a combined manipulator, and discloses a mechanical finger and a manipulator, the mechanical finger is mounted at the palm center of the manipulator, and the mechanical finger comprises a sleeve, a threaded rod, a first driving part, a transmission rod, a first phalanx part and a first connecting rod. The sleeve is fixedly connected with the palm center, the threaded rod is arranged in the sleeve in a penetrating mode and rotationally connected with the sleeve, the first driving piece is in transmission connection with the head end of the threaded rod, the head end of the transmission rod is provided with internal threads, the internal threads are in threaded connection with the threaded rod, and the head end of the first phalanx piece is rotationally connected with the palm center. One end of the first connecting rod is rotationally connected with the tail end of the transmission rod, and the other end of the first connecting rod is rotationally connected with the middle of the first phalanx piece. The manipulator can comprise a palm center and the mechanical fingers of any embodiment of the invention. The mechanical fingers are rotationally connected with the palm center.

The utility model provides a robot hand and a robot system including the same. The robot hand includes: a plurality of robot fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and robotic systems including the same that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

A multi-degree-of-freedom bionic dexterous hand, comprising a palm structure (1), a bionic thumb (2), a multifunctional bionic finger (3) and a dexterous bionic finger (4). The bionic thumb (2) comprises a first phalanx structure (21) and a rotary table (22), wherein the rotary table (22) is rotatably arranged on the palm structure (1), and the first phalanx structure (21) is hinged to the rotary table (22), the rotation axis of the rotary table (22) not being parallel to that of the first phalanx structure (21). The multifunctional bionic finger (3) comprises a second phalanx structure (31), wherein the second phalanx structure (31) is universally hinged to the palm structure (1), and the second phalanx structure (31) can perform flexion-extension movement and swinging movement. The dexterous bionic finger (4) comprises a third phalanx structure (41), wherein the third phalanx structure (41) is hinged to the palm structure (1), and the third phalanx structure (41) can perform flexion-extension movement.

This invention discloses a flexible cable-driven, fully actuated, anthropomorphic dexterous hand finger mechanism, comprising a base, a first phalanx, a first joint, a second phalanx, a second joint, a third phalanx, a third joint, a fourth phalanx, and a fourth joint. The first phalanx is connected to the base via the first joint; the second phalanx is connected to the first phalanx via the second joint; and the third phalanx is connected to the second phalanx via the third joint. Flexible cable pulley mechanisms are installed at the second and third joints, driving the third phalanx to rotate around the third joint, the second phalanx to rotate around the second joint, and the first phalanx to swing around the first joint. The fourth phalanx is connected to the third phalanx via the fourth joint, and the third phalanx drives the fourth phalanx to rotate around the fourth joint via a four-bar linkage. This invention achieves anthropomorphism and modularity in anthropomorphic dexterous fingers, meeting the requirements for end-effector motor capabilities in dexterous operations.

Valgus correction device, comprising at least one lower insole (1) provided on top with a counter-insole (2) and a positioning lever (3) fixed to the lower insole (1) along the area accomodating the big toe when worn, and having an elongated S-shape, passing through the first phalanx and then through a point between the end of the metatarsals and the beginning of the cuneiforms, including a connection band (5), an adjustment element (6) associated, on the one hand, with the lower insole (1), in a section where the latter supports the medial arch of the foot, and on the other hand, with the said connection band (5), where the fulcrum of the lever (4) is located at a point between the second phalanx and the metatarsal of the big toe.

This application relates to the field of humanoid robot technology, specifically to a mechanical thumb, a mechanical hand, and a robot. The mechanical thumb includes a root, a first phalanx, and a second phalanx, with the first phalanx connected between the root and the second phalanx. A first support is rotatably mounted on the root about a first axis. The first phalanx includes a first link and a second link, both hinged between the first support and the second phalanx, and the first and second links are arranged intersectingly. A first drive assembly is also mounted on the root. The first output end of the first drive assembly includes a thrust block that rotates about a second axis. The thrust block abuts against at least one of the first and second links through a convex curved surface. This application, by configuring a linkage mechanism, achieves the linkage between the first and second phalanxes, which can reduce the number of actuators while ensuring the flexibility of the mechanical thumb's movement, thereby simplifying the structure and reducing the size of the mechanical hand.

The invention provides a finger of a dexterous hand, and relates to the technical field of artificial intelligence, the finger of the dexterous hand comprises at least two knuckles, and the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged in the direction from the finger root to the fingertip in the axial direction of the finger; the first knuckles are provided with first driving modules used for driving the first knuckles, and the second knuckles are provided with second driving modules used for driving the second knuckles. Wherein the second knuckle comprises a fingertip and a connecting part, the fingertip is installed on the connecting part through a detachable component, and the connecting part is connected with the first knuckle. In the embodiment of the invention, each knuckle is directly driven, the transmission path is short, and the control precision can be improved. And through the detachable fingertips, the fingertips can be quickly replaced according to actual scene requirements, the whole hand does not need to be replaced, and the cost is reduced.

This utility model discloses a multi-rotor drone capture and recovery manipulator, relating to the technical field of drones. The multi-rotor drone capture and recovery manipulator includes a robotic arm, a support component, and a gripping component. The support component is fixed to the output end of the robotic arm. The gripping component includes at least four robotic fingers, each including a first phalanx and a second phalanx. The first phalanx is rotatably connected to the support component, and the second phalanx is rotatably connected to the corresponding first phalanx. The first phalanx has a rotation angle range of -135° to 105°, and the second phalanx has a rotation angle range of -178° to 151°. This utility model addresses the problems of traditional 3-6 degree-of-freedom planar gripper manipulators, such as the inability of the end-effector to accurately engage with the horizontal support at the bottom of the drone, the difficulty in stably capturing drones weighing over 10kg due to the generally low single-finger load capacity (below 5kg), and the tendency for the drone to tip over during recovery, thus improving capture adaptability, load capacity, and stability, and increasing recovery efficiency.

The application relates to the technical field of robots, in particular to a dexterous hand thumb, a dexterous hand and a robot, which solve the problem that a dexterous hand thumb with three degrees of freedom cannot simultaneously consider joint decoupling of the dexterous hand thumb and the size of the dexterous hand thumb. The dexterous hand thumb comprises a metacarpal bone driving assembly, a metacarpophalangeal driving assembly, a first phalanx, a second phalanx, a tendon and an interphalangeal driving assembly, realizes one palmar freedom degree and two bending freedom degrees of the dexterous hand thumb. The metacarpophalangeal driving assembly comprises a metacarpophalangeal driving source, a first worm, a first worm wheel and at least one first guide wheel. The tendon is sequentially passed through the first phalanx, bypasses one side of the first guide wheel away from the first worm, passes through a first shaft hole and is connected with the interphalangeal driving assembly, realizes movement decoupling of the tendon and the metacarpophalangeal driving assembly, the metacarpal bone driving assembly, the metacarpophalangeal driving assembly and the interphalangeal driving assembly can be arranged on a palm base plate, and the size of the dexterous hand thumb is reduced.

This utility model discloses a finger mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The finger mechanism, robotic hand, and robot of this utility model, by driving a flexion-extension drive to rotate a flexion-extension worm gear, allows the first phalanx to rotate relative to the mounting base. Simultaneously, under the action of a connecting rod, the second phalanx rotates along with and relative to the first phalanx. By changing the rotation direction of the flexion-extension worm gear, the finger mechanism can perform flexion-extension movements, allowing the finger mechanism to switch between a bent and extended state. Furthermore, the flexion-extension worm gear and the flexion-extension worm gear have a self-locking function; after the finger mechanism bends and presses against the object to be grasped, the flexion-extension drive stops working, allowing the finger mechanism to maintain a firm grip on the object, thereby achieving the goal of reducing energy consumption.

The invention discloses a movable anthropomorphic palm device, which comprises a palm part and five fingers, the five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, each finger comprises a first knuckle and a second knuckle, and one end of each first knuckle is rotatably connected to the palm part and is driven by a driving mechanism; the second knuckles are rotationally connected to the ends, away from the palm part, of the first knuckles, the first knuckles and the second knuckles are in linkage through linkage mechanisms, and the second knuckles can deflect along with the first knuckles. According to the scheme, the palm device is composed of the palm part and the five movable fingers, each finger is provided with a driving motor and an encoder, and the rotation angle of the finger can be independently controlled. Wherein the thumb is provided with two phalanges, and a two-stage planet synchronous belt transmission mechanism is adopted. Each of the other four fingers is provided with three phalanges, and a three-stage planetary synchronous belt transmission mechanism is adopted.

This invention proposes a mechanical finger, a robotic hand, and a robot, relating to the field of robot manufacturing technology. It includes: a differential connection structure connecting a first phalanx structure and a second phalanx structure; two drive gears rotatably mounted on the first phalanx structure; and one of two driven gears fixed to the second phalanx structure and the other rotatably mounted on the second phalanx structure. The two drive gears are adapted to drive the second phalanx structure to rotate relative to the first phalanx structure about a first direction when rotating in the same direction, and to drive the second phalanx structure to rotate relative to the first phalanx structure about a second direction when rotating in opposite directions. In this embodiment of the mechanical finger, the second phalanx structure can rotate relative to the first phalanx structure about either the first or second direction, increasing the degree of freedom, occupying less space, ensuring motion stability, and thus guaranteeing reliability and greater flexibility.

The application relates to the technical field of robots, in particular to a side swing mechanism, a dexterous hand and a robot, which solve the problems that the side swing movement of each finger of the dexterous hand needs a side swing mechanism to drive, leading to the problems of complex structure and large size of the dexterous hand. The side swing mechanism comprises a driving assembly, a first connecting rod and a second connecting rod. The driving assembly is connected with a first phalanx and drives the first phalanx to rotate to realize the side swing of the first phalanx; the first phalanx drives a second phalanx to rotate through the first connecting rod to realize the side swing of the second phalanx; and the first phalanx or the second phalanx drives a third phalanx to rotate through the second connecting rod to realize the side swing of the third phalanx. Therefore, the side swing mechanism realizes the side swing of multiple phalanges through one driving assembly, reduces the complexity of the side swing mechanism, reduces the size of the side swing mechanism, thereby reducing the size of the dexterous hand and making the size of the dexterous hand closer to that of a human hand.

This invention relates to the field of robotics and proposes a rigid-flexible coupling robotic mechanical finger structure, including a fixed plate and two sets of gripping fingers. Each gripping finger comprises a first phalanx, a second phalanx, and a fingertip that rotate sequentially from end to end. The first phalanx is rotatably mounted on the fixed plate. The structure also includes a gripping airbag, a drive mechanism, and a gripping mechanism. The gripping airbag is fixedly mounted on the end of the fingertip, and an air pump is installed inside the fingertip. The gripping airbag is connected to an inflation valve and a deflation valve, which are used to inflate the airbag. Four drive mechanisms are provided, each driving two first phalanxes and two second phalanxes to rotate. The gripping mechanism drives the fingertip to rotate in order to grip objects. This technical solution addresses the problem in existing technologies where the excessive gripping force of mechanical fingers causes damage to some objects.

The application provides a modularized finger structure and a robot, and the finger structure comprises: a first phalanx, which is provided with a force sensor; a second phalanx, which is rotationally connected with the first phalanx and is linked with the first phalanx; a third phalanx, which is rotationally connected with the second phalanx, and a first joint between the third phalanx and the second phalanx is provided with a first angle sensor; a driving mechanism, which is rotationally connected with the third phalanx, and a second joint between the driving mechanism and the third phalanx is provided with a second angle sensor; the driving mechanism comprises a first driving motor and a second driving motor, the first driving motor drives the second phalanx to rotate through a tendon rope one, and the second driving motor drives the third phalanx to rotate through a tendon rope two. The finger structure has high flexibility and universality, solves the common problem of multiple fingers of the robot, simplifies the finger structure design, and is convenient for installation and maintenance.

A robotic gripper includes: a base; a first finger including a first phalanx connected to the base by a joint and a tip portion remote from the base; a second finger including a first phalanx connected to the base by a joint and a tip portion remote from the base, wherein the first and second fingers are opposite each other, the first finger including an inner surface facing the second finger, and the second finger including an inner surface facing the first finger; wherein the tip portion of one of the fingers includes a nail projection that can be deployed between an deployed configuration and an undeployed configuration.

The application provides a mechanical finger, a dexterous hand and a robot, and relates to the technical field of robots.The mechanical finger comprises at least one first phalanx, each first phalanx comprising a first phalanx body and a second phalanx body, the first phalanx body of each first phalanx being provided with a first clamping part, the second phalanx body of each first phalanx being provided with a second clamping part, and the first clamping part being clamped with the second clamping part.In this way, the assembly process of each first phalanx does not need to use screws and additional tools, which not only helps to simplify the assembly process of the mechanical finger and improve the production efficiency of the dexterous hand, but also helps to reduce the weight of the dexterous hand.

This utility model discloses a grooved anti-collision finger mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The grooved anti-collision finger mechanism, robotic hand, and robot of this utility model, by rotating a rotating component, allow the driving part to abut against the inner wall of the first groove, thereby driving the first phalanx to rotate. The elastic component undergoes elastic deformation, and under the action of the connecting rod, the second phalanx rotates along with the first phalanx and also rotates relative to the first phalanx, thus enabling the grooved anti-collision finger mechanism to perform a bending action. When the grooved anti-collision finger mechanism switches from a bent state to an extended state, the rotating component rotates in the opposite direction, while the driving part remains abutting against the inner wall of the first groove. The grooved anti-collision finger mechanism can extend and return to its original position under the combined action of the elastic force of the elastic component and the force applied by the driving part to the first side wall. When the rotating component is not rotating, the grooved anti-collision finger mechanism can bend under external force to avoid collision damage.

This application discloses a finger, relating to the field of robotics. The finger includes a drive device and a phalanx. The drive device includes a bracket, a first output shaft, a driver, and a transmission assembly. The first output shaft is rotatably connected to the bracket, the driver is mounted on the bracket, and the driver includes a second output shaft. The transmission assembly spans the first and second output shafts. A phalanx is provided on the first output shaft to drive the phalanx to rotate around the first output shaft. The transmission assembly is disengaged from the phalanx. The phalanx provided on the first output shaft is the first phalanx. The first phalanx is positioned outside the bracket of the drive device so that it can be removed from the drive device without disassembling it. This reduces the difficulty and time required for finger repair.

The invention discloses a finger exoskeleton unit free of shear force and self-adaptive to a joint rotation center and a hand exoskeleton, and relates to the technical field of rehabilitation medical instruments. The existing finger exoskeleton can only realize large-angle flexion and extension of a large phalanx and is difficult to realize large-angle flexion and extension of a small phalanx. The end executing mechanism comprises a first connecting rod seat which is assembled to a first phalanx and can move in the length direction of the first phalanx; the transmission connecting rod mechanism comprises a driving connecting rod and a first transmission connecting rod, a second transmission connecting rod, a third transmission connecting rod and a fourth transmission connecting rod which are sequentially connected end to end, a hinge point is formed between every two adjacent transmission connecting rods, and connecting lines of the four hinge points form a deformable parallelogram. The third transmission connecting rod is located at the knuckle position of the first phalanx and fixed, and the tip of the first transmission connecting rod is hinged to the first connecting rod seat; one end of the driving connecting rod is hinged to the fourth transmission connecting rod, and the other end can bear driving force in the length direction of the rod. The hand rehabilitation training device is used for hand rehabilitation training.

The utility model discloses a finger structure and a dexterous hand, and relates to the technical field of dexterous hands, the finger structure comprises a first driving device and a linkage finger, the first driving device comprises a first driving piece and a transmission mechanism which are arranged on a palm part, and the transmission mechanism comprises a first transmission piece and a second transmission piece which are matched with each other; the first transmission part is arranged on an output rotating shaft of the first driving part, and the second transmission part is driven by the first transmission part to rotate around a first axis; the linkage finger comprises a phalanx part and a linkage piece, the phalanx part at least comprises a first phalanx part and a second phalanx part, the first phalanx part is fixedly arranged on the second transmission piece, and the second phalanx part is rotationally connected to the end, away from the first driving device, of the first phalanx part and can be driven by the linkage piece to rotate around a second axis; the first axis and the second axis are arranged in parallel. According to the technical scheme, the overturning range of the finger structure can be enlarged when the finger structure is overturned relative to the palm.

A motorized finger includes a base for fastening to a plate connecting to a robotic arm, a first phalanx connected to the base by at least one first articulation, a second phalanx connected to the first phalanx by at least one second articulation, and a first actuator fastened to the base and connected at least to the first phalanx in order to move the phalanges between two end positions.

Disclosed is a biomimetic finger (1000), the biomimetic finger comprising a mounting base (100), a first phalanx (200), a second phalanx (300) and a first elastic member (410). The mounting base comprises a first connecting arm assembly (110) and a second connecting arm assembly (120) located at the side of the first connecting arm assembly close to a holding side (1001). The first phalanx comprises a linear drive member (210) and a housing (220); the end of a main body structure (211) of the linear drive member away from an output shaft (212) of the linear drive member is rotatably connected to the first connecting arm assembly; the end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly. The second phalanx comprises a third connecting arm assembly (310) and a fourth connecting arm assembly (320) located on the side of the third connecting arm assembly close to the holding side; the third connecting arm assembly is rotatably connected to the output shaft; the fourth connecting arm assembly is rotatably connected to the end of the housing away from the second connecting arm assembly. The first elastic member acts between the housing and the second connecting arm assembly. Further disclosed are a biomimetic hand and a robot, which comprise the biomimetic finger. The biomimetic finger can improve the degree of fit with an object to be taken, thus improving the stability of gripping.

The utility model discloses a direct drive type finger and a full direct drive type dexterous hand, and relates to the technical field of dexterous hands, and the finger comprises a first mounting seat connected with a palm part, and a first joint, a first phalanx, a second joint and a second phalanx which are sequentially connected outwards from the palm part; the first joint comprises a first driving unit, the first driving unit comprises a first shell, a first motor and a first rotating shaft mounted on the first shell, the first phalanx is fixedly arranged on the first shell, the first shell is connected with the first mounting seat through the first rotating shaft, and the first motor drives the first shell through the first rotating shaft; the first shell is turned over around the axis of the first rotating shaft relative to the first mounting seat, and fingers can be turned over towards the palm inner surface; the second joint can drive the second phalanx so that the fingers can bend towards the metacarpal inner face. According to the technical scheme provided by the utility model, the problem that fingers cannot turn over to the maximum extent can be solved.

The invention discloses a finger structure and a dexterous hand, and relates to the technical field of dexterous hands, the finger structure comprises a first driving device and a linkage finger, the first driving device comprises a first driving part and a transmission mechanism which are arranged on a palm part, and the transmission mechanism comprises a first transmission part and a second transmission part which are matched with each other; the first transmission part is arranged on an output rotating shaft of the first driving part, and the second transmission part is driven by the first transmission part to rotate around a first axis; the linkage finger comprises a phalanx part and a linkage piece, the phalanx part at least comprises a first phalanx part and a second phalanx part, the first phalanx part is fixedly arranged on the second transmission piece, and the second phalanx part is rotationally connected to the end, away from the first driving device, of the first phalanx part and can be driven by the linkage piece to rotate around a second axis; the first axis and the second axis are arranged in parallel. According to the technical scheme, the overturning range of the finger structure can be enlarged when the finger structure is overturned relative to the palm.

The invention relates to the technical field of manipulators, and particularly discloses a dexterous mechanical finger and a manipulator, the dexterous mechanical finger comprises a fixed seat, a driving mechanism, a palm finger knuckle, a first knuckle, a second knuckle, a third knuckle, a crank transmission mechanism and a first pull rod; wherein the driving mechanism and the palm finger knuckles are arranged on the fixed seat, the palm finger knuckles, the first knuckles, the second knuckles and the third knuckles are sequentially hinged end to end, the crank transmission mechanism is hinged to the driving mechanism, the palm finger knuckles and the second knuckles at the same time, and the first pull rod is hinged to the crank transmission mechanism and the third knuckles at the same time; through collaborative design of the crank transmission mechanism and the first pull rod, reciprocating linear motion of the driving mechanism is converted into coupling rotation of the first knuckle, the second knuckle and the third knuckle; and a single driving mechanism is adopted for providing power, an independent driving motor does not need to be configured for each knuckle, the fault risk of the dexterous mechanical finger is reduced, the operation stability of the dexterous mechanical finger is improved, and the service life of the dexterous mechanical finger is prolonged.

To provide a multi-degree-of-freedom bionic dexterous hand including a palm structure, a bionic thumb, a multi-functional bionic finger, and a dexterous bionic finger, where the present invention belongs to the technical field of robots.SOLUTION: A bionic thumb includes a first dactylus structure and a turntable rotatably disposed on a palmar structure, the first dactylus structure is hinge connected to the turntable, a rotation axis of the turntable is not parallel to a rotation axis of the first dactylus structure, a multifunctional bionic finger includes a second dactylus structure flexibly hinge connected to the palmar structure and capable of bending, stretching and swinging, and a dexterous bionic finger includes a third dactylus structure hinge connected to the palmar structure and capable of bending and stretching. The present invention allows the bionic dexterous hand to have multiple degrees of freedom, and enriching functions of the bionic dexterous hand.SELECTED DRAWING: Figure 1