156 results about "Hand structure" patented technology

The invention relates to an automatic two-side coater for a vertical type PCB (Printed Circuit Board) plate, comprising a plate feeding mechanism, a coating mechanism, a left plate receiving lifting mechanism, a right plate receiving lifting mechanism, a chain transmission mechanism, an oven, a cooling box and a stacker, wherein a PCB plate reaches the stacker to be stacked through the plate feeding mechanism, the coating mechanism, the left plate receiving lifting mechanism, the right plate receiving lifting mechanism, the chain transmission mechanism, the oven and the cooling box; and the plate feeding mechanism of the automatic two-side coater adopts a cross turning plate conveying device, and the left plate receiving lifting mechanism and the right plate receiving lifting mechanism adopt two plate grabbing mechanical hand structures.

The invention discloses a dynamic balance manipulator comprising a pedestal structure. The pedestal structure comprises a pedestal body and a first rotary mechanism. The first rotary mechanism is in transmission connection with a shoulder joint structure. The shoulder joint structure comprises a shoulder joint body and a first swinging mechanism in transmission with an upper arm structure. The upper arm structure comprises an upper arm body and a second swinging mechanism connected with the upper arm body fixedly and in transmission connection with a forearm structure. An elbow joint structure comprises an elbow joint body, a second rotary mechanism and a third swinging mechanism. The second rotary mechanism and the third swinging mechanism are in transmission connection with a wrist joint structure. The wrist joint structure comprises a wrist joint body and a third rotary mechanism in transmission connection with a clamping hand structure. The invention provides a dynamic balance manipulator making the manipulator system reach dynamic balance.

The invention discloses a hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures. According to the hybrid vision servo system and method, information of a to-be-identified target is acquired through an eye-to-hand camera and an eye-in-hand camera; position calculation is performed through a computer; and a driver is controlled to drive a mechanical arm to drive the eye-in-hand camera for precisely positioning the to-be-identified target. Compared with traditional vision servo based only on position and vision servo based on images, the hybrid vision servo system and method have higher positioning precision and flexibility; the characteristics that an overall vision field is large in range and a local vision field is high in precision are realized; the cost is low; the applicability is high; the application range is wide; great convenience can be brought to application in scientific research, target searching and positioning and the like; and the hybrid vision servo system and method have very important research value and practical significance.

The invention relates to an underactuated humanoid dexterous robotic hand device, which is provided with five independently controlled modular fingers and has 16 freedom degrees. The whole hand is driven by 11 motors; the dimension and the shape are similar to those of the hand of an adult. Except for a thumb, the other four fingers have the completely identical structures; the thumb has one freedom degree of doing longitudinal rotation around the palm base; through the arrangement of a rotating shaft, when the whole hand grasps objects, the grasping force of the forefinger, the ring finger and the small finger on the objects can be in symmetrical distribution at the two sides of the middle finger; the grasping stability is improved. Modular fingers are used; the two motors are respectively used for driving a finger base part joint, a middle joint and a tail end joint; the middle joint and the tail end joint are coupled by a structure-variable connecting mechanism; through a connecting rod mechanism, the relative positions of the two coupled finger joints after the contact with the objects can be actively regulated, so that the fingers can wrap the objects according to the shape of the grasped objects; the self adaptability to the appearance of the objects is high; the grasping action better conforms to the human hand. The structure of the whole hand is simple; the grasping force is great; the grasping rigidity is high; the control is simple; the grasping self adaptability is high; the underactuated humanoid dexterous robotic hand device is applicable to the fields of disabled people artificial hands, explosive handling, nuclear equipment detection and humanoid robots.

The invention relates to the field of visual servo systems, in particular to a PD-SMC control method of a visual servo system based on an eye-on-hand structure so as to solve the problems of uncertainty and large computation amount existing in an existing visual servo system control method. The method comprises the steps of (1) setting an expected image and collecting feature points of the expected image as an expected visual feature set; (2) conducting projection transformation on a target expected image with the current state of the relative poses of a camera and a target body to obtain a current image of the camera; (3) adopting the PD-SMC method for a visual servo controller part and adopting a proportional control method for a joint controller part; (4) extracting a visual feature setfrom the current image, computing a jacobian matrix of the image and then computing the controlled quantity u of the camera in a Cartesian space; and (5) computing the pose of the target body in a camera coordinate system, and repeating the operations with the pose as the current pose until the error is zero. The PD-SMC control method can be applied to target grabbing equipment.

The invention discloses an Ethernet passive optical network (EPON) system with a hand-in-hand protection structure. The EPON system with the hand-in-hand protection structure comprises two optical line terminals, a light distribution network and a plurality of optical network units. Each optical line terminal comprises at least a pair of passive optical network (PON) ports, the light distribution network comprises at least a three-fiber optical caple, three optical fibers are all connected with a plurality of light branching units, the first optical fiber is connected with a PON port of the first optical line terminal, the second optical fiber is connected with a PON port of the second optical line terminal, the third optical fiber is connected between the other PON port of the first optical line terminal and the other PON port of the second optical line terminal, and the middle portion of the third optical fiber is cut off. The optical network unit is respectively connected to the two optical line terminals through a pair of light branching units to form the hand-in-hand structure, one light branching unit of the pair of light branching units is placed on the first optical fiber or on the second optical fiber, and the other light branching unit of the pair of light branching units is placed on the third optical fiber. The EPON system with the hand-in-hand protection structure can be used in large-scale engineering, so that infrastructure cost can be saved, and the protection effect of an original optical path can be kept.

The invention provides a miniaturized ultra-wide stopband half-mode substrate integrated waveguide band-pass filter, which belongs to the technical field of microwaves and millimeter waves. The half-mode substrate integrated waveguide band-pass filter comprises a half-mode substrate integrated waveguide unit and defected microstrip feeders at both ends, loads electromagnetic band-gap structures and composite left-right-hand structures through the half-mode substrate integrated waveguide, so that the filter is small in size and compact in structure, and can be applied to many communication systems. In addition, the half-mode substrate integrated waveguide band-pass filter adopts the defected microstrip impedance tapered lines as the input and output feeders, effectively suppresses out-of-band harmonic waves, greatly broadens stopband bandwidth of the filter, and shows the ultra-wide stopband feature. The half-mode substrate integrated waveguide band-pass filter ensures the stopband bandwidth, and has excellent performance in aspects of insertion loss, return loss, selectivity and the like.

The invention relates to a multi-hydrogen bond and bifunctional chiral compound with right-hand structure; wherein, the X is oxygen or sulfur; R[1] and R[2] are - (CH2)4- or R[1] and R[2] are respectively aryl; R[3] and R[4] are - (CH2)4 or aryl or R[3] and R[4] are respectively alkyl, benzyl or aryl selected from H, C1 to C6; R[5] is methyl, fluorine-containing alkane or aryl. The multi-hydrogen bond and bifunctional chiral compound is characterized in that: chiral compounds with isothiocyanate ester group or chiral compounds of the isothiocyanate ester group, 1, 2-o- diamine derivative and 1, 2-amino alcohol or phenol derivatives are reacted at dry ethers or halogenated hydrocarbon solventthrough stirring at ambient temperature, thereby getting the multi-hydrogen bond and bifunctional chiral compounds. The multi-hydrogen bond and bifunctional chiral compounds can be applied in unsymmetrical michael addition reaction as catalyst and enantio-selectivity reaches 99%.

The invention provides an autonomous intelligent massager based on data acquisition, comprising a chair provided with massage balls and also comprising a data acquirer for acquiring massaging actions of left and right hands; the data acquirer comprises finger sensors, palm sensors, wrist sensors, finger angular displacement sensors, palm angular displacement sensors and wrist angular displacement sensors; the chair is provided with manipulators, and each manipulator comprises massage balls, a linkage connected with the massage balls, and a link driving mechanism, wherein each linkage is used for simulating a hand structure. The autonomous intelligent massager based on data acquisition also comprises a microprocessor for driving the link driving mechanisms to drive corresponding links in corresponding angular displacement according to finger, palm and wrist angular displacements acquired by the data acquirer. Massaging force and comfort during hand massaging are recorded precisely by the data acquirer to form data, the data are analyzed and transmitted to the manipulators, force and comfort of massaging performed by a human body are simulated, and more comfortable massage is provided for people.

The invention discloses a fully-driven five-finger dexterous hand structure and a control system. The fully-driven five-finger dexterous hand structure comprises a fixed base; a palm is mounted at thetop end of the fixed base; metacarpal bones are arranged on one side of the palm; and the number of the metacarpal bones is five. The fully-driven five-finger dexterous hand structure and the controlsystem are scientific and reasonable in structure and safe and convenient to use; through the action of one side swing steering gear and three rotary steering gears, a single finger is endowed with four degrees of freedom, wherein three of the four degrees of freedom can realize bending/stretching, and the other one degree of freedom can realize finger side swing, so that the whole fully-driven five-finger dexterous hand structure has 20 degrees of freedom, each degree of freedom is capable of being independently controlled, objects with different sizes are capable of being stably grasped, and the flexibility of the fully-driven five-finger dexterous hand structure is improved; and through the action of a pressure sensor, the contact force between the fingers and a target object is detected and fed back to a main control chip, and the main control chip controls the rotation angle of each steering gear by using data fed back by the pressure sensor and performs dynamic adjustment, so that the fully-driven five-finger dexterous hand structure grasp the objects better.

The invention belongs to a simulated massaging hand which comprises a shell, a handle, a gear motor and an electronic control panel, wherein a base plate is used for connecting left and right massaging hand structures and the gear motor for fixedly driving the left and right massaging hand structures to operate and the shell; first and second L-shaped racks are used for transmitting power transmitted by the gear motor via a transmission gear to the left and right massaging hand structures; the inner sides of the first and second L-shaped racks are toothed racks meshed with the transmission gear; the inner sides of the first and second L-shaped racks are respectively arranged in first and second sliding chutes, and the first and second L-shaped racks are arranged in the two sliding chutes via pressing plate shafts; and the left and right massaging hand structures are used for coming into contact with human bodies to achieve the functions of pressing, grabbing, pinching, rubbing and pushing human skin surfaces and subcutaneous tissues. The simulated massaging hand can mechanically simulate the massage treatment means of grabbing, pinching, rubbing and pushing of human hands to massage any one part of human bodes, and has the advantages of simple structure, small volume, low cost, labor saving, good comfort, convenience in use and carrying and good using effects.

The invention provides a human-computer interaction method comprising the following steps: acquiring a to-be-tested image sequence of a user hand part containing depth information; detecting the hand contour of the user in each frame of image of the to-be-tested image sequence; determining a to-be-tested feature point sequence of each hand in each frame of image of the to-be-tested image sequence by using preset hand structure templates; determining a matching sequence for the to-be-tested feature point sequence of each hand among multiple preset feature point sequences in order to determine the action name and position of each hand; selecting gestures matched with the action names and positions of both hands of the user in a preset gesture table; determining an operation instruction corresponding to an identified gesture according to a preset operation instruction table; and correspondingly operate equipment related to a determined operation instruction according to the operation instruction. By adopting the technology, the gestures of a user can be identified accurately in the process of human-computer interaction, the accuracy of identification is high, and identification is quick.

The invention provides a full-protection quick switching method of an Ethernet passive optical network (EPON) system with a hand-in-hand structure. The method comprises the following steps of: performing equipment configuration synchronization of an optical network unit between a first optical line terminal and a second optical line terminal; performing network manager configuration synchronization of the optical network unit between the first optical line terminal and the second optical line terminal; and when a switching mechanism is triggered, switching the optical network unit from the current optical line terminal to the other optical line terminal through the switching mechanism. The full-protection quick switching method of the EPON system with the hand-in-hand structure can be widely applied to an EPON, and the stability of the EPON is improved.

The invention discloses a petroleum casing collar automatic production line. The petroleum casing collar automatic production line comprises a long casing conveying device, a long casing cutting device, a marking device, a collar blank conveying device, a lifting device, a mechanical hand structure, a machining device and other multiple process devices; and the long casting cutting device, the marking device, the collar blank conveying device and the lifting device are connected through connection conveying plates. According to the petroleum casing collar automatic production line provided bythe invention, the mechanical devices cooperates with electrical control, the process that taking and conveying of a long casting, turning of the end surface and the outer circle of the long casting,cutting off of the long casing, marking of a collar blank, conveying of the collar blank between planes different in height, mechanical hand grabbing and machine tool machining are automatically and efficiently conducted is achieved, manpower is saved, and the production efficiency is improved.

The invention provides a droplet microoperation mechanical hand structure. The droplet microoperation mechanical hand structure comprises an injection component, a control component, a fixing bracket component, a driving component arranged on the fixing bracket component, and an executive component connected with the driving component and the injection component. The invention also provides a posture controlling method of the droplet microoperation mechanical hand structure. According to the posture controlling method, the up and down movement amount, movement order and position of a constrained point of all tungsten filament bars are controlled, so that the postures of tiny parts adsorbed on droplets based on the surface tension are changed, and the accurate control of the postures of the tiny parts is achieved; compared with the prior art, the posture controlling method has the advantages of being more stable and more accurate in posture control, being easy and feasible, and being applicable to nondestructive operation of tiny objects with arbitrary shapes.

A mouse which truly performs at a low load level, significantly reducing high statistics rates of damaged muscle tissue and severe injury. The mouse does not require lifting to get back into sync and can adjust to the varying hand structure of different users, and apply contour in effective areas as to support the hand in such a way that strain is concentrated on the larger muscles of the lower arm rather than specific muscles of the wrist and fingers.

The invention discloses a novel power system power distribution network segmented relay protection method. An FTU sends trip request signals to adjacent FTUs after experiencing the short circuit current, and after the trip allowance signal is obtained, the bidirectional allow type protection of corresponding segmented relay tripping is realized, and the method is suitable for the condition that a main station doesn't participate in the control, a transformer station outlet breaker doesn't participate in the allowance signal transmission and reception, and is particularly suitable for the line segmented protection of a power distribution network designed in a closed loop manner and running in an open loop manner (namely, a hand-in-hand structure with power transfer). The method completes the fault information exchange between adjacent two-stage segment protection by means of optical fiber communication technology, accurately positions the fault section by means of the fault information, realizes the accurate segment protection, effectively shortens the motion delay cooperated with multi-stage segment protection, rapidly isolates the faults, and reduces the power shutdown section influenced by the faults.

The invention discloses a sleeve head positioning and drilling mechanism. A sleeve head limiting tool of the sleeve head positioning and drilling mechanism charges laterally; after charging, a sleeve head is pressed by a pressure block of an upper positioning mechanism; a drill bit of a lateral drilling mechanism extends into to drill; after drilling, the drill bit is withdrawn and the pressure block is withdrawn; the sleeve head is pushed out from a charge hole through a pushing mechanism opposite to the charge hole; and after dropping, the sleeve head is output from a discharge path. The sleeve head positioning and drilling mechanism is simple in structure, greatly reduces investment of cost, does not need a complex mechanical hand structure to clamp and convey the sleeve head, and is only matched with a conveying mechanism for conveying the sleeve head to a position in front of the charge hole, so that the sleeve head is pushed into a limiting cavity; and a relatively great space for arranging a positioning mechanism, a drilling mechanism and a pushing mechanism is arranged at the other three sides, so that the integral structure is conveniently mounted. The sleeve head positioning and drilling mechanism improves degree of automation in a sleeve head processing process, can save labor power, improves producing and processing efficiency, and can guarantee processing quality of products.

The invention relates to a multiband antenna and a mobile terminal. The multiband antenna comprises a substrate as well as a radiation patch, a first resonator and a grounded metal patch which are arranged on the substrate, the radiation patch is used for radiating an antenna signal; the first resonator possesses a composite left-and-right-hand structure and is connected with the radiation patch,the first resonator is configured to receive a fed-in antenna signal and realize more than one resonant modes under excitation of the antenna signal; and the grounded metal patch is arranged at one side of the first resonator at an interval, is connected with the first resonator by virtue of a microstrip structure and is used for providing a ground loop for the first resonator. Accordingly, the invention provides a mobile terminal containing the multiband antenna. The multiband antenna provided by the invention meets design requirements of the multiband antenna, operation bandwidth is increased, and design cost and design space are effectively reduced.

The invention discloses a pressure cast metal hand mold and a preparation method thereof. The pressure cast metal hand mold comprises a hand mold body and a fixing base. The hand mold body comprises a palm part and a finger part. The palm part and the finger part are designed by simulating the human hand structure. The hand mold is divided into two halves in the longitudinal direction of the hand mold, one half is a palm face part, the other half is a hand back face part, and the palm face part and the hand back face part form the complete hand mold after being buckled oppositely and fixed. The pressure cast metal hand mold has the following benefits that a two-half structure is adopted, the wall thickness of the whole mold is uniform, the thinnest wall can reach 0.3 mm, the surface smoothness and the dimensional precision are high, the heat exchange speed is high, the hand mold can be produced on a large scale, and the production efficiency is high.

The invention discloses a gripper structure and an industrial robot gripper. The gripper structure includes a mounting seat and a gripping head assembly, the mounting seat includes two mounting parts arranged at intervals along the same first circumference, and the gripping head assembly includes at least two gripping heads , all the gripping heads are arranged at intervals along the same second circumference, the gripping head is provided with a connecting body and a gripping head body, one end of the connecting body is rotatably connected to the corresponding installation part, and the other end is fixed to one end of the gripping head body, so that the gripping head body The other end can expand away from the centerline of the second circumference or shrink close to the centerline of the second circumference. The outside of the gripper body is provided with first abutment parts and second abutment parts arranged at intervals along both ends of the gripper body. All the first abutting parts cooperate to form the first abutting structure, and all the second abutting parts cooperate to form the second abutting structure, so when in use, through the first abutting structure and the second abutting structure and the material The abutment of the inner hole wall realizes the purpose of multi-point abutment against the inner hole wall of the material.

The invention discloses a basket lifting machine. The basket lifting machine comprises a support, a basket containing space, a transmission device and a plurality of basket lifting devices. Each basket lifting device comprises a fixed basket supporting hand structure and a movable basket supporting hand structure. The transmission device can lift up baskets which are supported by the movable basket supporting hand structures in the basket containing space. The fixed basket supporting hand structures bear the baskets lifted up by the movable basket supporting hand structures. The basket lifting devices are arranged in the basket containing space; when the transmission device is started, the transmission device moves downwards firstly and then moves upwards after the baskets are lifted up by the movable basket supporting hand structures, and therefore each basket can be lifted up to the position of the previous basket, and the baskets are supported by the fixed basket supporting hand structures. The transmission device then moves downwards, and therefore after the baskets are supported by the movable basket supporting hand structures, each basket is lifted up to the position of the previous basket, and in this way, and the baskets are unceasingly lifted up in a step mode; the work efficiency is improved, and the basket lifting machine which is high in systemization and automation is obtained.

The invention provides an assistant rehabilitation soft hand comprising five soft copying fingers corresponding to human fingers. Each copying finger includes a finger body, protrusion segments and straight segments, multiple protrusion segments and multiple straight segments are arranged at intervals in the length direction of the finger bodies, and are located at the finger back side of the finger bodies; multiple protrusion segments correspond to joint parts of the human fingers, and the straight segments correspond to non-bending segments of the human fingers; each finger body is internally provided with a runner in the length direction of the finger body, and each runner has a slender hole structure; an expansion chamber is arranged inside each protrusion segment, and each expansion chamber communicates with the corresponding runner. The rehabilitation hand is prepared by processing a silicone rubber material and driven by gas or liquids. The structure completely imitates the design of the hand structure, can bend only at joints and cannot bend at non-joints, can be better attached to the human hand and is more suitable for rehabilitation application.