181 results about "Hand structure" patented technology

The invention belongs to the technical field of robots, and particularly discloses a multi-mode dexterous hand fusing visual tactile sense and palmtop eye and application thereof.The multi-mode dexterous hand comprises a hand body, a visual tactile sensor, a palmtop eye module and a processor, the visual tactile sensor comprises a skeleton, an elastic body, RGB and an NIR camera, the skeleton is of a finger-shaped structure, and the skeleton and the hand body form a hand structure; the elastomer covers the outer side of the framework, and a diffuse reflection coating covers the surface of the elastomer; the RGB camera and the NIR camera are installed in the framework and used for obtaining an RGB image and an NIR image when the first object makes contact with the elastic body; the handheld eye module is installed in the middle of the hand body, comprises a second RGB camera and a TOF camera and is used for taking a second object RGB image and sparse depth; and the processor determines the first object surface three-dimensional point cloud and the second object depth map to realize pose alignment of the two. According to the invention, touch-vision-depth multi-mode perception can be realized, and the precision and robustness of the manipulator are improved.

Provided is a method for detecting hand key points. The method includes: acquiring a hand image to be detected; acquiring heat maps of the hand key points by inputting the hand image into a pre-trained heat map model, wherein the heat maps include two-dimensional coordinates of the hand key points; acquiring hand structured connection information by inputting the heat maps and the hand image into a pre-trained three-dimensional information prediction model; and determining, based on the hand structured connection information and the two-dimensional coordinates in the heat maps, three-dimensional coordinates of the hand key points in a world coordinate system.

The present invention discloses a control method for the master hand and slave hand of a minimally invasive surgical robot. The master hand includes a first master hand module, a second master hand module, and a third master hand module that are perpendicular to each other. The output end of the third master hand module is connected to the input end of the second master hand module. The output end of the second master hand module is connected to the input end of the first master hand module. The first master hand module can be connected to the main controller. The master hand structure of the minimally invasive surgical robot of the present invention is simple and compact, and can achieve higher-precision surgical operations. Moreover, the master hand modules are all located above the third master arm in the horizontal direction, reducing the size of the master hand in the vertical direction and effectively avoiding interference between the master hand and other components in the vertical direction.

The utility model relates to the technical field of paper cup production, and discloses a manipulator mechanism for paper cup production, which comprises a fixing plate, a fixing hole is arranged on the left side of the outer wall of the fixing plate, a bearing is fixedly connected to the inner wall of the fixing hole, a rotating shaft is fixedly connected to the inner wall of the bearing, and a four-way block is fixedly connected to the left side of the rotating shaft. A round hole is formed in the inner wall of the four-way block, a plurality of adsorption pipes are fixedly connected to the outer wall of the four-way block, and a plurality of air inlets are formed in the inner walls of the adsorption pipes. According to the utility model, the air pump exhausts air to the four-way block through the air pipe, so that the adsorption pipe can adsorb the paper cup, the four-way block rotates after adsorption, and when one end of the four-way block is vertically downward, the telescopic module pushes the baffle to block the circular hole in the four-way block, so that the paper cup loses the suction force, and then the paper cup slides down due to the gravity of the paper cup to carry out the next step of packaging and printing; and the four adsorption pipes can work at the same time to transfer the paper cups.

1. Name of the design product: bag handle. 2. Use of the design product: used for decorating bags, as a hand structure of bags. 3. Design points of the design product: in the combination of shape and pattern. 4. Picture or photo that best shows the design points: front view.

The utility model provides a handle structure, a water tank and a scrubber. The handle structure comprises a mounting seat; at least part of the connecting assembly is connected with the mounting base, at least part of the connecting assembly and at least part of the mounting base are opposite and arranged in a spaced mode, and an operation space used for containing the hand is formed between at least part of the mounting base and at least part of the connecting assembly; the connecting assembly comprises a positioning piece and a fixing structure, and the positioning piece and the fixing structure are arranged in the inserting direction of the positioning piece, so that after the positioning piece is inserted into a to-be-installed piece, the fixing structure is fixedly arranged with at least part of the to-be-installed piece and / or at least part of a to-be-assembled piece connected with the to-be-installed piece. By means of the technical scheme, the technical problem that in the prior art, the assembly process of the handle structure and the clear water tank is complex can be solved.

This invention provides an adaptive grasping dexterity hand, comprising: a fixed drive mechanism, a proximal joint mechanism, a middle joint mechanism, and a fingertip mechanism. The fixed drive mechanism includes a base, a drive component, and a reversing transmission component. The proximal joint mechanism includes a proximal joint rod and an adaptive component. The middle joint mechanism includes a middle joint rod and a middle finger transmission rod. This invention forms a unique double four-bar composite transmission system to achieve high-precision biomimetic simulation. Simultaneously, the adaptive component can dynamically adjust the relative position and gripping force of each joint in real time, thereby achieving adaptive envelope of the object. This dynamic adaptability significantly improves the envelope grasping stability of the dexterity hand for objects of different shapes and sizes, effectively expanding its application scenarios. Compared to conventional dexterity hand structures, this application has significant advantages such as high flexibility, strong grasping adaptability, lightweight structure, and low control energy consumption, providing new directions and ideas for dexterity hand structure design.

The utility model discloses an elevator lighting handrail structure which comprises a lift car wall and a handrail support installed on the inner wall of the lift car wall, finger grooves arranged at equal intervals are formed in the top of the handrail support, a mounting groove is formed in the bottom of the handrail support, and a lighting lamp belt is fixedly installed on the inner wall of the mounting groove. And air inlet cavities are formed in the left side and the right side of the armrest support, miniature fans and electric heating wires are fixedly installed on the inner walls of the air inlet cavities, and the miniature fans are located on the sides, away from the illuminating lamp strip, of the electric heating wires. The lighting lamp strip is installed at the bottom of the handrail support, so that light is soft and does not directly irradiate passengers, the handrail is attractive and soothing, automatic starting and stopping are achieved through control of the sound control sensor, lighting is achieved, the passengers can sit on the handrail conveniently, meanwhile, air flow is sent into the finger grooves, the hands of the passengers are cleaned and warmed, and comfort is improved; the intention of passengers to hold the handrail support is enhanced, and the safety of elevator taking is indirectly improved.

The invention relates to a handrail structure, a handrail pipe assembly and a vehicle, the handrail structure is arranged between a vehicle roof and a handrail pipe, and the handrail structure comprises a connecting piece, a connecting piece and a connecting piece, a first buffer; a second buffer; wherein the first buffering piece and the second buffering piece are sequentially arranged in the containing cavity in the first direction. By means of the technical scheme, the risk that the armrest pipe is prone to deformation and even breakage during use can be reduced.

The utility model provides a ceiling machine, which comprises a panel assembly, a plurality of ceiling units and a plurality of ceiling units, wherein the panel assembly is provided with a mounting position; the corner cover plate is arranged at the mounting position, and the corner cover plate is provided with a front face, a back face and a side face located between the front face and the back face, the display assembly is arranged on the back surface; wherein the front face and / or the side faces are / is provided with hand clasping structures, and the hand clasping structures are used for disassembling the corner cover plate from the panel assembly. The ceiling machine solves the technical problems that when the ceiling machine needs to be maintained, a corner cover plate buckled on a panel assembly is difficult to detach, an operator possibly needs to prize the corner cover plate if necessary, the process is time-consuming and labor-consuming, the detaching efficiency is low, and the corner cover plate is easy to damage.

The utility model discloses a handle structure which comprises a handle assembly, the handle assembly comprises a base device and a handle body, the base device is used for being fixed to a door body, the back face of the handle body and the front face of the base device are connected and fixed through a connecting piece, and a gap for fingers to stretch out is formed between the back face of the handle body and the front face of the base device. A protruding part is arranged at the position, close to the front face, of the base device forwards and shields the gap from the side face. The gap is shielded from the front face through the protruding part, and the gap can be perceived from the front face or the side face of the handle assembly.

The utility model discloses a handle folding device of shopping bag, including frame, push folding plate mechanism, lifting platform mechanism, still be equipped with telescopic template on the lifting platform mechanism, still be equipped with the lower folding mechanism above push folding plate mechanism, lower folding mechanism including bracket, left folding plate, right folding plate, driving part, left folding plate and right folding plate are connected on horizontal driving part respectively, left folding plate and right folding plate with the left and right sides of telescopic template correspond, still be equipped with the pressing plate above between left folding plate and right folding plate, still be connected with the translation assembly and lifting assembly on the bracket. The utility model integrates the rear pressing plate, pressing plate mechanism, pressure folding mechanism of prior art into a simple lower folding mechanism, so that the whole machine structure is simple and compact, the lower folding mechanism of the utility model does not affect the normal conveying work of mechanical hand structure, and the folding speed is fast and the efficiency is high.

The application provides a mechanical arm structure of a carton cargo loading and unloading robot, and relates to the technical field of mechanical arms.The mechanical arm structure comprises a fixing base, the fixing base is fixed on a moving base, a first rotating shaft is arranged on the fixing base and rotates, a mechanical arm is fixed on the first rotating shaft, and a first gear is welded on the outer wall of the first rotating shaft.The auxiliary groove with the annular groove structure is arranged on the bottom end surface of the first gear, the support rods are equidistantly welded on the upper end surface of the fixing base in an annular array, the upper end of each support rod is inserted into the auxiliary groove, the upper end of each support rod rotates with a ball, the outer wall of the ball is in contact with the top end surface of the inner wall of the auxiliary groove, the stability of the first gear is ensured through the support of the support rods during the rotation of the first gear, the probability of stress damage of the first rotating shaft is reduced, the wear of the support rods and the auxiliary groove is reduced through the arrangement of the balls, and the problems of easy breakage of the rotating shaft of the bottom rotating adjusting structure and the lack of carrying supporting structure are solved.

The application relates to a contact processing method and system for virtual hand force interaction, which is based on a virtual hand structure and considers the different thicknesses of various joints of human fingers. The fingers are represented by circular truncated cones. On this basis, a ball-truncated cone contact processing system for virtual hand and virtual object force interaction is constructed by adopting a ball tree model. The system can realize stable, non-penetrating and relatively real virtual hand force interaction simulation and has a relatively high (up to 1 kHz) contact processing efficiency. A circular truncated cone hinge model is used to simulate a real hand, ensuring the visual reality of the virtual hand. The contact constraint between the ball and the circular truncated cone ensures that the side of the virtual finger does not embed into the virtual object, thereby effectively solving the problem that the graphic hand and the haptic hand are difficult to match in the interaction process due to the large shape gap between the simplified virtual hand model and the real hand in the prior art, and the visual and tactile feedback is inconsistent.

The utility model relates to the technical field of electric ion knives, and discloses an electric ion knife which comprises a main body assembly and a manual control knife pen, and a main machine is arranged on one side of the manual control knife pen. The adjusting assembly is located on one side of the main machine and comprises an adjusting part, the adjusting part comprises a fixing block fixed to the main machine, a fixing shaft is fixed to the fixing block, and a rotating plate is rotationally connected to the fixing shaft. The beneficial effects of the utility model are that the two sides of the host are provided with the rotatable rotating plates, an operator can flexibly adjust the rotating angles of the rotating plates relative to the host according to the actual height of a desktop and self observation requirements, one end of the host is supported by the rotating plates, and the host is in an inclined state, so that the angle of a host parameter display screen is effectively improved; meanwhile, the two rotating plates are connected through the connecting rod, when the position of the main machine needs to be transferred, the connecting rod and the two rotating plates form a handle structure convenient to hold, and therefore the electric ion knife main machine can be conveniently carried.

The utility model discloses a handle structure arranged on the inner side and a Roman umbrella using the handle structure. According to the technical scheme, the umbrella handle comprises a stand column, a handle assembly and a first diagonal draw bar, one end of the first diagonal draw bar is matched with the handle assembly, the other end of the first diagonal draw bar is used for being matched with an umbrella stand, the handle assembly comprises a sliding set, a connecting piece and a handle shell set, a sliding groove is formed in the inner side of the stand column, and the sliding set is in sliding fit with the sliding groove. The connecting piece and the handle shell set are installed on the sliding set and located on the inner side of the stand column, the sliding set comprises a sliding seat, a first sliding plate, a second sliding plate and a pulley, a side block is arranged on the first sliding plate, the side block extends towards the outer side of the sliding seat and extends out of the sliding seat to be used for being matched with the side wall of the sliding groove, and the pulley is arranged on the sliding seat. According to the utility model, the built-in structural design can be adopted, the appearance is attractive, and meanwhile, the storage and the use are convenient.

The utility model relates to the technical field of frying pans, and discloses a frying pan handle structure capable of preventing splashing oil from scalding hands, which comprises a frying pan main body, a handle mounting block fixedly connected to the right side of the frying pan main body, a handle handle fixedly connected to the right side of the handle mounting block, and a bracket assembly mounted on the outer side of the handle mounting block, a connecting assembly is installed on the top of the inner side of the support assembly, an installation frame is installed on the top of the outer side of the support assembly, a protection plate is fixedly connected to the top of the installation frame, and a positioning assembly is installed on the front face of the support assembly. By arranging the connecting assembly, the mounting frame and the protection plate, the mounting frame and the support assembly are aligned in the vertical direction, the mounting frame is controlled to be vertically downward, a positioning rod is inserted into a first positioning groove, and when a connecting groove is aligned with an insertion rod, the insertion rod is inserted into the connecting groove, so that the protection plate is kept in a vertical state; therefore, the protection plate can play a role in blocking splashed oil in the frying pan main body, the oil is prevented from being splashed on a hand holding the handle, and a protection role is played.

The invention provides an automobile outer handle structure convenient to open, and relates to the field of automobile outer handle structures. The automobile outer handle structure comprises an outer handle body, and a connecting mechanism is arranged on one side of the outer handle body; the connecting mechanism comprises a connecting plate, a middle through groove, an upper hook-shaped limiting block, a fixing plate, a first arc-shaped limiting block, a second arc-shaped limiting block, a supporting block, an arc-shaped groove and a plastic arc-shaped block, a pull rod is arranged in the connecting mechanism, and the bottom end of the pull rod is fixedly connected with the interior of the lock body. The pull rod is pulled by pressing the outer handle body downwards, the traditional operation of rotating the outer handle body is avoided, the action of natural pressing downwards is more convenient, meanwhile, the phenomenon of hand slipping is reduced, the pull rod is clamped through resetting of the plastic arc-shaped block, and therefore connection between the outer handle body and the pull rod is completed; installation between the outer handle body and the pull rod is facilitated, and maintenance between the outer handle body and the pull rod is more convenient.

The application belongs to the technical field of intelligent exoskeletons, and particularly relates to a hand pressure sensing device, an exoskeleton assisting method, a device, equipment and a medium. The hand pressure sensing device comprises a hand structure base body and flexible pressure sensors, 5 flexible pressure sensors are arranged at five finger parts, and 20 flexible pressure sensors are arranged at a palm part; the current action type of a user is determined according to pressure data of the flexible pressure sensors; if it is a lifting action, an instruction for starting assistance is generated, and assistance to the user is adjusted in real time according to the pressure data; if it is a false action, the instruction for starting assistance is not generated. The device and the method provided by the application can perceive the current action state of each user, adjust assistance according to actual pressure, and adapt to a cable construction scene.

The utility model discloses a handle structure and a pull rope lock comprising the same. The handle structure comprises a shell; the sliding part comprises a sliding body, a first connecting block and a second connecting block, the sliding body is arranged on the shell in an up-down sliding mode, the first connecting block and the second connecting block are connected to the two opposite sides of the sliding body respectively, and the first connecting block and the second connecting block are arranged in the horizontal direction; and the transmission part is used for being in transmission connection with a transmission rope, and the transmission part is detachably connected to the first connecting block and the second connecting block alternatively. Therefore, no matter which side of the door leaf is provided with the handle structure, a user can control the movement of the lock cylinder through a similar operation mode (for example, the handle rotates upwards to open the door and rotates downwards to close the door), so that different requirements that the handle structure is installed on the inner side or the outer side of the door leaf are met; the problem of misoperation caused by too large operation logic difference is avoided, and the user experience is greatly improved.

The utility model provides a mechanical arm structure for transformation of a numerical control machine tool, belongs to the technical field of mechanical arms, and aims to solve the problems that certain potential safety hazards exist when parts are transferred, unnecessary property loss is caused, and the use safety of a mechanical arm in the practical application process is affected. The positioning frame is inserted into the outer side of the top end face of the supporting base. The positioning auxiliary mechanism is arranged between the supporting base and the positioning frame; the rotating frame is rotationally arranged outside the top end surface of the positioning frame; the connecting arm is hinged to the outer side of the rotating frame; the operating frame is hinged to the outer end of the connecting arm; a detection auxiliary mechanism is arranged between the connecting arm and the connecting shaft; and the use safety of the manipulator in the actual application process is improved, unnecessary potential safety hazards and property loss are relieved, and the construction smoothness is further improved when a data machine tool is transformed.

The utility model belongs to the technical field of microphones, and particularly relates to a microphone with an anti-release structure, which comprises a microphone shell, a control button is mounted on the upper outer wall of the microphone shell, a locking ring is mounted on the outer wall, close to the bottom, of the microphone shell, and a connecting rod is fixedly connected to the outer wall of one side of the locking ring; according to the utility model, the bottom of the microphone shell is sleeved with the locking ring, then the wrist of a user is sleeved with the hand sleeving ring, the locking ring and the hand sleeving ring can be pulled towards two sides when the microphone is used at the same time, the locking ring and the hand sleeving ring can be pulled towards two sides, and the locking ring and the hand sleeving ring can be pulled towards two sides when the microphone is used. The two inner rods can move outwards from the interiors of the corresponding connecting rods, the distance between the locking ring and the hand sleeving ring can be adjusted, a user can effectively hold the microphone shell in the hand for use, the microphone shell can be effectively hung on the wrist of the user through the structure in the using process, and the microphone shell is convenient to use. Therefore, the microphone shell is prevented from being separated from the hand of the user.

The utility model provides an anti-hand-tightening packaging bag which comprises a bag body, the bag body is provided with a first membrane and a second membrane, the edge of the first membrane and the edge of the second membrane are connected in a hot-pressing mode to form a hot-pressing area, and a containing cavity is formed in the inner side of the hot-pressing area. The bag body is further provided with a handle area, and the handle area is located in the hot-pressing area and is a non-hot-pressing area surrounded by the hot-pressing area. A handle structure is arranged on the handle area; a buffering part is arranged between the side, away from the containing cavity, of the handle structure and the hot-pressing area. And the fingers are in soft contact with the buffer part, and the contact area of the finger pulp and the buffer part is increased, so that the fingers are more comfortable to lift without tightening hand feeling. The handle area is the non-hot-pressing area formed by the hot-pressing area in a surrounding mode, other accessories do not need to be added, the hand tightening problem during lifting can be solved, the manufacturing process is simple, and the cost is lower.

The embodiment of the utility model provides a mechanical arm used for adsorbing a warped wafer. The mechanical arm comprises a hand structure, the plurality of vacuum chucks are uniformly distributed on the hand structure; the vacuum chuck comprises a supporting part and an adsorption part; a through hole is formed in the center of the supporting part and is used for extracting gas between the vacuum chuck and the wafer; the adsorption part is arranged around the supporting part, and the adsorption part is made of flexible ceramic; wherein the adsorption part is provided with a plurality of circles of protrusions, the outermost circle of protrusion is an annular continuous protrusion, the middle circle of protrusion and / or the inner circle of protrusion are / is a non-continuous protrusion, a recess between every two adjacent protrusions is communicated with the through hole, and the first height difference of part or all of the protrusions of the adsorption part relative to the surface of the hand structure is larger than the first height difference of the second height difference relative to the surface of the hand structure. And the height difference is greater than a second height difference of the supporting part relative to the hand structure. With the adoption of the technical scheme, the adsorption capacity of the warped wafer can be improved.

The application discloses a kind of injection molding machine mechanical hand collision detection method, it utilizes acquisition module to collect the data of each axis servo motor and carries out filtering to data, utilizes calibration module according to filtered data when first mode of full-automatic operation determines the motion state of each axis and calibrates the maximum torque value and minimum torque value under this motion state, utilizes calibration module to calibrate the speed time delay between the feedback speed and command speed of each axis simultaneously, utilizes collision detection module according to the command speed and speed time delay of each axis to predict actual speed and actual acceleration when running each mode subsequently determines the motion state of each axis, and according to the motion state of each axis, the maximum torque value and minimum torque value under this motion state, detection sensitivity and the data after filtering, identify whether each axis occurs collision;Advantages are that the collision detection of mechanical hand and external environment can be realized without changing the structure of mechanical hand and without increasing the manufacturing cost of mechanical hand, and detection precision is high.

A vehicle, comprising a handhold tube assembly. The handhold tube assembly comprises a handhold structure. The handhold structure is provided between a vehicle ceiling and a handhold tube. The handhold structure comprises a connecting member, a first buffer member and a second buffer member, the connecting member being provided with an accommodating cavity, and the first buffer member and the second buffer member being arranged in sequence in the accommodating cavity along a first direction.

The application discloses a single-fork main shaft mechanical hand structure and relates to the technical field of mechanical hands, which comprises a base, a driving mechanism arranged on the base, a main plate slidably connected to the base, a driving mechanism for driving the main plate to move, the main plate being provided with a first clamping plate and a second clamping plate arranged oppositely, the main plate being provided with a driving assembly for driving the first clamping plate and the second clamping plate to slide towards each other or away from each other, and the main plate being provided with a positioning mechanism for making the freedom degree of a material disc on a plane perpendicular to the sliding direction of the first clamping plate be zero. The application solves the problem that the stability of the mechanical hand is low, has the effects of being stable and convenient, reduces the risk that the material disc falls off from the mechanical hand in the transportation process, and improves the stability of the mechanical hand transportation.

The utility model discloses a double-layer armrest structure of an auxiliary instrument panel of an automobile, which is characterized in that a middle-layer plastic friction gasket and an upper-layer plastic friction gasket are of limiting gasket structures with L-shaped sections, and a metal M-shaped gasket is an elastic piece capable of releasing certain elastic tension; the bolt rotating shaft is sequentially sleeved with a hinge support, a metal cushion block, a middle-layer plastic friction gasket, a plastic friction plate, a metal flat gasket and a metal M-shaped gasket, the metal cushion block is sleeved with the middle-layer plastic friction gasket, the middle-layer plastic friction gasket is sleeved with a middle-layer hinge support, and the upper-layer plastic friction gasket is sleeved with an upper-layer hinge support; the upper-layer hinge bracket is in interference fit with the metal flat gasket and the upper-layer plastic friction gasket; and the tail end of the bolt rotating shaft tightly presses the metal M-shaped gasket through a nut. The suspension performance of the upper-layer handrail can be guaranteed through elastic compensation, the middle-layer handrail is arranged to be in a slow gravity falling mode to achieve an automatic reset function, cost is reduced, and complexity is reduced.

The utility model belongs to the technical field of bathroom accessories, and particularly discloses a bathroom sealing door with a hidden anti-pinch structure, which comprises a sliding chute, a door main body, a damping buffer, a first buffer block and a second buffer block, the sliding grooves are fixedly formed in a top plate and a bottom plate of the bathroom. The door body is slidably installed in the sliding groove. The damping buffer is embedded in the sliding groove, and the telescopic direction of the damping buffer is perpendicular to the sliding groove. The first buffer block is fixedly connected to the movable end of the damping buffer, and the sliding groove is provided with a groove for the first buffer block to move. The second buffer block is arranged on the top face of the door body, when the second buffer block makes contact with the first buffer block, the moving speed of the door body is reduced under the action of the damping buffer, opening and closing of the sealing door of the bathroom are buffered by arranging the damping buffer hidden in the sliding groove, the first buffer block and the second buffer block, installation is convenient, use is convenient, and the service life of the sealing door is prolonged. And the anti-pinch function of the sealing door of the bathroom is effectively improved.

The utility model relates to a storage box handle convenient to assemble and disassemble, which comprises a handle main body, and is characterized in that the handle main body comprises a handheld part and a clamping part which are integrally formed by injection molding; the hand-held part is provided with finger positions, and the front side surface of the hand-held part is a decorative surface; the clamping part is connected to the rear side face of the handheld part and comprises two plastic pins arranged side by side, the plastic pins extend from front to back, and clamping groove positions are arranged on the outer side faces of the ends of the plastic pins. The storage box handle convenient to assemble and disassemble is simple in structure, can be simply and quickly assembled on the front wall plate of the storage box, and is prevented from loosening.