102 results about "Left fingers" patented technology

The invention discloses a clamp-type surgical instrument for an abdominal cavity minimally invasive surgery robot, relates to the clamp-type surgical instrument for the abdominal cavity minimally invasive surgery robot and aims to solve the problem of easy tensile failure of a steel wire which drives left fingers and right fingers due to failed compensation of residual movement of the left fingers and the right fingers during rotating of wrist joints because the steel wire is driven to rotate an operating pipe, the wrist joints, the left fingers and the right fingers by a motor driving wire wheel in the clamp-type surgical instrument for the conventional abdominal cavity minimally invasive surgery robot. The surgical instrument is connected with an interface base and drives an operating pipe transmission mechanism, a left finger transmission mechanism, a right finger transmission mechanism and a wrist joint transmission mechanism on the surgical instrument respectively through four driving mechanisms on the interface base; and the wrist joints, the left fingers and the right fingers on a tail end actuating mechanism are driven to move by a left finger front driving steel wire, a left finger back driving steel wire, a right finger front driving steel wire, a right finger back driving steel wire, a wrist joint front driving steel wire and a wrist joint back driving steel wire. The clamp-type surgical instrument is applied to abdominal cavity minimally invasive surgery.

The invention discloses a fingerprint permutation and combination password, which comprises a fingerprint permutation and combination method. The fingerprint permutation and combination password is put into a chip to be integrated into a computer, a mobile phone, an identity card, a bank card, various door locks and the like, and the program authentication and identification of the computer (mobile phone) is carried out. The method comprises the following steps of: independently marking the fingerprints of left fingers as 1,2,3,4 and 5 from a thumb to a little finger, independently marking the fingerprints of right fingers as 6,7,8,9 and 0 from a thumb to a little finger, and carrying out permutation and combination on the fingerprints to obtain the fingerprint permutation and combination password. According to the method, the fingerprints can be subjected to permutation and combination again to obtain a new fingerprint password, a user does not need to worry about that the fingerprints are stolen, and the fingerprint permutation and combination password can be used alone. Under triple protection that fingerprints, fingerprint combination and software need to be authorized by a fingerprint combination password, the fingerprint combination password fingerprint permutation and combination password can not be easily cracked.

The invention discloses a decoupled quick change surgical device for a robot assisted minimally invasive surgery, and relates to a surgical device for the robot assisted minimally invasive surgery, and in particular relates to the decoupled quick change surgical device for the robot assisted minimally invasive surgery, aiming at solving the problems of high probability of snap break of driving left finger and right finger, complex structure and over-long replacement time of surgical instruments in a surgical process existing in the conventional minimally invasive surgical device. The decoupled quick change surgical device comprises an upper blade transmission mechanism, a wrist transmission mechanism, a casing transmission mechanism, a lower blade transmission mechanism, a first resetting mechanism, a second resetting mechanism, a first guide mechanism, a second guide mechanism, a front-end surgical scissor mechanism, an adapter shell, an adapter upper cover, a casing, a wrist connecting piece, an upper blade traction lower steel wire, an upper blade traction upper steel wire, a wrist traction lower steel wire, a wrist traction upper steel wire, a lower blade traction lower steel wire, a lower blade traction upper steel wire and seven screws. The decoupled quick change surge surgical device is used in the robot assisted minimally invasive surgery.

The invention discloses a rotatable machine gripper. A first worm gear motor and a second worm gear motor are fixedly arranged on the front side and the rear side between an upper base plate and a lower base plate respectively; a finger portion comprises a left finger and a right finger which are respectively formed by two parallelly arranged rotatable L-shaped pushing rods; a polygonal iron piece is fixedly arranged at one end of every L-shaped pushing rod; a rotation portion comprises a second back plate; and a third worm gear motor which is fixedly arranged on the second back plate is connected with the back of a first back plate. The rotatable machine gripper has the advantages of achieving 360 degree rotation of the machine gripper and being convenient to grab workpieces due to the worm gear motors and enabling rotation and opening and closing control of the machine gripper to be flexible and an extensible range to be large due to the facts that an opening and closing angle of the machine gripper is 160 degrees and the opening and closing degree is large.

The invention provides an end effector of a tomato flexible picking manipulator, which relates to the field of agricultural picking robots. Finger structure, suction cup, finger pressure plate and shaft, the profiling finger structure includes silicone piano keys, miniature springs, finger shaft, left profiling finger, right finger semicircle pressure plate, left finger semicircle pressure plate and right profiling finger , the present invention completes the working process of aligning fruit, absorbing fruit, sucking and clamping and swinging and breaking, and overcomes the defects of low efficiency and low degree of mechanization of existing tomato manual picking. With flexible self-adaptive ability, the picking method of swinging and breaking the fruit stems solves the technical problems of low tomato picking efficiency and easy damage.

An electromagnetic interference shield for a hard disk drive has a metal shield portion, a plurality of top fingers, bottom fingers, left fingers, and right fingers disposed on four sides of the metal shield portion, and bars tying the tips of the plurality of top fingers together, the tips of the plurality of bottom fingers together, the tips of the plurality of right fingers together, and the tips of the plurality of left fingers together. Each of the plurality of top fingers and bottom fingers are wider than each of the plurality of left fingers and right fingers. Each of the plurality of top fingers, bottom fingers, left fingers, and right fingers has a perpendicular jog at a base portion thereof.

The invention relates to a double-way mechanical seal ring. The double-way mechanical seal ring comprises two mechanical seal ring bodies, that is a moving ring body and a stationary ring body. The double-way mechanical seal ring is characterized in that the end face of at least one seal ring body is provided with a plurality of finger imitating type grooves; each finger imitating type groove is composed of an air inlet groove which is distributed in the radial direction of the corresponding seal ring body, left finger-shaped grooves and right finger-shaped grooves, and the left finger-shaped grooves and the right finger-shaped grooves communicate with the two sides of the air inlet groove correspondingly; each air inlet groove is composed of two straight lines which are distributed in the radial direction of the corresponding seal ring body, inward extending lines of the straight lines pass through a rotary shaft of the corresponding seal ring body, and outward extending lines of the straight lines pass through the intersection points of the outermost sides of the finger-shaped grooves and an outer circle of the corresponding seal ring body; the left finger-shaped grooves and the right finger-shaped grooves are each composed of two concentric circular arcs and a semi-circular arc which is located at the tail end of the corresponding finger-shaped groove; and the two circular arcs, located on the innermost side in the radial direction of the corresponding seal ring body, of one left finger-shaped groove and one right finger-shaped groove are directly connected with each other. The double-way mechanical seal ring has the numerous advantages that the end face opening force is large, the leakage rate is low, the rigidity of an air film is high, the friction power loss is small, operation is stable, and the service life is long.

The invention provides a tomato adsorption clamping synchronous picking manipulator end actuator, and relates to the field of agricultural picking robots. The tomato adsorption clamping synchronous picking manipulator end actuator comprises a mounting base, a first cylinder, a second cylinder, a sucker cylinder, a U-shaped support, a spring support, a spring, a profiling finger structure, a sucker, a finger pressure plate and a telescopic cylinder shaft, wherein the profiling finger structure comprises a left profiling finger, a pressure sensor, a rotating shaft, a left finger semicircular press plate, a right finger semicircular press plate and a right profiling finger. The tomato adsorption clamping synchronous picking manipulator end actuator finishes the working process of fruit alignment, fruit adsorption, suction pulling clamping and swing breakage, overcomes the shortcomings of low manual tomato picking efficiency and low mechanization degree in the prior art, and solves the technical problem of low tomato picking efficiency by the picking mode of fruit suction pulling, synchronous clamping and fruit stem swing breakage.

The invention discloses a surgical instrument for a minimally invasive surgery robot; the surgical instrument comprises a left finger drive mechanism, a wrist joint drive mechanism, a right finger drive mechanism, an operation tube drive mechanism, a wrist actuator, a wire rope tension mechanism, tool lug shafts, first to eighth guide mechanisms, a surgical instrument shell and the like; the left finger drive mechanism, the wrist joint drive mechanism, the right finger drive mechanism and the wrist actuator in the surgical instrument are driven through steel wires; the operation tube drive mechanism is driven by a gear; connector clutch discs on the surgical instrument are arranged in a single row, so that arms of force between fixing points of the surgical instrument on a connector base are longer, and the fixation of the surgical instrument is more facilitated. A decoupling mechanism is mounted on the connector base, the structural design of the surgical instrument can be simplified, and mass production of the surgical instrument is benefited. The surgical instrument is convenient to demount, good in positioning accuracy, high in rigidity, reasonable in layout, small in size and light in weight.

The invention provides a flexible tomato picking end actuator and a corresponding picking mechanism and method, and relates to the field of agricultural picking robots. The end actuator is composed ofa fruit storage box, a control box, a movable platform, a mechanical arm and a mechanical arm end actuator; the mechanical arm end actuator comprises a first air cylinder, a visual sensor, a second air cylinder, an air cylinder mounting plate, a U-shaped support, a spring support, springs, a profiling finger structure, a suction cup, a finger pressure plate, a suction cup air cylinder and rotating shafts; the profiling finger structure comprises silica gel piano keys, micro springs, finger rotating shafts, a left profiling finger, a left finger semicircular pressing plate, a right finger semicircular pressing plate and a right profiling finger. The end actuator completes fruit alignment, fruit adsorption, suction, pulling, clamping, swinging and breaking work processes, fruits are suckedand pulled and synchronously clamped, the silica gel piano keys have the flexible self-adaptation capacity, and then fruit stems are swung and broken for picking, so that the technical problems that tomatoes are low in picking efficiency and likely to be bruised are solved.

The invention provides a translation type clamping and assembling device suitable for a boss and a base, and belongs to the technical field of mechanical assembly. A support sliding block can be slidably arranged on a sliding guide rail, a driving gear is meshed with a rack, the lower end of a lifting piston rod of a lifting cylinder is connected with a II shape support, and guide assemblies are also arranged between the support sliding block and the II shape support; both the left and right clamping jaw supports can be slidably arranged on a clamping jaw guide rail; threads of the left and right sections of a translational screw rod are screwed in opposite directions, the left section of the translational screw rod is connected with a left screw rod nut in a threaded mode, and the right section of the translational screw rod is connected with a right screw rod nut in a threaded mode; and a left stepped clamping jaw is installed at the lower end of a left finger, a right stepped clamping jaw is installed at the lower end of a right finger, and both the left stepped clamping jaw and the right stepped clamping jaw are separately provided with two outer clamping surfaces and three inner clamping surfaces. The translation type clamping and assembling device suitable for the boss and the base realizes the clamping of the boss and the base and completes the assembly of the boss and the base, and the structure is reasonable and the cost is low.

The invention relates to the technical field of automation equipment, and aims at providing a mechanical finger and a manipulator including the same. The mechanical finger in the technical scheme comprises a finger joint group, a force guiding traction chain driving the finger joint group to bend, a self-locking traction chain driving the finger joint group to bend and self lock, and a grasping driving mechanism driving the force guiding traction chain and the self-locking traction chain to bend. The manipulator comprises three mechanical fingers and a fixing seat, wherein the three mechanicalfingers are two left fingers located at one side of the fixing seat and a right finger located at the other side of the fixing seat; three grasping driving mechanisms in the three mechanical fingersare two first grasping driving mechanisms located at one side of the fixing seat and a second grasping driving mechanism located at the other side of the fixing seat; and the fixing seat is fixedly connected with first driving devices in the first grasping driving mechanisms and the second grasping driving mechanism. Thus, a workpiece can be stably grasped.

The invention provides manipulator tongs capable of striding across a fixed obstacle. The manipulator tongs capable of striding across the fixed obstacle comprise a tong rack, a steering machine, a first gear, a second gear, left tongs and right tongs, wherein the steering machine is fixed to the tong rack; the first gear is fixed to the tong rack, and the output end of the steering machine is connected with the first gear though a steering plate; the second gear is fixed to the tong rack, and the first gear and the second gear are engaged with each other; the left tongs comprise multiple left fingers connected in parallel, and are connected with the first gear through the uppermost left finger; the right tongs comprise multiple right fingers connected in parallel, and are connected with the second gear through the uppermost right finger. According to the manipulator tongs capable of striding across the fixed obstacle, the structure can be disassembled freely, the structure is simple, and object clamping across the fixed obstacle on a rough ground is achieved, the clamping is stable, the benefit is improved, and the comprehensive benefit is high.

An elastomeric wrap for restricting two fingers during flexion and extension. The wrap covers the proximal phalanx and interphalangeal (PIP) knuckle and part of the middle phalanx of both fingers. Instructional text and directional graphics is silk screened onto the wrap. Fastening is constructed of two opposing strips of hook-and-loop fabric. Buttonhole and straight stitching techniques is used to secure and finish fabric. To form the wrap: First, face the palm upward, second, insert the ring or middle (plus index for right hand) finger into the anchor loop section, third, wrap the elongated section over then under the adjacent left finger, fourth, join one of the two affixed opposing hook-and-loop fabric strips on the elongated section with the other hook-and-loop fabric strip on the anchor loop section to fasten. The wrap is constructed of a strip of elastomeric fabric.

The invention provides a bellows forming device, which belongs to the technical field of bellows. It includes a molding mechanism and a clamping mechanism. The left rack and the right rack of the molding mechanism are installed on the left and right sides of the rack support. The left rack and the first left gear mesh with each other, and the right rack and the first right gear mesh with each other. meshing, the left sector gear and the second left gear are meshed with each other, the right sector gear and the second right gear are meshed with each other, the left finger support is slidingly connected with the left guide rod, the right finger support is slidingly connected with the right guide rod, the left finger rack is connected with the second The two left gears mesh with each other, the right finger rack and the second right gear mesh with each other, the left splint support and the right splint support of the clamping mechanism can be slidably arranged on the guide rail, and the left splint is installed on the left side of the left splint support , the right splint is installed on the right side of the right splint support, the first left link and the second left link are parallel to each other, and the first right link and the second right link are parallel to each other. The invention can realize the forming of multiple types of corrugated pipes, and has strong applicability.

The invention discloses a cascade type multi-finger cross manipulator which comprises an arm rod, a fixing base, paws, a pen type electric push rod and auxiliary grabbing structures, wherein the arm rod is fixedly connected to the top of the fixing base, the paws comprise the left claw and the right claw, and the left claw and the right claw are oppositely arranged on the left side and the right side of the bottom of the fixing base correspondingly; the left claw and the right claw are provided with a left finger and a right finger respectively, the left finger and the right finger are arranged in a staggered mode, the pen type electric push rod is arranged in the arm rod, the top end of the pen type electric push rod is fixed to the top of the arm rod, and the bottom end of the pen type electric push rod is connected with the top of the left claw and the top of the right claw. The auxiliary grabbing structures are oppositely arranged at the bottom of the left finger and the bottom of the right finger respectively. The paw are opened and closed through pushing and pulling of the pen type electric push rod, a large-diameter object is grabbed through a main body part of the paw, and a small-diameter object is reversely grabbed through the two auxiliary grabbing structures.