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 relates to a mechanical gripper of a dispensing robot. The mechanical gripper of the dispensing robot comprises a rack, a double-threaded screw, a left finger and a right finger, a motor, an encoder and a gripper controller, wherein the double-threaded screw is rotatably arranged on the rack, and the two ends of the double-threaded screw are respectively provided with threaded parts; the rotating directions of the threaded parts are opposite, and the left finger and the right finger are respectively matched with the two threaded parts of the double-threaded screw; the double-threaded screw rotates to drive the left finger and the right finger to move closely or oppositely, and the rotating shaft of the motor drives the double-threaded screw to rotate; the encoder is used for detecting the rotating position of the rotating shaft of the motor, and the gripper controller is connected with the motor and the encoder, and is used for controlling the rotation of the motor and processing signals fed back by the encoder; and the left finger and the right finger are provided with wedge-shaped grooves, and the wedge-shaped groove of the left finger is corresponding to the wedge-shaped groove of the right finger, so that a drug bottle is clamped in a clamping space formed by the wedge-shaped groove of the left finger and the wedge-shaped groove of the right finger. The mechanical gripper has the functions of size measurement, self-adaptability, self-centering and controllable gripping force.

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 two-finger translation mechanical arm which comprises a palm base, a steering engine, transmission gears, translation racks, a left finger and a right finger, wherein the steering engine is arranged above the palm base; an output shaft of the steering engine is respectively meshed with the translation racks by the two pairs of transmission gears, and the translation racks are respectively connected with the left finger and the right finger; when the steering engine rotates forward, the left finger and the right finger are separated from each other along with the translation racks; when the steering engine rotates backward, the left finger and the right finger are closed together along with the translation racks. The left finger and the right finger are respectively and internally provided with a reset torsion spring and a small microswitch; when a workpiece is clamped by the mechanical arm, the microswitches are touched, and information is fed back to a control system. The two-finger translation mechanical arm is simple in structure, high in sensitivity and convenient to install. When the workpiece is clamped by the left finger and the right finger, the microswitches arranged in the fingers are connected; the microswitches are disconnected in time when the workpiece is loosened; the motion state of the translation mechanical arm is fed back into the control system in time, so that the control system can sensitively judge the working state of the mechanical arm, and real-time control performance of the two-finger translation mechanical arm can be guaranteed.

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 relates to a robot paw, in particular relates to a flexible adaptive under-actuated robot paw. The flexible adaptive under-actuated robot paw comprises a framework, and a left finger and a right finger which are connected to the framework in a movable mode, wherein the left finger is positioned on the left side of the framework and provided with a left side hole; the right finger is positioned on the right side of the framework and provided with a right side hole; the framework is provided with through holes which are coaxial with the left side hole and the right side hole; four sliding shafts are arranged in the left side hole, the right side hole and the through holes; two pressure springs are arranged at two ends of each sliding shaft; and in two end faces of each pressure spring, one end face is pressed on each sliding shaft, and the other end face is pressed on the left finger or the right finger. The paw can automatically adapt to the size of a workpiece, the fingers are opened and closed flexibly, stable and uniform grasping force is generated, and the requirement on a control system is reduced.

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 discloses a flexible mechanical paw which comprises a support plate, wherein a left finger and a right finger are rotationally connected with the left and right ends of the top of the support plate respectively; a left connecting rod and a right connecting rod are rotationally connected with the bottom ends of the left and right fingers respectively; the bottom ends of the left and right connecting rods are connected through a horizontal pushing block; a left clamping block and a right clamping block are mounted on the inner sides of the top of the left and right fingers respectively; outward convex lugs are arranged on the outer sides of the left and right clamping blocks respectively; pins are inserted into pin holes formed in the fingers and waist-shaped holes formed in the lugs sequentially, so as to connect the fingers with the corresponding clamping blocks; springs are mounted between the clamping blocks and the corresponding fingers; inner spring accommodating holes are formed the outer sides of the clamping blocks, and positioned at the upper and lower parts of the lugs respectively; outer spring accommodating holes are formed in the parts, corresponding to the inner spring accommodating holes, on the inner sides of the fingers; and the inner spring accommodating holes formed in the clamping blocks and the corresponding outer spring accommodating holes formed in the fingers are combined to form spring accommodating holes. The flexible mechanical paw disclosed by the invention has the advantage that flexible grasping can be achieved.

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 discloses a pneumatic manipulator which comprises a base, a rotating shaft, a fixed plate, a rotating mechanism and a claw mechanism, wherein one end of the rotating shaft is connected with the base, and the other end of the rotating shaft is connected with the fixed plate; the fixed plate is L-shaped, the L end is connected with the rotating mechanism, and the other end is connected with the claw mechanism; a stepper motor on the rotating mechanism is connected with the rotating shaft through a conveyor belt; the claw mechanism comprises a pneumatic cylinder II, a plurality of support columns, a fixed table, a pneumatic cylinder III, a pneumatic cylinder IV, a support plate, a left finger and a right finger; a telescopic shaft of a hydraulic cylinder II and the support columns penetrate through holes on the fixed plate and are connected with the upper end surface of the fixed table, and the lower end surface of the fixed table is connected with the support plate, a hydraulic cylinder III and a cylinder body of a hydraulic cylinder IV; and the left finger and the right finger are respectively connected with the lower end of the support plate, the right finger is connected with a telescopic shaft of the pneumatic cylinder III, and the right finger is connected with a telescopic shaft of the pneumatic cylinder IV. The invention has the advantages of simple debugging, convenience for installation and use, reliable performance and high production efficiency and realizes mechanical automation.

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 quick changing mechanism of an operation robot for minimally invasive surgery, comprising a left finger driving mechanism, a wrist joint driving mechanism, a right finger driving mechanism, an operation pipe driving mechanism and a base shell, a base cover, a connector and a locking mechanism. Through long bolt holes on the base cover and the base shell, relative installing position between the base cover and the base shell is adjusted; through a guide chute on a cutter base cover, relative installing position of an operation apparatus executing mechanism and an interface base is accurately positioned; a parallelogram hanging hook locking mechanism can exactly and conveniently lock and unlock the operation apparatus executing mechanism a decoupling mechanism is installed on the interface base, so as to simplify the structural design of the operation apparatus executing mechanism, and benefit the massive production of the operation apparatus executing mechanism. The quick changing mechanism of the operation robot for minimally invasive surgery is convenient to mount and dismount, easy to adjust, accurate in location, big in rigidity, reasonable in layout, miniaturization and light weight.

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.

A musical notation for piano music includes a top line including right finger numbering denoting finger positions of fingers of the right hand on keys of a piano and a bottom line including left finger numbering denoting finger positions of fingers of the left hand on keys of the piano. Each of the right and left finger numbering includes the numbers 1, 2, 3, 4, and 5 that correspond to the thumb, the pointer finger, the middle finger, the right finger, and the pinky finger, respectively. Each of a right hand position change and a left hand position change is denoted by a symbol. A chord is denoted by stacked finger numbering.

The invention provides a clamp type surgical instrument for a surgical robot. A support sleeve is connected with a bracket, and a wrist rotating shaft piece is mounted in the support sleeve. The wristjoint piece is connected with the wrist rotating shaft piece, and the wrist joint transmission rope is sleeved on the wrist rotating shaft piece. A left finger piece and a right finger piece are sleeved on the finger support shaft piece. A left finger transmission rope driving piece comprises a left finger driving input shaft sleeved with two left finger driving units, and the two left finger driving units are connected with a first left finger transmission rope and a second left finger transmission rope respectively. The right finger transmission rope driving piece comprises a right finger driving input shaft sleeved with two right finger driving blocks, and the two right finger driving blocks are connected with a rear-end of a first right finger transmission rope and a rear-end of a second right finger transmission rope respectively. The wrist transmission rope driving piece comprises: a wrist driving input shaft sleeved with two wrist driving blocks, and the two wrist driving blocks are connected with the wrist joint transmission rope. The instrument has a simple structure and is convenient to use.

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.

The invention provides a parallel translation type connecting rod lever type clamping device, and belongs to the technical field of machining. The parallel translation type connecting rod lever type clamping device comprises a swing rod, a first connecting rod, a second connecting rod and a lever, a left sliding block and a right sliding block are arranged on a guide rod in a sliding manner, a left V-shaped clamping claw is installed on the right side of a left finger through two fastening screws, a right V-shaped clamping claw is installed on the left side of a right finger through a fastening pin shaft, the lower end of the swing rod is fixedly connected with the upper end of the lever, the left end of the first connecting rod is hinged to the upper end of the lever, the right end of thefirst connecting rod is hinged to the middle end of the right sliding block, the left end of the second connecting rod is hinged to the middle end of the left sliding block, the right end of the second connecting rod is hinged to the lower end of the lever, the middle end of the locking lever is hinged to an L-shaped support through a locking lever pin shaft, and a hemispheric pressure pad is installed at the left end of the locking lever. According to the parallel translation type connecting rod lever type clamping device, it is guaranteed that the left V-shaped clamping claw and the right V-shaped clamping claw achieve four-point contact of disc type workpieces, and the disc type workpieces are prevented from falling when a pneumatic circuit breaks down.

The invention discloses a transferring mechanical arm of a hair string machine. The transferring mechanical arm comprises a longitudinally-adjustable base, a vertical fixed rod, a connecting device, a horizontal sliding table cylinder mounting plate, a first sliding table cylinder, a second sliding table cylinder, a finger cylinder, a left clamping part and a right clamping part. The vertical fixed rod is fixed to the longitudinally-adjustable base. The upper portion of the vertical fixed rod is fixedly connected with the center of the rear side of the horizontal sliding table cylinder mounting plate through the connecting device. The first sliding table cylinder is horizontally mounted on the front side of the horizontal sliding table cylinder mounting plate. A sliding block of the first sliding table cylinder is fixedly connected with a sliding block of the second sliding table cylinder. The second sliding table cylinder is vertically arranged. The two-finger finger cylinder is fixedly connected with the lower end of the second sliding table cylinder. The left clamping part is fixedly arranged on a left finger of the finger cylinder, and the right clamping part is fixedly arranged on a right finger of the finger cylinder. The transferring mechanical arm of the hair string machine is reasonable in design, the relative operation distance of the left clamping part and the right clamping part is guaranteed through a limiting hole, the stability of the clamping action is high, falling is avoided, the position of the device can be adjusted longitudinally, the falling heights of the left clamping part and the right clamping part can be further adjusted, and the clamping precision is high.

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 actuating mechanism 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 actuating mechanism 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.

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 discloses a body of a teaching type string instrument. The body comprises a left-palm sleeve and multiple first left-finger sleeves, wherein the left-palm sleeve is provided with a first microprocessor and a first wireless communication module, and each first left-finger sleeve is provided with a first triaxial gyroscope; the first microprocessor is connected with each triaxial gyroscope and the first wireless communication module; each first left-finger sleeve is connected with the left-palm sleeve through a corresponding rope folding and unfolding mechanism; the body further comprises a second left-finger sleeve, and the second left-finger sleeve is connected with the left-palm sleeve through a push-and-pull mechanism; or the body further comprises a push-and-pull type arm support; or the body also comprises a rotary wrist support. The invention also simultaneously discloses a bow of a teaching type string instrument, a teaching type string instrument, a teaching type string instrument performance system and a teaching type string instrument performance method. According to the scheme provided by the invention, a user can be automatically taught about performance operation needing to be executed for performing music.

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.

A finger-exercising turntable comprises a left palm supporting universal column, a left finger plate, a left base plate, a right base plate, a right finger plate and a right palm supporting universal column which are sequentially and axially arranged, wherein a plurality of finger holes for fingers to press into are formed in the plate face provided with the left palm supporting universal column of the left finger plate, a plurality of finger holes for fingers to press into are formed in the plate face provided with the right palm supporting universal column of the right finger plate, a rotary shaft is arranged between the left base plate and the right base plate, the middle of the rotary shaft is radially provided with a magnetic metal flange plate, the rotary shaft is sleeved with a pair of magnetic rings, the two magnetic rings are located on two sides of the magnetic metal flange plate respectively, the magnetic rings and the magnetic metal flange plate are sleeved with a fixing cover, one end of the rotary shaft penetrates through the fixing cover and then is fixedly connected to the left base plate, the fixing cover is fixedly connected to the right base plate, and each magnetic ring is relatively fixed in the fixing cover. Practice can be performed by applying the finger-exercising turntable, the exercise capacity and flexibility of fingers can be directly improved, and accordingly the adaptive capacity to musical instrument playing of the fingers is improved indirectly.

The invention discloses telescopic haemostatic forceps for internal clinic. The telescopic haemostatic forceps comprise a right forceps rod and a left forceps rod. One end of the left forceps rod is connected with a left finger ring. A left sleeve ring is arranged in the middle of the left forceps rod. One end of the right forceps rod is connected with a right finger ring. A right sleeve ring is arranged in the middle of the right forceps rod. The other end of the right forceps rod is provided with six or more groups of forceps teeth equally distributed. The inner middle of the left sleeve ring and the inner middle of the right sleeve ring are each provided with a through groove. The inner middle of each through groove is provided with a fixed shaft sleeve. One end of each fixed shaft sleeve is provided with a left baffle. The right forceps rod and the left forceps rod can effectively clamp a blood vessel through the forceps teeth, the disengagement and sideslip of the haemostatic forceps and a blood vessel bleeding point can be prevented by fixing teeth on the side face of a connecting rod, the haemostatic effect is good, the rod length can be conveniently and rapidly adjusted by pushing a slide rod through a pressing table, the haemostatic forceps can be heated by a heater to a proper temperature, and the discomfortable feeling of a patient is relieved.

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.