58 results about "Robot finger" patented technology

The invention discloses a robot finger tactile perception method and system based on artificial intelligence, and the method comprises the following steps: S1, obtaining visual data and tactile perception initial parameters of a to-be-interacted object of a robot finger, carrying out the preprocessing of the visual data, and extracting the appearance features of the object, performing initial configuration on the touch sensing initial parameters; and S2, object recognition is conducted on the preprocessed visual data through a machine learning model, and the material category, morphological characteristics and surface attributes of an object are determined. According to the robot finger tactile perception method and system based on artificial intelligence, by combining a visual system and tactile sensor data and utilizing a convolutional neural network and Transform fusion architecture to extract local textures and global morphological features of an object, high-precision recognition of material categories, morphological features and surface attributes of the object is realized.

1. Name of the designed product: finger joint of robot hand. 2. Use of the designed product: the designed product is used for the finger joint of robot hand, and is used for composing the robot hand. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: design 1, perspective view 1. 5. Design 1 is specified as the basic design.

The novel air spring comprises a metal core, an outer pressing ring, an inner pressing ring, a leather bag and a conical guide head, an air inlet hole used for controlling air inlet and air outlet of the leather bag to form the air spring is machined in the top of the metal core, and the upper end and the lower end of the leather bag are buckled and held on the metal core through the outer pressing ring and the inner pressing ring respectively. A first annular groove is formed in the outer side of the circumference of the end, located on the outer pressing ring, of the metal core in advance, a second annular groove is formed in the outer side of the circumference of the end, located on the inner pressing ring, of the metal core in advance, and frosted lines are arranged on the outer surface of the leather bag. The mechanical arm fingers can achieve flexible grabbing, damage to fragile objects caused by rigid grabbing is effectively avoided, and the damage rate of the objects is reduced.

The utility model provides a self-centering rapid locking clamp for a bionic robot finger joint piece, and belongs to the technical field of machining. The utility model provides a bionic robot finger joint piece self-centering fast locking clamp which comprises a machining base, locating pieces and locating pins, containing grooves are formed in the machining base, the two sets of containing grooves are the left containing groove and the right containing groove respectively, the two sets of locating pieces are the left locating piece and the right locating piece respectively, and the locating pins are arranged on the left locating piece and the right locating piece respectively. The upper end of the left positioning piece and the upper end of the right positioning piece achieve clamping of the knuckle, and the positioning pin penetrates through the machining base to fix the left positioning piece and the right positioning piece in the containing groove. According to the self-centering rapid locking clamp for the finger joint piece of the bionic robot, the finger joint is placed in the containing space, the positioning piece is inserted into the containing groove, under the action of self gravity, the left positioning piece and the right positioning piece limit the finger joint, the positioning piece is limited in the machining base through the positioning pin, stable fixing of the finger joint is achieved, and the clamping effect is good. And subsequent processing operation is facilitated.

The application relates to the technical field of compression resistance testing, and particularly relates to a stress compression resistance testing device of a robot modular fingertip structure and a testing method thereof, which comprises a cabinet body, a placing table arranged in the cabinet body and used for placing a robot hand, a horizontal moving seat movably arranged in the cabinet body and an assembly plate, the horizontal moving seat can be driven by a second linear driving module arranged in the cabinet body to move horizontally, the assembly plate can be driven by a pressure applying driving mechanism arranged in the cabinet body to move away from or close to the horizontal moving seat, so that a pressure applying piece arranged on the side of the assembly plate away from the horizontal moving seat is in contact with the robot finger; the first pressure applying plate and the second pressure applying plate are arranged to form a V-shaped structure, the robot finger can be directly pressed, and the stress condition of the robot finger when a local part of a gripped object enters the finger gap during the working process of the robot can be simulated, so that the diversification of the stress compression resistance mode of the robot during testing is realized.

The utility model provides a supporting device for semiconductor cleaning equipment and the semiconductor cleaning equipment, and the supporting device comprises a disc body and a supporting member which is arranged on the disc body and is used for supporting a wafer; and the disc body is provided with a notch for allowing fingers of the manipulator to pass through the notch in the wafer taking or placing process of the manipulator. According to the supporting device used for the semiconductor cleaning equipment, the outer edge of the disc body used for supporting the wafer is provided with the gap used for avoiding the finger of the mechanical arm, and the gap allows the finger of the mechanical arm to pass through the gap in the wafer taking or placing process of the mechanical arm. And the problem that the manipulator interferes with the disc body in the wafer taking or placing process is effectively avoided. Compared with a wafer supporting device in the prior art, on one hand, the structure of the supporting device is simplified, on the other hand, the wafer taking step is simplified, the process rhythm is improved, and the wafer cleaning efficiency is further improved.

The invention discloses a joint module, a rotary wiring mechanism, a manipulator finger and a manipulator. Wherein the joint module comprises a driving mechanism and an output assembly, the output assembly comprises a pivot shaft and a mounting part, the pivot shaft penetrates through the mounting part, and the pivot shaft is in power connection with the driving mechanism and is used for outputting power; the installation part is provided with a wiring groove, and the wiring groove is used for accommodating a cable which is wired through the installation part. Due to the fact that the installation part is provided with the wiring groove capable of containing the cable wired through the installation part, the cable cannot be distributed outside the joint module in a scattered mode in the process that the driving mechanism outputs power to the external to-be-driven part through rotation of the pivotal shaft, the size of the joint module cannot be increased due to the arrangement of the wiring groove, and the reliability of the joint module is improved. The weight of the joint module can be reduced, the structure is simple, and production and manufacturing are easy; moreover, the wiring groove can provide a certain movement space for the cable, thereby reducing the folding and extrusion of the cable, and prolonging the service life of the cable.

A sensing device includes a robotic hand, an electrode and a triboelectric sensing layer. The robotic hand includes at least one robot finger. One robot finger is integrated with an electrode layer which is functionalized with a triboelectric sensing layer. The triboelectric sensing layer is composed of plurality of nanostructures including Tellurium. The robot hand with triboelectric sensing layer undergoes contact and separation with the target analyte solution having mercury ions which leads to the formation of mercury telluride owing to the highly selective between of mercury ions to the Tellurium surface. After contacting with the target analyte, the electron transfer ability of the nanostructures attached to robot finger is altered. This process of contact electrification causes the induction of electrons to the electrode layer generating the triboelectric output voltage. The triboelectric output voltage is utilized to determine the concentration of mercury ions in the target analyte solution.

The application discloses a multi-degree-of-freedom tendon-driven robot finger, which comprises a palm knuckle, a first knuckle, a second knuckle, a third knuckle, a driving device and a tendon, each knuckle comprises a knuckle body and a tendon guide mechanism; the first interphalangeal joint with three degrees of freedom is formed by connecting the palm knuckle and the first knuckle through a first ligament, the second interphalangeal joint with a single degree of freedom is formed by connecting the first knuckle and the second knuckle through a second ligament, and the third interphalangeal joint with a single degree of freedom is formed by connecting the second knuckle and the third knuckle through a third ligament; the tendon comprises a radial finger flexion tendon, a ulnar finger flexion tendon and a finger extension tendon, the tendon passes through the tendon guide mechanism and is connected with the driving device, the driving device drives the finger to perform extension-flexion movement and abduction-adduction movement through the tendon, and the finger extension tendon comprises a non-elastic main part for realizing extension of the first interphalangeal joint, a first elastic part for realizing extension of the second interphalangeal joint and a second elastic part for realizing extension of the third interphalangeal joint.

The application discloses an energy-saving and noise-reducing glove reed device and belongs to the technical field of glove production equipment. Firstly, a power taking device is constructed by using a transmission wheel support assembly, a transmission sprocket, a transmission chain and a shaft coupling, power from a stripper is transmitted to the application through the power taking device, and synchronous action of the application and the stripper is realized. Meanwhile, a brush is installed on a running reed chain, and the brush which makes a circular circumferential motion with the reed chain brushes the edge of a plastic glove onto fingers of a mechanical hand, so that the next step of demolding is facilitated. The application itself does not need power, and the power is taken from a power taking device of a self stripper; and since the glove is brushed by the brush, work efficiency is improved, and energy consumption is reduced; since the brush acts, noise generated is very small. In addition, the application does not need to replace the whole stripper, and the transformation cost is small for enterprises. The application saves energy for enterprises, and meanwhile, improves the working environment of production line workers.

An apparatus includes a supporting frame, a platform supported by the supporting frame and having a first side and a second side opposite to the first side, and at least three robot fingers which are mounted to the supporting frame, and which are angularly displaced from each other. Each of the robot fingers has a fingertip configured to retain a substrate on the first side of the platform such that the substrate is spaced apart from the platform. A method for manufacturing a semiconductor structure using the apparatus is also disclosed.

The application discloses an electric control hydraulic bionic driving group, which comprises a driving mechanism and a control line, the driving mechanism is arranged in a first pipeline, the control line is arranged in a second pipeline, the second pipeline is communicated with the first pipeline, the second pipeline is a hose, and the first pipeline and the second pipeline are filled with a driving solution; when a movable end of the driving mechanism moves, the driving solution can be promoted to flow; when the driving solution is forced to flow into the second pipeline, the deformed second pipeline can be quickly opened, so that the fingers are stretched; when the driving solution is pushed into the first pipeline, the driving solution in the second pipeline can also be attracted to flow into the first pipeline, so that the fingers are bent; the electric control driving of the fingers of a mechanical hand is realized through the driving mechanism and the control line; the driving mechanism and the control line are arranged in the pipelines, and the pipelines are filled with the driving solution; the flow of the driving solution can also promote the fingers of the mechanical hand to quickly respond to actions; thus, the movement of the mechanical hand is faster, more natural and more powerful.

The invention relates to the technical field of robots, in particular to a modular interlocking assembled replaceable robot finger structure and an assembling method thereof.The modular interlocking assembled replaceable robot finger structure comprises a manipulator body and a first knuckle hinged to the manipulator body, and a fixing plate is arranged on the first knuckle; the connecting transmission mechanism is arranged on the fixing plate, a second knuckle is connected to the connecting transmission mechanism, and a supporting plate is arranged in the second knuckle; the movable disc is installed in the second knuckle in a sliding mode, a friction positioning assembly connected with the connecting transmission mechanism is arranged on the movable disc, and a third knuckle is further installed in the second knuckle in a sliding mode; the locking mechanism is arranged in the second knuckle and connected with the third knuckle, a follow-up rotating mechanism is arranged on the supporting plate, the locking mechanism can act when the third knuckle is inserted into the second knuckle, and the position of the third knuckle is locked through the follow-up rotating mechanism.

The invention discloses a multi-dimensional force sensor, a stress state detection method and a robot finger, and belongs to the technical field of robot sensing. The strain matrix extends along a first plane formed by a first direction and a second direction; the strain matrix is provided with a strain amplification hole extending in the third direction; the strain sensor comprises a sensing base body and a sensing unit, the sensing base body is connected with the strain base body, and one opening of the strain amplification hole faces the sensing base body; the sensing unit is connected with the sensing base body and is arranged on one side, far away from the strain base body, of the sensing base body; in the third direction, at least part of the orthographic projection of the sensing unit penetrates through the strain amplification hole. The strain amplification hole is formed, macroscopic force is converted into local high strain, and the detection sensitivity of shear force and torque is improved.

The application relates to the technical field of semiconductor processing, in particular to a wafer and square glass high-precision positioning device for mechanical arm carrying, which comprises a bottom plate, a support column, a baffle and a pushing mechanism, the horizontal degree of the device is adjusted by adjusting the uniform bolts arranged on the bottom plate, and the device is kept parallel with the mechanical arm fingers; the mechanical arm fingers are avoided by the lifting cylinder, the risk of collision with the machine is avoided, the guiding action of the wafer and the square glass is compatible by the two guiding cylinders, the floating pushing during guiding is realized by the spring and bearing structure, the pushing force during guiding is ensured to be consistent, the applicability of the device is improved, the guide wheels a arranged on the two sides of the baffle realize the pre-guiding of the products during the feeding of the mechanical arm fingers, the products are prevented from being excessively deviated during the taking-out process from the basket, the control system judges whether the product guiding is in place or not through the light emitting fiber sensor arranged at the middle position of the baffle, and high-precision positioning is realized.

A sensing device includes a robotic hand, an electrode and a triboelectric sensing layer. The robotic hand includes at least one robot finger. One robot finger is integrated with an electrode layer which is functionalized with a triboelectric sensing layer. The triboelectric sensing layer is composed of plurality of nanostructures including Tellurium. The robot hand with triboelectric sensing layer undergoes contact and separation with the target analyte solution having mercury ions which leads to the formation of mercury telluride owing to the highly selective between of mercury ions to the Tellurium surface. After contacting with the target analyte, the electron transfer ability of the nanostructures attached to robot finger is altered. This process of contact electrification causes the induction of electrons to the electrode layer generating the triboelectric output voltage. The triboelectric output voltage is utilized to determine the concentration of mercury ions in the target analyte solution.

The invention discloses a miniature planetary roller screw device, and belongs to the technical field of precision transmission. The device comprises a miniature planetary screw rod, a miniature planetary nut arranged on the screw rod in a sleeving mode and a transmission assembly arranged in the nut. The transmission assembly is composed of a plurality of miniature planetary rollers, a retainer with a groove formed in the circumferential direction and two cam glands. The retainer is used for containing the pin rollers, two ends of the retainer are fixed through glands, and limiting protrusions on the outer edges of the glands are matched with corresponding grooves in the inner walls of the nuts to achieve integral assembly and fixation. Threads of the pin roller are meshed with threads of the lead screw to form line contact transmission, and rotary motion of the lead screw is converted into axial linear motion of the nut. The invention has the advantages that: the structure is compact, the assembly is simple and convenient, the transmission precision, rigidity and bearing capacity are obviously improved while microminiaturization is realized through line contact transmission and integrated design, and the mechanism is particularly suitable for occasions with strict requirements on space and precision, such as robot finger joints.

The multi-degree-of-freedom tendon-driven robot finger comprises a palm knuckle, a first knuckle, a second knuckle, a third knuckle, a driving device and a tendon rope, and each knuckle comprises a knuckle body and a tendon rope guiding mechanism; the palm knuckles and the first knuckles are connected through first ligaments to form first interphalangeal joints with three degrees of freedom, the first knuckles and the second knuckles are connected through second ligaments to form second interphalangeal joints with single degrees of freedom, and the second knuckles and the third knuckles are connected through third ligaments to form third interphalangeal joints with single degrees of freedom; the tendon ropes comprise the radial side finger bending tendon rope, the ulnar side finger bending tendon rope and the finger stretching tendon rope, the tendon ropes penetrate through the tendon rope guiding mechanism and are connected with the driving device, and the driving device drives the fingers to conduct stretching-bending movement and abduction-adduction movement through the tendon ropes. The finger stretching tendon rope comprises a non-elastic body part used for achieving stretching of a first interphalangeal joint, a first elastic part used for achieving stretching of a second interphalangeal joint and a second elastic part used for achieving stretching of a third interphalangeal joint.

The utility model relates to the technical field of robots, in particular to a robot finger motion driving structure which comprises a finger assembly rotationally connected with a palm assembly, the finger assembly at least comprises two knuckles rotationally connected, and the knuckle at the innermost end is rotationally connected with the palm assembly; wherein supporting wheels are arranged at the rotating connecting positions of the adjacent knuckles and the rotating connecting positions of the knuckles and the palm assembly, and traction wheels are arranged on the knuckles located between the two adjacent supporting wheels. A pull rope is arranged in the finger assembly, the outer end of the pull rope is fixedly connected with the knuckle at the outermost end, and the inner end of the pull rope sequentially bypasses the supporting wheel and the traction wheel and then extends into the palm assembly. A traction mechanism for driving the inner end of the pull rope to move so that the finger assemblies can be bent is arranged in the palm assembly, and elastic reset assemblies for driving the finger assemblies to reset are arranged on the finger assemblies. The utility model has the beneficial effects of reducing the wear of the pull rope, prolonging the service life of the pull rope and improving the overall stability.

The application relates to the technical field of robot control, and discloses a control method and system for a robot finger joint, which comprises the following steps: performing multi-physical field signal acquisition, injecting a high-frequency excitation into a driving voltage, and extracting a current response; using a high-frequency response to analyze a resistance value, combining a heat conduction model to calculate a real-time temperature of a coil, and reconstructing an effective magnetic chain of a permanent magnet according to a temperature coefficient; according to the temperature, lubricating viscous characteristics are mapped, and an adaptive chatter signal with the amplitude and frequency dynamically mapped to a thermal state is generated in combination with a real-time rotating speed; based on the effective magnetic chain, a torque conversion coefficient is corrected, and the chatter signal is superimposed to a current loop to generate a target current instruction to drive a motor. Through the construction of a sensorless thermal magnetic observation mechanism and a thermal viscous coupling compensation strategy, the application effectively solves the problems of thermal parameter drift and friction nonlinearity of a miniature joint caused by space limitation, and guarantees high-precision torque output and low-noise smooth operation in a full-temperature-range working condition.

1. Name of the product in this design: Robotic hand finger. 2. Application of this design: This design is used for the fingers of a robotic arm. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The utility model relates to a kind of tactile sensor assembly structure, machine finger, including response deformation body, CDC, control module and hard stress support component;Response deformation body includes flexible body and hard skeleton, skeleton as insert, flexible body is formed by heat pressing or injection molding and is wrapped in the insert top to form soft and hard integration, the cavity of response deformation body is enclosed by both;Flexible body bottom is raised to form suspension type upper electrode towards cavity, upper electrode is curved surface elastic electrode, and upper electrode has at least one lower electrode below, upper electrode and lower electrode are insulated, flexible body is pressed by user and is deformed to drive upper electrode to change indirect contact area to lower electrode;Stress support component is rigidly combined as the substrate of sensor and skeleton, and protrusion and electrode are located in the enclosed space formed by stress support component, skeleton and flexible body;CDC is respectively coupled each electrode, and control module is coupled with CDC.

The invention relates to the technical field of robot control, and discloses a robot finger joint control method and system, and the method comprises the steps: executing multi-physical field signal collection, injecting high-frequency excitation into a driving voltage, and extracting a current response; analyzing the resistance value by using high-frequency response, calculating the real-time temperature of the coil in combination with a heat conduction model, and reconstructing the effective flux linkage of the permanent magnet according to a temperature coefficient; generating a self-adaptive flutter signal of which the amplitude and the frequency are dynamically mapped along with the thermal state according to the lubricating viscosity characteristic mapped by the temperature and in combination with the real-time rotating speed; and correcting the torque conversion coefficient based on the effective flux linkage, superposing the flutter signal to a current loop, and generating a target current instruction to drive the motor. By constructing a sensorless thermomagnetic observation mechanism and a thermal viscosity coupling compensation strategy, the problems of thermal parameter drift and friction nonlinearity of the miniature joint caused by space limitation are effectively solved, and high-precision torque output and low-noise stable operation under the full-temperature-range working condition are guaranteed.

The utility model provides a harmonic reducer robot finger joint structure which comprises a plurality of finger joint assemblies and a tail end finger joint which are connected in series, each finger joint assembly comprises an installation shell, a driving assembly, a linkage assembly and a connecting kit, the driving assembly is installed in the installation shell, and the linkage assembly is connected with the tail end finger joint. A connecting sleeve is fixedly mounted at the tail of the mounting shell, a linkage assembly is mounted at the upper end of the mounting shell, and the output end of the driving assembly is in driving connection with the connecting sleeve of the other adjacent finger joint assembly through the linkage assembly. The driving assembly comprises a driving motor and a harmonic reducer, the output end of the harmonic reducer is connected with the linkage assembly, and the linkage assembly comprises a bevel gear assembly. Accurate control is carried out through the harmonic reducer and the bevel gear assembly, the hand action is more flexible, the structure is more compact, the corresponding speed is high, and the service life is longer.

The invention discloses a finger module and a bionic manipulator, the finger module comprises a finger base body, a mounting seat and a driving mechanism, the finger base body comprises a linkage mechanism and at least two knuckles which are connected with each other, and the two adjacent knuckles can rotate relatively; the mounting seat is rotationally connected to the finger base body and rotates around a first axis; the driving mechanism comprises a driving motor, a universal joint and a driving assembly mounted on the mounting base, the two ends of the universal joint are connected with the driving motor and the driving assembly correspondingly, and the driving assembly is used for driving the finger base body to rotate around the first axis. And the universal joint is configured to drive the finger base body to rotate around the second axis when external force acts on the mounting base, so that the finger base body deflects relative to the driving motor. Therefore, due to the fact that the universal joint is used for decoupling the driving motor and the installation base, the installation base body rotates under the action of external force to drive the finger base body to conduct deflection motion, and more actions can be conveniently conducted.

The utility model relates to the technical field of robots, and discloses a robot finger driving mechanism which comprises a finger assembly rotationally connected with a palm assembly, and the finger assembly comprises a first knuckle, a second knuckle and a third knuckle; a first traction wheel is arranged on the second knuckle, a second traction wheel is arranged on the third knuckle, a first guide wheel is arranged on the second knuckle, a second guide wheel is arranged on the third knuckle, and a third guide wheel is arranged in the palm assembly; a pull rope is arranged in the finger assembly, the outer end of the pull rope is fixedly connected with the first knuckle, and the inner end of the pull rope passes through a first guide wheel, a first traction wheel, a second guide wheel, a second traction wheel and a third guide wheel. A traction mechanism which is connected with the inner end of the pull rope and drives the inner end of the pull rope to stretch out and draw back is arranged in the palm assembly, and an elastic reset assembly driving the finger assembly to reset is arranged on the finger assembly. The finger assembly is flexible to bend, and the pull rope is stable and not prone to abrasion.

The embodiment of the invention relates to the technical field of manipulators, and particularly discloses a finger module and a manipulator. The finger module comprises a mounting module, a knuckle module and a driving module. The mounting module comprises a mounting base and a locking piece, the mounting base is provided with a fixing groove and a fixing hole, the fixing groove is arranged in a concave mode towards the interior of the mounting base in the extending direction of the mounting base, the fixing hole penetrates through at least part of the mounting base in the direction perpendicular to the concave direction of the fixing groove, and the locking piece is used for fixing the mounting base to the mechanical arm through the fixing groove. The knuckle module comprises a plurality of knuckles and a traction mechanism, the knuckles are sequentially connected to the mounting base, each knuckle can move relative to the mounting base, and the traction mechanism is connected to at least one knuckle and penetrates through the mounting base to extend to the manipulator. And the driving module is remotely connected with the knuckle module, and the driving module is used for driving the traction mechanism to drive the multiple knuckles to move. Through the structure, installation is easy and convenient, and the flexibility of installation and disassembly of the finger module is improved.

The application provides a mechanical hand finger and a mechanical hand, and relates to the technical field of mechanical hands. The mechanical hand finger comprises a distal phalanx, a proximal phalanx and a finger root which are connected in relative rotation, a driving mechanism, a driving connecting rod and a web, the driving mechanism is installed on the finger root, a joint shaft is arranged at the connection position of the proximal phalanx and the finger root, the driving connecting rod is located on the side of the proximal phalanx facing or facing away from the finger web, the upper end of the driving connecting rod is hinged to the distal phalanx, the lower end of the driving connecting rod is hinged to the web, the web is connected to the joint shaft, the driving mechanism is drivingly connected to the web and is used for driving the web and the joint shaft to rotate synchronously, so that the proximal phalanx rotates relative to the finger root, and the driving connecting rod rotates relative to the proximal phalanx through the rotation of the web. The load borne by the joint between the distal phalanx and the proximal phalanx is reduced, so that the stability of the joint between the distal phalanx and the proximal phalanx of the mechanical hand finger is improved.

A robot finger, a robotic hand and a humanoid robot. The robot finger comprises a finger linkage unit (1) and a transmission unit (9); the finger linkage unit (1) comprises a proximal section housing (101), a middle section housing (102) and a distal section housing (103) which are each internally provided with a cavity and are sequentially pivotally connected on the gripping-surface side by means of shafts; a first rocker arm (20) is rotatably provided at the end in the proximal section housing (101) close to the transmission unit (9), and a second rocker arm (21) is rotatably provided at the end in the proximal section housing (101) close to the middle section housing (102), a first connecting rod (22) being provided between the first rocker arm (20) and the second rocker arm (21); a third rocker arm (23) swinging around a pivot shaft (231) is provided in the middle section housing (102); a fourth rocker arm (24) is provided in the distal section housing (103).

The invention relates to the related technical field of compression resistance testing, in particular to a stress compression resistance testing device of a robot modularized fingertip structure and a testing method thereof.The stress compression resistance testing device comprises a cabinet body and a placing table arranged in the cabinet body and used for placing a robot hand, and further comprises a transverse moving seat and an assembling plate which are movably arranged in the cabinet body; the transverse moving seat can be driven by a second linear driving module arranged in the cabinet body to move horizontally, and the assembling plate can be driven by a pressure applying driving mechanism arranged in the cabinet body to move away from or close to the transverse moving seat, so that a pressure applying piece arranged on the side, away from the transverse moving seat, of the assembling plate is in contact with robot fingers; by arranging the first pressure applying plate and the second pressure applying plate, the first pressure applying plate and the second pressure applying plate form a V-shaped structure, pressure can be directly applied to the robot fingers, the stress condition of the robot fingers can be simulated in the working process of the robot when the local part of a grabbed object enters a finger gap, and therefore diversification of stress and pressure resistance modes of the robot in the testing process is achieved.