121 results about "Robot finger" patented technology

The invention discloses an under-actuated robot finger with a rigid-flexible hybrid transmission mechanism, and relates to the technical field of intelligent robots. The connecting seat is fixed at the top end of the gear box, a rotating shaft is mounted in the middle of the connecting seat, a worm gear is sleeved on the rotating shaft, and the rotating shaft is meshed with the worm; the tail end of the knuckle shell is rotatably connected with the worm gear; the tail end of the swinging arm is hinged to the front side edge of the connecting seat; a limiting groove is formed in the top end of the swinging arm; the tail end of the driving arm is hinged to the rear side edge of the surface of the worm gear, the top end of the driving arm is hinged to the inner side end of the sliding rod, the fingertip assembly comprises a flexible base and a rigid framework and is provided with a spring hinged to the top end of the knuckle shell, and the outer side end of the sliding rod is hinged to a rigid supporting rod embedded into the fingertip assembly. The rigid-flexible hybrid transmission mechanism is combined with the under-actuated design, the method is simple and easy to implement, the requirements of the humanoid prosthetic finger on the aspects of size, weight, integration and grabbing envelope are met, the characteristic of coupling-adaptive movement is achieved, and the flexibility and comfort are improved.

The invention provides a method and a device for redirecting human hand actions to a heterogeneous manipulator in a multi-task scene, and relates to the technical field of robots and intelligent control. The method comprises the following steps: acquiring visual data and tactile data; performing task type classification by adopting a pre-trained Perciver IO model to obtain a task type code; according to a physical constraint dynamic correction mechanism, correcting the joint weight of the machine finger to obtain a normalized finger weight; key point extraction is conducted on the human hand, and vectors between all joints of the human hand are calculated through a geometric vector method; performing driven joint constraint processing according to the established joint mapping matrix, calculating an adapted Jacobian matrix, and obtaining an adapted standardized robot arm kinematics model; and carrying out nonlinear optimization on the vectors between the human fingers and between the robot fingers to obtain each joint angle of the robot arm, so that the robot arm completes action redirection. By adopting the method, the generalization ability of cross-task and heterogeneous models can be improved.

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.

The invention discloses a coupling self-adaptive under-actuated bionic dexterous manipulator finger, and relates to the technical field of manipulator fingers. The knuckle assembly comprises a far-end knuckle, a middle-end knuckle and a near-end knuckle which are mutually cooperated and matched and are connected in sequence; the driving assembly comprises a side swing-flexion and extension module and a grabbing driving module, and the side swing-flexion and extension module and the grabbing driving module each comprise a multi-stage connecting rod structure and are used for driving the knuckle assembly to complete specified actions; according to the manipulator finger, the passive adaptive capacity of the finger is effectively improved, more natural envelope grabbing is achieved, and the finger has a larger grabbing space while the structure is kept simple and compact.

The invention provides an eccentricity compensation method and device for wafer transmission, wafer transmission equipment and a medium, and relates to the technical field of general control or adjustment systems.The method comprises the steps that first position polar coordinates and second position polar coordinates recorded in the process that a manipulator finger carries a calibrated wafer to move from a first station to a manipulator body are obtained; a third position polar coordinate and a fourth position polar coordinate recorded in the process that the manipulator finger carries the target wafer and moves from the first station to the manipulator body are obtained; based on the station polar coordinate of the second station, the wafer diameter, the first position polar coordinate, the second position polar coordinate, the third position polar coordinate and the fourth position polar coordinate, determining the target polar coordinate of the updated manipulator finger corresponding to the finger center movement; and based on the target polar coordinate, controlling the manipulator finger to carry the target wafer from the manipulator body to a second station. According to the method, eccentric compensation can be carried out in the wafer transmission process, and the wafer transmission efficiency is improved.

The invention relates to the technical field of robots, and discloses a robot finger mechanism which comprises a finger assembly rotationally connected with a palm assembly and a pull rope driving the finger assembly to move, a movable guide wheel, a fixed guide wheel and a pull rope base are arranged in the palm assembly, the outer end of the pull rope is connected with the outermost phalanx in the finger assembly, and the outer end of the pull rope is connected with the outermost phalanx in the finger assembly. The inner end of the pull rope sequentially bypasses the movable guide wheel and the fixed guide wheel and then is connected with the pull rope seat; a driving mechanism used for driving the movable guide wheel and the pull rope base to move synchronously in the same direction is arranged in the palm assembly, and elastic reset pieces are arranged at the joints of any two phalanges in the finger assembly. A hand of the robot adopts the robot finger mechanism. The finger mechanism has the beneficial effects of compact structure and fast action response of the finger assembly.

The invention discloses an under-actuated robot finger based on hybrid transmission of connecting rods and tendon rope mechanisms, and relates to the technical field of intelligent robots. The front end of the base is hinged to the bottom of the lower swing rod, the rear end of the base is connected with the root joint shaft, the lower swing rod is sleeved with the sleeve, and the connecting pin is fixed to the top of the lower swing rod. The driving wheel and the root joint shaft are coaxial and connected with the tendon rope. Connecting pins are fixed to the top of the upper swing rod, a top joint shaft is arranged above the upper swing rod, knuckle shells at the root end, the middle and the tip end are rotationally connected with the corresponding joint shafts at the bottoms respectively, a torsional spring is installed on the middle joint shaft, and the two connecting pins are connected with the corresponding knuckle shells respectively. The connecting rod and tendon rope hybrid transmission is adopted, the transmission efficiency is improved, the smaller size and the lower weight are achieved through the under-actuated control strategy, the coupling-self-adaptive movement function is achieved, and the flexibility and the response speed are improved.

The invention relates to the technical field of fault prediction, in particular to a robot finger test method and system based on a robot, and the method comprises the following steps: synchronously collecting a phase current time sequence signal and an injected ultra-wideband pulse reflection signal at a servo motor drive output end of a robot finger, carrying out the alignment according to a collection timestamp, and carrying out the detection of the phase current time sequence signal; a pair of original timing electrical signals is generated. According to the invention, a phase current time sequence signal reflecting mechanical load characteristics and an ultra wide band pulse reflection signal actively detecting electrical link integrity are synchronously acquired at a driving output end of a servo motor, a multi-dimensional and information-complementary original electrical signal pair is constructed, and a phase current signal is processed to separate current ripples. And transmission harmonic energy distribution directly related to mechanical motions such as meshing of a reduction gear and rotation of a motor is extracted, so that non-intrusive quantitative evaluation of the health state of the internal transmission system of the robot finger is realized.

1. The name of the design product: torus enveloping worm helical gear transmission mechanism. 2. The use of the design product: the torus enveloping worm helical gear transmission mechanism for the robot finger joint to realize the bending motion control of the robot finger joint. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

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 present invention discloses a fruit picking robot based on bionic design, including a mobile mechanism and a sensor module, a control module, a rope driving mechanism, a bionic grasping manipulator and a shearing unit arranged on the mobile mechanism; the sensor module is used to collect feedback information, and the control module is used to control the mobile mechanism, the bionic grasping manipulator and the shearing unit according to the feedback information; the bionic grasping manipulator includes a base and a mechanical finger, a soft sac-shaped pad is arranged on the base, a plurality of the mechanical fingers are arranged on the base and surround the soft sac-shaped pad, and a plurality of uniformly distributed suction cups are arranged on one side of the mechanical finger close to the soft sac-shaped pad. Correspondingly, the present invention also discloses a picking control method related to the above-mentioned fruit picking robot. By adopting the present invention, the fruit picking and clamping is stable and reliable, and the fruit particles can be prevented from falling easily, and the structure is compact, the transmission efficiency is higher, and the environmental adaptability is stronger.

1. The name of this design product: Robotic finger tip. 2. Purpose of this design product: This design product is used as the fingertip of a robotic arm. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture. 5. Other situations that require explanation: The portion to be protected by this design is limited by the portion drawn with solid lines in the view, and the portion drawn with dotted lines in the view does not constitute the portion to be protected by the local design.

The invention relates to the technical field of robot hands, and discloses a variable-tooth gear capable of adjusting the tooth height and simplifying a joint transmission structure, the variable-tooth gear is used for being matched with tooth structures on the two sides of the variable-tooth gear, the variable-tooth gear comprises a gear shell, a rotating structure and a gear tooth assembly, a containing cavity is formed in the gear shell, and a plurality of through holes communicating with the containing cavity are formed in the annular side of the gear shell at intervals; the rotating structure is contained in the containing cavity and can rotate around the center of the containing cavity, and the rotating structure comprises a near hole part close to the through hole and a far hole part back to the near hole part and connected with the near hole part; the gear tooth assembly comprises a plurality of gear teeth which slidably penetrate through the through holes in a one-to-one correspondence mode and can be close to or away from the rotating center of the rotating structure. The rotating structure rotates under the action of external force, so that the gear teeth matched with the near hole part extend in the through hole in the direction away from the rotating center of the rotating structure, and the gear teeth matched with the far hole part retract in the through hole in the direction close to the rotating center of the rotating structure. The invention further discloses a self-adaptive three-mode robot finger device comprising the variable-tooth gear.

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 utility model relates to the technical field of robots, in particular to a self-adaptive control structure for the opening angle of robot fingers, which greatly simplifies the structural content and realizes more flexible and independent movement on the basis of realizing the flexible bending angle of the robot fingers by designing a variable guide formed by a V-shaped elastic sheet. The design and maintenance cost is reduced, the application scene and the market scale are wider, and a more efficient and practical solution is provided for robot finger control.

The utility model discloses a robot finger joint which comprises a robot finger joint body, hand back wearing sleeves are arranged on the two sides of the robot finger joint body, a thumb joint is arranged on one side of the robot finger joint body, and the thumb joint is hinged to the hand back wearing sleeves through first fixing hinges. A first phalanx sleeve, a second phalanx sleeve and a fingertip sleeve are sequentially arranged at the front end of the robot finger joint body, and the first phalanx sleeve, the second phalanx sleeve and the fingertip sleeve are connected with the hand back wearing sleeve through joint bending driving modules. The positioning retainers are additionally arranged at the positions of the joints, the guiding sliding blocks are arranged in the positioning retainers, the structure can play a role in supporting and positioning the joints, the tracks of the guiding sliding blocks are set along the bending curvature of the fingers, the guiding sliding blocks and the joint bending driving module work at the same frequency, the bending positions are not prone to dislocation, and the bending accuracy is improved. Therefore, the service life of the joint is prolonged.

The mechanical arm finger comprises a camera, a camera fixing support and a mechanical arm finger shell, the camera is integrally installed on the camera fixing support, and the camera and the camera fixing support are installed on the inner side of the front end of the mechanical arm finger shell together. The visual positioning module is used for collecting external real-time pictures or videos from the front end of the manipulator finger for visual positioning.

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 present invention relates to the field of robot technology, and discloses a side swing mechanism for a manipulator finger and a manipulator, including a palm body, a plurality of rotating finger parts, a plurality of connecting rods and a driving assembly. An accommodation groove is arranged inside the palm body, and a plurality of rotating finger parts are rotatably arranged in the accommodation groove. A connecting rod is rotatably arranged on each rotating finger part, and the other end of the connecting rod is connected to a sliding block in the accommodation groove. The sliding block is driven by the driving assembly; the driving assembly drives the sliding block to slide along the length direction of the palm body, and then drives a plurality of rotating finger parts to rotate synchronously through the connecting rods, so as to realize the linkage control of multiple fingers by a single driving assembly. The device has a compact structure and can drive a plurality of rotating finger parts to perform side swing movement through the linkage control of a single driving assembly.

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 ring surface enveloping worm and bevel gear transmission mechanism of a robot finger joint and a robot, and relates to the technical field of robotics.The ring surface enveloping worm and bevel gear transmission mechanism of the robot finger joint comprises a shell, a ring surface enveloping worm, a bevel gear shaft and a driving assembly; a first accommodating cavity and a second accommodating cavity which are communicated with each other are formed in the shell, and a via hole is formed in each of two opposite side walls of the second accommodating cavity; the ring surface enveloping worm is arranged in the first accommodating cavity, and one end of the ring surface enveloping worm is exposed out of the shell; the bevel gear shaft is arranged in the second containing cavity and meshed with the annular enveloping worm, the two ends of the bevel gear shaft penetrate through the two via holes respectively, and the axis of the annular enveloping worm is perpendicular to the axis of the bevel gear shaft. The driving assembly comprises a driving motor and a planetary speed reduction structure. The planetary speed reduction structure is connected with an output shaft of the driving motor and connected with the end, exposed out of the shell, of the annular enveloping worm. The transmission mechanism is small in size and high in precision.

The application belongs to the technical field of soft robot, and discloses a soft robot finger based on force and body position feedback of flexible cavity deformation, which comprises a force feedback mechanism and a position feedback mechanism. The force feedback mechanism comprises a soft fingertip, which is fixed at the upper end of a fixing part, the fixing part is fixed at the top end of a soft finger, a first silica gel hose penetrates the inside of the soft finger, and the fixing part and a first air pressure sensor are connected, and the first air pressure sensor is electrically connected with a first microcontroller. The position feedback mechanism comprises a bellows, which is fixed in a joint groove of the soft finger, a second silica gel hose penetrates the soft finger, and the bellows and a second air pressure sensor are connected, and the second air pressure sensor is electrically connected with a second microcontroller. The application aims to obtain the position information of the soft robot finger itself and the contact force information when the soft robot finger contacts with an object by using internal and external sensors respectively.