87 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.

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 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 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 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 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 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.

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.

To provide a robot hand finger, a robot hand, and a robot. [Solution] The finger of the robot hand includes a mounting frame (10), a fingerstall (20) rotatably mounted on the mounting frame, a finger (30) rotatably mounted on the mounting frame and positioned and sliding within the fingerstall, and a drive assembly (40) for driving the finger to slide relative to the fingerstall so that the fingerstall and finger rotate relative to the mounting frame. The drive assembly slides the finger relative to the fingerstall and rotates both the fingerstall and the finger relative to the mounting frame, thereby realizing rotation of the finger joint formed by the fingerstall and the finger. Because the drive assembly can be attached to the fingers or the fingerstall and does not need to be attached to the mounting frame, the overall structure of the finger is more compact and does not occupy space for other structures.

The embodiment of the utility model belongs to the technical field of robot hands, and relates to a robot finger joint which comprises a first joint, a second joint, a driving connecting rod assembly, a first linear driving piece and a mounting piece. The driving connecting rod assembly comprises a limiting connecting rod and a transmission connecting rod; the first linear driving part is mounted on the mounting part; the output end of the first linear driving part is connected with the first joint and the second joint through the driving connecting rod assembly so as to drive the first joint and the second joint to move through the driving connecting rod assembly. The utility model further relates to a robot hand and a robot. According to the technical scheme, the adaptability of the robot fingers can be 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.

The invention provides a direct-drive actuator for robot finger joints, and belongs to the technical field of robot accessories. The direct-drive actuator for the robot finger joint comprises an outer rotor motor, an inner rotor motor and an actuator body, the harmonic reducer comprises a flexible bearing, a flexible wheel and a steel wheel, the damping assembly comprises a rigid constraint ring and a damping rubber ring, the outer ring surface of the rigid constraint ring is matched and fixedly connected with the inner ring of the flexible bearing, the inner ring surface of the rigid constraint ring is circular, the outer ring surface of the damping rubber ring is fixedly connected with the inner ring surface of the rigid constraint ring, and the damping rubber ring is fixedly connected with the inner ring surface of the rigid constraint ring. The inner ring surface of the damping rubber ring is fixedly connected with the outer circumferential surface of the outer rotor, main ribs are arranged at the two ends of the inner ring surface of the rigid restraint ring in the long axis direction and the two ends of the inner ring surface of the rigid restraint ring in the short axis direction, and the main ribs protrude in the radial direction and sink into the inner ring surface of the damping rubber ring. The direct-driven actuator for the robot finger joint can effectively prevent deformation of the outer rotor serving as a wave generator.

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.

1. The name of the design product: torus enveloping worm helical gear transmission mechanism module. 2. The use of the design product: the torus enveloping worm helical gear transmission mechanism module 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 indicates the design points: perspective view 1.

The embodiment of the invention provides a robot finger and a robot. The robot finger includes: a base; the linear power module is coupled to the base and comprises a driving part and an output part, and the output part is suitable for being driven by the driving part to do linear motion; the plurality of knuckles are movably coupled to the output component and comprise a plurality of connecting rod assemblies, and two adjacent knuckles in the plurality of knuckles are transmitted through corresponding reverse quadrilateral mechanisms in the plurality of connecting rod assemblies; and the robot fingers are allowed to be bent or straightened under the driving of the output component or the action of external force acting on one of the knuckles. According to the robot finger, the single linear power module is in linkage with the ingenious reverse quadrilateral mechanism, and compact and bionic bending of the three knuckles is achieved. The flexible interaction capacity and force sensing potential of the fingers to the outside are enhanced through the reverse driving design, the structure is reliable, force control is facilitated, and the operation flexibility and environment adaptability of the robot are remarkably improved.

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 invention discloses a tendon-rope-driven flat clamping-self-adaptive under-actuated robot finger, and relates to the technical field of industrial robots. A winding groove is integrally formed in the center of the tail end of the pointed knuckle and hinged to the top end of the root knuckle through a front joint shaft, the tail end of the root knuckle is hinged to the top end of the base through a rear joint shaft, and the top end of the base is connected with the edge of the winding groove of the pointed knuckle through a tension spring to apply eversion torque. The worm wheel and the wheel disc are coaxially mounted on the rear joint shaft and are circumferentially positioned to transmit motion and torque, the tendon rope connects and positions the edge of the winding groove of the pointed knuckle and the edge of the wheel disc, and the coupling rope connects and positions the edge of the winding groove of the pointed knuckle and the top end of the base; the driving motor is fixedly installed on the base, an output shaft of the driving motor is coaxially connected with the transmission worm, and the worm is meshed with the worm gear. The two-degree-of-freedom fingers are driven through the single motor, flexible switching between flat clamping grabbing and self-adaptive grabbing is achieved, the grabbing efficiency, stability and environment adaptability are improved, and the control difficulty is reduced.