678 results about "Robotic finger" patented technology

The invention provides a wheel driving robot finger device, belonging to a robot technical field which comprises a base, a motor, a reducer, a first gear, a second gear, a close joint shaft, a middle part finger, a far joint shaft and a terminal finger section as well as a driver, a transmission part, a driven wheel, a spring part. The middle part finger is sleeved on the close joint shaft. Two terminals of the spring part are respectively connected with the middle and the terminal finger sections. The device uses a pair of wheel mechanisms to sleeve a plurality of active middle part fingers with the decoupling effect of the spring part comprehensively to realize the special effect that the double joints drive the finger to bend so as to catch the objects. With simple structure, reliability, low cost, convenient installation and maintenance, small volume and light weight, the wheel driving robot finger device similar to human fingers is especially suitable for being used as a thumb of the hand of the humanoid robot or a part of other fingers that uses fewer drivers to drive more rotation joints to automatically adjust to catch the objects of different shapes and sizes.

A recycling kiosk for recycling and financial remuneration for submission of an electronic device is disclosed herein. The recycling kiosk includes an inspection area with preferably two mirrored, domed hemispheres positioned about a transparent table and cameras for imaging an electronic device placed on the table. Inspection of an About page or a barcode within a battery compartment of the electronic device is performed to determine a value for the electronic device. Alternatively, a robotic finger is utilized to inspect the electronic device. The recycling kiosk also includes a processor, a display and a user interface.

An end effector module includes a palm base and robotic fingers extended from the palm base. Each robotic finger is composed of four joint shafts pivotally coupled with one another, and one of the four joint shafts, namely a start joint shaft, has a driving mechanism for driving a corresponding robotic finger to rotate, and each joint shaft has a driving mechanism to drive a next corresponding joint shaft to turn pivotally and bend with respect to other corresponding joint shafts, so that each robotic finger is module with four degrees of freedom for fine-tuning the position of a suction device installed at an end joint shaft, and the suction device can move along the normal direction of a suction point selected on the surface of a clamped object to achieve the effect of clamping and sucking an object securely without the risk of being loosened easily.

The invention provides an under-actuated coupling driving finger-imitating mechanism, in particular to a finger-imitating mechanism on the manipulator of a robot. The invention solves the problems of poor harmonization of all knuckles, being difficult to keep holding shape, slow speed when wrapping the article to be held, poor adaptability, etc. when the existing manipulator finger carries out a holding motion. One end of the invention, which is close to a knuckle connecting rod (23), is connected with a basic joint moment sensor (22); the other end close to the knuckle connecting rod (23) is connected with the shaft disc (54) of a central joint shaft; one end of a coupling connecting rod (28) is connected with a left plate (25) close to the knuckle and a right plate (4) close to the knuckle; the other end of the coupling connecting rod (28) is connected with a fingertip (14); a central knuckle left plate (26) and a central knuckle right plate (2) are connected with the shaft disc (54) of the central knuckle shaft by a coupling central knuckle shaft (30). By adopting the coupling transmission way, the central knuckle and the fingertip of the invention have the advantages of good motion harmony when the finger is bent, fast speed and convenient pre-tightening when the article to be held is wrapped.

A robot joint structure α is composed of a metacarpal member 30 and a proximal member 40 swingably connected through a hinge 31 to a side end portion of the metacarpal member 30. The proximal member 40 includes a linear guide device 44 for an MP joint having a moving member movable in association with a self swing motion thereof, and by connecting a rod 32a and the moving member through a link mechanism 50, a driving force of an air-cylinder 32 is transmitted to the proximal member 40. On the other hand, a second robot joint structure β is also provided with linear guide devices 48, 66, 74 and link mechanisms 69, 75, to which a driving force of the air-cylinder 62 is transmitted through a drive shaft 63 in association with a rod 62a. A robot finger is constructed by the first and second robot joint structures. According to such structures, smooth joint motion can be realized, and the robot joint structure and the robot finger having improved gripping force can be provided.

Disclosed are an orientation controller based on a parallelogram linkage, a mechanical arm, an anthropomorphic gripper and components thereof such as mechanical digits suitable for use, for example, in the field of keyhole surgery.

The invention discloses upper limb rehabilitant robot fingers and a wrist training device. The device comprises an installation base, a wrist rotary movement mechanism and a finger gripping and stretching exercise mechanism, wherein the wrist rotary movement mechanism is driven by a first servo motor through a two-stage reducing mechanism; a first-stage reducing mechanism is a gear reducer and is arranged on the front end of the first servo motor; a second-stage reducing mechanism is formed by intertwining a shaft sleeve and a rotary semi-circular ringthrough steel wire ropes and is located on the front end of the first-stage reducing mechanism; the first servo motor is arranged on the installation base; the finger gripping and stretching exercise mechanism is driven by a second servo motor through a two-stage reducing mechanism; a first-stage reducing mechanism is a gear reducer and is arranged on the front end of the second servo motor; the second servo motor is arranged on a palm support plate; the palm support plate is fixed on the rotary semi-circular ring of the wrist rotary movement mechanism. The wrist training device provided by the invention is simple in structure and strong in functionality.

The invention relates to a smart under-actuated bionic robot finger device with parallel-connected tendon ropes, which belongs to the technical field of anthropomorphic robots. A diarticular finger device comprises a pedestal, a first motor, a second motor, a juxta-articular shaft, a first finger segment, a distal-articular shaft, an tail end finger segment and a return spring. The device also comprises a first rope wheel, a second rope wheel, a third rope wheel, a first tendon rope, a second tendon rope and a third tendon rope. A polyarticular finger device also comprises at least one middle finger segment and at least one middle rope wheel. The device comprehensively realizes the special effect of combining finger original configuration variability and self-adaptive grasp by utilizing the motors, the rope wheels, the tendon ropes and the return spring. The device can flexibly bend the middle joints of fingers before grasp to achieve a stable and anthropomorphic prebent gesture and grasps an object in a self-adaptive under-actuated mode when in grasp. The grasping action of the device more approaches to a human hand, and the device can self-adaptively and stably grasp different objects and is applicable to an anthropomorphic robot hand.

The invention discloses a flexible part parallel-clamping and coupling switchover self-adaptive robot finger device and belongs to the technical field of robot fingers. The device comprises a base, two finger segments, two joint shafts, a driver, a flexible transmission part, a tendon rope, a plurality of transmission wheels, a half wheel, a half wheel connection part, a rotary shaft, a half wheel bump, two spring parts, a limiting bump and the like. By adoption of the device, the function of switchover between a parallel-clamp self-adaptive grabbing mode and a coupling self-adaptive grabbing mode of a robot finger can be achieved; in the parallel-clamp self-adaptive grabbing mode, the device has the advantages that not only can the second finger segment be translated to pinch an object, but also the first finger segment and the second finger segment can be sequentially rotated to envelope objects of various shapes and sizes; in the coupling self-adaptive grabbing mode, the device has the advantages that two joints can be simultaneously interacted to rotate and can naturally turn into the self-adaptive grabbing phase of the curved second finger segment after the first finger segment gets in touch with an object and is blocked; the grabbing range is wide; and the device is compact in structure, small in size, low in manufacturing and maintenance cost, and applicable to robot hands.

The invention belongs to the technical field of robot hands and discloses a pinching-holding composite and adaptive robot finger device with a rod and wheels connected in parallel. The robot finger device comprises a base, two finger sections, a driver, the two transmission wheels, transmission parts, the connecting rod, five shafts, a thumbing block and a spring part. The driver drives the connecting rod, and the two ends of the connecting rod are connected to the first shaft and the third shaft respectively in sleeved mode. The first shaft and the second shaft are arranged in the base in a sleeved mode. The third shaft is arranged in the second finger section in a sleeved mode. The fourth shaft is arranged on the second transmission wheel in a sleeving mode. The fifth shaft is arranged in the first finger section in a sleeved mode. The first finger section and the first transmission wheel are arranged on the second shaft in a sleeving mode. The second transmission wheel is arranged on the fifth shaft in a sleeving mode. The second finger section is connected to the fourth shaft in a sleeved mode. The robot finger device can grab articles in a pinching-holding composite and adaptive mode; the second finger section can be clenched to pinch the articles inwards or opened to pinch the articles outwards or hold the articles adaptively; the grabbing range is wide and the dead movement zone is small; the size is small, the appearance simulates the human, the flexibility is high, the structure is simple and reliable, and a sensing and controlling system is not needed.

A shape-adaptive under-driven mechanical finger for robot is composed of a first finger segment, an under-driven joint and a second finger segment. The under-driven joint consists of an active slide block inlaid in the first finger segment, a joint gear axle fixed to the second finger segment, a rack bar fixed to the said active slide block and matched with the said gear, and a spring between thefirst finger segment and the active slide block. It can grasp objects with different shapes.

The invention relates to a bending self-locking pneumatic under-actuated robot finger device, and belongs to the technical field of humanoid robot hands. The device comprises a first finger section, a second finger section, an under-actuated joint, a motor, a transmission mechanism, a locking mechanism and a first spring piece. The transmission mechanism comprises a tendon rope and a winding reel. The locking mechanism comprises a ratchet wheel oscillating bar, a pawl, a rotating shaft and a second spring piece. The device achieves a self-adaptive under-actuated effect by adopting a pneumatic mode; one-way bending is achieved by adopting a ratchet wheel and the pawl, and an object is prevented from getting loose when an counteraction face is withdrawn or vibration interference occurs; stable grasping force applied to the object by the second finger section is generated through the deformation of the spring pieces, and thus form sealing and force sealing grasping is achieved; the restraint to the ratchet wheel by the pawl is relieved through the motor, and thus the object is released; the device is simple in structure, small in size, low in weight, low in manufacturing and maintaining cost and similar to the fingers of the human hands.

The invention discloses a cutter changing-manipulator for a disc-shaped hobbing cutter of a shield machine and a using method thereof. The manipulator comprises a box body. Hydraulic cylinder supporting seats are arranged on the upper and lower end faces of the box body. Manipulator finger supporting seats are arranged at the front end of the box body. Manipulator fingers are hinged to the manipulator finger supporting seats in a longitudinal symmetry mode. One ends of hydraulic cylinders are hinged to the hydraulic cylinder supporting seats, and the other ends of the hydraulic cylinders are hinged to the manipulator fingers. Through holes are formed in a front box plate and a rear box plate of the box body. A disc-shaped hobbing cutter disassembling and assembling block is inserted in the through holes and penetrates through the box body. Each pair of manipulator fingers are driven through a corresponding hydraulic cylinder, so that good synchronicity of the manipulator fingers is guaranteed; the manipulator fingers are simple in structure, easy to machine and high in practicability; the box body is designed as an I shape and has the good mechanical property, and meanwhile enough moving space is reserved for the hydraulic cylinders driving the manipulator fingers; and the disc-shaped hobbing cutter disassembling and assembling block has stretching and retracting functions, is provided with a rotating mechanism, can automatically adjust and align when positioning precision is not high and is suitable for a wider manipulator precision interval.

A robotic finger that includes multiple phalanges, each phalange configured to be compliantly actuated. The robotic finger also includes compliant touch sensors that, in combination with the compliant actuation, provides the robotic finger with two levels of compliance. The two levels of compliance enable the robotic finger to gently conform to and manipulate objects.

The invention discloses a tendon rope parallel skillful under-driven bionic robot finger device, which belongs to the technical field of anthropomorphic robots. The device is provided with 5 independently-controlled fingers and 14 joint freedom degrees and driven by 10 motors, wherein the middle finger, the ring finger, the little finger and the index finger have the same structures and are in double-motor driven three-joint rotations; and the thumb is fixedly connected in a palm and is in double-motor driven two-joint rotation. The fingers have similar structures, and comprehensively achieve the special effect of combining variable primary configuration and adaptive grab of the fingers by using motors, tendon ropes and reset spring pieces. The device can flexibly bend the middle joint of the finger before grabbing to reach a stable anthropomorphic pre-bending posture and grab an object in an adaptive under-driven mode during grabbing. The device has the advantages of compact structure, high integration degree and appearance, size, form and action close to human hands, can stably grab and automatically adapt to the objects with different shapes and sizes, also can perform simple operation, and is suitable to be used as an output terminal of the anthropomorphic robot.

Belonging to the technical field of anthropomorphic robots, a multi-joint super underactuated robot finger device with belt wheels mainly comprises a base seat, a motor, a reducer, a first gear, a second gear, a near joint shaft, at least two middle finger sections, at least one middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises at least two driving wheels, at least two transmission parts, at least two driven wheels and at least two spring parts, and both ends of each spring part are respectively connected with neighboring finger sections. The device utilizes multiple pairs of belt wheel mechanisms, multiple movably socketed middle finger sections and the decoupling function of multiple spring parts to comprehensively realize the special effect of that the multi-joint super underactuated fingers are bent to grasp an object; the structure is simple and reliable, the cost is low, and the fingers are similar to the fingers of a human hand; the device can be used as the fingers of a robot in order to realize that a robot hand can apply less actuators to drive more multi-joint degrees of freedom, and moreover, the device can be self-adapted to the shape of the grasped object.

The invention discloses a robot demonstrator and a robot demonstration method, which is used for improving the demonstration efficiency and realizing the automatic demonstration of a robot. The demonstration process is as follows: a demonstration coordinate of a mechanical hand in a first direction can be determined by controlling the mechanical hand to move in different directions by virtue of the demonstrator and by virtue of the detection of a first sensor which is arranged on a mechanical hand finger, a demonstration coordinate of the mechanical hand in a second direction is determined by virtue of the detection of a second sensor which is arranged on the root part of the mechanical hand finger, a demonstration coordinate of the mechanical hand in a third direction is determined by virtue of the detection of a third sensor which is arranged on a mechanical hand base, and a coordinate of a demonstration position is determined by virtue of the demonstration coordinate in the first direction, the demonstration coordinate in the second direction and the demonstration coordinate in the third direction. In the entire demonstration process, the mechanical hand does not need to be adjusted by the operating personnel, the automation of the robot demonstration process can be realized, the demonstration precision can be greatly improved, and the demonstration time can be shortened.

The invention discloses a multipath flexible piece two-joint compound robot finger device and belongs to the technical field of human simulating manipulators. The multipath flexible piece two-joint compound robot finger device comprises a base, a motor, a speed reducer, a base shaft, a near joint shaft, a middle finger section, a remote joint shaft, a tail end finger section, a multipath transmission mechanism and a spring piece. In the device, by the single motor, the multi-shaft and multipath transmission mechanism with a different transmission ratio, the spring piece and the like, a compound underactuated catching effect is comprehensively achieved; the finger rotatably moves to an object in a coupled way and adaptively catches the object; the catching process stimulates the operation of a human, the action is flexible, and the object is caught stably; furthermore, the robot finger device can automatically and adaptively catch objects with different sizes and shapes, has low requirement on a control system, a simple and compact structure, high transmission efficiency, low cost, and an appearance similar to that of a human finger, and is easy to operate, and convenient to assemble and maintain, and is low in energy loss, and applicable to the human- manipulator at the same time.

The invention relates to a magnetorheological fluid indirect-adaptive underactuation robot finger device, which belongs to the technical field of robot hands and comprises two finger sections, magnetorheological fluid, a coil, two spring parts, two flexible parts, a shifting block, a driving slider and a joint shaft. The device realizes the passive adaptive bending and grasping force locking keeping functions of the finger, and can grasp an object placed on a supporting surface. The device utilizes the reactive force of the object to drive the second finger section of the finger to turn around the joint shaft; moreover, by utilizing the solidification characteristic of the magnetorheological fluid in a magnetic field, after the reactive force of the object disappears, the device can still keep the object-holding curved structure of the finger; the device utilizes the spring parts to store and keep deformation elasticity which is generated when the object is squeezed in the beginning, consequently, grasping force which is continuously applied to the object by the second finger section is generated and kept, and a good object grasping effect is realized. The device is structurally simple, small and light, is easy to control, and is low in design, manufacturing, assembly and maintenance costs.

The invention discloses a parallel-clamping perception self-adaptation robot finger device and a control method thereof and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a driver, a composite flexible rod, sensors, a control module, a motor drive module and the like. The device can better achieve the functions of parallel clamping and self-adaptation grabbing, the second finger section can be horizontally moved to pinch and clamp objects according to the different shapes and positions of the target objects, and the second finger section and the first finger section can also be rotated in sequence to be in self-adaptation to objects different in shape and size. The device is large in grabbing range, stable in grabbing process and controllable in grabbing force, a transmission chain is short, reprogramming does not need to be conducted when different objects are grabbed, and use is simple and convenient. High flexibility, high self-adaptation, high reliability, high stability and low control difficulty can be achieved for the device, and the device is suitable for robot hands.

The invention discloses a displacement shift underactuated two-joint robot finger device based on a flexible piece, which pertains to the technical field of anthropomorphic robots and comprises a base, a first motor, a near joint shaft, a middle finger section, a far joint shaft, an end finger section, a first transmission mechanism and a first spring piece, as well as a second motor, the flexible piece and a second spring piece. The second motor is fixedly connected with the middle finger section, two ends of the flexible piece are respectively connected with the output shaft of the second motor and the end finger section, and the second spring piece is connected to a driving chain from the near joint shaft to the far joint shaft in series. The device uses the motors, the transmission mechanism, the flexible piece and the spring pieces to comprehensively realize the special effect of variable original configuration and self-adapting grabbing of fingers. The device leads the middle joint to bend so as to achieve good grabbing preparation posture before grabbing, and grabs the object in the self-adapting underactuated manner during grabbing. The device has the grabbing action which more approaches to the hands of human, and can stably grab and automatically adapt to objects of various shapes and sizes, thus being applicable to robot hands.

The invention provides a grabbing-locking self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a motor, a first transmission mechanism, a near-joint shaft, a middle finger section, a driving pulley, a synchronous belt, a driven pulley, a far-joint shaft, a tail end finger section and a first spring piece. The device further comprises a second transmission mechanism, a pawl, a pawl shaft, a ratchet, a second spring piece, a third spring piece and a fourth spring piece. The device can be installed on a mechanical arm, matched with the active movement of the mechanical arm to conduct object grabbing in a reaction surface-evacuated mode, and has the self-adaptive capacity for the shape and size of the grabbed object. Shape-enclosure and force-enclosure stable grabbing is achieved in the object grabbing, and the lost stability phenomenon that joint reset is caused by vibration interference in the grabbing process is avoided. The device is simple in structure, small in size, less in quality and low in production cost and maintenance cost, and the fingers are similar to fingers of the human.

The invention relates to a connecting-rod gear-rack linear parallel clamping indirect self-adaptive robot finger device, and belongs to the technical field of robot hands. The connecting-rod gear-rack linear parallel clamping indirect self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a gear rack, a plurality of gears, two driving wheels, a driving medium, a guiding rod, a spring piece and the like. The device achieves the function of linear parallel clamping and self-adaptive grabbing of fingers of a robot; a linear motion of a far joint shaft is achieved through a connecting mechanism, and a second finger section keeps a fixed posture relative to the base in a first grabbing phase by adopting the spring piece to be matched with a gear rack mechanism; when an object is in contact with a first finger section, the self-adaptive rotation of the second finger section around the far joint shaft is achieved through the gear rack mechanism; grabbing of objects with different shapes and sizes can be adapted; and the grabbing range is large, the grabbing is stable and reliable, the structure is simple, and the cost is low.

The invention provides a bevel gear flexible piece compound grabbing robot fingers device belonging to the technical field of a humanoid robot arm. The device comprises a base, a motor, a speed reducing device, a proximal joint shaft, a middle finger segment, a distal joint shaft, a tail end finger segment, three bevel gears, a driving wheel, a driven wheel, two driving pieces and a spring piece. The device comprehensively realizes a compound under-drive grabbing effect by the motor, the bevel gears, a crossed flexible piece driving mechanism, the spring piece and the like: fingers are firstly coupled and rotated to claw an object so as to adaptively grab the object; the device is humanoid in grabbing process, flexible in moving, stable in object grabbing, automatic in and adaptive to grab materials with different sizes and shapes, low in the requirement on a control system, and easy to operate; and the device is simple and compact in structure, less in energy loss, high in driving efficiency, low in cost, convenient to assemble and maintain, and similar to the shape of the human fingers, thereby being suitable for the humanoid robot arm.

An under-actuated robot finger device with covering and clamping functions belongs to the technical field of robots. The under-actuated robot finger device comprises a base, two sets of finger sections and joint shafts, and also comprises drivers, a transmission part, two transmission wheels, two connecting rods, a rotary shaft, a poking block and a spring piece; an output shaft of the driver is connected with the first connecting rod; one end of the first connecting rod is connected with a near joint shaft in a sleeving way, and the other end of the first connecting rod is in slide embedding with one end of the second connecting rod; the two transmission wheels respectively sleeve the two joint shafts; two ends of the spring piece are respectively connected with the first transmission wheel and the base, and the spring piece enables the poking block to get close to the base. The device realizes a special function of parallelly grabbing an object in a self-adaptive and under-actuated way. Multiple grabbing modes are provided for the device, i.e. parallelly opening and closing tail end finger sections to perform inward pinching or outward opening and grabbing, and capability of grabbing in the self-adaptive way; meanwhile, the under-actuated robot finger device is large in grabbing range, small in size, personified in appearance, simple and reliable in structure and low in cost, and has pliability; more fingers are driven to rotate joints by fewer driver without sensing and control systems.

A connecting rod type synergy drive robot finger belongs to the technical field of the robot hands. The connecting rod type synergy drive robot finger comprehensively realizes the effect of synergy driving of fingers with two motors matched with each other by employing two lead screw motors, a screw drive force-amplifier, a connecting rod transmission mechanism, an overrun clutch and a spring; a finger device is high in grabbing speed, and great in grabbing force and accurate in grabbing action; and simultaneously, the finger device is freely switched among major grabbing modes and suitable for being used as the finger parts of the hands of the ingenious robot.

The invention provides a self-reset open loop and flexible piece coupled flexible robot finger device and belongs to the technical field of robot hands. The self-reset open loop and flexible piece coupled flexible robot finger device comprises a base, two finger segments, two joint shafts, two drivers, two sets of open loop tendon rope transmission mechanisms and springs. The self-reset open loop and flexible piece coupled flexible robot finger device achieves four grabbing manners including the double-joint coupled rotation grabbing manner, the double-joint independent rotation grabbing manner, the manner that double joints rotate in a coupling manner and then rotate independently for grabbing and the manner that the double joints rotate independently and then rotate in the coupling manner for grabbing; and the device has the function of automatic reset after collision and is safer during man-machine interaction, suitable for service-oriented robots and especially suitable for being used in families, schools, hospitals and public places where people gather. The device is compact in structure, small in size, low in weight and low in manufacturing and maintaining cost.

The invention provides a coupling under-actuated integrated three-joint robot finger device, which belongs to the technical field of robot hands. The device comprises a base, one motor, three finger segments, four joint shafts, one motor, eight connecting rods, four spring pieces and the like. The invention utilizes the connecting rods and the spring pieces to form a coupling transmission mechanism and an under-actuated transmission mechanism which are integrated and are in sleeved connection with the three finger segments so as to comprehensively realize the special effect of integrating a three-joint finger coupling-grabbing process with an under-actuated self-adaptive grabbing process. The finger device adopts a coupling mode for rotation before touching objects, can grab the objects in a pinching way, can adopt an under-actuated self-adaptive mode to rotationally grab the objects after touching the objects, and automatically adapts to the size and shape of the grabbed objects so as to realize grabbing in a holding way. The finger device has the advantages of great force, low requirement on control systems, simple reliable structure, low cost, suitability for long-term use, similarity to the appearance and motion of fingers of human hands and applicability to anthropomorphic robot hands.