223 results about "Robotic finger" patented technology

A bionic mechanical finger, comprising a bionic finger sleeve (100), a tactile sensing unit (200), a capacitance-to-digital converter (CDC) circuit, a digital processing circuit, and an analog switch array. By means of the design of a sensor structure and an inner insulating layer and the combination with a CDC, the tactile sensitivity comparable to or even superior to that of a human hand is obtained; the design that an upper electrode (210) is grounded and self-capacitors are used as lower electrodes (221) can ensure the precision of pressure measurement, thereby lowering the dependence on chip resources; and in combination with a restriction rule of capacitor design, the mechanical finger achieves a good response in daily grabbing scenarios. Also provided is a mechanical hand comprising the bionic mechanical finger.

The invention discloses a control method of a transmission device. The transmission device comprises a silicon wafer manipulator, a slide glass plate temporary storage device and a slide glass plate, the silicon wafer manipulator comprises N first mechanical fingers which are distributed at intervals; the slide glass plate temporary storage device is used for bearing groups of slide glass plates, each group of slide glass plates comprises M slide glass plates which are distributed at intervals in the bearing direction of the slide glass plate temporary storage device, and each slide glass plate is provided with a silicon wafer groove; in each group of slide glass plates, the silicon wafer grooves in any two slide glass plates are in one-to-one correspondence, so that the opposite silicon wafer grooves in the adjacent N slide glass plates form a groove group; m and N are both larger than or equal to 2, M is larger than or equal to N, the ratio of M to N is a positive integer larger than or equal to 1, and the control method comprises the steps that N first mechanical fingers of the silicon wafer manipulator are controlled to grab N silicon wafers; controlling the silicon wafer manipulator which grabs the silicon wafer to face the temporary storage device of the slide glass plate; and controlling the silicon wafer manipulator to place the N silicon wafers grabbed by the silicon wafer manipulator in a groove group corresponding to the temporary storage device of the slide glass plate in groups.

The two-degree-of-freedom finger mechanism of the five-finger manipulator is suitable for five-finger manipulator equipment of a humanoid robot and serves as a ring finger and little finger module. The robot consists of two parts, namely a finger bending assembly and a finger swinging assembly. The finger bending assembly drives a ball screw nut pair through a driving motor to convert rotary motion into linear motion, and then a ball nut drives an elastic connecting rod and finger joints to achieve bending motion of fingers. The finger swinging assembly drives a bevel gear set through a driving motor, and after the direction of rotating motion is changed, a connecting rod and finger joints are driven through a universal joint to achieve the swinging action of fingers. According to the two-degree-of-freedom mechanical finger, the two assemblies are ingeniously combined to one finger, and the overall size of the mechanical finger is reduced while two-degree-of-freedom movement is achieved. And in combination with the use of the elastic connecting rod, the driving motor is protected, and the action area of the manipulator and the grabbed object is increased.

The utility model discloses a high-flexibility flexible mechanical finger supporting forward and reverse holding and a manipulator. The mechanical finger comprises a middle finger section, a base finger section and an end finger section, wherein the base finger section and the end finger section are rotationally connected with the two ends of the middle finger section respectively. Driving units are arranged in the end finger section, the middle finger section and the base finger section; bevel gear transmission units are arranged at the tail end of the end finger section, the tail end of the middle finger section and the tail end of the base finger section; the driving units are in transmission connection with the corresponding bevel gear transmission units; the driving unit drives the end finger section and the base finger section to rotate by taking the corresponding bevel gear transmission unit as a central shaft; through the structure and position design of the micro driving motor and the bevel gear transmission unit, each finger and each knuckle of the manipulator can be flexibly controlled, so that the manipulator has higher bionic flexibility and more precise grabbing capacity, and can be suitable for different scene requirements; by means of the special inserting mode between knuckles, the left-right hand grabbing function of the single mechanical arm is achieved.

A robotic digit includes a digit base and a joint link coupled to the digit base and movable relative to the digit base about a first axis. An input link is coupled to the joint link through a proximal digit segment and movable relative to the proximal digit segment about a second axis. A cable extending along the proximal digit segment has a distal end coupled to the input link. A cable drive is coupled to a proximal end of the cable and operable to displace the cable relative to the proximal digit segment. A main actuator has an output coupled to move the joint link about the first axis. Relative displacement between the cable and the proximal digit segment via operation of the first cable drive or operation of the main actuator causes movement of the input link about the second axis.

The utility model provides a mechanical arm which comprises a palm center base, a mechanical thumb and a plurality of mechanical fingers, the mechanical thumb comprises a rotary driving assembly, a first linear driver, a thumb root and a thumb tip, and the rotary driving assembly is arranged on the inner side of the palm center base; the rotary driving assembly is used for driving the thumb root and the thumb tip to rotate relative to the palm center base, the first linear drivers are arranged in the thumb root and the thumb tip, and each mechanical finger comprises a second linear driver, a finger root and a finger tip. The second linear drivers are arranged on the sides, away from the finger tips, of the finger roots, and the second linear drivers of the multiple mechanical fingers are arranged on the outer side of the palm center base. The manipulator provided by the utility model is simple in overall structure and small in occupied space.

The invention relates to the technical field of manipulators, in particular to a multi-degree-of-freedom pipe grabbing bionic manipulator which comprises a mechanical arm, a rotating assembly, mechanical fingers, a bending assembly and a pipe grabbing mechanism. The mechanical arm is installed in an assembly line needing pipe grabbing work, the rotating assembly is installed at the front end of the mechanical arm, and the rotating assembly can control the whole mechanical finger to rotate so as to adjust the position. The mechanical fingers are installed on the side face of the rotating assembly, the bending assemblies are installed on the periphery of the rotating assembly and the back faces of the mechanical fingers, and the bending assemblies can control the bending degree of the mechanical fingers so as to meet different pipe grabbing requirements. The pipe grabbing mechanism is installed in the mechanical fingers. According to the tube grabbing mechanism, the supporting effect on mechanical fingers under different bending degrees is achieved through a connecting assembly, an adjusting assembly and a fixing assembly are arranged, test tubes of different sizes and materials are stably grabbed, and the positions and states of the test tubes are fixed when the tube grabbing mechanism moves.

The invention relates to the field of manipulators, and discloses a bionic manipulator which comprises a mechanical palm, mechanical fingers and a first driving mechanism, the mechanical fingers comprise a thumb unit and an index finger unit, and the index finger unit is connected with the mechanical palm; the first driving mechanism is connected to the thumb unit and the mechanical palm, and the first driving mechanism is configured to drive the thumb unit to be close to or away from the index finger unit so as to adjust the distance between the thumb unit and the index finger unit; and the thumb unit is driven to swing towards the palm center of the mechanical palm or swing away from the palm center of the mechanical palm relative to the index finger unit. Thus, by means of the bionic mechanical arm, the distance between the thumb unit and the index finger unit can be adjusted, the thumb unit can swing towards the center of the mechanical palm or swing away from the center of the mechanical palm, more complex operation instructions can be completed easily, and use is convenient.

A robotic end effector or end-of-arm tool may take the form of a mechanical digit (e.g., mechanical finger), or employ one or more mechanical digits (e.g., mechanical fingers), controllable in multiple degrees of freedom, e.g., pitch, yaw, curl. The mechanical digit(s) advantageously comprise a skeleton and three (3) piston / cylinders combinations, one controlling curl, and the other two controlling pitch and / or yaw. Mechanical digits may comprises a number of rolling contact joints. A flexible printed circuit board (PCB) carrying a variety of sensors covers the skeleton, and runs inside the rolling contact joints to provide a zero length change path. Knuckle imitators may cause a membrane cast or sheath joint to resemble human knuckles.

The invention discloses a self-adaptive bionic manipulator and a differential motion pulley block mechanism, which are composed of a shell, a palm, four fingers, a thumb and a connecting flange, and comprise a first driving mechanism, a second driving mechanism and a third driving mechanism, and the four fingers comprise an index finger, a middle finger, a ring finger and a little finger which are all novel tendon rope connecting rod hybrid driven bionic mechanical fingers; the three knuckles of the bionic mechanical finger are driven by the tendon ropes to move regularly, so that consistent bending and self-adaptive grabbing of the finger are achieved. A set of differential motion pulley block mechanism is installed on the palm, the first driving mechanism drives the differential motion pulley block mechanism and drives the four fingers to move, and the mechanism not only solves the problem that a pulley block occupies a large space of the palm, but also can reduce the overall weight and achieve light weight. A second driving mechanism and a third driving mechanism are installed on the thumb and control rotation and buckling of the thumb respectively. The robot can grasp objects in a self-adaptive mode, and is high in self-adaptability, high in anthropomorphic degree, ingenious in structure and efficient in transmission.

The invention discloses a lockable array needle type mechanical finger used for grabbing closely arranged objects. Comprising a base and further comprises mechanical fingers movably arranged on the base. The mechanical finger comprises a shell, a flexible cavity, a movable needle and blocking particles, the movable needle is connected to the shell in a sliding mode, the shell is provided with a gas connector, the flexible cavity is arranged in the shell, the interior of the shell is divided into a blocking cavity and a gas cavity which are not communicated with each other through the flexible cavity, the gas cavity is communicated with the gas connector, and the blocking particles are arranged in the blocking cavity. The end of the movable needle is located in the blocking cavity, and the blocking particles are arranged in the blocking cavity. According to the lockable array needle type mechanical finger for grabbing the closely arranged objects, under the condition that the objects are closely arranged, the mechanical finger can effectively solve the problem that grabbing is difficult due to the fact that the shape of a traditional mechanical finger is fixed, smooth sliding of the movable needles can be guaranteed, and the mechanical finger can be used for grabbing the closely arranged objects. And unstable grabbing caused by an overlarge gap between the movable needles is avoided.

The invention relates to a combined manipulator, and discloses a mechanical finger and a manipulator, the mechanical finger is mounted at the palm center of the manipulator, and the mechanical finger comprises a sleeve, a threaded rod, a first driving part, a transmission rod, a first phalanx part and a first connecting rod. The sleeve is fixedly connected with the palm center, the threaded rod is arranged in the sleeve in a penetrating mode and rotationally connected with the sleeve, the first driving piece is in transmission connection with the head end of the threaded rod, the head end of the transmission rod is provided with internal threads, the internal threads are in threaded connection with the threaded rod, and the head end of the first phalanx piece is rotationally connected with the palm center. One end of the first connecting rod is rotationally connected with the tail end of the transmission rod, and the other end of the first connecting rod is rotationally connected with the middle of the first phalanx piece. The manipulator can comprise a palm center and the mechanical fingers of any embodiment of the invention. The mechanical fingers are rotationally connected with the palm center.

A system for a robotic finger may include a base coupled with a robotic finger having a plurality of joints and an actuation system that actuates the plurality of joints. The actuation system may include a first actuator that drives a connection coupled with a first joint of the plurality of joints. Driving the connection can cause a first rotation of the robotic finger about a first axis. The actuation system may also include a second actuator that drives a cylinder coupled with the first joint. Driving the cylinder can cause a second rotation of the robotic finger about a second axis. The cylinder can rotate freely about the first axis to enable the first rotation. Other aspects are also described and claimed.

The invention relates to the technical field of bionic manipulators, in particular to an electromagnetic pull-in wire drawing system for a bionic manipulator, which comprises a bottom plate, a brushless direct current motor fixed at the top of the bottom plate; the linkage rod is connected to the end part of an output shaft of the brushless direct current motor, and the output shaft of the brushless direct current motor is connected with the linkage rod in a taper fit manner; the motor connecting rod fixing device is fixed at the top of the bottom plate and is used for mounting the linkage rod; five bionic manipulator fixing devices, wherein all the bionic manipulator fixing devices are fixedly provided with bionic mechanical fingers; the five action driving assemblies are used for driving the bionic mechanical fingers to act; the central processing unit is used for controlling the starting of the action driving assembly to carry out action control; when the device is driven by the brushless direct current motor, single-motor-driven multi-degree-of-freedom control is realized, the problem of redundancy of a power unit is solved, and the volume and the weight of the system are favorably reduced.

The invention provides a self-adaptive grabbing system and method based on photoelectric sensing and material recognition. The system comprises a manipulator, a mechanical arm, a front-end processor and an upper computer controller. The manipulator is driven by a torque-adjustable motor, and an optical sensor module based on a photoelectric sensing principle is mounted on a fingertip of the manipulator; the optical sensor module is used for acquiring a texture grayscale image and sliding micro-displacement information of the surface of a grabbed object; the front-end processor is used for collecting data of the optical sensor module and transmitting the data to the upper computer controller; the upper computer controller recognizes the material of the object and matches the friction coefficient, the optimal clamping force increment is calculated according to the sliding micro-displacement information and the friction coefficient, and the motor is controlled to achieve self-adaptive grabbing. According to the system, the manipulator can be controlled to increase the clamping force in an optimal clamping force increment mode according to the sliding amplitude and the friction characteristic of the object, and self-adaptive stable grabbing of the object is achieved.

The invention discloses a single-motor-driven two-finger clamping jaw with a parallel clamping and self-adaption function, and relates to the technical field of industrial robots. A winding groove is integrally formed in the center of the tail end of each far knuckle and hinged to the top end of the corresponding near knuckle through a front joint shaft, the tail end of each near knuckle is hinged to the top end of the corresponding root knuckle through a rear joint shaft, and the far knuckles apply eversion torque. The winding wheel disc is installed on the rear joint shaft and provided with a reset clockwork coil spring, the driving connecting piece is connected with the tail end of the far knuckle and the edge of the winding wheel disc, and the coupling rope is connected with the edge of a winding groove of the far knuckle and the top end of the root knuckle. The linear motor drives a sliding block in a longitudinal sliding groove in the middle of the base, the two mechanical fingers are symmetrically installed on the two transverse sides of the base, the middle of the driving rope penetrates through the sliding block, and the two ends of the driving rope are fixed and wound on the winding wheel disc. The two two-degree-of-freedom mechanical fingers are driven by a single motor, flexible switching between parallel clamping grabbing and self-adaptive grabbing is achieved, the grabbing efficiency, stability and environment adaptability are improved, and the control difficulty is reduced.

A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a gripper or other moldable robotic finger similarly formed. The robotic fingers include one or more collapsible structures on the surface of an inner pad of the two or more fingers. The collapsible structures are curved structures that support a grasped object and collapse when an object is pulled in an outward direction, the outward direction including from a base to the to the tip of the two or more fingers. A servo motor may control the movement of the fingers or the movement of the collapsible structures.

The invention discloses a three-finger mechanical gripper capable of achieving a free configuration and multiple grabbing states and a working method. The three-finger mechanical gripper is a three-finger type gripper design capable of achieving a multi-angle grabbing configuration in different grabbing modes. The three-finger mechanical gripper comprises a two-section type multi-knuckle rigid-flexible coupling mechanical finger, a mechanical finger rotating supporting frame with the distribution angle capable of being adjusted independently and a three-finger palm center base plate which is split up and down. The three two-section type multi-knuckle rigid-flexible coupling mechanical fingers are fixed to three fixing hole positions distributed in a non-equilateral triangle mode in the up-down split type three-finger palm center base plate through the mechanical finger rotating supporting frame and can independently rotate to adjust the distribution angle under driving of a rotating driving motor coaxially installed in the mechanical finger rotating supporting frame. And the effects of stably grabbing different types of target objects in a daily home service scene, grabbing displacement and posture control in grabbing can be achieved.

The utility model relates to the technical field of manipulators, and provides a speed reducing mechanism for a mechanical finger, the mechanical finger and a manipulator. The speed reducing mechanism comprises at least one set of transmission pair, each transmission pair comprises a front-end tooth-shaped component and a rear-end tooth-shaped component, the rear-end tooth-shaped component is at least partially in meshing transmission with the front-end tooth-shaped component, and the diameter of a meshing reference circle of the front-end tooth-shaped component is smaller than that of a meshing reference circle of the rear-end tooth-shaped component; the front-end tooth-shaped component, located at the foremost transmission end, in all the front-end tooth-shaped components is used for being matched with a driving mechanism or a transmission mechanism for controlling knuckles to act in the mechanical finger, and the rear-end tooth-shaped component, located at the rearmost transmission end, in all the rear-end tooth-shaped components is used for being matched with an executing mechanism in the mechanical finger. On the basis, the torque between the adjacent knuckles is increased by arranging the speed reducing mechanism, the force of the mechanical finger can be enhanced, and therefore operation actions such as grabbing, holding, pressing and clicking can be smoothly achieved.

The invention relates to the technical field of bionic mechanical hands, in particular to a mechanical finger which comprises a first joint and a second joint adjacent to the first joint. The robot is characterized in that the first joint comprises a base, a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism are arranged on one side of the base; the base is hinged to the side, close to the first joint, of the second joint. The output end of the first driving mechanism and the output end of the second driving mechanism are hinged to the side, close to the first joint, of the second joint. By controlling the driving signals of the first driving mechanism and the second driving mechanism, the movement angle of the second joint can be changed, rotation of the second joint is achieved, the stability when an object is pinched is improved, and the possibility that the object falls off is reduced.

The invention discloses a thumb bionic mechanical finger, a gear driving type bionic mechanical finger and a bionic manipulator thereof, and belongs to the field of manipulators. Comprising a supporting part, a first finger section, a second finger section, a third finger section, a first driving part, a second driving part, a first gear transmission part and a second gear transmission part. The first finger section is connected with the supporting part, the second finger section is connected with the first finger section, and the third finger section is connected with the second finger section; the first gear transmission part is arranged between the supporting part and the first finger section, and the second gear transmission part is arranged between the first finger section and the second finger section; the first driving piece is connected with the first gear transmission piece, and the second driving piece is connected with the second gear transmission piece. The mechanical arm has the beneficial effects that the two independent driving parts are matched with the two bevel gear transmission parts to drive the first finger section and the second finger section correspondingly, and independent and accurate control over the metacarpophalangeal joint and the middle joint is achieved. The design allows the fingers to move complexly and flexibly, and is suitable for fine operation tasks.

The utility model provides a robot hand and a robot system including the same. The robot hand includes: a plurality of robot fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and robotic systems including the same that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

This application provides a method, an apparatus, and a system for controlling a mechanical finger, and a device. This application relates to the field of robot technologies and smart warehouse technologies. The method includes: obtaining a mechanical limit interval of the mechanical finger in response to a control instruction; determining a limit position within the mechanical limit interval and an avoidance angle corresponding to the limit position; determining, based on the limit position and the avoidance angle corresponding to the limit position, an opening / closing angle of the mechanical finger; and controlling, based on the opening / closing angle, a reduction motor to drive the mechanical finger to execute an opening action or a closing action.

The present invention discloses an industrial robot three-finger gripper and its grasping method, which includes a finger structure, a palm structure and a voice coil drive motor; the finger structure consists of three identical mechanical fingers, and the three identical mechanical fingers are respectively separated at 120° at the bottom of the palm structure. The palm structure contains a voice coil drive motor inside. The voice coil drive motor is installed within the palm structure through a fixed base. The lower end of the voice coil drive motor is fixed with a drive disk, which is connected to the finger structure through a long connecting rod; this three-finger clamping manipulator can change the grasping posture through a servo motor. When facing simple objects, it has good envelopability; when facing complex objects, it can formulate a suitable grasping plan according to the shape and direction of the object, and at the same time, relying on the good soft characteristics of the underactuated structure, it realizes the adaptive grasping of the manipulator within a certain range.

The utility model discloses a clamping mechanical hand device, especially a brick clamping mechanical hand device of automatic wall building equipment, and its stepper motor or servo motor is fixed to the baffle of three -axis air cylinder through support, three -axis air cylinder drives stepper motor or servo motor to make reciprocating linear motion on the stroke of its piston rod, fixes the guide frame on the support, and rack of gear and rack mechanism is supported and the effect of guiding, motor shaft of stepper motor or servo motor and gear and rack mechanism gear drive connection to drive rack of gear and rack mechanism always make reciprocating linear motion, and mechanical finger and rack correspond one by one, and are fixed to its corresponding rack respectively, and mechanical finger and the jack on clamping fixture correspond one by one and are inserted and are driven to make clamping fixture hold brick by the mutual movement of mechanical finger. Its solved "brick clamping mechanical hand device structure simplification, the technical problem of reducing manufacturing cost", and its structure is simpler, and the manufacturing cost is lower.

The application provides a driving rope and mechanical hand system with force sensing capability, and belongs to the technical field of bionic mechanical hands. The system is composed of a tensile strain sensor and a driving rope. The tensile strain sensor is arranged on the surface of the driving rope and is bonded with the front section by using a flexible adhesive to be arranged in a mechanical hand. The tensile strain sensor and the driving rope are separated at the rear section. The separated driving rope is used for connecting a motor, and the tensile strain sensor is used for connecting a control system. In this way, the tensile strain of the driving rope can be measured in real time while power is transmitted, and the gripping force of a mechanical finger is obtained, so that the "sensing and driving integration" mode of a bionic tendon is realized.

The present invention provides a cross-joint transmission mechanism and a robotic finger, which relate to the technical field of robotic arms. The cross-joint transmission mechanism is used to drive the bending or extension of the fingertip joint. The cross-joint transmission mechanism includes: a base joint frame and a proximal fingertip frame arranged in sequence, wherein the proximal fingertip frame is rotatably connected to the base joint frame; a first universal joint coupling, which is arranged between the base joint frame and the proximal fingertip frame; a first screw pair, wherein the first screw pair includes a first screw and a first nut that are threaded together, wherein the first nut is fixedly connected to the proximal fingertip frame, one end of the first screw is slidably connected to the output end of the first universal joint coupling, and the input end of the first universal joint coupling is drive-connected to the first rotating drive member. According to the present invention, the size of the fingertip joint can be minimized, thereby improving its compatibility with a humanoid robot and avoiding the fingertip joint angle being affected by the pitch or sway of the proximal fingertip.

The utility model discloses a fingertip assembly and a manipulator. The fingertip assembly is used for the mechanical arm and comprises a fingertip body, an elastic piece and a sensing assembly, a mounting groove is formed in one side of the fingertip body, and the mounting groove extends out of the tip end of the fingertip body; the elastic piece is connected with the fingertip body and covers the mounting groove; the sensing assembly is located in the mounting groove and arranged between the fingertip body and the elastic piece. Wherein the sensing assembly comprises a first pressure sensor and a second pressure sensor, the first pressure sensor is closer to the tip of the fingertip body relative to the second pressure sensor and closer to the other side of the fingertip body, and the sensitive surface of the first pressure sensor and the sensitive surface of the second pressure sensor are arranged at an angle; therefore, the first pressure sensor and the second pressure sensor can respectively detect forces in different directions. The elastic piece can deform under the action of external force so as to press the sensitive surface of the first pressure sensor and / or the sensitive surface of the second pressure sensor.

The embodiment of the invention provides a mechanical finger joint miniature encoder mounting structure for improving control precision, and belongs to the technical field of medical instrument robot dexterous hands and high-precision sensing. The structure comprises a hollow annular magnetic encoder, a customized mounting base and an error compensation mechanism. The MPT-8-20 series encoder is directly integrated on a rotating shaft of a finger joint through the customized mounting base; the mounting base is provided with a positioning interface which is precisely matched with an encoder shell and a joint part, so that the concentricity and a constant air gap of an encoder sensing unit and a rotating part are ensured; the error compensation mechanism is integrated in the base and is used for passively inhibiting installation errors and environmental interference. According to the invention, the measurement precision of less than 0.01 degree in an extremely limited space is realized based on a commercial encoder, high anti-interference performance and reliability are realized, the integration problem of high-precision and high-reliability pose feedback of the miniature dexterous hand joint is effectively solved, and the miniature dexterous hand joint is suitable for miniature dexterous hands.

The invention provides a reel type under-actuated mechanical finger, aims to solve the problems of heavy structure and low take-up efficiency in the prior art, and realizes compact structure, light weight and efficient take-up. The finger is mainly composed of a miniature reel, a rack, a near knuckle, a middle knuckle, a far knuckle, a motor, a spring and a traction cable. The knuckles are connected through hinges, a pull wire is adopted to penetrate through wire guide holes in the knuckles from the pin positions of the fingertips far away from the knuckles in an equal-diameter winding mode, and finally the pull wire is fixed to small holes of the miniature reels. Miniature limiting devices and pin holes are designed on the surfaces of the knuckles, knuckle bearings are arranged in the knuckles, spring grooves are formed in the knuckles, and tension springs are arranged in the spring grooves. The scroll is designed to comprise an axial through hole and a radial threaded hole. Through unique design and cooperative cooperation of all the components (especially equal-diameter winding, built-in miniature limiting, spring grooves, tension springs, knuckle bearings and reel structures), the take-up device is light and simple successfully in a limited space, the rope storage efficiency and reliability are remarkably improved, and the take-up device is suitable for being popularized and applied. And the defects of a traditional device are effectively overcome, an innovative thought is provided for miniaturization development of the line-driven mechanical arm, and wide application prospects are achieved.