57results about "Gripping heads" patented technology

A remotely controlled apparatus for grasping an object such as a satellite in space includes a free-flying grasper unit connected by a selectively extendable cable to an orbital platform. The orbital platform and the grasper unit are preferably each independently propelled by respective propulsion systems including multi-axis maneuvering nozzles respectively provided on the orbital platform and on the grasper unit. The grasper unit preferably includes a grasper unit body and a grasper-arm mechanism having a controllable grasping claw articulately mounted on the end of a controllable telescoping arm that extends from the grasper unit body. The grasper unit preferably further includes a camera and a distance measuring sensor to provide visual and distance feedback data for assisting the remotely controlled maneuvering of the grasper unit and actuation of the grasper-arm mechanism.

The invention discloses a material carrying mechanical arm capable of rotating and displacing. The mechanical arm comprises a base, a lifting stand column, a transverse moving mechanism, a mechanicalarm, a connecting piece and a material taking mechanical claw, wherein the lifting stand column is fixed on the base through a rotating disc, the transverse moving mechanism is arranged on the liftingstand column, the lifting stand column comprises a lifting air cylinder and a supporting stand column, and the bottom of the lifting air cylinder is arranged on the rotating disc; and the mechanicalarm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, wherein the third mechanical arm is connected with the material taking mechanical claw through the connectingpiece, a first hydraulic cylinder is connected between the first mechanical arm and the second mechanical arm, a second hydraulic cylinder is arranged between the second mechanical arm and the third mechanical arm, and a third hydraulic cylinder is arranged between the third mechanical arm and the material taking mechanical claw. Through the cooperation and use of the lifting stand column, the transverse moving mechanism and the rotating disc, all-directional work of the material taking mechanical claw can be controlled, so that the automation degree in the production process is improved, manual operation of people in a dangerous environment is replaced, the working condition is improved, and the working efficiency is greatly improved.

An inexpensive and compact robot hand and a robot having the robot hand, wherein the robot hand is configured to rotate a cylindrical object gripped by the robot hand and does not negatively affect a cable, etc., connected to the robot hand. N number of fingers are moved by a first drive part so that a circumcircle of a N-sided polygon constituted by the fingers is arranged in a concentric pattern about the center axis of the object. Each first roller is rotatable about an axis parallel to the center axis of the object, and is configured to contact the inner peripheral portion of the object by movement of the finger relative to a hand base. By rotationally driving at least one first roller while a radially outward force is applied to the object, the object may be rotated relative to the hand base.

The invention discloses a flexible humanoid mechanical finger. The flexible humanoid mechanical finger comprises a body and an attached body, wherein the body consists of a plurality of finger jointsand a plurality of finger rods; the finger joints and the finger rods are alternatively arranged in a spaced mode in the length direction; comb-like or bow-like continuous sealing gas cavities and airvents which communicate with an external drive gas source are arranged inside the finger joints of the body; the finger rod parts of the body are equipped with gasbags; high-pressure gas is pre-filled into the gasbags through one-way vent valves; a layered substance which cannot extend is arranged inside the attached body; and during work, the drive gas source charges gas or discharges gas for the sealed gas cavities inside the body, so that the body bends and extends under limit of the attached body. According to the flexible humanoid mechanical finger disclosed by the invention, the fingerjoints and the finger rods are arranged in the spaced mode, and high-pressure gas is pre-charged into the gasbags of the finger rods for partially stiffening the finger rods, so that finger movement of human can be simulated to a great extent, and therefore, quick grabbing for objects of different shapes and different sizes can be adapted.

The invention discloses a large-opening-and-closing-angle manipulator. The large-opening-and-closing-angle manipulator comprises a mounting plate, a mounting frame, a piston rod, a double-sided rack,a pair of clamping jaws positioned on both sides of the mounting frame and connecting rod linkage mechanisms for controlling the opening and closing of the clamping jaws. The mounting frame is fixed on one side of the mounting plate. The piston rod passes through the mounting plate and is in sliding fit with the mounting plate. The free end of the piston rod is fixedly connected with the double-sided rack. The connecting rod linkage mechanisms are symmetrically arranged on both sides of the double-sided rack. Each connecting rod linkage mechanism comprises a driving connecting rod and a clamping jaw connecting rod. One end of each driving connecting rod is hinged to the corresponding clamping jaw, and the other end of each driving connecting rod is hinged to the mounting frame. Multiple engaged teeth are arranged at the end, hinged to the mounting frame, of each driving connecting rod. The engaged teeth are engaged with the double-sided rack. Each clamping jaw connecting rod is positioned in front of the corresponding driving connecting rod. One end of each clamping jaw connecting rod is hinged to the mounting frame, and the other end of each clamping jaw connecting rod is hinged to the corresponding clamping jaw. The large-opening-and-closing-angle manipulator has the beneficial effects of being simple in structure, large in opening and closing angle, stable and reliable to use, high in clamping accuracy and uniform in clamping force on workpieces.

The invention discloses a structure of a coal mine lifter patrol climbing robot and belongs to lifter detection and maintenance equipment for coal mines. The structure comprises two two-freedom-degree wrist structures and climbing mechanical arms hinged to the two two-freedom-degree wrist structures, and the electromagnetic suckers are arranged at the bottoms of the two two-freedom-degree wrist structures respectively. The wrist structures are installed on the electromagnetic suckers, the other ends of the wrist structures are connected with the mechanical arms through shafts, the two mechanical arms are connected through a shaft and driven by a motor, rotation of other parts except the working sucker is achieved, and the two suckers move alternately so that the robot can climb. By means of the electromagnetic suckers, the surface of a lifter support is attracted and clamped tightly through the electromagnetic suckers, and sprayed paint on the surface of the support can not be damaged. Adjustment among multiple degrees of freedom makes the climbing robot reach any surface in the length range of the support structure, the robot can move flexibly and transversely move or change a work plane. The robot is simple in structure, small in self weight and capable of reaching any space position to adapt to complex working conditions.

A method of holding an object with an electrostatic chuck and conveying the held object includes steps of measuring a property of the object concerning an electrostatic attraction force generated between the object and the electrostatic chuck; and controlling a characteristic of conveyance of the object based on a measurement result in the measuring step.

The invention discloses a six-degree-of-freedom mechanical arm device of a block press dedicated for an optical element. The six-degree-of-freedom mechanical arm device comprises a base, a rotary driving component, a big arm component, a small arm component, a hand component and a wrist component, wherein the rotary driving component comprises a base motor, a harmonic reducer, a base rotation shaft and a coupler; the big arm component comprises a big arm, a big arm driving motor and a first cycloidal pin gear reducer; the small arm component comprises a small arm, a small arm driving motor and a second cycloidal pin gear reducer; the big arm driving motor is connected with the bottom of a big arm; the base motor, the big arm driving motor and the small arm driving motor are all hollow shaft motors; the hand component is provided with a minitype temperature sensor. The six-degree-of-freedom mechanical arm device has the advantages of compact and simple structure, convenience in pipeline arrangement, easiness in operation and convenience in adjustment, a workpiece and a mould can be picked and placed, the temperature change of the workpiece and the mould after mould pressing can be detected in real time, the use efficiency of the block press is improved, and the damage possibility of the workpiece and the mould can be lowered.

The invention relates to a mechanical arm capable of relatively stably and conveniently grasping a spherical part and belongs to the technical field of mechanical arms. The mechanical arm comprises four vertical rods, four clamping claws, two U-shaped rods and four stepping motors, wherein each of the four clamping claws comprises a front end and a tail end which is fixedly connected with the bottom of the corresponding front end; a bent part is arranged between each front end and the corresponding tail end; a long hole is formed in each tail end; an L-shaped corner claw is fixedly arranged at the head part of each front end; each of the two U-shaped rods comprises two vertical rods and a transverse rod; the bottom ends of the two vertical rods are fixedly connected with the two ends of the corresponding transverse rods respectively; each transverse rod is provided with a screw hole and two vertical rod holes through which the vertical rods can pass; and two vertical rod holes are formed in the two sides of each screw hole. The mechanical arm provided by the invention has the beneficial effects that the stepping motors rotate to drive the vertical rods to do front-back movement respectively so that the clamping claws are driven to be closed or opened. Each clamping claw is independently controlled through the corresponding stepping motor; and the mechanical arm aims at certain spherical parts which have asymmetrical shapes and are difficultly grasped by the common mechanical arm, and can be used for pointedly adjusting an opening degree of each clamping claw, so that accurate grasping is realized.

The present invention discloses a pre-tightening and transmission clearance-adjustable transmission mechanism of a base joint of each finger of a dexterous robot hand, which relates to a transmission mechanism of a base joint of each finger of a dexterous robot hand. The transmission mechanism resolves the problems that the structure of the base joint of each finger of the prior dexterous robot hand is complex, the processing cost is high, and pre-tightening and transmission clearance adjustment can hardly be realized. A first driving device and a second driving device are fixed on a first rack and a second rack; a first joint shaft passes through a radial central tapered hole in the middle of a second joint shaft; two driving tapered gears are firmly assembled on the first joint shaft; two driven tapered gears are firmly assembled on the second joint shaft; the driving tapered gears are engaged with the driven tapered gears; through two belt transmission mechanisms, the first joint shaft is connected with the two driving devices in a transmission way; the lower ends of the first and the second racks are firmly connected together by threaded connecting pieces, and the upper ends are nested on a transmission shaft; the first joint shaft is connected with the transmission shaft by two fixing rods. The transmission mechanism has the advantages of simple structure and low processing cost and can realize pre-tightening and transmission clearance adjustment.

A placing device and a method for placing objects onto substrates are suited for obtaining both very small as well as very large placement forces of the object exerted on the substrate. To this end, a gripper, by way of which the object can be picked up, is pretensioned with regard to a holder in a direction of placement. The pretensioning ensues via a first coupling element provided on the holder and via a second coupling element provided on the gripper. An electrical and/or magnetic field is generated between the first and the second coupling element and effects an action of force between the holder and the gripper. This enables a predetermined placement force to be attained when using the gripper to place the object.

The invention relates to a method and a device for implementing unmanned management of a farmland, which belong to the field of agricultural robots. According to the method, a plurality of fixed points (1) are arranged in the farmland, docking mechanisms (3) at the two ends of each rotating arm (2) are alternately docked with a center fixing device (6) arranged at each fixed point, and then a rotary operation is implemented with each center fixing device as an axis. The device and the method not only solve the problem that the work place of the conventional farm robot cannot be changed, but also are beneficial to implementation of electrified and automatic production of agriculture as well as water-saving sprinkling irrigation and even sowing irrigation, thus assisting people in completely getting rid of a production situation of 'going to bed with the lamb, and rising with the lark' as well as 'facing the loess back', and realizing the dream of 'managing the vast farmland in thousands of miles away'.

The invention discloses a multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping and belongs to the technical field of robot fingers. The multi-axis wheel train robot finger device for achieving parallel opening and closing and self-adaptive enveloping comprises a base, two finger sections, two joint shafts, a driver, two sets of wheel train driving mechanisms, a lug driving plate, spring parts, a limiting lug and the like. The device utilizes the single driver, a multi-axis wheel train with the reasonably-set transmission ratio, the spring parts, the lug driving plate, the limiting lug, the movable sleeve-connected finger sections and the like to comprehensively achieve the functions of parallel opening and closing for pinch and self-adaptive enveloping grasping, can translate the second finger section to pinch objects according to different shapes and positions of the target objects and can also sequentially turn the first finger section and the second finger section to envelope the objects. The device adopts the double-way driving and driven modes of drive wheels and gears and is large in grabbing range and free of motion dead zones. In addition, the device adopts an under-actuation mode and only utilizes one driver to drive two joints without a complicated sensing and control system. The device is compact in structure, small in size and low in manufacturing and maintaining cost and is suitable for robot fingers.

The invention relates to down lamp assembling equipment, which comprises down lamp front face assembling equipment and down lamp back face assembling equipment which are oppositely arranged. The downlamp front face assembling equipment is used for installing a lamp body and a diffusion plate on the lamp body; and the down lamp back face assembling equipment is used for installing a buckle, a leftclamping spring and a right clamping spring on a lamp body. According to the automatic down lamp assembling equipment, front face and back face mounting of the of the down lamp can be automatically achieved, the whole process is completed in a full-automatic mode, and the whole process is operated in a seamless mode, so that the production efficiency of the down lamp is remarkably improved, the labor cost is reduced, meanwhile, the assembling quality is improved; and the overall structural layout is reasonable, and high practicability and popularization value are achieved.

The invention relates to the field of gripping equipment, and particularly relates to a three-axis truss gripping device and a using method thereof; the gripping device comprises a supporting frame; amoving mechanism is arranged on the supporting frame; the moving mechanism is connected with a gripping assembly for part gripping; and the gripping assembly comprises a clamping cylinder and a rotating cylinder which is connected with the clamping cylinder and used for rotation of the clamping cylinder. The invention discloses a novel part gripping device. By matching of the clamping cylinder and the rotating cylinder, multi-directional loading of the gripping device can be implemented, so that the gripping device disclosed by the invention can carry out multi-directional loading, thereby enlarging the application range of the three-axis truss gripping device.

The invention discloses an automatic feeding manipulator of a punching machine. Through the automatic feeding manipulator, the machining efficiency of the punching machine can be greatly improved; thefeeding and discharging efficiency is improved through an indexing rotating method; during machining, workpieces cannot get away from the manipulator, the machining precision and the machining efficiency are improved. During machining and feeding, when the punching machine conducts feeding and punching, mechanical gripper grabbing assemblies grabs the workpieces, and the lower ends of the workpieces are located in workpiece passing holes of an indexing rotary disk. The indexing rotary disk rotates, the workpieces are moved to the locations under punch pins, feed cylinders descend to conduct feeding to make the lower end of a punching and clamping assembly be located to a punching bottom die, and then the corresponding mechanical gripper grabbing assembly loosens the corresponding workpiece, the workpiece falls into the corresponding stamping and clamping assembly and clamped by the stamping and clamping assembly, and then the workpiece is subjected to stamping or punching through thecorresponding punch pin. After completion of machining, the indexing rotary disk rotates to drive the punching and clamping assemblies to rotate to the discharging position, and the punching and clamping assemblies loosen the workpieces to complete discharging.

The invention provides a soft body grabbing device and method based on artificial muscle drive. The soft body grabbing device comprises an arm, a palm and a plurality of soft body fingers, wherein thepalm is arranged on the arm, the soft body fingers are uniformly distributed or oppositely arranged on the palm, each soft finger comprises an end cover, a finger body, a bending sensor and artificial muscles, each finger body is connected to the palm through the corresponding end cover, a first slot, a second slot and a third slot which are parallel in the axis direction of each finger body areformed in each finger body, the artificial muscles are arranged in each first slot and located on the grabbing front face of the corresponding finger body, each bending sensor is arranged in the corresponding second slot and located on the grabbing back face of the corresponding finger body, a connecting wire is arranged in each third slot and located in the middle of the corresponding finger body, and each first slot, the corresponding second slot and the corresponding third slot communicate with one another. The soft body grabbing device has the advantages of being compact in structure and high in grabbing capacity.

The invention relates to an intelligent robot gripper for a stacking system. The intelligent robot gripper for the stacking system comprises a supporting assembly, a gripping assembly and a power assembly, wherein the gripping assembly and the power assembly are fixed to the supporting assembly. The gripping assembly comprises four rows of gripping teeth. The gripping teeth comprise L-shaped fixing teeth and sealing assemblies arranged at the tops of the fixing teeth. Each sealing assembly comprises a cylindrical body, an annular rubber ring and two respiratory films. Strip-shaped cavities are formed in the bodies and communicated with an external air compressor via through holes formed in the fixing teeth. By the adoption of the intelligent robot gripper for the stacking system, through suction cup type fixed connection, bags can be freely gripped and fixed through the mechanical gripper; and glass fiber reinforced plastics is adopted as a main material, the overall weight can be effectively reduced, the bags can be effectively supported, and the gripping capacity and work efficiency are improved.

The invention discloses a sealing heat treatment device, a manipulator device and a process for hardening a basal plate, wherein the heat treatment device comprises a loading layer which can place basal plates in multi-layer, a heater and a frame for fixing the loading layer and the heater, wherein the left side, the right side and the bottom of the loading layer are provided with metal clips, the frame is provided with controllable doors corresponding to each loading layer, and the heater is arranged on the bottom of the frame, wherein the controllable doors are arranged on the top end of the frame, and the basal plates and the loading layer are vertically arranged in the frame. The sealing heat treatment device, the manipulator device and the process for hardening the basal plate which are provided by the invention can load heated objects with high intensity, and are convenient for the large-scale of the heat treatment device and not reducing heat treatment efficiency.

The present invention prevents the debris from adhering to the robot hand. A plate-shaped robot hand 2 has a first holding means 21 for causing air to flow along one face 211a to perform noncontact suction holding of the wafer and a second holding means 22 for holding the wafer on the other face 221a by suction. The holding means 21 includes a first plate member 211; a groove 213 formed on one surface 211a and one end of which opens to the outer periphery of the plate member 211; an jet port 214 for jetting air from the other end of the groove to one end; and a a supply path 215 formed in theholding means and communicating the jet port with a first connection port 216 of an attachment portion 12. The holding means 22 includes a second plate member 221; a suction port 224 for communicatingthe other surface with a suction source 61; and a suction port 223 formed inside the holding means for communicating the suction port 224 and a second connection port 226 provided in the attachment portion 12 attached to the robot 1.

The invention relates to a rack type parallel coupling underactuated robot finger device belonging to the technical field of hand design of humanoid robots. The device comprises a base, a motor, a speed reducer, a proximal joint axle, a middle finger section, a distal joint axle, a tail end finger section, a coupling transmission mechanism, an underactuated transmission mechanism and a plurality of spring parts. The device comprehensively realizes the effective fusion of the coupled grasping effect and the selfadaptive underactuated grasping effect by adopting the motor, the gear rack coupling transmission mechanism, the gear rack underactuated transmission mechanism and the spring parts. The device has simple structure and no transition axle; and the transmission parts do not distort andare not pretightened, the transmission process is accurate, the appearance and the action process of grasping objects are similar to those of human fingers, and therefore, the device is suitable for being taken as fingers of a humanoid robot hand.

The invention provides a multifunctional robot hand. The multifunctional robot hand comprises a base, fingers, and a driving component, wherein the fingers are movably connected to the bottom of the base; the driving component is arranged on the base and is used for driving the fingers to move; a shape self-adaptive component which is used for adaptation to the outer contour of an object to be grasped and is matched with the fingers to locate the object to be grasped is arranged on the base; and one end of the shape self-adaptive component stretches into a containing area formed by the fingersin a surrounding manner. Through the cooperation of the shape self-adaptive component and the fingers, when the object is grasped, the shape self-adaptive component is pressed against the object to be grasped, so that the outer contour of the bottom side of the shape self-adaptive component is adapted to the outer contour of the top of the object to be grasped, further the contact area between the shape self-adaptive component and the surface of the object to be grasped is enlarged, and the friction force between the shape self-adaptive component and the surface of the object to be grasped isincreased, the object to be grasped is well located on the base, and thus, the technical problem that the robot hand cannot be adapted to a special-shaped object is effectively solved; and the firmness and reliability of using the multifunctional robot hand to grasp objects are improved.

The invention discloses a mechanical gripper and a robot. The mechanical gripper comprises a butt joint seat, a driving part, a screw and a gripper assembly, wherein the driving part can drive the screw to rotate; and the gripper assembly comprises an installation seat, a first clamping jaw, a second clamping jaw and a movable block, the installation seat is arranged on the driving part, the first clamping jaw and the second clamping jaw are movably connected with the installation seat, the two opposite ends of the movable block are movably connected with the first clamping jaw and the second clamping jaw separately, and the movable block is provided with a screw hole matched with the screw in a screwed mode. The butt joint seat is used for being in butt joint with the tail end of a mechanical arm of the robot, the driving part can drive the screw to rotate, and in the rotating process of the screw, the movable block reciprocates along the axis of the screw to drive the first clamping jaw and the second clamping jaw to swing, so that the first clamping jaw and the second clamping jaw are matched to realize closing or separating. Compared with a traditional mechanical gripper, a simpler structure is achieved, only the speed and the direction of rotation of the screw driven by the driving part need to be controlled, and easier control is achieved.

The invention discloses a manipulator with a motion controlled by a torsion spring and steering engines. The manipulator comprises a palm, a thumb, a forefinger, a middle finger, a ring finger and a little finger; an external part of the palm includes a hand back stopper, a hand back block, a palm block, a palm stopper and a thumb pressing block; the thumb pressing block is aslant inserted in a groove in the thumb position on the hand back block; the palm block is tightly combined with the hand back block and the thumb pressing block through a lap of limiting structures, and is locked with the same through a center bolt and a center nut in middle; the palm stopper and the hand back stopper are respectively clamped in grooves of the palm block and the hand back block for covering the center bolt and the center nut; and an internal part of the palm includes a steering engine bracket, five steering engines, five coil tillers, a thumb guide frame and a four-finger guide frame, wherein the five coil tillers are locked on output shafts of the five steering engines through screws. The manipulator is flexible and light in structure and simple and precious in control, improves the simulation capacity, and is low in cost and simple and beautiful in appearance.

The invention discloses an engineering manipulator for color plate installation. The engineering manipulator comprises a base, supporting columns, a top plate, an adjusting frame, a driving frame andan extrusion plate, wherein the two supporting columns are symmetrically and fixedly connected to the top of the base; the tops of the two supporting columns are fixedly connected to the bottom of thetop plate; sliding rods are arranged in inner cavities of the two supporting columns; the tops and the bottoms of the sliding rods are fixedly connected to the tops and the bottoms of the inner cavities of the supporting columns correspondingly; the surfaces of the sliding rods are slidably connected to first sliding blocks correspondingly; one side of each first sliding block is fixedly connected to moving wheels; the other sides of the first sliding blocks penetrate through the supporting columns and are fixedly connected to a fixing frame correspondingly; a cylinder is arranged at the center of the top of the top plate; an air rod in the cylinder penetrates through the top plate and is fixedly connected to the center of the top of the adjusting frame; fixing frames are fixedly connected to the two sides of the adjusting frame; a sliding rail is fixedly connected to the top of an inner cavity of the adjusting frame; a second sliding block is slidably connected to the surface of thesliding rail; the bottom of the second sliding block is fixedly connected to the top of a movable rack; and the movable rack is connected to a lead screw through a screw thread. The invention providesthe angle-adjustable engineering manipulator facilitating color plate installation.