Robot dexterous finger with anthropomorphic self-adaptive capability and dexterous hand

Abstract

The invention belongs to the related technical field of manipulators, and discloses a robot dexterous finger with anthropomorphic self-adaptive ability and a dexterous hand, the finger comprises a finger knuckle module, a finger driving module and a connecting rod structure; the finger knuckle module comprises a near knuckle assembly, a middle knuckle assembly and a fingertip assembly which are rotationally connected in sequence, the finger driving module comprises a base and a driving structure, and the near knuckle assembly is rotationally connected with the base; the connecting rod structure comprises a middle-section connecting rod and a near-section connecting rod assembly, the first end of the middle-section connecting rod is rotationally connected with the fingertip assembly, the second end of the middle-section connecting rod is rotationally connected with the near-section connecting rod assembly, the near-section connecting rod assembly comprises two hinged connecting rods, the first ends of the two connecting rods are rotationally connected with the middle-section connecting rod assembly, the second ends of the two connecting rods are rotationally connected with the base, and a near-section tension spring is arranged between the second ends of the two connecting rods. The driving structure is used for driving the connecting rod close to the second end to rotate. According to the invention, the finger compliance of simulating a human hand can be realized, the bionic flexibility is provided, and the object grabbing capability and adaptability of fingers are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to robotic arms, and more specifically, relates to a dexterous finger and a dexterous hand of a robot with anthropomorphic adaptive capabilities. Background Art

[0002] In recent years, the dexterity and anthropomorphism of robotic end-effectors have become a research hotspot. Multi-fingered dexterous hands, in particular, have shown significant potential in areas such as precision manipulation and object grasping. Linkage-based robotic fingers are widely adopted due to their high transmission efficiency and reliable structure. However, existing linkage-based robotic fingers still have some limitations, as follows:

[0003] Traditional link finger joints move through a rigid linkage mechanism and lack bionic flexibility, resulting in concentrated contact pressure when grasping irregular objects, which can easily damage the objects or cause unstable grasping; traditional link fingers cannot automatically adjust the contact state between the knuckles and the object according to the contact state, and their adaptive ability is insufficient; many fingers are too large and heavy to fit on compact robot platforms.

[0004] Therefore, a linkage robotic finger that is close to the size of a human finger and has an anthropomorphic appearance and motion characteristics has high application value. Summary of the Invention

[0005] In response to the above-mentioned defects or improvement needs of the prior art, the present invention provides a dexterous robot finger and dexterous hand with anthropomorphic adaptive capabilities, which are used to solve the problem that traditional connecting rod fingers move through the rigid linkage of the connecting rod mechanism, lack bionic flexibility, and easily lead to concentrated contact pressure when grasping special-shaped objects, which may damage the objects or cause unstable grasping. It can realize the adaptability and bionic flexibility of the fingers of the anthropomorphic hand, thereby improving the grasping stability and object adaptability.

[0006] To achieve the above objectives, according to one aspect of the present invention, a dexterous robotic finger with anthropomorphic adaptive capabilities is provided, comprising a finger knuckle module, a finger drive module, and a connecting rod structure; the finger knuckle module comprises a proximal knuckle assembly, a middle knuckle assembly, and a fingertip assembly, which are rotatably connected in sequence; the finger drive module comprises a base and a drive structure, the proximal knuckle assembly being rotatably connected to the base, and the drive structure being mounted on the base;

[0007] The connecting rod structure includes a middle section connecting rod and a proximal section connecting rod assembly, the first end of the middle section connecting rod is rotatably connected to the fingertip assembly, and the second end is rotatably connected to the proximal section connecting rod assembly, the proximal section connecting rod assembly includes two hinged connecting rods, the first ends of the two connecting rods are rotatably connected to the middle section connecting rod assembly, the second ends are rotatably connected to the base, and a proximal section tension spring is provided between the two connecting rods, and the driving structure is used to drive the connecting rod close to the second end of the two connecting rods to rotate.

[0008] According to the dexterous robot finger with anthropomorphic adaptive ability provided by the present invention, the two connecting rods are the proximal second connecting rod and the proximal third connecting rod, the proximal connecting rod assembly also includes the proximal first connecting rod, the first end of the proximal third connecting rod is rotatably connected to the middle finger joint assembly, and the second end is rotatably connected to the first end of the proximal second connecting rod, the second end of the proximal second connecting rod is rotatably connected to the base, the proximal second connecting rod also has a third end rotatably connected to the first end of the proximal first connecting rod, the driving structure is a linear motor module, and the second end of the proximal first connecting rod is connected to the linear motor module.

[0009] According to the dexterous robot finger with anthropomorphic adaptive ability provided by the present invention, the fingertip assembly is rotatably connected to the middle knuckle assembly via pin one, the middle knuckle assembly is rotatably connected to the proximal knuckle assembly via pin two, and the orientation of the first end of the middle knuckle connecting rod relative to pin one in the inner and outer directions of the finger is opposite to the orientation of the second end relative to pin two.

[0010] According to the dexterous robot finger with anthropomorphic adaptive ability provided by the present invention, the proximal knuckle assembly is rotatably connected to the base via pin three, and the orientation of the first ends of the two connecting rods relative to pin two in the inward and outward directions of the finger is opposite to the orientation of the second ends relative to pin three.

[0011] According to the dexterous robot finger with anthropomorphic adaptive ability provided by the present invention, the linear motor module includes a linear motor body and a linear motor rod, the finger drive module also includes a motor rod guide block, the linear motor body is connected to the base, the linear motor rod extends out of the linear motor body and is connected to the motor rod guide block for providing linear reciprocating movement, and the second end of the proximal first connecting rod is connected to the motor rod guide block.

[0012] According to the dexterous robot finger with anthropomorphic adaptive ability provided by the present invention, the finger drive module also includes a guide rod seat and a guide rod, the guide rod seat is connected to the base, the guide rod is connected to the guide rod seat in parallel with the telescopic direction of the linear motor rod, a linear bearing is provided on the guide rod, and the motor rod guide block is connected to the linear bearing.

[0013] According to the dexterous robot finger with anthropomorphic adaptive ability provided by the present invention, the proximal phalanx component includes a proximal phalanx and a proximal phalanx sleeve sleeved on the proximal phalanx, the middle phalanx component includes a middle phalanx and a middle phalanx sleeve sleeved on the middle phalanx, and the fingertip component includes a fingertip skeleton and a fingertip sleeve sleeved on the fingertip skeleton; the fingertip sleeve, the middle phalanx sleeve and the proximal phalanx sleeve are respectively made of deformable materials.

[0014] According to the dexterous robot finger with anthropomorphic self-adaptation provided by the present invention, the proximal phalanx and the middle phalanx are respectively provided with a receiving cavity, and the connecting rod structure is arranged inside the receiving cavity.

[0015] According to the dexterous robot finger with anthropomorphic adaptive ability provided by the present invention, mechanical limiting structures are respectively provided between the proximal knuckle assembly and the base, and between the middle knuckle assembly and the proximal knuckle assembly, which are used to limit the rotation angles of the proximal knuckle assembly and the middle knuckle assembly, respectively.

[0016] According to another aspect of the present invention, a dexterous robot hand is provided, comprising any one of the above-mentioned dexterous robot fingers with anthropomorphic adaptive capabilities, and also comprising a palm structure, wherein the dexterous robot finger is mounted on the palm structure via the base.

[0017] In general, compared with the prior art, the above technical solutions conceived by the present invention provide a robot with anthropomorphic adaptive capabilities and a dexterous finger and a dexterous hand:

[0018] 1. A middle link is provided to connect the fingertip assembly and the proximal joint assembly, and a proximal link assembly is provided to connect the base and the middle joint assembly, thereby realizing linkage between the three joints of the dexterous finger. The flexion and extension movement of the dexterous finger can be achieved through the drive structure. A proximal tension spring is further provided between the two links of the proximal link assembly to form an elastic link assembly. This enables the finger compliance of an anthropomorphic hand and provides bionic flexibility during the flexion and extension movement of the finger. As a result, the three joints of the robotic finger exhibit anthropomorphic flexible coupling characteristics during the flexion and extension movement, allowing the robotic finger to conform to the shape of the object and envelop it when bending, thereby improving the finger's ability and adaptability to grasp objects.

[0019] 2. A linear motor module drives finger flexion and extension. This single-drive structure helps reduce the size and weight of the fingers, thereby facilitating their anthropomorphic size and improving dexterity. The overall movement of the mechanical finger is achieved through a connecting rod structure and a self-locking linear motor. This mechanism offers high reliability and controllability, enabling easy and precise movements. Furthermore, the mechanism maintains grip force even after power failure, significantly reducing energy requirements during sustained gripping.

[0020] 3. The fingers have two motion modes: flexible adaptive enveloping and precise grasping, which can be dynamically switched according to the contact state, thereby significantly improving the grasping stability and object adaptability; the robotic fingers adopt a modular design that integrates the execution module and the drive module, making it easy to disassemble and assemble, with high flexibility of use, suitable for multiple scenarios such as industrial sorting and service robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1Schematic diagram of the structure of the dexterous fingers of the anthropomorphic adaptive robot constructed in an embodiment of the present invention;

[0022] Figure 2 1. A side cross-sectional view and a schematic diagram of the dexterous finger of an anthropomorphic adaptive robot constructed according to an embodiment of the present invention;

[0023] Figure 3 Schematic diagram of the coordinated motion state of the dexterous fingers of the anthropomorphic adaptive robot constructed in an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the adaptive envelope state of the dexterous finger of the anthropomorphic adaptive robot constructed in an embodiment of the present invention;

[0025] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0026] 1-Finger knuckle module; 2-Finger drive module; 101-Fingertip sleeve; 102-Fingertip skeleton; 103-Middle segment connecting rod; 104-Middle segment phalanx; 105-Middle segment phalanx sleeve; 106-Proximal segment phalanx; 107-Proximal segment phalanx sleeve; 108-Proximal segment third connecting rod; 109-Proximal segment tension spring; 110-Proximal segment second connecting rod; 111-Proximal segment first connecting rod; 112-Pin 1; 113-Pin 2; 114-Pin 3; 201-Base; 202-Motor rod guide block; 203-Linear motor rod; 204-Linear motor body; 205-Pin 4; 206-Guide rod seat; 207-Guide rod; 208-Linear bearing. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0028] See also Figure 1 and Figure 2 This embodiment provides a dexterous robot finger with anthropomorphic adaptive capabilities. The dexterous robot finger includes a finger joint module 1, a finger drive module 2, and a connecting rod structure. The finger joint module 1 includes a proximal joint assembly, a middle joint assembly, and a fingertip assembly that are rotatably connected in sequence. The finger drive module 2 includes a base 201 and a drive structure. The proximal joint assembly is rotatably connected to the base 201, and the drive structure is installed on the base 201.

[0029] The connecting rod structure includes a middle section connecting rod 103 and a proximal section connecting rod assembly, the first end of the middle section connecting rod 103 is rotatably connected to the fingertip assembly, and the second end is rotatably connected to the proximal section connecting rod assembly, the proximal section connecting rod assembly includes two hinged connecting rods, the first ends of the two connecting rods are rotatably connected to the middle section connecting rod assembly, and the second ends are rotatably connected to the base 201, and a proximal section tension spring 109 is provided between the two connecting rods, and the driving structure is used to drive the connecting rod close to the second end of the two connecting rods to rotate.

[0030] In this embodiment, a middle link 103 is set to connect the fingertip assembly and the proximal joint assembly, and then a proximal joint link assembly is set to connect the base 201 and the middle joint assembly, so as to realize the link linkage between the three joints of the dexterous finger, and the flexion and extension movement of the dexterous finger can be realized by the drive structure; further, a proximal joint tension spring 109 is connected between the two links of the proximal joint link assembly, and an elastic link assembly is formed by the proximal joint tension spring 109, which can provide bionic flexibility during the flexion and extension movement of the finger. Specifically, when the dexterous finger is bent and grasped, when the proximal joint assembly touches an object or other movement influences When the movement of the proximal knuckle assembly is blocked, the proximal knuckle spring 109 can also provide a certain movement space, so that the proximal knuckle assembly is not absolutely rigid, thereby achieving bionic flexibility, avoiding the proximal knuckle assembly from generating a large pressure on the object and causing damage to the object, thereby significantly improving the grasping stability and object adaptability.

[0031] Furthermore, the proximal tension spring 109 is in a pre-tensioned state; thus, the elastic force of the proximal tension spring 109 can also serve as a driving force for the finger flexion and extension movement.

[0032] like Figures 1 to 2 As shown, this embodiment provides a dexterous robotic finger with anthropomorphic adaptive capabilities based on a connecting rod structure. The appearance and size of the finger are comparable to those of a human finger, and it also has similar collaborative motion capabilities and adaptive envelope capabilities as a human finger. The robotic finger comprises a finger joint module 1 and a finger drive module 2. Since the positions of the robotic finger shafts (i.e., pins 1, 2, and 3) correspond to the positions of the distal interphalangeal joints, proximal interphalangeal joints, and metacarpophalangeal joints of human fingers, respectively, for the sake of clarity and intuitiveness, the following text refers to the robotic finger shafts by the names of human finger joints.

[0033] The finger joint module 1 includes a proximal phalanx component, a middle phalanx component and a fingertip component: the fingertip component includes a fingertip skeleton 102 and a fingertip sleeve 101 sleeved on the fingertip skeleton 102; the middle phalanx component includes a middle phalanx 104 and a middle phalanx sleeve 105 sleeved on the middle phalanx 104; the proximal phalanx component includes a proximal phalanx 106 and a proximal phalanx sleeve 107 sleeved on the proximal phalanx 106.

[0034] The fingertip assembly and the middle phalanx assembly, specifically the middle phalanx 104, are rotatably connected or hinged via pin one 112. The middle phalanx 104 and the proximal phalanx 106 are rotatably connected or hinged via pin two 113. The first end of the middle link 103 is opposite to the position of the second end relative to pin two 113 in the inner and outer directions of the finger relative to pin one 112. The proximal phalanx 106 and the base 201 are rotatably connected or hinged via pin three 114. The inner and outer directions of the finger are the directions of the inside and outside of the finger, i.e., Figure 2 The direction of left and right.

[0035] The positions of pins 1, 2, and 3 correspond to the distal interphalangeal joints, proximal interphalangeal joints, and metacarpophalangeal joints of the human hand, respectively. One end of the middle link 103 is hinged to the fingertip skeleton 102, and the other end is hinged to the proximal phalanx 106. This ensures that the rotation angles of the distal interphalangeal joints and the proximal interphalangeal joints of the fingers are rigidly coupled, i.e., the rotation angles of the proximal and distal interphalangeal joints of the fingers are in a fixed relationship.

[0036] The two connecting rods are the proximal second connecting rod 110 and the proximal third connecting rod 108. The proximal connecting rod assembly also includes a proximal first connecting rod 111. The first end of the proximal third connecting rod 108 is rotatably connected to the middle finger joint assembly, and the second end is rotatably connected to the first end of the proximal second connecting rod 110. The second end of the proximal second connecting rod 110 is rotatably connected to the base 201. The proximal second connecting rod 110 also has a third end rotatably connected to the first end of the proximal first connecting rod 111. The driving structure is a linear motor module, and the second end of the proximal first connecting rod 111 is connected to the linear motor module.

[0037] That is, the proximal link assembly includes a proximal third link 108, a proximal tension spring 109, a proximal second link 110, and a proximal first link 111. The proximal third link 108 is hinged to the proximal second link 110 and connected via the proximal tension spring 109, forming an elastic link assembly. The elastic link assembly has a first end hinged to the proximal first link 111, a second end hinged to the middle phalanx 104, and a third end hinged to the base 201, thereby achieving a flexible angular coupling between the metacarpophalangeal joint and the proximal interphalangeal joint of the finger. That is, when the finger is naturally bent, not in contact with the grasped object, and not at its limit position, the angular relationship between the two joints is equivalent to a rigid coupling, and the proximal tension spring 109 maintains its original pre-tensioned state. When the movement of the proximal phalanx 106 is blocked or reaches its limit angle, the middle phalanx assembly and the distal phalanx assembly can continue to move as the proximal tension spring 109 extends until contact is achieved or the limit position is reached.

[0038] The fingertip sleeve 101, the middle phalanx sleeve 105 and the proximal phalanx sleeve 107 are respectively made of deformable materials, that is, the fingertip sleeve 101, the middle phalanx sleeve 105 and the proximal phalanx sleeve 107 are all made of materials with lower hardness, such as rubber, to ensure the softness of the contact position between the finger and the object. The "hinge" described in this embodiment refers to the assembly of two or more parts in the form of a revolving pair. The "sleeve connection" described in this embodiment means that a phalanx sleeve is sleeved on the phalanx, and there is a connecting structure between the phalanx and the phalanx sleeve. For example, a matching groove and protrusion structure can be provided between the phalanx and the phalanx sleeve to achieve positioning, so that the phalanx sleeve can be firmly embedded in the phalanx. This embodiment does not limit the connection method between the phalanx sleeve and the phalanx, which can be sleeve connection, bonding, riveting or other methods.

[0039] The linear motor module includes a linear motor body 204 and a linear motor rod 203. The finger drive module 2 also includes a motor rod guide block 202. The linear motor body 204 is connected to the base 201. The linear motor rod 203 extends out of the linear motor body 204 and is connected to the motor rod guide block 202 for providing linear reciprocating movement. The second end of the proximal first connecting rod 111 is connected to the motor rod guide block 202.

[0040] The finger drive module 2 also includes a guide rod seat 206 and a guide rod 207. The guide rod seat 206 is connected to the base 201. The guide rod 207 is connected to the guide rod seat 206 in parallel with the telescopic direction of the linear motor rod 203. A linear bearing 208 is sleeved on the guide rod 207, and the motor rod guide block 202 is connected to the linear bearing 208.

[0041] That is, the finger drive module 2 includes a base 201, a motor rod guide block 202, a linear motor rod 203, a linear motor body 204, a guide rod seat 206 and a guide rod 207. The motor rod guide block 202, the linear motor rod 203 and the linear motor body 204 are fixedly connected by threads. The guide rod seat 206 is fixedly connected to the base 201 by threads, and the guide rod 207 is fixedly connected to the guide rod seat 206. The linear bearing 208 is fixedly connected to the motor rod guide block 202, so that the motor rod guide block 202 can move back and forth along the guide rod 207. The motor rod guide block 202 is hinged to the proximal first connecting rod 111. The extension and retraction of the linear motor rod 203 pushes the motor rod guide block 202 to move back and forth in a straight line along the guide rod 207, providing power for the flexion and extension of the finger through the proximal first connecting rod 111. The bottom of the linear motor body 204 can be hingedly mounted on the base 201 through pin four 205, thereby providing the motor with a small swing displacement space to better adapt to the flexion and extension movement of the fingers; it can also be other connecting structures to achieve the purpose of installing and fixing the linear motor module and driving the flexion and extension of the fingers, and there is no specific limitation.

[0042] When the linear motor rod 203 is extended, the finger bends, and when it is retracted, the finger straightens. The "linear motor modules" described are all integrated linear motor modules, containing electromechanical components such as a DC brush motor, a lead screw module, a position encoder, and a drive control circuit board, enabling precise position control and self-locking when power is off. The guide rod 207 and linear bearing 208 can unload the radial forces acting on the motor rod guide block 202 along the linear motor rod 203, so that the linear motor only experiences forces acting along the axial direction of the linear motor rod 203, preventing damage to the linear motor due to inappropriate force conditions. Mechanical limit structures are provided between the base 201 and the proximal phalanx 106 of the proximal phalanx assembly, and between the middle phalanx 104 of the middle phalanx assembly and the proximal phalanx 106 of the proximal phalanx assembly, respectively, to limit the rotation angles of the proximal and middle phalanx assemblies, for example, limiting the range of motion of the metacarpophalangeal joint and proximal interphalangeal joint to 0 to 90 degrees.

[0043] Taking the mechanical limiting structure between the base 201 and the proximal phalanx 106 as an example, a mechanical blocking member such as a block can be set on the base 201, and the mechanical blocking member is located on the rotation path of the proximal phalanx 106, thereby realizing the limiting blocking effect.

[0044] Furthermore, the base 201 is used to mount and secure the fingers. Mounting holes are provided on the base 201, allowing the robotic fingers to be conveniently assembled into a modular manipulator. The proximal phalanx 106 and the middle phalanx 104 each have a receiving cavity, with the connecting rod structure located within the cavity. The linear motor modules used in the robotic finger are all self-locking in reverse, meaning the linear motor rod 203 can extend and retract under the drive of the linear motor body 204, but cannot reverse motion under external force.

[0045] This embodiment further provides a dexterous robotic hand, comprising any of the aforementioned dexterous robotic fingers with anthropomorphic adaptive capabilities, and a palm structure, wherein the dexterous robotic fingers are mounted to the palm structure via the base. The palm structure is a conventional configuration of a robotic hand, and its specific configuration is not further described.

[0046] Furthermore, in some specific embodiments, the finger drive module also includes a first metacarpal link, a second metacarpal link, a metacarpal tension spring, and a metacarpal base. One end of the first metacarpal link is hinged to the linear motor rod 203, and the other end is hinged to one end of the second metacarpal link. The other end of the second metacarpal link is hinged to the metacarpal base, and a metacarpal tension spring is provided between the first and second metacarpal links. The linear motor body 204 can be connected to the base 201, and the base 201 and the metacarpal base are rotatably hinged. The metacarpal base is used to connect to the palm to achieve the installation and fixation of the fingers. This allows the finger drive module 2 to rotate and deflect relative to the palm, and passively coupled deflection during finger flexion and extension, similar to the movement of the metacarpal bones in the little finger and ring finger of the human hand. When the dexterous finger is used in a dexterous hand, it can improve the grasping envelope ability of the dexterous hand and enhance the anthropomorphic nature. In this case, the dexterous finger can correspond to the little finger or the ring finger.

[0047] In order to make the mechanism principle of the finger clearer, Figure 2 The cross-sectional view and the schematic diagram of the finger are shown. The same parts in the cross-sectional view and the schematic diagram are marked with the same part numbers. Figure 2 It can be clearly seen from the schematic diagram of the mechanism that the rigid coupling relationship between the proximal interphalangeal joints and the distal interphalangeal joints of the fingers is determined by a set of antiparallelogram mechanisms; the flexible coupling relationship between the metacarpophalangeal joints and the proximal interphalangeal joints of the fingers is divided into two stages: in the coordinated movement stage, the proximal joint tension spring 109 remains in the initial state, and the proximal joint assembly can be simplified into a set of antiparallelogram mechanisms; in the compliant movement stage, the movement of the proximal phalanx 106 is hindered, and the proximal joint assembly is transformed into a double rocker mechanism composed of the proximal second link 110, the proximal third link 108, and the middle phalanx 104, and the proximal phalanx 106 serves as the frame of the double rocker mechanism, thereby realizing compliant movement.

[0048] The following combination Figure 2 、 Figure 3The motion functions of this embodiment are described in detail with examples only to facilitate understanding by technicians and are not intended to limit the control method of the present invention.

[0049] The motion function of the robotic finger is mainly reflected in its anthropomorphic adaptive envelope motion mode, which includes two stages: the collaborative motion stage and the compliant motion stage. The following describes the motion stages by dividing the linear motor rod 203 from fully retracted to fully extended from the linear motor body. Figure 3 and Figure 4 As shown, the motion pattern of the robotic finger when adaptively enveloping an object presents two stages. The first coordinated motion stage: When the linear motor rod 203 is just extended, the three joints of the finger, namely the metacarpophalangeal joint, the proximal interphalangeal joint, and the distal interphalangeal joint, present a certain coordinated motion relationship until the proximal phalanx 106 is blocked from contacting the object or the proximal phalanx 106 moves to the maximum limit, that is, the metacarpophalangeal joint reaches the maximum bending angle of 90°; the second compliant motion stage: After the proximal phalanx 106 of the finger stops rotating, the middle phalanx 104 of the finger and the fingertip skeleton 102 continue to move in a coupled relationship until they contact the object or move to the maximum limit. Note that during the two stages of motion, the proximal phalanx assembly always remains flexible, that is, an external force can be applied manually to restore it to its initial position. As the finger bending angle increases, the stretched length of the proximal tension spring 109 increases, and the restoring force required for the proximal phalanx assembly to return to its initial position also increases.

[0050] The aforementioned motion characteristics of the robotic finger are highly similar to those of the human hand, achieving a high degree of anthropomorphism. It possesses an anthropomorphic appearance and the ability to move in coordination. The underactuated linkage mechanism and tension springs give the finger adaptability, resolving the issues of excessive rigidity and insufficient adaptability of traditional robotic fingers. The finger adopts a three-joint design, combined with an elastic linkage assembly to achieve flexible coupling between the finger joints. A linear motor module is used to power the finger flexion and extension through the linkage assembly, ensuring precise control and power-off self-locking functionality. The finger has two motion modes: flexible adaptive enveloping and precise grasping, which can be dynamically switched according to the contact state, significantly improving grip stability and object adaptability. Furthermore, the modular design of the finger facilitates rapid assembly and maintenance, making it suitable for a variety of scenarios such as industrial sorting and service robotics.

[0051] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dexterous robot finger with anthropomorphic adaptive capabilities, characterized in that: The finger knuckle module comprises a finger drive module and a connecting rod structure; the finger knuckle module comprises a proximal knuckle assembly, a middle knuckle assembly and a fingertip assembly which are rotatably connected in sequence; the finger drive module comprises a base and a drive structure; the proximal knuckle assembly is rotatably connected to the base; and the drive structure is mounted on the base; The connecting rod structure includes a middle section connecting rod and a proximal section connecting rod assembly, the first end of the middle section connecting rod is rotatably connected to the fingertip assembly, and the second end is rotatably connected to the proximal section connecting rod assembly, the proximal section connecting rod assembly includes two hinged connecting rods, the first ends of the two connecting rods are rotatably connected to the middle section connecting rod assembly, the second ends are rotatably connected to the base, and a proximal section tension spring is provided between the two connecting rods, and the driving structure is used to drive the connecting rod close to the second end of the two connecting rods to rotate.

2. The dexterous robot finger with anthropomorphic adaptive capabilities according to claim 1, characterized in that: The two connecting rods are the proximal second connecting rod and the proximal third connecting rod. The proximal connecting rod assembly also includes a proximal first connecting rod. The first end of the proximal third connecting rod is rotatably connected to the middle finger joint assembly, and the second end is rotatably connected to the first end of the proximal second connecting rod. The second end of the proximal second connecting rod is rotatably connected to the base. The proximal second connecting rod also has a third end rotatably connected to the first end of the proximal first connecting rod. The driving structure is a linear motor module, and the second end of the proximal first connecting rod is connected to the linear motor module.

3. The dexterous robot finger with anthropomorphic adaptive capabilities as claimed in claim 1, characterized in that: The fingertip assembly is rotatably connected to the middle phalanx assembly via pin 1, and the middle phalanx assembly is rotatably connected to the proximal phalanx assembly via pin 2. The orientation of the first end of the middle phalanx connecting rod relative to pin 1 in the inner and outer directions of the finger is opposite to the orientation of the second end relative to pin 2.

4. The dexterous robot finger with anthropomorphic adaptive capabilities according to claim 1, characterized in that: The proximal knuckle assembly is rotatably connected to the base via pin three, and the positions of the first ends of the two connecting rods relative to pin two in the inner and outer directions of the finger are opposite to the positions of the second ends relative to pin three.

5. The dexterous robot finger with anthropomorphic adaptive capabilities as claimed in claim 2, characterized in that: The linear motor module includes a linear motor body and a linear motor rod. The finger drive module also includes a motor rod guide block. The linear motor body is connected to the base. The linear motor rod extends out of the linear motor body and is connected to the motor rod guide block for providing linear reciprocating movement. The second end of the proximal first connecting rod is connected to the motor rod guide block.

6. The dexterous robot finger with anthropomorphic adaptive capability according to claim 5, characterized in that: The finger drive module also includes a guide rod seat and a guide rod, the guide rod seat is connected to the base, the guide rod is connected to the guide rod seat parallel to the telescopic direction of the linear motor rod, a linear bearing is provided on the guide rod, and the motor rod guide block is connected to the linear bearing.

7. The dexterous robot finger with anthropomorphic adaptive capabilities as claimed in claim 1, characterized in that: The proximal phalanx component includes a proximal phalanx and a proximal phalanx sleeve sleeved on the proximal phalanx, the middle phalanx component includes a middle phalanx and a middle phalanx sleeve sleeved on the middle phalanx, and the fingertip component includes a fingertip skeleton and a fingertip sleeve sleeved on the fingertip skeleton; the fingertip sleeve, the middle phalanx sleeve and the proximal phalanx sleeve are respectively made of deformable materials.

8. The dexterous robot finger with anthropomorphic adaptive capabilities according to claim 7, characterized in that: The proximal phalanx and the middle phalanx are respectively provided with an accommodating cavity, and the connecting rod structure is arranged inside the accommodating cavity.

9. The dexterous robot finger with anthropomorphic adaptive capabilities as claimed in claim 1, characterized in that: Mechanical limiting structures are respectively provided between the proximal phalanx assembly and the base, and between the middle phalanx assembly and the proximal phalanx assembly, for limiting the rotation angles of the proximal phalanx assembly and the middle phalanx assembly respectively.

10. A dexterous robot hand, characterized in that: The dexterous robot finger with anthropomorphic adaptive capability according to any one of claims 1 to 9 further comprises a palm structure, wherein the dexterous robot finger is mounted on the palm structure via the base.

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