Magnetorheological damper passive reset mechanism for dexterous hand finger joint
By using a magnetorheological damping passive reset mechanism, the damping is adjusted by magnetorheological fluid and electromagnetic ring, and combined with springs and buffer rods to provide smooth buffering. This solves the problems of unstable reset, complex structure and high energy consumption of dexterous hand finger joints, and realizes efficient, low-energy, miniaturized and fast reset of dexterous hand.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Filing Date
- 2026-06-04
- Publication Date
- 2026-07-10
AI Technical Summary
Existing dexterous hand finger joint reset mechanisms suffer from problems such as unstable reset, large impact, fixed and unadjustable buffering effect, complex structure, large space occupation, high energy consumption, and slow reset response speed.
A magnetorheological damping passive reset mechanism is adopted. Through the cooperation of magnetorheological fluid and electromagnetic ring, the power supply module controls the on and off state of the electromagnetic ring to achieve flexible adjustment of damping characteristics. Combined with spring and buffer rod, it provides a smooth buffering effect, and the joint is driven to bend and reset by motor.
It improves the stability and controllability of finger joint repositioning, reduces the risk of wear and tear, adapts to different operating scenarios, has a compact structure, low energy consumption, fast response speed, is suitable for miniaturization design, extends battery life and improves work efficiency.
Smart Images
Figure CN122353659A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, and more particularly to a magnetorheological damping passive reset mechanism for finger joints of a dexterous hand. Background Technology
[0002] With the rapid development of robotics technology, dexterous hands, as the core execution component for robots to interact with the external environment, are widely used in various fields such as industrial assembly, medical rehabilitation, and hazardous environment operations. The finger joints, as key structures for dexterous hands to achieve flexible movements, directly determine the operational accuracy, movement smoothness, and lifespan of the dexterous hand through their reset performance. Currently, most dexterous hand finger joint reset mechanisms adopt traditional mechanical reset methods, which have many shortcomings. Some reset mechanisms rely on rigid structure transmission, lacking an effective buffering mechanism during the reset process, resulting in significant impact during finger movements, easily causing wear on the joint structure, and reducing reset accuracy and affecting the operational stability of the dexterous hand after long-term use. Other reset mechanisms, although equipped with buffering structures, have fixed and unadjustable buffering effects, failing to flexibly adjust the reset damping according to different operating scenarios and load requirements, resulting in poor adaptability. Meanwhile, traditional reset mechanisms are often complex in structure and occupy a large space, making them difficult to adapt to the design requirements of miniaturized and lightweight dexterous hands. Furthermore, some mechanisms have high energy consumption, which is detrimental to the long-term continuous operation of dexterous hands. In addition, the reset response speed of existing reset mechanisms is slow, failing to meet the requirements in scenarios where rapid action reset is needed, thus limiting the operational efficiency of dexterous hands. Therefore, developing a dexterous hand finger joint reset mechanism that can solve the above problems and balance reset stability, adjustable damping, compact structure, and low energy consumption has become a pressing technical challenge for those skilled in the art. Summary of the Invention
[0003] Purpose of the invention: The purpose of this invention is to address the problems of unstable reset, large impact, and fixed and unadjustable buffering effect in existing dexterous hand finger joint reset mechanisms; another purpose of this invention is to address the problems of complex structure, large space occupation, high energy consumption, and slow reset response speed in existing dexterous hand finger joint reset mechanisms.
[0004] Technical solution: A magnetorheological damping passive reset mechanism for the finger joints of a dexterous hand, comprising a posterior segment of the finger, a groove formed on the front surface of the posterior segment, a perforated block rotatably connected inside the groove, a crossbar rotatably connected inside the perforated block, the ends of the crossbar extending to the outside of the perforated block, a middle segment of the finger located on the outer wall of the perforated block, a pivot opening on the right side of the inner wall of the middle segment of the finger, the pivot opening being rotatably connected to the outer wall of the end of the crossbar, and a wedge gear fixedly connected to the outer wall of the crossbar inside the perforated block.
[0005] Furthermore, a motor is embedded in the right side of the middle segment of the finger, and a connecting helical gear is fixedly connected to the output end of the motor. The connecting helical gear meshes with the wedge gear. A motor is embedded in the front end of the middle segment of the finger, and a rotating opening is symmetrically opened inside the middle segment of the finger. A rotating rod is rotatably connected inside the rotating opening.
[0006] Furthermore, the outer wall of the rotating rod is rotatably connected to the proximal segment of a finger, and the right side of the proximal segment of the finger is symmetrically fixedly connected to a perforated plate. The perforated plates are rotatably connected to the outer wall of the rotating rod. The rotating rod is fixedly connected to a second wedge gear inside the two perforated plates. The output end of the second motor is fixedly connected to a second connecting helical gear, and the second connecting helical gear meshes with the second wedge gear.
[0007] Furthermore, a magnetohydrodynamic damping cavity is fixedly connected to the left side of the upper surface of the posterior segment of the finger, a first transmission wheel is symmetrically fixedly connected to the upper surface of the middle segment of the finger, a second transmission wheel is fixedly connected to the upper surface of the anterior segment of the finger, a fixed plate is fixedly connected to the left side of the upper surface of the anterior segment of the finger, a transmission rope is fixedly connected to the surface of the fixed plate, and the transmission rope is connected to the outer side wall of the second transmission wheel and the first transmission wheel. The end of the transmission rope away from the fixed plate is fixedly connected to the magnetohydrodynamic damping cavity.
[0008] Furthermore, the interior of the magnetohydrodynamic damping cavity is symmetrically connected with sliding plates. The right end of the transmission rope is fixedly connected to the front surface of the front sliding plate, and the rear surface of the rear sliding plate is fixedly connected with a buffer rod. The rear end of the buffer rod extends through to the outer wall of the magnetohydrodynamic damping cavity. A spring is wound around the outer wall of the buffer rod. Between the two sliding plates, a magnetohydrodynamic fluid is disposed inside the magnetohydrodynamic damping cavity.
[0009] Furthermore, an electromagnetic ring is symmetrically and fixedly connected to the outer wall of the magnetohydrodynamic damping cavity, and a power supply module is fixedly connected to the rear surface of the posterior segment of the finger, with the output end of the power supply module being fixedly connected to the electromagnetic ring.
[0010] Beneficial Effects: This mechanism effectively improves the smoothness and controllability of finger joint repositioning, solving the technical pain points of traditional repositioning mechanisms, such as large repositioning impact and unadjustable buffering effect. Through the cooperation of a magnetorheological damping cavity with a magnetorheological fluid and an electromagnetic ring, the power supply module can control the on / off state of the electromagnetic ring according to actual repositioning needs, thereby changing the rheological effect of the magnetorheological fluid and achieving flexible adjustment of damping characteristics. During finger bending, the magnetorheological fluid provides smooth damping buffering, preventing wear on the joint structure due to impact, effectively protecting joint components, and extending the overall lifespan of the dexterous hand. Simultaneously, the smooth buffering effect improves the precision of finger movements, ensuring that the dexterous hand does not deviate from its operational position due to repositioning impact when performing delicate operations. This makes it suitable for scenarios with high precision requirements, such as industrial assembly and medical rehabilitation. Furthermore, the damping adjustment method is simple and convenient, requiring no complex mechanical structure adjustments; it can be achieved solely through electrical control. The low operational difficulty facilitates later maintenance and debugging, reducing operating costs and improving the practicality and reliability of the mechanism.
[0011] With its compact structure, low energy consumption, and fast reset response, this mechanism is well-suited for the miniaturized and lightweight design requirements of dexterous hands. Integrating reset drive and damping functions into a single unit, its rational overall design minimizes space requirements and does not interfere with the installation and operation of other components of the dexterous hand. This facilitates miniaturization and expands its application in confined spaces. Furthermore, the mechanism utilizes a spring combined with magnetofluid for passive reset, eliminating the need for continuous power supply to the reset action. It consumes only a small amount of energy during damping adjustment, significantly reducing overall energy consumption and enhancing the dexterous hand's long-term endurance to meet extended work requirements. In addition, the rapid release of the spring's elastic potential energy and the fast flow response of the magnetofluid enable quick reset of finger joints, improving the dexterous hand's operational efficiency and ensuring stable and reliable operation in scenarios requiring rapid action cycles. This further expands the application areas and usage scenarios of dexterous hands. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the present invention; Figure 3 This is a schematic diagram of the overall structure of the proximal segment of the finger according to the present invention; Figure 4 This is a schematic diagram of the overall structure of the posterior segment of the finger according to the present invention.
[0013] In the diagram: 1. Rear segment of finger; 2. Groove; 3. Perforated block; 4. Crossbar; 5. Middle segment of finger; 6. Rotary joint one; 7. Wedge gear one; 8. Motor one; 9. Connecting helical gear one; 10. Motor two; 11. Rotary joint two; 12. Rotating rod; 13. Front segment of finger; 14. Perforated plate; 15. Wedge gear two; 16. Connecting helical gear two; 17. Magnetorheological damping cavity; 18. Transmission wheel one; 19. Transmission wheel two; 20. Fixing plate; 21. Transmission rope; 22. Sliding plate; 23. Buffer rod; 24. Spring; 25. Electromagnetic ring; 26. Power supply module. Detailed Implementation
[0014] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0015] Example like Figure 1-4As shown, a magnetorheological damping passive reset mechanism for the finger joints of a dexterous hand is provided, including a posterior segment 1 of the finger. A groove 2 is formed on the front surface of the posterior segment 1. A perforated block 3 is rotatably connected inside the groove 2. A crossbar 4 is rotatably connected inside the perforated block 3. The ends of the crossbar 4 extend to the outside of the perforated block 3. A middle segment 5 of the finger is provided on the outer wall of the perforated block 3. A pivot opening 6 is formed on the right side of the inner side wall of the middle segment 5. The pivot opening 6 is rotatably connected to the outer side wall of the end of the crossbar 4. A wedge gear 7 is fixedly connected to the outer side wall of the crossbar 4 inside the perforated block 3. A motor is embedded in the right side of the inside of the middle segment 5. Motor 8 has a fixed connection to a connecting helical gear 9 at its output end. The connecting helical gear 9 meshes with a wedge gear 7. Motor 2 10 is embedded inside the front end of the middle segment 5 of the finger. A rotating opening 2 11 is symmetrically opened inside the middle segment 5 of the finger. A rotating rod 12 is rotatably connected inside the rotating opening 2 11. The outer wall of the rotating rod 12 is rotatably connected to the front segment 13 of the finger. Perforated plates 14 are symmetrically fixedly connected to the right side of the front segment 13 of the finger. Both perforated plates 14 are rotatably connected to the outer wall of the rotating rod 12. Wedge gears 2 15 are fixedly connected inside the two perforated plates 14 of the rotating rod 12. The output end of motor 2 10 is fixedly connected to... A connecting helical gear 16 is attached, which meshes with a wedge gear 15. A magnetohydrodynamic damping cavity 17 is fixedly connected to the left side of the upper surface of the posterior segment 1 of the finger. A transmission wheel 18 is symmetrically fixedly connected to the upper surface of the middle segment 5 of the finger. A transmission wheel 19 is fixedly connected to the upper surface of the anterior segment 13 of the finger. A fixing plate 20 is fixedly connected to the left side of the upper surface of the anterior segment 13 of the finger. A transmission rope 21 is fixedly connected to the surface of the fixing plate 20. At the junction of the transmission rope 21 and the outer wall of the transmission wheel 18, the end of the transmission rope 21 away from the fixing plate 20 is fixedly connected to the magnetohydrodynamic damping cavity 17. Sliding plates 22 are symmetrically slidably connected inside cavity 17. The right end of transmission rope 21 is fixedly connected to the front surface of front sliding plate 22. A buffer rod 23 is fixedly connected to the rear surface of rear sliding plate 22. The rear end of buffer rod 23 extends through to the outer wall of magnetohydrodynamic damping cavity 17. A spring 24 is wound around the outer wall of buffer rod 23. Magnetohydrodynamic fluid is provided between the two sliding plates 22 inside magnetohydrodynamic damping cavity 17. Electromagnetic rings 25 are symmetrically fixedly connected to the outer wall of magnetohydrodynamic damping cavity 17. A power supply module 26 is fixedly connected to the rear surface of finger posterior segment 1. The output end of power supply module 26 is fixedly connected to electromagnetic ring 25. When the magnetorheological damping passive reset mechanism of the finger joints of this dexterous hand is working, the magnetorheological damping cavity 17 on the left side of the upper surface of the finger posterior segment 1 first provides the reset foundation. The power supply module 26 is fixed to the rear surface of the finger posterior segment 1, providing power support for the electrical components of the entire mechanism. Its output end is connected to the electromagnetic ring 25 symmetrically fixed to the outer wall of the magnetorheological damping cavity 17. In the initial state, the electromagnetic ring 25 is in a de-energized state, and the magnetorheological fluid inside the magnetorheological damping cavity 17 is in a state of flow without magnetic field. The two sliding plates 22 are kept in balance under the action of the spring 24, and the buffer rod 23 connected to the rear sliding plate 22 is in a naturally extended state. The transmission rope One end of 21 is fixed to the front surface of the front sliding plate 22, and the other end passes in sequence around the transmission wheel 19 on the upper surface of the finger proximal segment 13 and the symmetrical transmission wheel 18 on the upper surface of the finger middle segment 5, and is finally fixed to the fixing plate 20 on the left side of the upper surface of the finger proximal segment 13. At this time, the finger posterior segment 1, the finger middle segment 5 and the finger proximal segment 13 are in the initial position of natural extension. The perforated block 3 remains stationary in the groove 2 on the front surface of the finger posterior segment 1. The end of the crossbar 4 is rotatably connected to the rotating opening 6 on the inner side wall of the finger middle segment 5. The rotating rod 12 remains stationary in the rotating opening 11 of the finger middle segment 5. The finger proximal segment 13 is relatively fixed to the rotating rod 12 through the perforated plate 14. When the finger needs to bend, the motor 8 embedded in the right side of the middle segment 5 of the finger starts, and the connecting helical gear 9 fixed at its output end begins to rotate. Since the connecting helical gear 9 meshes with the wedge gear 7 located inside the perforated block 3 on the outer wall of the crossbar 4, it drives the crossbar 4 to rotate inside the perforated block 3, which in turn drives the perforated block 3 to rotate in the groove 2, realizing the bending of the middle segment 5 of the finger relative to the posterior segment 1 of the finger. At the same time, the motor 10 embedded in the front end of the middle segment 5 of the finger starts, and the connecting helical gear 16 fixed at its output end drives the wedge gear 15 on the rotating rod 12 to rotate. The wedge gear 15 is located between the two perforated plates 14, and when it rotates, it drives the... Rotating rod 12 rotates within rotating opening 11, thereby causing the finger proximal segment 13 to bend relative to the finger middle segment 5 via perforated plate 14. During the bending process, the rotation of the finger proximal segment 13 will pull the transmission rope 21 through fixed plate 20. Under the guidance of transmission wheel 18 and transmission wheel 29, the transmission rope 21 pulls the front sliding plate 22 inside the magnetohydrodynamic damping cavity 17 to slide forward. The front sliding plate 22 squeezes the internal magnetohydrodynamic fluid, and the magnetohydrodynamic fluid pushes the rear sliding plate 22 to move backward. The rear sliding plate 22 drives the buffer rod 23 to extend to the outside of the magnetohydrodynamic damping cavity 17, while compressing the spring 24 on the outer wall of the buffer rod 23, so that the spring 24 stores elastic potential energy. At this time, according to the reset requirement, the power supply module 26 supplies power to the electromagnetic ring 25. The electromagnetic ring 25 generates a magnetic field that acts on the magnetofluid inside the magnetofluid damping cavity 17, causing the magnetofluid to undergo rheological effects and exhibit different damping characteristics, thereby generating a damping effect on the sliding plate 22 and achieving smooth buffering during the finger bending process. When the finger completes its movement and needs to be reset, motor 8 and motor 10 stop working, power supply module 26 stops supplying power to electromagnetic ring 25, the magnetic field of electromagnetic ring 25 disappears, and the magnetofluid resumes its flow state. At this time, spring 24 releases elastic potential energy, pushing the rear sliding plate 22 to move forward. The rear sliding plate 22 squeezes the magnetofluid, causing the front sliding plate 22 to reset backward. The front sliding plate 22 pulls the transmission rope 21, and the transmission rope 21 pulls the fixed plate 20 through transmission wheel 18 and transmission wheel 29, thereby causing the finger proximal segment 13 to rotate in the opposite direction around the rotating rod 12. At the same time, the finger middle segment 5, under the tension of the transmission rope 21 and the cooperation of the perforated block 3 and the crossbar 4, rotates in the opposite direction around the perforated block 3 in the groove 2. Finally, the finger posterior segment 1, finger middle segment 5 and finger proximal segment 13 return to the initial straight reset position, completing the entire passive reset process. This cycle repeats, realizing the smooth bending and passive reset of the finger joints of the dexterous hand.
[0016] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.
Claims
1. A magnetorheological damping passive reset mechanism for finger joints of a dexterous hand, comprising the distal phalanx of the finger (1), characterized in that: The front surface of the posterior segment (1) of the finger is provided with a groove (2), and a perforated block (3) is rotatably connected inside the groove (2). A crossbar (4) is rotatably connected inside the perforated block (3). The ends of the crossbar (4) all extend to the outside of the perforated block (3). The middle segment (5) of the finger is provided on the outer wall of the perforated block (3). A pivot opening (6) is provided on the right side of the inner wall of the middle segment (5). The pivot opening (6) is rotatably connected to the outer wall of the end of the crossbar (4). A wedge gear (7) is fixedly connected to the outer wall of the crossbar (4) inside the perforated block (3).
2. The magnetorheological damping passive reset mechanism for the finger joints of a dexterous hand according to claim 1, characterized in that: Motor 1 (8) is embedded in the right side of the middle segment of the finger (5). The output end of motor 1 (8) is fixedly connected to connecting helical gear 1 (9). Connecting helical gear 1 (9) meshes with wedge gear 1 (7). Motor 2 (10) is embedded in the front end of the middle segment of the finger (5). Rotary opening 2 (11) is symmetrically opened in the middle segment of the finger (5). Rotary rod (12) is rotatably connected inside the rotary opening 2 (11).
3. The magnetorheological damping passive reset mechanism for the finger joints of a dexterous hand according to claim 2, characterized in that: The outer wall of the rotating rod (12) is rotatably connected to the finger proximal segment (13), and the right side of the finger proximal segment (13) is symmetrically fixedly connected to the perforated plate (14). The perforated plate (14) is rotatably connected to the outer wall of the rotating rod (12). The rotating rod (12) is fixedly connected to the two perforated plates (14) with a wedge gear (15). The output end of the motor (10) is fixedly connected to the connecting helical gear (16), and the connecting helical gear (16) meshes with the wedge gear (15).
4. The magnetorheological damping passive reset mechanism for the finger joints of a dexterous hand according to claim 1, characterized in that: A magnetorheological damping cavity (17) is fixedly connected to the left side of the upper surface of the posterior segment (1) of the finger. A transmission wheel (18) is symmetrically fixedly connected to the upper surface of the middle segment (5) of the finger. A transmission wheel (19) is fixedly connected to the upper surface of the anterior segment (13) of the finger. A fixing plate (20) is fixedly connected to the left side of the upper surface of the anterior segment (13) of the finger. A transmission rope (21) is fixedly connected to the surface of the fixing plate (20). The transmission rope (21) is connected to the outer side wall of the transmission wheel (19) and the transmission wheel (18). One end of the transmission rope (21) away from the fixing plate (20) is fixedly connected to the magnetorheological damping cavity (17).
5. The magnetorheological damping passive reset mechanism for the finger joints of a dexterous hand according to claim 4, characterized in that: The magnetic flux damping cavity (17) is symmetrically connected to a sliding plate (22). The right end of the transmission rope (21) is fixedly connected to the front surface of the front sliding plate (22). A buffer rod (23) is fixedly connected to the rear surface of the rear sliding plate (22). The rear end of the buffer rod (23) extends through to the outer wall of the magnetic flux damping cavity (17). A spring (24) is wound around the outer wall of the buffer rod (23). A magnetic fluid is provided between the two sliding plates (22) inside the magnetic flux damping cavity (17).
6. The magnetorheological damping passive reset mechanism for the finger joints of a dexterous hand according to claim 5, characterized in that: An electromagnetic ring (25) is symmetrically fixedly connected to the outer wall of the magnetohydrodynamic damping cavity (17), and a power supply module (26) is fixedly connected to the rear surface of the finger phalanx (1). The output end of the power supply module (26) is fixedly connected to the electromagnetic ring (25).