A dexterous finger joint with passive adaptive grasping

Abstract

The utility model provides a kind of dexterous finger joint with passive self-adaptive gripping, including finger joint clamping direction adjusting module, self-adaptive finger joint and joint hinged module, the self-adaptive finger joint and joint hinged module are both set to two, during the application of this technical scheme, it is through setting the double-shaft motor of joint hinged module, outer hinge base, the finger joint frame of self-adaptive finger joint, the anti-skid module containing telescopic spring, anti-skid fingertip block etc., so that during use multiple joint flexion can be realized, simulate human hand activity, telescopic spring generates reaction force by deformation and pushes anti-skid convex column, let anti-skid colloid closely adhere to article, cooperate anti-skid structure and enhance the firmness and stability of gripping, with higher degree of freedom, and then reached the effect of improving gripping ability and stability, solved the problem that dexterous hand gripping firmness is not good, stability is poor, gripping ability is limited in prior art.

Description

Technical Field

[0001] This utility model relates to the field of dexterous hand technology, and in particular to a dexterous finger joint with passive adaptive grasping. Background Technology

[0002] With the continuous advancement of humanoid robot technology, industrial automation is gradually shifting from performing single, repetitive tasks, represented by industrial robots, to performing complex and varied tasks, represented by humanoid robots. In this process, robot end effectors are transforming from specialized tools to general-purpose tools resembling human hands. Dexterous hands, as a type of human hand-like robot end effector, are used to perform diverse tasks such as grasping, manipulating, and sensing. To enable dexterous hands to perform the same functions as human hands, their design requirements are higher. They not only need to have a high degree of freedom but also a small size and minimize manufacturing and maintenance costs. As one of the fingers of a dexterous hand, the degree of freedom, size, and cost of the thumb have a significant impact on the overall degree of freedom, size, and cost of the dexterous hand. However, the dexterous thumb in related technologies cannot simultaneously possess a high degree of freedom, a small size, and a low cost.

[0003] Chinese patent publication number "CN120056161A" discloses a dexterous thumb, a dexterous hand, and a robot. The dexterous thumb includes a mounting component, a lateral swing component, a first tendon cord, a first phalanx, an interphalangeal joint component, a second tendon cord, and a third tendon cord. It utilizes the first tendon cord to drive the lateral swing component to swing laterally, the second tendon cord to drive the first phalanx to bend, and the third tendon cord to drive the interphalangeal joint component to bend, achieving three degrees of freedom and possessing a high degree of freedom. Moreover, all three degrees of freedom are driven by tendon cords, resulting in a simple and compact structure, small size, and low cost. This solves the problem in related technologies where dexterous thumbs cannot simultaneously achieve a high degree of freedom, small size, and low cost. However, the aforementioned dexterous thumb has obvious defects. Its overall inner surface lacks an anti-slip structure, is relatively smooth, and has a certain degree of hardness. When grasping objects, it lacks an automatic telescopic design, resulting in poor gripping stability. During overall application, the gripping stability of each phalanx is poor, and the grasping ability is limited. It is evident that the existing dexterous hand still has defects and shortcomings, thus requiring improved design. Utility Model Content

[0004] To address the aforementioned problems, this invention proposes a dexterous finger joint with passive adaptive gripping, which more accurately solves the problems described above.

[0005] This utility model is achieved through the following technical solution:

[0006] This utility model proposes a dexterous finger joint with passive adaptive gripping, including a finger joint clamping direction adjustment module, an adaptive finger joint, and a joint hinge module. The adaptive finger joint and the joint hinge module are both set to two. The two adaptive finger joints are hinged together by the joint hinge module. The bottom of the adaptive finger joint located at the bottom is hinged together by the joint hinge module and the top of the finger joint clamping direction adjustment module.

[0007] The knuckle clamping direction adjustment module includes a base plate, a turntable is rotatably connected to the inner side of the base plate, a drive motor is fixedly installed at the bottom of the base plate, the output end of the drive motor passes through the base plate and is fixedly connected to the bottom of the turntable, and a joint hinge module located at the bottom is fixedly installed on the top of the turntable.

[0008] Furthermore, the base plate has brackets fixedly installed at equal intervals in a ring at its bottom, and the brackets have mounting plates fixedly installed at their bottoms.

[0009] Furthermore, the outer side of the mounting plate is integrally formed with mounting circular plates arranged in a ring at equal intervals. Each mounting circular plate has a mounting hole in the middle of its top. The mounting holes penetrate the mounting circular plates and are countersunk holes.

[0010] Furthermore, the joint hinge module includes a fixing plate, which is fixedly connected to the top of the turntable. The fixing plate is also fixedly connected to the top of the adaptive finger joint near the finger joint clamping direction adjustment module. A concave frame is fixedly installed on the top of the fixing plate. A dual-axis motor is fixedly installed inside the concave frame. An external hinge seat is fixedly installed through the output end of the dual-axis motor through the concave frame. The adaptive finger joint is fixedly installed on the top of the external hinge seat.

[0011] Furthermore, the adaptive knuckle includes a knuckle frame, which is fixedly installed on the top of the outer hinge seat. The top of the knuckle frame near the knuckle clamping direction adjustment module is connected to the bottom of the fixing plate away from the knuckle clamping direction adjustment module. Anti-slip modules are fixedly connected inside the knuckle frame in a linear arrangement at equal intervals.

[0012] Furthermore, an anti-slip fingertip block is fixedly connected to the top of the fingertip frame away from the fingertip clamping direction adjustment module in both fingertip frames. An elastic rubber pad is fixedly connected to the outer surface of the anti-slip fingertip block, and anti-slip ridges are fixedly connected to the outer surface of the elastic rubber pad at equal intervals.

[0013] Furthermore, the anti-slip module includes a fixed base plate, which is linearly arranged at equal intervals and fixedly installed inside the knuckle frame. A telescopic spring is linearly arranged at equal intervals and fixedly connected to the bottom of the fixed base plate. An anti-slip protrusion is fixedly installed at the bottom end of each telescopic spring. An anti-slip gel is fixedly connected to the end of each anti-slip protrusion. The anti-slip gel is arc-shaped, and anti-slip dots are fixedly connected at equal intervals on its arc surface. A support rod is fixedly connected to the top of each anti-slip protrusion, and the top of the support rod penetrates the knuckle frame, with the support rod and the knuckle frame slidably connected.

[0014] The beneficial effects of this utility model are:

[0015] 1. During the application of this technical solution, by setting up a mounting plate, a mounting disc, countersunk holes, and a bracket, as well as a base plate, turntable, and drive motor for the knuckle gripping direction adjustment module, the device can be stably installed during use, avoiding interference from the fixing parts with other components, providing support for the adjustment module, and adjusting the gripping direction to adapt to different angles of gripping. This achieves the effect of improving the installation stability of the device and adaptability to different gripping angles, solving the problems of unstable installation and limited gripping angle of the dexterous hand structure in the prior art.

[0016] 2. During the application of this technical solution, by setting up a dual-axis motor and external hinge seat of the joint articulation module, a finger joint frame that adapts to the finger joints, an anti-slip module containing telescopic springs, and anti-slip fingertip blocks, it is possible to achieve multi-joint flexion and extension during use, simulating human hand activities. The telescopic springs generate reaction force through deformation to push the anti-slip protrusions, allowing the anti-slip rubber to adhere tightly to the object. Combined with the anti-slip structure, it enhances the gripping firmness and stability, and has a high degree of freedom, thereby achieving the effect of improving gripping ability and stability, and solving the problems of poor gripping firmness, poor stability, and limited gripping ability of dexterous hands in the existing technology. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a side view of the structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the rear view structure of this utility model;

[0020] Figure 4 This is a schematic diagram of the anti-slip module structure of this utility model.

[0021] In the diagram: 1. Knuckle clamping direction adjustment module; 11. Base plate; 12. Turntable; 13. Drive motor; 14. Bracket; 15. Mounting plate; 16. Mounting round plate; 17. Mounting hole; 2. Adaptive finger knuckle; 21. Knuckle frame; 22. Anti-slip module; 221. Fixed base plate; 222. Telescopic spring; 223. Anti-slip protrusion; 224. Anti-slip colloid; 225. Anti-slip bump; 226. Support rod; 23. Anti-slip fingertip block; 24. Elastic rubber pad; 25. Anti-slip protrusion; 3. Joint hinge module; 31. Fixing plate; 32. Concave frame; 33. Dual-axis motor; 34. External hinge seat. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example 1

[0024] A dexterous finger joint with passive adaptive gripping includes a finger joint clamping direction adjustment module 1, an adaptive finger joint 2, and a joint hinge module 3. Both the adaptive finger joint 2 and the joint hinge module 3 are configured as two. The two adaptive finger joints 2 are hinged through the joint hinge module 3. The bottom of the adaptive finger joint 2 located at the bottom is hinged to the top of the finger joint clamping direction adjustment module 1 through the joint hinge module 3.

[0025] The knuckle gripping direction adjustment module 1 includes a base plate 11, a turntable 12 is rotatably connected to the inner side of the base plate 11, a drive motor 13 is fixedly installed at the bottom of the base plate 11, the output end of the drive motor 13 passes through the base plate 11 and is fixedly connected to the bottom of the turntable 12, and the joint hinge module 3 located at the bottom is fixedly installed on the top of the turntable 12. During application, this device can not only use two adaptive finger joints 2 and joint hinge modules 3 for hinge design, but also flexibly choose to install three, four, or other multi-joint designs according to specific finger length requirements. Similarly, if a smaller number of finger joints is required, the number can be appropriately reduced. The specific installation can be flexibly selected according to application needs. During application, this device can flexibly combine two, three, four, or other numbers of adaptive finger joints 2 and joint hinge modules 3 according to specific finger length requirements. The adaptive finger joints 2 are sequentially hinged through the joint hinge modules 3, and the bottom adaptive finger joint 2 is then hinged to the top of the finger joint clamping direction adjustment module 1. This meets the finger joint length requirements in different scenarios, improving the device's versatility. When the finger joint clamping direction adjustment module 1 is working, the turntable 12 inside the base plate 11 is driven... Driven by motor 13, the turntable 12 is rotated. The output of motor 13 directly drives the turntable 12, causing the joint hinge module 3 on the top of the turntable 12 and the connected adaptive finger joint 2 to rotate synchronously with the turntable 12. This allows for adjustment of the overall gripping direction, adapting to different gripping targets and expanding the gripping range. The joint hinge module 3 plays a connecting and driving role in the entire structure, driving the adaptive finger joint 2 to perform flexion and extension movements. When multiple sets of adaptive finger joints 2 and joint hinge modules 3 work together, they can simulate the multi-joint movement of a human hand, enhancing the flexibility of gripping movements. This multi-section design eliminates the need to redesign the overall structure when facing gripping tasks with different length requirements, reducing adaptation costs. At the same time, the way the drive motor 13 drives the turntable 12 to adjust its direction makes the gripping angle more diverse, improving the practicality of the device.

[0026] Combination Figures 1-3 As shown, brackets 14 are fixedly installed in a ring at equal intervals at the bottom of the base plate 11. Mounting plates 15 are fixedly installed at the bottom of the brackets 14. Mounting discs 16 are integrally formed in a ring at equal intervals on the outer side of the mounting discs 15. Mounting holes 17 are opened in the middle of the top of the mounting discs 16. The mounting holes 17 penetrate the mounting discs 16 and are countersunk holes. The joint hinge module 3 includes a fixing plate 31. The fixing plate 31 is fixedly connected to the top of the turntable 12. The fixing plate 31 is also fixedly connected to the top of the adaptive finger joint 2 near the finger joint clamping direction adjustment module 1. A concave frame 32 is fixedly installed on the top of the fixing plate 31. A dual-axis motor 33 is fixedly installed inside the concave frame 32. An outer hinge seat 34 is fixedly installed through the concave frame 32 at the output end of the dual-axis motor 33. The adaptive finger joint 2 is fixedly installed on the top of the outer hinge seat 34.

[0027] In the above-described embodiments of this application, during the application of this device, the supports 14 at the bottom of the base plate 11 are arranged in a ring at equal intervals to provide stable support for the base plate 11. The mounting plate 15 at the bottom of the supports 14 is fixed by mounting circular plates 16 arranged in a ring at equal intervals on the outer side. The mounting holes 17 at the top of the mounting circular plates 16 are through-holes and countersunk holes, which can prevent the fasteners from protruding and affecting the operation of surrounding components, thus improving the stability and safety of the device installation. The fixing plate 31 of the joint hinge module 3 plays a connecting role, so that the turntable 12 and the adaptive finger joint 2 form a stable connection. The concave frame 32 at the top of 31 provides installation space for the dual-axis motor 33. When the dual-axis motor 33 starts, its output end drives the outer hinge seat 34 to rotate, which in turn drives the adaptive finger joint 2 to complete the flexion and extension action. This driving method makes the finger joint movement more precise and controllable. Through the support of the bracket 14 and the fixing structure of the mounting plate 15 and the mounting circular plate 16, the overall structure of the device is stable during the grasping process, reducing shaking. The cooperation between the dual-axis motor 33 and the outer hinge seat 34 enhances the flexibility and strength of the finger joint flexion and extension, making the grasping action more in line with actual needs and improving the reliability and adaptability of the device.

[0028] Example 2

[0029] Combination Figures 1-4 As shown, the adaptive knuckle 2 includes a knuckle frame 21, which is fixedly mounted on the top of the outer hinge seat 34. The top of the knuckle frame 21 near the knuckle clamping direction adjustment module 1 is connected to the bottom of the fixing plate 31 away from the knuckle clamping direction adjustment module 1. Anti-slip modules 22 are fixedly connected in a linear arrangement at equal intervals inside the knuckle frame 21. An anti-slip fingertip block 23 is fixedly connected to the top of the knuckle frame 21 away from the knuckle clamping direction adjustment module 1. An elastic rubber pad 24 is fixedly connected to the outer surface of the anti-slip fingertip block 23. Anti-slip protrusions 25 are fixedly connected to the outer surface of the elastic rubber pad 24 at equal intervals. The anti-slip module 22 covers... The device includes a fixed base plate 221, which is linearly arranged at equal intervals and fixedly installed inside the knuckle frame 21. A telescopic spring 222 is linearly arranged at equal intervals and fixedly connected to the bottom of the fixed base plate 221. Anti-slip protrusions 223 are fixedly installed at the bottom of the telescopic springs 222. Anti-slip adhesive 224 is fixedly connected to the end of the anti-slip protrusions 223. The anti-slip adhesive 224 is arc-shaped, and anti-slip bumps 225 are fixedly connected at equal intervals on its arc surface. A support rod 226 is fixedly connected to the top of the anti-slip protrusions 223. The top of the support rod 226 penetrates the knuckle frame 21, and the support rod 226 and the knuckle frame 21 are slidably connected.

[0030] In the above-described embodiments of this application, during the application of this device, the knuckle frame 21 of the adaptive finger joint 2 provides support for the internal structure. The anti-slip modules 22 arranged linearly at equal intervals inside the knuckle frame 21 play a key role in the grasping process. When the finger joint contacts the object, the object exerts pressure on the anti-slip gel 224 of the anti-slip module 22. The anti-slip gel 224 pushes the anti-slip protrusion 223 upward. At this time, the telescopic spring 222 is compressed, and the elastic force of the telescopic spring 222 reacts to the anti-slip protrusion 223, making the anti-slip gel 224 tightly adhere to the surface of the object. The arc-shaped setting of the anti-slip gel 224 can better adapt to the contour of the object, and its arc surface The anti-slip protrusions 225 further enhance the friction with the object. The support rod 226 moves synchronously with the anti-slip protrusions 223 to ensure that the anti-slip protrusions 223 do not shift during sliding, thus improving structural stability. When the anti-slip fingertip block 23 on the top of the knuckle frame 21 away from the knuckle gripping direction adjustment module 1 comes into contact with the object, the elastic pad 24 on its outer surface deforms to conform to the object. The anti-slip protrusions 25 on the elastic pad 24 increase the contact friction and prevent the object from slipping. Through the synergistic effect of these structures, the knuckle has good passive self-adaptive ability when gripping, which improves the gripping firmness and stability and can adapt to the gripping needs of objects of different shapes.

[0031] The working principle and advantages of this utility model are as follows: When using this device, firstly, the entire dexterous finger joint is installed in a suitable position such as the robot arm by using the mounting hole 17 of the mounting plate 16 on the outside of the mounting plate 15 and the fixing component. By setting the countersunk mounting hole 17, the fixing component can be prevented from protruding from the surface of the mounting plate 16 during use, thereby preventing interference with the operation of other components. By setting the bracket 14 to connect the base plate 11 and the mounting plate 15, the finger joint gripping direction adjustment module 1 can be provided with stable support during use, thereby ensuring that the overall structure is installed firmly. Then, the drive motor 13 of the finger joint gripping direction adjustment module 1 is started. The output end of the drive motor 13 drives the turntable 12 to rotate inside the base plate 11. Then, the joint hinge module 3 at the bottom drives the two adaptive finger joints 2 to rotate as a whole, thereby realizing the adjustment of the gripping direction to adapt to the gripping needs of different angles. This process improves the adaptability of this device to different gripping angles and expands the scope of application through the synergistic effect of the adjustment module.

[0032] During use, when the joint articulation module 3 is running, the dual-axis motor 33 is activated. The output of the dual-axis motor 33 drives the outer hinge seat 34 to rotate, allowing the outer hinge seat 34 to drive the adaptive finger joint 2 at the top to bend or extend. By setting two adaptive finger joints 2 to be hinged through the joint articulation module 3, they can collaboratively complete the flexion and extension of multiple joints during use, simulating the movement trajectory of human hand fingers. This allows for flexible posture adjustment before grasping, preparing for stable grasping of objects. When the adaptive finger joint 2 contacts an object, the anti-slip module 22 inside the finger joint frame 21 begins to function. The object squeezes the anti-slip gel 224, causing the anti-slip protrusion 223 to move upwards and compress the telescopic spring 222. The reaction force of the telescopic spring 222 pushes the anti-slip protrusion 223, causing the anti-slip gel 224 to move upwards and compress the telescopic spring 222. The reaction force of the telescopic spring 222 pushes the anti-slip protrusion 223, allowing the anti-slip gel 224 to move upwards and compress the telescopic spring 222. The 24-inch spring fits snugly against the surface of the object, while the telescopic spring 222 extends and retracts, allowing for adaptive deformation when gripping the object. This maximizes the fit and gripping effect. The arc-shaped design of the anti-slip colloid 224 and the anti-slip protrusions 225 on the surface enhance friction with the object during use. Meanwhile, the anti-slip fingertip block 23 on the top of the finger frame 21, away from the finger gripping direction adjustment module 1, contacts the object. The elastic rubber pad 24 and anti-slip protrusions 25 on its outer surface further enhance the stability of the grip during use. The support rod 226 moves synchronously with the anti-slip protrusion 223, ensuring the stability of the movement of the anti-slip protrusion 223 and preventing deviation. The combination of these structures significantly improves the firmness and stability of the gripping of the object by this device.

[0033] In this technical solution, through the coordinated work of various structures, the knuckle gripping direction adjustment module 1 can adjust the overall gripping direction through the cooperation of the base plate 11, the turntable 12 and the drive motor 13. The joint hinge module 3 achieves multi-joint flexion and extension through the action of the fixing plate 31, the concave frame 32, the dual-axis motor 33 and the outer hinge seat 34, so that the finger joints have a high degree of freedom and can adapt to the gripping of objects of different shapes and angles. This overcomes the shortcomings of the limited gripping ability in the prior art. At the same time, while ensuring a high degree of freedom, the overall size is controlled through a compact design. The use of motor drive and mechanical structure reduces the use of complex parts, which helps to save manufacturing and maintenance costs during use. This makes it able to meet the size and cost requirements of dexterous hands, making this device more advantageous in practical applications.

[0034] The scope of protection of this application does not involve improvements to the electronic components of the device or equipment. Therefore, the working principles of each electronic component are not described in detail here. The electronic components in this application are all conventional electronic components used in the prior art. They are all conventional technical means in the prior art, and the application of the prior art is very mature. Therefore, they will not be elaborated here.

[0035] Of course, there may be other implementations of this utility model. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of this utility model.

Claims

1. A dexterous finger joint with passive adaptive grasping, characterized in that, It includes a knuckle clamping direction adjustment module (1), an adaptive finger joint (2), and a joint hinge module (3). The adaptive finger joint (2) and the joint hinge module (3) are both set to two. The two adaptive finger joints (2) are hinged through the joint hinge module (3). The bottom of the adaptive finger joint (2) is hinged through the joint hinge module (3) and the top of the knuckle clamping direction adjustment module (1). The knuckle clamping direction adjustment module (1) includes a base plate (11), a turntable (12) is rotatably connected to the inner side of the base plate (11), a drive motor (13) is fixedly installed at the bottom of the base plate (11), the output end of the drive motor (13) passes through the bottom of the base plate (11) and is fixedly connected to the bottom of the turntable (12), and the joint hinge module (3) located at the bottom is fixedly installed on the top of the turntable (12).

2. A dexterous finger joint with passive adaptive gripping as described in claim 1, characterized in that, The base plate (11) has brackets (14) fixedly installed at equal intervals in a ring at the bottom, and the brackets (14) have mounting plates (15) fixedly installed at the bottom.

3. A dexterous finger joint with passive adaptive gripping according to claim 2, characterized in that, The mounting disc (15) has mounting circular plates (16) arranged in a ring at equal intervals on its outer side. Each mounting circular plate (16) has a mounting hole (17) in the middle of its top. The mounting hole (17) penetrates the mounting circular plate (16) and is countersunk.

4. A dexterous finger joint with passive adaptive gripping according to claim 1, characterized in that, The joint hinge module (3) includes a fixing plate (31), which is fixedly connected to the top of the turntable (12). The fixing plate (31) is also fixedly connected to the top of the adaptive finger joint (2) near the finger joint clamping direction adjustment module (1). A concave frame (32) is fixedly installed on the top of the fixing plate (31). A dual-axis motor (33) is fixedly installed inside the concave frame (32). An external hinge seat (34) is fixedly installed through the concave frame (32) at the output end of the dual-axis motor (33). The adaptive finger joint (2) is fixedly installed on the top of the external hinge seat (34).

5. A dexterous finger joint with passive adaptive gripping according to claim 4, characterized in that, The adaptive knuckle (2) includes a knuckle frame (21), which is fixedly installed on the top of the outer hinge seat (34). The top of the knuckle frame (21) near the knuckle clamping direction adjustment module (1) is connected to the bottom of the fixing plate (31) away from the knuckle clamping direction adjustment module (1). Anti-slip modules (22) are fixedly connected in a linear arrangement with equal spacing inside the knuckle frame (21).

6. A dexterous finger joint with passive adaptive gripping according to claim 5, characterized in that, An anti-slip fingertip block (23) is fixedly connected to the top of the fingertip frame (21) that is away from the fingertip clamping direction adjustment module (1). An elastic rubber pad (24) is fixedly connected to the outer surface of the anti-slip fingertip block (23). Anti-slip ridges (25) are fixedly connected to the outer surface of the elastic rubber pad (24) at equal intervals.

7. A dexterous finger joint with passive adaptive gripping according to claim 5, characterized in that, The anti-slip module (22) includes a fixed base plate (221). The fixed base plate (221) is linearly arranged at equal intervals and fixedly installed inside the knuckle frame (21). The bottom of the fixed base plate (221) is linearly arranged at equal intervals and fixedly connected with a telescopic spring (222). The bottom end of the telescopic spring (222) is fixedly installed with an anti-slip protrusion (223). The end of the anti-slip protrusion (223) is fixedly connected with an anti-slip colloid (224). The anti-slip colloid (224) is arc-shaped. Anti-slip bumps (225) are fixedly connected at equal intervals on the arc surface of the anti-slip colloid (224). The top of the anti-slip protrusion (223) is fixedly connected with a support rod (226). The top of the support rod (226) penetrates the knuckle frame (21). The support rod (226) and the knuckle frame (21) are slidably connected.

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