FINGER OF ROBOTIC HAND AND ROBOT HAVING THE SAME

• US 20200132174A1
• Filed: 12/29/2018
• Published: 04/30/2020
• Est. Priority Date: 10/31/2018
• Status: Active Grant

• Current Assignee: UBTECH Robotics Corp.
• Original Assignee: UBTECH Robotics Corp.
• Inventors: Xiong, Youjun, Zhao, Kunlei, Yu, Wenhua, Zhao, Qi, Hu, Jiawen, Pi, Yangyu, Pang, Jianxin
• Granted Patent: US 10,634,225 B1
• Time in Patent Office: Days
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: B25J 15/08 having finger members B25J15/02, B25J15/04 take precedence
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: F16C 1/16 in which the end-piece is guided rectilinearly
• CPC Class Codes: F16C 2322/59 Manipulators, e.g. robot arms in general B25J
• CPC Class Codes: F16H 21/18 Crank gearings; Eccentric gearings
• CPC Class Codes: F16H 21/36 without swinging connecting-rod, e.g. with epicyclic parallel motion, slot-and-crank motion

Abstract

A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a driving device including a rotating member, a connection assembly including a housing defining a sliding groove that includes a first end and a second end defining a through hole that is in communication with the sliding groove, a cap connected to the housing at the first end, a sliding rod comprising a base slidably received in the sliding groove and a rod protruding from the base, and an elastic member received in the sliding groove and having opposite ends that respectively abut against the base and an inner surface of the second end, and a rope including two opposite ends respectively connected to the cap and one of the at least two phalanxes.

Claims

1. A finger of a robotic hand, comprising:

a phalanx portion comprising at least two phalanxes rotatably coupled to each other;

a driving device comprising a rotating member;

a connection assembly comprising;

a housing defining a sliding groove that comprises a first end and a second end defining a through hole that is in communication with the sliding groove;

a cap connected to the housing at the first end;

a sliding rod comprising a base slidably received in the sliding groove and a rod protruding from the base, the rod passing through the through hole of the second end and being connected to the rotating member in such a way that rotation of the rotating member drives the rod to move along the sliding groove; and

an elastic member received in the sliding groove and comprising two opposite ends that respectively abut against the base and an inner surface of the second end, the elastic member being configured to be deformed and push the housing to move;

a rope comprising two opposite ends respectively connected to the cap and one of the at least two phalanxes, the rope being configured to pull the one of the at least two phalanxes to rotate when pulled by the housing.

2. The finger according to claim 1, wherein the first end defines a threaded opening, the cap comprises a threaded portion engaged with the threaded opening, which fixes the cap to the housing.

3. The finger according to claim 2, wherein the rod is rotatably connected to the rotating member.

4. The finger according to claim 3, wherein the elastic member is a coil spring arranged around the rod.

5. The finger according to claim 3, further comprising an axle fixed to the rotating member, wherein the rod defines a receiving hole to rotatably receive the axle so as to rotatably connect the rod to the rotatably member.

6. The finger according to claim 1, further comprising an axle, wherein each of the at least two phalanxes defines an axle hole, the axle is fixed in the axle hole of one of the at least two phalanxes and rotatably fit in the axle hole of the other one of the at least two phalanxes.

7. The finger according to claim 6, further comprising a torsion spring, wherein the torsion spring is arranged around the axle and comprises two arms respectively abutting against the at least two phalanxes.

8. The finger according to claim 1, wherein each of the at least two phalanxes comprises a protruding tab, the protruding tab defines a through hole that allows the rope to pass therethrough.

9. The finger according to claim 8, wherein the cap defines a cavity and an orifice in an end thereof, the cavity communicates with the orifice, the rope comprises two heads at opposite ends thereof, the rope passes through the orifice and one of the two heads is received in the cavity so as to connect the rope to the cap, the other one of the two heads abuts against one of the tabs, which allows the rope to apply a pulling force to the one of the tabs.

10. A robot comprising a hand that comprises a finger, the finger comprising:

a phalanx portion comprising at least two phalanxes rotatably coupled to each other;

a driving device comprising a rotating member;

a connection assembly comprising;

a housing defining a sliding groove that comprises a first end and a second end defining a through hole that is in communication with the sliding groove;

a cap connected to the housing at the first end;

a sliding rod comprising a base slidably received in the sliding groove and a rod protruding from the base, the rod passing through the through hole of the second end and being connected to the rotating member in such a way that rotation of the rotating member drives the rod to move along the sliding groove; and

an elastic member received in the sliding groove and comprising two opposite ends that respectively abut against the base and an inner surface of the second end, the elastic member being configured to be deformed and push the housing to move;

a rope comprising two opposite ends respectively connected to the cap and one of the at least two phalanxes, the rope being configured to pull the one of the at least two phalanxes to rotate when pulled by the housing.