Robotic hand

Patent metadata

Field	Value
Publication number	US-11465298-B2
Application number	US-201916370891-A
Country	US
Kind code	B2
Filing date	Mar 30, 2019
Priority date	Dec 29, 2018
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

A robotic hand includes a palm, a thumb and four fingers that are connected to the palm; a first driving assembly to drive the thumb to rotate, a second driving assembly and a third driving assembly to respectively drive two of the four fingers to rotate; and a fourth driving assembly to drive the other two of the four fingers to rotate. The first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm.

First claim

What is claimed is:

1. A robotic hand comprising;
a palm;
a thumb and four fingers that are connected to the palm;
a first driving assembly configured to drive the thumb to rotate;
a second driving assembly and a third driving assembly configured to respectively drive two of the four fingers to rotate; and
a fourth driving assembly configure to drive the other two of the four fingers to rotate;
wherein the first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm;
wherein the first driving assembly comprises an actuator, a lead screw connected to the actuator, and a nut engaged with and movable along the lead screw;
wherein the thumb comprises a first phalanx connected to the palm, a second phalanx rotatably connected to the first phalanx via a shaft, and a first pulling rope for driving the second phalanx to rotate one end of the first pulling rope is connected to the nut, and an opposite end of the first pulling. rope extends into the first phalanx and is connected to an end of the second phalanx.

2. The robotic hand according to claim 1 , wherein the four fingers comprise an index finger, a middle finger, a ring finger and a little finger, the second driving assembly is configured to drive the index finger to rotate, the third driving assembly is configured to drive the middle finger to rotate, and the fourth driving assembly is configured to drive the ring finger and the little finger to rotate.

3. The robotic. hand according to claim 2 , wherein the second driving assembly, the third driving assembly and the fourth driving assembly are parallel to one another, and perpendicular to the first driving assembly.

4. The robotic hand according to claim 1 , wherein the second driving assembly, the third driving assembly, and the fourth driving assembly have a same configuration, the configuration of the second driving assembly is symmetric with respect to a configuration of the first driving assembly.

5. The robotic hand according to claim 1 , wherein the first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly have a same configuration.

6. The robotic hand according to claim 1 , wherein the first driving assembly further comprises a transmission mechanism that comprises a drive gear connected to the actuator and a driven gear engaged with the drive gear and fixed to the lead screw, and the actuator and the lead screw are located at a same side of the transmission mechanism.

7. The robotic hand according to claim 1 , wherein the first driving assembly further comprises a control circuit board for monitoring a rotational state of the thumb, the control circuit board comprises a slider potentiometer electrically connected thereto, and a sliding contact of the slider potentiometer is fixed to the nut; wherein the control circuit board is configured to determine a position of the nut according to a resistance value of the slider potentiometer.

8. The robotic hand according to claim 1 , wherein a first torsion spring is arranged on the shaft, and comprises two legs respectively abutting against the first phalanx and the second phalanx, the first torsion spring is configured to apply a restoring force to the second phalanx.

9. The robotic hand according to claim 8 further comprising a second pulling rope, wherein the thumb further comprises a third phalanx rotatable connected to the second phalanx via an axle, a second torsion spring is arranged on the axle, and comprises two legs respectively abutting against the second phalanx and the third phalanx, the second torsion spring is configured to apply a restoring force to the third phalanx, one end of the second pulling rope is connected to an end of the first phalanx, and an opposite end of the second pulling rope is connected to an end of the third phalanx.

Assignees

• Ubtech Robotics Corp

Inventors

• Liu Sicong
• Xiong Youjun
• Ding Hongyu
• Xu Qidong
• Pang Jianxin

Classifications

• B25J15/10 Primary

  with three or more finger members {(B25J15/0009 takes precedence)} · CPC title

• B25J9/102

  Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H) · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J15/0009 Primary

  comprising multi-articulated fingers, e.g. resembling a human hand · CPC title

• B25J17/0258

  Two-dimensional joints · CPC title