Articulated actuated finger with self-locking joints
AssigneeCity University of Hong Kong
InventorsDong Sun, Qiqiang Hu
Life of this patent
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Abstract
An articulated finger. The articulated finger comprises a first phalange; a second phalange; a self-locking joint coupling the first phalange to the second phalange, wherein the self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction of the first phalange relative to the second phalange, wherein the first rotational direction is opposite the second rotational direction; and a compliant actuator configured to actuate the first phalange in the first rotational direction relative to the second phalange.
Claims19
An articulated finger comprising:
- a first phalange;
- a second phalange;
- a self-locking joint coupling the first phalange to the second phalange, wherein the self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction of the first phalange relative to the second phalange, wherein the first rotational direction is opposite the second rotational direction;
- and
- a compliant actuator configured to actuate the first phalange in the first rotational direction relative to the second phalange;
- wherein
- the ratchet mechanism comprises a ratchet gear coupled to the first phalange;
- and
- a pawl rotatably coupled to the second phalange, wherein the pawl is biased into contact with the ratchet mechanism.
A method of assembling an articulated finger with self-locking joints, comprising:
- coupling together a distal phalange, a middle phalange, and a first ratchet gear, wherein the first ratchet gear is fixed relative to the distal phalange and is rotatable relative to the middle phalange;
- coupling together the middle phalange, a proximal phalange, and a second rachet gear, wherein the second ratchet gear is fixed relative to the proximal phalange and is rotatable relative to the middle phalange;
- coupling a first pawl to the middle phalange, wherein the first pawl is configured to engage with the first ratchet gear to establish a first self-locking joint between the distal phalange and the middle phalange;
- and
- coupling a second pawl to the middle phalange, wherein the second pawl is configured to engage with the second ratchet gear to establish a second self-locking joint between the proximate phalange and the middle phalange.
A portable multi-finger gripper, comprising:
- an electric battery;
- a gripper body retaining the electric battery;
- a plurality of articulated fingers with self-locking joints each coupled to the gripper body, wherein at least one articulated finger of the plurality of articulated fingers is oriented to close in opposition to the closing direction of at least one other articulated finger of the plurality of articulated fingers, wherein each articulated finger comprises:
- a distal phalange;
- a middle phalange;
- a first ratchet, wherein the first ratchet, a distal end of the middle phalange, and a proximal end of the distal phalange are coupled together to form a first self-locking joint;
- a proximal phalange;
- a second ratchet, wherein the second ratchet, a proximal end of the middle phalange, and a distal end of the proximal phalange are coupled together to form a second self-locking joint;
- and
- a grip release actuator coupled to the middle phalange, electrically coupled to the electric battery, wherein the grip release actuator is operable to escape the first ratchet and the second ratchet;
- and
- a plurality of grip close actuators retained by the gripper body, electrically coupled to the electric battery, wherein each grip close actuator is mechanically coupled to one articulated finger and operable to drive the articulated finger to close.
Dependencies are inferred from the claim text.