Granted Patent B2

US 12,654,337 · App. 17/807,864 · Granted Jun 16, 2026

Inventors: Yunhui Liu (Hong Kong, CN); Jianshu Zhou (Hong Kong, CN); Hanwen Cao (Hong Kong, CN); YiChuan Li (Hong Kong, CN); Tsz Fung Au (Hong Kong, CN)

Assignee: HONG KONG CENTRE FOR LOGISTICS ROBOTICS LIMITED

B25J15/08

Abstract

Claims (51)

1 . A robotic end effector, comprising:

a palm; and

a plurality of robotic fingers that are operatively connected to the palm, each finger comprising:

a finger base having a proximal end portion that is operatively connected to the palm and an opposing, distal end portion; and

a suction cup,

wherein each of the plurality of fingers is operatively connected to the palm at the proximal end portion and is configured to be rotatable and/or movable relative to the palm, and

wherein the suction cup is configured to be movable about a pivot of the distal end portion,

wherein the plurality of fingers are operatively connected to the palm by one or more joints selected from a group consisting of a prismatic joint, a revolute joint, and a hybrid joint, and

wherein each finger is configured to be slidable along a transverse axis relative to the palm respectively, such that each finger can move towards and away from each other.

2 . The robotic end effector of claim 1 , wherein the suction cup is connected to the distal end portion by a revolute joint.

3 . The robotic end effector of claim 1 , wherein the transverse axis is substantially perpendicular to axial axis of the pivot.

4 . The robotic end effector of claim 1 , wherein each finger base further comprises a clamping plate disposed at a longitudinal side of the finger base.

5 . The robotic end effector of claim 1 , wherein the finger base is a rigid piece.

6 . The robotic end effector of claim 1 , wherein the plurality of fingers are equidistantly spaced relative to a central longitudinal axis of the palm and configured to be movable towards and away from at least another one finger.

7 . The robotic end effector of claim 1 , wherein the palm further comprising

a motor assembly and;

at least one pinion-rack assembly that is operatively connected to the plurality of fingers;

wherein the motor assembly further comprises a motor and a spur gear,

wherein the motor assembly is configured to drive the pinion-rack assembly to translate and/or rotate by the motor driving the spur gear to transmit driving force to the pinion-rack assembly.

8 . The robotic end effector of claim 1 , wherein each finger further comprising:

a finger motor assembly;

a belt drive assembly that is operatively connected to the finger motor assembly;

a suction cup assembly that is operatively connecting the suction cup to the belt drive assembly; and

a shell for supporting the finger motor assembly, the belt drive assembly and the suction cup assembly;

wherein the finger motor assembly is configured to drive the belt drive assembly so as to control rotational movement of the suction cup by the suction cup assembly.

9 . The robotic end effector of claim 8 , wherein each finger base further comprises a clamping plate disposed at a longitudinal side of the finger base, and wherein the clamping plate is attached to the shell by one or more springs and/or one or more circlips.

10 . A robotic end effector for grasping an object, comprising:

a palm; and

a plurality of robotic fingers that are operatively connected to the palm to form a parallel jaw gripper, each finger comprising:

a finger base having proximal end portion that is operatively connected to the palm and an opposing, distal end portion; and

a suction cup connected to the distal end portion by a revolute joint,

wherein the suction cup is configured to be movable about an axial axis of a pivot of the distal end portion,

wherein each of the plurality of fingers is operatively connected to the palm at the proximal end portion by one or more joints selected from a group consisting of a prismatic joint, a revolute joint, and a hybrid joint and is configured to be movable relative to the palm,

wherein each of the plurality of fingers is configured to be slidable along a transverse axis substantially perpendicular to the axial axis of the pivot of the distal end portion, and

wherein each finger is configured to be slidable along a transverse axis relative to the palm respectively, such that each finger can move towards and away from each other.

11 . A robotic finger for a palm of a robotic end effector, comprising

a finger base having a proximal end portion that is operatively connected to the palm and an opposing, distal end portion; and

a suction cup,

a finger motor assembly,

a belt drive assembly that is operatively connected to the finger motor assembly,

a suction cup assembly that is operatively connected to the belt drive assembly, and

a shell for housing the finger motor assembly, the belt drive assembly and the suction cup assembly;

wherein the finger motor assembly is configured to drive the belt drive assembly so as to control rotational movement of the suction cup assembly,

wherein the finger base is configured to be rotatable and/or movable relative to the palm, and

wherein the suction cup is configured to be movable about a pivot of the distal end portion, and

wherein the robotic finger is operatively connected to the palm by one or more joints selected from a group consisting of a prismatic joint, a revolute joint, and a hybrid joint.

12 . The robotic finger of claim 11 , wherein the suction cup is connected to the distal end portion by a revolute joint.

13 . The robotic finger of claim 11 , wherein the finger base is configured to be slidable along a transverse axis relative to the palm.

14 . The robotic finger of claim 11 , further comprising a clamping plate disposed at a longitudinal side of the finger base.

15 . The robotic finger of claim 11 , wherein the finger base is a rigid piece.

16 . The robotic finger of claim 13 , wherein the transverse axis is substantially perpendicular to axial axis of the pivot.

Assignments (1)

Continuity (1)

References Cited (20)