Grabbing device and robot having the same

Abstract

This application discloses a gripping device, including a housing and at least two gripper assemblies. Each gripper assembly includes: a fingertip for holding a target object; a connecting rod assembly, the first end of which is connected to the fingertip and the second end of which is rotatably connected to the housing; and an attachment assembly disposed on the side of the connecting rod assembly facing the target object to be gripped. The gripping device is configured to switch between a first gripping mode and a second gripping mode, wherein, in the first gripping mode, the gripping device holds the target object by each of the fingertips. In the second gripping mode, the gripping device adheres to and / or adsorbs the target object by each of the attachment assemblies to achieve the gripping operation. The gripping device can switch between different gripping modes for different usage scenarios.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to grasping devices and robots equipped with grasping devices. Background Technology

[0002] Robots equipped with gripping devices have been widely used in various fields such as industrial manufacturing and logistics. With continuous technological advancements, the application scenarios for robots are becoming increasingly diverse. However, current robot gripping modes are relatively simple and cannot effectively adapt to multiple scenarios. Summary of the Invention

[0003] In view of the above problems, this application provides a grasping device and a robot with the grasping device, which can switch between two different grasping modes according to different application scenarios and can adapt to different application scenarios.

[0004] In a first aspect, this application provides a gripping device, comprising: a housing; at least two gripper assemblies for cooperating with each other to grip a target object. Each gripper assembly includes: a fingertip for holding the target object; a connecting rod assembly having a first end connected to the fingertip and a second end rotatably connected to the housing; and an attachment assembly disposed on the side of the connecting rod assembly facing the target object to be gripped. The gripping device is configured to switch between a first gripping mode and a second gripping mode, wherein: in the first gripping mode, the gripping device grips the target object by each of the fingertips cooperating with each other; in the second gripping mode, the gripping device adheres to and / or adsorbs the target object by each of the attachment assemblies to achieve the gripping operation.

[0005] The grasping device provided in this embodiment can switch between different grasping modes, which can better adapt to different application scenarios.

[0006] In some embodiments, each fingertip is in a first state in the first gripping mode and in a second gripping mode, each fingertip is in a second state, wherein when each fingertip is in the second state, each fingertip deflects relative to the attachment component in a first direction away from each gripper component.

[0007] In the second grasping mode, by changing the position of the fingertip, you can avoid the fingertip touching the target object and avoid damaging the target object.

[0008] In some embodiments, each connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein: a first end of the first connecting rod is rotatably connected to the housing, and a second end is rotatably connected to the second connecting rod; a first end of the second connecting rod is rotatably connected to the first connecting rod, and a second end is rotatably connected to the first end of the third connecting rod; a first end of the third connecting rod is connected to the second end of the second connecting rod, and the second end is connected to the fingertip; a first end of the fourth connecting rod is connected between the first end of the third connecting rod and the fingertip, and a second end of the fourth connecting rod is rotatably connected to the housing; the attaching component is disposed on the side of the fourth connecting rod facing the target object to be grasped.

[0009] In this embodiment, the switching between the grasping mode and the fingertip state is achieved by setting the position changes of multiple connecting rods, which eliminates the need for an additional drive mechanism, making the grasping device simple in structure and lower in cost.

[0010] In some embodiments, the connecting rod assembly further includes a first locking component, wherein in the first gripping mode, the first connecting rod and the second connecting rod are locked in a straight line by the first locking component, and the fingertips are in the first state.

[0011] By setting the first locking component to fix the relative positions of the first connecting rod and the second connecting rod, the structure of the gripping device in the first gripping mode is made more stable.

[0012] In some embodiments, the connecting rod assembly further includes a second locking component, wherein in the second gripping mode, the third connecting rod and the fourth connecting rod are locked at a preset angle by the second locking component, and the fingertips are in the second state.

[0013] By setting the second locking component to fix the relative positions of the third and fourth connecting rods, the structure of the gripping device in the second gripping mode is made more stable.

[0014] In some embodiments, the housing further includes a first limiting element and a second limiting element, which are respectively disposed on both sides of the fourth connecting rod. The first limiting element is configured to limit the rotation range of the fourth connecting rod in the first direction when each gripper assembly rotates toward a first direction away from each other; the second limiting element is configured to limit the rotation range of the fourth connecting rod in the second direction when each gripper assembly moves toward a second direction closer to each other.

[0015] By limiting the rotation range of the fourth connecting rod through a limiting element, the gripping device can achieve mode switching through a simple mechanical structure without the need for an additional drive device. This results in a simple structure and lower cost.

[0016] In some embodiments, the connecting rod assembly further includes a first locking component and a second locking component, and the housing further includes a first limiting element and a second limiting element, wherein: the first locking component is configured to lock the first connecting rod and the second connecting rod in a straight line in the first gripping mode, wherein the second locking component is inactive in the first gripping mode; the second locking component is configured to lock the third connecting rod and the fourth connecting rod at a preset angle in the second gripping mode, wherein the first connecting rod and the second connecting rod break free from the locking of the first locking component; the first limiting element and the second limiting element are respectively disposed on both sides of the fourth connecting rod, wherein, during the process of the gripping device switching from the first gripping mode to the second gripping mode, the first limiting element is configured to position the gripper assemblies facing in opposite directions. When the first connecting rod rotates away from each other in the first direction, the rotation range of the fourth connecting rod in the first direction is restricted, causing the first connecting rod and the second connecting rod to break through the lock of the first locking component and rotate relative to each other. The third connecting rod rotates relative to the fourth connecting rod in the first direction to the preset angle and is locked by the second locking component. During the process of the gripping device switching from the second gripping mode to the first gripping mode, the second limiting element is configured to restrict the rotation range of the fourth connecting rod in the second direction when each gripper assembly moves towards the second direction, so that when the first connecting rod continues to rotate in the second direction, it drives the third connecting rod to rotate, thereby releasing the lock of the second locking member on the third connecting rod and the fourth connecting rod, and the first connecting rod and the second connecting rod are locked by the first locking member.

[0017] In this embodiment, the switching between the grasping mode and the fingertip state is achieved through the cooperation of the first locking component, the second locking component, the first limiting element and the second limiting element. No additional drive mechanism is required, which makes the structure of the grasping device simple and the cost lower.

[0018] In some embodiments, each connecting rod assembly includes a first connecting rod, a second connecting rod, and a third connecting rod, wherein: a first end of the first connecting rod is rotatably connected to the housing, and a second end of the first connecting rod is rotatably connected to the first end of the second connecting rod; a second end of the second connecting rod is rotatably connected to the fingertip; a first end of the third connecting rod is rotatably connected between the second end of the second connecting rod and the fingertip, and a second end of the third connecting rod is rotatably connected to the housing; the attachment component is disposed on the side of the third connecting rod facing the target object to be grasped, further simplifying the structure of the grasping device.

[0019] In some embodiments, the housing further includes a first fastener and a second fastener, and the attachment assembly is connected between the housing and the fingertip via the first fastener and the second fastener, wherein the attachment assembly has a substantially constant loading force.

[0020] The essentially constant loading force on the attachment component keeps it in a taut state, making it less prone to wrinkles, easier to grip target objects, and with a wider range of force, enabling it to grip larger target objects.

[0021] In some embodiments, at least one of the first and second fasteners is configured to provide a substantially constant loading force to the attachment assembly, such that the attachment assembly remains under tension throughout the movement of the gripper assembly.

[0022] In some embodiments, the attachment component is a gecko-like adhesive film that can grasp target objects by adhesion. For fragile, deformable, or large objects, it can grasp them with reliable adhesion without damaging the target objects.

[0023] In some embodiments, the attachment component is fixedly attached to the connecting rod assembly by means of a soft pad.

[0024] Secondly, this application provides a robot with a gripping device, including the gripping device as described in any of the preceding embodiments.

[0025] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0026] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0027] Figure 1 This is a three-dimensional structural diagram of a gripping device with its shell portion cut open according to one embodiment of this application.

[0028] Figure 2 for Figure 1 A front view of the gripping device shown.

[0029] Figure 3 for Figure 1 Partial cross-sectional view of the gripper assembly and housing of the gripping device shown.

[0030] Figure 4 for Figure 1 A cross-sectional view of the fourth connecting rod of the gripping device shown.

[0031] Figures 5a-5b for Figure 1 The diagram shows an equivalent schematic of the gripper assembly during the gripping process in the first gripping mode of the gripping device.

[0032] Figures 6a-6c for Figure 1 The diagram shows an equivalent view of the gripper assembly when the gripping device switches from the first gripping mode to the second gripping mode.

[0033] Figures 7a-7b for Figure 1 The diagram shows an equivalent schematic of the gripper assembly during the gripping process of the gripping device in the second gripping mode.

[0034] Figures 8a-8c for Figure 1 The diagram shows an equivalent view of the gripper assembly of the gripping device switching from the second gripping mode to the first gripping mode.

[0035] Figure 9 This is a schematic diagram of the equivalent structure of the gripper assembly of the gripping device in another embodiment of this application.

[0036] Figures 10a-10b for Figure 9 The diagram shows an equivalent schematic of the gripper assembly's working state in the first and second gripping modes.

[0037] Figure 11 This is a schematic diagram of the gripper assembly of the gripping device in a first gripping mode, according to another embodiment of this application.

[0038] Figure 12 for Figure 11 The diagram shows the equivalent structure of the gripper assembly of the gripping device in the second gripping mode.

[0039] Figure 13 This is a schematic diagram of the robot structure in one embodiment of this application.

[0040] The reference numerals in the detailed embodiments are as follows:

[0041] Grasping device 1, target object 2;

[0042] The housing 10 includes a first limiting element 11, a second limiting element 12, a first fixing member 13, and a second fixing member 14.

[0043] Gripper assembly 20, fingertip 21, connecting rod assembly 22, attachment assembly 23;

[0044] First connecting rods 221, 221a; second connecting rods 222, 222a; third connecting rods 223, 223a; fourth connecting rod 224;

[0045] First locking component 225, first elastic element 2251, first stop element 2252;

[0046] Second locking assembly 226, first locking element 2261, second locking element 2262, mounting slot 2263;

[0047] First roller 227, second roller 228;

[0048] Pad 231;

[0049] Drive unit 30;

[0050] Robot 3, connector 31, gripping device 32. Detailed Implementation

[0051] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0053] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0054] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0055] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0056] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0057] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0058] Currently, robots with gripping devices are widely used in various fields such as industrial manufacturing and logistics. For example, in industrial manufacturing, robotic arms are used to grasp and install components, while in logistics, they are used to grasp and move items. However, the applicant notes that current robot gripping modes are relatively simple and cannot adapt to diverse scenarios. For instance, in industrial manufacturing, robotic arms use mechanical fingers similar to human fingers to grasp components, achieving high precision and reliability. However, this gripping method is limited by the stroke length of the mechanical fingers, making it unable to grasp large objects. Furthermore, the large gripping force of the mechanical fingers may damage easily deformable or fragile objects. For such large, deformable, or fragile components, it may be necessary to configure different types of robots, which increases the complexity of automated industrial manufacturing and raises costs.

[0059] To address the issue of robots having a single grasping mode and being unsuitable for various scenarios, the applicant has designed a grasping device capable of switching between different grasping modes, applicable to robots. The grasping device includes a housing and at least two gripper assemblies, which cooperate under the drive of a driving device to grasp a target object. Each gripper assembly includes: a fingertip for holding the target object; a connecting rod assembly, with a first end connected to the fingertip and a second end rotatably connected to the housing; and an attachment component disposed on the side of the connecting rod assembly facing the target object. The attachment component contacts the surface of the target object through adhesion and / or adsorption to achieve the grasping operation. The grasping device can switch between a first grasping mode and a second grasping mode. In the first grasping mode, the grasping device holds the target object using each fingertip. In the second grasping mode, the grasping device adheres to and / or adsorbs the target object using each attachment component to achieve the grasping operation. Thus, the grasping device can switch between different grasping modes for different usage scenarios.

[0060] The inventive concept of this application is described in detail below with reference to various embodiments. The gripping device disclosed in the embodiments of this application can be applied to, but is not limited to, robotic arms or robots in fields such as industrial manufacturing and logistics transportation. Each gripper assembly of the gripping device cooperates with each other to achieve a gripping action under the drive of the driving device. This application does not limit the driving method of each gripper assembly, as long as each gripper assembly can achieve an opening and closing action and cooperate with each other to complete the gripping action. For example, each gripper can achieve an opening and closing action through multiple linked connecting rods, or it can achieve an opening and closing action through tendon drive. Tendon drive is prior art and will not be described in detail here.

[0061] The following description, using the example of a gripping device driving the opening and closing of a gripper assembly through multiple linked connecting rods to achieve gripping, will be combined with various embodiments to illustrate this application.

[0062] Please see Figure 1-4 This is a schematic diagram of the gripping device in some embodiments of this application. The gripping device 1 includes a housing 10, at least two gripper assemblies 20, and a driving device 30. The at least two gripper assemblies 20 cooperate with each other under the drive of the driving device 30 to grip a target object. Each gripper assembly 20 includes a fingertip 21, a connecting rod assembly 22, and an attachment assembly 23. In each gripper assembly 20, the fingertip 21 is used to grip the target object, and the first end of the connecting rod assembly 22 is connected to the fingertip 21, and the second end is rotatably connected to the housing 10. The attachment assembly 23 is at least disposed on the side of the connecting rod assembly 22 facing the target object to be gripped (or the inner side of the gripper assembly), and is used to contact the surface of the target object to be gripped by adsorption and / or adhesion to achieve gripping of the target object. The gripping device 1 can switch between a first gripping mode and a second gripping mode. In the first gripping mode (hereinafter also referred to as the fingertip gripping mode), the gripping device 1 grips the target object by each of the fingertips 21 cooperating with each other. In the second gripping mode (hereinafter also referred to as the attachment gripping mode), the gripping device 1 performs the gripping operation by having each of the attachment components cooperate with each other to adhere to and / or adsorb the target object.

[0063] In this application, by providing a fingertip at one end of each gripper assembly 20 and an attachment component on the inner side of the gripper assembly 20, the gripping device 1 achieves different gripping modes. In the fingertip gripping mode, high-precision gripping can be achieved using the fingertip, for example, gripping small components in specific locations. In the attachment gripping mode, larger or fragile / deformable target objects can be gripped using suction and / or adhesion forces, grasping objects with minimal compressive force, minimizing damage to the target object, and not being limited by the gripper's travel range. The gripping device 1 can switch between different gripping modes for different usage scenarios, reducing the cost and complexity of assembly lines in industrial manufacturing or logistics transportation, and improving gripping efficiency.

[0064] It should be noted that in some embodiments of this application, the number of gripper assemblies 20 can be set according to actual needs, and the structure of each gripper assembly 20 can be the same. The following will describe the structure of one of the gripper assemblies as an example.

[0065] Please continue reading. Figure 1-4In one embodiment, each gripper assembly 20 includes a fingertip 21, a connecting rod assembly 22 with four connecting rods, and an attachment assembly 23. Each gripper assembly 20 switches between a first gripping mode and a second gripping mode by adjusting the positional relationship of the four connecting rods, and switches between a first state and a second state for each fingertip 21.

[0066] Specifically, each connecting rod assembly 221 includes a first connecting rod 221, a second connecting rod 222, a third connecting rod 223, and a fourth connecting rod 224. The first end of the first connecting rod 221 is rotatably connected to the housing 10, and the second end of the first connecting rod 221 is rotatably connected to the first end of the second connecting rod 222. The second end of the second connecting rod 222 is rotatably connected to the first end of the third connecting rod 223. The third connecting rod 223 is fixedly connected to the fingertip 21; in some embodiments, the third connecting rod 223 may be integrally formed with the fingertip 21. The first end of the fourth connecting rod 224 is rotatably connected to the second end of the third connecting rod 223, and the second end of the fourth connecting rod 224 is rotatably connected to the housing 10.

[0067] In the fingertip gripping mode, the first connecting rod 221 and the second connecting rod 222 are locked on the same straight line, so that the fingertip is in a first state, that is, as the gripper assemblies 20 move closer or further away from each other, the gripping plane of each fingertip 21 always maintains the same direction. The driving device 30 is configured to drive the first end of the first connecting rod 221 to rotate, thereby causing the gripper assemblies 20 to move closer or further away from each other.

[0068] Specifically, when the gripping device 1 is in the fingertip gripping mode, the first connecting rod 221 and the second connecting rod 222 are locked in the same straight line and parallel to the fourth connecting rod 221. The sum of the lengths of the first connecting rod 221 and the second connecting rod 222 (i.e., the distance from the first end of the first connecting rod 221 to the second end of the second connecting rod 222 in this case) is equal to the length of the fourth connecting rod 224 (i.e., the distance from the first end to the second end of the fourth connecting rod 224). The rod-shaped structure formed by the collinear first connecting rod 221 and the second connecting rod 222, together with the third connecting rod 223, the fourth connecting rod 224, and the housing portion, constitutes a parallelogram linkage structure. When each fingertip 21 is in the first state, the first connecting rod 221 or the fourth connecting rod 224 can rotate under the drive of the driving device 30, causing the at least two gripper assemblies 20 to move towards each other, making each fingertip 21 move closer or further away from each other, thereby gripping or releasing the target object.

[0069] In some embodiments, the connecting rod assembly 22 further includes a first locking assembly 225 for locking the first connecting rod 221 and the second connecting rod 222 in a straight line in a fingertip gripping mode.

[0070] For example, see Figure 3 and Figure 5a In some embodiments, the first locking component 225 is disposed between the first connecting rod 221 and the second connecting rod 222, and the first locking component 225 includes a first elastic element 2251 (see reference). Figure 5a The first elastic member 2251 is preloaded and disposed between the first connecting rod 221 and the second connecting rod 222 to provide torque to the first connecting rod 221 and the second connecting rod 222, such that the second connecting rod 222 tends to deflect relative to the first connecting rod 221 in a first direction toward the outside of the gripper assembly. In this embodiment, the direction toward the outside of the gripper assembly (i.e., the direction in which the gripper assemblies move away from each other) is referred to as the first direction, and the direction toward the inside of the gripper assembly (i.e., the direction in which the gripper assemblies move closer to each other) is referred to as the second direction.

[0071] For example, in some embodiments, the first elastic element 2251 may be a torsion spring, one end of which is connected to the first connecting rod 221 and the other end to the second connecting rod 222. The first stop 2252 is a stop protruding from the end of the first connecting rod 221 that connects to the second connecting rod 222, used to limit the range of rotation between the first connecting rod 221 and the second connecting rod 222, and to prevent the second connecting rod 222 from deflecting relative to the first connecting rod 221 in the first direction. The first elastic element 2251 and the first stop 2252 work together to keep the first connecting rod 221 and the second connecting rod 222 in a straight line in the fingertip gripping mode. In another embodiment, the first stop 2252 may also be provided on the second connecting rod 222, as long as it achieves relative rotational limitation between the first connecting rod 221 and the second connecting rod 222. It should be understood that the elastic force of the first elastic element 2251 (such as a torque spring) can be set and adjusted according to the actual situation, so that during the process of gripping / releasing the target object in the first gripping mode of the gripping device, the elastic force generated by the first elastic element 2251 is large enough to prevent the second connecting rod 222 from deflecting relative to the first connecting rod 221 in the first direction, and when the gripping device switches to the second gripping mode, the drive device 30 can overcome the elastic force of the first elastic element 2251 without damage.

[0072] For example, in some embodiments, the first elastic element is a tension spring, one end of which is fixed to the housing 10 and the other end to the fourth connecting rod 224. The tension spring is configured to maintain a pulling force toward the housing 10 on the fourth connecting rod 2224 within the range of motion of the gripping device. Similarly, this tension spring causes the fourth connecting rod 224 to tend to deflect relative to the housing 10 in the first direction. Since the fourth connecting rod 224, the third connecting rod 223, and the second connecting rod 222 are connected in sequence, the fourth connecting rod 224 drives the second connecting rod 222, causing the second connecting rod 222 to tend to deflect relative to the first connecting rod 221 in the first direction. Furthermore, in this embodiment, a first stop 2252 is also provided to prevent the second connecting rod 222 from deflecting relative to the first connecting rod 221 in the first direction. Therefore, the tension spring and the first stop 2252 cooperate to ensure that the first connecting rod 221 and the second connecting rod 222 are in a straight line in the fingertip gripping mode.

[0073] For example, in some embodiments, when the first elastic element is a tension spring, one end of the tension spring is connected to the housing 10, and the other end can also be connected to the second connecting rod 222. The tension spring is configured to maintain a pulling force towards the housing 10 on the second connecting rod 222 within the range of motion of the gripping device, causing the second connecting rod 222 to tend to deflect relative to the first connecting rod 221 in the first direction. In this embodiment, a first stop 2252 is also provided to prevent the second connecting rod 222 from deflecting relative to the first connecting rod 221 in the first direction. Therefore, the tension spring and the first stop 2252 cooperate to ensure that the first connecting rod 221 and the second connecting rod 222 are in a straight line in the fingertip gripping mode.

[0074] It should be understood that in some other embodiments, when the first elastic element is a tension spring, one end can be disposed on the housing 10 and the other end can be disposed on the third connecting rod 223. The principle is similar to the two embodiments described above, and will not be repeated here.

[0075] By setting the first locking component, the structure of the gripper assembly can be made more stable in the fingertip gripping mode.

[0076] In other embodiments, the relative rotation and limiting lock between the first connecting rod 221 and the second connecting rod 222 can also be achieved by a drive motor, gear or other device provided at the connection point of the two rods. These implementation methods do not depart from the principles and spirit of this application.

[0077] In the attach grab mode, please refer to the following as well. Figure 6cThe angle between the third connecting rod 223 and the fourth connecting rod 224 is locked at a preset angle, so that the fingertip 21 is in the second state, and the fingertip deflects relative to the attachment component in a first direction away from each gripper component. In this state, the limiting and locking between the first connecting rod 221 and the second connecting rod 222 are ineffective (for example, in the case of using a drive motor, the drive motor used for locking can be deactivated when switching to the second state) or its elastic limiting force is overcome, so the first connecting rod 221 and the second connecting rod 222 can rotate relatively freely. Moreover, compared to the first state, in the second state, the third connecting rod 223 and the fourth connecting rod 224 are locked at a smaller angle, so that the fingertip 21 deflects relative to the attachment component 23 towards the outside of the gripper component, i.e., in the first direction, compared to the first state. This ensures that in the second state, when the gripping device 1 grips the target object through the attachment component 23, the fingertip 21 does not touch the target object, avoiding damage to fragile or deformable target objects. For example, in some embodiments, the angle between the plane of the fingertip 21 used to grasp the target object and the plane of the attachment component 23 is greater than or equal to 180 degrees. The grasping device 1 is able to grasp the object through the attachment component 23 disposed inside the connecting rod assembly 22.

[0078] In this embodiment, locking the first connecting rod and the second connecting rod in a collinear state achieves the first state of the fingertip, and locking the third connecting rod and the fourth connecting rod at a preset angle achieves the second state of the fingertip. Switching between the grasping mode and the fingertip state is achieved by changing the position of the connecting rods. No additional drive mechanism is required, which makes the structure of the grasping device simple and the cost lower.

[0079] In some embodiments, the connecting rod assembly 22 further includes a second locking assembly 226 for locking the third connecting rod 223 and the fourth connecting rod 224 at a preset angle in the attachment gripping mode.

[0080] In some implementation methods, please refer to the following: Figure 3 and Figures 7a-7b The second locking assembly 226 includes a first locking element 2261 and a second locking element 2262. The first locking element 2261 is disposed on the fourth connecting rod 224, and the second locking element 2262 is disposed on the third connecting rod 223. The first locking element 2261 and the second locking element 2262 are configured to cooperate in locking or releasing the third connecting rod 223 and the fourth connecting rod 224. When the included angle between the third connecting rod 223 and the fourth connecting rod 224 is the preset angle, the first locking element 2261 and the second locking element 2262 cooperate to lock the relative position between the third connecting rod 223 and the fourth connecting rod 224.

[0081] For example, in some embodiments, both the first locking element 2261 and the second locking element 2262 are magnets. The third connecting rod 223 and the fourth connecting rod 224 are locked at the preset angle by the attraction between the two magnets. At least one of the third connecting rod 223 and the fourth connecting rod 224 is provided with a mounting groove 2263 for receiving the magnet and adjusting its position. For example, in some embodiments, the mounting groove 2263 can be a cavity in which the magnet is mounted. The mounting groove 2263 may also be provided with an adjusting element for adjusting the position of the magnet within the mounting groove 2263.

[0082] For example, in other embodiments, the first locking element 2261 and the second locking element 2262 may also be a pair of snap-fit ​​structures, which lock the third connecting rod 223 and the fourth connecting rod 224 at the preset angle by snap-fit ​​engagement.

[0083] It should be understood that the second locking component 226 can be considered as passively locking by means of magnetic attraction and latching. In the passive locking mode, the magnitude of the locking force and the magnitude of the force required to release the passive lock can be configured according to the actual situation, as long as it can keep the third connecting rod 223 and the fourth connecting rod 224 locked in the second gripping mode, and can be released during the switching process from the second gripping mode to the first gripping mode. A specific example of the mode switching process is described below.

[0084] For example, in some embodiments, the second locking component 226 may also be an electromagnetic clutch disposed in the third connecting rod 223 or the fourth connecting rod 224. In the fingertip gripping mode, the electromagnetic clutch is de-energized, and the third connecting rod 223 and the fourth connecting rod 224 can rotate freely. In the attachment gripping mode, the electromagnetic clutch is energized, and the third connecting rod 223 and the fourth connecting rod 224 are locked at the preset angle. In other embodiments, the relative rotation and limiting locking between the third connecting rod 223 and the fourth connecting rod 224 can also be achieved by a drive motor, gear, or other device disposed at the connection point of the two rods. This application does not specifically limit the locking method between the two connecting rods.

[0085] It should be understood that the second locking component 226 can be considered as actively locking by means of an electromagnetic clutch or a drive motor. In the active locking mode, the corresponding processor can send locking and unlocking commands to the second locking component 226 according to the operating needs of the gripping device.

[0086] Please see Figure 4The housing 10 further includes a first limiting element 11 and a second limiting element 12, which are respectively disposed on both sides of the fourth connecting rod 224 to limit the rotation range of the fourth connecting rod 224 in the corresponding directions. For example Figure 4 As shown, the first limiting element 11 is disposed on the housing 10 near the side of the fourth connecting rod 224 facing the first connecting rod 221, and is used to limit the rotation range of the fourth connecting rod 224 in the first direction when each gripper assembly 20 rotates in a first direction away from each other. The second limiting element 12 is disposed on the housing 10 near the side of the connecting rod 224 facing the attachment assembly 23, and is used to limit the rotation range of the fourth connecting rod 224 in the second direction when each gripper assembly 20 moves in a second direction closer to each other. The first limiting element 11 and the second limiting element 22 can be grooves or protruding blocks that serve a limiting function; any structure that can provide a limiting effect is acceptable. By limiting the rotation range of the fourth connecting rod through the limiting elements, the gripping device can achieve mode switching through a simple mechanical structure without the need for an additional drive device, resulting in a simpler structure and lower cost. The specific mode switching process is described below.

[0087] The drive device 30 is disposed in the housing 10 and is used to drive the first connecting rod 221 and / or the fourth connecting rod 224 to rotate, thereby opening and closing the gripper assemblies 20 and realizing the gripping and releasing actions. The drive device 30 may include any mechanism capable of driving the gripper assemblies 20 to rotate, such as a motor, which will not be described in detail here. In the following description of the working process, the drive device driving the first connecting rod 221 is used as an example.

[0088] The following combination Figures 5a-8c The working process of the gripping device 1 is illustrated by way of example.

[0089] Please refer to this carefully. Figures 5a-5b The diagram illustrates the movement process of at least two gripper assemblies 20 grasping the target object 2 in fingertip gripping mode. In fingertip gripping mode, the first connecting rod 221 and the second connecting rod 222 are locked in a straight line, while other connecting rods can rotate freely, and the second locking assembly 226 does not engage in locking action. The gripping plane of each fingertip 21 contacting the target object maintains its direction unchanged as the gripper assemblies 20 move closer or further apart, i.e., it remains in the first state.

[0090] in, Figure 5aThe diagram illustrates the state of the at least two gripper assemblies 20 when open in fingertip gripping mode. When fingertip gripping mode is executed, the first connecting rod 221 or the fourth connecting rod 224 rotates under the drive of the drive device 30, causing the gripper assemblies 20 to move towards each other, rotating to the position shown. Figure 5b In the indicated state, each fingertip 21 moves to the target object and grips it. During this process, by reasonably adjusting the position of the gripping device and the target object, the attachment component 23 can be prevented from contacting the target object.

[0091] Please also refer to Figures 6a-6c This is an equivalent schematic diagram of the process by which the gripping device 1 switches from fingertip gripping mode to adhesive gripping mode.

[0092] exist Figure 6a In the fingertip gripping mode shown, as the driving device 30 drives each gripper assembly 20 to rotate continuously in a direction away from each other, each gripper assembly 20 gradually opens. When the fourth connecting rod 224 rotates to the first limiting element 11, it is restricted by the first limiting element 11 and cannot continue to rotate. At this time, the driving device 30 continues to drive the first connecting rod 221 to rotate, causing the first connecting rod 221 and the second connecting rod 222 to break through the lock of the first locking assembly 225 and rotate relative to each other. At the same time, it drives the third connecting rod 223 to continue to rotate, so that the third connecting rod 223 deflects relative to the fourth connecting rod 224 in the first direction, such as... Figure 6b As shown. Finally, the gripper assembly 20 rotates until the third connecting rod 223 and the fourth connecting rod 224 move to the preset angle and are locked by the second locking assembly 226, as... Figure 6c As shown, the gripping device 1 switches to the attachment gripping mode. At this time, the fingertips 21 of each gripper assembly 20 are in the second state. For example, the angle between the plane of the fingertips 21 gripping the target object and the plane of the attachment assembly 23 is large (e.g., equal to or greater than 180 degrees). In this way, when the gripping device 1 grips the target object through the attachment assembly 23, the fingertips 21 do not touch the target object.

[0093] Please see Figures 7a-7b This refers to the movement process of each gripper assembly 20 in the attachment gripping mode.

[0094] Figure 7a This describes the open state of each gripper assembly 20 in the attachment gripping mode. During the gripping of the target object, each gripper assembly 20 rotates towards each other under the drive of the drive device 30, such as... Figure 7b The process continues until the attachment component 23 adheres to or adheres to the target object 2. During rotation, the included angle between the third connecting rod 223 and the fourth connecting rod 224 remains at the preset angle, and their relative positions remain unchanged.

[0095] Please see Figure 3 , Figure 4 and Figures 8a-8c The following describes the process of switching the gripping device 1 from the attachment gripping mode to the fingertip gripping mode.

[0096] In the attachment gripping mode, as the drive device 30 drives each gripper assembly 20 to rotate continuously toward each other, such as Figures 8a-8b As each gripper assembly 20 gradually closes, when the fourth connecting rod 224 rotates to the second limiting element 12, it is restricted from further rotation by the second limiting element 12. At this time, the driving device 30 drives the first connecting rods 221 of each gripper assembly to continue rotating in the second direction towards each other. The third connecting rod 223 is driven to continue rotating, thereby releasing the lock between the third connecting rod 223 and the fourth connecting rod 224 under the driving force of the driving device 30. After the lock between the third connecting rod 223 and the fourth connecting rod 224 is released, the first connecting rod 221 and the second connecting rod 222 return to the state of the first gripping mode of the gripping device under the action of the first locking component 225, that is, the first connecting rod 221 and the second connecting rod 222 are in the same straight line and locked by the first locking component 225. Figure 8c As shown, at this time, the second locking component 226 releases the lock on the relative position between the third connecting rod 223 and the fourth connecting rod 224, and the gripping device 1 switches from the attachment gripping mode to the fingertip gripping mode.

[0097] It is understood that if the first locking component 225 and the second locking component 226 adopt an active locking method, then the switching between the fingertip gripping mode and the attachment gripping mode can be executed by the software program controlling the driving device 30 in response to the user's switching command.

[0098] The gripping device provided in this embodiment, by setting an attachment component inside the connecting rod assembly, enables a single gripping device to achieve precise gripping in fingertip gripping mode and gripping large, fragile, or easily deformable objects in attachment gripping mode. The two gripping modes do not interfere with each other, making it adaptable to more scenarios. Furthermore, switching between the two modes is achieved by adjusting the positions of the four connecting rods, resulting in a simple structure that eliminates the need for additional controllers or drivers, reducing system complexity. Changing the fingertip position also prevents damage to the target object during attachment gripping mode. Moreover, the use of a gecko-like adhesive film with constant tension allows adjustment of the attachment component's length towards the target object, enabling the gripping of larger objects and providing more reliable enveloping force.

[0099] The following combination Figure 1-4 , Figure 9 and Figure 11This application describes the attachment component 23 in some embodiments.

[0100] The attachment component 23 is disposed on the side of the connecting rod assembly 22 facing the target object when gripping it, that is, on the opposite side of at least two gripper assemblies 20 (the inner side of the connecting rod assembly 22 in the figure), and is used to grip the target object by adsorption or adhesion in the attachment gripping mode. The housing 10 also includes a first fixing member 13 and a second fixing member 14, and the attachment component 23 is connected between the housing 10 and the fingertip 21 through the first fixing member 13 and the second fixing member 14.

[0101] In some embodiments, the attachment component 23 is a strip-shaped gecko-inspired adhesive film, which is disposed along the length of the connecting rod component 22. The gecko-inspired adhesive is an adhesive material inspired by geckos and designed to mimic the structure of a gecko's foot. The surface of the gecko-inspired adhesive film has multiple micro-wedge structures, enabling it to adhere to the surface of an object through intermolecular interactions (e.g., van der Waals forces). In the attachment and gripping mode, the gripping operation is achieved by adhering the gecko-inspired adhesive film to the surface of the target object. Since the gecko-inspired adhesive film is known technology, it will not be described in detail here.

[0102] By utilizing the reliable adhesion of the gecko-inspired adhesive film, a stable grip can be achieved even when the lowest possible pressure is applied to the target object, thus avoiding damage to the target object.

[0103] In some embodiments, the first end of the gecko-like adhesive film is fixed to the housing 10 near the fourth connecting rod 224 by a first fixing member 13, and the second end is connected to the end of the connecting rod assembly 22 near the fingertip 21 by a second fixing member 14. At least one of the first fixing member 13 and the second fixing member 14 can provide a substantially constant loading force to the gecko-like adhesive film, the direction of which is the length direction of the connecting rod assembly. This allows the gecko-like adhesive film to expand and contract with the opening and closing of the gripper assembly 20, and the attachment assembly remains taut throughout the movement of the gripper assembly.

[0104] For example, please refer to Figure 3 and Figure 4In some embodiments, the first fixing member 13 is disposed on the housing 10 and located between the at least two gripper assemblies 20, for connecting the first end of the gecko-like adhesive material film. The fingertip 21 is provided with a first roller 227, and the fourth connecting rod 224 is provided with a second roller 228. The second fixing member 14 is disposed between the corresponding gripper assembly 20 and the first fixing member 13. The first end of the gecko-like adhesive material film is connected to the first fixing member 13, the main body of the gecko-like adhesive material sequentially passes around the first roller 227 and the second roller 228, and the second end is connected to the second fixing member 14.

[0105] The second fixing member 14 provides a basically constant loading force to the gecko-like adhesive material 23. As the gripper assembly 20 opens and closes, the length of the attachment assembly 23 exposed between the first fixing member 13 and the fingertip 21 changes accordingly, so that larger objects can be grasped in the attachment gripping mode, and the gecko-like adhesive material film also has a larger elastic space, which is beneficial to protect easily deformable or fragile target objects.

[0106] The essentially constant loading force can be achieved through an elastic element (such as a constant force spring) or through a rotating shaft that can provide a constant loading force. The essentially constant loading force can keep the attachment component 23 in a tensile state during the movement of the gripper component, preventing the gecko-like adhesive film from wrinkling during the expansion and contraction process, thereby providing a more reliable wrapping force / adhesion force for the target object.

[0107] For example, in other embodiments, the second fastener 14 may also be located at the end of the fourth connecting rod 224 near the fingertip 21, and at least one of the first fastener 13 and the second fastener 14 provides a substantially constant loading force to the gecko-like adhesive film, without requiring the aforementioned two rollers.

[0108] It is understood that in some embodiments, the attachment component 23 may be correspondingly disposed on each of the gripper components 20. If the number of gripper components 20 is large, the attachment component 23 may also be disposed on only some of the gripper components 20. For example, when the gripping device 1 has four gripper components, the attachment component may be disposed on only two of the gripper components. The specific arrangement can be determined according to actual needs.

[0109] In other implementations, such as Figure 9 and Figure 11 As shown, the attachment component 23 can also be directly attached to the side of the connected rod component 22 facing the target object.

[0110] Specifically, in this embodiment, the structure of the connecting rod assembly 22 is similar to... Figure 1-4The illustrated embodiment is similar, also including a first connecting rod 221, a second connecting rod 222, a third connecting rod 223, and a fourth connecting rod 224, with the attachment component 23 attached to the side of the fourth connecting rod 223 facing the target object. Since the attachment component 23 is directly attached to the fourth connecting rod 224, it is unnecessary to provide a first fixing member, a second fixing member, a first roller, and a second roller on the housing 10 for fixing the attachment component 23, further simplifying the structure of the gripping device. The working process and switching process of the fingertip gripping mode and the attachment gripping mode can be referred to the embodiments described above, and will not be repeated here.

[0111] In some embodiments, a pad 231 is further provided between the attachment assembly 23 and the connecting rod assembly 22. For example, the gecko-like adhesive material is fixed to the pad 231, and then fixed to the fourth connecting rod 224 via the pad 231. The pad 231 can be made of a flexible and deformable material, such as rubber, foam, etc.

[0112] In some other embodiments, the attachment component 23 may also be a gecko-like adhesive material or other material with adhesive properties that is directly coated onto the connecting rod assembly.

[0113] In other embodiments, the attachment component 23 may also be one or more vacuum adsorption devices, such as suction cups, disposed on the connecting rod assembly 22. The attachment component 23 can grasp the target object using the suction force of the suction cups in the attachment gripping mode.

[0114] It is understood that the attachment component 23 in this application can also be any other structure or material that can grasp or release a target object by means of adsorption or adhesion. This application does not limit this. As long as it can grasp an object by means of adsorption or adhesion, it is within the protection scope of this application.

[0115] Please see Figure 11-12 This is a schematic diagram of the gripping device structure in another embodiment of this application. In this embodiment, each fingertip 21 is rotatably connected to the first end of the corresponding connecting rod assembly 22.

[0116] When the gripping device 1 is in the fingertip gripping mode, each fingertip 21 is in the first state, such as... Figure 11 As shown, the gripping plane of each fingertip 21 maintains its orientation as the gripper assemblies move closer and further apart. When at least two gripper assemblies 20 move to the closed state, the fingertips 21 of each gripper assembly 20 are positioned opposite each other and cooperate to grip the target object. By rotating the fingertips 21 in a direction away from the attachment assembly 23, the gripping device 1 can be switched from fingertip gripping mode to attachment gripping mode, as shown. Figure 12As shown, at this time, the fingertips are in the second state, that is, each fingertip is deflected in the first direction relative to the attachment component, so that when the gripping device 1 grips the target object in the attachment gripping mode, the fingertips 21 do not contact the target object.

[0117] In this embodiment, the fingertip 21 is rotatably connected to the first end of the connecting rod assembly 22 via a hinge. This application does not impose specific limitations on the method of driving the fingertip 21 to rotate; the fingertip 21 can be manually rotated to the first state and the second state, or it can be driven to rotate to the first state and the second state by a driving device such as a drive motor.

[0118] In some other embodiments, where the fingertip 21 is rotatably connected to the connecting rod assembly 22, the design of the connecting rod assembly 22 can be further simplified. For example, as... Figure 12 As shown, in one embodiment, each connecting rod assembly 22 may include three connecting rods rotatably connected in sequence: a first connecting rod 221a, a second connecting rod 222a, and a third connecting rod 223a. The free ends of the first connecting rod 221a and the third connecting rod 223a are rotatably connected to the housing 10. The first connecting rod 221a, the second connecting rod 222a, and the third connecting rod 223a together with the housing 10 form a parallelogram structure. The fingertip 21 is rotatably connected to the end of the second connecting rod 222a near the third connecting rod 223a. The attachment component 23 is fixedly disposed on the side of the third connecting rod 223a facing the target object to be grasped. The installation method of the attachment component 23 can refer to the embodiments described above, and will not be repeated here.

[0119] In the gripping device provided in this embodiment, each fingertip 21 switches between the first state and the second state by rotation, which makes the design of the connecting rod assembly 22 simpler.

[0120] In some alternative embodiments, the fingertip 21 may be detachably connected to the first end of the connecting rod assembly 22. When in the fingertip gripping mode, the fingertip 21 is mounted on one end of the connecting rod assembly 22. When in the attachment gripping mode, the fingertip 21 can be manually removed. The fingertip 21 can be detachably mounted to the connecting rod assembly 22 using screws, clips, or other components, or it can be detachably mounted to the connecting rod assembly 22 using plug-in methods; this application does not impose specific limitations in this regard.

[0121] It is understood that in some alternative implementations, it is also possible that each of the fingertips 21 does not change its state in the first grasping mode and the second grasping mode.

[0122] Based on the above ideas, such as Figure 13 This application also provides a robot 3. The robot 3 may include at least one connector 31 and at least one gripping device 32. The robot 3 can be used to grasp or capture a target object. The gripping device 32 can be any gripping device as described in the foregoing embodiments. Those skilled in the art should understand that... Figure 13 The structure shown is merely an exemplary embodiment of robot 3. In other embodiments, robot 3 may include more or fewer components. For example, the robot may also include input / output devices, network access devices, communication buses, processors, memory, actuators, and sensors. These additional components can implement a control system, such as the switching instructions discussed above. For example, robot 3 may also include a processor and a memory storing instructions that, when executed by the processor, cause the processor to implement a control system. The memory may also store instructions that, when executed by the processor, cause the processor to activate or deactivate the gripping device 32 to capture or release a target object to be grasped.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A gripping device, characterized in that, The grasping device includes: case; At least two gripper assemblies are configured to cooperate with each other to grasp a target object, each gripper assembly comprising: Fingertips are used to hold the target object; A connecting rod assembly, wherein a first end is rotatably connected to the fingertip and a second end is rotatably connected to the housing; and An attachment component is disposed on the side of the connecting rod assembly that is rotatably connected to the fingertip, facing the target object to be grasped; The grasping device is configured to switch between a first grasping mode and a second grasping mode, wherein: In the first grasping mode, each fingertip is in a first state, and the grasping device uses each fingertip to cooperate with each other to grip the target object. When each fingertip is in the first state, the grasping plane of the fingertip forms an angle with the plane of the attachment component, and the attachment component does not contact the target object. In the second grasping mode, each fingertip is in a second state, wherein when each fingertip is in the second state, the angle between the grasping plane of the fingertip and the plane where the attachment component is located is greater than or equal to 180 degrees, such that compared with the first state, each fingertip deflects relative to the attachment component in a first direction away from each gripper component. The grasping device achieves the grasping operation by adhering to and / or adsorbing the target object through each attachment component, and the fingertip does not contact the target object.

2. The gripping device according to claim 1, characterized in that, Each of the connecting rod assemblies includes a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein: The first end of the first connecting rod is rotatably connected to the housing, and the second end is rotatably connected to the second connecting rod; The first end of the second connecting rod is rotatably connected to the first connecting rod, and the second end is rotatably connected to the first end of the third connecting rod; The first end of the third connecting rod is connected to the second end of the second connecting rod, and the second end is connected to the fingertip; The first end of the fourth connecting rod is connected between the first end of the third connecting rod and the fingertip, and the second end of the fourth connecting rod is rotatably connected to the housing; The attachment component is disposed on the side of the fourth connecting rod facing the target object to be grasped.

3. The gripping device according to claim 2, characterized in that, The connecting rod assembly also includes a first locking component. In the first gripping mode, the first connecting rod and the second connecting rod are locked in the same straight line by the first locking component, and the fingertip is in the first state.

4. The gripping device according to claim 2, characterized in that, The connecting rod assembly also includes a second locking component. In the second gripping mode, the third connecting rod and the fourth connecting rod are locked at a preset angle by the second locking component, and the fingertip is in the second state.

5. The gripping device according to claim 2, characterized in that, The housing further includes a first limiting element and a second limiting element, which are respectively disposed on both sides of the fourth connecting rod. The first limiting element is configured to limit the rotation range of the fourth connecting rod in the first direction when each gripper assembly rotates toward a first direction that moves away from each other. The second limiting element is configured to limit the rotation range of the fourth connecting rod in the second direction when each gripper assembly moves toward a second direction that moves toward each other.

6. The gripping device according to claim 2, characterized in that, The connecting rod assembly further includes a first locking component and a second locking component, and the housing further includes a first limiting element and a second limiting element, wherein: The first locking component is configured to lock the first connecting rod and the second connecting rod in the same straight line in the first gripping mode, wherein the second locking component does not function in the first gripping mode; The second locking component is configured to lock the third connecting rod and the fourth connecting rod at a preset angle in the second gripping mode, while the first connecting rod and the second connecting rod break free of the lock of the first locking component; The first limiting element and the second limiting element are respectively disposed on both sides of the fourth connecting rod; During the process of the gripping device switching from the first gripping mode to the second gripping mode, the first limiting element is configured to limit the rotation range of the fourth connecting rod in the first direction when each gripper assembly rotates toward a first direction away from each other, so that the first connecting rod and the second connecting rod break through the locking of the first locking assembly and rotate relative to each other, and the third connecting rod rotates relative to the fourth connecting rod in the first direction to the preset angle and is locked by the second locking assembly. During the process of the gripping device switching from the second gripping mode to the first gripping mode, the second limiting element is configured to restrict the rotation range of the fourth connecting rod in the second direction when each gripper assembly moves toward each other in the second direction. This causes the first connecting rod to rotate in the second direction, thereby causing the third connecting rod to rotate, which in turn causes the second locking component to release the lock on the third connecting rod and the fourth connecting rod, and the first connecting rod and the second connecting rod to be locked by the first locking component.

7. The gripping device according to claim 1, characterized in that, Each of the connecting rod assemblies includes a first connecting rod, a second connecting rod, and a third connecting rod, wherein: The first end of the first connecting rod is rotatably connected to the housing, and the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod; The second end of the second connecting rod is rotatably connected to the fingertip; The first end of the third connecting rod is rotatably connected between the second end of the second connecting rod and the fingertip, and the second end of the third connecting rod is rotatably connected to the housing; The attachment component is disposed on the side of the third connecting rod facing the target object to be grasped.

8. The gripping device according to any one of claims 1-7, characterized in that, The housing also includes a first fixing member and a second fixing member, and the attachment assembly is connected between the housing and the fingertip through the first fixing member and the second fixing member, wherein the attachment assembly has a substantially constant loading force.

9. The gripping device according to claim 8, characterized in that, At least one of the first and second fasteners is configured to provide the attachment assembly with the substantially constant loading force, such that the attachment assembly remains under tension throughout the movement of the gripper assembly.

10. The gripping device according to any one of claims 1-7, characterized in that, The attachment component is installed on the side of the connecting rod assembly facing the target object to be grasped by attaching and fixing it.

11. The gripping device according to claim 1, characterized in that, The attachment component is a gecko-inspired adhesive film.

12. The gripping device according to claim 11, characterized in that, The attachment component is fixedly attached to the connecting rod assembly via a pad.

13. A robot, characterized in that, Includes the gripping device as described in any one of claims 1-12.

Images