Gripping device and robot having a gripping device

Abstract

The application discloses a grabbing device, comprising a base body and at least two gripper assemblies. Each gripper assembly comprises a gripper finger and a first connecting rod assembly. In a first grabbing mode, the gripper finger is in a first state, and the first connecting rod assembly is configured to drive the gripper finger to move inward and contact the target object. In a second grabbing mode, the gripper finger is in the first state, and the first connecting rod assembly is configured to drive the gripper finger to move outward and contact the target object. In a third grabbing mode, the first connecting rod assembly is configured to drive the gripper finger to adjust from the first state to the second state, and drive the gripper finger to move inward and contact the target object in cooperation with the first connecting rod assembly. The application also provides a robot. The grabbing device and the robot in the application have multiple grabbing modes and can adapt to different scenes.

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 are 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 devices have relatively simple gripping modes, requiring different gripping devices to be designed for different tasks. For example, in industrial manufacturing, since most objects to be gripped have relatively regular shapes, gripping devices typically achieve the gripping operation by moving the gripper fingers in parallel. However, this type of gripping device cannot grasp large objects due to the limited travel of the gripper fingers. Furthermore, for large, easily deformable, or fragile objects, the rigid structure of the gripper fingers may damage the object. Therefore, additional gripping devices are needed for large, easily deformable, or fragile objects. Summary of the Invention

[0003] In view of the above problems, it is necessary to provide a gripping device and a robot with a gripping device, which can switch between multiple gripping modes according to different application scenarios and can adapt to different application scenarios.

[0004] On one hand, this application provides a gripping device for gripping a target object. The gripping device includes a base and at least two gripper assemblies. Each gripper assembly includes a gripper finger and a first connecting rod assembly. The gripper finger is used to grip the target object. Each gripper finger includes a first state and a second state. In the first state, the gripping plane of each gripper finger maintains a constant angle. In the second state, the gripper finger deflects relative to the first state in a first direction toward each other. One end of the first connecting rod assembly is rotatably connected to the base, and the other end of the first connecting rod assembly is rotatably connected to the gripper finger. The gripping device includes a first gripping mode, a second gripping mode, and a third gripping mode. In the first gripping mode, the gripper finger is in the first state, and the first connecting rod assembly is configured to drive the gripper finger to move inward and contact the target object. In the second gripping mode, the gripper finger is in the first state, and the first connecting rod assembly is configured to drive the gripper finger to move outward and contact the target object. In the third grasping mode, the first linkage assembly is configured to drive the grasping finger to adjust from the first state to the second state, and drive the grasping finger to move inward and cooperate with the first linkage assembly to contact the target object.

[0005] In some embodiments, each of the gripper assemblies further includes an attachment component. The attachment component is disposed inside the gripper finger, and / or inside the first connecting rod assembly. The gripper finger also includes a third state in which it is deflected relative to the first state in a second direction that is mutually distant. The gripping device further includes a fourth gripping mode in which the gripper finger is in the third state, and the first connecting rod assembly is configured to drive the gripper finger inward to bring the attachment component into contact with the target object.

[0006] In some embodiments, each gripper assembly further includes a gripper positioning component and a direction control component. The direction control component is connected to a first end of the gripper positioning component and is configured to control the posture of the gripper finger by controlling the posture adjustment of the gripper positioning component. Specifically, in the first gripping mode and the second gripping mode, the direction control component is configured to control the other end of the gripper positioning component to contact the gripper finger and hold the gripper finger in the first state.

[0007] In some embodiments, each of the connecting rod assemblies further includes a tension providing element configured to provide tension to the first connecting rod assembly such that the gripping finger tends to deflect in the second direction under the action of the tension. In both the first and second gripping modes, the gripping finger positioning assembly is configured to provide a supporting force to the gripping finger to prevent the gripping finger from deflecting in the second direction, thereby holding the gripping finger in the first state.

[0008] In some embodiments, each of the gripping fingers includes a first portion and a second portion that are vertically connected. Each first connecting rod assembly comprises multiple connecting rods that cooperate with the first portion of the gripping finger to form a quadrilateral linkage structure. The quadrilateral linkage structure is configured to rotate under the drive of a drive device, thereby driving the gripping finger to move and adjust its position.

[0009] In some embodiments, each first connecting rod assembly includes a first connecting rod, a second connecting rod, and a third connecting rod. A first end of the first connecting rod is rotatably connected to the base, and a second end of the first connecting rod is rotatably connected to the first end of the second connecting rod. A tension providing element is connected between the first and second connecting rods to provide torque to the first and second connecting rods, causing the second connecting rods to deflect relative to the first connecting rod in a second direction and pull the gripping finger, causing the gripping finger to deflect in the second direction. A second end of the second connecting rod is rotatably connected to one end of a first portion of the gripping finger, and the other end of the first portion of the gripping finger is rotatably connected to the first end of the third connecting rod; the second end of the third connecting rod is rotatably connected to the base. In the third gripping mode, each gripping finger and its corresponding third connecting rod jointly grip the target object.

[0010] In some implementations, each gripper positioning component includes at least one connecting rod that forms a support structure to provide the support force to the gripper finger in both the first gripping mode and the second gripping mode.

[0011] In some embodiments, the gripping finger positioning assembly includes a fourth connecting rod, a fifth connecting rod, and a sixth connecting rod connected in sequence. The fourth, fifth, and sixth connecting rods are sequentially connected to the third connecting rod to form a parallelogram linkage assembly, wherein the fourth connecting rod is always parallel to the sixth connecting rod. The parallelogram linkage assembly is configured to provide the support force in both the first gripping mode and the second gripping mode by having the sixth connecting rod parallel to and abutting the first portion of the gripping finger.

[0012] In some embodiments, the parallelogram linkage assembly is further configured such that, in the fourth gripping mode, the direction control assembly is configured to control the fourth connecting rod to rotate in the second direction, causing the gripping finger to deflect in the second direction to the third state under the pulling force provided by the pulling force providing element.

[0013] In some embodiments, the direction control component is a cam that contacts the corresponding fourth connecting rod. When the cam is configured in a first position, it maintains the initial state of the fourth and sixth connecting rods, such that the gripping finger remains in the first state under the combined action of the tension provided by the tension providing element and the supporting force of the sixth connecting rod. The cam is also configured in a second position, such that the fourth and sixth connecting rods deflect in a second direction, and the gripping finger deflects in the second direction under the tension provided by the tension providing element, thus switching the gripping finger to the third state.

[0014] In some embodiments, the attachment component is a gecko-like adhesive material.

[0015] On the other hand, this application also provides a robot including the grasping device as described in any of the preceding embodiments.

[0016] The grasping device and robot with the grasping device provided in this application can switch between multiple different modes and adapt to various scenarios.

[0017] Details of one or more embodiments of the present invention are set forth in the following drawings and description. Other features, objects, and advantages of the invention will become apparent from the specification, drawings, and claims. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the disclosed drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a gripping device according to one embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the gripping device in a first gripping mode according to one embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the gripping device in a second gripping mode according to one embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the gripping device in a third gripping mode according to one embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the gripping device in the fourth gripping mode according to one embodiment of this application.

[0024] Figure 6 This is a schematic diagram of a robot according to one embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] 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.

[0027] 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 (including two), unless otherwise explicitly defined.

[0028] In this document, the term "implementation" means that a specific feature, structure, or characteristic described in connection with an implementation may be included in at least one implementation of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. It will be explicitly and implicitly understood by those skilled in the art that the implementations described herein can be combined with other implementations.

[0029] 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.

[0030] In the description of the embodiments of this application, unless otherwise explicitly specified and limited, the 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.

[0031] 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 goods. However, the applicant notes that current robot gripping modes are relatively simple and cannot adapt to various 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, due to the large gripping force of the mechanical fingers, easily deformable or fragile objects may be damaged. For such large or easily deformable / fragile components, it may be necessary to configure different types of robots, which increases the complexity of automated industrial manufacturing and leads to increased costs.

[0032] To address the issue of robots having a single grasping mode and being unsuitable for various scenarios, the applicant, through research, designed a grasping device capable of switching between different grasping modes, applicable to robots. The grasping device includes a base and at least two gripper assemblies. Each gripper assembly includes a grasping finger and a first connecting rod assembly. Each grasping finger includes a first state and a second state. In the first state, the grasping plane of each grasping finger maintains a constant angle. In the second state, the grasping finger deflects relative to the first state in a first direction toward each other. One end of the first connecting rod assembly is rotatably connected to the base, and the other end is rotatably connected to the grasping finger. The grasping device includes a first grasping mode, a second grasping mode, and a third grasping mode. In the first grasping mode, the grasping finger is in the first state, and the first connecting rod assembly is configured to drive the grasping finger to move inward and contact the target object. In the second grasping mode, the grasping finger is in the first state, and the first connecting rod assembly drives the grasping finger to move outward and contact the target object. In the third grasping mode, the first linkage assembly is configured to drive the grasping finger to adjust from the first state to the second state, and drive the grasping finger to move inward and cooperate with the first linkage assembly to contact the target object.

[0033] The inventive concept of this application is described in detail below with reference to various embodiments. The gripping device disclosed in the various 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.

[0034] The following description mainly uses the example of a gripping device driving the opening and closing of a gripper assembly through multiple linked connecting rods to achieve gripping.

[0035] In each embodiment of this application, the direction in which each gripper 21 approaches each other is called the first direction, and the direction in which each gripper 21 moves away from each other is called the second direction.

[0036] Figure 1 This is a schematic diagram of a gripping device 100 in some embodiments of this application. The gripping device 100 includes a base 10, at least two gripper assemblies 20, and a drive device 30. The at least two gripper assemblies 20 are used to cooperate with each other under the drive of the drive device 30 to grip a target object. Each gripper assembly 20 includes a gripper finger 21 and a first connecting rod assembly 22. The gripper finger 21 is used to grip the target object. Each gripper finger 21 includes a first state and a second state. In the first state, the gripping plane of each gripper finger 21 maintains a constant angle. In the second state, the gripper finger 21 deflects relative to the first state in a first direction in which the gripper fingers move closer to each other. One end of the first connecting rod assembly 22 is rotatably connected to the base 10, and the other end of the first connecting rod assembly 22 is rotatably connected to the gripper finger 21. The gripping device 100 includes a first gripping mode, a second gripping mode, and a third gripping mode. In the first gripping mode, the gripping fingers 21 are in a first state, and the first connecting rod assembly 22 is configured to drive the gripping fingers 21 to move inward (i.e., move in a first direction) and contact the target object. The gripping device 100 can perform a gripping operation by applying a clamping force in a first direction to the target object through each gripping finger 21. In the second gripping mode, the gripping fingers 21 are in the first state, and the first connecting rod assembly 22 drives the gripping fingers 21 to move outward (i.e., move in a second direction) and contact the target object. The gripping device 100 can perform a gripping operation by applying an expanding force in a second direction to the target object through the gripping fingers 21. In the third gripping mode, the first connecting rod assembly 22 is configured to drive the gripping fingers 21 to adjust from the first state to the second state, and drive the gripping fingers 21 to move inward and cooperate with the first connecting rod assembly 22 to contact the target object. The gripping device 100 can grip the target object together with the gripping fingers 21 and the first connecting rod assembly 22.

[0037] 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 20 as an example.

[0038] In one implementation, such as Figure 1As shown, each gripper assembly 20 includes a gripper finger 21 and a first connecting rod assembly 22. The gripper finger 21 includes a first portion 211 and a second portion 212. The first portion 211 and the second portion 212 are vertically connected, such that the vertical cross-section of the gripper finger 21 is approximately L-shaped.

[0039] The first connecting rod assembly 22 includes multiple connecting rods, which cooperate with the first portion 211 of the gripper finger 21 to form a quadrilateral linkage structure. The quadrilateral linkage structure is configured to rotate under the drive of a driving device, thereby driving the gripper finger 21 to achieve translation and state adjustment.

[0040] In this embodiment, the first connecting rod assembly 22 includes a first connecting rod 221, a second connecting rod 222, and a third connecting rod 223. The first end of the first connecting rod 221 is rotatably connected to the base 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 end of the first portion 211 of the gripper finger 21 away from the second portion 212. The first end of the third connecting rod 223 is rotatably connected to the end of the first portion 211 of the gripper finger 21 near the second portion 212, and the second end of the third connecting rod 223 is rotatably connected to the base 10. The first connecting rod 221, the second connecting rod 222, the first portion 211 of the gripper finger 21, and the third connecting rod 223 form a quadrilateral linkage structure. The first connecting rod 221 is configured to rotate under the drive of the driving device 30, thereby driving the quadrilateral linkage structure to rotate, enabling the gripper finger 21 to translate and deflect under the drive of the first connecting rod assembly 22, thus realizing various gripping modes of the gripping device 100. The specific working method of the first connecting rod assembly 22 will be described in detail in conjunction with the following implementation method.

[0041] In some other embodiments, the first connecting rod assembly 22 may also include four connecting rods. For example, in addition to the first connecting rod 221, the second connecting rod 222, and the third connecting rod 223, the first connecting rod assembly 22 may also include a fixed connecting rod (not shown) that is parallel to and fixedly connected to the first part 211 of the gripper finger 21. The first connecting rod 221, the second connecting rod 222, the fixed connecting rod, and the third connecting rod 223 are sequentially connected to form a quadrilateral link structure.

[0042] In some embodiments, the gripper assembly 20 further includes a gripper positioning component 23 and a direction control component 25. One end of the gripper positioning component 23 is connected to the direction control component 25, and the other end of the gripper positioning component 23 contacts the gripper finger 21. The direction control component 25 is configured to control the attitude of the gripper finger 21 by controlling the attitude adjustment of the gripper positioning component 23. In the first gripping mode and the second gripping mode, the gripper positioning component 23 is configured to hold the gripper finger 21 in the first state under the control of the direction control component 25.

[0043] For example, in one embodiment, the gripping positioning component can be a rotatable locking element. One end of the locking element is connected to a direction control component and can rotate under the control of the direction control component. In a first gripping mode and a second gripping mode, the direction control component controls the locking element to rotate until the other end of the locking element contacts a first portion of the gripper finger, locking the gripper finger in the first state. In other gripping modes, the direction control component controls the other end of the locking element to move away from the gripper finger, allowing the gripper finger to adjust its state under the drive of the first connecting rod assembly.

[0044] For example, such as Figure 1 As shown, in one embodiment, the first connecting rod assembly 22 further includes a tension providing element 224. The tension providing element 224 is configured to provide tension to the first connecting rod assembly 22, causing the gripping finger 21 to tend to deflect in the second direction under the action of the tension. In both the first gripping mode and the second gripping mode, in cooperation with the tension providing element 224, the gripping finger positioning assembly 23 is configured to provide a supporting force to the gripping finger 21 to prevent the gripping finger 21 from deflecting in the second direction, thereby holding the gripping finger 21 in the first state.

[0045] In one embodiment, a tension providing element 224 is disposed between a first connecting rod 221 and a 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 toward the second direction. At the same time, the second connecting rod 222 pulls the gripping finger 21 toward the second direction, such that the gripping finger 21 also tends to deflect toward the second direction.

[0046] In this embodiment, the tension providing element 224 can be a preloaded elastic force that causes the second connecting rod 222 to deflect in a second direction relative to the first connecting rod 221. For example, in some embodiments, the tension providing element 224 is a torsion spring, and the preloaded elastic force of the torsion spring causes the second connecting rod 222 to deflect in a second direction relative to the first connecting rod 221. In other embodiments, the tension providing element 224 can also be a tension spring. One end of the tension spring is connected to the second end of the second connecting rod 222, and the other end is connected to the base 10. The tension of the tension spring causes the second connecting rod 222 to deflect in a second direction relative to the first connecting rod 221.

[0047] In this embodiment, the gripping finger positioning component may include at least one connecting rod, which forms a support structure to provide the support force to the gripping finger 21 in the first gripping mode and the second gripping mode.

[0048] For example, such as Figure 1 As shown, the gripper positioning component 23 may include a fourth connecting rod 231, a fifth connecting rod 232, and a sixth connecting rod 233 that are rotatably connected in sequence. The first end of the fourth connecting rod 231 is rotatably connected to the second end of the third connecting rod 223 connected to the base 10, and the second end of the fourth connecting rod 231 is rotatably connected to the first end of the fifth connecting rod 232. The second end of the fifth connecting rod 232 is rotatably connected to the first end of the sixth connecting rod 233, and the second end of the sixth connecting rod 233 is rotatably connected to the first end of the third connecting rod 223 connected to the gripper finger 21. The fourth connecting rod 231, the fifth connecting rod 232, the sixth connecting rod 233, and the third connecting rod 223 together form a parallelogram linkage assembly. The fourth connecting rod 231 always remains parallel to the sixth connecting rod 233, while the sixth connecting rod 233 is in contact with the gripper finger 21. Therefore, the attitude of the gripper finger 21 can be controlled by controlling the attitude of the fourth connecting rod 231. In both the first and second gripping modes, specifically when the gripper finger 21 is in the first state, the angles of the fourth connecting rod 231 and the sixth connecting rod 233 in the gripper positioning assembly 23 remain unchanged in their parallel directions. The sixth connecting rod 233 is parallel and abuts against the first portion 211 of the gripper finger 21 to provide support force to the gripper finger 21, thereby limiting the deflection of the gripper finger 21 in the second direction. Thus, in the absence of external driving force or when the external driving force does not exceed the pulling force provided by the pulling force providing element 224, the gripper finger 21 remains in the first state under the action of the pulling force of the pulling force providing element 224 and the supporting force of the sixth connecting rod 233. The operation of the gripper positioning assembly 23 and the pulling force providing element 224 will be described in detail in conjunction with the following embodiments.

[0049] It should be understood that the elastic force of the torsion spring or tension spring can be set and adjusted according to the actual situation, so that in the first gripping mode and the second gripping mode of the gripping device, the elastic force generated by the torsion spring or tension spring is large enough to make the second connecting rod 222 tend to deflect in the second direction relative to the first connecting rod 221, and in other gripping modes of the gripping device, the drive device 30 can drive the second connecting rod 222 to overcome the elastic force of the torsion spring or tension spring without causing damage.

[0050] In other embodiments, the rotation and limiting of each connecting rod of the first connecting rod assembly 22, and between each connecting rod and the base 10 and the gripping finger 21, can also be achieved by a drive motor, gear, or other device disposed at the connection point, without the need for the tension providing element 224 and the gripping finger positioning assembly 23. These implementations do not depart from the principles and spirit of this application.

[0051] In one embodiment of this application, the gripping device 100 may further include a fourth gripping mode in addition to the three gripping modes described above. For the fourth gripping mode, each gripper assembly 20 may further include an attachment component 24 for gripping a target object by adhesion and / or adsorption. In this embodiment, the attachment component 24 is disposed inside the gripper finger 21, that is, the second portion 212 of the gripper finger 21 faces the side in the first direction. The gripper finger 21 also includes a third state, in which the gripper finger 21 is deflected relative to the first state in a second direction that is mutually distant. In the fourth gripping mode, each gripper finger 21 is in the third state, and the first connecting rod assembly 22 is configured to drive the gripper finger 21 to move inward so that the attachment component 24 contacts the target object. The gripping device 100 can perform a gripping operation by adhering to and / or adsorbing the target object through the attachment component 24.

[0052] In another embodiment, the attachment component 24 may also be disposed inside the first connecting rod assembly 22, for example, on the side of the third connecting rod 223 facing the first direction. Alternatively, the attachment component 24 may be disposed on the inner side of the gripping fingers 21 of each gripper assembly 20 and the first connecting rod assembly 22. The operation of the fourth gripping mode will be described in detail in conjunction with the following embodiments.

[0053] In some embodiments, the attachment component 24 may be a gecko-inspired adhesive layer. 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 layer includes 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 fourth gripping mode, the gripping operation is achieved by adhering the gecko-inspired adhesive layer to the surface of the target object. Since gecko-inspired adhesive is a known technology, it will not be described in detail here.

[0054] It should be understood that the attachment component 24 in this application can also be any other structure or material capable of grasping / releasing a target object by adsorption or adhesion. This application does not limit this; as long as an object can be grasped by adsorption or adhesion, it is within the scope of protection of this application. For example, the attachment component 24 can also be one or more vacuum adsorption devices, such as suction cups, disposed on the grasping fingers and / or the third connecting rod.

[0055] In this embodiment, in the fourth gripping mode, since the gripping finger 21 needs to deflect in the second direction, the direction control component 25 is also configured to adjust the posture of the gripping finger positioning component 23 in the fourth gripping mode, so that the gripping finger 21 can deflect in the second direction under the pulling force of the pulling force providing element 224, thereby adjusting to the third state.

[0056] For example, in some embodiments, when the gripping and positioning component 23 is the parallelogram linkage assembly, the direction control component 25 can be a cam. Figure 4 As shown, the cam contacts the fourth connecting rod 231 and is used to control the position of the parallelogram linkage assembly via the fourth connecting rod 231. In the first gripping mode, the second gripping mode, and the third gripping mode, that is, when the gripping finger 21 is in the first state and the second state, the cam is in the first position, so that the fourth connecting rod 231 and the sixth connecting rod 233 of the parallelogram linkage assembly maintain their initial posture. In the fourth gripping mode, as... Figure 5 As shown, when the cam rotates to the second position, the fourth connecting rod 231 and the sixth connecting rod 233 of the parallelogram linkage assembly can deflect in the second direction, and the gripping finger 21 can deflect in the second direction under the pulling force provided by the pulling force providing element 224, thereby switching to the third state.

[0057] In another embodiment, the direction control component 25 may also be a drive unit that independently drives the fourth connecting rod 231, such as a motor. In the first gripping mode and the second gripping mode, the drive unit can directly control the fourth connecting rod to always be parallel to the first part 211 of the gripping finger. In the third gripping mode, the drive unit can control the fourth connecting rod 231 to rotate in the second direction, so that the gripping finger 21 can switch to the third state.

[0058] It should be understood that the direction control component 25 can also be any type of drive mechanism, as long as it can control the gripper positioning component 23 to change the limit on the gripper finger 21, and there are no restrictions here.

[0059] The following is combined with Figure 2-5 This document details the operation of the gripping device 100 under different gripping modes.

[0060] Figure 2This is a schematic diagram of the gripping device 100 in a first gripping mode according to one embodiment of this application. In the first gripping mode, each gripping finger 21 is in a first state, and the gripping plane of each gripping finger maintains a constant angle. For example, the sixth connecting rod 233 of the gripping finger positioning component 23 is parallel to and abuts against the first part 211 of the corresponding gripping finger 21 to support the gripping finger 21, and the sixth connecting rod 233 maintains the horizontal posture of the corresponding gripping finger 21 in the first state under the control of the direction control component 25, and the gripping finger 21 is held in the first state in conjunction with the tension providing element 224. During the gripping process, each first connecting rod 221 rotates in the first direction under the drive of the driving device 30, and the first connecting rod 221 drives the second connecting rod 222 to move each corresponding gripping finger 21 inward (i.e., move in the first direction), and each gripping finger 21 moves closer to each other. Each gripping finger 21 contacts the target object 200 and applies a clamping force in the first direction to the target object 200, thereby gripping the target object 200. As the gripper 21 moves in the first direction, the third connecting rod 223 also rotates in the first direction, causing the third connecting rod 223 to drive the parallelogram gripper positioning component 23 to deflect parallel to the first direction. The plane of the sixth connecting rod 233 maintains an unchanged angle, thereby cooperating with the tension providing element 224 to keep the gripper 21 always in the first state.

[0061] Figure 3 This is a schematic diagram of the gripping device in a second gripping mode according to one embodiment of this application. In the second gripping mode, the gripping fingers 21 are in the first state. After each gripping finger 21 extends into the internal space of the target object 200, it moves outward (i.e., moves in the second direction) and contacts the target object, thereby gripping the target object by applying an expansion force in the second direction to the two opposing inner walls of the target object 200. It can be understood that the depth of the gripping fingers 21 extending into the target object 200 can be adjusted according to actual conditions. During the gripping process, each first connecting rod 221 rotates in the second direction under the drive of the driving device 30. The first connecting rod 221 drives the second connecting rod 222 to move each gripping finger 21 in a direction away from each other. After each gripping finger contacts the target object 200, it applies an expansion force in the second direction to the target object 200, thereby gripping the target object 200. As the gripper 21 moves in the second direction, the third connecting rod 223 also rotates in the second direction, thereby causing the parallelogram gripper positioning component 23 to deflect parallel to the second direction. The plane of the sixth connecting rod 233 remains at an angle that remains unchanged, thus cooperating with the tension providing element 224 to keep the gripper 21 always in the first state.

[0062] Figure 4 This is a schematic diagram of the gripping device in a third gripping mode according to one embodiment of this application. In the third gripping mode, the gripping device grips the target object through each gripping finger 21 and the corresponding first connecting rod assembly 22. Figure 4As shown, in the third gripping mode, the first connecting rod 221 rotates in the first direction under the drive of the drive device 30, causing the third connecting rod 223 to also rotate in the first direction. The target object 200 is located between each of the first connecting rod assemblies 22. When the third connecting rod 223 rotates to the position of the target object 200, it is blocked by the target object 200 and cannot continue to rotate. The drive device 30 drives the first connecting rod 221 to continue rotating in the first direction, causing the second connecting rod 222 to break through the limitation of the tension providing element 224 between it and the first connecting rod 221. The second connecting rod 222 drives the gripping finger 21 to continue rotating in the first direction. The first part 211 of the gripping finger 21 separates from the sixth connecting rod 233, and the gripping finger 21 deflects in the first direction relative to the first state, switching to the second state. At this time, each gripping finger 21 cooperates with the corresponding third connecting rod 223 to grip the target object 200.

[0063] Figure 5 This is a schematic diagram of the gripping device in a fourth gripping mode according to one embodiment of this application. In the fourth gripping mode, each gripping finger 21 switches to the third state, and each gripper assembly 20 grips the target object 200 through the attachment assembly 24 disposed on the gripping finger 21 and / or the first connecting rod assembly 22. The following is in conjunction with... Figure 5 The working process of the fourth gripping mode is described in detail. In one embodiment, the direction control component 25 first adjusts the posture of the gripper positioning component 23, so that the gripper positioning component 23 cooperates with the tension providing element 224 to adjust the gripper finger 21 to the third state. For example, when the direction control component 25 is a cam, the cam rotates from the first position to the second position, so that the fourth connecting rod 231 and the sixth connecting rod 233 in the gripper positioning component 23 can rotate in the second direction, and the tension provided by the tension providing element 224 causes the gripper finger 21 to deflect in the second direction to the third state. In this embodiment, the gripper positioning component 23 may rotate in the second direction under the drive of the gripper finger 21. In other embodiments, the drive unit may drive the fourth connecting rod 231 of the gripper positioning component 23 to move in the second direction, thereby driving the entire parallelogram to rotate in the second direction. When grasping a target object, the drive device 30 drives the first connecting rod 221 to rotate in the first direction to drive the gripping finger 21 to move inward, so that the attachment component 24 contacts the target object, thereby realizing the grasping operation through the adsorption and / or attachment effect of the attachment component 24.

[0064] In the above embodiments, the gripping device 100 provided in this application can realize four different gripping modes and can adapt to different scenarios.

[0065] Based on the above ideas, such as Figure 6As shown, this application also provides a robot 300 in another aspect. The robot 300 may include at least one connector 31 and at least one gripping device 32. The robot 300 can be used to grip 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 6 The structure shown is merely an exemplary embodiment of robot 300. In other embodiments, robot 300 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 control systems, such as mode-switching instructions. For example, robot 300 may also include a processor and a memory storing instructions that, when executed by the processor, enable 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.

[0066] The technical features of the above-described embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A gripping device for gripping a target object, characterized in that, The grasping device includes: Matrix; At least two gripper assemblies, each gripper assembly comprising: The gripper is used to hold the target object. Each gripper includes a first state and a second state. In the first state, the gripping plane of each gripper remains at a constant angle. In the second state, each gripper deflects relative to the first state in a first direction that brings them closer to each other. A first connecting rod assembly, one end of which is rotatably connected to the base, and the other end of which is rotatably connected to the gripper finger; The grasping device includes a first grasping mode, a second grasping mode, and a third grasping mode, wherein: In the first grasping mode, the grasping finger is in the first state, and the first connecting rod assembly is configured to drive the grasping finger to move inward and contact the target object; In the second grasping mode, the grasping finger is in the first state, and the first connecting rod assembly is configured to drive the grasping finger to move outward and contact the target object; In the third grasping mode, the first connecting rod assembly is configured to drive the grasping finger to adjust from the first state to the second state, and drive the grasping finger to move inward and cooperate with the first connecting rod assembly to contact the target object; Each of the gripper assemblies further includes a gripper positioning component and a direction control component, the direction control component being connected to a first end of the gripper positioning component and configured to control the orientation of the gripper finger by controlling the orientation adjustment of the gripper positioning component; In the first and second grasping modes, the direction control component is configured to control the other end of the grasping positioning component to contact the grasping finger to keep the grasping finger in the first state; in the third grasping mode, the other end of the grasping positioning component is separated from the grasping finger.

2. The gripping device according to claim 1, characterized in that, Each of the gripper assemblies further includes: An attachment component is disposed on the inner side of the gripper finger, and / or the attachment component is disposed on the inner side of the first connecting rod assembly; The grasping finger also includes a third state in which the grasping finger deflects in a second direction that is far away from the first state. The gripping device further includes a fourth gripping mode in which the gripping finger is in the third state, and the first connecting rod assembly is configured to drive the gripping finger to move inward so that the attachment assembly contacts the target object.

3. The gripping device according to claim 2, characterized in that, Each of the connecting rod assemblies further includes a tension providing element configured to provide tension to the first connecting rod assembly such that the gripping finger has a tendency to deflect in the second direction under the action of the tension; In the first gripping mode and the second gripping mode, the gripping finger positioning component is configured to provide support force to the gripping finger to prevent the gripping finger from deflecting in the second direction, thereby keeping the gripping finger in the first state.

4. The gripping device according to claim 3, characterized in that, Each gripper finger includes a first part and a second part that are vertically connected. Each first connecting rod assembly includes multiple connecting rods that cooperate with the first part of the gripper finger to form a quadrilateral linkage structure. The quadrilateral linkage structure is configured to rotate under the drive of a drive device, thereby driving the gripper finger to move and adjust its state.

5. The gripping device according to claim 4, characterized in that, The first connecting rod assembly 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 base, and the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod. The tension providing element is connected between the first connecting rod and the second connecting rod to provide torque to the first connecting rod and the second connecting rod, so that the two connecting rods have a tendency to deflect in the second direction relative to the first connecting rod and pull the gripper finger, so that the gripper finger has a tendency to deflect in the second direction. The second end of the second connecting rod is rotatably connected to one end of the first part of the grasping finger, and the other end of the first part of the grasping finger is rotatably connected to the first end of the third connecting rod; the second end of the third connecting rod is rotatably connected to the base. In the third grasping mode, each of the grasping fingers and the corresponding third connecting rod jointly grasp the target object.

6. The gripping device according to claim 5, characterized in that, Each gripper positioning component includes at least one connecting rod that forms a support structure to provide the support force to the gripper finger in both the first gripping mode and the second gripping mode.

7. The gripping device according to claim 6, characterized in that, The gripping positioning component includes a fourth connecting rod, a fifth connecting rod, and a sixth connecting rod; The fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the third connecting rod are rotatably connected in sequence to form a parallelogram connecting rod assembly, wherein the fourth connecting rod is always parallel to the sixth connecting rod; The parallelogram linkage assembly is configured to provide the support force by means of the sixth connecting rod parallel to the first portion of the gripping finger in the first gripping mode and the second gripping mode.

8. The gripping device according to claim 7, characterized in that, In the fourth gripping mode, the direction control component is configured to control the fourth connecting rod to rotate in the second direction, so that the gripping finger deflects in the second direction to the third state under the action of the tension provided by the tension providing element.

9. The gripping device according to claim 8, characterized in that, The direction control component is a cam, which contacts the corresponding fourth connecting rod, wherein: When the cam is configured to be in the first position, it maintains the initial state of the fourth connecting rod and the sixth connecting rod, so that the gripper finger is held in the first state under the action of the tension provided by the tension providing element and the support force provided by the sixth connecting rod; The cam is also configured such that when it is in the second position, the fourth connecting rod and the sixth connecting rod deflect in the second direction, the gripping finger deflects in the second direction under the force provided by the tension providing element, and the gripping finger switches to the third state.

10. The gripping device according to claim 2, characterized in that, The attachment component is a gecko-inspired adhesive material.

11. A robot, characterized in that, Includes the gripping device as described in any one of claims 1-10.

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