Gripping device and robot having the gripping device

Abstract

The present application discloses a gripping device (1) including a housing (10) and at least two jaw assemblies (20). Each jaw assembly (20) includes a fingertip (21) for gripping an object, a connecting rod assembly (22) having a first end connected to the fingertip (21) and a second end pivotally connected to the housing (10), and an applicator assembly (23) provided on the connecting rod assembly (22) facing the object to be gripped. The gripping device (1) is configured to switch between a first gripping mode and a second gripping mode. In the first gripping mode, the gripping device (1) grips the object between each of the fingertip (21). In the second gripping mode, the gripping device (1) grasps the object by adhering and / or suctioning the object with each of the applicator assemblies (23).

Description

[Technical Field]

[0001] The present application relates to the field of robotics, and in particular to gripping devices and robots having gripping devices. [Background technology]

[0002] Robots with gripping devices are widely used in many fields, such as industrial manufacturing, logistics and transportation. With the continuous development of technology, the application scenarios of robots are becoming more diverse. However, currently, the gripping mode of robots is unified and cannot be well adapted to various scenarios. Summary of the Invention [Means for solving the problem]

[0003] In a first aspect, the present application provides a gripping device including a housing and at least two jaw assemblies for cooperating with each other to grip an object. Each jaw assembly includes fingertips for gripping an object, a connecting rod assembly having a first end connected to the fingertips and a second end rotatably connected to the housing, and an applicator assembly provided on a side of the connecting rod assembly facing the object to be gripped. The gripping device is configured to be switched between a first gripping mode and a second gripping mode, wherein in the first gripping mode, the fingertips cooperate with each other to grip the object, and in the second gripping mode, the applicator assemblies adhere and / or adsorb the object to achieve a gripping operation.

[0004] In some embodiments, in the first gripping mode, each of the fingertips is in a first state, and in the second gripping mode, each of the fingertips is in a second state, and when each of the fingertips is in the second state, each of the fingertips is deflected in a first direction relative to the application assembly such that the jaw assemblies are spaced apart from each other.

[0005] 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 pivotally connected to the housing, a second end of the first connecting rod is pivotally connected to the second connecting rod, a first end of the second connecting rod is pivotally connected to the first connecting rod, a second end of the second connecting rod is pivotally 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 a second end of the third connecting rod 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 pivotally connected to the housing, and the applicator assembly is provided on a side of the fourth connecting rod facing the object to be grasped.

[0006] In some embodiments, the connecting rod assembly further includes a first locking assembly, and in the first gripping mode, the first connecting rod and the second connecting rod are locked in the same line by the first locking assembly, and each of the fingertips is in the first state.

[0007] In some embodiments, the connecting rod assembly further includes a second locking assembly, and in the second gripping mode, the third connecting rod and the fourth connecting rod are locked at a preset angle by the second locking assembly, and each of the fingertips is in the second state.

[0008] In some embodiments, the housing further includes a first position limiting element and a second position limiting element, the first position limiting element and the second position limiting element being respectively provided on opposite sides of a fourth connecting rod, the first position limiting element being configured to limit the range of rotation of the fourth connecting rod in the first direction when the jaw assemblies rotate toward each other in the first direction, and the second position limiting element being configured to limit the range of rotation of the fourth connecting rod in the second direction when the jaw assemblies move toward each other in the second direction.

[0009] In some embodiments, the connecting rod assembly further includes a first lock assembly and a second lock assembly, the housing further includes a first position limiting element and a second position limiting element, the first lock assembly is configured to lock the first connecting rod and the second connecting rod on the same straight line in the first gripping mode, the second lock assembly is inactive in the first gripping mode, the second lock assembly is configured to lock the third connecting rod and the fourth connecting rod at the preset angle in the second gripping mode, and the first connecting rod and the second connecting rod are configured to release the lock by the first lock assembly, the first position limiting element and the second position limiting element are provided on both sides of the fourth connecting rod, respectively, and in the process of switching the gripping device from the first gripping mode to the second gripping mode, the first position limiting element is configured to lock the jaw assemblies in a first direction away from each other, When the jaw assemblies move toward each other in a second direction, the second position limiting element limits the rotation range of the fourth connecting rod in the first direction, thereby allowing the first connecting rod and the second connecting rod to rotate relatively while being unlocked by the first lock assembly, and the third connecting rod rotates in the first direction relative to the fourth connecting rod to the preset angle and be locked by the second lock assembly; and when the gripping device switches from the second gripping mode to the first gripping mode, the second position limiting element limits the rotation range of the fourth connecting rod in the second direction when the jaw assemblies move toward each other in a second direction, thereby allowing the third connecting rod to rotate as the first connecting rod continues to rotate in the second direction, releasing the lock on the third connecting rod and the fourth connecting rod by the second lock assembly, and the first connecting rod and the second connecting rod are locked by the first lock assembly.

[0010] In some embodiments, each 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 pivotally connected to the housing, a second end of the first connecting rod pivotally connected to the first end of the second connecting rod, a second end of the second connecting rod pivotally connected to the fingertip, a first end of the third connecting rod pivotally connected between the second end of the second connecting rod and the fingertip, and a second end of the third connecting rod pivotally connected to the housing, and the applicator assembly is provided on a side of the third connecting rod facing the object to be grasped.

[0011] In some embodiments, the housing further includes a first securing member and a second securing member, the applicator assembly being connected between the housing and the fingertip by the first securing member and the second securing member, and the applicator assembly having a substantially constant bias force.

[0012] In some embodiments, at least one of the first and second locking members is configured to provide the substantially constant biasing force to the applicator assembly, such that the applicator assembly is constantly in tension during movement of the jaw assembly.

[0013] In some embodiments, the application assembly is a gecko-mimicking adhesive film.

[0014] In some embodiments, the attachment assembly is fixedly attached to the connecting rod assembly via a flexible spacer.

[0015] In a second aspect, the present application provides a robot having a gripping device according to any one of the above embodiments.

[0016] The above description is only a summary of the technical solution of the present application, which can be implemented based on the contents of the specification in order to more clearly understand the technical solution of the present application, and in order to more clearly understand the above and other objectives, features and advantages of the present application, the following provides specific embodiments of the present application.

[0017] In order to more clearly explain the technical solutions in the embodiments of the present application or the prior art, the drawings necessary for the description of the embodiments or the prior art will be briefly described below. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings based on the disclosed drawings without any creative efforts. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a perspective structural schematic diagram of a gripping device with a portion of the housing cut away in accordance with an embodiment of the present application; [Figure 2] FIG. 2 is a front view of the gripping device shown in FIG. [Figure 3] 2 is a partial cross-sectional view of the jaw assembly and housing of the gripping device shown in FIG. 1. [Figure 4] 1. FIG. 4 is a cross-sectional view of a fourth connecting rod of the gripping device shown in FIG. [Figure 5a] 2 is an equivalent schematic view of the jaw assembly in the process of gripping by the gripping device shown in FIG. 1 in a first gripping mode. [Figure 5b] 2 is an equivalent schematic view of the jaw assembly in the process of gripping by the gripping device shown in FIG. 1 in a first gripping mode. [Figure 6a] 2 is an equivalent schematic diagram of the jaw assembly of the gripping device shown in FIG. 1 switching from a first gripping mode to a second gripping mode. [Figure 6b] 2 is an equivalent schematic diagram of the jaw assembly of the gripping device shown in FIG. 1 switching from a first gripping mode to a second gripping mode. [Figure 6c] 2 is an equivalent schematic diagram of the jaw assembly of the gripping device shown in FIG. 1 switching from a first gripping mode to a second gripping mode. [Figure 7a]2 is an equivalent schematic view of the jaw assembly in the process of the grasping device shown in FIG. 1 grasping in a second grasping mode. [Figure 7b] 2 is an equivalent schematic view of the jaw assembly in the process of the grasping device shown in FIG. 1 grasping in a second grasping mode. [Figure 8a] 2 is an equivalent schematic diagram of the jaw assembly of the gripping device shown in FIG. 1 switching from the second gripping mode to the first gripping mode. [Figure 8b] 2 is an equivalent schematic diagram of the jaw assembly of the gripping device shown in FIG. 1 switching from the second gripping mode to the first gripping mode. [Figure 8c] 2 is an equivalent schematic diagram of the jaw assembly of the gripping device shown in FIG. 1 switching from the second gripping mode to the first gripping mode. [Figure 9] FIG. 10 is a schematic diagram of an equivalent configuration of a jaw assembly of a grasping device according to another embodiment of the present application. [Figure 10a] 10A and 10B are equivalent schematic diagrams of the operating states of the jaw assembly of the gripping device shown in FIG. 9 in a first gripping mode and a second gripping mode. [Figure 10b] 10A and 10B are equivalent schematic diagrams of the operating states of the jaw assembly of the gripping device shown in FIG. 9 in a first gripping mode and a second gripping mode. [Figure 11] FIG. 10 is a schematic diagram of a jaw assembly of a gripping device in a first gripping mode according to another embodiment of the present application. [Figure 12] 12 is a schematic equivalent view of the jaw assembly of the gripping device shown in FIG. 11 in a second gripping mode. FIG. [Figure 13] 1 is a schematic diagram illustrating a configuration of a robot according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0019] The following describes in detail the embodiments of the technical solution of the present application with reference to the drawings. The following embodiments are merely for the purpose of more clearly explaining the technical solution of the present application, and are therefore merely illustrative and do not limit the scope of protection of the present application. All other embodiments obtained by those skilled in the art based on the embodiments in the present application without any creative work are also within the scope of protection of the present application.

[0020] 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 belongs; the terminology used herein is for the purpose of describing particular examples only and is not intended to be limiting of the application; the words "including," "having," and any variations thereof in the specification, claims, and above description of the drawings of this application are intended to cover a non-exclusive inclusion.

[0021] In the description of the embodiments of the present application, technical terms such as "first," "second," etc. are used only to distinguish different objects, and should not be understood to indicate or imply relative importance, or to imply the number, specific order, or hierarchical relationship of the indicated technical features. In the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0022] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of such phrases in various places in the present specification does not necessarily refer to the same embodiment, nor does it necessarily refer to an independent or alternative embodiment that is mutually exclusive of other embodiments. Those skilled in the art will understand, both explicitly and implicitly, that the embodiments described herein can be combined with other embodiments.

[0023] In the description of the examples of this application, the term "and / or" is merely a relational relationship for describing related objects, and indicates that three relations may exist. For example, A and / or B can indicate three cases: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this specification generally indicates that the related objects before and after it are in an "or" relationship.

[0024] In describing the examples of the present application, the term "plurality" means two or more (including two); similarly, "multiple sets" means two or more sets (including two sets); and "plurality" means two or more (including two).

[0025] In describing the embodiments of the present application, unless otherwise clearly specified or limited, the technical terms "attached," "coupled," "connected," "fixed," etc. should be understood in a broad sense, and may refer to, for example, a fixed connection, a detachable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediary, a communication between two elements, or an interactive relationship between two elements. Those skilled in the art will be able to understand the specific meanings of the above terms in the embodiments of the present application according to specific circumstances.

[0026] Currently, robots with gripping devices are widely used in many fields, such as industrial manufacturing and logistics and transportation. For example, in industrial manufacturing, robotic arms are used to grasp and install parts, and in logistics, robotic arms are used to grasp and move items. However, the applicant has realized that current robots only have a single gripping mode and are unable to adapt to various scenarios. For example, in industrial manufacturing, robotic arms can achieve high precision and reliability by gripping parts with robotic fingers similar to human fingers. However, this gripping method is limited by the stroke length of the robotic fingers and is unable to grasp large objects. Furthermore, the large clamping force of the robotic fingers may damage easily deformed or fragile objects. For such large, easily deformed, or fragile parts, an additional, different type of robot may be deployed, which increases the complexity and costs of automated industrial manufacturing.

[0027] To address the problem of robots having only one gripping mode and being unable to adapt to various situations, the applicant has researched and designed a gripping device capable of switching between different gripping modes, which can be used in robots. The gripping device includes a housing and at least two jaw assemblies, which cooperate with each other to grip an object under the drive of a drive unit. Each jaw assembly includes fingertips for gripping an object, a connecting rod assembly having a first end connected to the fingertips and a second end rotatably connected to the housing, and an attachment assembly provided on the connecting rod assembly facing the object to be gripped. The attachment assembly contacts the surface of the object to be gripped by adhesion and / or suction, etc., to achieve the gripping operation. The gripping device can be switched between a first gripping mode and a second gripping mode, and in the first gripping mode, the gripping device grips the object with each of the fingertips. In the second gripping mode, the gripping device realizes a gripping operation by adhering and / or suctioning the object with each of the attachment assemblies. In this way, the gripping device can be switched between different gripping modes for different usage scenarios.

[0028] The inventive concept of the present application will be described in detail below with reference to the following embodiments. The gripping device disclosed in the embodiments of the present application can be applied to, but is not limited to, robot arms or robots in fields such as industrial manufacturing and logistics and transportation. The jaw assemblies of the gripping device cooperate with each other under the driving of a driving device to perform a gripping operation. The present application does not limit the driving method of the jaw assemblies, as long as the jaw assemblies can perform an opening and closing operation and cooperate with each other to complete the gripping operation. For example, the opening and closing operations of the clamp jaws can be performed by driving multiple interlocking connecting rods, or by a tendon drive method. Tendon drive is a conventional technology and will not be described in detail here.

[0029] Hereinafter, the present application will be described with reference to various embodiments, mainly taking as an example that the gripping device realizes gripping by driving the opening and closing of the jaw assembly through a plurality of interlocking connecting rods.

[0030] 1 to 4, which are schematic diagrams illustrating the configuration of a gripping device according to some embodiments of the present application. The gripping device 1 includes a housing 10, at least two jaw assemblies 20, and a drive unit 30. The at least two jaw assemblies 20 cooperate with each other under the drive of the drive unit 30 to grip an object. Each jaw assembly 20 includes a fingertip 21, a connecting rod assembly 22, and an application assembly 23. In each jaw assembly 20, the fingertip 21 grips an object. A first end of the connecting rod assembly 22 is connected to the fingertip 21, and a second end of the connecting rod assembly 22 is rotatably connected to the housing 10. The application assembly 23 is provided at least on the side of the connecting rod assembly 22 facing the object to be gripped (also referred to as the inside of the jaw assembly) and contacts the surface of the object to be gripped by suction and / or adhesion to grip the object. The gripping device 1 can be switched between a first gripping mode and a second gripping mode. In a first gripping mode (hereinafter also referred to as a fingertip gripping mode), the gripping device 1 pinches the object by cooperation of the fingertips 21. In a second gripping mode (hereinafter also referred to as an adhesive gripping mode), the gripping device 1 realizes a gripping operation by cooperation of the adhesive assemblies to stick and / or adsorb the object.

[0031] In this application, by providing fingertips on one end of each jaw assembly 20 and an adhesive assembly inside the jaw assembly 20, the gripping device 1 has different gripping modes. Here, the fingertip gripping mode allows for more precise gripping with the fingertips, for example, allowing for the fingertips to grip small parts at specific locations. In the adhesive gripping mode, large, fragile, or easily deformed objects can be gripped using suction and / or adhesive forces, minimizing the application of pressure to the object, minimizing damage to the object, and not being limited by the stroke range of the clamp jaw device. The gripping device 1 can switch between different gripping modes for different usage scenarios, reducing the cost and complexity of production lines in industrial manufacturing or logistics and transportation, and improving gripping efficiency.

[0032] In some embodiments of the present application, the number of jaw assemblies 20 can be set according to actual needs, and the structure of each jaw assembly 20 may be the same. The following describes the structure of one of the jaw assemblies as an example.

[0033] 1 to 4, in one embodiment, each jaw assembly 20 includes a fingertip 21, a connecting rod assembly 22 having four connecting rods, and an application assembly 23. Each jaw assembly 20 switches between a first gripping mode and a second gripping mode, and switches each fingertip 21 between a first state and a second state, by adjusting the positional relationship of the four connecting rods.

[0034] 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. A first end of the first connecting rod 221 is pivotally connected to the housing 10, and a second end of the first connecting rod 221 is pivotally connected to a first end of the second connecting rod 222. A second end of the second connecting rod 222 is pivotally connected to a first end of the third connecting rod 223. The third connecting rod 223 is fixedly connected to the fingertip 21, and in some embodiments, the third connecting rod 223 may be integrally molded with the fingertip 21. A first end of the fourth connecting rod 224 is pivotally connected to a second end of the third connecting rod 223, and a second end of the fourth connecting rod 224 is pivotally connected to the housing 10.

[0035] In the fingertip gripping mode, the first connecting rod 221 and the second connecting rod 222 are locked in the same straight line, so that the fingertips are in a first state, i.e., the gripping plane of each fingertip 21 is always maintained in the same direction while the jaw assemblies 20 approach or move away from each other. Here, the driving device 30 is configured to drive the first end of the first connecting rod 221 to rotate, thereby driving the jaw assemblies 20 to approach or move away from each other.

[0036] Specifically, when the gripping device 1 is in fingertip gripping mode, the first connecting rod 221 and the second connecting rod 222 are locked to be located on the same straight line and parallel to the fourth connecting rod 221, and the sum of the lengths of the first connecting rod 221 and the second connecting rod 222 (i.e., in this case, the distance from the first end of the first connecting rod 221 to the second end of the second connecting rod 222) 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-like structure formed by the first connecting rod 221 and the second connecting rod 222 positioned on the same line forms a parallelepiped link structure together with the third connecting rod 223, the fourth connecting rod 224 and a portion of the housing, and each of the fingertips 21 is in the first state, and the first connecting rod 221 or the fourth connecting rod 224 can be rotated by the drive unit 30, so that the at least two jaw assemblies 20 move oppositely, and each of the fingertips 21 moves toward or away from each other to grasp or release an object.

[0037] 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 the same straight line in the fingertip grip mode.

[0038] 3 and 5a, in some embodiments, the first lock assembly 225 is disposed between the first connecting rod 221 and the second connecting rod 222, and the first lock assembly 225 includes a first elastic member 2251 (see FIG. 5a) and a first stopper 2252. The first elastic member 2251 may be preset and disposed between the first connecting rod 221 and the second connecting rod 222, thereby providing a torsional force to the first connecting rod 221 and the second connecting rod 222, such that the second connecting rod 222 tends to be biased in a first direction toward the outside of the jaw assembly relative to the first connecting rod 221. In the embodiments of the present application, the direction toward the outside of the jaw assemblies (i.e., the direction in which the jaw assemblies move away from each other) is referred to as the first direction, and the direction toward the inside of the jaw assemblies (i.e., the direction in which the jaw assemblies move toward each other) is referred to as the second direction.

[0039] For example, in some embodiments, the first elastic member 2251 may be a torsion spring, one end of which is connected to the first connecting rod 221 and the other end of which is connected to the second connecting rod 222. The first stopper 2252 is a stopper protruding from one end of the first connecting rod 221 connected to the second connecting rod 222, and limits the range of rotation between the first connecting rod 221 and the second connecting rod 222, thereby preventing the second connecting rod 222 from deflecting in the first direction relative to the first connecting rod 221. Due to the cooperation between the first elastic member 2251 and the first stopper 2252, the first connecting rod 221 and the second connecting rod 222 are positioned on the same straight line in the fingertip grip mode. In another embodiment, the first stopper 2252 may be provided on the second connecting rod 222, and may limit the position of the relative rotation between the first connecting rod 221 and the second connecting rod 222. It should be understood that the elastic force of the first elastic member 2251 (e.g., a torsion spring) may be set and adjusted according to actual conditions, so that in the process of clamping / releasing an object in the first gripping mode of the gripping device, the elastic force generated by the first elastic member 2251 is large enough to prevent the second connecting rod 222 from deflecting in the first direction relative to the first connecting rod 221, and when the gripping device switches to the second gripping mode, the driving device 30 can resist the elastic force of the first elastic member 2251 without being damaged.

[0040] Further, for example, in some embodiments, the first elastic member is a tension spring, one end of which is fixed to the housing 10 and the other end of which is fixed to the fourth connecting rod 224. The tension spring is configured to maintain tension on the fourth connecting rod 2224 in a direction toward the housing 10 within the range of motion of the gripping device. Similarly, this tension spring causes the fourth connecting rod 224 to tend to be deflected in the first direction relative to the housing 10, and because the fourth connecting rod 224, the third connecting rod 223, and the second connecting rod 222 are sequentially connected, the fourth connecting rod 224 drives the second connecting rod 222 to tend to be deflected in the first direction relative to the first connecting rod 221. Furthermore, in this embodiment, a first stopper 2252 is similarly provided to prevent the second connecting rod 222 from tending to be deflected in the first direction relative to the first connecting rod 221. Therefore, the tension spring cooperates with the first stopper 2252 to ensure that the first connecting rod 221 and the second connecting rod 222 are positioned on the same straight line in the fingertip grip mode.

[0041] Further, for example, in some embodiments, when the first elastic member is a tension spring, the tension spring may have one end connected to the housing 10 and the other end connected to the second connecting rod 222. The tension spring is configured to maintain tension on the second connecting rod 222 in a direction toward the housing 10 within the range of motion of the gripping device, thereby causing the second connecting rod 222 to tend to be deflected in the first direction relative to the first connecting rod 221. Furthermore, in this embodiment, a first stopper 2252 is also provided to prevent the second connecting rod 222 from tending to be deflected in the first direction relative to the first connecting rod 221. Therefore, the tension spring cooperates with the first stopper 2252 to cause the first connecting rod 221 and the second connecting rod 222 to be positioned on the same straight line in the fingertip grip mode.

[0042] It should be understood that in some other embodiments, when the first elastic member is a tension spring, one end thereof may be provided on the housing 10 and the other end on the third connecting rod 223, the principle of which is the same as that of the two embodiments described above, and therefore will not be described here.

[0043] By providing the first locking assembly, the structure of the jaw assembly in the fingertip grip mode becomes stronger.

[0044] In some other embodiments, the relative rotation and position limiting and locking between the first connecting rod 221 and the second connecting rod 222 may be realized by devices such as drive motors, gears, etc., provided at the connection points of the two rods, and any of these realization methods does not deviate from the principles and spirit of the present application.

[0045] 6c, in the application gripping mode, the included 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 is deflected in a first direction in which the jaw assemblies move away from each other relative to the application assembly. In this state, the position limiting and locking of the first connecting rod 221 and the second connecting rod 222 do not function (e.g., in an example using a drive motor, the drive motor used for locking can be stopped when switching to the second state), or the elastic position limiting force is released, so that the first connecting rod 221 and the second connecting rod 222 can rotate freely relative to each other. Furthermore, in the second state, the third connecting rod 223 and the fourth connecting rod 224 are locked at a position with a smaller included angle than in the first state, so that the fingertip 21 is deflected outward from the jaw assemblies, i.e., in the first direction, relative to the first state. Thus, in the second state, when the gripping device 1 grips an object using the application assembly 23, the fingertip 21 does not come into contact with the object, avoiding damaging a fragile or easily deformed object. For example, in some embodiments, the included angle between the plane of the fingertip 21 for gripping an object and the plane on which the application assembly 23 is located is 180° or more. The gripping device 1 can grip an object using the application assembly 23 provided inside the connecting rod assembly 22.

[0046] In this embodiment, the first state of the fingertip is realized by locking the first connecting rod and the second connecting rod in a collinear state, and the second state of the fingertip is realized by locking the third connecting rod and the fourth connecting rod at a preset angle. By changing the position of the connecting rods, the gripping mode and the fingertip state can be switched, eliminating the need for a separate driving mechanism, simplifying the structure of the gripping device and reducing costs.

[0047] 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 application gripping mode.

[0048] 3 and 7a-7b, in some embodiments, the second lock assembly 226 includes a first locking member 2261 and a second locking member 2262. The first locking member 2261 is provided on the fourth connecting rod 224, and the second locking member 2262 is provided on the third connecting rod 223. The first locking member 2261 and the second locking member 2262 are configured to cooperate to lock or release 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 member 2261 and the second locking member 2262 cooperate to lock the relative position between the third connecting rod 223 and the fourth connecting rod 224.

[0049] For example, in some embodiments, the first locking member 2261 and the second locking member 2262 are both magnets. The attractive force between the two magnets locks the third connecting rod 223 and the fourth connecting rod 224 at the preset angle. At least one of the third connecting rod 223 and the fourth connecting rod 224 is provided with a mounting groove 2263 for accommodating the magnet and adjusting the position of the magnet. For example, in some embodiments, the mounting groove 2263 may be a cavity, and the magnet is mounted in the cavity. An adjustment member may be further provided in the mounting groove 2263 for adjusting the position of the magnet in the mounting groove 2263.

[0050] Further, for example, in some other embodiments, the first locking member 2261 and the second locking member 2262 may be a pair of snap-fit ​​structures, locking the third connecting rod 223 and the fourth connecting rod 224 at the preset angle in a snap-engagement manner.

[0051] The magnetic attraction and snap engagement method of the second lock assembly 226 may be considered a passive lock. In the passive lock method, the magnitude of the locking force and the magnitude of the force required to release the passive lock can be set according to the actual situation, as long as the third connecting rod 223 and the fourth connecting rod 224 can always be kept locked in the second gripping mode and can be released during the process of switching from the second gripping mode to the first gripping mode. A specific example of the mode switching process will be described later.

[0052] For example, in some embodiments, the second locking assembly 226 may be an electromagnetic clutch provided on the third connecting rod 223 or the fourth connecting rod 224. In the fingertip gripping mode, the electromagnetic clutch is in a power-off state, allowing the third connecting rod 223 and the fourth connecting rod 224 to rotate freely. In the adhesive gripping mode, the electromagnetic clutch is energized, locking the third connecting rod 223 and the fourth connecting rod 224. In other embodiments, the relative rotation and position restriction and locking between the third connecting rod 223 and the fourth connecting rod 224 may be achieved by a drive motor, gear, or other device provided at the connection point of the two rods, and the present application does not specifically limit the locking method between the two connecting rods.

[0053] The locking method using an electromagnetic clutch or a drive motor of the second lock assembly 226 may be considered as an active locking method, in which a corresponding processor can send locking and unlocking commands to the second lock assembly 226 according to the operating needs of the gripping device.

[0054] 4, the housing 10 further includes a first position limiting element 11 and a second position limiting element 12, which are respectively provided on both sides of the fourth connecting rod 224 to limit the rotational range of the fourth connecting rod 224 in the corresponding direction. For example, as shown in FIG. 4, the first position limiting element 11 is provided on a side of the housing 10 adjacent to the fourth connecting rod 224 and facing the first connecting rod 221, thereby limiting the rotational range of the fourth connecting rod 224 in the first direction when the jaw assemblies 20 rotate in the first direction away from each other. The second position limiting element 12 is provided on a side of the housing 10 adjacent to the connecting rod 224 and facing the application assembly 23, thereby limiting the rotational range of the fourth connecting rod 224 in the second direction when the jaw assemblies 20 move in the second direction toward each other. Here, the first position limiting element 11 and the second position limiting element 22 may be grooves or protruding stoppers that perform a position limiting function, and there are no specific limitations on their structures as long as they can perform a position limiting function. By limiting the rotation range of the fourth connecting rod with the position limiting member, the gripping device can achieve mode switching with a simple mechanical structure, without requiring an additional driving device, resulting in a simple structure and lower costs. The specific mode switching process will be described later.

[0055] The driving device 30 is provided in the housing 10 and drives the first connecting rod 221 and / or the fourth connecting rod 224 to rotate, thereby opening and closing each jaw assembly 20 and realizing gripping and releasing operations. The driving device 30 may include a mechanism, such as a motor, that can drive the jaw assembly 20 to rotate, and this will not be described in detail here. In the following description of the operating process, the driving device will be described as driving the first connecting rod 221.

[0056] Hereinafter, the operation process of the gripping device 1 will be described by way of example with reference to FIGS. 5a to 8c.

[0057] 5a and 5b, which illustrate the movement process of the at least two jaw assemblies 20 gripping an object 2 in the fingertip gripping mode. In the fingertip gripping mode, the first connecting rod 221 and the second connecting rod 222 are locked in a state of being positioned on the same straight line, the other connecting rods can rotate freely, and the second locking assembly 226 does not perform a locking operation. The gripping plane where each fingertip 21 contacts the object is always maintained in the same direction as the jaw assemblies 20 move toward or away from each other, i.e., in the first state.

[0058] 5a shows the at least two jaw assemblies 20 in the open state in the fingertip gripping mode. When the fingertip gripping mode is performed, the first connecting rod 221 or the fourth connecting rod 224 is driven to rotate by the driving unit 30, causing the jaw assemblies 20 to move opposite each other. When the jaw assemblies 20 rotate to the state shown in FIG. 5b, the fingertips 21 move toward the object and grip it. During this process, the positions of the gripping device and the object can be appropriately adjusted to prevent the application assembly 23 from coming into contact with the object.

[0059] 6a to 6c, these figures are equivalent schematic diagrams showing the process of switching the gripping device 1 from the fingertip gripping mode to the adhesive gripping mode.

[0060] In the fingertip grip mode shown in FIG. 6a, as the driver 30 continues to drive the jaw assemblies 20 to rotate in directions away from each other, the jaw assemblies 20 gradually open, and when the fourth connecting rod 224 rotates to the first position limiting element 11, it is restricted by the first position limiting element 11 and cannot rotate any further. At this time, the driver 30 continues to drive the first connecting rod 221 to rotate, so that the first connecting rod 221 and the second connecting rod 222 are released from the lock by the first lock assembly 225 and rotate relatively, and at the same time, continues to drive the third connecting rod 223 to rotate, so that the third connecting rod 223 is deflected in the first direction relative to the fourth connecting rod 224, as shown in FIG. 6b. Finally, the jaw 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, and the gripping device 1 switches to the application gripping mode, as shown in Fig. 6c. At this time, the fingertip 21 of each jaw assembly 20 is in the second state, and for example, the included angle between the plane of the fingertip 21 gripping the object and the plane on which the application assembly 23 is located is large (e.g., 180° or more). Thus, when the gripping device 1 grips the object with the application assembly 23, the fingertip 21 does not contact the object.

[0061] Referring to Figures 7a and 7b, these figures show the process of movement of each jaw assembly 20 in the application gripping mode.

[0062] 7a shows the jaw assemblies 20 in an open state in the application and gripping mode. In the process of gripping an object, the jaw assemblies 20 are driven by the driving device 30 to rotate toward each other until the application assembly 23 applies or sucks the object 2, as shown in FIG. 7b. During the rotation process, the included angle between the third connecting rod 223 and the fourth connecting rod 224 is always maintained at the preset angle, and the relative position between them does not change.

[0063] With reference to FIGS. 3, 4 and 8a to 8c, the process by which the gripping device 1 switches from the adhesive gripping mode to the fingertip gripping mode will now be described.

[0064] In the application and gripping mode, as the driving unit 30 drives each jaw assembly 20 to rotate in a direction toward each other, as shown in Figures 8a to 8b, each jaw assembly 20 gradually closes, and when the fourth connecting rod 224 rotates to the second position limiting element 12, it is restricted by the second position limiting element 12 and cannot rotate any further, at this time the driving unit 30 drives the first connecting rod 221 of each jaw assembly to continue rotating in the second direction toward each other, and the third connecting rod 223 is driven to continue rotating, whereby the lock between the third connecting rod 223 and the fourth connecting rod 224 is released by the action of the driving force by the driving unit 30. When 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 are restored to the state of the gripping device in the first gripping mode by the action of the first locking assembly 225, i.e., the first connecting rod 221 and the second connecting rod 222 are in the same straight line and locked by the first locking assembly 225. At this time, the lock on the relative position between the third connecting rod 223 and the fourth connecting rod 224 by the second locking assembly 226 is released, and the gripping device 1 switches from the adhesive gripping mode to the fingertip gripping mode, as shown in FIG. 8c.

[0065] It should be understood that when the first lock assembly 225 and the second lock assembly 226 use an active locking method, switching between the fingertip grip mode and the adhesive grip mode can be performed by controlling the drive device 30 by a software program in response to a user's switching command.

[0066] The gripping device provided in this embodiment has an adhesive assembly inside the connecting rod assembly, allowing the gripping device to not only achieve precise gripping in the fingertip gripping mode but also grip large, fragile, or easily deformed objects in the adhesive gripping mode. The two gripping modes do not affect each other, making it suitable for a wider range of applications. Furthermore, the two modes can be switched by adjusting the position of the four connecting rods, thereby achieving switching between the two gripping modes. This is a simple structure, eliminating the need for additional control or driving devices, and reducing system complexity. Furthermore, it prevents the fingertips from damaging the object in the adhesive gripping mode due to changes in fingertip position. Furthermore, the gecko-mimetic adhesive film with a certain tension allows the length of the adhesive assembly toward the object to be adjusted, allowing for gripping of larger objects and providing a more reliable wrapping force.

[0067] Hereinafter, application assemblies 23 according to some embodiments of the present application will be described with reference to FIGS. 1 to 4, 9, and 11. FIG.

[0068] The application assembly 23 is provided on the side of the connecting rod assembly 22 facing the object to be grasped when grasping the object, i.e., on the opposing side of the at least two jaw assemblies 20 (inside the connecting rod assembly 22 in the figure), thereby grasping the object by suction or adhesion in the application grasping mode. The housing 10 further includes a first fixing member 13 and a second fixing member 14, and the application assembly 23 is connected between the housing 10 and the fingertip 21 by the first fixing member 13 and the second fixing member 14.

[0069] In some embodiments, the attachment assembly 23 is a strip of a gecko adhesive material film, and the gecko adhesive film is provided along the length of the connecting rod assembly 22. The gecko adhesive is an adhesive material inspired by geckos and designed to mimic the structure of their feet. The surface of the gecko adhesive film is provided with a plurality of micro-wedge structures, which can adhere to the surface of an object through molecular interactions (e.g., van der Waals forces). In the attachment grasping mode, the gecko adhesive film adheres to the surface of an object, thereby achieving a grasping operation. Since the gecko adhesive film is a known technology, it will not be described in detail here.

[0070] By utilizing the reliable adhesive ability of the gecko-mimicking adhesive film, a stable grip is achieved when minimal pressure is applied to the object, avoiding damage to the object.

[0071] In some embodiments, a first end of the gecko-mimicking adhesive film is fixed to a location of the housing 10 adjacent to the fourth connecting rod 224 by a first fixing member 13, and a second end is connected to an end of the connecting rod assembly 22 adjacent to the fingertip 21 by a second fixing member 14. Here, at least one of the first fixing member 13 and the second fixing member 14 can provide a substantially constant biasing force to the gecko-mimicking adhesive film, the biasing force being oriented in the longitudinal direction of the connecting rod assembly, so that the gecko-mimicking adhesive film can expand and contract as the jaw assembly 20 opens and closes, and the application assembly is always in a tensioned state during the movement of the jaw assembly.

[0072] 3 and 4, in some embodiments, the first fixing member 13 is provided on the housing 10 and is positioned between the at least two jaw assemblies 20 to connect to a first end of a gecko-mimicking adhesive film. A first roller 227 is provided on the fingertip 21, and a second roller 228 is provided on the fourth connecting rod 224. The second fixing member 14 is provided between the corresponding jaw assembly 20 and the first fixing member 13. The gecko-mimicking adhesive film has a first end connected to the first fixing member 13, and a main body of the gecko-mimicking adhesive is sequentially wound around the first roller 227 and the second roller 228, and a second end connected to the second fixing member 14.

[0073] The second fixing member 14 provides a substantially constant biasing force to the gecko-mimicking adhesive 23, and as the jaw assembly 20 opens and closes, the length of the application assembly 23 exposed between the first fixing member 13 and the fingertip 21 changes accordingly, thereby allowing larger objects to be grasped in the application grasping mode, and the gecko-mimicking adhesive film also has a larger elastic space, which is advantageous for protecting objects that are easily deformed or fragile.

[0074] The substantially constant biasing force may be realized by an elastic member (e.g., a constant force spring) or a rotating shaft capable of providing a constant biasing force. The substantially constant biasing force allows the application assembly 23 to be constantly in a tensioned state during the movement of the jaw assembly, preventing the gecko-imitative adhesive film from wrinkling during the stretching process, thereby providing a more reliable wrapping / adhesion force to the object.

[0075] Further, for example, in some other embodiments, the second fixing member 14 may be provided at one end of the fourth connecting rod 224 adjacent to the fingertip 21, and at least one of the first fixing member 13 and the second fixing member 14 provides a substantially constant biasing force to the gecko-imitating adhesive film without the need for the two rollers.

[0076] It should be understood that in some embodiments, the application assembly 23 may be provided correspondingly to each of the jaw assemblies 20. When there are a large number of jaw assemblies 20, the application assembly 20 may be provided only to some of the jaw assemblies 20. For example, when the gripping device 1 has four jaw assemblies, only two of the jaw assemblies may be provided with application assemblies, specifically according to actual needs.

[0077] In some other embodiments, as shown in FIGS. 9 and 11, the application assembly 23 may be applied directly to the side of the connecting rod assembly 22 facing the object.

[0078] 1 to 4, the structure of the connecting rod assembly 22 also includes a first connecting rod 221, a second connecting rod 222, a third connecting rod 223, and a fourth connecting rod 224, and the application assembly 23 is attached to the side of the fourth connecting rod 223 facing the object. Because the application assembly 23 is directly attached to the fourth connecting rod 224, there is no need to provide a first fixing member, a second fixing member, a first roller, and a second roller for fixing the application assembly 23 to the housing 10, thereby further simplifying the structure of the gripping device. The operation process and switching process in the fingertip gripping mode and the application gripping mode can be described by referring to the above-described embodiments, and will not be described again here.

[0079] In some embodiments, a spacer 231 is further provided between the application assembly 23 and the connecting rod assembly 22. For example, a gecko-mimicking adhesive is fixed to the spacer 231, which is then fixed to the fourth connecting rod 224. The spacer 231 may be made of a flexible and deformable material, such as rubber, foam, or the like.

[0080] Additionally, in some embodiments, the attachment assembly 23 may be an adhesive material, such as a gecko-like adhesive, applied directly to the connecting rod assembly.

[0081] In some other embodiments, the application assembly 23 may be one or more vacuum suction devices, such as suction cups, provided on the connecting rod assembly 22. In an application and gripping mode, the application assembly 23 can grip an object by the suction force of the suction cups.

[0082] The attachment assembly 23 in the present application may be any other structure or material that can grip or release an object in an adsorption or adhesive manner, and it should be understood that the present application is not limited thereto, and that anything that can grip an object in an adsorption or adhesive manner falls within the scope of protection of the present application.

[0083] 11 and 12, which are schematic diagrams illustrating the configuration of a gripping device according to another embodiment of the present application, in which each fingertip 21 is pivotally connected to a first end of a corresponding connecting rod assembly 22.

[0084] When the gripping device 1 is in the fingertip gripping mode, each of the fingertips 21 is in the first state. As shown in FIG. 11 , the gripping plane of each of the fingertips 21 gripping an object remains constant as the jaw assemblies approach and move away from each other. When the at least two jaw assemblies 20 move to a closed state, the fingertips 21 of each jaw assembly 20 are opposed to each other and cooperate to clamp the object. The gripping device 1 can be switched from the fingertip gripping mode to the application gripping mode by rotating the fingertips 21 in a direction away from the application assembly 23. As shown in FIG. 12 , the fingertips are in the second state, i.e., each of the fingertips is deflected in the first direction relative to the application assembly. As a result, when the gripping device 1 grips an object in the application gripping mode, the fingertips 21 do not contact the object.

[0085] In this embodiment, the fingertip 21 may be rotatably connected to a first end of the connecting rod assembly 22 via a hinge. The present application does not specifically limit the manner of driving the rotation of the fingertip 21, and the fingertip 21 may be rotated manually between the first state and the second state, or may be rotated between the first state and the second state by driving a driving device such as a motor.

[0086] In some other embodiments, when the fingertip 21 is pivotally connected to the connecting rod assembly 22, the design of the connecting rod assembly 22 can be further simplified. For example, as shown in FIG. 12 , in one embodiment, each connecting rod assembly 22 may include three connecting rods, namely, a first connecting rod 221a, a second connecting rod 222a, and a third connecting rod 223a, which are pivotally connected in sequence. The free ends of the first connecting rod 221a and the third connecting rod 223a are pivotally connected to the housing 10. The first connecting rod 221a, the second connecting rod 222a, the third connecting rod 223a, and the housing 10 together form a parallelepiped structure. The fingertip 21 is pivotally connected to one end of the second connecting rod 222a, which is adjacent to the third connecting rod 223a. The application assembly 23 is fixedly provided on the side of the third connecting rod 223a facing the object to be grasped. The attachment method of the attachment assembly 23 can be referred to in the above-mentioned embodiments, and will not be described again here.

[0087] In the gripping device provided in this embodiment, each of the fingertips 21 switches between the first state and the second state in a rotational manner, which makes the design of the connecting rod assembly 22 simpler.

[0088] In some other optional embodiments, the fingertip 21 may be removably connected to a first end of the connecting rod assembly 22. In the fingertip grip mode, the fingertip 21 is attached to one end of the connecting rod assembly 22. In the adhesive grip mode, the fingertip 21 can be manually detached. Here, the fingertip 21 may be removably attached to the connecting rod assembly 22 by a member such as a screw or a buckle, or may be removably attached to the connecting rod assembly 22 by a method such as insertion, and the present application does not specifically limit this.

[0089] It should be understood that in another alternative embodiment, each of the fingertips 21 may not change state between the first and second gripping modes.

[0090] Based on the above concept, the present application further provides a robot 3, as shown in FIG. 13 . The robot 3 may include at least one connecting member 31 and at least one gripping device 32. The robot 3 may grasp or capture an object. Here, the gripping device 32 may be any of the gripping devices described in the above-mentioned embodiments. Those skilled in the art should understand that the structure shown in FIG. 13 is merely an exemplary embodiment of the robot 3. In other embodiments, the robot 3 may include more or fewer components. For example, the robot may include an input / output device, a network access device, a communication bus, a processor, a memory, an actuator, a sensor, etc. These additional components may implement a control system, such as the switching instructions described above. For example, the robot 3 may include a processor and a memory that stores instructions. When the instructions are executed by the processor, the processor realizes the control system. Instructions may be stored in the memory. When the instructions are executed by the processor, the processor activates or deactivates the gripping device 32, thereby capturing or releasing the object to be grasped.

[0091] Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may still modify the technical means described in the above embodiments or make equivalent substitutions for some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solution to depart from the scope of the technical solution of the embodiments of the present application, and all of them should be included within the scope of the claims and description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in the embodiments can be combined in any manner. The present 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, The gripping device Housing and at least two jaw assemblies for cooperating with one another to grasp an object; Each of the jaw assemblies comprises: Fingertips that hold an object; a connecting rod assembly having a first end connected to the fingertip and a second end rotatably connected to the housing; an application assembly provided on the connecting rod assembly on a side facing the object to be grasped, the gripping device is configured to be switched between a first gripping mode and a second gripping mode; In the first gripping mode, the gripping device grips the object with the fingertips cooperating with each other, In the second gripping mode, the gripping device is characterized in that each of the attachment assemblies adheres to and / or adsorbs the object to realize a gripping operation.

2. 2. The gripping device of claim 1, wherein in the first gripping mode, each of the fingertips is in a first state, and in the second gripping mode, each of the fingertips is in a second state, and when each of the fingertips is in the second state, each of the fingertips is deflected in a first direction in which each of the jaw assemblies moves away from each other relative to the application assembly.

3. each said connecting rod assembly includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; a first end of the first connecting rod pivotally connected to the housing and a second end of the first connecting rod pivotally connected to the second connecting rod; a first end of the second connecting rod pivotally connected to the first connecting rod and a second end of the second connecting rod pivotally connected to the first end of the third connecting rod; a first end of the third connecting rod connected to a second end of the second connecting rod, the second end of the third connecting rod connected to the fingertip; a first end of the fourth connecting rod connected between the first end of the third connecting rod and the fingertip, and a second end of the fourth connecting rod pivotally connected to the housing; 3. The gripping device according to claim 2, wherein the application assembly is provided on a side of the fourth connecting rod facing the object to be gripped.

4. 4. The gripping device of claim 3, wherein the connecting rod assembly further includes a first locking assembly, and 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 assembly, and each of the fingertips is in the first state.

5. 4. The gripping device of claim 3, wherein the connecting rod assembly further includes a second locking assembly, and in the second gripping mode, the third connecting rod and the fourth connecting rod are locked at a preset angle by the second locking assembly, and each of the fingertips is in the second state.

6. 4. The gripping device of claim 3, wherein the housing further includes a first position limiting element and a second position limiting element, the first position limiting element and the second position limiting element being respectively provided on opposite sides of a fourth connecting rod, the first position limiting element being configured to limit a range of rotation of the fourth connecting rod in the first direction when the jaw assemblies rotate in the first direction away from each other, and the second position limiting element being configured to limit a range of rotation of the fourth connecting rod in the second direction when the jaw assemblies move in the second direction toward each other.

7. the connecting rod assembly further includes a first locking assembly and a second locking assembly, and the housing further includes a first position limiting element and a second position limiting element; the first locking assembly is configured to lock the first connecting rod and the second connecting rod in the same straight line in the first gripping mode, and the second locking assembly is inactive in the first gripping mode; the second locking assembly is configured to lock the third connecting rod and the fourth connecting rod at a preset angle in the second gripping mode, and to release the lock between the first connecting rod and the second connecting rod by the first locking assembly; the first position limiting element and the second position limiting element are respectively provided on both sides of a fourth connecting rod; and in a process of switching the gripping device from the first gripping mode to the second gripping mode, when the jaw assemblies rotate in a first direction away from each other, the first position limiting element is configured to limit a rotation range of the fourth connecting rod in the first direction, so that the first connecting rod and the second connecting rod are unlocked by the first locking assembly and rotate relatively, and the third connecting rod is rotated in the first direction relative to the fourth connecting rod to the preset angle and is locked by the second locking assembly.

4. The gripping device according to claim 3, wherein, in a process of switching the gripping device from the second gripping mode to the first gripping mode, when the jaw assemblies move toward each other in a second direction, the second position limiting element limits a rotation range of the fourth connecting rod in the second direction, thereby rotating the third connecting rod as the first connecting rod continues to rotate in the second direction, releasing the lock on the third connecting rod and the fourth connecting rod by the second locking assembly, and locking the first connecting rod and the second connecting rod by the first locking assembly.

8. each said 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 pivotally connected to the housing, and a second end of the first connecting rod pivotally connected to a first end of the second connecting rod; a second end of the second connecting rod pivotally connected to the fingertip; a first end of the third connecting rod pivotally connected between the second end of the second connecting rod and the fingertip, and a second end of the third connecting rod pivotally connected to the housing; 3. The gripping device according to claim 2, wherein the application assembly is provided on a side of the third connecting rod facing the object to be gripped.

9. 9. The gripping device of claim 1, wherein the housing further includes a first fixing member and a second fixing member, the application assembly is connected between the housing and the fingertip by the first fixing member and the second fixing member, and the application assembly has a substantially constant biasing force.

10. 10. The gripping device of claim 9, wherein at least one of the first and second locking members is configured to provide the substantially constant biasing force to the applicator assembly so that the applicator assembly is always in tension during movement of the jaw assembly.

11. The gripping device according to any one of claims 1 to 8, characterized in that the attachment assembly is attached to the connecting rod assembly in an attachment-fixed manner on the side facing the object to be gripped.

12. 10. The gripping device of claim 1, wherein the application assembly is a gecko-imitating adhesive film.

13. 13. The gripping device of claim 12, wherein the affixation assembly is fixedly affixed to the connecting rod assembly via a spacer.

14. A robot, A robot comprising the gripping device according to any one of claims 1 to 13.

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