Gripping device and robot

Abstract

A gripping device (100) and a robot (300) equipped therewith are disclosed. The gripping device (100) includes a base (10) and at least two gripper assemblies (20). Each gripper assembly (20) includes a gripping finger (21) and a first link assembly (22). In a first gripping mode, the gripping finger (21) is in the aforementioned state, and the first link assembly (22) is configured to move the gripping finger (21) inward to make contact with the object. In a second gripping mode, the gripping finger (21) is in the aforementioned first state, and the first link assembly (22) is configured to move the gripping finger (21) outward to make contact with the object. In a third gripping mode, the first link assembly (22) is configured to switch the gripping finger (21) from the first state to the second state, and to cooperate with the first link assembly (22) to move the gripping finger (21) inward to make contact with the object.

Description

Technical Field

[0001] The present disclosure relates to robot technology, and particularly to a gripping device and a robot equipped with the same.

Background Art

[0002] Robots equipped with gripping devices are widely applied in many fields such as industrial manufacturing, logistics, transportation, etc. With the continuous development of technology, the application scenarios faced by robots are becoming increasingly diversified. However, the current gripping devices of robots are limited to a single gripping mode, and it is necessary to design different gripping devices for different operations. For example, in the field of industrial manufacturing, since many of the gripping objects have relatively regular shapes, the gripping device usually realizes the gripping operation by the parallel movement of the gripping fingers.

Summary of the Invention

Problems to be Solved by the Invention

[0003] However, such a gripping device cannot grip large objects because the stroke of the gripping fingers is limited. In addition, the rigid structure of the gripping fingers may damage large objects, easily deformable objects, or fragile objects. Therefore, a different gripping device is required for such large, easily deformable, or fragile objects.

Means for Solving the Problems

[0004] In one embodiment, the present disclosure provides a gripping device configured to grip an object. The gripping device includes a base and at least two gripper assemblies. Each gripper assembly includes a gripping finger and a first link assembly. The gripping finger is configured to grip the object and has a first state and a second state. In the first state, the angle of the gripping surface of each gripping finger is kept constant. In the second state, compared to the first state, each gripping finger moves toward each other in a first direction. One end of the first link assembly is rotatably connected to the base, and the other end is rotatably connected to the gripping finger. The gripping device has a first gripping mode, a second gripping mode, and a third gripping mode. In the first gripping mode, the gripping finger is in the first state, and the first link assembly is configured to move the gripping finger inward to contact the object. In the second gripping mode, the gripping finger is in the first state, and the first link assembly is configured to move the gripping finger outward to make contact with the object. In the third gripping mode, the first link assembly is configured to switch the gripping finger from the first state to the second state, and to move the gripping finger inward to make contact with the object in cooperation with the first link assembly.

[0005] In some embodiments, each gripper assembly further includes an attachment assembly. The attachment assembly is positioned inside a corresponding gripping finger and / or inside a corresponding first link assembly. Each gripping finger further has a third state, in which, compared to the first state, the gripping fingers move away from each other in a second direction. The gripping device further has a fourth gripping mode, in which the gripping fingers are in the third state, and the first link assembly is configured to move the gripping fingers inward to bring the attachment assembly into contact with the object.

[0006] In some embodiments, each gripper assembly further includes a gripping finger positioning assembly and a posture control assembly, the posture control assembly being connected to a first end of the gripping finger positioning assembly and configured to control the posture of the corresponding gripping finger by controlling the posture of the gripping finger positioning assembly. For each gripper assembly, in the first gripping mode and the second gripping mode, the posture control assembly is configured such that the other end of the gripping finger positioning assembly contacts the gripping finger to maintain the gripping finger in the first position.

[0007] In some embodiments, each gripper assembly further includes a tension-applying member configured to apply tension to a corresponding first link assembly, thereby causing the corresponding gripping finger to tend to move toward the second direction under the action of the tension. For each gripper assembly, in the first gripping mode and the second gripping mode, the gripping finger positioning assembly is configured to apply a support force to the gripping finger to prevent the gripping finger from tending toward the second direction, thereby maintaining the gripping finger in the first position.

[0008] In some embodiments, each of the gripping fingers includes a first portion and a second portion connected perpendicularly to each other. Each first link assembly includes a plurality of links, which cooperate with the first portion of the gripping finger to form a quadrilateral link structure, which is configured to rotate when driven by a drive device, thereby moving the gripping finger and adjusting the position of the gripping finger.

[0009] In some embodiments, each first link assembly includes a first link, a second link, and a third link. The first end of the first link is rotatably connected to the base, and the second end of the first link is rotatably connected to the first end of the second link. The tensioning member is positioned between the first and second links and provides torque to the first and second links, thereby causing the second link to tend to move relative to the first link in the second direction, pulling the corresponding gripping finger so that the gripping finger tends to move in the second direction. The second end of the second link is rotatably connected to one end of the first portion of the gripping finger, the other end of the first portion of the gripping finger is rotatably connected to the first end of the third link, and the second end of the third link is rotatably connected to the base. In the third gripping mode, each gripping finger cooperates with the corresponding third link to grip the object.

[0010] In some embodiments, each gripping finger positioning assembly includes at least one link, the at least one link forming a support structure that provides the support force to the corresponding gripping finger in the first and second gripping modes.

[0011] In some embodiments, the gripping finger positioning assembly includes a fourth link, a fifth link, and a sixth link. The fourth link, the fifth link, the sixth link, and the third link are sequentially rotatably connected to form a parallelogram link assembly, the fourth link being always parallel to the sixth link. The parallelogram link assembly is configured such that the sixth link contacts the first portion of the gripping finger parallel to it, thereby providing the support force in the first and second gripping modes.

[0012] In some embodiments, in the fourth gripping mode, the attitude control assembly is configured to rotate the fourth link in the second direction, so that the gripping fingers are moved toward the second direction under the action of tension applied by the tension-applying member to reach the third state.

[0013] In some embodiments, the attitude control assembly includes a cam that contacts the corresponding fourth link. For each gripper assembly, the cam is configured, when in a first position, to maintain the fourth and sixth links in their initial state, thereby maintaining the gripping fingers in the first state under the combined action of tension applied by the tension-applying member and support force applied by the sixth link. Furthermore, when the cam is in a second position, it is configured to deflect the fourth and sixth links in a second direction, causing the gripping fingers to move in the second direction under the action of tension applied by the tension-applying member, thereby switching the gripping fingers to the third state.

[0014] In some embodiments, the attachment assembly is made of gecko adhesive material.

[0015] In another embodiment, the Disclosure provides a robot which includes a gripping device as described in any of the embodiments described above.

[0016] Details of one or more embodiments of this disclosure are described in the following drawings and description. Other features, purposes and advantages of the present invention will become apparent from the specification, drawings and claims.

[0017] To more clearly illustrate the embodiments of this disclosure or the technical solutions in the prior art, the following briefly describes the drawings necessary for describing the embodiments or the prior art, however, the drawings described below represent only a few embodiments of this disclosure, and those skilled in the art can obtain other drawings from the disclosed drawings without any creative effort. [Brief explanation of the drawing]

[0018] [Figure 1] This is a schematic diagram of a gripping device in one embodiment of the present disclosure. [Figure 2] This is a schematic diagram of a gripping device in a first gripping mode according to one embodiment of the present disclosure. [Figure 3]Schematic diagram of a gripping device in the second gripping mode in an embodiment of the present disclosure. [Figure 4] Schematic diagram of a gripping device in the third gripping mode in an embodiment of the present disclosure. [Figure 5] Schematic diagram of a gripping device in the fourth gripping mode in an embodiment of the present disclosure. [Figure 6] Schematic diagram of a robot in an embodiment of the present disclosure.

Embodiments for Carrying Out the Invention

[0019] Hereinafter, in conjunction with the drawings in the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present disclosure.

[0020] Unless otherwise defined, all technical terms and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present disclosure belongs. The terms used in this specification are only for the purpose of explaining specific embodiments and are not intended to limit the present disclosure. The terms "comprising" and "having" and any variations thereof in the description of the specification, claims and drawings of the present disclosure are intended to cover non-exclusive inclusion.

[0021] In the description of the embodiments of the present disclosure, technical terms such as "first" and "second" are only used to distinguish different objects and should not be understood as indicating or implying relative importance, or indicating the number of technical features, a specific order, or an implicit designation of a primary-secondary relationship. In the description of the embodiments of the present disclosure, the meaning of "plurality" is two or more (including two) unless specifically and clearly limited.

[0022] As used herein, the term "embodiment" means that a particular feature, structure, or characteristic described in conjunction with an embodiment may be included in at least one embodiment of the present disclosure. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. One of ordinary skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0023] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, technical terms such as "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a removable connection, or an integral connection, a mechanical connection or an electrical connection, a direct connection or an indirect connection via an intermediate medium, an internal communication between two elements or an interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific situations.

[0024] In the description of the embodiments of the present disclosure, the term "and / or" simply describes the relationship between related objects and indicates that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Also, the character " / " in this specification generally indicates that the related objects before and after are in an "or" relationship.

[0025] Currently, robots equipped with gripping devices are widely used in many fields, including industrial manufacturing, logistics, and transportation. For example, in industrial manufacturing, robot hands are used to grip and attach parts, and in logistics, robot hands are used to grip and move goods. However, the applicant has noticed that current robotic gripping devices are limited to a single gripping mode and cannot adapt to various scenarios. For example, robotic grippers in industrial manufacturing can achieve high precision and reliability by gripping parts with robotic fingers similar to human fingers, but this gripping method is limited by the stroke length of the robotic fingers, making it impossible to grip large objects, and the strong gripping force of the robotic fingers may damage easily deformable or fragile objects. For such large, easily deformable, or fragile objects, it may be necessary to deploy additional types of robots, which increases the complexity and cost of automated industrial manufacturing.

[0026] In response to the problem that a single robotic gripping mode is inapplicable to various scenarios, the applicant has conducted research and designed a robotic gripping device that allows switching between different gripping modes. The gripping device includes a base and at least two gripper assemblies. Each gripper assembly includes a gripping finger and a first link assembly. Each gripping finger includes a first state and a second state. In the first state, the angle of the gripping surface of each gripping finger is kept constant. In the second state, compared to the first state, each gripping finger moves toward each other in a first direction. One end of the first link assembly is rotatably connected to the base, and the other end is rotatably connected to the gripping finger. The gripping device includes a first gripping mode, a second gripping mode, and a third gripping mode. In the first gripping mode, the gripping finger is in the first state, and the first link assembly is configured to move the gripping finger inward to make contact with the object. In the second gripping mode, the gripping finger is in the first state, and the first link assembly moves the gripping finger outward to make contact with the object. In the third gripping mode, the first link assembly is configured to switch the gripping finger from the first state to the second state and move the gripping finger inward to cooperate with the first link assembly to make contact with the object.

[0027] The concepts of this disclosure will be described in detail below with reference to embodiments. The gripping devices disclosed in each embodiment of this disclosure can be applied to robot hands or robots in fields such as industrial manufacturing, logistics, and transportation, but are not limited thereto. Each gripper assembly of the gripping device cooperates with each other under the drive of a drive device to perform a gripping operation. This disclosure does not limit the drive method of each gripper assembly, as long as each gripper assembly can perform an opening and closing operation and cooperate with each other to complete a gripping operation. For example, each gripping claw may be driven by a plurality of interlocking links to perform an opening and closing operation, or it may be driven by a tendon drive system. Tendon drive is prior art and will not be described in detail here.

[0028] In the following, the present disclosure will be explained primarily by providing examples in which a gripping device drives a gripper assembly to open and close using multiple interlocking links to achieve gripping.

[0029] In each embodiment of this disclosure, the direction in which each gripping finger 21 moves toward each other is referred to as the first direction, and the direction in which each gripping finger 21 moves toward each other is referred to as the second direction.

[0030] Figure 1 is a schematic diagram of a gripping device 100 in several embodiments of the present disclosure. The gripping device 100 includes a base 10, at least two gripper assemblies 20, and a drive unit 30. The at least two gripper assemblies 20 are used to grip an object in cooperation with each other under the drive of the drive unit 30. Each gripper assembly 20 includes gripping fingers 21 and a first link assembly 22. The gripping fingers 21 are used to grip the object. Each gripping finger 21 has a first state and a second state. In the first state, the angle of the gripping surface of each gripping finger 21 is kept constant. In the second state, compared to the first state, each gripping finger 21 moves toward each other in a first direction. One end of the first link assembly 22 is rotatably connected to the base 10, and the other end of the first link assembly 22 is rotatably connected to the gripping 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 link assembly 22 is configured to move the gripping fingers 21 inward (i.e., in a first direction) to contact the object. The gripping device 100 can achieve a gripping operation by having each gripping finger 21 apply a gripping force in the first direction to the object. In the second gripping mode, the gripping fingers 21 are in a first state, and the first link assembly 22 moves the gripping fingers 21 outward (i.e., in a second direction) to contact the object. The gripping device 100 can achieve a gripping operation by having the gripping fingers 21 apply an expanding force in the second direction to the object. In the third gripping mode, the first link assembly 22 is configured to switch the gripping finger 21 from the first state to the second state and move the gripping finger 21 inward to cooperate with the first link assembly 22 to make contact with the object. The gripping device 100 is able to grip the object with the gripping finger 21 and the first link assembly 22 working together.

[0031] In some embodiments of this disclosure, the number of gripper assemblies 20 can be set according to the actual needs, and the structure of each gripper assembly 20 may be the same. Below, the structure of one gripper assembly 20 will be described as an example.

[0032] In one embodiment, as shown in Figure 1, each gripper assembly 20 includes a gripping finger 21 and a first link assembly 22. The gripping finger 21 includes a first portion 211 and a second portion 212. The first portion 211 and the second portion 212 are connected perpendicularly, and the longitudinal cross-section of the gripping finger 21 is substantially L-shaped.

[0033] The first link assembly 22 includes a plurality of links, which cooperate with the first portion 211 of the gripping finger 21 to form a quadrilateral link structure. The quadrilateral link structure is configured to rotate when driven by a drive device to drive the translation and adjustment of the gripping finger 21.

[0034] In this embodiment, the first link assembly 22 includes a first link 221, a second link 222, and a third link 223. The first end of the first link 221 is rotatably connected to the base 10, and the second end of the first link 221 is rotatably connected to the first end of the second link 222. The second end of the second link 222 is rotatably connected to one end of the first portion 211 of the gripping finger 21 that is away from the second portion 212. The first end of the third link 223 is rotatably connected to one end of the first portion 211 of the gripping finger 21 that is closer to the second portion 212, and the second end of the third link 223 is rotatably connected to the base 10. The first link 221, the second link 222, the first portion 211 of the gripping finger 21, and the third link 223 form a quadrilateral link structure. The first link 221 rotates when driven by the drive unit 30, driving the rotation of the quadrilateral link structure, and the gripping fingers 21 are configured to perform translation and deflection under the drive of the first link assembly 22, thereby enabling various gripping modes of the gripping device 100. The specific operation method of the first link assembly 22 will be described in detail in conjunction with the following embodiments.

[0035] In yet another embodiment, the first link assembly 22 may include four links. For example, in addition to the first link 221, the second link 222, and the third link 223, the first link assembly 22 may further include a fixed link (not shown) fixedly connected parallel to the first portion 211 of the gripping finger 21, so that the first link 221, the second link 222, the fixed link, and the third link 223 are connected in sequence to form a quadrilateral link structure.

[0036] In some embodiments, the gripper assembly 20 further includes a gripping finger positioning assembly 23 and a posture control assembly 25. One end of the gripping finger positioning assembly 23 is connected to the posture control assembly 25, and the other end of the gripping finger positioning assembly 23 is in contact with the gripping finger 21. The posture control assembly 25 is configured to control the posture of the gripping finger 21 by controlling the posture of the gripping finger positioning assembly 23. In the first gripping mode and the second gripping mode, the gripping finger positioning assembly 23 is configured to maintain the gripping finger 21 in the first state under the control of the posture control assembly 25.

[0037] For example, in one embodiment, the gripping finger positioning assembly may be a rotatable locking element. One end of the locking element is connected to a posture control assembly and can be rotated under the control of the posture control assembly. In the first and second gripping modes, the posture control assembly controls the rotation of the locking element so that the other end of the locking element contacts a first portion of the gripping finger, thereby locking the gripping finger into the first position. In other gripping modes, the posture control assembly controls the other end of the locking element to move away from the gripping finger, allowing the gripping finger to adjust its position under the drive of the first link assembly.

[0038] For example, as shown in Figure 1, in one embodiment, the first link assembly 22 further includes a tension-applying member 224. The tension-applying member 224 is configured to apply tension to the first link assembly 22 so that the gripping finger 21 tends to move toward the second direction under the action of the tension. In the first gripping mode and the second gripping mode, the gripping finger positioning assembly 23 is configured to cooperate with the tension-applying member 224 to apply a support force to the gripping finger 21 to prevent the gripping finger 21 from tending to move toward the second direction, thereby maintaining the gripping finger 21 in the first state.

[0039] In one embodiment, the tension-applying member 224 is provided between the first link 221 and the second link 222, and provides torque to the first link 221 and the second link 222 so that the second link 222 tends to move in the second direction relative to the first link 221, and at the same time the second link 222 pulls the gripping finger 21 in the second direction so that the gripping finger 21 also tends to move in the second direction.

[0040] In this embodiment, the tension-applying member 224 may be configured such that the second link 222 tends to move in a second direction relative to the first link 221 due to the preloaded elastic force. For example, in some embodiments, the tension-applying member 224 is a torsion spring, and the preloaded elastic force of the torsion spring causes the second link 222 to tend to move in a second direction relative to the first link 221. Alternatively, in other embodiments, the tension-applying member 224 may be a tension spring. One end of the tension spring is connected to the second end of the second link 222, and the other end is connected to the base 10. The tension of the tension spring causes the second link 222 to tend to move in a second direction relative to the first link 221.

[0041] In this embodiment, the gripping finger positioning assembly may include at least one link, the at least one link forming a support structure, and providing the support force to the gripping finger 21 in the first gripping mode and the second gripping mode.

[0042] For example, as shown in Figure 1, the gripping finger positioning assembly 23 may include a fourth link 231, a fifth link 232, and a sixth link 233 that are rotatably connected in order. The first end of the fourth link 231 is rotatably connected to the second end to which the third link 223 is connected to the base 10, and the second end of the fourth link 231 is rotatably connected to the first end of the fifth link 232. The second end of the fifth link 232 is rotatably connected to the first end of the sixth link 233, and the second end of the sixth link 233 is rotatably connected to the first end to which the third link 223 is connected to the gripping finger 21. The fourth link 231, the fifth link 232, the sixth link 233, and the third link 223 together form a parallelogram link assembly, with the fourth link 231 always remaining parallel to the sixth link 233, and the sixth link 233 in contact with the gripping finger 21. Therefore, the posture of the gripping finger 21 can be controlled by controlling the posture of the fourth link 231. In the first and second gripping modes, i.e., when the gripping finger 21 is in the first state, the fourth link 231 and the sixth link 233 of the gripping finger positioning assembly 23 maintain their parallel angles, and the sixth link 233 contacts the first portion 211 of the gripping finger 21 parallel to it, providing a support force to the gripping finger 21 and thereby limiting the deflection of the gripping finger 21 in the second direction. In this way, when there is no external driving force, or when the external driving force does not exceed the tension provided by the tension-applying member 224, the gripping finger 21 is maintained in the first state under the action of the tension of the tension-applying member 224 and the support force provided by the sixth link 233. The operation methods of the gripping finger positioning assembly 23 and the tension-applying member 224 will be described in detail in conjunction with later embodiments.

[0043] 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, and that in the first and second gripping modes of the gripping device, the elastic force generated by the torsion spring or tension spring should be sufficiently large so that the second link 222 tends to move in the second direction relative to the first link 221, and that when the gripping device is in the other gripping mode, the drive unit 30 should drive the second link 222 to overcome the elastic force of the torsion spring or tension spring so that no damage occurs.

[0044] In other embodiments, the rotation and positional limitations of each link in the first link assembly 22, and between each link and the base 10 and the gripping finger 21, may be achieved by devices such as drive motors and gears provided at the connection point, without requiring the tension-applying member 224 and the gripping finger positioning assembly 23. None of these implementations deviate from the principles and spirit of the present disclosure.

[0045] In one embodiment of the present disclosure, the gripping device 100 may 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 adhesion assembly 24 used to grip an object by adhesion and / or suction. In this embodiment, the adhesion assembly 24 is provided on the inside of the gripping fingers 21, i.e., on one side where the second portion 212 of the gripping fingers 21 faces a first direction. The gripping fingers 21 further include a third state, in which, compared to the first state, the gripping fingers 21 move away from each other in a second direction. In the fourth gripping mode, each gripping finger 21 is in the third state, and the first link assembly 22 is configured to move the gripping fingers 21 inward to bring the adhesion assembly 24 into contact with the object. The gripping device 100 can achieve a gripping operation by adhesion and / or suction of the object by the adhesion assembly 24.

[0046] In another embodiment, the attachment assembly 24 may be located inside the first link assembly 22, for example, on one side where the third link 223 faces the first direction. Alternatively, the attachment assembly 24 may be located both inside the gripping fingers 21 and the first link assembly 22 of each gripper assembly 20. The operation process of the fourth gripping mode will be described in detail in conjunction with later embodiments.

[0047] In some embodiments, the attachment assembly 24 may be a gecko adhesive material layer. Gecko adhesive material is a type of adhesive material inspired by geckos and designed to mimic the structure of a gecko's foot. The surface of the gecko adhesive material layer contains multiple fine wedge structures, allowing the gecko adhesive material layer to adhere to the surface of an object through intermolecular interactions (e.g., van der Waals forces). In the fourth gripping mode, the gecko adhesive material layer adheres to the surface of the object to achieve the gripping operation. Since gecko adhesive material is a known technology, it will not be described in detail here.

[0048] It should be understood that the attachment assembly 24 in this disclosure may be any other structure or material capable of gripping / releasing an object by suction or adhesion, and this disclosure is not limited thereto. Anything capable of gripping an object by suction or adhesion is within the scope of this disclosure. For example, the attachment assembly 24 may be one or more vacuum suction devices, such as suction cups, provided on the gripping fingers and / or the third link.

[0049] In this embodiment, since the gripping finger 21 needs to move in the second direction in the fourth gripping mode, the posture control assembly 25 is further configured to adjust the posture of the gripping finger positioning assembly 23 in the fourth gripping mode so that the gripping finger 21 can be deflected in the second direction under the action of the tension applying member 224, thereby adjusting to the third state.

[0050] For example, in some embodiments, if the gripping finger positioning assembly 23 is the parallelogram link assembly, the attitude control assembly 25 may be a cam. As shown in Figure 4, the cam contacts the fourth link 231 and is used to control the position of the parallelogram link assembly through the fourth link 231. In the first, second, and third gripping modes, i.e., when the gripping finger 21 is in the first and second states, the cam is in the first position, causing the fourth link 231 and the sixth link 233 of the parallelogram link assembly to maintain their initial attitudes. In the fourth gripping mode, as shown in Figure 5, the cam rotates to the second position, allowing the fourth link 231 and the sixth link 233 of the parallelogram link assembly to deflect in the second direction, causing the gripping finger 21 to move in the second direction under the action of tension applied by the tension-applying member 224, thereby switching to the third state.

[0051] In another embodiment, the attitude control assembly 25 may be a drive unit, such as a motor, that drives the fourth link 231 independently. In the first and second gripping modes, the drive unit can directly control the fourth link so that it is always parallel to the first portion 211 of the gripping finger. In the third gripping mode, the drive unit can be configured to rotate the fourth link 231 in a second direction so that the gripping finger 21 switches to a third state.

[0052] It should be understood that the attitude control assembly 25 may be any form of drive mechanism, as long as it can control the gripping finger positioning assembly 23 to change the positional constraints of the gripping fingers 21, and is not limited thereto.

[0053] The following describes in detail the operation process of the gripping device 100 when it is in a different gripping mode, in conjunction with Figures 2 to 5.

[0054] Figure 2 is a schematic diagram of the gripping device 100 in a first gripping mode according to one embodiment of the present disclosure. In the first gripping mode, each gripping finger 21 is in a first state, and the angle of the gripping surface of each gripping finger is kept constant. For example, the sixth link 233 of the gripping finger positioning assembly 23 contacts the first portion 211 of the corresponding gripping finger 21 in parallel to support the gripping finger 21, and the sixth link 233 maintains the horizontal position of the corresponding gripping finger 21 in the first state under the control of the attitude control assembly 25, and works in cooperation with the tensioning member 224 to maintain the gripping finger 21 in the first state. During the gripping process, each first link 221 rotates in the first direction under the drive of the drive unit 30, and the first link 221 drives the second link 222 to move each corresponding gripping finger 21 inward (i.e., in the first direction), so that each gripping finger 21 moves closer to each other. Each gripping finger 21 contacts the object 200, applying a gripping force in a first direction to the object 200, thereby gripping the object 200. As the gripping fingers 21 move in the first direction, the third link 223 also rotates in the first direction, causing the third link 223 to deflect the parallelogram-shaped gripping finger positioning assembly 23 parallel to the first direction, while the plane of the sixth link 233 does not change angle, thereby working in cooperation with the tension-applying member 224 to keep the gripping fingers 21 always in the first state.

[0055] Figure 3 is a schematic diagram of a gripping device in a second gripping mode according to one embodiment of the present disclosure. In the second gripping mode, the gripping fingers 21 are in the first state, and each gripping finger 21 is inserted into the internal space of the object 200 and then moves outward (i.e., in the second direction) to contact the object, thereby gripping the object by applying an expansion force in the second direction to the two opposing inner walls of the object 200. It can be understood that the depth to which the gripping fingers 21 are inserted into the object 200 can be adjusted according to the actual situation. During the gripping process, each first link 221 rotates in the second direction under the drive of the drive unit 30, and the first link 221 drives the second link 222 to move each gripping finger 21 away from each other. After each gripping finger contacts the object 200, an expansion force in the second direction is applied to the object 200, thereby gripping the object 200. As the gripping finger 21 moves in the second direction, the third link 223 also rotates in the second direction, thereby deflecting the parallelogram-shaped gripping finger positioning assembly 23 parallel to the second direction, while the plane of the sixth link 233 does not change angle, thereby working in cooperation with the tension-applying member 224 to maintain the gripping finger 21 in the first state at all times.

[0056] Figure 4 is a schematic diagram of a gripping device in a third gripping mode according to one embodiment of the present disclosure. In the third gripping mode, the gripping device and the corresponding first link assembly 22 work together to grip an object. As shown in Figure 4, in the third gripping mode, the first link 221 rotates in a first direction under the drive of the drive unit 30, and the third link 223 also rotates in a first direction. The object 200 is located between the first link assemblies 22. When the third link 223 rotates to the position of the object 200, it is blocked by the object 2 and cannot rotate any further. The drive unit 30 then drives the first link 221 to continue rotating in the first direction, and the space between the second link 222 and the first link 221 overcomes the restriction of the tension-applying member 224, and the second link 222 drives the gripping fingers 21 to continue rotating in the first direction. The first portion 211 of the gripping finger 21 separates from the sixth link 233, the gripping finger 21 moves in a first direction relative to the first state, and the gripping finger 21 switches to the second state. At this time, each gripping finger 21 works in cooperation with the corresponding third link 223 to grip the object 200.

[0057] Figure 5 is a schematic diagram of a gripping device in one embodiment of the present disclosure when it is in the fourth gripping mode. In the fourth gripping mode, each gripping finger 21 switches to the third state, and each gripper assembly 20 grips the object 200 with the gripping fingers 21 and / or the attachment assembly 24 provided on the first link assembly 22. The operation process of the fourth gripping mode will be described in detail below in conjunction with Figure 5. In one embodiment, the attitude control assembly 25 first adjusts the attitude of the gripping finger positioning assembly 23, so that the gripping finger positioning assembly 23 and the tension-applying member 224 cooperate to adjust the gripping fingers 21 to the third state. For example, if the attitude control assembly 25 is a cam, the cam rotates from a first position to a second position, so that the fourth link 231 and the sixth link 233 of the gripping finger positioning assembly 23 can rotate in the second direction, and the tension applied by the tension-applying member 224 deflects the gripping fingers 21 in the second direction to reach the third state. In this embodiment, the gripping finger positioning assembly 23 may be driven by the gripping finger 21 to rotate in a second direction. In other embodiments, the drive unit may drive the fourth link 231 of the gripping finger positioning assembly 23 to move in a second direction, thereby driving the entire parallelogram to rotate in a second direction. When gripping an object, the drive device 30 drives the first link 221 to rotate in a first direction to move the gripping finger 21 inward, causing the attachment assembly 24 to come into contact with the object, thereby achieving the gripping operation by the suction and / or adhesive action of the attachment assembly 24.

[0058] In the embodiments described above, the gripping device 100 provided by this disclosure can realize four different gripping modes and can be adapted to different scenarios.

[0059] Based on the above concepts, another aspect of the present disclosure further provides a robot 300, as shown in Figure 6. The robot 300 may include at least one connecting member 31 and at least one gripping device 32. The robot 300 is used to grip or capture an object. The gripping device 32 may be a gripping device of any of the embodiments described above. Those skilled in the art should understand that the structure shown in Figure 6 is merely an exemplary embodiment of the robot 300. In other embodiments, the robot 300 may include more or fewer components. For example, the robot may further include input / output devices, network access devices, communication buses, processors, memory, actuators, and sensors, etc. These additional components can implement a control system, such as mode switching instructions. For example, the robot 300 may further include a processor and memory for storing instructions, causing the processor to implement a control system when instructions are executed by the processor. The memory may further store instructions, causing the processor to start or stop the gripping device 32 and capture or release an object when instructions are executed by the processor.

[0060] The technical features in the embodiments described above can be combined in any way. For the sake of brevity, not all combinations of the technical features in the embodiments described above have been described, but these combinations of technical features should be considered to fall within the scope described herein, as long as they are not contradictory.

[0061] The embodiments described above are merely illustrative of some embodiments of the present disclosure, and although their descriptions are specific and detailed, they should not be interpreted as limiting the scope of protection of the present disclosure. Furthermore, a person skilled in the art may make some modifications and improvements, provided they do not deviate from the spirit of the present disclosure, and these too fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be in accordance with the attached claims.

Claims

1. A gripping device configured to grip an object, Bass and, Includes at least two gripper assemblies, Each of the gripper assemblies is A gripping finger configured to grasp the aforementioned object, having a first state and a second state, wherein in the first state, the angle of the gripping surface of each gripping finger is kept constant, and in the second state, compared to the first state, each gripping finger moves toward each other in a first direction, A first link assembly is included, one end of which is rotatably connected to a base and the other end of which is rotatably connected to the gripping finger, The gripping device has a first gripping mode, a second gripping mode, and a third gripping mode. In the first gripping mode, the gripping fingers are in the first state, and the first link assembly is configured to move the gripping fingers inward to make contact with the object. In the second gripping mode, the gripping fingers are in the first state, and the first link assembly is configured to move the gripping fingers outward to make contact with the object. A gripping device characterized in that, in the third gripping mode, the first link assembly is configured to switch the gripping fingers from a first state to a second state, and to move the gripping fingers inward in cooperation with the first link assembly to bring them into contact with the object.

2. Each of the gripper assemblies further includes an adhesive assembly, The attachment assembly is located inside the corresponding gripping finger and / or inside the corresponding first link assembly. Each of the gripping fingers further has a third state, in which, compared to the first state, the gripping fingers move away from each other in a second direction. The gripping device according to claim 1, further having a fourth gripping mode, wherein in the fourth gripping mode, the gripping fingers are in the third state, and the first link assembly is configured to move the gripping fingers inward to bring the attachment assembly into contact with the object.

3. Each of the gripper assemblies further includes a gripping finger positioning assembly and a posture control assembly, the posture control assembly being connected to the first end of the gripping finger positioning assembly and configured to control the posture of the corresponding gripping finger by controlling the posture of the gripping finger positioning assembly. The gripping device according to claim 1 or 2, characterized in that, in the first gripping mode and the second gripping mode, the posture control assembly is configured such that the other end of the gripping finger positioning assembly contacts the gripping finger to maintain the gripping finger in the first state.

4. Each of the gripper assemblies further includes a tension-applying member, the tension-applying member configured to apply tension to the corresponding first link assembly, thereby causing the corresponding gripping finger to tend to move toward the second direction under the action of the tension. The gripping device according to claim 3, wherein in the gripper assembly, in the first gripping mode and the second gripping mode, the gripping finger positioning assembly is configured to apply a supporting force to the gripping finger to prevent the gripping finger from moving toward the second direction, thereby maintaining the gripping finger in the first state.

5. The gripping device according to claim 4, wherein each of the gripping fingers includes a first portion and a second portion connected perpendicularly to each other, each first link assembly includes a plurality of links, the plurality of links cooperate with the first portion of the gripping finger to form a quadrilateral link structure, and the quadrilateral link structure is configured to rotate when driven by a drive device, thereby moving the gripping finger and adjusting the state of the gripping finger.

6. Each first link assembly includes a first link, a second link, and a third link. The first end of the first link is rotatably connected to the base, the second end of the first link is rotatably connected to the first end of the second link, the tension-applying member is positioned between the first link and the second link and provides torque to the first and second links, thereby causing the second link to tend to move relative to the first link in the second direction, pulling the corresponding gripping finger, causing the corresponding gripping finger to tend to move in the second direction, The second end of the second link is rotatably connected to one end of the corresponding first portion of the gripping finger, the other end of the corresponding first portion of the gripping finger is rotatably connected to the first end of the third link, and the second end of the third link is rotatably connected to the base. The gripping device according to claim 5, characterized in that, in the third gripping mode, each gripping finger cooperates with the corresponding third link to grip the object.

7. The gripping device according to claim 4, wherein each gripping finger positioning assembly includes at least one link, the at least one link forming a support structure that provides support force to the corresponding gripping finger in the first gripping mode and the second gripping mode.

8. The gripping finger positioning assembly includes a fourth link, a fifth link, and a sixth link. The fourth link, the fifth link, the sixth link, and the third link are sequentially rotatably connected to form a parallelogram link assembly, and the fourth link is always parallel to the sixth link. The gripping device according to claim 7, characterized in that the parallelogram link assembly is configured such that the sixth link contacts the first portion of the gripping finger in parallel to provide the support force in the first gripping mode and the second gripping mode.

9. The gripping device according to claim 8, characterized in that, in the fourth gripping mode, the attitude control assembly is configured to rotate the fourth link in the second direction, and the gripping fingers are moved toward the second direction under the action of tension applied by the tension-applying member to reach the third state.

10. The attitude control assembly includes a cam that contacts the corresponding fourth link. For each of the aforementioned gripper assemblies, The cam is configured to maintain the fourth and sixth links in their initial state when it is in the first position, thereby maintaining the gripping finger in the first state under the combined action of the tension applied by the tension-applying member and the support force applied by the sixth link. The gripping device according to claim 9, characterized in that when the cam is in the second position, it deflects the fourth and sixth links in the second direction, the gripping fingers are moved toward the second direction under the action of tension applied by the tension-applying member, and the gripping fingers switch to the third state.

11. The gripping device according to claim 2, characterized in that the aforementioned attachment assembly is made of gecko adhesive material.

12. It is a robot, The robot includes a gripping device, The gripping device is Bass and, Includes at least two gripper assemblies, Each of the gripper assemblies is A gripping finger configured to grasp the aforementioned object, having a first state and a second state, wherein in the first state, the angle of the gripping surface of each gripping finger is kept constant, and in the second state, compared to the first state, each gripping finger moves toward each other in a first direction, A first link assembly is included, one end of which is rotatably connected to a base and the other end of which is rotatably connected to the gripping finger, The gripping device has a first gripping mode, a second gripping mode, and a third gripping mode. In the first gripping mode, the gripping fingers are in the first state, and the first link assembly is configured to move the gripping fingers inward to make contact with the object. In the second gripping mode, the gripping fingers are in the first state, and the first link assembly is configured to move the gripping fingers outward to make contact with the object. A robot characterized in that, in the third gripping mode, the first link assembly is configured to switch the gripping fingers from a first state to a second state, and to move the gripping fingers inward in cooperation with the first link assembly to bring them into contact with the object.

13. Each of the gripper assemblies further includes an adhesive assembly, The attachment assembly is located inside the corresponding gripping finger and / or inside the corresponding first link assembly. Each of the gripping fingers further has a third state, in which, compared to the first state, the gripping fingers move away from each other in a second direction. The robot according to claim 12, wherein the gripping device further has a fourth gripping mode, in which the gripping fingers are in the third state, and the first link assembly is configured to move the gripping fingers inward to bring the attachment assembly into contact with the object.

14. Each of the gripper assemblies further includes a gripping finger positioning assembly and a posture control assembly, the posture control assembly being connected to the first end of the gripping finger positioning assembly and configured to control the posture of the corresponding gripping finger by controlling the posture of the gripping finger positioning assembly. The robot according to claim 13, characterized in that, in the first gripping mode and the second gripping mode, the attitude control assembly is configured such that the other end of the gripping finger positioning assembly contacts the gripping finger to maintain the gripping finger in the first state.

15. Each of the gripper assemblies further includes a tension-applying member, the tension-applying member configured to apply tension to the corresponding first link assembly, thereby causing the corresponding gripping finger to tend to move toward the second direction under the action of the tension. The robot according to claim 14, wherein in the gripper assembly, in the first gripping mode and the second gripping mode, the gripping finger positioning assembly is configured to apply a supporting force to the gripping finger to prevent the gripping finger from moving toward the second direction, thereby maintaining the gripping finger in the first state.

16. The robot according to claim 15, wherein each of the gripping fingers includes a first portion and a second portion connected perpendicularly to each other, each first link assembly includes a plurality of links, the plurality of links cooperate with the first portion of the gripping finger to form a quadrilateral link structure, the quadrilateral link structure is configured to rotate when driven by a drive device, thereby moving the gripping finger and adjusting the state of the gripping finger.

17. Each first link assembly includes a first link, a second link, and a third link. The first end of the first link is rotatably connected to the base, the second end of the first link is rotatably connected to the first end of the second link, the tension-applying member is positioned between the first link and the second link and provides torque to the first and second links, thereby causing the second link to tend to move relative to the first link in the second direction, pulling the corresponding gripping finger, causing the corresponding gripping finger to tend to move in the second direction, The second end of the second link is rotatably connected to one end of the corresponding first portion of the gripping finger, the other end of the corresponding first portion of the gripping finger is rotatably connected to the first end of the third link, and the second end of the third link is rotatably connected to the base. The robot according to claim 16, characterized in that, in the third gripping mode, each gripping finger cooperates with the corresponding third link to grip the object.

18. The robot according to claim 15, wherein each gripping finger positioning assembly includes at least one link, the at least one link forming a support structure that provides a support force to the corresponding gripping finger in the first gripping mode and the second gripping mode.

19. The gripping finger positioning assembly includes a fourth link, a fifth link, and a sixth link. The fourth link, the fifth link, the sixth link, and the third link are sequentially rotatably connected to form a parallelogram link assembly, and the fourth link is always parallel to the sixth link. The robot according to claim 18, wherein the parallelogram link assembly is configured such that the sixth link contacts the first portion of the gripping finger in parallel to provide the support force in the first gripping mode and the second gripping mode.

20. The robot according to claim 19, characterized in that, in the fourth gripping mode, the attitude control assembly is configured to rotate the fourth link in the second direction, and the gripping fingers are moved toward the second direction under the action of tension applied by the tension-applying member to reach the third state.

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