Grasping device, robotic gripping jaw and robot

Abstract

The present application discloses a gripping device (100), a robot gripping jaw (503), and a robot (500). The gripping device (100) includes a bracket (106), a gecko biomimetic adhesive pad (101) having a first surface (111) with a directional dry adhesive structure, a first connection structure (102) connecting the bracket (106) to a first side of the gecko biomimetic adhesive pad (101), and a second connection structure (103) on the opposite side of the first connection structure (102) connecting the bracket (106) to a second side of the gecko biomimetic adhesive pad (101). The first connection structure (102) is stretchable. The first connection structure (102) and the second connection structure (103) are configured to cooperate to provide a load force along a first direction to the gecko biomimetic adhesive pad (101).

Description

[Technical Field]

[0001] The present application relates to a gripping mechanism, and in particular to a gripping device, a robotic gripping jaw and a robot. [Background technology]

[0002] Gecko biomimetic adhesive is a gecko-inspired dry adhesive surface that provides adhesive strength through molecular interactions. Conventional gecko biomimetic systems use flexible tendons to add adhesive. Flexible tendons are wired and glued into pre-drilled holes on the edge of a rigid gecko biomimetic adhesive pad, making them difficult to fabricate and scale, and limiting their flexibility.

[0003] In some prior art, rope tendons are attached to gecko biomimetic adhesive pads along only the preferred shear direction (X axis), optimizing loads in the shear-normal direction (XZ plane) but limiting load capacity in the transverse shear direction (Y direction). For example, the shear capacity achieved by such systems is typically two to three times larger than the transverse shear capacity (Y direction), resulting in imbalances in load capacity in different directions. Furthermore, rope tendons are stretched under elastic load (stretch), making the mechanism unable to lock.

[0004] The latest mechanism proposes adding flexible tendons in the transverse shear (Y) direction to compensate for the load capacity in the Y direction, thus achieving a more balanced load capacity in both the X and Y directions. Polymer film tendons are used instead of rope tendons. Compared to rope tendons, the elasticity of the polymer film is slightly reduced, resulting in less elongation due to stretching.

[0005] However, due to their stiffness, polymer film tendons have a bending effect under compression, causing undesired twisting of the gecko biomimetic adhesive pad. Summary of the Invention [Problem to be solved by the invention]

[0006] One aspect of the present application provides a gripping device, the gripping device including a bracket, a gecko biomimetic adhesive pad having a first surface with a directional dry adhesive structure, a first connection structure connecting the bracket to a first side of the gecko biomimetic adhesive pad, and a second connection structure opposite the first connection structure connecting the bracket to a second side of the gecko biomimetic adhesive pad. The first connection structure is stretchable. The first and second connection structures cooperate to provide a load force along a first direction to the gecko biomimetic adhesive pad.

[0007] Another aspect of the present application provides a robotic gripping jaw including a gripping device configured to include a bracket, a gecko biomimetic adhesive pad having a first surface with a directional dry-adhesive structure, a first connection structure connecting the bracket to a first side of the gecko biomimetic adhesive pad, and a second connection structure opposite the first connection structure connecting the bracket to a second side of the gecko biomimetic adhesive pad. The first connection structure is stretchable. The first and second connection structures cooperate to provide a load force along a first direction to the gecko biomimetic adhesive pad.

[0008] Yet another aspect of the present application provides a robot with a robotic gripping jaw, the robotic gripping jaw comprising a gripping device configured to include a bracket, a gecko biomimetic adhesive pad having a first surface with a directional dry adhesive structure, a first connection structure connecting the bracket to a first side of the gecko biomimetic adhesive pad, and a second connection structure opposite the first connection structure connecting the bracket to a second side of the gecko biomimetic adhesive pad. The first connection structure is stretchable. The first connection structure and the second connection structure cooperate to provide a load force along a first direction to the gecko biomimetic adhesive pad.

[0009] The details of the embodiments of the present disclosure are set forth in the drawings and description that follow. Other features, objects, and advantages of the present disclosure will be apparent from the description, drawings, and claims.

[0010] All features of the present disclosure will be more readily understood from the following detailed description, taken in conjunction with the accompanying drawings which illustrate various embodiments of the present disclosure. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view of a gripping device according to an embodiment of the present application. [Figure 2] 1 is a perspective view of a gripping device (not including a bracket) according to one embodiment of the present application. [Figure 3] 3 is a bottom view of the gripping device in FIG. 2 as seen from the bottom. FIG. [Figure 4] 1 is a perspective view of a first connection structure according to an embodiment of the present application; [Figure 5] FIG. 5 is a cross-sectional view of the first connection structure in FIG. [Figure 6] 4 is a schematic diagram showing an enlarged view of a portion A in FIG. 3 according to one embodiment of the present invention. [Figure 7] FIG. 4 is a cross-sectional view taken along line BB in FIG. [Figure 8] FIG. 8 is a schematic enlarged view of a portion C in FIG. 7. [Figure 9]FIG. 1 is a perspective view of a gripper assembly according to one embodiment of the present application. [Figure 10] FIG. 1 is a side view of a gripper assembly according to one embodiment of the present application. [Figure 11] 1 is a schematic configuration diagram of a robot according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0012] Specific embodiments of the present invention will be described in detail below with reference to the drawings. The use of the term "one embodiment" or "an embodiment" herein does not imply that the particular feature, structure, or characteristic described therein is included in more than one embodiment of the subject matter disclosed in the description. Thus, the appearance of the phrase "one embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, it is understood that the particular feature, structure, or characteristic may be combined in any suitable manner in one or more embodiments.

[0013] A gripping device 100 according to one embodiment of the present application will be described with reference to Figures 1 to 3. Figure 1 is a side view of the gripping device according to one embodiment of the present application, Figure 2 is a perspective view of the gripping device according to one embodiment of the present application, and Figure 3 is a bottom view of the gripping device in Figure 2 as seen from the bottom. To clearly show each element, the bracket portion shown in Figure 1 is omitted from the gripping device in Figures 2 and 3.

[0014] As shown in FIGS. 1 to 3 , a gripping device 100 is provided that can attach or detach a gripping object and perform operations such as gripping, transporting, and releasing. The gripping device 100 includes a bracket 106, a gecko biomimetic adhesive pad 101 having a first surface 111 with a directional dry adhesive structure, a first connection structure 102 connecting the bracket 106 to a first side of the gecko biomimetic adhesive pad 101 (e.g., the upper side in the X direction in FIG. 1 ), and a second connection structure 103 located on the opposite side of the first connection structure 102 and connecting the bracket 106 to a second side of the gecko biomimetic adhesive pad 101 (e.g., the lower side in the X direction in FIG. 1 ). The first connection structure 102 is stretchable. The first connection structure 102 and the second connection structure 103 are configured to cooperate to apply a load force to the gecko biomimetic adhesive pad 101 along a first direction (X direction) that is used to activate the directional dry adhesive structure of the gecko biomimetic adhesive pad 101.

[0015] In the gecko biomimetic adhesive pad 101, the first surface 111 can have a releasable adhesive with a predetermined area. For example, a directional dry adhesive structure (hereinafter also referred to as a microwedge structure) having multiple micro-wedges can be used as the releasable adhesive, and controlling the micro-wedges can achieve adhesion and release of the object to be grasped. Therefore, the following description will be given using the microwedge structure as an example. For example, the adhesive of the microwedge structure can be made of a rubber material with low surface energy (e.g., a silicone resin material such as PDMS silicone resin). Typically, the microwedge structure is linear, and in its default state, only the tip of the microwedge structure is included in the surface that contacts the surface of the object to be grasped. Due to the small contact surface area between the microwedge structure and the surface of the object, the first surface 111 does not adhere to the surface of the object. During the gripping process, the micro-wedge structure of the gecko biomimetic adhesive pad 101 is bent by a pre-pressure action, significantly increasing the contact area between the micro-wedge structure and the surface of the article, thereby activating the adhesive and allowing it to adhere to the surface of the article.

[0016] For a more detailed explanation of the gecko biomimetic adhesive pad 101 and the attachment principle of the micro-wedge structure, please refer to the applicant's Chinese patent applications "Controllable gecko biomimetic adhesive grasper system with scalable manufacturability" (CN110769988A) and "Robot with synthetic fiber adhesive and catcher" (CN110730707B).

[0017] As a result, the first connection structure 102 and the second connection structure 103 are configured to cooperate to provide a load force along the first direction (X direction) to the gecko biomimetic adhesive pad 101, thereby achieving a balanced load in the first direction (X direction) of the gecko biomimetic adhesive pad 101. Furthermore, since the first connection structure 102 is stretchable, twisting of the gecko biomimetic adhesive pad 101 can be avoided.

[0018] In particular, in some embodiments, the first connection structure 102 is rotatably connected to the bracket 106, and the second connection structure 103 is an elastic structure. With this structure, when the gecko biomimetic adhesive pad 101 is moved up and down in the third direction (Z direction) as needed, the first connection structure 102 can move correspondingly, allowing the gecko biomimetic adhesive pad 101 to achieve small movements along the third direction (Z direction) and small oscillations along the first direction (X direction), thereby allowing the gecko biomimetic adhesive pad 101 to easily adhere to the surface of the grasped object. In some embodiments, the second connection structure 103 may be, for example, an elastic body or spring, or a membrane structure, and the specific material thereof may vary depending on the desired performance characteristics.

[0019] The gripping device 100 further includes a third connection structure 104 and a fourth connection structure 105 connected to the bracket 106 and provided on a third side and a fourth side of the gecko biomimetic adhesive pad 101, respectively. The third side and the fourth side face each other. For example, the third connection structure 104 is provided on the third side of the gecko biomimetic adhesive pad 101 (e.g., the right side in the Y direction in FIG. 3 ), and the fourth connection structure 105 is provided on the fourth side of the gecko biomimetic adhesive pad 101 (e.g., the right side in the Y direction in FIG. 3 ). Left of side).

[0020] The third connection structure 104 and the fourth connection structure 105 are adjustable to contact the third and fourth sides of the gecko biomimetic adhesive pad 101 so as to provide a load force to the gecko biomimetic adhesive pad 101 along a second direction (Y direction) perpendicular to the first direction (X direction).

[0021] Furthermore, the third connection structure 104 and the fourth connection structure 105 may be configured to provide a load thrust along the second direction to the gecko biomimetic adhesive pad 101, as described below. Also, the third connection structure 104 and the fourth connection structure 105 may be configured to provide a tensile load force along the second direction to the gecko biomimetic adhesive pad 101. For example, the third connection structure 104 and the fourth connection structure 105 may be connected to the gecko biomimetic adhesive pad 101 along the second direction (Y direction) and may provide a tensile load force along the second direction by pulling the gecko biomimetic adhesive pad 101 as needed.

[0022] As a result, the third connection structure 104 and the fourth connection structure 105 provide a load force along the second direction (Y direction) to the gecko biomimetic adhesive pad 101, thereby achieving balanced load on the gecko biomimetic adhesive pad 101 in the second direction (Y direction) and making the overall structure of the gripping device 100 more compact. Furthermore, the third connection structure 104 and the fourth connection structure 105 are adjustable to contact the third and fourth sides of the gecko biomimetic adhesive pad 101, allowing the third connection structure 104 and the fourth connection structure 105 to be adjusted in position relative to the gecko biomimetic adhesive pad 101 as needed. One or both of the third connection structure 104 and the fourth connection structure 105 can abut the gecko biomimetic adhesive pad 101 when it is desired to provide a load force in the second direction (Y direction) and can move away from the gecko biomimetic adhesive pad 101 when it is necessary for the gecko biomimetic adhesive pad 101 to move up and down along the third direction (Z direction). For example, if the gripping device 100 only needs to grip an object and lift the gripped object, the third connection structure 104 and the fourth connection structure 105 do not need to provide a load force along the second direction (Y direction) to the gecko biomimetic adhesive pad 101. In this case, the third connection structure 104 and the fourth connection structure 105 can be adjusted so as not to contact the gecko biomimetic adhesive pad 101. If the gripped object needs to be moved in a plane (e.g., the second direction) perpendicular to the lifting direction, the third connection structure 104 and the fourth connection structure 105 need to provide a load force along the second direction (Y direction) to the gecko biomimetic adhesive pad 101, and in this case, the third connection structure 104 and the fourth connection structure 105 can be adjusted so as to contact the gecko biomimetic adhesive pad 101.

[0023] In addition, the third connection structure 104 and the fourth connection structure 105 can simultaneously abut against the gecko biomimetic adhesive pad 101, so that, if necessary, a load thrust along the second direction (Y direction) can be applied to opposite sides of the gecko biomimetic adhesive pad 101, thereby generating a shear force along the second direction (Y direction) and ensuring the immediacy and accuracy of the direction of the shear force applied in the second direction (Y direction).

[0024] While the above embodiments have been described using a gecko biomimetic adhesive pad 101 as an example, it should be understood that the gripping device 100 forms a gel assembly (GA) including other structures attached to the gecko biomimetic adhesive pad 101, such as a pad portion, a flexible layer, a structural frame, and an adaptive structure. Similarly, the gel assembly can achieve the above-described technical effect by providing a surface made of a releasable adhesive on one side. Note that the first connection structure 102, the second connection structure 103, the third connection structure 104, and the fourth connection structure 105 may be connected to other structures or layers of the gel assembly, as long as they can transmit a load force to the gecko biomimetic adhesive pad 101 along the first direction (X direction) or the second direction (Y direction).

[0025] A first connection structure 200 according to one embodiment of the present application will be described below with reference to Figures 4 and 5. Figure 4 is a perspective view of the first connection structure 200 according to one embodiment of the present application, and Figure 5 is a cross-sectional view of the first connection structure 200 in Figure 4.

[0026] 4 and 5, a first connection structure 200 according to an embodiment of the present application includes a first rod 201, a threaded second rod 202, and a threaded sleeve 203, and the threaded sleeve 203 is fitted onto the first rod 201 and the second rod 202 so as to be slidable relative to the first rod 201, so as to adjust the extension and contraction range of the first connection structure 200. The second rod 202 is connected to the sleeve 203 by threaded engagement, and is configured to limit the sliding range of the first rod 201 in the sleeve 203.

[0027] Furthermore, in some embodiments, a first hole 211 is provided at one end of the first rod 201. A stopper portion 212 that limits the sliding movement of the sleeve 203 is provided at the other end of the first rod 201. A second hole 213 is provided at one end of the second rod 202. The first connecting structure 200 further includes two pivots 204. The two pivots 204 are inserted into the first hole 211 of the first rod 201 and the second hole 213 of the second rod 202, respectively, and are connected to the bracket 106 and the gecko biomimetic adhesive pad 101. The first connecting structure 200 is connected to the bracket 106 and the gecko biomimetic adhesive pad 101 via the pivots 204 so as to rotate relative to the bracket 106 and the gecko biomimetic adhesive pad 101, respectively.

[0028] Furthermore, in some embodiments, the first connecting structure 200 further includes a first retaining nut 205 fitted onto the second rod 202 to lock the second rod 202 relative to the sleeve 203 .

[0029] The first connection structure 200 in this embodiment employs an extendable rod-type structure, which is easier to manufacture and assemble in one go than conventional tendon-type gecko material activation devices, and it is also easier to enlarge similar structures.

[0030] A third connection structure according to one embodiment of the present application will be described below with reference to Fig. 3 and Figs. 6 to 8. Fig. 6 is a schematic enlarged view of a portion of portion A in Fig. 3 according to one embodiment of the present application, Fig. 7 is a cross-sectional view taken along line B-B in Fig. 3, and Fig. 8 is a schematic enlarged view of a portion of portion C in Fig. 7.

[0031] As shown in FIGS. 3 and 6-8 , according to one embodiment of the present disclosure, the third connection structure 104 is provided on a third side of the gecko biomimetic adhesive pad 101, and the fourth connection structure 105 is provided on a fourth side of the gecko biomimetic adhesive pad 101. In some embodiments, the third connection structure 104 and the fourth connection structure 105 are configured to be adjustable in position in the first direction (X direction) on the bracket 106. For example, the bracket 106 may be provided with a groove 107 (as shown in FIGS. 1 and 9 ), allowing the third connection structure 104 and the fourth connection structure 105 to be adjustable in position along the groove 107. Specifically, as shown in FIGS. 1 and 9 , the third connection structure 104 or the fourth connection structure 105 may be fixed to the groove 107 of the bracket 106 by, for example, a nut on one end. If the position of the third connecting structure 104 or the fourth connecting structure 105 needs to be adjusted, the nut can be loosened, the third connecting structure 104 or the fourth connecting structure 105 can be slid along the groove 107, and then the nut can be tightened again to lock it into the appropriate position.

[0032] Although the third connection structure has been described as a specific example in this specification, the third connection structure and the fourth connection structure may have the same or similar structures. Furthermore, the number of the third connection structure and the fourth connection structure is not limited to one, and multiple third and fourth connection structures may be provided on corresponding sides of the gecko biomimetic adhesive pad 101 according to the shape design of the gecko biomimetic adhesive pad 101. The third and fourth connection structures may be arranged symmetrically or asymmetrically on both sides of the gecko biomimetic adhesive pad 101.

[0033] Furthermore, in some embodiments, the third connecting structure 104 includes a point contact portion 301 and an adjustment member 302 that moves the point contact portion 301 to make point contact with the corresponding side of the gecko biomimetic adhesive pad 101. The third connecting structure 104 may also include a second retaining nut 303 for maintaining the distance between the point contact portion 301 and the gecko biomimetic adhesive pad 101. Alternatively, the point contact portion 301 may include a ball pin.

[0034] This allows the third connection structure 104 (and similarly, the fourth connection structure 105) to be made of a hard material such as metal, significantly reducing the elongation rate under load. Because the third connection structure 104 is separate from the gecko biomimetic adhesive pad 101, it is used only when the gecko biomimetic adhesive pad 101 requires lateral force. When lateral force is not required, the third connection structure 104 can be brought into point contact with the gecko biomimetic adhesive pad 101, or even spaced apart from the gecko biomimetic adhesive pad 101 to eliminate the problem of the bending effect. Furthermore, the spherical point contact portion 301 ensures that the thrust applied to the gecko biomimetic adhesive pad 101 is perpendicular to the contacting surface, i.e., along the second direction (Y direction). Alternatively, the position of the third connection structure 104 relative to the gecko biomimetic adhesive pad 101 in the third direction (Z direction) can be adjusted to apply thrust to the gecko biomimetic adhesive pad 101 at different positions in the third direction (Z direction) as needed. In this way, the thrust does not generate additional force components in other directions that would otherwise distort the gecko biomimetic adhesive pad 101 or cause it to lift or rotate in an undesirable manner.

[0035] Next, a gripping assembly according to one embodiment of the present application will be described with reference to Figures 9 and 10. Figure 9 is a perspective view of the gripping assembly according to one embodiment of the present application, and Figure 10 is a side view of the gripping assembly according to one embodiment of the present application.

[0036] The gripping assembly 400 may include a gripping device 100 according to any of the above embodiments. As shown in FIGS. 9-10, the gripping assembly 400 may include two gripping devices 100, one each for a bracket and a gecko biomimetic adhesive pad having a first surface with a directional dry adhesive structure, and one each for a bracket and a gecko biomimetic adhesive pad. DoThe gecko biomimetic adhesive pad includes a first connection structure connecting the first side and a second connection structure opposite the first connection structure connecting the second side of the bracket to the gecko biomimetic adhesive pad, the first connection structure being stretchable, and the first and second connection structures being configured to cooperate to provide a load force along a first direction to the gecko biomimetic adhesive pad.

[0037] The gripping device 100 may further include a third connection structure and a fourth connection structure connected to the bracket and disposed on a third side and a fourth side of the gecko biomimetic adhesive pad, respectively, where the third side and the fourth side face each other. The third connection structure and the fourth connection structure are adjustably configured to contact the third side and the fourth side of the gecko biomimetic adhesive pad to apply a load force to the gecko biomimetic adhesive pad along a second direction perpendicular to the first direction.

[0038] In the gripping assembly 400 described above, the first and second connection structures are configured to cooperate to provide a loading force along a first direction to the gecko biomimetic adhesive pad, thereby achieving balanced loading of the gecko biomimetic adhesive pad in the first direction. Note that the first connection structure is stretchable. Especially Furthermore, the third and fourth connecting structures provide a load force along the second direction to the gecko biomimetic adhesive pad, thereby achieving balanced loading of the gecko biomimetic adhesive pad in the second direction and making the overall structure more compact.

[0039] 9 and 10, in a gripping assembly 400 according to an embodiment of the present application, two gripping devices 100 are connected in series via a guide rail 401. As a result, the two gripping devices 100 slide along the guide rail 401, so that the positions of the two gripping devices 100 can be changed relative to each other, and the gripping assembly 400 can be adapted to the outer shape of the object to be gripped. Adhesion It can be done.

[0040] Furthermore, the direction of the directional drying adhesive structure of one of two or more gripping devices 100 may be different from the direction of the directional drying adhesive structure of the other gripping device 100. This can improve the adhesion between the gripping device 100 and the article. For example, when two gripping devices 100 are present, the directions of the directional drying adhesive structures of each are opposite (e.g., both toward the center).

[0041] Referring to FIG. 11 , a robot gripping jaw and a robot according to one embodiment of the present application will be described. FIG. 11 is a schematic diagram of a robot according to one embodiment of the present application. As shown in the figure, the robot 500 includes multiple connecting arms 501, and every two connecting arms 501 may be pivotally connected via respective joints 502. The robot 500 further includes a robot gripping jaw 503. One end of the robot gripping jaw 503 is connected to the corresponding connecting arm 501, and the other end of the robot gripping jaw 503 is provided with the gripping device 100 or gripping assembly 400 described above. This allows the robot 500 to be used to grip or grasp an object. Those skilled in the art will understand that the structure shown in FIG. 11 is merely an exemplary embodiment of the robot 500. In other embodiments, the robot 500 may include more or fewer elements, such as additional connecting arms and end effectors. Some components (e.g., two or more connecting arms) may be combined, or different types of elements than those described may be employed. For example, the robot may further include I / O devices, network access devices, communication buses, processors, memories, actuators, and sensors to achieve control over the system. For example, the robot 500 may include a processor and memory that stores instructions that, when executed by the processor, control the system. The memory may also store instructions that, when executed by the processor, control the robot gripping jaw 503. of Instructions for activating or deactivating the device to grasp or release the object may be stored.

[0042] In the description of the present application, the orientations or positional relationships indicated by terms such as "center," "longitudinal direction," "lateral direction," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial direction," "radial direction," and "circumferential direction" are to be understood as orientations or positional relationships indicated based on the drawings. and , are merely intended to simplify the description of the present application and are not intended to express or imply that the devices or elements shown have a particular orientation or are configured and operate in a particular orientation, and should not be understood as limiting the present application.

[0043] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as expressing or implying relative importance or the quantity of technical features. Thus, features qualified by "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, unless otherwise specified.

[0044] In this application, unless otherwise clearly specified or limited, the terms "installed," "coupled," "connected," "fixed," etc. should be understood in a broad sense, and may refer to, for example, a fixed connection, a detachable connection, or an integral 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 can understand the specific meanings of the above terms in this application according to specific circumstances.

[0045] The technical features of the above embodiments can be combined in any combination, and for the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, provided that any combination of these technical features is consistent and falls within the scope of the present specification.

[0046] The above-mentioned embodiments are merely examples for explaining the present application, and the description is specific and detailed, but it should not be understood that the patent scope of the invention is limited thereby. It should be noted that a person skilled in the art can easily implement several embodiments without departing from the concept of the present invention. mosquito The present invention can be applied to various modifications and improvements, and all of these modifications and improvements are within the scope of protection of the present invention. Therefore, the scope of protection of the present invention is defined by the appended claims.

Claims

1. A gripping device, A bracket and a gecko biomimetic adhesive pad having a first surface with a directional dry adhesive structure; a first connecting structure that is retractable and connects the bracket to a first side of the gecko biomimetic adhesive pad; a second connection structure disposed opposite the first connection structure and connecting the bracket to a second side of the gecko biomimetic adhesive pad; the first connection structure and the second connection structure cooperate to provide a load force along a first direction to the gecko biomimetic adhesive pad; The gripping device, characterized in that the first connection structure is rotatably connected to the bracket, and the second connection structure is an elastic structure.

2. a third connecting structure and a fourth connecting structure connected to the bracket and provided on a third side and a fourth side of the gecko biomimetic adhesive pad, respectively; 2. The gripping device of claim 1, wherein the third connection structure and the fourth connection structure are configured to adjust the manner in which they contact the third and fourth sides of the gecko biomimetic adhesive pad to apply a load force to the gecko biomimetic adhesive pad along a second direction perpendicular to the first direction.

3. 3. The grasping device of claim 2, wherein the third connection structure and the fourth connection structure are configured to provide a load thrust along the second direction to the gecko biomimetic adhesive pad.

4. The gripping device according to claim 1 , wherein the first connecting structure has an adjustable extension range.

5. The first connection structure is A first rod; a second rod with a thread; a threaded sleeve; The gripping device according to claim 4, characterized in that the threaded sleeve is fitted onto the first rod and the second rod so as to be slidable relative to the first rod so as to adjust the extension and contraction range of the first connection structure, and the second rod is connected to the sleeve by a threaded engagement, limiting the sliding range of the first rod within the sleeve.

6. a first hole is provided at one end of the first rod, and a stopper portion that limits sliding of the sleeve is provided at the other end of the first rod; a second hole is provided at one end of the second rod; 6. The grasping device of claim 5, wherein the first connecting structure further includes two pivots that are inserted into a first hole in the first rod and a second hole in the second rod, respectively, and are connected to the bracket and the gecko biomimetic adhesive pad.

7. The gripping device according to claim 5 , wherein the first connecting structure further includes a first retaining nut fitted onto the second rod to lock the second rod relative to the sleeve.

8. The gripping device according to claim 2 , wherein the third connection structure and the fourth connection structure are configured so that their positions on the bracket in the first direction are adjustable.

9. At least one of the third connection structure and the fourth connection structure is A point contact portion; 3. The grasping device of claim 2, further comprising: an adjustment member that moves the point contact portion to make point contact with a corresponding side of the gecko biomimetic adhesive pad.

10. The gripping device according to claim 9, wherein the point contact portion is a ball pin.

11. The gripping device of claim 9 , wherein the directional dry adhesive structure comprises a plurality of micro-wedges.

12. The grasping device of claim 9, wherein the third connection structure further includes a second retaining nut that maintains a distance between the point contact portion and the gecko biomimetic adhesive pad.

13. A robotic grasping jaw, comprising: A robotic gripping jaw, characterized in that it comprises a gripping device according to any one of claims 1 to 12.

14. A robot, A robot comprising a robotic gripping jaw according to claim 13.

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