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CN-116277097-B - Grabbing device and robot with grabbing device

CN116277097BCN 116277097 BCN116277097 BCN 116277097BCN-116277097-B

Abstract

The application discloses a grabbing device, which comprises a base body and at least two clamping jaw assemblies. Each jaw assembly includes a gripping finger and a first connecting rod assembly. In a first grasping mode, the grasping finger is in a first state, and the first link assembly is configured to drive the grasping finger to move and contact the target object. In a second grasping mode, the grasping fingers are in a first state, and the first link assembly is configured to drive the grasping fingers to move outwardly and contact the target object. In a third grasping mode, the first link assembly is configured to drive the grasping finger from the first state to the second state and to drive the grasping finger to move inwardly and cooperatively contact the target object with the first link assembly. The application further provides a robot. The grabbing device and the robot have multiple grabbing modes and can adapt to different scenes.

Inventors

  • Guan Jitao
  • JIANG HAO

Assignees

  • 上海非夕机器人科技有限公司
  • 非夕科技有限公司

Dates

Publication Date
20260505
Application Date
20230407

Claims (11)

  1. 1. A gripping device for gripping a target object, the gripping device comprising: a base; at least two jaw assemblies, each of the jaw assemblies comprising: The device comprises a target object, gripping fingers, a first control unit and a second control unit, wherein each gripping finger is used for gripping the target object and comprises a first state and a second state, and the gripping plane of each gripping finger is kept unchanged in the first state; the first connecting rod assembly is rotatably connected with the base body at one end, and the grabbing finger is rotatably connected with the other end of the first connecting rod assembly; The grabbing device comprises a first grabbing mode, a second grabbing mode and a third grabbing mode, wherein: In the first grasping mode, the grasping finger is in the first state, the first link assembly is configured to drive the grasping finger to move inward and contact the target object; in the second grasping mode, the grasping finger is in the first state, the first link assembly is configured to drive the grasping finger to move outwardly and contact the target object; In the third grasping mode, the first connecting rod assembly is configured to drive the grasping finger to adjust from the first state to the second state and to drive the grasping finger to move inward and cooperatively contact the target object with the first connecting rod assembly; Each jaw assembly further includes a finger grip positioning assembly and a directional control assembly coupled to a first end of the finger grip positioning assembly and configured to control a pose of the finger grip by controlling a pose adjustment of the finger grip positioning assembly; wherein in the first and second gripping modes, the directional control assembly is configured to control the other end of the gripping finger positioning assembly to contact the gripping finger to maintain the gripping finger in the first state, and in the third gripping mode, the other end of the gripping finger positioning assembly is separated from the gripping finger.
  2. 2. The grasping device according to claim 1, wherein each of the jaw assemblies further comprises: the attaching component is arranged on the inner side of the grabbing finger and/or the attaching component is arranged on the inner side of the first connecting rod component; the gripping fingers further comprise a third state in which the gripping fingers are deflected relative to the first state in a second direction away from each other; The grasping apparatus further includes a fourth grasping mode in which the grasping fingers are in the third state, the first connecting rod assembly being configured to drive the grasping fingers to move inward to bring the attachment assembly into contact with the target object.
  3. 3. The grasping device according to claim 2, wherein each of the link assemblies further includes a tension providing element configured to provide tension to the first link assembly such that the grasping fingers have a tendency to deflect toward the second direction under the tension; In the first and second gripping modes, the gripping designation bit assembly is configured to provide a supporting force to the gripping fingers to resist a tendency of the gripping fingers to deflect in the second direction, thereby maintaining the gripping fingers in the first state.
  4. 4. A gripping device according to claim 3, wherein each gripping finger comprises a first portion and a second portion connected vertically, each first link assembly comprising a plurality of links which cooperate with the first portion of the gripping finger to form a quadrilateral linkage configured to rotate under the drive of the drive means to thereby drive the gripping finger to effect movement and adjustment of the condition.
  5. 5. The grasping device according to claim 4, wherein the first connecting rod assembly includes a first connecting rod, a second connecting rod, and a third connecting rod, wherein: The first end of the first connecting rod is rotationally connected with the base body, the second end of the first connecting rod is rotationally connected with the first end of the second connecting rod, the tension providing element is connected between the first connecting rod and the second connecting rod to provide torsion force for the first connecting rod and the second connecting rod, so that the two connecting rods have a tendency to deflect towards the second direction relative to the first connecting rod and pull the grabbing finger, and the grabbing finger has a tendency to deflect towards the second direction; the second end of the second connecting rod is rotationally connected with one end of the first part of the grabbing finger, and the other end of the first part of the grabbing finger is rotationally connected with the first end of the third connecting rod; and in the third grabbing mode, each grabbing finger and the corresponding third connecting rod grab the target object together.
  6. 6. The grasping device according to claim 5, wherein each grasping designating bit assembly includes at least one connecting rod forming a supporting structure to provide the supporting force to the grasping fingers in the first grasping mode and the second grasping mode.
  7. 7. The grasping device according to claim 6, wherein the grasping and designating bit assembly includes a fourth connecting rod, a fifth connecting rod, and a sixth connecting rod; the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the third connecting rod are sequentially connected in a rotating mode to form a parallelogram connecting rod assembly together, and the fourth connecting rod is always kept parallel to the sixth connecting rod; The parallelogram linkage assembly is configured to be in parallel engagement with the first portion of the gripping finger by the sixth connecting rod to provide the supporting force in the first and second gripping modes.
  8. 8. The grasping device according to claim 7, wherein in the fourth grasping mode, the direction control assembly is configured to control the fourth connecting rod to rotate in the second direction such that the grasping finger deflects in the second direction to the third state under a pulling force provided by the pulling force providing element.
  9. 9. The grasping device according to claim 8, wherein the direction control assembly is a cam that contacts the corresponding fourth connecting rod, wherein: The cam is configured to maintain an initial state of the fourth and sixth connecting rods when in a first position, such that the gripping fingers are maintained in the first state under the tensile force provided by the tensile force providing element and the supporting force provided by the sixth connecting rod; The cam is further configured to deflect the fourth and sixth connecting rods in a second direction when in a second position, the gripping fingers deflect in the second direction under the tensile force provided by the tensile force providing element, and the gripping fingers switch to the third state.
  10. 10. The grasping device according to claim 2, wherein the attaching member is a gecko-like adhesive material.
  11. 11. A robot comprising a gripping device according to any of claims 1-10.

Description

Grabbing device and robot with grabbing device Technical Field The application relates to the field of robots, in particular to a grabbing device and a robot with the grabbing device. Background Robots having gripping devices are widely used in various fields such as industrial manufacturing and logistics transportation. With the continuous development of technology, the application scenes faced by robots are more and more diversified. However, the gripping modes of the gripping devices of the existing robot are single, and different gripping devices are required to be designed for different tasks. For example, in the field of industrial manufacturing, gripping devices generally perform gripping operations by parallel movement of gripping fingers, since most of the objects to be gripped are relatively regular in shape. However, such gripping devices cannot grip objects of large volume due to the limited travel of the gripping fingers, and in addition, the rigid structure of the gripping fingers may cause damage to the target object for objects of large volume or which are easily deformed or fragile. It is necessary to provide additional gripping means for the object that is bulky or easily deformed or fragile. Disclosure of Invention In view of the foregoing, it is necessary to provide a gripping device and a robot having the same, which can switch between a plurality of gripping modes according to different application scenarios, and can adapt to the different application scenarios. In one aspect, the present application provides a gripping apparatus for gripping a target object. The gripping device comprises a base body and at least two jaw assemblies. Each jaw assembly includes a gripping finger and a first connecting rod assembly. The gripping fingers are used for gripping the target object. Each finger includes a first state and a second state. In the first state, the gripping plane of each gripping finger remains at a constant angle. In the second state, the fingers are deflected relative to the first state in a first direction in which the fingers approach each other. One end of the first connecting rod assembly is rotationally connected with the base body, and the other end of the first connecting rod assembly is rotationally connected with the grabbing finger. The grabbing device comprises a first grabbing mode, a second grabbing mode and a third grabbing mode. In the first grasping mode, the grasping finger is in the first state, and the first link assembly is configured to drive the grasping finger to move inward and contact the target object. In the second grasping mode, the grasping finger is in the first state, and the first link assembly is configured to drive the grasping finger to move outwardly and contact the target object. In the third gripping mode, the first link assembly is configured to drive the gripping fingers from the first state to the second state and to drive the gripping fingers to move inwardly and cooperatively contact the target object with the first link assembly. In some embodiments, each of the jaw assemblies further comprises an affixation assembly. The attaching component is arranged on the inner side of the grabbing finger and/or the attaching component is arranged on the inner side of the first connecting rod component. The gripping fingers further include a third state in which the gripping fingers are deflected relative to the first state in a second direction away from each other. The gripping device further includes a fourth gripping mode in which the gripping fingers are in the third state, the first link assembly being configured to drive the gripping fingers inwardly to bring the attachment assembly into contact with the target object. In some embodiments, each of the jaw assemblies further includes a finger grip positioning assembly and a directional control assembly coupled to the first end of the finger grip positioning assembly and configured to control the attitude of the finger grip by controlling the attitude adjustment of the finger grip positioning assembly. Wherein in the first and second gripping modes, the directional control assembly is configured to control the other end of the gripping finger positioning assembly to contact the gripping finger and maintain the gripping finger in the first state. In some embodiments, each of the tie bar assemblies further includes a tension providing element configured to provide tension to the first tie bar assembly such that the gripping fingers have a tendency to deflect in the second direction under the force of the tension. In the first and second gripping modes, the gripping designation bit assembly is configured to provide a supporting force to the gripping fingers to resist a tendency of the gripping fingers to deflect in the second direction, thereby maintaining the gripping fingers in the first state. In some embodiments, each of the gripping fingers includes a first portion and a second portion that a