CN115674251A - Gripping device and robot with gripping device - Google Patents

Abstract

The application discloses grabbing device includes casing and two at least jaw assembly. Each of the jaw assemblies includes: a fingertip for holding a target object; a connecting rod component, wherein the first end of the connecting rod component is connected with the fingertip, and the second end of the connecting rod component is rotatably connected with the shell; and the attaching component is arranged on one side of the connecting rod component, which faces to the target object to be grabbed. The grasping means is configured to switch between a first grasping mode in which the grasping means grasps the target object by each of the fingertips and a second grasping mode. In a second grabbing mode, the grabbing device adheres and/or adsorbs the target object through each attaching assembly so as to achieve grabbing operation. The grabbing device can be switched among different grabbing modes according to different use scenes.

Description

Grabbing device and robot with grabbing device

Technical Field

The application relates to the field of robots, in particular to a gripping device and a robot with the gripping device.

Background

Robots with gripping devices are widely used in many fields such as industrial manufacturing, logistics transportation, etc. With the continuous development of the technology, the application scenes faced by the robot are more and more diversified. However, the current robot has a single grabbing mode and cannot be well adapted to various scenes.

Disclosure of Invention

In view of the above problem, the present application provides a grabbing device and a robot having the grabbing device, which can switch between two different grabbing modes according to different application scenarios, and can adapt to different application scenarios.

In a first aspect, the present application provides a grasping apparatus, comprising: a housing; at least two gripper jaw assemblies for cooperating to grasp a target object. Each of the jaw assemblies includes: a fingertip for holding a target object; a connecting rod assembly, wherein the first end of the connecting rod assembly is connected with the fingertip, and the second end of the connecting rod assembly is rotatably connected with the shell; and the attaching assembly is arranged on one side of the connecting rod assembly, which faces to the target object to be grabbed. The grasping apparatus is configured to switch between a first grasping mode and a second grasping mode, wherein: in a first grabbing mode, the grabbing devices are matched with each other through each fingertip to clamp the target object; in a second grabbing mode, the grabbing device adheres and/or adsorbs the target object through each attaching assembly to realize grabbing operation.

The grabbing device provided by the embodiment can be switched between different grabbing modes, and can be better suitable for different application scenes.

In some embodiments, each of said fingertips is in a first state in said first grasping mode and in a second state in said second grasping mode, wherein each of said fingertips is deflected relative to said affixion assembly in a first direction in which the jaw assemblies are away from each other when each of said fingertips is in said second state.

In the second grabbing mode, the fingertip can be prevented from touching the grabbed target object by changing the position of the fingertip, and the fingertip can be prevented from damaging the target object.

In some embodiments, each of the connecting rod assemblies comprises a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, wherein: the first end of the first connecting rod is rotatably connected with the shell, and the second end of the first connecting rod is rotatably connected with the second connecting rod; the first end of the second connecting rod is rotatably connected with the first connecting rod, and the second end of the second connecting rod is rotatably connected with the first end of the third connecting rod; the first end of the third connecting rod is connected with the second end of the second connecting rod, and the second end of the third connecting rod is connected with the finger tip; the first end of the fourth connecting rod is connected between the first end of the third connecting rod and the fingertip, and the second end of the fourth connecting rod is rotatably connected with the shell; the attaching assembly is arranged on one side, facing the target object to be grabbed, of the fourth connecting rod.

In the embodiment, the grabbing mode and the fingertip state are switched by changing the positions of the connecting rods, and a driving mechanism is not additionally arranged, so that the grabbing device is simple in structure and lower in cost.

In some embodiments, the connecting rod assembly further includes a first locking assembly, in the first grasping mode, the first connecting rod and the second connecting rod are locked on the same line by the first locking assembly, and the respective fingertips are in the first state.

The relative positions of the first connecting rod and the second connecting rod are fixed through the arrangement of the first locking component, so that the structure of the grabbing device in the first grabbing mode is more stable.

In some embodiments, the connecting rod assembly further comprises a second locking assembly, in the second grabbing mode, the third connecting rod and the fourth connecting rod are locked at a preset angle by the second locking assembly, and the fingertips are in the second state.

The relative positions of the third connecting rod and the fourth connecting rod are fixed through the second locking assembly, so that the structure of the grabbing device in the second grabbing mode is more stable.

In some embodiments, the housing further comprises a first limiting element and a second limiting element, the first limiting element and the second limiting element are respectively disposed at two sides of a fourth connecting rod, wherein the first limiting element is configured to limit a rotation range of the fourth connecting rod in a first direction when the jaw assemblies rotate towards the first direction away from each other; the second limiting element is configured to limit the rotation range of the fourth connecting rod in the second direction when the clamping jaw assemblies move towards the second direction close to each other.

The rotation range of the fourth connecting rod is limited by the limiting element, so that the grabbing device can realize mode switching through a simple mechanical structure without an additional driving device, and the grabbing device is simple in structure and lower in cost.

In some embodiments, the connecting rod assembly further comprises a first locking assembly and a second locking assembly, the housing further comprises a first stop element and a second stop, wherein: the first locking assembly is configured to lock the first and second connecting bars in a common line in the first grasping mode, wherein the second locking assembly is inactive in the first grasping mode; the second locking component is configured to lock the third connecting rod and the fourth connecting rod at the preset angle in the second grabbing mode, and the first connecting rod and the second connecting rod break through the locking of the first locking component; the first limiting element and the second limiting element are respectively arranged at two sides of a fourth connecting rod, wherein in the process that the grabbing device is switched from the first grabbing mode to the second grabbing mode, the first limiting element is configured to limit the rotation range of the fourth connecting rod in the first direction when the clamping jaw assemblies rotate towards the first direction away from each other, so that the first connecting rod and the second connecting rod break through the locking of the first locking assembly to rotate relatively, and the third connecting rod rotates relative to the fourth connecting rod to the first direction to the preset angle and is locked by the second locking assembly; during the process of switching the gripping device from the second gripping mode to the first gripping mode, the second limiting element is configured to limit a rotation range of the fourth connecting rod in the second direction when the jaw assemblies move towards the second direction approaching each other, so that the first connecting rod rotates along with the third connecting rod when the first connecting rod continues to rotate in the second direction, and thus the second locking element unlocks the third connecting rod and the fourth connecting rod, and the first connecting rod and the second connecting rod are locked by the first locking element.

In the embodiment, through the cooperation of the first locking assembly, the second locking assembly, the first limiting element and the second limiting element, the grabbing mode and the fingertip state can be switched, and a driving mechanism is not required to be additionally arranged, so that the grabbing device is simple in structure and lower in cost.

In some embodiments, each of the connecting rod assemblies comprises a first connecting rod, a second connecting rod, and a third connecting rod, wherein: a first end of the first connecting rod is rotatably connected to the shell, and a second end of the first connecting rod is rotatably connected to a first end of the second connecting rod; the second end of the second connecting rod is rotatably connected with the fingertip; the first end of the third connecting rod is rotatably connected between the second end of the second connecting rod and the fingertip, and the second end of the third connecting rod is rotatably connected to the shell; the attaching component is arranged on one side, facing the target object to be grabbed, of the third connecting rod, so that the structure of the grabbing device is further simplified.

In some embodiments, the housing further comprises a first anchor and a second anchor, the affixion assembly is connected between the housing and the fingertip by the first anchor and the second anchor, wherein the affixion assembly has a substantially constant loading force.

The basically constant loading force on the attaching assembly enables the attaching assembly to be always in a tensioning state, wrinkles are not prone to being generated, the target object is easier to grab, the range of the acting force is larger, and the larger target object can be grabbed.

In some embodiments, at least one of the first and second fixtures is configured to provide a substantially constant loading force to the attachment assembly such that the attachment assembly is in tension at all times during movement of the jaw assembly.

In some embodiments, the attaching assembly is a gecko-like adhesive material film, can grip a target object in an adhesive manner, and can grip an object which is fragile or easy to change or has a large size by reliable adhesive force without damaging the target object.

In some embodiments, the attachment assembly is fixedly attached to the connector bar assembly by a soft gasket.

In a second aspect, the present application provides a robot having a grasping apparatus, including the grasping apparatus in any of the embodiments described above.

The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Moreover, like reference numerals are used to refer to like elements throughout. In the drawings:

fig. 1 is a schematic perspective view of a gripping device with a cut-away housing portion according to an embodiment of the present application.

Fig. 2 is a schematic front view of the grasping apparatus shown in fig. 1.

Fig. 3 is a partial cross-sectional view of the jaw assembly and housing of the grasping device shown in fig. 1.

Fig. 4 is a cross-sectional view of a fourth connecting rod of the grasping apparatus shown in fig. 1.

Fig. 5a-5b are equivalent schematic views of the jaw assembly of the gripping arrangement of fig. 1 during gripping in the first gripping mode.

Fig. 6a to 6c are equivalent schematic views of the jaw assembly of the gripping device shown in fig. 1, which is switched from a first gripping mode to a second gripping mode.

Fig. 7a-7b are equivalent schematic views of a jaw assembly of the gripping process of the gripping arrangement of fig. 1 in a second gripping mode.

Fig. 8a-8c are equivalent schematic views of a jaw assembly of the gripping apparatus of fig. 1 switched from the second gripping mode to the first gripping mode.

Fig. 9 is an equivalent structure diagram of a jaw assembly of a gripping device according to another embodiment of the present application.

Fig. 10a-10b are equivalent schematic views of the gripping arrangement of fig. 9 in a first gripping mode and a second gripping mode with the jaw assemblies operating.

Fig. 11 is a schematic view of a gripper assembly of a further embodiment of the gripping apparatus of the present application in a first gripping mode.

Fig. 12 is an equivalent structural schematic diagram of the jaw assembly of the gripping arrangement of fig. 11 in a second gripping mode.

Fig. 13 is a schematic structural diagram of a robot according to an embodiment of the present application.

The reference numbers in the detailed description are as follows:

a gripping device 1, a target object 2;

the device comprises a shell 10, a first limiting element 11, a second limiting element 12, a first fixing piece 13 and a second fixing piece 14;

the clamping jaw assembly 20, the finger tip 21, the connecting rod assembly 22 and the attaching assembly 23;

first connecting rods 221, 221a; the second connecting rods 222, 222a; the third connecting rods 223, 223a; a fourth connecting rod 224;

first locking assembly 225 first elastic 2251, first stop 2252;

second locking assembly 226, first locking element 2261, second locking element 2262, mounting slot 2263;

a first roller 227, a second roller 228;

a gasket 231;

a drive device 30;

robot 3, connecting piece 31, grabbing device 32.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present application more clearly, and therefore are only used as examples, and the protection scope of the present application is not limited thereby.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing the association object, and means that three relationships may exist, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural pieces" refers to two or more (including two).

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

At present, robots with gripping devices are widely used in various fields such as industrial manufacturing and logistics transportation. For example, parts are gripped and mounted by robots in industrial manufacturing, and articles are gripped and moved by robots in the field of logistics. However, the applicant notices that the grabbing mode of the existing robot is single and cannot adapt to various scenes. For example, a robot in industrial manufacturing can grasp parts by a robot finger like a human finger, high accuracy and reliability can be achieved, but this grasping manner is limited by the stroke length of the robot finger, cannot grasp a large-volume object, and may damage a deformable or fragile object due to a large grasping force of the robot finger. For such bulky or fragile, components, additional different types of robots may be required, which increases the complexity of automated industrial manufacturing and causes increased costs.

Aiming at the problem that the robot has a single grabbing mode and cannot use various scenes, the applicant designs a grabbing device capable of switching different grabbing modes through research, and the grabbing device can be used for the robot. The gripping device comprises a shell and at least two clamping jaw assemblies, wherein the at least two clamping jaw assemblies are used for mutually matching under the driving of the driving device to grip a target object. Each said jaw assembly comprising: a fingertip for holding a target object; a connecting rod assembly, wherein the first end of the connecting rod assembly is connected with the fingertip, and the second end of the connecting rod assembly is rotatably connected with the shell; and the attaching assembly is arranged on one side of the connecting rod assembly, which faces to the target object to be grabbed. The attaching assembly is used for contacting the surface of the object to be grabbed in an adhering and/or adsorbing mode and the like to realize grabbing operation. The grasping apparatus is switchable between a first grasping mode in which the grasping apparatus grasps the target object by each of the fingertips and a second grasping mode. In a second grabbing mode, the grabbing device adheres and/or adsorbs the target object through each attaching assembly so as to realize grabbing operation. In this way, the gripping device can be switched between different gripping modes for different use scenarios.

The inventive concept of the present application will be described in detail below with reference to various embodiments. The gripping device disclosed in the embodiments of the present application can be applied to, but not limited to, a robot arm or a robot in the fields of industrial manufacturing, logistics transportation, and the like. And all the clamping jaw assemblies of the gripping device are mutually matched under the driving of the driving device to realize gripping action. Every in this application clamping jaw assembly's drive mode does not do the restriction, as long as every clamping jaw assembly can realize opening and shutting the action and mutually support to accomplish snatch the action can. For example, each clamping jaw can realize the action of opening and shutting through the connecting rod drive of a plurality of linkages, also can realize the action of opening and shutting through tendon driven mode. Tendon drives are prior art and will not be described in detail herein.

The following mainly takes the gripping device to drive the clamping jaw assembly to open and close through a plurality of linkage connecting rods to achieve gripping as an example, and the application is described by combining various embodiments.

Please refer to fig. 1-4, which are schematic structural views of a grasping apparatus according to some embodiments of the present application. The gripping device 1 comprises a housing 10, at least two clamping jaw assemblies 20 and a driving device 30, wherein the at least two clamping jaw assemblies 20 are used for mutually matching to grip a target object under the driving of the driving device 30. Each of the jaw assemblies 20 includes a fingertip 21, a connecting rod assembly 22, and an attachment assembly 23. In each clamping jaw assembly 20, the fingertip 21 is used for clamping a target object, and the connecting rod assembly 22 has a first end connected with the fingertip 21 and a second end rotatably connected with the shell 10. The attaching assembly 23 is at least arranged on one side (or inner side of the clamping jaw assembly) of the connecting rod assembly 22 facing to the target object to be grabbed, and is used for contacting the surface of the target object to be grabbed in an adsorption and/or adhesion manner to realize grabbing of the target object. The gripping apparatus 1 is switchable between a first gripping mode and a second gripping mode. In a first grip mode (also referred to as a fingertip grip mode hereinafter), the grip device 1 is engaged with each other by each of the fingertips 21 to grip the target object. In a second gripping mode (also referred to as an attached gripping mode hereinafter), the gripping device 1 performs a gripping operation by each of the attaching members cooperating with each other to adhere and/or adsorb the target object.

In the present application, the finger tips are arranged at one end of each clamping jaw assembly 20, and the attachment assemblies are arranged at the inner sides of the clamping jaw assemblies 20, so that the gripping device 1 has different gripping modes. In the fingertip grasping mode, a high-precision grasping can be realized by a fingertip, for example, a small component at a specific position can be grasped by the fingertip. In the attaching and grabbing mode, a large or fragile and easily changeable target object can be grabbed through adsorption force and/or adhesion force, the object is grabbed on the premise of applying the minimum extrusion force to the target object, the target object is not easily damaged, and the stroke range of the clamping jaw device is not limited. The grabbing device 1 can switch different grabbing modes according to different use scenes, the cost and the complexity of an assembly line in the field of industrial manufacturing or logistics transportation can be reduced, and grabbing efficiency is improved.

It should be noted that, in some embodiments of the present application, the number of the jaw assemblies 20 may be set according to actual requirements, the structure of each of the jaw assemblies 20 may be the same, and the structure of one of the jaw assemblies will be described as an example.

With continued reference to fig. 1-4, in one embodiment, each of the jaw assemblies 20 includes a fingertip 21, a connecting rod assembly 22 having four connecting rods, and an attachment assembly 23. Each of the jaw assemblies 20 realizes switching between a first grasping mode and a second grasping mode by adjusting the positional relationship of the four connecting rods, and realizes switching between a first state and a second state of each of the fingertips 21.

Specifically, each of the connection rod assemblies 221 includes a first connection rod 221, a second connection rod 222, a third connection rod 223, and a fourth connection rod 224. A first end of the first connecting rod 221 is rotatably connected to the housing 10, and a second end of the first connecting rod 221 is rotatably connected to a first end of the second connecting rod 222. The second end of the second connecting rod 222 is rotatably connected to the first end of the third connecting rod 223. The third connecting rod 223 is fixedly connected to the fingertip 21, and in some embodiments, the third connecting rod 223 may be integrally formed with the fingertip 21. A first end of the fourth connecting rod 224 is rotatably connected to a second end of the third connecting rod 223, and a second end of the fourth connecting rod 224 is rotatably connected to the housing 10.

In the fingertip gripping mode, the first connecting rod 221 and the second connecting rod 222 are locked on the same line, so that the fingertips are in the first state, that is, the gripping plane of each fingertip 21 always keeps the same direction during the process that the jaw assemblies 20 approach to or move away from each other. Wherein the driving device 30 is configured to drive the first end of the first connecting rod 221 to rotate, so as to drive the jaw assemblies 20 to approach or move away from each other.

Specifically, when the grasping apparatus 1 is in the fingertip grasping mode, the first connecting rod 221 and the second connecting rod 222 are locked in the same line and parallel to the fourth connecting rod 221, and the sum of the lengths of the first connecting rod 221 and the second connecting rod 222 (i.e., the distance from the first end of the first connecting rod 221 to the second end of the second connecting rod 222 in this case) is equal to the length of the fourth connecting rod 224 (i.e., the distance from the first end to the second end of the fourth connecting rod 224). The rod-shaped structure formed by the first connecting rod 221 and the second connecting rod 222 being collinear, the third connecting rod 223, the fourth connecting rod 224 and the housing portion form a parallelogram link structure, the fingertips 21 are in the first state, and the first connecting rod 221 or the fourth connecting rod 224 can be rotated under the driving of the driving device 30, so that the at least two jaw assemblies 20 move towards each other to enable the fingertips 21 to approach or move away from each other, thereby grabbing or releasing the target object.

In some embodiments, the connecting rod assembly 22 further comprises a first locking assembly 225 for locking the first connecting rod 221 and the second connecting rod 222 in a same line in the fingertip grip mode.

For example, referring to fig. 3 and 5a, in some embodiments, the first locking assembly 225 is disposed between the first connection rod 221 and the second connection rod 222, and the first locking assembly 225 includes a first elastic member 2251 (see fig. 5 a) and a first stopper 2252. The first elastic member 2251 may be pre-loaded between the first connecting rod 221 and the second connecting rod 222 for providing a torsion force to the first connecting rod 221 and the second connecting rod 222, so that the second connecting rod 222 has a tendency to deflect towards the first direction outside the jaw assembly relative to the first connecting rod 221. In the present embodiment, a direction toward the outside of the jaw assemblies (i.e., a direction in which the jaw assemblies are away from each other) is referred to as a first direction, and a direction toward the inside of the jaw assemblies (i.e., a direction in which the jaw assemblies are close to each other) is referred to as a second direction.

For example, in some embodiments, the first elastic member 2251 may be a torsion spring having one end connected to the first connection rod 221 and the other end connected to the second connection rod 222. The first stopper 2252 is a stopper protrudingly disposed on an end of the first connection rod 221 connected to the second connection rod 222, and defines a rotation range between the first connection rod 221 and the second connection rod 222 to prevent the second connection rod 222 from being inclined to deflect toward the first direction with respect to the first connection rod 221. The first elastic member 2251 and the first stopper 2252 cooperate to make the first and second connection bars 221 and 222 in the fingertip grip mode to be in the same line. In another embodiment, the first stopper 2252 may also be disposed on the second connecting rod 222, as long as the relative rotation between the first connecting rod 221 and the second connecting rod 222 is limited. It should be understood that the elastic force of the first elastic member 2251 (e.g., a torque spring) may be set and adjusted according to practical circumstances such that, during gripping/releasing of the target object in the first gripping mode of the gripping device, the elastic force generated by the first elastic member 2251 is large enough to prevent the second connecting rod 222 from deflecting relative to the first connecting rod 221 in the first direction, and that the driving device 30 may overcome the elastic force of the first elastic member 2251 without damage when the gripping device is switched to the second gripping mode.

For another example, in some embodiments, the first elastic member is an extension spring, one end of which is fixed to the housing 10, and the other end of which is fixed to the fourth connecting rod 224. The extension spring is configured to keep providing a pulling force to the fourth connecting bar 2224 in a direction toward the housing 10 in the movement range of the grasping apparatus. Similarly, this tension spring causes the fourth connecting rod 224 to have a tendency to deflect in the first direction relative to the housing 10. Since the fourth connecting rod 224, the third connecting rod 223 and the second connecting rod 222 are connected in sequence, the fourth connecting rod 224 carries the second connecting rod 222 such that the second connecting rod 222 has a tendency to deflect in the first direction relative to the first connecting rod 221. And in this embodiment too a first stop 2252 is provided for preventing the tendency of the second connecting rod 222 to deflect relative to the first connecting rod 221 in the first direction. Therefore, the extension spring is engaged with the first stopper 2252 such that the first and second connection levers 221 and 222 are in the same line in the fingertip grip mode.

For example, in some embodiments, when the first elastic member is an extension spring, one end of the extension spring may be connected to the housing 10, and the other end of the extension spring may be connected to the second connecting rod 222. The extension spring is configured to keep providing a pulling force to the second connecting rod 222 in a direction towards the housing 10 within the range of motion of the grasping apparatus, such that the second connecting rod 222 has a tendency to deflect in the first direction relative to the first connecting rod 221. And in this embodiment also a first stop 2252 is provided for preventing the tendency of the second connecting rod 222 to deflect relative to the first connecting rod 221 in said first direction. Therefore, the extension spring is engaged with the first stopper 2252 such that the first and second connection levers 221 and 222 are in the same line in the fingertip grip mode.

It should be understood that in some other embodiments, when the first elastic member is an extension spring, one end of the first elastic member may be disposed on the housing 10, and the other end of the first elastic member may be disposed on the third connecting rod 223.

Through setting up first locking Assembly, can make the structure of clamping jaw subassembly under the mode is grabbed to the fingertip more firm.

In other embodiments, the relative rotation and the limit locking between the first connecting rod 221 and the second connecting rod 222 can be achieved by a driving motor, a gear, and the like, which are disposed at the connection of the two rods, and these implementations do not depart from the principle and spirit of the present application.

In the adhering and grabbing mode, referring to fig. 6c, the included angle between the third connecting rod 223 and the fourth connecting rod 224 is locked at a predetermined angle, so that the fingertip 21 is in the second state, and the fingertip deflects relative to the adhering assembly in the first direction in which the jaw assemblies are away from each other. In this state, the spacing and locking between the first and second connection bars 221 and 222 is disabled (for example, in the case of using a driving motor, the driving motor for locking may be disabled when switching to the second state) or the elastic spacing force thereof is overcome, so that the first and second connection bars 221 and 222 may be relatively freely rotated. Also, the third and fourth connecting bars 223, 224 are locked in a position of smaller included angle in the second state than in the first state, so that the finger tip 21 is deflected towards the outside of the jaw assembly, i.e. the first direction, with respect to the attachment assembly 23 in the first state. In this way, when the grasping apparatus 1 grasps the target object through the attaching component 23 in the second state, the finger tips 21 do not touch the target object, so as to avoid damaging the fragile or changeable target object. For example, in some embodiments, the angle between the plane where the fingertip 21 grabs the target object and the plane where the attachment member 23 is located is greater than or equal to 180 degrees. The grasping apparatus 1 can grasp an object by the attaching member 23 provided inside the connecting rod member 22.

In this embodiment, lock the first state that the fingertip was realized to the collinear state with head rod and second connecting rod, lock the second state that the fingertip was realized to the angle of predetermineeing through third connecting rod and fourth connecting rod, realize the switching of snatching mode and fingertip state through the position transform of connecting rod, need not additionally set up actuating mechanism for grabbing device's simple structure, the cost is lower.

In some embodiments, the connecting rod assembly 22 further includes a second locking assembly 226 for locking the third and fourth connecting rods 223 and 224 at a predetermined angle in the adhesion grasping mode.

In some embodiments, referring to fig. 3 and 7a-7b, the second locking assembly 226 includes a first locking element 2261 and a second locking element 2262. The first locking element 2261 is arranged on the fourth connecting rod 224 and the second locking element 2262 is arranged on the third connecting rod 223. The first and second locking elements 2261 and 2262 are configured to cooperatively lock or release the third and fourth connecting bars 223 and 224. When the included angle between the third and fourth connecting bars 223 and 224 is the preset angle, the first and second locking elements 2261 and 2262 cooperate to lock the relative position between the third and fourth connecting bars 223 and 224.

For example, in some embodiments, the first locking element 2261 and the second locking element 2262 are both magnets. The third and fourth connection bars 223 and 224 are locked at the preset angle by the attractive force between the two magnets. At least one of the third and fourth connecting bars 223 and 224 is provided with a mounting groove 2263 for receiving the magnet and adjusting the position of the magnet. For example, in some embodiments, the mounting slot 2263 may be a cavity in which a magnet is mounted. An adjusting element for adjusting the position of the magnet in the mounting groove 2263 may also be provided in the mounting groove 2263.

For another example, in other embodiments, the first locking element 2261 and the second locking element 2262 may also be a pair of snap structures, and the third connecting rod 223 and the fourth connecting rod 224 are locked at the preset angle by means of snap-fit.

It should be appreciated that the second locking member 226 may be considered a passive lock by way of a magnet engagement and a snap-fit engagement. In the passive lock mode, the magnitude of the locking force and the magnitude of the force required to release the passive lock may be configured according to actual conditions, as long as it is satisfied that the third connecting rod 223 and the fourth connecting rod 224 can be kept locked all the time in the second capture mode and the locking can be released in the process of switching from the second capture mode to the first capture mode, and a specific process example of mode switching is described later.

Also for example, in some embodiments, the second locking assembly 226 may also be an electromagnetic clutch disposed in the third connecting rod 223 or the fourth connecting rod 224. In the fingertip grip mode, the electromagnetic clutch is in the power-off state, and the third connecting rod 223 and the fourth connecting rod 224 can rotate freely. In the attached gripping mode, the electromagnetic clutch is energized, and the third connecting rod 223 and the fourth connecting rod 224 are connected. In other embodiments, the relative rotation and the limit locking between the third connecting rod 223 and the fourth connecting rod 224 can also be achieved by a driving motor, a gear, and the like which are arranged at the connection of the two rods, and the application does not specifically limit the locking manner between the two connecting rods.

It should be appreciated that the manner in which the second locking assembly 226 is locked by the electromagnetic clutch or the drive motor may be considered as an active locking, in which case instructions for locking and unlocking may be sent by the respective processor to the second locking assembly 226 depending on the operational needs of the grasping device.

Referring to fig. 4, the housing 10 further includes a first limiting element 11 and a second limiting element 12, and the first limiting element 11 and the second limiting element 12 are respectively disposed at two sides of the fourth connecting rod 224 and used for limiting a rotation range of the fourth connecting rod 224 in a corresponding direction. For example, as shown in fig. 4, the first limiting element 11 is disposed on a side of the housing 10 facing the first connecting rod 221 near the fourth connecting rod 224, and is used for limiting a rotation range of the fourth connecting rod 224 in a first direction when the jaw assemblies 20 rotate in the first direction away from each other. The second limiting element 12 is disposed on the housing 10 near a side of the connecting rod 224 facing the attaching assembly 23, and is used for limiting a rotation range of the fourth connecting rod 224 in a second direction when the clamping jaw assemblies 20 move to the second direction close to each other. The first limiting element 11 and the second limiting element 22 may be a groove or a protruding stop, etc. for limiting, as long as the function of limiting can be achieved, and the specific structure is not limited. The rotation range of the fourth connecting rod is limited by the limiting element, so that the grabbing device can realize mode switching through a simple mechanical structure without an additional driving device, and the grabbing device is simple in structure and lower in cost. The specific mode switching process is described later.

The driving device 30 is disposed in the housing 10 and is used for driving the first connecting rod 221 and/or the fourth connecting rod 224 to rotate so as to open and close the clamping jaw assemblies 20, and realize the grabbing and releasing actions. The driving device 30 may include any mechanism, such as a motor, capable of driving the jaw assembly 20 to rotate, and will not be described in detail herein. In the following description of the operation process, the driving device is used to drive the first connecting rod 221 for example.

The operation of the gripping device 1 is described in an exemplary manner in connection with fig. 5a-8 c.

Referring briefly to fig. 5a-5b, the motion of the at least two gripper assemblies 20 to grasp the target object 2 in the fingertip grasping mode is shown. In the fingertip grip mode, the first link 221 and the second link 222 are locked in a state of being aligned with each other, the other links can freely rotate, and the second lock member 226 does not perform a locking operation. The grasping plane of each fingertip 21 contacting the target object is always kept in the same direction during the process of moving the respective jaw assemblies 20 closer to or away from each other, i.e., in the first state.

Wherein figure 5a shows the at least two jaw assemblies 20 open in the fingertip gripping mode. When the fingertip gripping mode is performed, the first connecting rod 221 or the fourth connecting rod 224 is driven by the driving device 30 to rotate, so that the clamping jaw assemblies 20 move towards each other, and when the rotating state is as shown in fig. 5b, the fingertips 21 move to the target object to clamp the target object. In the process, the attaching assembly 23 can be prevented from contacting the target object by reasonably adjusting the positions of the gripping devices and the target object.

Fig. 6a to 6c are equivalent schematic diagrams illustrating a process of switching the grasping apparatus 1 from the fingertip grasping mode to the attachment grasping mode.

In the fingertip grasping mode shown in fig. 6a, as the driving device 30 drives the jaw assemblies 20 to rotate continuously in the direction away from each other, the jaw assemblies 20 are gradually opened, and when the fourth connecting rod 224 rotates to the first limiting element 11, the fourth connecting rod is limited by the first limiting element 11 and cannot rotate any more, at this time, the driving device 30 continues to drive the first connecting rod 221 to rotate, so that the first connecting rod 221 and the second connecting rod 222 break through the locking of the first locking element 225 to rotate relatively, and at the same time, the third connecting rod 223 is driven to rotate continuously, so that the third connecting rod 223 deflects relative to the fourth connecting rod 224 in the first direction, as shown in fig. 6 b. Finally, the jaw assembly 20 rotates until the third connecting rod 223 and the fourth connecting rod 224 move to the preset angle and are locked by the second locking assembly 226, as shown in fig. 6c, and the gripping device 1 is switched to the attaching gripping mode. At this time, the fingertip 21 of each of the jaw assemblies 20 is in the second state, for example, an included angle between a plane where the fingertip 21 grabs the target object and a plane where the attachment assembly 23 is located is large (for example, equal to or greater than 180 degrees), so that when the grasping apparatus 1 grasps the target object by the attachment assembly 23, the fingertip 21 does not touch the target object.

Referring to fig. 7a-7b, the movement of each jaw assembly 20 in the attached gripping mode is illustrated.

Fig. 7a shows the opened state of each jaw assembly 20 in the attached gripping mode. During the process of grasping the target object, the clamping jaw assemblies 20 are driven by the driving device 30 to rotate in the direction of approaching each other, as shown in fig. 7b, until the attaching assembly 23 attaches or adsorbs the target object 2. In the rotating process, the included angle between the third connecting rod 223 and the fourth connecting rod 224 is always kept at the preset angle, and the relative position of the two is kept unchanged.

Referring to fig. 3, 4 and 8a-8c, the process of switching the grasping apparatus 1 from the attachment grasping mode to the fingertip grasping mode will be described.

In the attaching and grabbing mode, as the driving device 30 drives the jaw assemblies 20 to rotate continuously in the direction of approaching each other, as shown in fig. 8a-8b, the jaw assemblies 20 are gradually closed, and when the fourth connecting rod 224 rotates to the second limiting element 12, the fourth connecting rod is limited by the second limiting element 12 and cannot rotate continuously, at this time, the driving device 30 drives the first connecting rods 221 of the jaw assemblies to rotate continuously in the second direction of approaching each other, and the third connecting rod 223 is driven to rotate continuously, so that the lock between the third connecting rod 223 and the fourth connecting rod 224 is released under the driving force of the driving device 30. When the locking between the third connecting rod 223 and the fourth connecting rod 224 is released, the first connecting rod 221 and the second connecting rod 222 restore the state of the grasping apparatus in the first grasping mode under the action of the first locking component 225, that is, the first connecting rod 221 and the second connecting rod 222 are in the same straight line and locked by the first locking component 225, as shown in fig. 8c, at this time, the locking of the relative position between the third connecting rod 223 and the fourth connecting rod 224 by the second locking component 226 is released, and the grasping apparatus 1 is switched from the attaching grasping mode to the fingertip grasping mode.

It is to be understood that, if the first locking component 225 and the second locking component 226 adopt the active locking mode, the switching between the fingertip capture mode and the attachment capture mode may be performed by the software program controlling the driving device 30 in response to the switching instruction of the user.

The grabbing device that this embodiment provided through set up attached subassembly in the connecting rod subassembly inboard for a grabbing device can realize promptly realizing accurately snatching under the mode is snatched to the fingertip, again can snatch large-scale, perhaps fragile or yielding object under the mode is snatched in attached, and two kinds of modes of snatching can not influence each other, can adapt to more scenes. In addition, the switching of two modes is realized by adjusting the position change of the four connecting rods, so that the switching of two grabbing modes is realized, the structure is simple, an additional controller or a driver is not required to be arranged, and the complexity of the system is reduced. And the finger tip position can be changed to avoid the damage of the finger tip to the target object in the attaching and grabbing mode. Moreover, through the gecko-like adhesive material film with constant tension, the length of the attaching assembly towards the target object can be adjusted, a larger target object can be grabbed, and more reliable wrapping force can be provided.

Referring now to fig. 1-4, 9 and 11, a patch assembly 23 according to some embodiments of the present application will be described.

The attaching assembly 23 is disposed on one side of the connecting rod assembly 22 facing the target object to be grasped when the target object is grasped, that is, one side of the at least two clamping jaw assemblies 20 opposite to each other (the inner side of the connecting rod assembly 22 in the drawing), and is used for grasping the target object by means of adsorption or adhesion in the attaching and grasping mode. The housing 10 further comprises a first fixing member 13 and a second fixing member 14, and the attachment assembly 23 is connected between the housing 10 and the fingertip 21 through the first fixing member 13 and the second fixing member 14.

In some embodiments, the attachment assembly 23 is a strip of gecko adhesive (gecko adhesive) material film disposed along the length of the connector bar assembly 22. The gecko-like adhesive material is inspired by geckos and designed according to the structure of gecko feet. The surface of the gecko-like adhesive material film is provided with a plurality of micro wedge structures capable of adhering to the surface of an object by intermolecular interaction (e.g., van der waals force). And in the attaching and grabbing mode, the gecko-like adhesive material film is adhered to the surface of the target object to realize grabbing operation. Since gecko-like adhesive material films are known in the art, they will not be described in detail herein.

Utilize the reliable adhesion ability of imitative gecko bonding material film, can realize stably snatching under the condition of exerting the undermost pressure to the target object, avoid haring the target object.

In some embodiments, the gecko-like adhesive material film is fixed at a first end to the housing 10 near the fourth connecting bar 224 by a first fixing 13 and at a second end to an end of the connecting bar assembly 22 near the fingertip 21 by a second fixing 14. At least one of the first fixing piece 13 and the second fixing piece 14 can provide a substantially constant loading force for the gecko-like adhesive material film, the direction of the loading force is the length direction of the connecting rod assembly, so that the gecko-like adhesive material film can stretch and contract along with the opening and closing of the clamping jaw assembly 20, and the attaching assembly is always in a tensioning state in the moving process of the clamping jaw assembly.

For example, referring to fig. 3 and 4, in some embodiments, the first fastener 13 is disposed on the housing 10 between the at least two jaw assemblies 20 for connecting a first end of a gecko-like adhesive material film. The fingertip 21 is provided with a first roller 227, and the fourth connecting rod 224 is provided with a second roller 228. The second fixing member 14 is disposed between the corresponding jaw assembly 20 and the first fixing member 13. The first end of the gecko-like adhesive material film is connected with the first fixing piece 13, the main body of the gecko-like adhesive material sequentially bypasses the first roller 227 and the second roller 228, and the second end of the gecko-like adhesive material film is connected with the second fixing piece 14.

The second fixing member 14 provides a substantially constant loading force to the gecko-like adhesive material 23, and the length of the attachment member 23 exposed between the first fixing member 13 and the finger tip 21 is correspondingly changed along with the opening and closing of the jaw assembly 20, so that a larger object can be grasped in the attachment grasping mode, and the gecko-like adhesive material film also has a larger elastic space, which is beneficial to protecting a target object which is easy to deform or break.

The substantially constant loading force can be achieved through an elastic member (such as a constant force spring) or a rotating shaft capable of providing the constant loading force, and the substantially constant loading force can enable the attaching assembly 23 to be in a tensioned state all the time during the movement of the clamping jaw assembly, so that the gecko-like adhesive material film is prevented from being wrinkled during the stretching process, and therefore, more reliable wrapping force/adhesion force is provided for the target object.

For another example, in other embodiments, the second fastener 14 may also be disposed at an end of the fourth connecting rod 224 close to the fingertip 21, and at least one of the first fastener 13 and the second fastener 14 provides a substantially constant loading force to the gecko-like adhesive material film without the need for the two rollers.

It is understood that in some embodiments, the attachment assembly 23 may be correspondingly disposed on each of the jaw assemblies 20. If the number of the jaw assemblies 20 is large, the attaching assembly 20 may be disposed on only a part of the jaw assemblies 20, for example, when the gripping device 1 has four jaw assemblies, the attaching assembly may be disposed on only two of the jaw assemblies, and may be specifically disposed according to actual requirements.

In other embodiments, as shown in fig. 9 and 11, the attaching component 23 may also be directly attached to the side of the connected rod component 22 facing the target object.

Specifically, in the present embodiment, the structure of the connecting rod assembly 22 is similar to that of the embodiment shown in fig. 1 to 4, and also includes a first connecting rod 221, a second connecting rod 222, a third connecting rod 223 and a fourth connecting rod 224, and the attaching assembly 23 is attached to a side of the fourth connecting rod 223 facing the target object. Since the attaching assembly 23 is directly attached to the fourth connecting rod 224, there is no need to provide a first fixing member, a second fixing member, a first roller and a second roller for fixing the attaching assembly 23 on the housing 10, so that the structure of the grasping apparatus is further simplified. The working process and the switching process of the fingertip grasping mode and the attachment grasping mode can be referred to the embodiments described above, and are not repeated here.

In some embodiments, a gasket 231 is further disposed between the attachment assembly 23 and the tie bar assembly 22. For example, the gecko-like adhesive material is fixed to the pad 231, and then fixed to the fourth connecting bar 224 through the pad 231. The gasket 231 may be made of a flexible deformable material, such as rubber, foam, or the like.

In other embodiments, the attachment member 23 may be a material having an adhesive function, such as gecko-like adhesive material, directly coated on the tie bar assembly.

In other embodiments, the attaching assembly 23 may also be one or more vacuum suction devices, such as suction cups, disposed on the connecting rod assembly 22. The attaching assembly 23 can grasp the target object by the suction force of the suction cup in the attaching and grasping mode.

It is understood that the attaching member 23 in the present application may be any other structure or material capable of grasping and placing the object by suction or adhesion, and the present application is not limited thereto, as long as the object can be grasped by suction or adhesion, and the present application is within the protection scope of the present application.

Please refer to fig. 11-12, which are schematic structural views of a grasping apparatus according to another embodiment of the present application. In the present embodiment, each of the fingertips 21 is pivotally connected to a first end of a corresponding link assembly 22.

When the grasping apparatus 1 is in the fingertip grasping mode, each of the fingertips 21 is in the first state, as shown in fig. 11, the grasping plane in which each of the fingertips 21 grasps the target object is kept in a constant direction throughout the process in which the jaw members approach and separate from each other. When the at least two clamping jaw assemblies 20 move to the closed state, the finger tips 21 of the clamping jaw assemblies 20 are oppositely arranged and matched with each other to clamp the target object. By rotating the fingertips 21 in a direction away from the attachment member 23, the grasping apparatus 1 can be switched from the fingertip grasping mode to the attachment grasping mode, as shown in fig. 12, at which time the fingertips are in the second state, i.e., each of the fingertips is deflected in the first direction with respect to the attachment member, so that the fingertips 21 do not contact the target object when the grasping apparatus 1 grasps the target object in the attachment grasping mode.

In the present embodiment, the fingertip 21 may be rotatably connected to the first end of the connection rod assembly 22 by a hinge. The manner of driving the fingertip 21 to rotate is not particularly limited in the present application, and the fingertip 21 may be manually rotated to the first state and the second state, or the fingertip 21 may be driven to rotate to the first state and the second state by a driving device such as a driving motor.

In still other embodiments, the connecting rod assembly 22 may further simplify the design in the case that the fingertips 21 are rotatably connected to the connecting rod assembly 22. For example, as shown in fig. 12, in one embodiment, each of the link assemblies 22 may include three link rods, i.e., a first link rod 221a, a second link rod 222a, and a third link rod 223a, which are rotatably connected in turn. The free ends of the first and third connecting rods 221a and 223a are rotatably connected to the housing 10. The first connection rod 221a, the second connection rod 222a, and the third connection rod 223a form a parallelogram structure together with the housing 10. The fingertip 21 is rotatably connected to one end of the second connecting rod 222a close to the third connecting rod 223a. The attaching assembly 23 is fixedly arranged on one side of the third connecting rod 223a facing the target object to be grabbed. The manner of mounting the attachment assembly 23 can be as described above with reference to the embodiments and will not be repeated here.

In the grasping device provided by the present embodiment, each of the fingertips 21 is switched between the first state and the second state by rotating, so that the design of the connecting rod assembly 22 is simpler.

In other alternative embodiments, the fingertip 21 may be detachably connected to the first end of the connecting rod assembly 22. When in the fingertip grip mode, a fingertip 21 is mounted at one end of the connecting rod assembly 22. When in the attached grasping mode, the fingertips 21 can be manually removed. The fingertip 21 may be detachably mounted on the connecting rod assembly 22 through a screw, a buckle, or the like, or may be detachably mounted on the connecting rod assembly 22 through a plug-in manner, which is not particularly limited in this application.

It will be appreciated that in alternative embodiments it is also possible that each of said fingertips 21 does not change state in the first and second grabbing modes.

Based on the above concept, the present application also provides a robot 3, as shown in fig. 13. The robot 3 may comprise at least one connection 31 and at least one gripping device 32. The robot 3 may be used to grab or capture a target object. Wherein the gripping device 32 may be any of the gripping devices of the previously described embodiments. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 13 is merely an exemplary embodiment of the robot 3. In other embodiments, the robot 3 may include more components or fewer components. For example, the robot may also include input-output devices, network access devices, communication buses, processors, memory, actuators, sensors, and the like. These additional components may implement a control system, such as the switching instructions discussed above. For example, the robot 3 may also include a processor and a memory storing instructions that, when executed by the processor, cause the processor to implement a control system. The memory may also store instructions that, when executed by the processor, cause the processor to activate or deactivate the grasping device 32 in order to capture or release a target object to be grasped.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not intended to be limited to the particular embodiments disclosed herein, but rather to cover all embodiments falling within the scope of the appended claims.

Claims (14)

1. A grasping apparatus, characterized in that the grasping apparatus comprises:

a housing;

at least two jaw assemblies for cooperating with each other to grasp a target object, each jaw assembly comprising:

a fingertip for holding a target object;

a connecting rod assembly, wherein the first end of the connecting rod assembly is connected with the fingertip, and the second end of the connecting rod assembly is rotatably connected with the shell; and

the attaching assembly is arranged on one side, facing the target object to be grabbed, of the connecting rod assembly;

the grasping apparatus is configured to switch between a first grasping mode and a second grasping mode, wherein:

in a first grabbing mode, the grabbing devices mutually cooperate through each fingertip to clamp the target object; in a second grabbing mode, the grabbing device adheres and/or adsorbs the target object through each attaching assembly to realize grabbing operation.

2. The grasping device according to claim 1, wherein each of said fingertips is in a first state in said first grasping mode and in a second state in said second grasping mode, wherein each of said fingertips is deflected relative to said affixion assembly in a first direction in which the respective jaw assemblies are spaced apart from each other when each of said fingertips is in said second state.

3. The grasping device according to claim 2, wherein each of the link assemblies includes a first link, a second link, a third link, and a fourth link, wherein:

the first end of the first connecting rod is rotatably connected with the shell, and the second end of the first connecting rod is rotatably connected with the second connecting rod;

the first end of the second connecting rod is rotatably connected with the first connecting rod, and the second end of the second connecting rod is rotatably connected with the first end of the third connecting rod;

the first end of the third connecting rod is connected with the second end of the second connecting rod, and the second end of the third connecting rod is connected with the finger tip;

the first end of the fourth connecting rod is connected between the first end of the third connecting rod and the fingertip, and the second end of the fourth connecting rod is rotatably connected with the shell;

the attaching assembly is arranged on one side, facing the target object to be grabbed, of the fourth connecting rod.

4. The grasping apparatus according to claim 3, wherein the link assembly further includes a first locking assembly by which the first link and the second link are locked in alignment in the first grasping mode, the fingertip being in the first state.

5. The grasping apparatus according to any one of claims 3, wherein the connecting rod assembly further includes a second locking assembly, and in the second grasping mode, the third connecting rod and the fourth connecting rod are locked at a preset angle by the second locking assembly, and the fingertip is in the second state.

6. The grasping apparatus according to claim 3, wherein the housing further includes a first and a second limiting element disposed on either side of a fourth connecting rod, respectively, wherein the first limiting element is configured to limit a range of rotation of the fourth connecting rod in the first direction when the jaw assemblies are rotated toward the first direction away from each other; the second limiting element is configured to limit the rotation range of the fourth connecting rod in the second direction when the clamping jaw assemblies move towards the second direction approaching to each other.

7. The grasping device according to claim 3, wherein the link assembly further includes a first locking assembly and a second locking assembly, the housing further including a first stop element and a second stop, wherein:

the first locking assembly is configured to lock the first and second connecting bars in a common line in the first grasping mode, wherein the second locking assembly is inactive in the first grasping mode;

the second locking component is configured to lock the third connecting rod and the fourth connecting rod at the preset angle in the second grabbing mode, and the first connecting rod and the second connecting rod break through the locking of the first locking component;

the first limiting element and the second limiting element are respectively arranged on two sides of the fourth connecting rod;

during the process that the gripping device is switched from the first gripping mode to the second gripping mode, the first limiting element is configured to limit the rotation range of the fourth connecting rod in a first direction when the jaw assemblies rotate towards the first direction away from each other, so that the first connecting rod and the second connecting rod break through the locking of the first locking assembly to rotate relatively, and the third connecting rod rotates relative to the fourth connecting rod to the first direction to the preset angle and is locked by the second locking assembly;

during the process of switching the gripping device from the second gripping mode to the first gripping mode, the second limiting element is configured to limit a rotation range of the fourth connecting rod in the second direction when the jaw assemblies move towards the second direction that is close to each other, so that the first connecting rod drives the third connecting rod to rotate when continuing to rotate in the second direction, so that the second locking piece unlocks the third connecting rod and the fourth connecting rod, and the first connecting rod and the second connecting rod are locked by the first locking piece.

8. The grasping apparatus according to claim 2, wherein each of the connecting-rod assemblies includes a first connecting rod, a second connecting rod, and a third connecting rod, wherein:

the first end of the first connecting rod is rotatably connected to the shell, and the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod;

the second end of the second connecting rod is rotatably connected with the fingertip;

the first end of the third connecting rod is rotatably connected between the second end of the second connecting rod and the fingertip, and the second end of the third connecting rod is rotatably connected to the shell;

the attaching component is arranged on one side, facing the target object to be grabbed, of the third connecting rod.

9. The grasping device according to any one of claims 1 to 8, wherein the housing further includes a first fixture and a second fixture, the affixion assembly being connected between the housing and the fingertip via the first fixture and the second fixture, wherein the affixion assembly has a substantially constant loading force.

10. The grasping device according to claim 9, wherein at least one of the first and second fixtures is configured to provide the attachment assembly with the substantially constant loading force such that the attachment assembly is in tension at all times during movement of the jaw assembly.

11. The grasping apparatus according to any one of claims 1 to 8, wherein the attachment member mounts the side of the link member that faces the target object to be grasped by means of attachment fixation.

12. The grasping device according to claim 1, wherein the affixion assembly is a gecko-like film of adhesive material.

13. The grasping device according to claim 12, wherein the attachment assembly is fixedly attached to the connector bar assembly by a gasket.

14. A robot comprising a gripping device according to any of claims 1-13.

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