GRIPPING DEVICE, ROBOT AND METHOD FOR SENSING FORCE INFORMATION

WIPO Patent Application WO/2024/026805

A1

A gripping device, a robot and a method for sensing force information. The gripping device (1, 7) includes a case (10, 70), a plurality of linkage gripping assemblies (11, 12, 71, 72) mutually matched to grip an object, a driving assembly (30) and a plurality of load cells. Each linkage gripping assembly (11, 12, 71, 72) includes a fingertip (110, 710), a first link (111, 711) fixedly connected to the fingertip (110, 710), a second link (112, 712) including a first end rotatably connected to a first end of the first link (111, 711) and a second end rotatably connected to the case (10, 70), and a third link (113, 713) including a first end rotatably connected to a second end of the first link (111, 711) and a second end rotatably connected to the case (10, 70). The driving assembly (30) is in transmission connection with the second end of the second link (112, 712) to rotate the second link (112, 712). Each load cell is disposed in a respective one of at least three of the first link (111, 711), the second link (112, 712), the third link (113, 713) and the driving assembly (30).

CHANG JINZHAO (US)
ZHOU YISHUN (US)
JIANG HAO (US)

PCT/CN2022/110400

February 08, 2024

August 05, 2022

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SHANGHAI FLEXIV ROBOTICS TECH CO LTD (CN)
FLEXIV LTD (GB)

B25J15/08; B25J13/08; B25J15/10

CN115107074A	2022-09-27
CN211388846U	2020-09-01
CN1757490A	2006-04-12
CN112351869A	2021-02-09
CN112757334A	2021-05-07
CN103442859A	2013-12-11
CN108942917A	2018-12-07
CN110809506A	2020-02-18
US4653793A	1987-03-31

ADVANCE CHINA IP LAW OFFICE (CN)

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