Gripper and robot having the same

Patent metadata

Field	Value
Publication number	US-12358164-B2
Application number	US-202117617088-A
Country	US
Kind code	B2
Filing date	Oct 19, 2021
Priority date	Oct 19, 2021
Publication date	Jul 15, 2025
Grant date	Jul 15, 2025

Abstract

A gripper with at least one gripping jaw is provided. The at least one gripping jaw includes a base, a gripping portion configured to contact an object, a flexible member connecting the base and the gripping portion, and a sensor assembly located between the base and the gripping portion. The flexible member is configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object. The sensor assembly is configured to generate a signal in response to the deflection of the gripping portion.

First claim

What is claimed is:

1. A gripper configured to grip an object, the gripper comprising:
a casing; and
at least one gripping jaw movably assembled on the casing, the at least one gripping jaw comprising:
a base;
a gripping portion configured to contact the object;
a flexible member connecting the base and the gripping portion and configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object; and
a sensor assembly located between the base and the gripping portion and configured to generate a signal in response to the deflection of the gripping portion;
wherein the gripping portion is configured to exert a force in a second direction other than the first direction to the sensor assembly when receiving the force in the first direction, and the sensor assembly is configured to generate the signal indicative of the force in the second direction; and
wherein the sensor assembly comprises a piezoresistor and the gripping portion comprises a shoulder extending laterally and spaced from the base so as to define a space therebetween for accommodating the sensor assembly, the piezoresistor abutting against both the shoulder and the base.

2. The gripper of claim 1 , wherein the first direction and the second direction are orthogonal to each other.

3. The gripper of claim 1 , wherein the flexible member comprises a flexible hinge.

4. The gripper of claim 1 , wherein the flexible member is integrally formed with the base and the gripping portion.

5. The gripper of claim 1 , wherein the casing defines a slot, and the at least one gripping jaw comprises a pair of gripping jaws slidable within the slot to collectively grip the object.

6. The gripper of claim 1 , wherein the casing defines a triple of slots, and the at least one gripping jaw comprises a triple of gripping jaws arranged circumferentially and slidable within the slots respectively to collectively grip the object.

7. A robot, comprising:
at least one articulated arm and a gripper provided at an end of the at least one articulated arm, wherein the gripper comprises:
a casing; and
at least one gripping jaw movably assembled on the casing, the at least one gripping jaw comprising:
a base;
a gripping portion configured to contact an object;
a flexible member connecting the base and the gripping portion and configured to enable the gripping portion to deflect with respect to the base when the gripping portion is subjected to a force in a first direction from the object; and
a sensor assembly located between the base and the gripping portion and configured to generate a signal in response to the deflection of the gripping portion;
wherein the gripping portion is configured to exert a force in a second direction other than the first direction to the sensor assembly when receiving the force in the first direction, and the sensor assembly is configured to generate the signal indicative of the force in the second direction; and
wherein the sensor assembly comprises a piezoresistor and the gripping portion comprises a shoulder extending laterally and spaced from the base so as to define a space therebetween for accommodating the sensor assembly, the piezoresistor abutting against both the shoulder and the base.

8. The robot of claim 7 , wherein the first direction and the second direction are orthogonal to each other.

Assignees

• Shanghai Flexiv Robotics Tech Co Ltd
• Flexiv Ltd

Inventors

• An Ran
• Peng Juncai
• Song Tingke

Classifications

• B25J13/082

  Grasping-force detectors (in general G01L5/16, G01L5/22) · CPC title

• B25J9/0015

  Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion · CPC title

• B25J15/12 Primary

  with flexible finger members · CPC title

• B25J15/0253 Primary

  comprising parallel grippers · CPC title