US 12,734,712 B2Granted

Gripper and robot

AssigneesShanghai Flexiv Robotics Technology Co., Ltd., Flexiv Ltd.

InventorsJuncai Peng, Xiaojun Wang, Ran An

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Abstract

Provided are a gripper and a robot. The gripper includes a case, a plurality of gripping assemblies respectively assembled to the case, and a driving assembly configured to move the plurality of gripping assemblies. Each gripping assembly is provided with a fingertip at an end portion, and fingertips of the gripper are configured to cooperate with each other for grasping. Each gripping assembly further includes a gear set and a gear carrier rotatably connected to the case. The gear set includes a fixed gear, an intermediate gear and a fingertip gear engaged in sequence. The fixed gear is fixedly connected to the case, and the fingertip gear is fixedly connected to the fingertip. The intermediate gear and the fingertip gear are mounted to the gear carrier and respectively rotatably connected to the gear carrier. The driving assembly is configured to rotate the gear carrier.

Claims16

Dependent claims

A gripper, comprising:

a case;
a plurality of gripping assemblies respectively assembled to the case, wherein each of the plurality of gripping assemblies is provided with a fingertip at an end portion, and fingertips of the plurality of gripping assemblies are configured to cooperate with each other for grasping;
wherein each of the plurality of gripping assemblies further comprises:
a gear set comprising a fixed gear, an intermediate gear and a fingertip gear engaged in sequence, wherein the fixed gear is fixedly connected to the case, and the fingertip gear is fixedly connected to the fingertip;
a gear carrier rotatably connected to the case, wherein the intermediate gear and the fingertip gear are mounted to the gear carrier, and the intermediate gear and the fingertip gear are respectively rotatably connected to the gear carrier, wherein the gear carrier is configured to rotate relative to the case around a center of the fixed gear;
and
a driving assembly configured to rotate the gear carrier, so as to move the plurality of gripping assemblies.

4 more elements

A robot comprising a gripper, wherein the gripper comprises:

a case;
a plurality of gripping assemblies respectively assembled to the case, wherein each of the plurality of gripping assemblies is provided with a fingertip at an end portion, and fingertips of the plurality of gripping assemblies are configured to cooperate with each other for grasping;
wherein each of the plurality of gripping assemblies further comprises:
a gear set comprising a fixed gear, an intermediate gear and a fingertip gear engaged in sequence, wherein the fixed gear is fixedly connected to the case, and the fingertip gear is fixedly connected to the fingertip;
a gear carrier rotatably connected to the case, wherein the intermediate gear and the fingertip gear are mounted to the gear carrier, and the intermediate gear and the fingertip gear are respectively rotatably connected to the gear carrier, wherein the gear carrier is configured to rotate relative to the case around a center of the fixed gear;
and
a driving assembly configured to rotate the gear carrier, so as to move the plurality of gripping assemblies.

4 more elements

Dependencies are inferred from the claim text.