# US 9,517,567 B2 · Grasping apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,567 B2 - Document ID: US9517567B2 - Status: Granted - Kind: B2 - Application number: 14/699,800 - Filed: 2015-04-29 - Published: 2016-10-13 - Granted: 2016-12-13 - Earliest claimed: 2015-04-08 - Assignees: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.; Hon Hai Precision Industry Co., Ltd. - Applicants: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.; Hon Hai Precision Industry Co., Ltd. - Inventors: Te-Hua Lee; Xiao-Hong Shi - Web page: https://patentgrep.com/patent/US9517567B2 ## CPC - B25J 13/082: {Grasping-force detectors (in general G01L5/16, G01L5/22)} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 15/08: having finger members (B25J15/02, B25J15/04 take precedence) - B25J 19/02: Sensing devices - G01L 1/144: {with associated circuitry (G01L1/146 and G01L1/148 take precedence)} - G01L 5/226: {to manipulators, e.g. the force due to gripping} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) ## Abstract A grasping apparatus for grasping an object includes at least two grasping portions and at least two pressure sensing mechanisms disposed in the corresponding grasping portions. The pressure sensing mechanism detects a grasping force between the grasping portions while grasping the object. The pressure sensing mechanism includes two parallel metal films and an elastic portion therebetween. The elastic portion deforms to decrease the distance between the metal films for sensing the grasping force. ## Claims ### Claim 1 A grasping apparatus for grasping an object; the grasping apparatus comprising: at least two grasping portions configured to grasp the object; and at least two pressure sensing mechanisms disposed in the corresponding grasping portions, the pressure sensing mechanisms configured to detect a grasping force between the grasping portions when the object is grasped; wherein each of the at least two the pressure sensing mechanisms comprises two parallel metal films and an elastic portion therebetween; wherein the elastic portion is configured to deform to decrease the distance between the metal films, thereby enabling adjustment of the grasping force based on the detected grasping force; and wherein the pressure sensing mechanism further includes a power source, an output terminal, a first amplifier, a second amplifier, a third amplifier, a first resistor, a second resistor, and an equivalent capacitor; an output terminal of the first amplifier is electrically connected to the output terminal, and an input terminal of the first amplifier is electrically connected to the power source; an output terminal of the second amplifier is electrically connected to the power source, and an input terminal of the first amplifier is electrically connected to an output terminal of the third amplifier; an input terminal of the third amplifier is electrically connected to a first terminal of the first resistor; a second terminal of the first resistor is electrically connected to the output terminal via the second resistor; a first terminal of the equivalent capacitor is electrically connected to the power source, and a second terminal of the equivalent capacitor is electrically connected between the first resistor and the second resistor. ### Claim 2 (depends on 1) The grasping apparatus of claim 1, wherein the grasping apparatus further comprises a comparison module and a control module; the pressure sensing mechanism generates a corresponding detection signal; the comparison module compares the detection signal and a predetermined value, and generates a control signal based on the comparison result; the controlling module adjusts the distance between the grasping portion. ### Claim 3 (depends on 2) The grasping apparatus of claim 2, wherein when the detection signal is larger than the predetermined value, the comparison module generates a first control signal; the controlling module controls the grasping portions to be apart from each other in response to the first control signal. ### Claim 4 (depends on 2) The grasping apparatus of claim 2, wherein when the detection signal is less than the predetermined value, the comparison module generates a second control signal; the controlling module controls the grasping portions to be together in response to the second control signal. ### Claim 5 (depends on 1) The grasping apparatus of claim 1, wherein the equivalent capacitor is a combination of the metal films and the elastic portion. ### Claim 6 (depends on 1) The grasping apparatus of claim 1, wherein the grasping apparatus is capable of switching between different working states; the grasping apparatus further comprises a detecting module, a comparison module, and a controlling module; the detecting module detects a current working state of the grasping apparatus, and generates a corresponding state signal; the comparison module presets a plurality of predetermined values; the comparison module selects a predetermined value corresponding to the state signal generated by the detecting module; the comparison module compares the detection signal and the selected predetermined value, and generates a control signal based on the comparison result; the controlling module adjusts the distance between the grasping portion. ### Claim 7 (depends on 6) The grasping apparatus of claim 6, wherein when the detection signal is larger than the selected predetermined value, the comparison module generates a first control signal; the controlling module controls the grasping portions to be apart from each other in response to the first control signal. ### Claim 8 (depends on 7) The grasping apparatus of claim 7, wherein when the detection signal is less than the selected predetermined value, the comparison module generates a second control signal; the controlling module controls the grasping portions to be together in response to the second control signal. ### Claim 9 A grasping apparatus for grasping an object; the grasping apparatus comprising: at least two grasping portions configured to grasp the object; at least two pressure sensing mechanisms disposed in the corresponding grasping portions, the pressure sensing mechanism configured to detect a grasping force between the grasping portions while grasping the object and generate a detection signal based on the detected grasping force; a comparison module connected to the pressure sensing mechanism, and configured to generate a corresponding control signal via comparing the detection signal and a predetermined value; and a controlling module connected to the comparison module and the pressure sensing mechanism, and configure to adjust a grasping force between the grasping portions and the object in response to the control signal generated by the comparison module; wherein each of the at least two pressure sensing mechanisms comprises two metal films parallel with each other and an elastic portion filled between the metal films; when the elastic portion deforms to decrease the distance between the metal films for sensing the grasping force. ### Claim 10 (depends on 9) The grasping apparatus of claim 9, wherein when the detection signal is larger than the predetermined value, the comparison module generates a first control signal; the controlling module controls the grasping portions to be apart from each other in response to the first control signal. ### Claim 11 (depends on 9) The grasping apparatus of claim 9, wherein when the detection signal is less than the predetermined value, the comparison module generates a second control signal; the controlling module controls the grasping portions to be together in response to the second control signal. ### Claim 12 (depends on 9) The grasping apparatus of claim 9, wherein pressure sensing mechanism further includes a power source, an output terminal, a first amplifier, a second amplifier, a third amplifier, a first resistor, a second resistor, and an equivalent capacitor; an output terminal of the first amplifier is electrically connected to the output terminal, and an input terminal of the first amplifier is electrically connected to the power source; an output terminal of the second amplifier is electrically connected to the power source, and an input terminal of the first amplifier is electrically connected to an output terminal of the third amplifier; an input terminal of the third amplifier is electrically connected to a first terminal of the first resistor, a second terminal of the first resistor is electrically connected to the output terminal via the second resistor; a first terminal of the equivalent capacitor is electrically connected to the power source, and a second terminal of the equivalent capacitor is electrically connected between the first resistor and the second resistor. ### Claim 13 (depends on 12) The grasping apparatus of claim 12, wherein the equivalent capacitor is a combination of the metal films and the elastic portion.