US 11,986,950 B2
Gripper and robotic arm
Ran An, Santa Clara, CA (US); Tingke Song, Shanghai (CN); and Juncai Peng, Shanghai (CN)
Assigned to SHANGHAI FLEXIV ROBOTICS TECHNOLOGY CO., LTD., Shanghai (CN); and FLEXIV LTD., Grand Cayman (GB)
Appl. No. 17/609,901
Filed by SHANGHAI FLEXIV ROBOTICS TECHNOLOGY CO., LTD., Shanghai (CN); and FLEXIV LTD., Grand Cayman (GB)
PCT Filed Oct. 13, 2020, PCT No. PCT/CN2020/120561
§ 371(c)(1), (2) Date Nov. 9, 2021,
PCT Pub. No. WO2022/077203, PCT Pub. Date Apr. 21, 2022.
Prior Publication US 2022/0305670 A1, Sep. 29, 2022
Int. Cl. B25J 15/02 (2006.01)
CPC B25J 15/026 (2013.01) 16 Claims
OG exemplary drawing
 
1. A gripper, comprising:
a lead screw comprising a spiral portion and a driving portion, the spiral portion being provided with at least one first spiral track and at least one second spiral track with opposite helical directions, wherein a first end of the first spiral track corresponds to a first end of the spiral portion, and a second end of the first spiral track extends toward a second end of the spiral portion, wherein a second end of the second spiral track corresponds to the second end of the spiral portion, and a first end of the second spiral track extends toward the first end of the spiral portion, wherein a portion of a coverage of the first spiral track overlaps a portion of a coverage of the second spiral track along a length of the spiral portion; and
a first gripping jaw and a second gripping jaw, the first gripping jaw having at least one first pin extending into the first spiral track, and the second gripping jaw having at least one second pin extending into the second spiral track,
wherein the first gripping jaw and the second gripping jaw are configured in such a way that when the driving portion drives the spiral portion to rotate, the first spiral track drives the first pin to allow the first gripping jaw to perform a first linear movement in a direction parallel to the lead screw, and the second spiral track drives the second pin to allow the second gripping jaw to perform a second linear movement opposite to the first linear movement of the first gripping jaw,
wherein the gripper further comprises:
a first guiding mechanism slidably connected to the first gripping jaw and configured to guide the first linear movement of the first gripping jaw, and
a second guiding mechanism slidably connected to the second gripping jaw and configured to guide the second linear movement of the second jaw,
wherein the first gripping jaw and the first guiding mechanism are located on one side of the lead screw, and the second gripping jaw and the second guiding mechanism are located on the other side of the lead screw; and
wherein the gripper further comprises a power mechanism connected to the driving portion for driving the driving portion to rotate.