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公开(公告)号：USD1042580S1
公开(公告)日：2024-09-17
申请号：US29884901
申请日：2023-02-16
设计人： Xuesen Li , Shaobo Hu , Hao Jiang , Shiquan Wang
摘要： FIG. 1 is a top, front and left side perspective view of a delta robot showing our new design;
FIG. 2 is a top, front and right side perspective view thereof;
FIG. 3 is a bottom, rear and left side perspective view thereof;
FIG. 4 is a front elevational view thereof;
FIG. 5 is a rear elevational view thereof;
FIG. 6 is a left side view thereof;
FIG. 7 is a right side view thereof;
FIG. 8 is a top plan view thereof;
FIG. 9 is a bottom plan view thereof;
FIG. 10 is an enlarged view of portion 10 in FIG. 1;
FIG. 11 is an enlarged view of portion 11 in FIG. 3;
FIG. 12 is a top, front and left side perspective view showing the delta robot in a use state; and,
FIG. 13 is a top, front and right side perspective view showing the delta robot in a use state.
The broken lines in the drawings illustrate portions of the delta robot which form no part of the claimed design.-
公开(公告)号：US10830654B2
公开(公告)日：2020-11-10
申请号：US16113059
申请日：2018-08-27
申请人： Flexiv Ltd.
发明人： Shiquan Wang , Hao Jiang
摘要： A torque sensor is provided that includes a deformable plate that includes an inner part and an outer part. The torque sensor may also include one or more elastic elements that connect the inner part and the outer part. The torque sensor may also include a transducer mounting plate that is rigidly connected to the inner part of the deformable plate. In certain embodiments, the elastic elements include at least one serpentine-shaped elastic element. In other embodiments, the elastic elements may include a beam structure. In some embodiments, the torque sensor includes a plurality of zeroing pins and zeroing pin slots which, when engaged, constrain the rotation of the torque sensor to a smaller zeroing range. In certain embodiments, the torque sensor may also include a plurality of hard stop pins that engage a stopping when an applied torque exceeds a predetermined threshold.
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公开(公告)号：US12042929B2
公开(公告)日：2024-07-23
申请号：US17610656
申请日：2021-06-17
CPC分类号： B25J13/085 , B25J17/00
摘要： A sensing assembly includes a magnet assembly configured to be coupled to a first component and a pair of hall-effect sensors configured to be coupled to a second component. The pair of hall-effect sensors are configured to generate substantially identical signal changes in response to a first relative motion in a first direction between the magnet assembly and the pair of hall-effect sensors, and to generate substantially equal but opposite signal changes in response to a second relative motion in a second direction between the magnet assembly and the pair of sensors. The first direction is perpendicular to the second direction.
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公开(公告)号：US10933535B2
公开(公告)日：2021-03-02
申请号：US16545246
申请日：2019-08-20
申请人： Flexiv Ltd.
发明人： Hao Jiang , Shiquan Wang
IPC分类号： B25J15/00
摘要： A gripper and a robot are provided. The gripper may include a shell and at least two finger assemblies. The finger assemblies are utilized to grasp an object on two opposite sides of the object. Each finger assembly may include a connecting rod, a pad portion and a layer of synthetic fibrillar adhesive. The connecting rod may be movably connected to the shell. The pad portion may be connected to the connecting rod, and the connecting rod may move the pad portion towards the object under a driving force. The layer of synthetic fibrillar adhesive may be attached to the pad portion. Microfibers of the layer of synthetic fibrillar adhesive may be inclined away from the shell.
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公开(公告)号：US10773394B2
公开(公告)日：2020-09-15
申请号：US16113239
申请日：2018-08-27
申请人： Flexiv Ltd.
发明人： Hao Jiang , Shiquan Wang
摘要： A gripper system is provided that includes first and second linear carriages and first and second gecko adhesive patches. The gecko adhesive patches may have first and second surfaces, and a thin rigid backing may be attached to the second surface of the gecko adhesive patches. At least one layer of non-stretchable, flexible film may be glued to the thin rigid backing and a thick rigid backing may be glued to the film. The gripper system may further include a loading film. In other embodiments, the gripper system may include first and second pluralities of support tendons, which may connect the gecko adhesive patches to the carriages.
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公开(公告)号：US11345043B2
公开(公告)日：2022-05-31
申请号：US16456562
申请日：2019-06-28
申请人： Flexiv Ltd.
发明人： Hao Jiang , Shiquan Wang
摘要： An axial force sensor, a robot gripper and a robot are provided. The axial force sensor includes a sensing diaphragm and at least two signal pairs. The sensing diaphragm includes an inner ring, an outer ring and a connecting element connected between the inner ring and the outer ring. The connecting element is more compliant in a direction of the axial force to be detected than in other loading directions. Each signal pair includes a signal emitter and a signal receiver. The signal emitter is coupled to one of the inner ring and the outer ring. The signal receiver is coupled to the other of the inner ring and the outer ring.
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公开(公告)号：US11167426B2
公开(公告)日：2021-11-09
申请号：US16444207
申请日：2019-06-18
申请人： Flexiv Ltd.
发明人： Hao Jiang , Shiquan Wang
IPC分类号： B25J15/00
摘要： The present disclosure discloses a fibrillar, directional adhesive assembly, a gripper, and a robot including a gripper. In one embodiment, the fibrillar, directional adhesive assembly includes a carriage, a layer of fibrillar, directional adhesive, and at least one load component. The carriage may have a first lateral side and a second lateral side adjacent to the first lateral side and the at least one load component may connect the layer of fibrillar, directional adhesive to the first lateral side and the second lateral side. The load component may be capable of loading shear force from the carriage to the layer of fibrillar, directional adhesive along a first direction and a second direction substantially perpendicular to the first direction.
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公开(公告)号：US20200061844A1
公开(公告)日：2020-02-27
申请号：US16545246
申请日：2019-08-20
申请人： Flexiv Ltd.
发明人： Hao Jiang , Shiquan Wang
IPC分类号： B25J15/00
摘要： A gripper and a robot are provided. The gripper may include a shell and at least two finger assemblies. The finger assemblies are utilized to grasp an object on two opposite sides of the object. Each finger assembly may include a connecting rod, a pad portion and a layer of synthetic fibrillar adhesive. The connecting rod may be movably connected to the shell. The pad portion may be connected to the connecting rod, and the connecting rod may move the pad portion towards the object under a driving force. The layer of synthetic fibrillar adhesive may be attached to the pad portion. Microfibers of the layer of synthetic fibrillar adhesive may be inclined away from the shell.
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公开(公告)号：US20200003645A1
公开(公告)日：2020-01-02
申请号：US16456588
申请日：2019-06-28
申请人： Flexiv Ltd.
发明人： Hao Jiang , Shiquan Wang
摘要： A multi-axis force and torque sensor and a robot are provided. The sensor includes a first supporting element, a second supporting element, a deformable component connected between the first supporting element and the second supporting element, and multiple signal pairs. The deformable component is configured to deflect in response to applied external force and torque in multiple directions. Each of the multiple signal pairs includes a magnet and a hall effect detector. The magnet is mounted on one of the first supporting element and the second supporting element, and the hall effect detector is mounted on the other. The hall effect detector is located corresponding to the respective magnet. One or more magnetization directions of the magnets of the signal pairs are different such that the signal pairs are capable of measuring force and torque applied on the first supporting element and the second supporting element in different directions.
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公开(公告)号：US11913849B2
公开(公告)日：2024-02-27
申请号：US17311618
申请日：2020-07-28
发明人： Hao Jiang , Shuhan Li , Shiquan Wang , Ran An , Xuesen Li
CPC分类号： G01L5/0061 , B25J15/0019 , B25J19/02 , G01L3/04 , G01L5/16
摘要： A multi-degree of freedom (DOF) force and torque sensor is provided. The multi-DOF force and torque sensor includes a first rigid plate, a second rigid plate, multiple elastic elements connected between the first and second rigid plates, and multiple signal pairs connected between the first and second rigid plates. The signal pairs are used for detecting relative displacements of the first and second rigid plates in multiple directions.
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