Composite adsorption enhanced force-current coupled flexible electrostatic gripper and its control method

Abstract

The present invention provides a composite adsorption-enhanced force-current coupling flexible electrostatic gripper and a control method thereof, relating to the technical field of flexible grippers. The composite adsorption-enhanced force-current coupling flexible electrostatic gripper comprises a support frame, a force-current coupling structure, a flexible electrostatic adsorption enhancement layer, and a gecko-like adsorption enhancement layer. The force-current coupling structure enables bidirectional bending, thereby increasing the gripping range of conventional electrostatic adsorption flexible grippers and resolving the issue of insufficient gripping range in existing electrostatic adsorption flexible grippers. Furthermore, the gecko-like adsorption enhancement layer provides van der Waals forces to enhance adsorption, further increasing gripping force.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible grippers, and in particular to a composite adsorption-enhanced force-current coupled flexible electrostatic gripper and a control method thereof. Background Art

[0002] Flexible gripping technology is a key advancement in industrialization. It complements and improves traditional rigid gripping methods, enabling grippers to better handle objects with diverse shapes, irregular surfaces, and delicate structures. Flexible gripping technology has applications in a wide range of fields, including automated production lines, warehousing and logistics systems, smart agriculture, and healthcare, playing a vital role in freeing human hands and improving human life.

[0003] Currently, there are many types of flexible grippers using this technology, including electric / pneumatically driven flexible grippers, flexible grippers based on shape memory polymers / alloys, flexible grippers based on dielectric elastomers, and flexible grippers based on electrostatic adsorption. Electric / pneumatically driven flexible grippers are widely used in automated grasping operations due to their simple and versatile design, fast grasping speed, and effective grasping performance. However, their reliance on bulky motors and air pumps significantly reduces their portability and results in high energy consumption. Flexible grippers based on shape memory polymers / alloys have significantly improved portability but suffer from poor control accuracy and high energy consumption. Grippers based on dielectric elastomers offer improved portability and low energy consumption, but require pre-stretching to provide a large actuation strain. Stacked dielectric elastomer grippers offer stronger actuation capabilities than single-layer dielectric elastomer grippers, but also significantly increase the probability of electrical breakdown.

[0004] Flexible grippers based on electrostatic adsorption have the advantages of strong adaptability, simple structure and control, low energy consumption, and non-destructive adsorption, which can solve the problems existing in the above-mentioned flexible grippers. However, they can only grasp objects of relatively fixed sizes and have the problem of insufficient grasping range. Summary of the Invention

[0005] The problem solved by the present invention is: how to solve the problem of insufficient grasping range of the flexible electrostatic adsorption gripper.

[0006] In order to solve the above problems, the present invention provides a composite adsorption enhanced force-current coupled flexible electrostatic gripper and a control method thereof.

[0007] In the first aspect, the present invention provides a composite adsorption enhanced force current coupled flexible electrostatic gripper, comprising a support frame, a force current coupling structure, a flexible electrostatic adsorption enhancement layer and a gecko-like adsorption enhancement layer, wherein one end of the force current coupling structure along the length direction is connected to the support frame, and the other end of the force current coupling structure along the length direction is used to bend toward both sides in the thickness direction, the flexible electrostatic adsorption enhancement layer is arranged on one side of the force current coupling structure along the thickness direction, and the gecko-like adsorption enhancement layer is arranged on the side of the flexible electrostatic adsorption enhancement layer away from the force current coupling structure.

[0008] The beneficial effect of the composite adsorption enhanced force current coupling flexible electrostatic gripper of the present invention is: by setting a force current coupling structure, and one end of the force current coupling structure along the length direction is connected to the support frame, and the other end of the force current coupling structure along the length direction is used to bend to both sides in the thickness direction, so that when the two force current coupling structures are controlled to bend in opposite directions, the two clamping jaws can be driven to bend in opposite directions, and when the two force current coupling structures are controlled to bend towards each other, the two clamping jaws can be driven to bend towards each other, that is, the two clamping jaws of the gripper can not only bend inwards synchronously, but also bend outwards synchronously to adapt to more different sizes or shapes. At the same time, by providing a gecko-like adsorption enhancement layer, and the flexible electrostatic adsorption enhancement layer is provided on one side of the force-current coupling structure along the thickness direction, and the gecko-like adsorption enhancement layer is provided on the side of the flexible electrostatic adsorption enhancement layer away from the force-current coupling structure, the gecko-like adsorption enhancement layer can provide a van der Waals force, and jointly adsorb the object to be grasped with the electrostatic adsorption force provided by the flexible electrostatic adsorption enhancement layer, thereby enhancing the adsorption effect on the object to be grasped, making it difficult for the object to be grasped to fall after being grasped, thereby improving the grasping force of the electrostatic gripper.

[0009] Optionally, the flexible electrostatic adsorption enhancement layer includes a flexible insulating layer, which extends along the length direction of the force-current coupling structure. Two flexible electrodes are provided in the flexible insulating layer, and the two flexible electrodes are respectively connected to the positive and negative poles of the high-voltage power supply.

[0010] Optionally, the flexible electrode is a rectangular interdigital electrode, a corrugated interdigital electrode, a sawtooth interdigital electrode, a ring-shaped interdigital electrode, or a circular interdigital electrode; or, the pattern of the flexible electrode is a square structure.

[0011] Optionally, the gecko-like adsorption enhancement layer includes a bottom layer and a gecko-like cilia microstructure, the bottom layer is covered on the side of the flexible electrostatic adsorption enhancement layer facing away from the force current coupling structure, the gecko-like cilia microstructure is formed on the side of the bottom layer facing away from the flexible electrostatic adsorption enhancement layer, a plurality of gecko-like cilia microstructures are provided, and the plurality of gecko-like cilia microstructures are arranged in sequence on the bottom layer along the length direction of the force current coupling structure.

[0012] Optionally, the cross section of the gecko cilia imitating microstructure perpendicular to the bottom layer is wedge-shaped or rectangular; or the outer end of the cross section of the gecko cilia imitating microstructure perpendicular to the bottom layer has a chamfer or rounded corner.

[0013] Optionally, the force-current coupling structure includes two force-current coupling drivers, each of the force-current coupling drivers includes a flexible insulating film, a flexible conductive electrode and a dielectric fluid, the peripheries of the two flexible insulating films are connected, the dielectric fluid is wrapped between the two flexible insulating films, the two flexible conductive electrodes are respectively arranged on the outside of the two flexible insulating films, and the two flexible conductive electrodes are respectively connected to the positive and negative poles of a high-voltage power supply. When energized, the two flexible conductive electrodes attract each other to squeeze the dielectric fluid to flow, thereby driving the force-current coupling structure to bend and deform.

[0014] Optionally, the flexible insulating film is made of a flexible insulating material, the flexible conductive electrode is made of a flexible conductive material, and the dielectric liquid is a liquid that does not chemically react with the flexible insulating film.

[0015] Optionally, the force-current coupling structure, the flexible electrostatic adsorption enhancement layer and the gecko-like adsorption enhancement layer constitute a clamp, and two clamps are provided. The two clamps are spaced apart on the support frame, and the gecko-like adsorption enhancement layers of the two clamps are arranged relative to each other.

[0016] Optionally, it also includes a capacitance detector and a control module, wherein the capacitance detector is used to detect the capacitance change of the flexible electrostatic adsorption enhancement layer, and the control module is connected to the capacitance detector and is used to control the force-current coupling structure to bend according to the capacitance change detected by the capacitance detector, so as to give the gripper self-sensing function.

[0017] In a second aspect, the present invention provides a control method for the composite adsorption enhanced force-current coupled flexible electrostatic gripper as described above, comprising the following steps:

[0018] S1: The composite adsorption-enhanced force-current coupled flexible electrostatic gripper approaches the object to be grasped;

[0019] S2: two force-current coupled structures bend in opposite directions;

[0020] S3: Determine whether the composite adsorption enhanced force-current coupled flexible electrostatic gripper can wrap the object to be grasped;

[0021] S4: If yes, go to S5, if no, go to S6;

[0022] S5: the two force-current coupling structures bend toward each other;

[0023] S6: Obtain the capacitance C of the flexible electrostatic adsorption enhancement layer and determine whether C ≥ C1;

[0024] S7: If yes, go to S8, if no, return to S5;

[0025] S8: The flexible electrostatic adsorption enhancement layer adsorbs the object to be grasped;

[0026] S9: the composite adsorption enhanced force-current coupled flexible electrostatic gripper moves to a target position;

[0027] S10: The flexible electrostatic adsorption enhancement layer releases the object to be grasped;

[0028] S11: Determine whether to continue crawling. If so, enter S1; if not, end crawling.

[0029] In the third aspect, the present invention provides a self-sensing method based on the composite adsorption enhanced force current coupled flexible electrostatic gripper as described above, and the self-sensing method of the composite adsorption enhanced force current coupled flexible electrostatic gripper includes: identifying the object based on different capacitance values ​​generated by changes in the material of the object to which the flexible electrostatic adsorption enhancement layer is close. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of a composite adsorption-enhanced force-current coupled flexible electrostatic gripper according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic structural diagram of a flexible electrostatic adsorption enhancement layer according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic structural diagram of a corrugated interdigital electrode according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic structural diagram of a gecko-like adsorption enhancement layer according to an embodiment of the present invention;

[0034] Figure 5 Schematic diagram of the gecko-like adsorption enhancement layer adsorbing an object according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic structural diagram of a bidirectional bending structure according to an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of a bidirectional bending structure bending to the left according to an embodiment of the present invention;

[0037] Figure 8 A schematic diagram of a bidirectional bending structure bending to the right according to an embodiment of the present invention;

[0038] Figure 9This is a schematic diagram of a gripper grasping a planar object according to an embodiment of the present invention;

[0039] Figure 10 A schematic diagram of a gripper grasping a curved object according to an embodiment of the present invention;

[0040] Figure 11 A schematic diagram of a gripper grasping an object larger than the gripper spacing according to an embodiment of the present invention;

[0041] Figure 12 This is a flow chart of a control method for a composite adsorption-enhanced force-current coupled flexible electrostatic gripper according to an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1. Support frame; 2. Bidirectional bending structure; 21. Flexible insulating film; 22. Flexible conductive electrode; 23. Dielectric fluid; 3. Flexible electrostatic adsorption enhancement layer; 31. Flexible insulating layer; 32. Flexible electrode; 4. Gecko-like adsorption enhancement layer; 41. Bottom layer; 42. Gecko-like cilia microstructure; 5. Object to be grasped. DETAILED DESCRIPTION

[0044] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0045] The Z-axis in the accompanying drawings represents the vertical direction, that is, the up-down position, with the positive direction of the Z-axis representing the up direction and the reverse direction of the Z-axis representing the down direction. The Y-axis in the accompanying drawings represents the left-right position, with the positive direction of the Y-axis representing the left direction and the reverse direction of the Y-axis representing the right direction. It should also be noted that the aforementioned Z-axis and Y-axis are merely for the purpose of facilitating the description of the present invention and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0046] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0047] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] The present invention provides a composite adsorption-enhanced force-current coupled flexible electrostatic gripper and a control method thereof, so as to increase the gripping range of the electrostatic adsorption flexible gripper. Detailed description will be given below with reference to specific embodiments.

[0049] like Figure 1 As shown, an embodiment of the present invention provides a composite adsorption enhanced force current coupled flexible electrostatic gripper, comprising a support frame 1, a force current coupling structure 2, a flexible electrostatic adsorption enhancement layer 3 and a gecko-like adsorption enhancement layer 4. One end of the force current coupling structure 2 along the length direction is connected to the support frame 1, and the other end of the force current coupling structure 2 along the length direction is used to bend to both sides in the thickness direction. The flexible electrostatic adsorption enhancement layer 3 is arranged on one side of the force current coupling structure 2 along the thickness direction, and the gecko-like adsorption enhancement layer 4 is arranged on the side of the flexible electrostatic adsorption enhancement layer 3 away from the force current coupling structure 2.

[0050] It should be noted that when the gripper is actually used, the force current coupling structure 2, the flexible electrostatic adsorption enhancement layer 3 and the gecko-like adsorption enhancement layer 4 can be provided in pairs respectively. Specifically, the force current coupling structure 2, the flexible electrostatic adsorption enhancement layer 3 and the gecko-like adsorption enhancement layer 4 form a clamping claw, and two of the clamping claws are provided. The two clamping claws are spaced apart on the support frame 1, and the gecko-like adsorption enhancement layers 4 of the two clamping claws are arranged opposite to each other. The other end of the force current coupling structure 2 along the length direction is a free end. When the free ends of the two force current coupling structures 2 are bent in opposite directions, refer to Figure 1The free end of the force-current coupling structure 2 on the left bends to the left (positive direction of the Y axis), and the free end of the force-current coupling structure 2 on the right bends to the right (negative direction of the Y axis), which can drive the corresponding flexible electrostatic adsorption reinforcement layer 3 and the gecko-like adsorption reinforcement layer 4 to bend, thereby realizing the back-to-back bending of the two clamping jaws. Similarly, when the free ends of the two force-current coupling structures 2 bend toward each other, the two clamping jaws can also bend toward each other.

[0051] In this embodiment, a force-current coupling structure 2 is provided, and one end of the force-current coupling structure 2 along the length direction is connected to the support frame 1, and the other end of the force-current coupling structure 2 along the length direction is used to bend toward both sides of the thickness direction, so that when the two force-current coupling structures 2 are controlled to bend in opposite directions, the two clamping jaws can be driven to bend in opposite directions, and when the two force-current coupling structures 2 are controlled to bend toward each other, the two clamping jaws can be driven to bend toward each other, that is, the two clamping jaws of the gripper can not only bend inwards synchronously, but also bend outwards synchronously to adapt to more objects 5 of different sizes or shapes to be grasped, thereby improving the static grip. The gripping range of the electric gripper; at the same time, by setting a gecko-like adsorption enhancement layer 4, and the flexible electrostatic adsorption enhancement layer 3 is arranged on one side of the force-current coupling structure 2 along the thickness direction, and the gecko-like adsorption enhancement layer 4 is arranged on the side of the flexible electrostatic adsorption enhancement layer 3 away from the force-current coupling structure 2, the gecko-like adsorption enhancement layer 23 can provide van der Waals force, and jointly adsorb the object 5 to be grasped with the electrostatic adsorption force provided by the flexible electrostatic adsorption enhancement layer 3, thereby enhancing the adsorption effect on the object 5 to be grasped, so that the object 5 to be grasped is not easy to fall after being grasped, thereby improving the gripping force of the electrostatic gripper.

[0052] Alternatively, as Figure 2 As shown, the flexible electrostatic adsorption enhancement layer 3 includes a flexible insulating layer 31, which extends along the length direction of the force-current coupling structure 2. Two flexible electrodes 32 are provided in the flexible insulating layer 31, and the two flexible electrodes 32 are respectively connected to the positive and negative poles of the high-voltage power supply.

[0053] Among them, the material of the flexible insulating layer 31 can be a flexible insulating material, preferably an insulating material with a high dielectric constant to increase the electrostatic adsorption force; the material of the flexible electrode 32 can be a flexible electrode material, such as carbon black, conductive carbon grease, conductive ink, conductive silver paste, etc.

[0054] In this optional embodiment, two flexible electrodes 32 are provided in the flexible insulating layer 31, which are respectively connected to the positive and negative poles of the high-voltage power supply. When the high-voltage power supply applies high voltage to the two flexible electrodes 32, the flexible electrostatic adsorption enhancement layer 3 will generate a high-voltage electric field. The object 5 to be grasped will be polarized under the high-voltage electric field to generate polarized charges with opposite polarity to the internal charges of the flexible electrodes 32. The positive and negative charges attract each other to generate adsorption force, thereby realizing the electrostatic adsorption of the flexible electrostatic adsorption enhancement layer 3 on the object 5 to be grasped.

[0055] Optionally, the flexible electrode 32 is a rectangular interdigital electrode, a corrugated interdigital electrode, a sawtooth interdigital electrode, a ring interdigital electrode, or a circular interdigital electrode; or, the pattern of the flexible electrode 32 is a square structure. Figure 3 , Figure 3 3 is a schematic structural diagram of a corrugated interdigital electrode, in which the two parts of the corrugated interdigital electrode are two flexible electrodes 32 .

[0056] Alternatively, as Figure 4 and Figure 5 As shown, the gecko-like adsorption enhancement layer 4 includes a bottom layer 41 and a gecko-like cilia microstructure 42. The bottom layer 41 is covered on the side of the flexible electrostatic adsorption enhancement layer 3 facing away from the force current coupling structure 2. The gecko-like cilia microstructure 42 is formed on the side of the bottom layer 41 facing away from the flexible electrostatic adsorption enhancement layer 3. A plurality of gecko-like cilia microstructures 42 are provided, and a plurality of the gecko-like cilia microstructures 42 are arranged in sequence along the length direction of the force current coupling structure 2 on the bottom layer 41.

[0057] In this optional embodiment, the gecko-like adsorption enhancement layer 4 is composed of a bottom layer 41 and a gecko-like ciliary microstructure 42, so that when the gecko-like adsorption enhancement layer 4 is close to the object to be grasped 5, van der Waals forces will be generated between the multiple gecko-like ciliary microstructures 42 and the surface of the object to be grasped 5, thereby achieving the adsorption of the gecko-like adsorption enhancement layer 4 on the object to be grasped 5.

[0058] Optionally, the cross section of the gecko cilia imitating microstructure 42 perpendicular to the bottom layer 41 is wedge-shaped or rectangular; or the outer end of the cross section of the gecko cilia imitating microstructure 42 perpendicular to the bottom layer 41 has a chamfer or rounded corner.

[0059] Alternatively, as Figure 6 As shown, the force-current coupling structure 2 includes two force-current coupling drivers, each of which includes a flexible insulating film 21, a flexible conductive electrode 22 and a dielectric liquid 23. The peripheries of the two flexible insulating films 21 are connected, and the dielectric liquid 23 is wrapped between the two flexible insulating films 21. The two flexible conductive electrodes 22 are respectively arranged on the outside of the two flexible insulating films 21, and the two flexible conductive electrodes 22 are respectively connected to the positive and negative poles of the high-voltage power supply. When energized, the two flexible conductive electrodes 22 attract each other to squeeze the dielectric liquid 23 to flow, thereby driving the force-current coupling structure 2 to bend and deform.

[0060] It should be noted that the specific working principle of the force-current coupling structure 2 is as follows: when the two flexible conductive electrodes 22 of the left force-current coupling driver are energized and the two flexible conductive electrodes 22 of the right force-current coupling driver are not energized, the two flexible conductive electrodes 22 connected to the positive and negative poles respectively will attract each other, thereby squeezing the dielectric fluid 23 between them, causing the dielectric fluid 23 to move downward, thereby driving the lower end of the left force-current coupling driver to bend to the left, thereby realizing the bending of the entire force-current coupling structure 2 to the left. The specific change process can be referred to Figure 6 and Figure 7 When the two flexible conductive electrodes 22 of the right force-current coupling driver are energized and the two flexible conductive electrodes 22 of the left force-current coupling driver are not energized, the two flexible conductive electrodes 22 connected to the positive and negative poles will attract each other, thereby squeezing the dielectric fluid 23 between them and causing the dielectric fluid 23 to move downward, thereby driving the lower end of the right force-current coupling driver to bend to the right, thereby achieving the right bending of the entire force-current coupling structure 2. The specific change process can be referred to Figure 6 and Figure 8 .

[0061] In this optional embodiment, the force-current coupling structure 2 includes two force-current coupling drivers, each of which includes a flexible insulating film 21, a flexible conductive electrode 22 and a dielectric fluid 23. When different force-current coupling drivers are energized, the force-current coupling structure 2 can be controlled to bend in the corresponding direction, thereby realizing bidirectional bending of the force-current coupling structure 2.

[0062] Optionally, the flexible insulating film 21 is made of a flexible insulating material, the flexible conductive electrode 22 is made of a flexible conductive material, and the dielectric liquid 23 is a liquid that does not chemically react with the flexible insulating film 21 .

[0063] Optionally, the composite adsorption enhanced force-current coupled flexible electrostatic gripper further includes a capacitance detector and a control module, wherein the capacitance detector is used to detect the capacitance change of the flexible electrostatic adsorption enhanced layer 3, and the control module is connected to the capacitance detector and is used to control the bending of the force-current coupled structure 2 according to the capacitance change detected by the capacitance detector, so as to give the gripper a self-sensing function.

[0064] It is understood that the flexible electrostatic adsorption enhancement layer 3 is composed of a flexible insulating film 31 and two flexible electrodes 32. When the material of the object 5 to be grasped near the gripper changes, the capacitance of the flexible electrode 32 will change. When the distance between the object 5 to be grasped and the flexible electrostatic adsorption enhancement layer 3 changes, the capacitance of the flexible electrode 32 will also change. In this optional embodiment, by providing a capacitance detector and a control module, the capacitance detector can be used to timely detect the capacitance change of the flexible electrostatic adsorption enhancement layer 3, and the control module can control the force-current coupling structure 2 to bend according to the capacitance change. For example, the bending adjustment can be achieved by controlling the power on and off of the two force-current coupling drivers of the force-current coupling structure 2, thereby achieving self-perception of changes in the distance of the object or changes in the material of the object, facilitating timely control of the force-current coupling structure 2 to perform actions based on the perception results, thereby improving the automation level of the gripper.

[0065] The embodiment of the present invention provides a control method for the composite adsorption enhanced force current coupled flexible electrostatic gripper as described above, such as Figure 12 As shown, the following steps are included:

[0066] S1: The composite adsorption enhanced force-current coupled flexible electrostatic gripper approaches the object to be grasped 5;

[0067] S2: two force-current coupled structures 2 bend in opposite directions;

[0068] S3: Determine whether the composite adsorption enhanced force-current coupled flexible electrostatic gripper can wrap the object 5 to be grasped;

[0069] S4: If yes, go to S5, if no, go to S6;

[0070] S5: The two force-current coupling structures 2 bend toward each other;

[0071] S6: Obtain the capacitance C of the flexible electrostatic adsorption enhancement layer 3 and determine whether C ≥ C1;

[0072] S7: If yes, go to S8, if no, return to S5;

[0073] S8: The flexible electrostatic adsorption enhancement layer 3 adsorbs the object 5 to be grasped;

[0074] S9: the composite adsorption enhanced force-current coupled flexible electrostatic gripper moves to a target position;

[0075] S10: The flexible electrostatic adsorption enhancement layer 3 releases the object 5 to be grasped;

[0076] S11: Determine whether to continue crawling. If so, enter S1; if not, end crawling.

[0077] It should be noted that the method for judging whether the gripper can wrap around the object 5 to be grasped can be judged by the size and shape of the object 5 to be grasped. For example, when the grasped object 5 is a planar object whose size is larger than the gripper spacing (i.e., the spacing between the two clamping jaws), it is judged that the gripper cannot wrap around the object 5 to be grasped; when the grasped object 5 is a planar or curved object whose size is smaller than the gripper spacing, it is judged that the gripper can wrap around the object 5 to be grasped. For the grasping diagram of a planar object whose size is smaller than the gripper spacing, please refer to Figure 9 For the grasping diagram of curved objects whose size is smaller than the gripper spacing, please refer to Figure 10 For the grasping diagram of planar objects whose size is larger than the gripper spacing, please refer to Figure 11 C1 is the target capacitance value. When the capacitance of the flexible electrostatic adsorption enhancement layer 3 reaches C1, it indicates that the gripper has been attached to the object 5 to be grasped. At this time, the flexible electrostatic adsorption enhancement layer 3 is energized, and the flexible electrostatic adsorption enhancement layer 3 can successfully adsorb the object 5 to be grasped.

[0078] In this embodiment, the control method energizes the flexible electrostatic adsorption enhancement layer 3 to adsorb the object 5 to be grasped until the capacitance of the flexible electrostatic adsorption enhancement layer 3 reaches the target capacitance value C1 when the gripper approaches the object 5 to be grasped. In this way, self-perception of the capacitance change caused by the change in the distance between the object 5 to be grasped and the flexible electrostatic adsorption enhancement layer 3 during the grasping process is achieved, which is conducive to more intelligent and accurate adsorption and grasping of the object.

[0079] An embodiment of the present invention provides a self-sensing method based on the composite adsorption enhanced force-current coupled flexible electrostatic gripper as described above. The self-sensing method of the composite adsorption enhanced force-current coupled flexible electrostatic gripper includes: identifying the object based on different capacitance values ​​generated by changes in the material of the object to which the flexible electrostatic adsorption enhanced layer 3 is close.

[0080] It can be understood that when the flexible electrostatic adsorption enhancement layer 3 is close to an object, if the object is different, its material will be different, which will cause the flexible electrostatic adsorption enhancement layer 3 to have different capacitance values. Then, when the flexible electrostatic adsorption enhancement layer 3 is close to the object, the material of the object can be determined based on the capacitance of the flexible electrostatic adsorption enhancement layer 3, and finally the object can be identified.

[0081] In this embodiment, the object recognition method identifies the object based on the different capacitance values ​​generated by the material change of the object approached by the flexible electrostatic adsorption enhancement layer 3, and utilizes the self-sensing function of the gripper to the capacitance change caused by the material change of the object approached, thereby achieving accurate recognition of the object.

[0082] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A composite adsorption enhanced force-current coupled flexible electrostatic gripper, characterized in that: The invention comprises a support frame (1), a force-current coupling structure (2), a flexible electrostatic adsorption enhancement layer (3) and a gecko-like adsorption enhancement layer (4); one end of the force-current coupling structure (2) along the length direction is connected to the support frame (1); the other end of the force-current coupling structure (2) along the length direction is used to bend in both directions in the thickness direction; the flexible electrostatic adsorption enhancement layer (3) is arranged on one side of the force-current coupling structure (2) along the thickness direction; the gecko-like adsorption enhancement layer (4) is arranged on the side of the flexible electrostatic adsorption enhancement layer (3) away from the force-current coupling structure (2); the force-current coupling structure (2) comprises two force-current coupling drivers, each of the force-current coupling drivers comprises a flexible insulating film (21), a flexible conductive electrode (22) and a dielectric liquid (23); when different force-current coupling drivers are energized, the force-current coupling structure (2) can be controlled to bend in corresponding directions, thereby realizing bidirectional bending of the force-current coupling structure (2).

2. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1 is characterized in that: The flexible electrostatic adsorption enhancement layer (3) comprises a flexible insulating layer (31), the flexible insulating layer (31) extending along the length direction of the force-current coupling structure (2), and two flexible electrodes (32) provided in the flexible insulating layer (31), the two flexible electrodes (32) being connected to the positive and negative poles of a high-voltage power supply, respectively.

3. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 2 is characterized in that: The flexible electrode (32) is a rectangular interdigital electrode, a corrugated interdigital electrode, a sawtooth interdigital electrode, a ring-shaped interdigital electrode, or a circular interdigital electrode; or the pattern of the flexible electrode (32) is a square structure.

4. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1 is characterized in that: The gecko-like adsorption enhancement layer (4) comprises a bottom layer (41) and a gecko-like cilia microstructure (42), wherein the bottom layer (41) is covered on the side of the flexible electrostatic adsorption enhancement layer (3) away from the force-current coupling structure (2), and the gecko-like cilia microstructure (42) is formed on the side of the bottom layer (41) away from the flexible electrostatic adsorption enhancement layer (3), and a plurality of the gecko-like cilia microstructures (42) are provided, and the plurality of the gecko-like cilia microstructures (42) are sequentially spaced and arranged on the bottom layer (41) along the length direction of the force-current coupling structure (2).

5. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 4 is characterized in that: The cross section of the gecko cilia imitating microstructure (42) perpendicular to the bottom layer (41) is wedge-shaped or rectangular; or the outer end of the cross section of the gecko cilia imitating microstructure (42) perpendicular to the bottom layer (41) has a chamfer or rounded corner.

6. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1, characterized in that: The peripheries of the two flexible insulating films (21) are connected, the dielectric liquid (23) is wrapped between the two flexible insulating films (21), the two flexible conductive electrodes (22) are respectively arranged on the outside of the two flexible insulating films (21), the two flexible conductive electrodes (22) are respectively connected to the positive and negative poles of the high-voltage power supply, and the two flexible conductive electrodes (22) attract each other when energized to squeeze the dielectric liquid (23) to flow, thereby driving the force-current coupling structure (2) to bend and deform.

7. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 6, characterized in that: The material of the flexible insulating film (21) is a flexible insulating material, the material of the flexible conductive electrode (22) is a flexible conductive material, and the dielectric liquid (23) is a liquid that does not chemically react with the flexible insulating film (21).

8. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1, characterized in that: The force-current coupling structure (2), the flexible electrostatic adsorption enhancement layer (3) and the gecko-like adsorption enhancement layer (4) form a clamping jaw, and two clamping jaws are provided. The two clamping jaws are spaced apart on the support frame (1), and the gecko-like adsorption enhancement layers (4) of the two clamping jaws are arranged relative to each other.

9. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1, characterized in that: The gripper further comprises a capacitance detector and a control module, wherein the capacitance detector is used to detect capacitance changes of the flexible electrostatic adsorption enhancement layer (3); and the control module is connected to the capacitance detector and is used to control the force-current coupling structure (2) to bend according to the capacitance changes detected by the capacitance detector, so as to give the gripper a self-sensing function.

10. A control method for the composite adsorption enhanced force-current coupled flexible electrostatic gripper according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The composite adsorption-enhanced force-current coupled flexible electrostatic gripper approaches the object to be grasped (5); S2: Two force-current coupled structures (2) bend away from each other; S3: Determine whether the composite adsorption enhanced force-current coupled flexible electrostatic gripper can wrap the object to be grasped (5); S4: If yes, go to S5, if no, go to S6; S5: the two force-current coupling structures (2) bend toward each other; S6: Obtain the capacitance C of the flexible electrostatic adsorption enhancement layer (3), and determine whether C≥C1; S7: If yes, go to S8, if no, return to S5; S8: The flexible electrostatic adsorption enhancement layer (3) adsorbs the object to be grasped (5); S9: the composite adsorption enhanced force-current coupled flexible electrostatic gripper moves to a target position; S10: the flexible electrostatic adsorption enhancement layer (3) releases the object to be grasped (5); S11: Determine whether to continue crawling. If so, enter S1; if not, end crawling.

11. A self-sensing method based on the composite adsorption enhanced force-current coupled flexible electrostatic gripper according to any one of claims 1 to 9, characterized in that: The self-sensing method of the composite adsorption enhanced force-current coupled flexible electrostatic gripper comprises: identifying the object according to different capacitance values ​​generated by material changes of the object to which the flexible electrostatic adsorption enhanced layer (3) is close.

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