Quick-response bistable mechanical gripper of programmable energy barrier and use method of quick-response bistable mechanical gripper

Abstract

The invention provides a quick response bistable mechanical gripper of a programmable energy barrier and a use method, and belongs to the technical field of robots. In the gripper, a rigid clamping jaw is fixedly connected to the side of a fixed clamping plate, the fixed clamping plate is rotationally installed at the upper end of a sliding block around a pin shaft, and a flexible buckling beam is arranged in a gap of the fixed clamping plate. The sliding block is fixedly connected with a rack, and the rack is meshed with a gear in the box body. When the motor is driven, the rocker arm pushes the sliding blocks to move along the guide shaft, through transmission conversion of rack-gear-rack, reverse displacement is generated on the sliding blocks on the side, the two sliding blocks achieve reverse movement, the fixing clamping plates rotate around the shaft, and the flexible buckling beam is pressed to be bent. The process can adjust the threshold value of the energy barrier of the bistable structure and change the triggering condition. And after being impacted by an object, the clamping device can jump quickly and actively increase the clamping force. The mechanical gripper has the advantages of being adjustable in energy barrier, simple in structure, fast in response, low in cost and the like, and the problem that an existing mechanical gripper cannot achieve soft triggering and stable clamping at the same time is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to a fast-response bistable mechanical gripper with a programmable energy barrier and a use method thereof. Background Art

[0002] Existing rigid grippers lack adaptability and flexibility, making it difficult to grasp irregularly shaped or soft objects and easily causing unnecessary damage to the surface of objects when grasping lightweight and fragile objects. Existing flexible gripper drive devices are complex, the grasping response is slow and the grasping force is generally small. The above disadvantages have hindered the application of rigid and flexible grippers in some specific working environments.

[0003] Bistable means that the system has two statically balanced steady states, that is, the minimum energy value. The system can switch between the two steady states through jumps. At the same time, the energy stored in the energy barrier can be quickly released to achieve the amplification effect of the output force or energy. The superior mechanical properties of the steady-state structure give it broad application prospects in energy collection, impact energy absorption, vibration isolation, etc. However, current research on bistable structures mainly focuses on their stable states. The energy barrier is determined by pre-set structural parameters, materials and driving methods, and cannot be dynamically adjusted. It is difficult to adapt to the grasping operations of different targets with large kinetic energy differences at the same time. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art and the need for improvement, the present invention provides a fast-response bistable mechanical gripper with a programmable energy barrier, which has the advantages of strong grasping ability, fast response speed, adjustable energy barrier, simple structure, and strong adaptability.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A fast-response bistable mechanical gripper with a programmable energy barrier, comprising a bracket 1, a box 2, a guide shaft 3, a left slider 4, a rigid clamp 5, a flexible buckling beam 6, a fixed clamp 7, a pin 8, a right slider 9, a gear 10, a rack 11, a rocker arm 12, a steering gear 13, and a steering gear disc 14, wherein the steering gear 13 is an energy supply component, the steering gear disc 14 and the rocker arm 12 are transmission components, and the energy supply component and the transmission component constitute a driving device. Specifically:

[0007] The lower surface of the box body 2 is fitted with the upper surface of the bracket 1 and fixedly connected by bolts.

[0008] The servo 13 is mounted on the bracket 1 by bolts. Controlling the forward and reverse rotation of the servo 13 can actively adjust the energy barrier of the bistable structure and clamp or release the target object. The user can also replace the servo with other driving devices such as a motor and a magnetic source according to different requirements of the working scene.

[0009] The steering gear disc 14 is connected to the steering gear 13 by bolts, and transmits the rotation torque of the steering gear 13 to the connected component, namely the rocker arm 12; one end of the rocker arm 12 is fixed to the steering gear disc 14 by bolts, and the boss at the other end is inserted into the rectangular slide groove on the side of the slider to form a moving pair. The center lines of the mounting hole of the rocker arm 12, the mounting hole of the steering gear disc 14, and the output shaft hole of the steering gear 13 coincide.

[0010] The lower surface of the slider is in contact with the inner surface of the box body 2, and one slider is symmetrically arranged on each side, including a left slider 4 and a right slider 9. The sliders are provided with two through holes with parallel axes in the horizontal direction; a rectangular slide groove 401 is provided on the side of the left slider 4, and the boss of the rocker arm 12 moves horizontally within the travel range of the rectangular slide groove 401.

[0011] The rack 11 is integrally formed with the left and right sliders or bonded together, and meshes with the gear 10. The two racks move in opposite directions, driving the left and right sliders to move in opposite directions. The gear 10 is mounted on the inner surface of the box 2 through a pin.

[0012] The guide shafts 3 are two in number, and coincide with the center lines of the through holes on the side of the box body 2, the through holes on the left slider 4, and the through holes on the right slider 9, and play a guiding role. The two ends of the two guide shafts 3 are located in the same plane as the left and right surfaces of the box body 2.

[0013] The two ends of the fixed clamping plate 7 are respectively installed on the upper ends of the two sliders through the pin shaft 8, and the pin shaft hole is coaxially matched with the circular hole of the boss on the slider to form a revolute pair. The two ends of the flexible buckling beam 6 are fixed in the gap between the two fixed clamping plates 7 by bolts, and the two rigid clamping claws 5 are respectively bonded to the side of the fixed clamping plate 7. When the gripper grabs an object, the two rigid clamping claws cross and self-lock.

[0014] Furthermore, the bracket 1 is provided with two pairs of mounting holes on its surface for fixing the steering gear 13. The gear 10 is installed on the reserved hole position on the lower surface of the box body 2 by rotating the pin. The box body 2 is provided with a rectangular groove on the front side of the box wall, and two through holes with parallel axes are provided on the left and right sides. The flexible buckling beam 6 is provided with two pairs of symmetrical mounting holes, which are fixed in the gap of the fixing clamp plate by bolts.

[0015] Furthermore, the rocker arm 12 is L-shaped, and two through holes are provided on the long side arm, which are respectively used to fix with the output shaft of the servo 13 and the servo disc 14, and a disc boss is provided on the short side arm, which is placed in the rectangular slide groove 401 on the side of the left slider 4.

[0016] Furthermore, the rigid clamping jaw 5 is a cross-tooth structure, which can achieve physical self-locking during the closing process.

[0017] Furthermore, boss brackets are provided at the upper ends of the left slider 4 and the right slider 9, coaxially matched with the fixed clamping plate 7 to form a revolute pair.

[0018] Furthermore, upper and lower bosses are provided at opposite ends of the two fixing clamping plates 7 , the distance between the upper and lower bosses is ≤1 mm, and two through holes for fixing the flexible buckling beam 6 are provided.

[0019] Furthermore, the flexible buckling beam 6 is a PVC film, and its thickness should be less than the distance between the upper and lower bosses of the fixed clamping plate 7. In addition, folds or holes can be provided on the PVC film to improve energy efficiency.

[0020] Furthermore, the guide shaft 3 is a 304 stainless steel round bar.

[0021] Furthermore, the bistable gripper can be installed as an end effector at the end of an industrial robot, or it can be arranged in batch clusters to meet different operational requirements.

[0022] A fast-response bistable mechanical gripper with programmable energy barriers comprises the following steps:

[0023] In the first step, the servo 13 rotates to drive the servo disc 14 and the rocker arm 12 to move together. The rocker arm boss in the rectangular slide groove 401 on the side of the left slider 4 drives the left slider 4 to move horizontally along the guide shaft 3. Since the left slider 4 is fixed to the rack 11, the displacement of the rack 11 causes the gear 10 to rotate. The opposite rack 11 is driven by the meshing transmission to drive the right slider 9 to move the same distance in the opposite direction along the displacement of the left slider 4. The left and right sliders move towards each other so that the flexible buckling beam 6 is compressed, the fixed clamp 7 rotates around the pin 8, and the flexible buckling beam 6 arches upward to reach the preparatory (first stable) state. Different upward arch amplitudes correspond to different energy barriers and trigger conditions. The user can adjust the upward arch amplitude of the flexible buckling beam 6 according to the different requirements of the task through the above steps, and then actively realize the adjustment of the energy barrier of the bistable structure.

[0024] In the second step, the target object falls under the influence of gravity. When the target object contacts the flexible buckling beam 6, the flexible buckling beam 6 jumps and quickly concave. At the same time, the fixed clamp 7 flips downward around the pin 8, and the rigid clamp 5 bonded to the fixed clamp 7 closes and self-locks to capture the target object. The mechanical gripper reaches the grasping (second steady state) state.

[0025] In the third step, the servo 13 continues to drive the left slider 4 to move along the guide shaft 3. Due to the meshing transmission of the rack-gear-rack, the right slider 9 and the left slider 4 move toward each other, the flexible buckling beam 6 continues to be pressed downward, and the rigid clamping jaws 5 cross-lock more tightly. Active clamping of the mechanical gripper is achieved in this step.

[0026] The fourth step, after reaching the release position, the servo 13 reverses, and the rocker arm 12 drives the left slider 4 to move in the opposite direction. Due to the meshing transmission of the rack-pinion-rack, the right slider 9 moves away from the left slider 4 in the opposite direction, and the rigid clamp 5 releases the cross self-locking and is released. At the same time, the flexible buckling beam 6 is pulled horizontally, and the fixed splint 7 flips around the pin 8 to a horizontal state, releasing the target object, and the mechanical gripper returns to its initial state.

[0027] Repeated grasping and releasing actions can be completed in this way.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The present invention has a simple structure and an ingenious design. The rocker-slide structure converts rotary motion into linear motion, and the rack-pinion-rack meshing transmission is used to achieve synchronous motion of the left and right sliders. It is easy to mass produce, uses a light steering gear as energy input, has low cost, high energy utilization, and provides the possibility of miniaturization of the whole machine;

[0030] (2) The present invention has the advantages of strong grasping ability, fast response speed, and low energy consumption, and can adapt to complex, irregular, soft and fragile objects;

[0031] (3) The present invention can actively adjust the energy barrier threshold of the bistable structure by driving the slider to move, change the critical triggering conditions, and quickly adapt to the operation requirements of different objects and different scenes;

[0032] (45) The present invention can realize passive triggering and active clamping. When the gripper is triggered by the impact of the target object, it quickly grasps the object and actively increases the gripping force of the gripper to prevent it from falling off.

[0033] In summary, the present invention has the advantages of adjustable energy barrier, simple structure, fast response and low cost. It solves the problem that the existing bistable mechanical gripper cannot achieve gentle triggering and stable clamping at the same time. It can be applied to the end effector of an industrial robot arm or through cluster control to achieve fast and repetitive grasping and capturing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of a fast-response bistable mechanical gripper with a programmable energy barrier of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the box and the bracket of the present invention;

[0036] Figure 3 It is a schematic diagram of the structure of the execution part of the present invention;

[0037] Figure 4 It is a structural schematic diagram of the rigid clamping jaw of the present invention;

[0038] Figure 5 It is a schematic diagram of the preparatory (first stable state) state of the bistable gripper of the present invention;

[0039] Figure 6 It is a schematic diagram of the grasping (second stable state) state of the bistable gripper of the present invention;

[0040] Figure 7 It is a schematic diagram of the process of adjusting the energy barrier by the bistable gripper of the present invention;

[0041] Figure 8 It is a schematic diagram of the transition of the bistable gripper of the present invention from an initial state-a first stable state-a second stable state;

[0042] In the figure: 1 bracket, 2 box, 3 guide shaft, 4 left slider, 5 rigid clamp, 6 flexible buckling beam, 7 fixed clamp, 8 pin, 9 right slider, 10 gear, 11 rack, 12 rocker arm, 13 steering gear, 14 steering gear plate;

[0043] 101 slotted hole; 102 servo mounting hole; 1001 gear pin;

[0044] Bolt 201; guide shaft through hole 202; gear pin shaft mounting hole 203;

[0045] 401 rectangular chute;

[0046] 501 is the first clamping jaw; 502 is the second clamping jaw; 503 is the peak portion of the clamping jaw; 504 is the valley portion of the clamping jaw. DETAILED DESCRIPTION

[0047] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0048] like Figure 1As shown, the present invention provides a fast-response bistable mechanical gripper with a programmable energy barrier, which specifically includes a bracket 1, a box 2, a guide shaft 3, a left slider 4, a rigid clamp 5, a flexible buckling beam 6, a fixed splint 7, a pin 8, a right slider 9, a gear 10, a rack 11, a rocker arm 12, a servo 13, and a servo disc 14; the upper surface of the bracket 1 and the lower surface of the box 2 are fitted and fastened, the servo 13 is installed on the bracket 1, and the gear 10 is installed on the inner surface of the box 2 through a pin; the center lines of the mounting hole of the rocker arm 12, the mounting hole of the servo disc 14, and the output shaft hole of the servo 13 coincide with each other, and are connected by M3 bolts; the bottom surfaces of the left slider 4 and the right slider 9 are aligned with the bottom surfaces of the box 2 The inner surface is fitted, the rack 11 and the slider 4 / 9 are an integrated structure or bonded together and meshed with the gear 10 for transmission; the guide shaft 3 coincides with the center lines of the through holes on the side of the box 2, the through holes of the left slider 4, and the through holes of the right slider 9, playing a guiding role, and its two ends are located in the same plane as the left and right surfaces of the box 2; a rectangular slide groove is provided on the side of the left slider 4, and the boss disk of the rocker arm 12 is installed in the slide groove and can slide within the stroke range, thereby driving the slider 4 / 9 to move; the fixed clamping plate 7 is installed on the upper end of the slider 4 / 9 to rotate around the pin 8 to form a rotating pair, and the flexible buckling beam 6 is fixed in the gap of the fixed clamping plate 7 by bolts, and the rigid clamping claw 5 is bonded to the side of the fixed clamping plate 7. In the initial state, the motor drives the two sliders to move toward each other, the fixed clamping plate is pressed to rotate upward around the pin, and the flexible buckling beam arches upward. This process can adjust the threshold of the energy barrier to change the triggering condition of the bistable state. Under the impact of the target object, the flexible buckling beam quickly jumps down, the fixed clamp flips downward around the axis and drives the clamp to close and self-lock, realizing rapid switching between the two states; at this time, the motor drives the slider to continue to move toward each other, increasing the clamping force of the clamp.

[0049] like Figure 2 It is a structural schematic diagram of the box body 2 and the bracket 1 of the present invention, both of which are made of resin material through 3D printing technology; the side of the bracket 1 is provided with a slot 101 for the power cord of the servo 13 to pass through, and the boss is provided with four servo mounting holes 102; the side and inner surface of the box body 2 are respectively provided with a guide shaft through hole 202 and a gear pin shaft mounting hole 203, and the front is provided with a rectangular groove for limiting the displacement of the left slider 4; the bracket 1 and the box body 2 are fastened together by three bolts 201.

[0050] like Figure 3Schematic diagram of the structure of the execution part of the present invention, the rack 11 and the slider 4 / 9 are an integral structure or bonded together, the gear 10 is installed on the inner surface of the box body 2 through the gear pin 1001, the gear 10 and the rack 11 mesh and move to drive the slider 4 / 9 to move toward / inversely; preferably, the gear rack part needs to be sprayed with lubricating oil regularly to reduce friction and ensure smooth and efficient transmission process; the guide shaft 3 passes through the through holes reserved for the left slider 4 and the right slider 9 to play a supporting and guiding role, preferably, the material of the guide shaft 3 is 304 stainless steel; it is worth noting that the side of the left slider 4 is provided with a rectangular slide groove 4 01, the boss disc of the rocker arm 12 is installed in the slide groove and can be displaced within the stroke range. The function of the slide groove is to limit the movement of the rocker arm and convert the circular rotation of the rocker arm into the horizontal movement of the slider; a bracket is provided at the upper end of the slider 4 / 9, and the axial hole of the boss on the bracket is coaxially matched with the axial hole of the fixed clamping plate 7 and connected through a pin 8. The fixed clamping plate 7 can rotate around the pin 8 to adjust the posture of the flexible buckling beam 6; two pairs of mounting holes 701 are provided on the clamping plate, which are subsequently fixed to the mounting holes on the flexible buckling beam 6 by bolts; preferably, the material of the flexible buckling beam is PVC film.

[0051] like Figure 4 The figure is a schematic diagram of the structure of the rigid clamp, wherein the first clamp 501 and the second clamp 502 are cross structures. When the bistable gripper grasps the target object, the clamp peak 503 and the clamp valley 504 are cross-clamped to form a physical self-locking.

[0052] Figure 5 3 is a schematic diagram of the state of the preparatory (first stable state) state of the bistable gripper. The process of reaching this state is: the servo 13 is powered on to rotate and drive the rocker arm 12 to make circular motion. Due to the limitation of the slide groove 401 on the left slider 4, the circular motion of the rocker arm 12 is converted into horizontal motion of the left slider 4. The rocker arm 12 pushes the left slider 4 to move horizontally along the direction of the guide shaft 3. During this process, the rack 11 drives the gear 10 meshing with it to rotate, so that the rack and the slider on the opposite side move in opposite directions, which causes the fixed splint 7 to be pressed and flipped upward around the pin 8, the flexible buckling beam 6 to be pressed and arched, and the rigid clamp 5 to be turned outward. On the contrary, the flexible buckling beam is stretched and unfolded until it is horizontal. The above process can actively regulate the energy barrier of the bistable gripper to change the triggering conditions of the bistable state. It is worth noting that the smaller the spacing between the left and right sliders, the larger the upward flipping angle of the fixed splint 7, the larger the convex arch amplitude of the flexible buckling beam 6, the more stringent the triggering conditions, and the greater the energy stored in the energy barrier. By triggering the adjustment of the energy barrier, the gripper can simultaneously meet the grasping requirements of different target objects with large differences in kinetic energy, achieving the effects of adaptive grasping and targeted buffering.

[0053] Figure 6It is a state diagram of the grasping (second stable state) state of the bistable gripper, and the process of reaching this state is: when the gripper is in the first stable state, the flexible buckling beam 6 convexly arches upward, and when the target object impacts, the flexible buckling beam 6 is triggered to quickly concave, and the fixed clamping plate 7 flips downward around the pin shaft 8 and drives the rigid clamping claw 5 to close and self-lock, thereby realizing a rapid switch from the first stable state to the second stable state; at this time, the servo drives the slider to continue to move toward each other, and the target object is clamped and cannot fall off, and this process realizes the automatic triggering and active clamping of the bistable gripper; the servo is driven to reverse so that the left and right sliders move back to back, the flexible buckling beam 6 is stretched and unfolded, the fixed clamping plate 7 flips upward, and the target object is released, and the above process is repeated to realize rapid and repeated grasping and releasing operations.

[0054] Figure 7 It is a schematic diagram of the process of adjusting the energy barrier of the bistable gripper of the present invention. Figure 5 Supplementary description: It should be noted that when the flexible buckling beam 6 presents different convex arch amplitudes, the energy stored in its energy barrier is also different, and the jump triggering condition is also changed accordingly.

[0055] Figure 8 It is a schematic diagram of the transition of the bistable gripper of the present invention from an initial state-a first stable state-a second stable state. The working process of a fast-response bistable mechanical gripper with a programmable energy barrier is: when the bistable gripper is in the initial state, the sliding block rack is driven to move by adjusting the rotation angle of the servo, thereby affecting the upward arch amplitude of the flexible buckling beam, thereby realizing active adjustment of the energy barrier and trigger conditions of the bistable structure, and the gripper is in the first stable state at this time; when impacted by the target object, the gripper quickly jumps from the first stable state to the second stable state, and the clamping jaws cross and close at the same time. At this time, the control slider continues to move toward each other, actively clamps the target object, and improves the reliability of grasping. After completing the grasping action, the servo reverses and drives the slider to move backward, the gripper is released, the target object is released, and the initial state is restored; this reciprocating process can complete repeated grasping and releasing actions.

[0056] The basic principle of the present invention is described above in conjunction with specific embodiments, but it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and facilitation of understanding, rather than limitation, and the above details do not limit the present invention to being implemented by adopting the above specific details.

[0057] The above-described embodiments merely express the implementation methods of the present invention, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A fast-response bistable mechanical gripper with programmable energy barriers, characterized in that: The fast response bistable mechanical gripper comprises a bracket (1), a box (2), a guide shaft (3), a rigid clamp (5), a flexible buckling beam (6), a fixed clamp (7), a pin (8), a slider, a gear (10), a rack (11), a rocker arm (12), a steering gear (13), and a steering gear disc (14), wherein the steering gear (13) is an energy supply component, the steering gear disc (14) and the rocker arm (12) are transmission components, and the energy supply component and the transmission component constitute a driving device; specifically: The lower surface of the box (2) is fixedly connected to the upper surface of the bracket (1); the steering gear (13) is installed on the bracket (1); The steering gear disc (14) is connected to the steering gear (13) to transmit the rotational torque of the steering gear (13) to the connected rocker arm (12); one end of the rocker arm (12) is fixed on the steering gear disc (14), and the boss at the other end is inserted into the rectangular slide groove on the side of the slider to form a moving pair; the center lines of the mounting hole of the rocker arm (12), the mounting hole of the steering gear disc (14) and the output shaft hole of the steering gear (13) coincide with each other; The lower surface of the slider is in contact with the inner surface of the box body (2), and one slider is symmetrically arranged on each side, including a left slider (4) and a right slider (9), and the slider is provided with two through holes with parallel axes in the horizontal direction; The rack (11) is an integral structure or bonded together with the left and right sliders, and meshes with the gear (10). The two racks move in opposite directions, driving the left and right sliders to move in opposite directions. The gear (10) is mounted on the inner surface of the box body (2) via a pin shaft. The guide shafts (3) are two in number, and coincide with the center lines of the side through holes of the box body (2), the through holes of the left slider (4), and the through holes of the right slider (9), and play a guiding role; the two ends of the two guide shafts (3) are located in the same plane as the left and right surfaces of the box body (2); The two ends of the fixed clamping plate (7) are respectively mounted on the upper ends of the two sliders through pins (8), and the pin holes are coaxially matched with the circular holes of the bosses on the sliders to form a revolving pair; The two ends of the flexible buckling beam (6) are fixed in the gap between two fixed clamping plates (7), and two rigid clamping claws (5) are arranged on the sides of the fixed clamping plates (7). When the gripper grabs an object, the two rigid clamping claws cross and self-lock.

2. A fast-response bistable mechanical gripper with programmable energy barriers according to claim 1, characterized in that: The steering gear (13) can be replaced with a motor, a magnetic source or other driving devices according to different requirements of the operation scene.

3. The fast-response bistable mechanical gripper with programmable energy barrier according to claim 1, characterized in that: The rocker arm (12) is L-shaped, and the long side arm is provided with two through holes, which are respectively used to be fixed to the output shaft of the steering gear (13) and the steering gear disc (14), and the short side arm is provided with a disc boss, which is placed in a rectangular slide groove (401) on the side of the left slider (4), and the boss of the rocker arm (12) moves horizontally within the travel range of the rectangular slide groove (401).

4. The fast-response bistable mechanical gripper with programmable energy barrier according to claim 1, characterized in that: The rigid clamping jaw (5) is a cross-tooth structure, which realizes physical self-locking during the closing process.

5. The fast-response bistable mechanical gripper with programmable energy barrier according to claim 1, characterized in that: The upper ends of the left slider (4) and the right slider (9) are both provided with boss brackets, which are coaxially matched with the fixed clamping plate (7) to form a rotating pair.

6. The fast-response bistable mechanical gripper with programmable energy barrier according to claim 1, characterized in that: Upper and lower bosses are provided at opposite ends of the two fixing clamping plates (7), the distance between the upper and lower bosses is ≤1 mm, and two through holes for fixing the flexible buckling beam (6) are provided.

7. The fast-response bistable mechanical gripper with programmable energy barrier according to claim 1, characterized in that: The flexible buckling beam (6) is a PVC film, the thickness of which is smaller than the distance between the upper and lower bosses of the fixed clamping plate (7).

8. The fast-response bistable mechanical gripper with programmable energy barrier according to claim 1, characterized in that: The guide shaft (3) is a 304 stainless steel round bar.

9. A method for using the fast-response bistable mechanical gripper with a programmable energy barrier as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: In the first step, the steering gear (13) rotates to drive the steering gear disc (14) and the rocker arm (12) to move together, and the rocker arm boss in the rectangular slide groove (401) on the side of the left slider (4) drives the left slider (4) to move horizontally along the guide shaft (3), and the left slider (4) drives the rack (11) to move, and the rack (11) drives the gear (10) to rotate, and the opposite rack (11) drives the right slider (9) to move in the opposite direction along the displacement of the left slider (4) by the same distance under the meshing transmission effect; the left and right sliders move towards each other to compress the flexible buckling beam (6), and the fixed clamping plate (7) rotates around the pin shaft (8), and the flexible buckling beam (6) arches upward to reach the preparation state; In the second step, the target object falls under the influence of gravity. When the target object contacts the flexible buckling beam (6), the flexible buckling beam (6) jumps and quickly concave, and at the same time, the fixed clamping plate (7) turns downward around the pin shaft (8), and the rigid clamping claw (5) bonded to the fixed clamping plate (7) closes and self-locks to capture the target object, and the mechanical gripper reaches the grasping state; In the third step, the steering gear (13) continues to drive the left slider (4) to move along the guide shaft (3). Due to the meshing transmission of the rack-gear-rack, the right slider (9) and the left slider (4) move toward each other, the flexible buckling beam (6) continues to be pressed downward, and the rigid clamping claws (5) cross-lock more tightly, thereby realizing active clamping of the mechanical gripper; Step 4: After reaching the release position, the steering gear (13) is reversed, and the rocker arm (12) drives the left slider (4) to move in the opposite direction. Due to the meshing transmission of the rack-pinion-rack, the right slider (9) moves away from the left slider (4) in the opposite direction. The rigid clamping claw (5) releases the cross self-locking and is released. At the same time, the flexible buckling beam (6) is pulled horizontally, and the fixed clamping plate (7) is turned around the pin shaft (8) to a horizontal state, the target object is released, and the mechanical gripper returns to the initial state. Repeated grasping and releasing actions can be completed in this way.

10. The method for using a fast-response bistable mechanical gripper with a programmable energy barrier according to claim 9, characterized in that: In the first step, the upward arch amplitude of the flexible buckling beam (6) can also be adjusted according to different requirements of the operation task, so as to actively realize the adjustment of the energy barrier of the bistable structure.

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