A fast response bistable mechanical gripper with programmable energy barrier and method of use

Abstract

The application provides a programmable energy barrier fast-response bistable mechanical gripper and a use method, and belongs to the technical field of robots. In the gripper, rigid clamping jaws are fixed to the side of a fixed clamping plate, the fixed clamping plate is rotatably installed on the upper end of a sliding block around a pin shaft, and a flexible bending beam is arranged in the gap of the fixed clamping plate. The sliding block is fixed to a rack, and the rack is engaged with a gear in a box. When a driving motor is driven, a rocker arm pushes the sliding block to move along a guide shaft, and through the transmission conversion of the rack-gear-rack, reverse displacement of the opposite sliding block is generated, reverse movement of the two sliding blocks is realized, the fixed clamping plate rotates around the shaft, and the flexible bending beam is bent under pressure. The process can adjust the threshold of the energy barrier of the bistable structure and change the trigger condition. After being impacted by an object, the gripper can quickly jump and actively increase the holding force. The application has the advantages of adjustable energy barrier, simple structure, fast response, low cost and the like, and solves the problem that the existing mechanical gripper cannot simultaneously realize soft trigger and stable clamping.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and relates to a fast-response bistable mechanical gripper with programmable energy barrier and a use method. BACKGROUND

[0002] The existing rigid gripper lacks adaptability and flexibility, is difficult to grasp irregular-shaped or soft objects, and is prone to cause unnecessary damage to the surface of the object when grasping light and fragile objects, the existing flexible gripper driving device is complex, the grasping response is slow, and the grasping force is generally small; the above-mentioned disadvantages hinder the application of rigid and flexible grippers in some specific working environments.

[0003] Bistability refers to the existence of two static equilibrium states of the system, i.e., the minimum value of energy. The system can realize switching between the two stable states through jumping, and at the same time, the energy stored in the energy barrier can be quickly released to realize the amplification effect of output force or energy. The superior mechanical properties of the stable state structure make it have broad application prospects in energy collection, impact energy absorption, vibration isolation, etc. However, the current research on bistable structures mainly focuses on their stable states, and the energy barrier is determined by the pre-set structural parameters, materials and driving methods, which cannot be dynamically adjusted and is difficult to adapt to the grasping operation of different targets with large differences in kinetic energy at the same time. SUMMARY

[0004] In view of the above defects of the prior art, i.e., the improvement demand, the application provides a fast-response bistable mechanical gripper with programmable energy barrier, which has the advantages of strong grasping capacity, fast response speed, adjustable energy barrier, simple structure and strong adaptability.

[0005] To achieve the above-mentioned purpose, the application provides the following technical scheme:

[0006] A fast-response bistable mechanical gripper with programmable energy barrier, comprising a support 1, a box body 2, a guide shaft 3, a left sliding block 4, a rigid clamping jaw 5, a flexible flexural beam 6, a fixed clamping plate 7, a pin shaft 8, a right sliding block 9, a gear 10, a rack 11, a rocker arm 12, a rudder 13, a rudder disc 14, wherein the rudder 13 is a power supply component, the rudder disc 14 and the rocker arm 12 are transmission components, and the power supply component and the transmission component constitute a driving device. Specifically:

[0007] The lower surface of the box body 2 is attached to the upper surface of the support 1 and is fixedly connected through bolts.

[0008] The rudder 13 is installed on the support 1 through bolts, and the forward and reverse rotation of the rudder 13 can actively realize the adjustment of the energy barrier of the bistable structure and the clamping or releasing of the target object. The user can also replace the rudder with a motor, a magnetic source or other driving devices according to different needs of the working scene.

[0009] The rudder plate 14 is connected to the rudder 13 by bolts, and the rotating torque of the rudder 13 is transmitted to the connected components, i.e. the rocker arm 12; one end of the rocker arm 12 is fixed on the rudder plate 14 by bolts, and the boss at the other end is clamped into the rectangular slide groove on the side of the slider, forming a moving pair cooperation. The center lines of the mounting hole of the rocker arm 12, the mounting hole of the rudder plate 14 and the output shaft hole of the rudder 13 coincide.

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

[0011] The rack 11 is an integral structure or is bonded together with the left and right sliders, and is engaged with the gear 10, and the displacement directions of the two racks are opposite, driving the left and right sliders to move in opposite directions. The gear 10 is installed on the inner surface of the box 2 through a pin shaft.

[0012] The guide shaft 3 is coaxial with the center lines of the through holes on the side surface of the box 2, the through holes of the left slider 4 and the through holes of the right slider 9, and the number is two, which plays a guiding role. The two ends of the two guide shafts 3 are located in the same plane with the left and right surfaces of the box 2.

[0013] The fixed clamping plate 7 is installed at the upper end of the two sliders through the pin shaft 8 at both ends, and the pin shaft hole is coaxial with the round hole of the upper boss of the slider to form a rotating pair. The flexible flexural beam 6 is fixed at the gap between the two fixed clamping plates 7 through bolts, and the two rigid clamping jaws 5 are bonded on the side surface of the fixed clamping plate 7. When the gripper grabs the object, the two rigid clamping jaws cross and are self-locked.

[0014] Further, the bracket 1 is provided with two pairs of mounting holes on the surface, which is used to fix the rudder 13. The gear 10 is installed on the reserved hole position on the lower surface of the box 2 through a rotating pin shaft. The box 2 is provided with a rectangular groove on the front side of the box wall, and two axis parallel through holes are arranged on the left and right sides. The flexible flexural beam 6 is provided with two pairs of symmetrical mounting fixed holes on the surface, which is fixed in the gap of the fixed clamping plate through bolts.

[0015] Further, the rocker arm 12 is L-shaped, and two through holes are arranged on the long side arm for fixing with the output shaft of the rudder 13 and the rudder plate 14, respectively, and a disc boss is arranged on the short side arm and placed in the rectangular slide groove 401 on the side surface of the left slider 4.

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

[0017] Further, the upper end of the left slider 4 and the right slider 9 is provided with a boss support coaxial with the fixed clamping plate 7 to form a rotating pair.

[0018] Further, the opposite ends of the two fixed clamping plates 7 are provided with upper and lower bosses with a distance of ≤1mm, and two through holes for fixing the flexible buckling beam 6 are arranged.

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

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

[0021] Further, the bistable gripper can be installed as an end effector on an industrial robot end, and can also be arranged through batch clustering to meet different job requirements.

[0022] A programmable energy barrier fast-response bistable mechanical gripper, comprising the following steps:

[0023] First step, the steering wheel 13 rotates to drive the steering wheel disc 14 and the rocker arm 12 to move together, the rocker arm boss in the rectangular sliding 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 with the rack 11, the displacement of the rack 11 makes the gear 10 rotate, and the opposite rack 11 is driven by the meshing transmission to move the right slider 9 in the opposite direction of the left slider 4 by the same distance. The opposite movement of the left and right sliders makes the flexible buckling beam 6 be compressed, the fixed clamping plate 7 rotates around the pin shaft 8, the flexible buckling beam 6 arches upward, and reaches the preparatory (first stable state). Different arching amplitudes correspond to different energy barriers and trigger conditions, and the user can adjust the arching amplitude of the flexible buckling beam 6 according to different requirements of the job task through the above steps, and then actively realize the adjustment of the energy barrier of the bistable structure.

[0024] 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 concaves downward, at the same time the fixed clamping plate 7 flips downward around the pin shaft 8, and the rigid clamping jaw 5 bonded with the fixed clamping plate 7 closes and self-locks to capture the target object, and the mechanical gripper reaches the grasping (second stable state).

[0025] Third step, the steering wheel 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 moves towards the left slider 4, the flexible buckling beam 6 continues to be compressed and concave, and the rigid clamping jaw 5 is more tightly crossed and self-locked, in this step, the active clamping of the mechanical gripper is realized.

[0026] Fourth step, after reaching the release position, the steering wheel 13 reverses, the rocker arm 12 drives the left slider 4 to move reversely, due to the meshing transmission of the rack-gear-rack, the right slider 9 moves away reversely from the left slider 4, the rigid clamping jaw 5 releases the cross self-locking and loosens, meanwhile the flexible bending beam 6 is pulled horizontally, the fixed clamping plate 7 turns over to the horizontal state around the pin shaft 8, the target object is released, and the mechanical gripper returns to the initial state.

[0027] Thus, the repeated grabbing and releasing actions can be completed.

[0028] Compared with the prior art, the beneficial effects of the present application are:

[0029] (1) The present application has simple structure and ingenious design, the rotary motion is converted into linear motion through the rocker arm-slotted guide structure, and the synchronous motion of the left and right sliders is realized through the meshing transmission of the rack-gear-rack, which is easy to mass-produce, uses light steering wheel as energy input, has low cost and high energy utilization rate, and provides the possibility for miniaturization of the whole machine;

[0030] (2) The present application has the advantages of strong grabbing capacity, high response speed and low energy consumption, and can adapt to complex irregular, soft and fragile objects;

[0031] (3) The present application can actively adjust the energy barrier threshold of the bistable structure by moving the driving slider, change the critical trigger condition, and quickly adapt to the operation requirements of different objects in different scenes;

[0032] (45) The present application can realize passive triggering and active clamping, the gripper actively increases the clamping force of the gripper after being triggered by the impact of the target object, so as to prevent it from falling off.

[0033] In summary, the present application has the advantages of adjustable energy barrier, simple structure, fast response and low cost, solves the problem that the existing bistable mechanical gripper cannot realize soft triggering and stable clamping at the same time, and can be applied to the end effector of industrial robot arm or through cluster control to realize rapid and repeated grabbing and capturing operation. BRIEF DESCRIPTION OF DRAWINGS

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

[0035] Figure 2 is a structural schematic diagram of the box and support of the present application;

[0036] Figure 3 is a structural schematic diagram of the execution part of the present application;

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

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

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

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

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

[0042] In the figure: 1 support, 2 box body, 3 guide shaft, 4 left sliding block, 5 rigid clamping jaw, 6 flexible flexural beam, 7 fixed clamping plate, 8 pin shaft, 9 right sliding block, 10 gear, 11 rack, 12 rocker arm, 13 steering wheel, 14 steering wheel disc;

[0043] 101 slot; 102 steering wheel mounting hole; 1001 gear pin shaft;

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

[0045] 401 rectangular sliding groove;

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

[0047] The present application will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0048] As Figure 1As shown, the application provides a programmable energy barrier fast response bistable mechanical gripper, which specifically comprises a bracket 1, a box 2, a guide shaft 3, a left slider 4, a rigid clamp jaw 5, a flexible flexure beam 6, a fixed clamping plate 7, a pin shaft 8, a right slider 9, a gear 10, a rack 11, a rocker arm 12, a steering wheel 13, a steering wheel disc 14; the upper surface of the bracket 1 and the lower surface of the box 2 are tightly connected, the steering wheel 13 is installed on the bracket 1, and the gear 10 is installed on the inner surface of the box 2 through the pin shaft; the center lines of the mounting hole of the rocker arm 12, the mounting hole of the steering wheel disc 14 and the output shaft hole of the steering wheel 13 coincide and are connected by M3 bolts; the bottom surfaces of the left slider 4 and the right slider 9 are in close contact with the inner surface of the box 2, the rack 11 is an integrated structure or is bonded with the sliders 4 / 9 and is in meshing transmission with the gear 10; the center lines of the guide shaft 3, the through hole of the box 2 side, the through hole of the left slider 4 and the through hole of the right slider 9 all coincide, which plays a guiding role, and the two ends thereof are located in the same plane with the left and right surfaces of the box 2; a rectangular sliding groove is arranged on the side surface of the left slider 4, the boss disc of the rocker arm 12 is installed in the sliding groove and can slide within the stroke range, thereby driving the sliders 4 / 9 to move; the fixed clamping plate 7 is rotatably installed on the upper end of the sliders 4 / 9 around the pin shaft 8, forming a rotating pair, the flexible flexure beam 6 is fixed in the gap of the fixed clamping plate 7 through bolts, and the rigid clamp jaw 5 is bonded to the side surface of the fixed clamping plate 7. In the initial state, the motor drives the two sliders to move towards each other, the fixed clamping plate is pressed to rotate upward around the pin shaft, and the flexible flexure beam arches upward, and in this process, the threshold value of the energy barrier can be adjusted to change the trigger condition of the bistability. Under the impact of the target object, the flexible flexure beam quickly jumps to concave downward, the fixed clamping plate flips downward around the shaft and drives the clamp jaw to close and self-lock, realizing the fast switching of the two states; at this time, the motor drives the sliders to continue moving towards each other, increasing the clamping force of the clamp jaw.

[0049] As Figure 2 The box 2 and the bracket 1 of the application are structure schematic views, both of which are processed and manufactured by 3D printing technology of resin material; wherein the side surface of the bracket 1 is provided with a slot hole 101 for the power line of the steering wheel 13 to pass through, and the boss is provided with four steering wheel mounting holes 102; the side surface and the inner surface of the box 2 are respectively provided with a guide shaft through hole 202 and a gear pin shaft mounting hole 203, and the front surface is provided with a rectangular groove for limiting the displacement of the left slider 4; the bracket 1 and the box 2 are tightly connected by three bolts 201.

[0050] As Figure 3As a structural diagram of the execution part of the present application, the rack 11 is in an integral structure or is adhered together with the slider 4 / 9, the gear 10 is installed on the inner surface of the box 2 through a gear pin shaft 1001, the gear 10 is in meshing movement with the rack 11, thereby driving the slider 4 / 9 to move towards or reversely; preferably, the gear and rack part needs to be sprayed with lubricating oil regularly to reduce friction and ensure smooth and efficient transmission; the guide shaft 3 passes through the through hole reserved in the left slider 4 and the right slider 9, and plays a supporting and guiding role; preferably, the material of the guide shaft 3 is 304 stainless steel; it is worth noting that the side surface of the left slider 4 is provided with a rectangular sliding groove 401, the boss disc of the rocker arm 12 is installed in the sliding groove and can be displaced within the stroke range, and the sliding groove is used to limit the movement of the rocker arm and convert the circumferential rotation of the rocker arm into horizontal movement of the slider; the upper end of the slider 4 / 9 is provided with a bracket, the shaft hole of the boss on the bracket is coaxially matched with the shaft hole of the fixed clamping plate 7 and is connected through the pin shaft 8, the fixed clamping plate 7 can rotate around the pin shaft 8, thereby adjusting the posture of the flexible buckling beam 6; two pairs of mounting holes 701 are arranged on the clamping plate, which are connected and fixed with the mounting holes on the flexible buckling beam 6 through bolts; preferably, the material of the flexible buckling beam is selected from PVC film.

[0051] As Figure 4 The structural diagram of the rigid clamping jaw is shown, the first clamping jaw 501 and the second clamping jaw 502 are in a cross structure, when the bistable gripper grabs the target object, the clamping jaw peak 503 and the clamping jaw valley 504 cross and clamp tightly, thereby forming physical self-locking.

[0052] Figure 5 The state diagram of the bistable gripper in the preparation (first stable state) state is shown, the process of reaching this state is that the steering engine 13 is powered to rotate and drive the rocker arm 12 to make circumferential movement, due to the limitation of the sliding groove 401 on the left slider 4, the circumferential movement of the rocker arm 12 is converted into horizontal movement 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, in this process, the rack 11 drives the gear 10 meshing therewith to rotate, so that the rack and slider on the opposite side move in the opposite direction, which causes the fixed clamping plate 7 to be pressed to flip upwards around the pin shaft 8, the flexible buckling beam 6 is pressed to arch, the rigid clamping jaw 5 is everted, on the contrary, the flexible buckling beam is stretched and unfolded until it is horizontal; the above process can actively control the energy barrier of the bistable gripper to change the trigger condition of the bistable state, it is worth noting that the smaller the distance between the left and right sliders is, the greater the upward flipping angle of the fixed clamping plate 7 is, the greater the arching amplitude of the flexible buckling beam 6 is, the more stringent the trigger condition is, and the greater the energy stored in the energy barrier is. Through the adjustment of the trigger energy barrier, the gripper can meet the grabbing requirements of different target objects with large kinetic energy difference at the same time, and realize adaptive grabbing and targeted buffering effect.

[0053] Figure 6is a state diagram of the bistable gripper grabbing (second stable state) state, the process to reach this state is: when the gripper is in the first stable state, the flexible buckling beam 6 arches upward, when the target object impacts, the flexible buckling beam 6 is triggered to quickly sag, the fixed clamping plate 7 flips downward around the pin shaft 8 and drives the rigid clamping jaw 5 to close and self-lock, realizing the quick switching from the first stable state to the second stable state; At this time, the steering engine drives the slider to continue to move towards each other, the target object is clamped and cannot fall off, this process realizes the automatic triggering and active clamping of the bistable gripper; the driving steering engine reverses to make the left and right sliders move away from each other, the flexible buckling beam 6 is stretched by tension, the fixed clamping plate 7 flips upward, and the target object is released, and the above process can be repeated to realize quick and repeated grabbing and releasing operations.

[0054] Figure 7 is a process diagram of the bistable gripper adjusting the energy barrier of the present application, and is a supplement to the description of Figure 5 It should be noted that when the flexible buckling beam 6 presents different arching amplitudes, the energy stored in its energy barrier is also different, and the jump triggering condition is also changed.

[0055] Figure 8 is a transition diagram of the bistable gripper from the initial state-first stable state-second stable state of the present application, the working process of the programmable energy barrier quick response bistable mechanical gripper is: when the bistable gripper is in the initial state, the rotation angle of the steering engine is adjusted to drive the slider rack to move, thereby affecting the arching amplitude of the flexible buckling beam, realizing the active adjustment of the energy barrier and the triggering condition of the bistable structure, at this time the gripper is in the first stable state; When impacted by the target object, the gripper quickly jumps from the first stable state to the second stable state, and the clamping jaw is crossed and closed, at this time the control slider continues to move towards each other, actively clamping the target object, improving the reliability of grabbing, after completing the grabbing action, the steering engine reverses to drive the slider to move away from each other, the gripper loosens and releases the target object, and returns to the initial state; Thus, repeated grabbing and releasing operations can be completed.

[0056] The above describes the basic principles of the present application in combination with specific embodiments, but it should be pointed out that the advantages, advantages, effects and the like mentioned in the present application are only examples and not limitations, and these advantages, advantages, effects and the like cannot be considered as the must-have of each embodiment of the present application. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and are not limited to the above specific details to realize the present application.

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

Claims

1. A fast responding bi-stable mechanical gripper with programmable energy barrier, characterized in that, The quick-response bistable mechanical gripper comprises a support (1), a box (2), a guide shaft (3), a rigid jaw (5), a flexible flexure beam (6), a fixed clamping plate (7), a pin shaft (8), a sliding block, a gear (10), a rack (11), a rocker arm (12), a rudder (13), a rudder disc (14), wherein the rudder (13) is an energy supply component, the rudder disc (14) and the rocker arm (12) are transmission components, and the energy supply component and the transmission component constitute a driving device. The lower surface of the box (2) is fixedly connected with the upper surface of the support (1); the rudder (13) is installed on the support (1); The rudder disc (14) is connected with the rudder (13) to transmit the rotary torque of the rudder (13) to the connected rocker arm (12); the rocker arm (12) is L-shaped, two through holes are arranged on the long side arm for being fixed with the output shaft of the rudder (13) and the rudder disc (14) respectively, and a disc boss is arranged on the short side arm; the center lines of the through holes of the rocker arm (12), the mounting holes of the rudder disc (14) and the output shaft holes of the rudder (13) coincide. The lower surface of the sliding block is attached to the inner surface of the box (2), and one left sliding block (4) and one right sliding block (9) are symmetrically arranged, the sliding block is provided with two axis-parallel through holes in the horizontal direction; The rack (11) is an integral structure or is bonded with the left and right sliding blocks, is engaged with the gear (10), and drives the left and right sliding blocks to move in opposite directions; the gear (10) is installed on the inner surface of the box (2) through the pin shaft; The guide shaft (3) coincides with the center lines of the through holes of the box (2), the through holes of the left sliding block (4) and the through holes of the right sliding block (9), and the number of guide shafts (3) is two, which play a guiding role; the two ends of the two guide shafts (3) are located in the same plane with the left and right surfaces of the box (2); the disc boss is placed in the rectangular sliding groove (401) on the side surface of the left sliding block (4), and the disc boss moves horizontally within the stroke range of the rectangular sliding groove (401); The fixed clamping plate (7) is installed at the upper end of the two sliding blocks through the pin shaft (8) respectively, the pin shaft hole is coaxially matched with the round hole of the upper boss of the sliding block to form a rotating pair; The flexible flexure beam (6) is fixed at the gap between the two fixed clamping plates (7), and the two rigid jaws (5) are arranged on the side surface of the fixed clamping plate (7); when the gripper grabs an object, the two rigid jaws cross and are self-locked.

2. A fast responding bi-stable mechanical gripper with programmable energy barrier according to claim 1, characterized in that, The rudder (13) can be replaced by a motor, a magnetic source or other driving devices according to different requirements of the work scene.

3. A fast responding bi-stable mechanical gripper with programmable energy barrier according to claim 1, characterized in that, The rigid jaw (5) is a cross-tooth structure, which realizes physical self-locking during the closing process.

4. A fast responding bi-stable mechanical gripper with programmable energy barrier according to claim 1, characterized in that, The upper end of the left sliding block (4) and the upper end of the right sliding block (9) are provided with a boss support, which is coaxially matched with the fixed clamping plate (7) to form a rotating pair.

5. A fast responding bi-stable mechanical gripper with programmable energy barrier according to claim 1, characterized in that, The opposite ends of the two fixed clamping plates (7) are provided with upper and lower bosses, the distance between the upper and lower bosses is ≤1mm, and two through holes for fixing the flexible flexure beam (6) are arranged.

6. A fast responding bi-stable mechanical gripper with programmable energy barrier according to claim 1, characterized in that, The flexible flexure beam (6) is a PVC film, and the thickness of the flexible flexure beam (6) is less than the distance between the upper and lower bosses of the fixed clamping plate (7).

7. A fast responding bi-stable mechanical gripper with programmable energy barrier according to claim 1, characterized in that, The guide shaft (3) is a 304 stainless steel round bar.

8. A method of using the programmable energy barrier, fast response, bi-stable mechanical gripper of any of claims 1-7, wherein, The method comprises the following steps: The first step, the steering engine (13) rotates to drive the steering engine disc (14) and the rocker arm (12) to move together. The rocker arm boss in the rectangular sliding groove (401) on the left side of the slide block (4) drives the left slide block (4) to move horizontally along the guide shaft (3). The left slide block (4) drives the rack (11) to move, and the rack (11) drives the gear (10) to rotate. The opposite rack (11) is driven to move in the opposite direction by the same distance along the displacement of the left slide block (4) by the meshing transmission. The opposite movement of the left and right slide blocks makes the flexible buckling beam (6) be compressed, and the fixed clamping plate (7) rotates around the pin shaft (8). The flexible buckling beam (6) arches upward to reach the preparation state. 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 sinks, and the fixed clamping plate (7) rotates downward around the pin shaft (8). The rigid clamping jaw (5) bonded to the fixed clamping plate (7) is closed and self-locked to capture the target object. The mechanical gripper reaches the grabbing state. The third step, the steering engine (13) continues to drive the left slide block (4) to move along the guide shaft (3). Due to the meshing transmission of the rack-gear-rack, the right slide block (9) moves towards the left slide block (4). The flexible buckling beam (6) continues to be compressed and sinks. The rigid clamping jaw (5) is more tightly cross-locked to realize the active clamping of the mechanical gripper. The fourth step, after reaching the release position, the steering engine (13) reverses, the rocker arm (12) drives the left slide block (4) to move in the opposite direction. Due to the meshing transmission of the rack-gear-rack, the right slide block (9) moves away from the left slide block (4) in the opposite direction. The rigid clamping jaw (5) is released from the cross-locked state and is opened. At the same time, the flexible buckling beam (6) is pulled horizontally, the fixed clamping plate (7) rotates around the pin shaft (8) to the horizontal state, releasing the target object, and the mechanical gripper returns to the initial state. Such reciprocating can complete repeated grabbing and releasing actions.

9. The method of using a programmable energy barrier, fast response, bistable mechanical gripper of claim 8, wherein, In the first step, the arching amplitude of the flexible buckling beam (6) can be adjusted according to different requirements of the task to actively realize the adjustment of the energy barrier of the bistable structure.

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