An electric-driven shape memory alloy suction cup gripper

Abstract

The present invention discloses an electric-driven shape memory alloy suction cup gripper, which relates to the technical field of mechanical grippers and includes gripper units each provided with a suction cup. The suction cup includes a base made of a rigid material, a soft structure film made of a flexible material, wires each having axial memory deformation characteristics, and a return spring; the base has a frustum structure that is smaller at the top, larger at the bottom, hollow, and bottomless, and the soft structure film is attached and covered on the bottom of the base and is fixedly connected to the base to form an integral structure. The present invention uses wires with axial memory deformation characteristics as actuators to achieve real-time adsorption and convenient desorption of the suction cup through electric drive. The adsorption action, desorption action, and adsorption time can all be controlled by energizing and de-energizing; it has extremely low requirements for the smoothness and flatness of the adsorption surface, can flexibly achieve adsorption actions such as grasping, gripping, climbing, transitioning, and adjustment of the grasping posture, and is particularly suitable for the use requirements under complex conditions and complex working environments.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical grippers, and in particular to a suction cup gripper for grasping objects or climbing walls. Background Art

[0002] A gripper is an automatic machine used to complete the grasping action and is widely used in various robotic arms. Existing grippers mostly grasp objects through the squeezing force of two or more claws. The grasping action is greatly restricted by the shape and roughness of the object, and it is not possible to flexibly grasp irregular structures at multiple angles. After grasping the object, the grasping position is generally unable to be changed.

[0003] Suction cups are another common gripping structure in the prior art. They are mostly conical and made of materials such as rubber. They use the atmospheric pressure difference between the inside and outside of the suction cups to achieve gripping in the form of adsorption. Once the existing suction cups have completed adsorption, they will firmly grasp the structure (mostly the wall surface). The adsorption is simple, but the desorption is inconvenient. If the suction cups are forcibly desorbed, fatigue damage of the rubber suction cups is likely to occur.

[0004] Through prior art search, there are the following known technical solutions:

[0005] Prior art 1: A vacuum suction cup manipulator gripper

[0006] Application number: 201510310750.3, application date: 2015.06.09, publication (announcement) date: 2015.09.23, the prior art discloses a vacuum suction cup manipulator gripper, which includes a piston, a piston rod, a pipe joint I, a front cylinder cover, a sleeve, a push-pull rod, a push-pull head, three or more knuckles, a connecting rod, a suction cup slide, a rear cylinder cover, a cylinder, a relaxation spring, a connecting seat, a hinge, a hinge shaft, a knuckle shaft, a mounting seat, a movable hand frame, a vacuum suction cup, a pull-back spring, a spring, a connecting ring, a sleeve connecting seat, Piston rod fixing plate, piston pin, disc spring group, friction plate, movable hand frame pin, spring block, block locking nut, piston nut, pressure plate, sealing ring, sealing ring, connecting rod fixing plate, pipe joint II; when the cylinder is inflated or deflated, the push-pull rod is driven to move downward or upward, and the mechanical claw opens or contracts accordingly, and the pull-back spring is compressed or rebounded with the mechanical claw, thereby realizing the horizontal sliding of the suction cup in the X and Y planes and the vertical movement in the Z direction. At the same time, with the movement of the external large arm, it can realize the grasping and releasing of objects of different sizes to meet the needs of actual production.

[0007] However, the suction cup gripper of the prior art cannot adjust the grasping posture and has poor grasping flexibility.

[0008] Prior art 2: A three-claw passive pneumatic suction cup manipulator device

[0009] Application No.: 202023015515.9, Application Date: December 16, 2020, Publication (Announcement) Date: August 20, 2021. This prior art discloses a three-jaw passive pneumatic suction cup manipulator device, including a base. The bottom end of the support column is rotatably connected with a roller, and the bottom end of the roller is arranged inside the groove. The upper part of the support column is provided with a first chute. An installation frame is slidably connected to the upper part of the first chute, and the installation frame penetrates through the first chute. A connecting block is slidably connected to the inner side of the second chute. Limit plates are arranged on both the left and right sides of the support column. Positioning bolts are arranged in the middle of the limit plates, and the bottom of the positioning bolts is slidably connected with the second chute. A pointer is arranged in the middle of the left end of the limit plate on the left side of the support column. A scale is fixedly connected to the top end on the left side of the base. The right end of the installation frame is fixedly connected with a horizontal pneumatic telescopic device, and the left end of the horizontal pneumatic telescopic device is fixedly connected to the right end of the cylinder. In the present invention, precise alignment can be achieved, and there is no noise pollution, which can improve the working environment quality and is worthy of being vigorously promoted.

[0010] However, the suction cup manipulator of this prior art has a rigid stroke, cannot freely rotate to change its posture, and has poor movement flexibility.

[0011] Prior Art 3: Suction Cup Type Mechanical Claw and Robot Arm

[0012] Application No.: CN201711385310.X, Application Date: December 20, 2017, Publication (Announcement) Date: May 22, 2018. This prior art relates to the field of liquid crystal screen manufacturing and discloses a suction cup type mechanical claw assembled on a robot arm for adsorbing a substrate. The suction cup type mechanical claw includes a base, a front cover, a joint, a pillar, and a suction cup. The base is connected to the robot arm and connects the pillar through the front cover. The front cover is made of a deformable material so that the pillar can move and / or tilt relative to the base. One end of the pillar is connected to the joint, and the other end is connected to the suction cup. The joint faces the base, and the joint and the base are provided with relatively mating arc surfaces, so that the joint and the base achieve a sealed fit when they come into contact. The robot arm of this application is provided with at least one independently deflectable suction cup type mechanical claw. After each suction cup type mechanical claw is closely attached to the outer surface of the substrate, the suction force after vacuum pumping can ensure the firm grasping of the substrate by the robot arm and ensure the normal operation of the production process.

[0013] However, the suction cup claw of this prior art has relatively high requirements for the surface topography of the object to be adsorbed, and basically cannot rotate to adapt to different contact surface morphologies, and the adaptability is not ideal. Summary of the Invention

[0014] The present invention precisely avoids the deficiencies of the above prior art and provides an electric drive shape memory alloy suction cup gripper.

[0015] The present invention adopts the following technical solutions to solve the technical problems: An electric-driven shape memory alloy suction cup gripper, which is installed at the end of a robotic arm, includes a power supply, a control unit, and each gripper unit A controlled by the control unit. The power supply is electrically connected to the control unit and each gripper unit A, and is also data-connected to the control unit. Each gripper unit A includes a suction cup and a driving structure for driving the suction cup to move and position in space.

[0016] The suction cup is installed at the output end of the driving structure and includes a base made of rigid material, a soft structure film made of flexible material, wires each having axial memory deformation characteristics, and a return spring. The base has a frustum structure that is small at the top, large at the bottom, hollow, and bottomless. The soft structure film is attached and covered on the bottom of the base and is fixedly connected to the base to form an integral structure. Each wire is circumferentially and uniformly arranged along the axis of the base, its axis is parallel to the axis of the base, and each wire is electrically connected to the power supply. The top and bottom ends of the wire are respectively insulated and fixedly connected to the base and the soft structure film, and the return spring is externally wound and sleeved.

[0017] Further, the top end of the wire is insulated and fixedly connected to the base and electrically connected to the power supply through a rigid insulating plate body.

[0018] Each installation groove is circumferentially and uniformly opened on the side wall of the base. Each plate body is correspondingly fitted and clamped and limited in each installation groove. The top end of each wire is fixedly connected to each plate body correspondingly and is connected to the electrical circuit on the plate body that is connected to the power supply.

[0019] Further, the plate body is a PCB board formed by laminating sheet plates, and a blind hole is integrally formed on it from its process edge to the working area. A conductive layer, which is part of the electrical circuit, is covered in the blind hole, and the conductive layer is electrically connected to the top end of the corresponding wire.

[0020] Further, a temperature sensor is provided in the plate body, and the temperature sensor is electrically connected and data-connected to the power supply and the control unit respectively.

[0021] Further, each protrusion is correspondingly provided at the top of the soft structure film at the position corresponding to each wire, and the bottom end of each wire is fixedly connected to each protrusion correspondingly.

[0022] Further, each groove is circumferentially and uniformly opened at the top of the side wall of the base.

[0023] Further, the driving structure includes a rotating structure and an adduction and abduction structure.

[0024] The driving structures of each of the gripper units A form a first rotating pair for relative rotation around a vertical common axis; the inward-outward structure of each of the gripper units A is rotatably mounted and connected to the rotating structure, forming a second rotating pair therebetween for enabling the inward-outward structure to rotate inward or outward relative to the common axis, and the inward-outward structure outputs a linear sliding degree of freedom, which is coplanar and perpendicular to the axis of rotation of the second rotating pair.

[0025] Further, the driving structure includes a rotating steering gear, a horizontal arm, and a retracting and extending steering gear;

[0026] Each of the driving structures forms a first rotating pair through a rotating servo fixedly installed at the front end of the horizontal arm. The fixed part and the output end of the rotating servo are respectively connected and fixed to the horizontal arms of the two driving structures, or are respectively connected and fixed to the horizontal arm and the end of the mechanical arm of the same driving structure; the retraction and extension servo is installed and fixed to the end of the horizontal arm, and an inward and outward structure is installed and fixed at its output end; the inward and outward structure is a linear motor, and its output end serves as the output end of the driving structure, and the suction cup is installed and fixed to the output end of the inward and outward structure.

[0027] Furthermore, the rotating servos are arranged in sequence from top to bottom with a common output shaft, the length of each horizontal arm decreases from top to bottom, and the length difference between adjacent horizontal arms is greater than the major diameter of the suction cup.

[0028] Furthermore, the wire is a shape memory alloy wire.

[0029] The present invention provides an electrically driven shape memory alloy suction cup gripper, which has the following beneficial effects:

[0030] 1. The present invention uses a wire with axial memory deformation characteristics as an actuator, and realizes real-time adsorption and convenient desorption of the suction cup through electric drive. The adsorption action, desorption action and adsorption time can be controlled by turning on and off the power. It has extremely low requirements on the smoothness and flatness of the adsorption surface, and can flexibly realize adsorption actions such as grasping, grasping, climbing, transition and grasping posture adjustment, which is particularly suitable for use in complex conditions and complex working environments.

[0031] 2. The present invention uses a wire with axial memory deformation characteristics as an actuator. Compared with other actuators, the actuator has the advantages of light weight, small size and large output stress, making the overall structure of the composite gripper delicate, light and flexible;

[0032] 3. The present invention can be used in conjunction with wireless transmission technologies such as Bluetooth to achieve remote control of the suction cup gripper, so that the suction cup gripper can perform climbing, grasping and other tasks in closed environments or environmental areas that are inconvenient for humans to reach. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of the present invention;

[0034] Figure 2 is a schematic structural diagram of the present invention in the adsorption and desorption controllable state of the sucker;

[0035] Figure 3 is a schematic structural diagram of the present invention in the desorption state of the adsorption and desorption controllable sucker;

[0036] Figure 4 is a schematic diagram of the deployment attitude of the present invention;

[0037] Figure 5 is a schematic diagram of the curved surface grasping attitude of the present invention;

[0038] Figure 6 is a schematic diagram during the change process of the grasping attitude of the present invention.

[0039] In the figure:

[0040] A, gripper unit, 1, driving structure, 11, rotating structure, 111, rotating servo, 112, horizontal arm, 113, retracting and extending servo, 12, inward and outward expanding structure; 2, sucker, 21, base body, 22, soft structure film, 23, wire, 24, return spring, 25, installation groove, 26, plate body, 27, groove. Specific embodiments

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0042] As Figures 1 to 3 shown, the structural relationship is as follows: The sucker gripper is installed at the end of the robotic arm and includes a power supply, a control unit, and each gripper unit A controlled by the control unit. The power supply is electrically connected to the control unit and each gripper unit A, and is data-connected to the control unit. The gripper unit A includes a sucker 2 and a driving structure 1 for driving the sucker 2 to move and position in space;

[0043] The sucker 2 is installed at the output end of the driving structure 1 and includes a base body 21 made of rigid material, a soft structure film 22 made of flexible material, wires 23 each having axial memory deformation characteristics, and a return spring 24; The base body 21 has a frustum structure that is smaller at the top, larger at the bottom, hollow, and bottomless. The soft structure film 22 is attached to and fixedly connected to the bottom of the base body 21 to form an integral structure;

[0044] In actual setting, the soft structure film 22 should be closely attached to the bottom of the substrate 21 to ensure that when the soft structure film 22 presses an object or a wall under the action of the substrate 21, it can better fit the object or the wall, and then after the wire 123 drives the soft structure film 22 to deform, it can ensure that a negative pressure environment is formed between the soft structure film 22 and the object and the wall;

[0045] Each wire 23 is arranged circumferentially and uniformly along the axis of the substrate 21, its axis is parallel to the axis of the substrate 21, and each wire 23 is electrically connected to the power supply. The top and bottom ends of the wire 23 are respectively insulated and fixedly connected to the substrate 21 and the soft structure film 22, and a return spring 24 is sleeved and wound outside;

[0046] In actual setting, the substrate 21 can be made by 3D printing with PLA polylactic acid material, and the soft structure film 22 can be an elastic rubber film; the substrate 21 and the soft structure film 22 can be integrally formed by hybrid casting.

[0047] Preferably, the top end of the wire 23 is insulated and fixedly connected to the substrate 21 through a rigid insulating plate body 26 and is electrically connected to the power supply;

[0048] Installation grooves 25 are uniformly arranged along the circumferential direction of the side wall of the substrate 21. Each plate body 26 is correspondingly fitted and clamped and limited in each installation groove 25. The top ends of each wire 23 are correspondingly connected and fixed to each plate body 26, and are connected to the electrical circuit connecting the power supply arranged on the plate body 26;

[0049] In actual setting, the plate body 26 should be insulated and should have sufficient strength to ensure that the current flows normally along the set electrical circuit, and to ensure that the plate body 26 does not deform itself when each wire 23 drives the soft structure film 22 to deform with deformation stress; each installation groove 25 can be opened along the generatrix direction of the substrate 21, and the top end of the wire 23 can be bolted and fixed to the plate body 26.

[0050] Preferably, the plate body 26 is a PCB board formed by pressing and laminating sheet plates, and a blind hole penetrating from its process side to the working area is integrally formed on it. A conductive layer, which is part of the electrical circuit, is covered in the blind hole, and the conductive layer is electrically connected to the top end of the corresponding wire 23;

[0051] The structure formed by pressing and laminating sheet plates can effectively improve the mechanical properties of the PCB board, making it have sufficient strength and not deforming itself when each wire 23 drives the soft structure film 22 to deform with deformation stress; the blind hole integrally formed and internally covered with a conductive layer has ideal conductivity and can ensure the power-on of each wire 23 to the greatest extent;

[0052] In actual setting, the PCB board can be formed by pressing and laminating fiberglass material plates.

[0053] Preferably, a temperature sensor is provided inside the plate body 26, and the temperature sensor is electrically connected and data-connected to the power supply and the control unit respectively.

[0054] Preferably, corresponding to the positions of the respective wires 23 at the top of the soft structure film 22, respective protrusions are provided, and the bottom ends of the respective wires 23 are fixedly connected to the respective protrusions in a one-to-one correspondence.

[0055] Preferably, respective grooves 27 are circumferentially and uniformly formed at the top of the side wall of the base body 21;

[0056] The grooves 27 slightly reduce the structural integrity of the base body 21 locally, so that the base body 21 made of a rigid material has a slight yielding property at the locations where the respective grooves 27 are formed, and this yielding property is mainly reflected in the direction that is not along the memory deformation direction of the respective wires 23, so as to better adapt to the yielding required in the non-axial direction when the respective wires 23 drive the soft structure film 22 to deform.

[0057] Preferably, the driving structure 1 includes a connecting frame, a rotating structure 11 and an adduction and abduction structure 12;

[0058] Between every two driving structures 1 of each gripper unit A, a first rotating pair that rotates relative to the common vertical axis is respectively formed; the adduction and abduction structure 12 of each gripper unit A is rotatably installed and connected to the rotating structure 11, and a second rotating pair that enables the adduction and abduction structure 12 to rotate inwards or outwards relative to the common axis is formed therebetween, and the adduction and abduction structure 12 outputs a linear sliding degree of freedom, and this linear direction is coplanar and perpendicular to the rotating shaft of the second rotating pair.

[0059] Preferably, the driving structure 11 includes a rotating servo 111, a horizontal arm 112, and an adduction and abduction servo 113;

[0060] Between every two driving structures 1, a first rotating pair is formed through the rotating servo 111 fixedly installed at the front end of the horizontal arm 112. The fixed part and the output end of the rotating servo 111 are respectively fixedly connected to the horizontal arms 112 of the two driving structures 1, or are respectively fixedly connected to the horizontal arm 112 of the same driving structure 1 and the end of the robotic arm; the adduction and abduction servo 113 is fixedly installed at the end of the horizontal arm 112, and the output end thereof is fixedly installed with the adduction and abduction structure 12; the adduction and abduction structure 12 is a linear motor, and its output end serves as the output end of the driving structure 1, and the suction cup 2 is fixedly installed on the output end of the adduction and abduction structure 12;

[0061] The horizontal arm 112 can be driven by the rotating servo 111 to rotate around the vertical axis at its front end, so as to drive the corresponding suction cup 2 to change its position through the adduction and abduction structure 12; the adduction and abduction structure 12 can be driven by the adduction and abduction servo 113 to rotate around the horizontal axis at its front end, and further drive the corresponding suction cup 2 to perform an adduction or abduction action;

[0062] When the adduction and abduction structure 12 is a linear motor, the groove 27 also provides a shock absorption function for the telescoping of the linear motor, which helps the suction cup to adsorb more smoothly;

[0063] In actual setting, the horizontal arm 112 can be made of a carbon fiber board.

[0064] Preferably, the output rotating shafts of the respective rotating servos 111 are arranged in sequence from top to bottom, the lengths of the respective horizontal arms 112 decrease from top to bottom, and the length difference between adjacent horizontal arms 112 is greater than the large diameter of the suction cup 2. This setting enables each suction cup 2 to freely rotate in a full circle under the drive of the corresponding drive structure 11 without movement interference with other suction cups 2.

[0065] Preferably, the wire 23 is a shape memory alloy wire;

[0066] The shape memory alloy wire is a filamentous structure made of a shape memory alloy material, presenting a thermoelastic martensitic transformation characteristic:

[0067] For the specific transformation temperature of this material, when the temperature is lower than the transformation temperature, the shape memory alloy wire is in the martensite phase, presenting flexibility and being extremely easy to deform under the action of an external force; that is, when the temperature is lower than the transformation temperature, the shape memory alloy wire is easily stretched under the action of the return spring 124 and maintains the stretched state, without exerting a force on the soft structure film 22 to cause it to concave upward, so that the suction cup 2 is in a desorbed state;

[0068] When the temperature is higher than the transformation temperature, the shape memory alloy wire returns to the austenite phase and simultaneously returns to the corresponding shape of the austenite phase. During this recovery process, an obvious recovery stress is generated; that is, when the temperature is higher than the transformation temperature, the shape memory alloy wire returns to the austenite phase and the corresponding shape of the austenite phase, contracts axially and generates an obvious recovery stress. This recovery stress overcomes the elastic force of the return spring 124, compresses the return spring 124, and causes the soft structure film 22 to concave upward, so that the suction cup 2 is in an adsorbed state;

[0069] In actual setting, the shape memory alloy wire can be a Ti-Ni shape memory alloy wire, which has a recovery strain of up to 4 - 6% and a recovery stress of up to more than 200 MPa under temperature drive, and can better meet the needs of being an actuator of the suction cup 2.

[0070] When specifically used:

[0071] When controlling the suction cup 2 to adsorb, the control device controls the power supply to energize the wire 23, so that the wire 23 is heated by the electric current;

[0072] When the temperature of the wire 23 is higher than the transition temperature, the wire 23 contracts axially, overcoming the elastic force of the return spring 24 and compressing the return spring 24, and applying an upward pulling force to the top of the soft structure film 22, causing the soft structure film 22 to produce an upward concave deformation. Furthermore, a negative pressure environment is generated between the soft structure film 22 and the surface to be adsorbed that was originally in close contact with its bottom, realizing the adsorption of the suction cup 2.

[0073] When controlling the desorption of the suction cup 2, the control device controls the power supply to stop energizing the wire 23. After the wire 23 loses the high-temperature source, it exchanges heat with the environment, and the temperature gradually decreases towards the ambient temperature;

[0074] When the temperature of the wire 23 is lower than the transition temperature, the wire 23 presents a flexible structure and extends axially under the action of the elastic force of the return spring 24, no longer applying a force to the soft structure film 22 to cause an upward concave deformation. The soft structure film 22 returns to a flat state and fits again with the surface to be adsorbed at its bottom, realizing the desorption of the suction cup 2.

[0075] When grasping an object, the following process is included:

[0076] The first step is that the robotic arm drives the suction cup gripper to move close to the object to be grasped until the suction cup gripper reaches the specified grasping position;

[0077] The second step is as Figure 4 shown, the rotary servos 111 of each driving structure 1 respectively drive the horizontal arms 112 to rotate, so that the suction cup gripper assumes an unfolded posture with the horizontal arms 112 extending in different directions;

[0078] The third step is as Figure 5 shown, according to the surface morphology of the object to be grasped, the retracting and extending servos 113 of each driving structure 1 are correspondingly controlled to drive the retracting and extending structures 12 to rotate respectively. The retracting and extending structures 12 drive the corresponding suction cups 2 to retract or extend to adapt to the surface morphology of the object to be grasped;

[0079] In this process, the rotary servos 111 can also cooperate to drive the corresponding horizontal arms 112 to rotate to adapt to the surface morphology of the object to be grasped by adjusting the positions of the corresponding suction cups 2;

[0080] The fourth step is that each retracting and extending structure 12 elongates, so that the bottoms of the suction cups 2 press tightly against the surface of the object to be grasped;

[0081] The fifth step is to control the adsorption of each suction cup 2 to grasp the object.

[0082] Each of the above-mentioned preset and adaptive controls in the process can be realized either by a control unit with a built-in control program or by manual control; during the control process, the control signals applied to the control unit can be on-off, frequency, and pulse-width modulation signals of the control power supply.

[0083] The above suction cup gripper can not only grasp flat and regular curved surfaces, but also adapt to the grasping of most complex curved surfaces on the premise of reasonably selecting the grasping position, with good adaptability.

[0084] In particular, as Figure 6 shown, after the suction cup gripper has grasped an object, the relative position between the suction cup 2 and the object can be changed by controlling any one of the suction cups 2 to detach, and then the grasping posture of the suction cup gripper can be adjusted by controlling the suction cup 2 to adsorb again.

[0085] Obviously, from the above grasping actions, it can be inferred that when the object to be grasped is a wall surface, alternately adjusting the grasping posture of the suction cup gripper continuously with each suction cup 2 is equivalent to realizing the climbing of the suction cup gripper on the wall surface.

[0086] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0087] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric drive shape memory alloy suction cup gripper, which is installed at the end of a robotic arm and includes a power supply, a control unit, and each gripper unit (A) controlled by the control unit. The power supply is electrically connected to the control unit and each gripper unit (A), and is also data-connected to the control unit. It is characterized in that: The gripper unit (A) includes a suction cup (2) and a driving structure (1) for driving the suction cup (2) to move and position in space; The suction cup (2) is installed at the output end of the driving structure (1) and includes a base body (21) made of a rigid material, a soft structure film (22) made of a flexible material, wires (23) each having an axially memory-deformable property, and a return spring (24); the base body (21) has a frustum structure that is small at the top, large at the bottom, hollow, and bottomless, the soft structure film (22) is attached and covered at the bottom of the base body (21), and is connected and fixed to the base body (21) as an integral structure; each of the wires (23) is circumferentially and uniformly arranged along the axis of the base body (21), its axis is parallel to the axis of the base body (21), and each of the wires (23) is electrically connected to a power source, the top and bottom ends of the wire (23) are respectively insulated and connected and fixed to the base body (21) and the soft structure film (22), and the return spring (24) is externally wound and sleeved; The top end of the wire (23) is insulated and connected and fixed to the base body (21) and electrically connected to the power source through a rigid insulating plate body (26); Installation grooves (25) are circumferentially and uniformly formed on the side wall of the base body (21), each of the plate bodies (26) is correspondingly fitted and clamped and limited in each of the installation grooves (25), the top end of each of the wires (23) is connected and fixed to each of the plate bodies (26) correspondingly, and is connected to the electrical circuit connecting the power source arranged on the plate body (26); The plate body (26) is a PCB board formed by pressing and laminating sheet plates, and a blind hole penetrating from its process side to the working area is integrally formed thereon, and a conductive layer serving as a part of the electrical circuit is covered in the blind hole, and the conductive layer is electrically connected to the top end of the corresponding wire (23); Protrusions are correspondingly arranged at the top of the soft structure film (22) at positions corresponding to each of the wires (23), and the bottom end of each of the wires (23) is connected and fixed to each of the protrusions correspondingly.

2. The electro-driven shape memory alloy sucker gripper according to claim 1, wherein: A temperature sensor is provided in the plate body (26), and the temperature sensor is electrically connected and data-connected to the power source and the control unit respectively.

3. The electro-driven shape memory alloy sucker gripper according to claim 1, wherein: Grooves (27) are circumferentially and uniformly formed at the top of the side wall of the base body (21).

4. An electro-driven shape memory alloy suction cup gripper according to any one of claims 1 to 3, characterized in that: The driving structure (1) includes a rotating structure (11) and an adduction and abduction structure (12); A first rotating pair that rotates relative to the common axis in the vertical direction is respectively formed between the driving structures (1) of each of the gripper units (A); the adduction and abduction structure (12) of each gripper unit (A) is rotatably installed and connected to the rotating structure (11), and a second rotating pair is formed between the two to make the adduction and abduction structure (12) rotate and adduct or rotate and abduct relative to the common axis, and the adduction and abduction structure (12) outputs a linear sliding degree of freedom, and this linear direction is coplanar and perpendicular to the rotation axis of the second rotating pair.

5. The electro-driven shape memory alloy sucker gripper according to claim 4, characterized in that: The driving structure (1) includes a rotating servo (111), a horizontal arm (112), and an adduction and abduction servo (113); Each of the driving structures (1) forms a first rotating pair with each other through a rotating servo (111) fixedly installed at the front end of the horizontal arm (112). The fixed part and the output end of the rotating servo (111) are respectively connected and fixed to the horizontal arms (112) of two driving structures (1), or are respectively connected and fixed to the horizontal arm (112) of the same driving structure (1) and the end of the robotic arm; the retracting and extending servo (113) is fixedly installed at the end of the horizontal arm (112), and an inward and outward extending structure (12) is fixedly installed at its output end; the inward and outward extending structure (12) is a linear motor, and its output end serves as the output end of the driving structure (1), and the suction cup (2) is fixedly installed on the output end of the inward and outward extending structure (12).

6. The electro-driven shape memory alloy sucker gripper according to claim 5, characterized in that: The output rotating shafts of the rotating servos (111) are arranged in sequence from top to bottom, the lengths of the horizontal arms (112) decrease from top to bottom, and the length difference between adjacent horizontal arms (112) is greater than the large diameter of the suction cup (2).

7. An electric drive shape memory alloy suction cup gripper according to any one of claims 1 to 3, characterized in that: The wire (23) is a shape memory alloy wire.

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