A multi-scenario manipulator grasping device

Abstract

The present invention discloses a multi-scenario manipulator grasping device. The output shaft of a motor is synchronously connected to one end of a telescopic thin rod. A sleeve is sleeved at the connection between the output shaft of the motor and the telescopic thin rod. The other end of the telescopic thin rod is connected to the center of one side surface of a fixed block. The centers of the four sides of the other side surface of the fixed block away from the telescopic thin rod are respectively hinged to the root ends of four controllable deformation manipulators; the telescopic thin rod and the four controllable deformation manipulators are both electrically connected to an external power source. The present invention can adjust the length and bending angle of the telescopic thin rod according to the grasping distance and free grasping on a non-straight path, and at the same time adjust the bending angle of the manipulator according to the irregular shape of the grasped object, so that the grasped object is grasped more firmly. The device further realizes the stable grasping of the object through a self-locking device, can prevent the object from falling, is suitable for applications in multiple scenarios, and has a simple structure and convenient operation.

Description

Technical Field

[0001] The present invention relates to a manipulator grasping device, and particularly to a multi-scenario manipulator grasping device. Background Art

[0002] With the development of modern technology, various manipulators have emerged to replace human hands to grasp different objects. However, most of the manipulators in modern factories can only move horizontally or vertically to grasp objects. The joint parts of the manipulators require complex control systems to achieve firm grasping of objects. Therefore, there is currently a lack of a multi-scenario mechanical grasping device that can freely grasp objects under some curved conditions and can control multiple joints of the manipulator to achieve firm grasping of objects without a complex control system. Summary of the Invention

[0003] In order to solve the problems in the background art, the present invention provides a multi-scenario manipulator grasping device.

[0004] The technical solution adopted by the present invention is as follows:

[0005] The manipulator grasping device of the present invention includes a motor, a sleeve, a telescopic thin rod, a fixed block, and four controllable deformation manipulators. The output shaft of the motor is synchronously connected to one end of the telescopic thin rod. A sleeve is sleeved at the connection between the output shaft of the motor and the telescopic thin rod. The other end of the telescopic thin rod is connected to the center of one side surface of the fixed block. The centers of the four sides of the other side surface of the fixed block away from the telescopic thin rod are respectively hinged to the root ends of the four controllable deformation manipulators. The hand length direction of each controllable deformation manipulator is perpendicular to one side of the fixed block where it is located; the telescopic thin rod and the four controllable deformation manipulators are all electrically connected to an external power source. According to the length of the distance between the grasped object and the pipe orifice in the pipe, the forward and reverse rotation of the driving motor is used to realize the reciprocating telescopic movement of the telescopic thin rod to complete the approach and grasping of the object.

[0006] The telescopic thin rod is of a hollow structure and filled with a conductive alloy inside. The telescopic thin rod includes several thin rod segments. The telescopic thin rod is made of a shape memory material SMP, and the individual thin rod segments are insulated from each other; a controllable node I is provided at the center of each thin rod segment, and each controllable node I is electrically connected to an external power source. Each controllable node I can control the bending deformation of a thin rod segment. By passing different currents, the thin rod segment and the conductive alloy heat up and bend, and non-linear reciprocating telescoping can be achieved, and extension under different bending conditions can be achieved. The telescopic thin rod can achieve different bending deformations for different curves to adapt to grasping in a non-linear path.

[0007] Each of the controllable deformable manipulators described is a hollow structure and filled with a conductive alloy inside. Each controllable deformable manipulator is evenly divided into several finger segments along its hand length direction at equal intervals. The finger segments are insulated from each other, and a controllable node II is provided at the center of each finger segment. Each controllable node II is electrically connected to an external power source. Adding some highly conductive alloys, such as alloys of iron, copper, etc., can not only achieve the effect of conduction but also improve the hardness of the shape memory polymer, enabling the controllable deformable manipulator and the telescopic thin rod to bear relatively large forces.

[0008] Among the controllable deformable manipulators described, self-locking devices are also installed on the finger belly surfaces at the ends of two adjacent controllable deformable manipulators, and iron blocks are also installed on the finger belly surfaces at the ends of the other two adjacent controllable deformable manipulators; the self-locking device includes a self-locking device box body, a sliding block limiting piece, a sliding block, a tension spring, a connecting rod, and a sliding bar. The self-locking device box body is installed on the finger belly surface at the end of the controllable deformable manipulator where it is located. The sliding block limiting piece, the sliding block, the tension spring, the connecting rod, and the magnetic block are all installed inside the self-locking device box body; a sliding groove is opened in the middle of one side surface of the self-locking device box body facing the end of the controllable deformable manipulator. A through groove is opened on the side surface of the self-locking device box body far from the finger belly surface of the controllable deformable manipulator and away from the sliding groove. The sliding block is slidably installed on the inner side surface of the self-locking device box body and is opposite to the through groove. One end of the sliding block close to the through groove is connected to the sliding block limiting piece. The sliding block limiting piece passes through the through groove and extends to the outside of the self-locking device box body. A connecting strip is provided on the side surface of the other end of the sliding block far from the through groove in a direction parallel to the groove surface of the through groove. A tension spring is connected between the connecting strip and the inner side of the side surface of the self-locking device box body where the through groove is located. One end of the connecting rod is hinged to the other end of the sliding block far from the through groove, and the other end of the connecting rod is hinged to one end of the sliding bar. The other end of the sliding bar vertically passes through the sliding groove and is slidably installed in the sliding groove. A magnetic block is also installed on the other end of the sliding bar. The end face size of the sliding block limiting piece far from the through groove is larger than the size of the through groove.

[0009] A push-type magnetically attracting self-locking device is used to push out the magnetic block through pressing the connecting rod, thus achieving the state of magnetic attraction and self-locking of each controllable deformable manipulator. When the length controlled by the controllable node II of the last segment on the controllable deformable manipulator bends to the surface of the object, the sliding block limiting piece of the self-locking device will be pressed, the sliding block will move, and there is a tension spring at the lower end of the sliding block. A magnetic block is fixed on the connecting rod hinged to the end of the sliding block. When the sliding block moves, the horizontal movement is converted into vertical movement through the connecting rod, thereby pushing out the magnetic block from the self-locking device and attracting the iron block to reach the self-locking state. At this time, the tension spring is in a stretched state. When it is necessary to release the object, that is, when the power is cut off, the manipulator automatically unfolds. At this time, there is no pressure on the self-locking device. The magnetic block is driven back into the box by the retraction of the tension spring, and the self-locking device automatically opens. At this time, the tension spring returns to its original state.

[0010] The controllable deformation grasping method of the manipulator grasping device includes the following steps:

[0011] Step 1: Obtain the current intensity passed by each rod segment of the telescopic thin rod at different bending angles; obtain the current intensity passed by each finger segment of each controllable deformation manipulator at different bending angles.

[0012] Step 2: When the manipulator grasping device grasps an object in the pipeline, insert each controllable deformation manipulator of the manipulator grasping device into the pipeline, and rotate the output shaft of the driving motor to drive the telescopic thin rod to extend, so that each controllable deformation manipulator approaches the object in the pipeline; when the pipeline is a curved pipeline, during the extension of the telescopic thin rod, according to the current intensity passed by each rod segment of the telescopic thin rod at different bending angles obtained in Step 1, energize each controllable node I on the telescopic thin rod through an external power supply, so that each rod segment is heated and bent to be the same as the bending angle of the pipeline, thereby passing each controllable deformation manipulator through the pipeline and approaching the object in the pipeline through the telescopic thin rod.

[0013] Step 3: When each controllable deformation manipulator reaches near the object in the pipeline, according to the current intensity passed by each finger segment of each controllable deformation manipulator at different bending angles obtained in Step 1, energize each controllable node II of each controllable deformation manipulator through an external power supply, so that each finger segment of each controllable deformation manipulator is heated and bent, and the ends of each controllable deformation manipulator approach each other; when the self-locking device approaches the object in the pipeline, the sliding block limiting piece of the self-locking device is pressed, driving the magnet to extend out of the self-locking device box body, and the two magnets attract the two iron blocks, so that each controllable deformation manipulator wraps the object in the pipeline.

[0014] Step 4: Rotate the output shaft of the driving motor to drive the telescopic thin rod to contract, so that each controllable deformation manipulator grabs the object out of the pipeline, and then cut off the power supply and cool down the telescopic thin rod and each controllable deformation manipulator, so that the telescopic thin rod returns to a straight shape, each controllable deformation manipulator opens and moves away from each other, and each controllable deformation manipulator releases the grabbed object, thereby completing the controllable deformation grasping of the object in the pipeline.

[0015] In the above Step 1, obtain the current intensity passed by each rod segment of the telescopic thin rod at different bending angles; obtain the current intensity passed by each finger segment of each controllable deformation manipulator at different bending angles; take each rod segment and each finger segment as deformation segments, and for each deformation segment, obtain the bending angle of the deformation segment under different currents, specifically as follows:

[0016] A deformation model of the deformation section is established through finite element analysis. The material of the deformation model is set as an electro-induced shape memory material. Different current intensities are input into the deformation model to obtain different bending angles of the deformation model under different current intensities. The distance from the center of the spherical shape formed by the deformation model at different bending angles to the center of the deformation model is taken as the central diameter. Each current intensity, its bending angle, and the central diameter are input into the regress function linear regression model. The regress function linear regression model establishes the objective function of the deformation section. The bending angle to be bent of the deformation section is input into the objective function, and the objective function outputs the current intensity passed by the deformation section at the bending angle to be bent, and then the deformation section is energized.

[0017] The specific objective function is as follows:

[0018] a = k1I + b

[0019] d = k2I + c

[0020] Among them, a is the bending angle to be bent of the deformation section; k1 and b are the first coefficient and the first offset constant of the objective function respectively; I is the current intensity passed by the deformation section at the bending angle a to be bent; d is the central diameter of the deformation section at the bending angle a to be bent; k2 and c are the second coefficient and the second offset constant of the objective function respectively. The values of k1 and b, k2 and c are obtained through the regress function linear regression model.

[0021] A deformation model of the deformation section is established through finite element analysis. Specifically, it is modeled in the finite element simulation software ansys; the regress function linear regression model can solve problems such as the points input manually in the finite element simulation software ansys simulation are limited, and many points cannot be evenly obtained under a small range of currents, and the currents, bending angles, and diameters obtained are very likely to be discrete, and the mutual corresponding relationship between them cannot be found.

[0022] The beneficial effects of the present invention are:

[0023] 1. The telescopic thin rod of the manipulator grasping device of the present invention can not only freely expand and contract in length, but also control the bending of the thin rod through different currents while expanding and contracting, achieving free grasping on non-straight paths.

[0024] 2. The bending angle of the manipulator grasping device of the present invention can reach a desired angle by inputting different currents. Facing irregular objects, each node can be controlled according to the size of the object, making the grasped object more firmly grasped.

[0025] 3. The conductive material introduced into the manipulator grasping device of the present invention is some alloys with high conductivity, which can increase the hardness of the manipulator. In this way, objects of different sizes can not only be grasped, but also heavier objects can be grasped.

[0026] 4. In some special occasions, such as occasions with relatively high temperature, the shape memory polymer will become soft when the manipulator grasping device of the present invention grasps an object, and the self-locking device can prevent the object from falling due to the softening of the manipulator. It is suitable for applications in multiple occasions, with a simple structure and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the initial state of the manipulator grasping device of the present invention;

[0028] Figure 2 is a schematic structural diagram of the manipulator grasping device of the present invention after bending and deforming;

[0029] Figure 3 is a schematic diagram of the controllable node on the manipulator grasping device of the present invention;

[0030] Figure 4 is a schematic structural diagram of the self-locking device of the present invention;

[0031] In the figure: 1. Motor, 2. Sleeve, 3. Telescopic thin rod, 4. Controllable node I, 5. Fixed block, 6. Controllable deformation manipulator, 6. Controllable deformation manipulator, 7. Controllable node II, 8. Self-locking device, 9. Sliding block limiting piece, 10. Sliding block, 11. Pull spring, 12. Connecting rod, 13. Magnetic block. DETAILED DESCRIPTION OF THE INVENTION

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] As Figure 1 and Figure 2 shown, the manipulator grasping device of the present invention includes a motor 1, a sleeve 2, a telescopic thin rod 3, a fixed block 5 and four controllable deformation manipulators 6. The output shaft of the motor 1 is synchronously connected to one end of the telescopic thin rod 3. A sleeve 2 is sleeved at the connection between the output shaft of the motor 1 and the telescopic thin rod 3. The other end of the telescopic thin rod 3 is connected to the center of one side surface of the fixed block 5. The centers of the four sides of the other side surface of the fixed block 5 away from the telescopic thin rod 3 are respectively hinged to the root ends of the four controllable deformation manipulators 6. The hand length direction of each controllable deformation manipulator 6 is perpendicular to one side of the fixed block 5 where it is located; the telescopic thin rod 3 and the four controllable deformation manipulators 6 are both electrically connected to an external power supply. According to the length of the distance between the object to be grasped and the pipe orifice in the pipe, the forward and reverse rotation of the driving motor 1 is used to realize the reciprocating telescopic movement of the telescopic thin rod 3 to complete the approach and grasping of the object.

[0034] The telescopic thin rod 3 has a hollow structure and is filled with a conductive alloy inside. The telescopic thin rod 3 includes several thin rod segments. The telescopic thin rod 3 is made of a shape memory material SMP, and the individual thin rod segments are insulated from each other. At the center of each thin rod segment, there is a controllable node I 4, and each controllable node I 4 is electrically connected to an external power source. Each controllable node I 4 can control the bending deformation of one thin rod segment. By passing different currents, the thin rod segment and the conductive alloy heat up and bend, enabling non-linear back-and-forth telescoping and achieving extension under different bending conditions. The telescopic thin rod 3 can achieve different bending deformations for different curves to adapt to the grasping of a non-linear path.

[0035] As Figure 3 shown, each controllable deformation manipulator 6 has a hollow structure and is filled with a conductive alloy inside. Each controllable deformation manipulator 6 is evenly divided into several finger segments along its hand length direction at equal intervals. The individual finger segments are insulated from each other. At the center of each finger segment, there is a controllable node II 7, and each controllable node II 7 is electrically connected to an external power source. By adding some highly conductive alloys, such as iron, copper, and other alloys, both the conductive effect can be achieved and the hardness of the shape memory polymer can be increased, enabling the controllable deformation manipulator 6 and the telescopic thin rod 3 to bear relatively large forces.

[0036] There are a total of four controllable deformation manipulators 6, which are evenly distributed below the fixed block 5 with the initial state telescopic thin rod as the reference axis and are distributed at intervals of 90° along the circumferential direction to prevent excessive cracks in the middle. Each controllable node II 7 can control the bending deformation of one finger segment. By passing different currents, the finger segment and the conductive alloy heat up and bend, enabling the controllable deformation manipulator 6 to achieve a firm grasp with multiple azimuthal bending deformations. Specifically, when implemented, there are 3 controllable nodes II 7 on the surface of the controllable deformation manipulator 6, and each controllable node II 7 can control the bending of one finger segment. That is, the four controllable deformation manipulators 6 can achieve 12 states of grasping, enabling a multi-azimuth firm grasp for irregularly shaped objects to be grasped. When the controllable deformation manipulator 6 is working, generally, the current of each controllable node II 7 remains the same, or different currents can also be used. After bending to the desired angle, an object can be grasped.

[0037] As Figure 3 and Figure 4As shown, self-locking devices 8 are also installed on the finger pulp surfaces at the ends of two adjacent controllable deformable manipulators 6 among the respective controllable deformable manipulators 6, and iron blocks are also installed on the finger pulp surfaces at the ends of the other two adjacent controllable deformable manipulators 6; the self-locking device 8 includes a self-locking device box body, a sliding block limiting piece 9, a sliding block 10, a tension spring 11, a connecting rod 12 and a sliding bar. The self-locking device box body is installed on the finger pulp surface at the end of the controllable deformable manipulator 6 where it is located. The sliding block limiting piece 9, the sliding block 10, the tension spring 11, the connecting rod 12 and the magnet block 13 are all installed inside the self-locking device box body; a sliding groove is opened in the middle of one side surface of the self-locking device box body facing the end of the controllable deformable manipulator 6, and a through groove is opened on one side of the side surface of the self-locking device box body away from the finger pulp surface of the controllable deformable manipulator 6 and away from the sliding groove. The sliding block 10 is slidably installed on the inner side surface of the self-locking device box body and is opposite to the through groove. One end of the sliding block 10 close to the through groove is connected to the sliding block limiting piece 9. The sliding block limiting piece 9 passes through the through groove and extends to the outside of the self-locking device box body. A connecting strip is provided on the side surface of the other end of the sliding block 10 away from the through groove in a direction parallel to the groove surface of the through groove. A tension spring 11 is connected between the connecting strip and the inner side of the side surface of the self-locking device box body where the through groove is located. One end of a connecting rod 12 is hinged to the other end of the sliding block 10 away from the through groove. The other end of the connecting rod 12 is hinged to one end of the sliding bar. The other end of the sliding bar vertically passes through the sliding groove and is slidably installed in the sliding groove, and a magnet block 13 is also installed on the other end of the sliding bar. The end face size of the end of the sliding block limiting piece 9 away from the through groove is larger than the size of the through groove.

[0038] The push-type magnet attraction self-locking device is used to push out the magnet block 13 through pressing the connecting rod 12, thereby achieving the state of mutual attraction and self-locking of each controllable deformable manipulator 6. When the length controlled by the last controllable node II 7 on the controllable deformable manipulator 6 bends to the surface of the object, the sliding block limiting piece 9 of the self-locking device 8 will be pressed, the sliding block 10 will move, and there is a tension spring 11 at the lower end of the sliding block 10. A magnet block 13 is fixed on the connecting rod 12 hinged to the tail end of the sliding block 10. When the sliding block 10 moves, the horizontal movement is converted into vertical movement through the connecting rod 12, so as to push out the magnet block 13 from the self-locking device 8 and attract the iron block to reach the self-locking state. At this time, the tension spring 11 is in a stretched state. When it is necessary to release the object, that is, when the power is cut off, the manipulator automatically unfolds. At this time, there is no pressure on the self-locking device 8. The tension spring 11 retracts to drive the magnet block 13 back into the box, and the self-locking device 8 automatically opens. At this time, the tension spring 11 returns to its original state.

[0039] The controllable deformation grasping method of the manipulator grasping device includes the following steps:

[0040] Step 1: Obtain the current intensity passed by each thin rod segment of the telescopic thin rod 3 at different bending angles; obtain the current intensity passed by each finger segment of each controllable deformable manipulator 6 at different bending angles.

[0041] In Step 1, obtain the current intensity passed by each rod segment of the telescopic thin rod 3 at different bending angles; obtain the current intensity passed by each finger segment of each controllable deformation manipulator 6 at different bending angles; take each rod segment and each finger segment as deformation segments, and for each deformation segment, obtain the bending angle of the deformation segment at different currents, specifically as follows:

[0042] Establish a deformation model of the deformation segment through finite element analysis. Set the material of the deformation model as electroactive shape memory material. Input different current intensities into the deformation model, obtain different bending angles of the deformation model at different current intensities, and obtain the distance from the center of the sphere formed by the deformation model at different bending angles to the center of the deformation model as the central diameter. Input each current intensity, its bending angle, and the central diameter into the regress function linear regression model. The regress function linear regression model establishes the objective function of the deformation segment. Input the bending angle to be bent of the deformation segment into the objective function. The objective function outputs the current intensity passed by the deformation segment at the bending angle to be bent, and then energize the deformation segment.

[0043] The specific objective function is as follows:

[0044] a = k1I + b

[0045] d = k2I + c

[0046] Among them, a is the bending angle to be bent of the deformation segment; k1 and b are the first coefficient and the first offset constant of the objective function respectively; I is the current intensity passed by the deformation segment at the bending angle a to be bent; d is the central diameter of the deformation segment at the bending angle a to be bent; k2 and c are the second coefficient and the second offset constant of the objective function respectively. Obtain the values of k1 and b, k2 and c through the regress function linear regression model.

[0047] Establish a deformation model of the deformation segment through finite element analysis, specifically by modeling in the finite element simulation software ansys; the regress function linear regression model can solve problems such as the points manually input in the simulation of the finite element simulation software ansys are limited, and many points cannot be evenly obtained under a small range of currents, and the currents, bending angles, and diameters obtained are very likely to be discrete, and the mutual corresponding relationship between them cannot be found.

[0048] Step 2: When the manipulator grasping device grasps an object in the pipeline, extend each controllable deformation manipulator 6 of the manipulator grasping device into the pipeline, and rotate the output shaft of the driving motor 1 to drive the telescopic thin rod 3 to extend, so that each controllable deformation manipulator 6 approaches the object in the pipeline; when the pipeline is a curved pipeline, during the extension of the telescopic thin rod 3, according to the current intensity passed by each thin rod segment of the telescopic thin rod 3 at different bending angles obtained in Step 1, energize each controllable node I 4 on the telescopic thin rod 3 through an external power supply, so that each thin rod segment is heated and bent to be the same as the bending angle of the pipeline, thereby passing each controllable deformation manipulator 6 through the pipeline and approaching the object in the pipeline through the telescopic thin rod 3.

[0049] Step 3: When each controllable deformation manipulator 6 reaches near the object in the pipeline, according to the current intensity passed by each finger segment of each controllable deformation manipulator 6 at different bending angles obtained in Step 1, energize the controllable node II 7 of each controllable deformation manipulator 6 through an external power supply to make each finger segment of each controllable deformation manipulator 6 heated and bent, and the ends of each controllable deformation manipulator 6 approach each other; when the self-locking device 8 approaches the object in the pipeline, the sliding block limiting piece 9 of the self-locking device 8 is pressed, driving the magnetic block 13 to extend out of the self-locking device box body, and the two magnetic blocks 13 attract the two iron blocks to make each controllable deformation manipulator 6 wrap the object in the pipeline.

[0050] Step 4: Rotate the output shaft of the driving motor 1 to drive the telescopic thin rod 3 to contract, so that each controllable deformation manipulator 6 grabs the object out of the pipeline, and then cut off the power supply and cool down the telescopic thin rod 3 and each controllable deformation manipulator 6, so that the telescopic thin rod 3 returns to a straight shape, each controllable deformation manipulator 6 opens and moves away from each other, and each controllable deformation manipulator 6 releases the grabbed object, thus completing the controllable deformation grasping of the object in the pipeline.

[0051] The device of the present invention can adjust the length and bending angle of the telescopic thin rod according to the grasping distance and free grasping of non-straight channels, and at the same time adjust the bending angle of the manipulator according to the irregular shape of the grasped object, so that the grasped object is grasped more firmly. The device further realizes the stable grasping of the object through the self-locking device, can prevent the object from falling, is suitable for applications in multiple scenarios, and has a simple structure and convenient operation.

Claims

1. A multi-scenario manipulator grasping device, characterized in that: It includes a motor (1), a sleeve (2), a telescopic thin rod (3), a fixed block (5) and four controllable deformable manipulators (6). One end of the telescopic thin rod (3) is synchronously connected to the output shaft of the motor (1). A sleeve (2) is sleeved on the connection part of the output shaft of the motor (1) and the telescopic thin rod (3). The other end of the telescopic thin rod (3) is connected to the center of one side surface of the fixed block (5). The roots of the four controllable deformable manipulators (6) are respectively hinged to the centers of the four sides of the other side surface of the fixed block (5) away from the telescopic thin rod (3). The hand length direction of each controllable deformable manipulator (6) is perpendicular to one side of the fixed block (5) where it is located. The telescopic thin rod (3) and the four controllable deformable manipulators (6) are both electrically connected to an external power supply; Self-locking devices (8) are also installed on the finger pulp surfaces at the ends of two adjacent controllable deformable manipulators (6) among each of the controllable deformable manipulators (6), and iron blocks are also installed on the finger pulp surfaces at the ends of the other two adjacent controllable deformable manipulators (6). The self-locking device (8) includes a self-locking device box body, a sliding block limiting piece (9), a sliding block (10), a tension spring (11), a connecting rod (12) and a sliding bar. The self-locking device box body is installed on the finger pulp surface at the end of the controllable deformable manipulator (6) where it is located. The sliding block limiting piece (9), the sliding block (10), the tension spring (11), the connecting rod (12) and the magnetic block (13) are all installed inside the self-locking device box body. A sliding groove is opened in the middle of one side surface of the self-locking device box body facing the end of the controllable deformable manipulator (6). A through groove is opened on one side of the self-locking device box body away from the sliding groove on the side surface away from the finger pulp surface of the controllable deformable manipulator (6). The sliding block (10) is slidably installed on the inner side surface of the self-locking device box body and is opposite to the through groove. One end of the sliding block (10) close to the through groove is connected to the sliding block limiting piece (9). The sliding block limiting piece (9) passes through the through groove and extends to the outside of the self-locking device box body. A connecting strip is provided on the side surface of the other end of the sliding block (10) away from the through groove in the direction parallel to the groove surface of the through groove. A tension spring (11) is connected between the connecting strip and the inner side of the side surface of the self-locking device box body where the through groove is located. One end of the connecting rod (12) is hinged to the other end of the sliding block (10) away from the through groove. The other end of the connecting rod (12) is hinged to one end of the sliding bar. The other end of the sliding bar vertically passes through the sliding groove and is slidably installed in the sliding groove. A magnetic block (13) is also installed on the other end of the sliding bar.

2. The multi-scenario manipulator grasping device according to claim 1, wherein: The telescopic thin rod (3) is of a hollow structure and filled with a conductive alloy inside. The telescopic thin rod (3) includes several thin rod segments. The telescopic thin rod (3) is made of a shape memory material SMP. The thin rod segments are insulated from each other. A controllable node I (4) is provided at the center of each thin rod segment. Each controllable node I (4) is electrically connected to an external power supply.

3. The multi-scenario manipulator grasping device according to claim 2, characterized in that: Each controllable deformable manipulator (6) is of a hollow structure and filled with a conductive alloy inside. Each controllable deformable manipulator (6) is evenly divided into several finger segments along its hand length direction. The finger segments are insulated from each other. A controllable node II (7) is provided at the center of each finger segment. Each controllable node II (7) is electrically connected to an external power supply.

4. The controllable deformation grasping method of a manipulator grasping device according to claim 3, characterized in that: The method includes the following steps: Step 1: Obtain the current intensity passed by each rod segment of the telescopic thin rod (3) at different bending angles; obtain the current intensity passed by the finger segments of each controllable deformation manipulator (6) at different bending angles; Step 2: When the manipulator grasping device grasps an object in the pipeline, extend each controllable deformation manipulator (6) of the manipulator grasping device into the pipeline, and rotate the output shaft of the driving motor (1) to drive the telescopic thin rod (3) to extend, so that each controllable deformation manipulator (6) approaches the object in the pipeline; when the pipeline is a curved pipeline, during the extension of the telescopic thin rod (3), according to the current intensity passed by each rod segment of the telescopic thin rod (3) at different bending angles obtained in Step 1, energize each controllable node I (4) on the telescopic thin rod (3) through an external power supply, so that each rod segment is heated and bent to the same bending angle as the pipeline, thereby passing each controllable deformation manipulator (6) through the pipeline and approaching the object in the pipeline through the telescopic thin rod (3); Step 3: When each controllable deformation manipulator (6) reaches near the object in the pipeline, according to the current intensity passed by the finger segments of each controllable deformation manipulator (6) at different bending angles obtained in Step 1, energize each controllable node II (7) of each controllable deformation manipulator (6) through an external power supply, so that each finger segment of each controllable deformation manipulator (6) is heated and bent, and the ends of each controllable deformation manipulator (6) approach each other; when the self-locking device (8) is close to the object in the pipeline, the sliding block limiting piece (9) of the self-locking device (8) is pressed, driving the magnet (13) to extend out of the self-locking device box body, and the two magnets (13) attract the two iron blocks, so that each controllable deformation manipulator (6) wraps the object in the pipeline; Step 4: Rotate the output shaft of the driving motor (1) to drive the telescopic thin rod (3) to contract, so that each controllable deformation manipulator (6) grabs the object out of the pipeline, and then cut off the power supply and cool down the telescopic thin rod (3) and each controllable deformation manipulator (6), so that the telescopic thin rod (3) returns to a straight shape, each controllable deformation manipulator (6) opens and moves away from each other, and each controllable deformation manipulator (6) releases the grabbed object, thus completing the controllable deformation grasping of the object in the pipeline.

5. The controllable deformation grasping method of a manipulator grasping device according to claim 4, characterized in that: In the above Step 1, obtain the current intensity passed by each rod segment of the telescopic thin rod (3) at different bending angles; obtain the current intensity passed by the finger segments of each controllable deformation manipulator (6) at different bending angles; take each rod segment and each finger segment as deformation segments, and for each deformation segment, obtain the bending angle of the deformation segment at different currents, specifically as follows: A deformation model of the deformation section is established through finite element analysis. The material of the deformation model is set as an electro-induced shape memory material. Different current intensities are input into the deformation model to obtain different bending angles of the deformation model under different current intensities, and the distance from the center of the sphere formed by the deformation model at different bending angles to the center of the deformation model is taken as the central diameter. Each current intensity, its bending angle, and the central diameter are input into the regress function linear regression model. The regress function linear regression model establishes the objective function of the deformation section. The bending angle to be bent of the deformation section is input into the objective function, and the objective function outputs the current intensity passed by the deformation section at the bending angle to be bent, and then the deformation section is energized.

6. The controllable deformation grasping method of a manipulator grasping device according to claim 5, characterized in that: The specific objective function is as follows: a = k1I + b d = k2I + c Wherein, a is the bending angle to be bent of the deformation section; k1 and b are the first coefficient and the first offset constant of the objective function respectively; I is the current intensity passed by the deformation section at the bending angle a to be bent; d is the central diameter of the deformation section at the bending angle a to be bent; k2 and c are the second coefficient and the second offset constant of the objective function respectively.

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